+ python -m lidar_slam /working/9cd08aa0-f5f1-4699-962d-ab2e4cc16792 Lidar SLAM 0.0.1 ===================================================== The recording path: /working/9cd08aa0-f5f1-4699-962d-ab2e4cc16792 The start distance for SLAM: 0.0 The end distance for SLAM: 9.223372036854776e+18 The step lidar is being SLAMMed with: 0.06 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 0.005099893 Adjusted end_distance from 9.223372036854776e+18 to 590.465099893 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.005099893 meters 0.22750517570674814 Centerline is valid? [0, False] SLAMing on 0.06509989299999999 meters 0.24634369233731337 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:-0.01 [[ 0.99992932 0.01153373 -0.00288568 0.02626948] [-0.01152825 0.99993173 0.00190738 -0.01238509] [ 0.00290748 -0.00187398 0.99999402 -0.00793617] [ 0. 0. 0. 1. ]] SLAMing on 0.125099893 meters 0.2545105204771701 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.02, Z:-0.02 [[ 0.99989394 0.00662299 -0.01297108 0.05581038] [-0.00652999 0.99995276 0.00719947 -0.01758633] [ 0.01301815 -0.00711401 0.99988995 -0.01508929] [ 0. 0. 0. 1. ]] SLAMing on 0.18509989299999996 meters 0.2621812155409875 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.03, Z:-0.02 [[ 9.99642724e-01 -2.10430823e-02 -1.64807096e-02 7.25304547e-02] [ 2.10370941e-02 9.99778552e-01 -5.36645597e-04 -3.03747633e-02] [ 1.64883526e-02 1.89747628e-04 9.99864040e-01 -1.58341227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24509989299999996 meters 0.28087649736790316 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.02, Z:-0.03 [[ 0.99994337 0.00143158 -0.01054531 0.07730902] [-0.00150667 0.99997355 -0.00711594 -0.01816143] [ 0.01053484 0.00713143 0.99991908 -0.02875764] [ 0. 0. 0. 1. ]] SLAMing on 0.30509989299999996 meters 0.27050894300600425 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.02, Z:-0.03 [[ 0.99951627 -0.02865727 -0.01208214 0.10632702] [ 0.02870176 0.9995818 0.0035254 -0.0166099 ] [ 0.01197605 -0.00387047 0.99992079 -0.03164384] [ 0. 0. 0. 1. ]] SLAMing on 0.36509989299999995 meters 0.3011292493394852 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.01, Z:-0.03 [[ 0.99970696 -0.02233487 -0.00933483 0.15016099] [ 0.02222496 0.99968434 -0.01171635 -0.01453653] [ 0.00959357 0.01150545 0.99988779 -0.03436444] [ 0. 0. 0. 1. ]] SLAMing on 0.42509989299999995 meters 0.2975464971968248 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.02, Z:-0.04 [[ 0.99982933 -0.0113303 -0.01459202 0.15814273] [ 0.01107815 0.99978989 -0.01724676 -0.02261002] [ 0.01478436 0.01708216 0.99974478 -0.03905568] [ 0. 0. 0. 1. ]] SLAMing on 0.48509989299999995 meters 0.3008584579894242 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.05, Z:-0.05 [[ 0.99970241 -0.01500173 -0.01923625 0.1751248 ] [ 0.01474619 0.99980203 -0.01335827 -0.04572224] [ 0.01943284 0.01307064 0.99972572 -0.04938854] [ 0. 0. 0. 1. ]] SLAMing on 0.545099893 meters 0.3214051530397576 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.05, Z:-0.04 [[ 0.99973727 -0.01798201 -0.01421384 0.26101094] [ 0.01777115 0.99973217 -0.01482475 -0.05328488] [ 0.01447661 0.01456826 0.99978907 -0.03975558] [ 0. 0. 0. 1. ]] SLAMing on 0.6050998929999999 meters 0.2909074267371408 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.06, Z:-0.04 [[ 0.99970458 -0.02064113 -0.01283312 0.26052386] [ 0.02040384 0.99962332 -0.01835464 -0.05805856] [ 0.01320714 0.01808737 0.99974918 -0.04097238] [ 0. 0. 0. 1. ]] SLAMing on 0.6650998929999999 meters 0.29417889993813917 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.06, Z:-0.06 [[ 0.99979419 -0.00955061 -0.01789862 0.28833236] [ 0.00939702 0.99991847 -0.00864559 -0.06057607] [ 0.01797973 0.00847562 0.99980243 -0.0575613 ] [ 0. 0. 0. 1. ]] SLAMing on 0.7250998929999999 meters 0.31668594192202343 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.06, Z:-0.06 [[ 0.99976194 -0.0068021 -0.02073143 0.31287023] [ 0.00651265 0.99988082 -0.01399759 -0.06455842] [ 0.02082417 0.01385924 0.99968709 -0.06205614] [ 0. 0. 0. 1. ]] SLAMing on 0.7850998929999999 meters 0.3083762511790866 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.08, Z:-0.06 [[ 0.99962562 -0.01468717 -0.02308459 0.32252625] [ 0.01418487 0.99966229 -0.02177395 -0.07696327] [ 0.02339659 0.02143835 0.99949637 -0.0638281 ] [ 0. 0. 0. 1. ]] SLAMing on 0.8450998929999999 meters 0.2857377322084351 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.10, Z:-0.07 [[ 0.9995001 -0.01742526 -0.02638014 0.33643716] [ 0.01685966 0.9996264 -0.02151302 -0.10104368] [ 0.02674516 0.02105751 0.99942047 -0.07007205] [ 0. 0. 0. 1. ]] SLAMing on 0.9050998929999999 meters 0.2696610845218675 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.12, Z:-0.08 [[ 0.99911835 -0.02617718 -0.03282176 0.36872096] [ 0.02575439 0.99958063 -0.01323891 -0.11747683] [ 0.03315456 0.01238194 0.99937354 -0.07609777] [ 0. 0. 0. 1. ]] SLAMing on 0.9650998929999999 meters 0.2738032148307099 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.12, Z:-0.08 [[ 0.99882038 -0.03554603 -0.03308059 0.39378363] [ 0.03498061 0.99923447 -0.01751682 -0.12232128] [ 0.03367792 0.01633898 0.99929917 -0.07945647] [ 0. 0. 0. 1. ]] SLAMing on 1.0250998929999997 meters 0.2509353226723086 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.13, Z:-0.08 [[ 0.99869311 -0.03763921 -0.03457406 0.40513251] [ 0.03686183 0.99905902 -0.02285348 -0.12661554] [ 0.03540172 0.02154915 0.99914081 -0.08215329] [ 0. 0. 0. 1. ]] SLAMing on 1.0850998929999998 meters 0.22422179925664795 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.14, Z:-0.09 [[ 0.99809172 -0.04667134 -0.04043147 0.43311163] [ 0.04617516 0.99884719 -0.01312066 -0.13871804] [ 0.04099722 0.0112287 0.99909616 -0.09072353] [ 0. 0. 0. 1. ]] SLAMing on 1.1450998929999998 meters 0.20749769040580612 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.14, Z:-0.10 [[ 0.99824535 -0.0421801 -0.04155794 0.44548454] [ 0.04182239 0.99908046 -0.00943993 -0.13915904] [ 0.04191791 0.00768531 0.9990915 -0.09990835] [ 0. 0. 0. 1. ]] SLAMing on 1.2050998929999996 meters 0.19875573455975531 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.14, Z:-0.10 [[ 0.99714008 -0.05480649 -0.05203758 0.4655141 ] [ 0.05427084 0.99845826 -0.01165246 -0.1370789 ] [ 0.05259598 0.00879502 0.99857714 -0.10387767] [ 0. 0. 0. 1. ]] SLAMing on 1.2650998929999997 meters 0.20088948676456675 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.15, Z:-0.11 [[ 0.9956319 -0.073132 -0.05804166 0.4985221 ] [ 0.07235862 0.99726103 -0.01531905 -0.15302075] [ 0.059003 0.01105232 0.99819662 -0.1057989 ] [ 0. 0. 0. 1. ]] SLAMing on 1.3250998929999998 meters 0.18630705026546512 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.18, Z:-0.11 [[ 0.99577426 -0.06831999 -0.06136772 0.51148531] [ 0.06790238 0.99765256 -0.0088674 -0.17635051] [ 0.06182948 0.00466292 0.99807584 -0.10820635] [ 0. 0. 0. 1. ]] SLAMing on 1.3850998929999998 meters 0.1896960644827471 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.18, Z:-0.11 [[ 0.99639496 -0.05568096 -0.06400555 0.57668891] [ 0.05548649 0.99844784 -0.00481317 -0.18440281] [ 0.0641742 0.00124438 0.99793794 -0.10607987] [ 0. 0. 0. 1. ]] SLAMing on 1.4450998929999996 meters 0.1778779658244075 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.19, Z:-0.11 [[ 0.99660153 -0.04475394 -0.0691554 0.58915385] [ 0.04401181 0.99895629 -0.01221865 -0.1874251 ] [ 0.06963005 0.00913347 0.99753107 -0.11335603] [ 0. 0. 0. 1. ]] SLAMing on 1.5050998929999997 meters 0.17772707649629862 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.18, Z:-0.12 [[ 0.99689788 -0.03578701 -0.07009929 0.5940089 ] [ 0.03553556 0.99935673 -0.00483123 -0.1816689 ] [ 0.07022709 0.00232522 0.99752832 -0.11595066] [ 0. 0. 0. 1. ]] SLAMing on 1.5650998929999997 meters 0.16998068853113316 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.17, Z:-0.12 [[ 0.99708387 -0.02750709 -0.07118375 0.61083056] [ 0.02732029 0.99962026 -0.00359667 -0.17458078] [ 0.07125565 0.00164142 0.99745673 -0.11998835] [ 0. 0. 0. 1. ]] SLAMing on 1.6250998929999996 meters 0.1614265263006178 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.17, Z:-0.12 [[ 0.99708382 -0.0247387 -0.07219322 0.64783177] [ 0.0242884 0.99967972 -0.0071087 -0.16575953] [ 0.07234596 0.00533451 0.99736533 -0.12212556] [ 0. 0. 0. 1. ]] SLAMing on 1.6850998929999996 meters 0.16012680512552685 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.16, Z:-0.12 [[ 0.99691083 -0.03852337 -0.06844525 0.64944573] [ 0.03834626 0.9992569 -0.00390013 -0.1568014 ] [ 0.06854464 0.00126346 0.99764725 -0.12349979] [ 0. 0. 0. 1. ]] SLAMing on 1.7450998929999997 meters 0.15083952867648204 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.16, Z:-0.14 [[ 0.99448424 -0.07031935 -0.0778221 0.63667093] [ 0.06987568 0.99752023 -0.00841296 -0.15550654] [ 0.07822072 0.00292869 0.99693176 -0.1372755 ] [ 0. 0. 0. 1. ]] SLAMing on 1.8050998929999997 meters 0.1493276042153868 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.16, Z:-0.14 [[ 0.99277844 -0.084977 -0.08467518 0.65267634] [ 0.08455822 0.99638206 -0.00852652 -0.15665536] [ 0.08509339 0.00130496 0.99637213 -0.13541252] [ 0. 0. 0. 1. ]] SLAMing on 1.8650998929999996 meters 0.14135249969220856 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.15, Z:-0.14 [[ 0.99302088 -0.0809566 -0.08576452 0.65695918] [ 0.08080508 0.99671614 -0.00524243 -0.1509994 ] [ 0.08590729 -0.00172437 0.99630164 -0.1380005 ] [ 0. 0. 0. 1. ]] SLAMing on 1.9250998929999996 meters 0.13332963454976973 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.15, Z:-0.14 [[ 0.99298846 -0.08089165 -0.08620011 0.65854267] [ 0.08072732 0.99672162 -0.00539631 -0.14993963] [ 0.08635403 -0.00160023 0.99626323 -0.1387846 ] [ 0. 0. 0. 1. ]] SLAMing on 1.9850998929999997 meters 0.1291451857543818 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.15, Z:-0.14 [[ 0.9924822 -0.0859508 -0.08712948 0.66410733] [ 0.08542785 0.99629695 -0.00971997 -0.14574141] [ 0.08764227 0.00220361 0.99614958 -0.1420961 ] [ 0. 0. 0. 1. ]] SLAMing on 2.0450998929999997 meters 0.12500433161652041 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.14 [[ 0.99315479 -0.07603077 -0.08867295 0.66613143] [ 0.0761107 0.99709628 -0.00248432 -0.1425991 ] [ 0.08860436 -0.00428164 0.9960577 -0.14084507] [ 0. 0. 0. 1. ]] SLAMing on 2.1050998929999998 meters 0.11661606796450905 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.13, Z:-0.14 [[ 0.99491989 -0.05160461 -0.08643708 0.63240871] [ 0.05158057 0.99866567 -0.00251303 -0.13090592] [ 0.08645143 -0.00195821 0.99625414 -0.14038436] [ 0. 0. 0. 1. ]] SLAMing on 2.165099893 meters 0.11315060254319805 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.13, Z:-0.14 [[ 0.99450307 -0.05610735 -0.08840592 0.65618824] [ 0.05608999 0.99842211 -0.00268259 -0.13025081] [ 0.08841694 -0.00229084 0.99608092 -0.14250291] [ 0. 0. 0. 1. ]] SLAMing on 2.225099893 meters 0.10636691199174103 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.14, Z:-0.14 [[ 0.99408001 -0.06321701 -0.08836595 0.65651408] [ 0.0627406 0.9979965 -0.00816126 -0.13833138] [ 0.08870484 0.00256882 0.99605464 -0.1419916 ] [ 0. 0. 0. 1. ]] SLAMing on 2.285099893 meters 0.10431822334319793 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.15, Z:-0.15 [[ 0.99448949 -0.05327149 -0.09029293 0.66248329] [ 0.05369659 0.99855469 0.00228365 -0.15139739] [ 0.09004077 -0.00711948 0.99591263 -0.1458398 ] [ 0. 0. 0. 1. ]] SLAMing on 2.345099893 meters 0.10790977584635403 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.16, Z:-0.14 [[ 0.99464696 -0.04514063 -0.09295022 0.66620812] [ 0.04597554 0.99891901 0.00685962 -0.15873488] [ 0.09254009 -0.01109634 0.99564713 -0.1413092 ] [ 0. 0. 0. 1. ]] SLAMing on 2.4050998929999996 meters 0.09985475248592818 Centerline is valid? [False, True] Translation: X:0.67, Y:-0.17, Z:-0.15 [[ 0.99378586 -0.05849119 -0.09470193 0.67499359] [ 0.05852934 0.99828286 -0.0023771 -0.16679321] [ 0.09467835 -0.00318051 0.99550283 -0.14867643] [ 0. 0. 0. 1. ]] SLAMing on 2.4650998929999997 meters 0.0972587784682183 Centerline is valid? [True, True] Translation: X:0.74, Y:-0.18, Z:-0.14 [[ 0.99325639 -0.06888724 -0.09325394 0.73621527] [ 0.0684106 0.99762271 -0.00830219 -0.18111222] [ 0.09360417 0.00186664 0.99560774 -0.14020563] [ 0. 0. 0. 1. ]] SLAMing on 2.5250998929999997 meters 0.0899657067968136 Centerline is valid? [True, True] Translation: X:0.80, Y:-0.18, Z:-0.13 [[ 0.99417026 -0.06115067 -0.08880365 0.79606623] [ 0.06068773 0.99812549 -0.00790629 -0.17847768] [ 0.08912066 0.00247091 0.99601777 -0.13134532] [ 0. 0. 0. 1. ]] SLAMing on 2.5850998929999998 meters 0.08492189007953306 Centerline is valid? [True, True] Translation: X:0.86, Y:-0.17, Z:-0.13 [[ 0.9936833 -0.06291246 -0.09292752 0.85546287] [ 0.06241302 0.99801611 -0.00827387 -0.16996544] [ 0.09326369 0.00242172 0.9956385 -0.12925694] [ 0. 0. 0. 1. ]] SLAMing on 2.645099893 meters 0.08139068149128 Centerline is valid? [True, True] Translation: X:0.92, Y:-0.20, Z:-0.13 [[ 9.90585440e-01 -9.52140113e-02 -9.83604510e-02 9.18832780e-01] [ 9.48125484e-02 9.95456614e-01 -8.75847230e-03 -1.99447550e-01] [ 9.87474907e-02 -6.49789886e-04 9.95112311e-01 -1.32599909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.705099893 meters 0.09015738739363119 Centerline is valid? [True, True] Translation: X:0.98, Y:-0.24, Z:-0.12 [[ 0.98833386 -0.11855767 -0.09560471 0.9819195 ] [ 0.11828696 0.99294295 -0.00851423 -0.23736523] [ 0.09593945 -0.00289389 0.99538296 -0.11713857] [ 0. 0. 0. 1. ]] SLAMing on 2.765099893 meters 0.07958102665987174 Centerline is valid? [True, True] Translation: X:1.04, Y:-0.19, Z:-0.11 [[ 0.99027971 -0.10360155 -0.09280521 1.03862833] [ 0.10328081 0.9946179 -0.0082653 -0.19369377] [ 0.09316202 -0.00140004 0.99564998 -0.11446532] [ 0. 0. 0. 1. ]] SLAMing on 2.8250998929999995 meters 0.08068272564371734 Centerline is valid? [True, True] Translation: X:1.09, Y:-0.16, Z:-0.10 [[ 9.92345132e-01 -8.13084164e-02 -9.29520357e-02 1.09351908e+00] [ 8.08887842e-02 9.96688745e-01 -8.27945578e-03 -1.56897796e-01] [ 9.33174373e-02 6.97300480e-04 9.95636163e-01 -1.00470833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8850998929999996 meters 0.07696636991987918 Centerline is valid? [True, True] Translation: X:1.15, Y:-0.12, Z:-0.10 [[ 0.99355445 -0.06284475 -0.09434033 1.15164015] [ 0.06232924 0.99802026 -0.00840409 -0.12344522] [ 0.09468171 0.00246976 0.99550453 -0.10350269] [ 0. 0. 0. 1. ]] SLAMing on 2.9450998929999996 meters 0.0739468355334429 Centerline is valid? [True, True] Translation: X:1.21, Y:-0.12, Z:-0.10 [[ 0.99289794 -0.07385619 -0.09326808 1.21109013] [ 0.07340088 0.99726792 -0.00830757 -0.11680018] [ 0.09362683 0.00140261 0.99560637 -0.09959557] [ 0. 0. 0. 1. ]] SLAMing on 3.0050998929999997 meters 0.07778226141453434 Centerline is valid? [True, True] Translation: X:1.27, Y:-0.08, Z:-0.10 [[ 0.9925684 -0.07088808 -0.09890833 1.26586439] [ 0.07036103 0.99748268 -0.00881118 -0.0837367 ] [ 0.09928395 0.00178641 0.99505754 -0.09710417] [ 0. 0. 0. 1. ]] SLAMing on 3.0650998929999997 meters 0.08408798515324677 Centerline is valid? [True, True] Translation: X:1.32, Y:-0.05, Z:-0.07 [[ 0.99400638 -0.06030468 -0.09118472 1.32222204] [ 0.05981214 0.99817657 -0.00812715 -0.05494922] [ 0.09150856 0.00262449 0.99580083 -0.07439245] [ 0. 0. 0. 1. ]] SLAMing on 3.125099893 meters 0.07300431325699826 Centerline is valid? [True, True] Translation: X:1.39, Y:-0.07, Z:-0.09 [[ 0.9930909 -0.06317043 -0.09889365 1.38588689] [ 0.06260494 0.99799947 -0.00881413 -0.07093437] [ 0.0992526 0.002562 0.99505897 -0.08569136] [ 0. 0. 0. 1. ]] SLAMing on 3.185099893 meters 0.0681300138816688 Centerline is valid? [True, True] Translation: X:1.45, Y:-0.09, Z:-0.07 [[ 9.92009479e-01 -8.00552793e-02 -9.75107438e-02 1.44719345e+00] [ 7.95868287e-02 9.96790054e-01 -8.69050581e-03 -8.51362285e-02] [ 9.78934605e-02 8.60493282e-04 9.95196528e-01 -7.46750318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2450998929999995 meters 0.06537533460349432 Centerline is valid? [True, True] Translation: X:1.51, Y:-0.10, Z:-0.07 [[ 9.90622624e-01 -9.73625650e-02 -9.58506510e-02 1.50694096e+00] [ 9.69905866e-02 9.95248630e-01 -8.54339561e-03 -1.03148609e-01] [ 9.62270360e-02 -8.33329889e-04 9.95359062e-01 -6.74616434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3050998929999995 meters 0.07116349732513733 Centerline is valid? [True, True] Translation: X:1.57, Y:-0.12, Z:-0.06 [[ 0.98905822 -0.11135535 -0.09676684 1.56920609] [ 0.11104248 0.9937782 -0.00862938 -0.11821311] [ 0.0971257 -0.00221027 0.99526967 -0.06387261] [ 0. 0. 0. 1. ]] SLAMing on 3.3650998929999996 meters 0.06673932424884606 Centerline is valid? [True, True] Translation: X:1.63, Y:-0.11, Z:-0.06 [[ 0.98826317 -0.11838619 -0.09654331 1.62839847] [ 0.11810819 0.99296341 -0.00860942 -0.10556153] [ 0.09688321 -0.00289419 0.99529155 -0.05768577] [ 0. 0. 0. 1. ]] SLAMing on 3.4250998929999996 meters 0.06492478972191933 Centerline is valid? [True, True] Translation: X:1.69, Y:-0.08, Z:-0.06 [[ 0.98852129 -0.11379652 -0.09937816 1.68685465] [ 0.11347892 0.99350089 -0.00886126 -0.07709604] [ 0.09974067 -0.00251778 0.99501028 -0.05648445] [ 0. 0. 0. 1. ]] SLAMing on 3.4850998929999997 meters 0.06613453790153603 Centerline is valid? [True, True] Translation: X:1.74, Y:-0.06, Z:-0.05 [[ 0.98822138 -0.1134873 -0.10266027 1.74381349] [ 0.11314665 0.99353613 -0.00915433 -0.05603285] [ 0.10303559 -0.00256916 0.99467435 -0.04965784] [ 0. 0. 0. 1. ]] SLAMing on 3.5450998929999997 meters 0.06835850879229982 Centerline is valid? [True, True] Translation: X:1.80, Y:-0.05, Z:-0.05 [[ 0.98605167 -0.12622577 -0.10848577 1.8034955 ] [ 0.12592066 0.99199303 -0.00968608 -0.04512608] [ 0.10883976 -0.00410962 0.99405081 -0.05135656] [ 0. 0. 0. 1. ]] SLAMing on 3.6050998929999998 meters 0.07237316848628252 Centerline is valid? [True, True] Translation: X:1.86, Y:-0.03, Z:-0.05 [[ 0.98454865 -0.13540642 -0.11103629 1.86293742] [ 0.13514479 0.99077626 -0.00991424 -0.03389802] [ 0.11135458 -0.00524493 0.9937669 -0.04647933] [ 0. 0. 0. 1. ]] SLAMing on 3.6650998929999994 meters 0.08850467726379614 Centerline is valid? [True, True] Translation: X:1.92, Y:-0.04, Z:-0.03 [[ 0.98481197 -0.13713092 -0.10649178 1.92180993] [ 0.13690023 0.99053921 -0.00950844 -0.04001162] [ 0.10678818 -0.00521472 0.99426812 -0.03301627] [ 0. 0. 0. 1. ]] SLAMing on 3.7250998929999994 meters 0.06869979140637698 Centerline is valid? [True, True] Translation: X:1.98, Y:0.01, Z:-0.02 [[ 0.98515295 -0.13628465 -0.10440387 1.97588897] [ 0.13605778 0.99065701 -0.00932546 0.00563787] [ 0.10469935 -0.00501796 0.99449126 -0.02205292] [ 0. 0. 0. 1. ]] SLAMing on 3.7850998929999995 meters 0.07197734449836135 Centerline is valid? [True, True] Translation: X:2.03, Y:0.01, Z:-0.02 [[ 0.98521507 -0.13587382 -0.10435309 2.03442193] [ 0.13564379 0.99071373 -0.00933132 0.01059465] [ 0.10465192 -0.00496149 0.99449654 -0.01527877] [ 0. 0. 0. 1. ]] SLAMing on 3.8450998929999995 meters 0.06328219766802012 Centerline is valid? [True, True] Translation: X:2.09, Y:0.03, Z:-0.01 [[ 0.98623824 -0.12825544 -0.10432962 2.09241816] [ 0.12798186 0.99173252 -0.00934043 0.03496768] [ 0.10466504 -0.00414041 0.99449891 -0.00972961] [ 0. 0. 0. 1. ]] SLAMing on 3.9050998929999996 meters 0.06042690330773231 Centerline is valid? [True, True] Translation: X:2.15, Y:0.05, Z:-0.01 [[ 0.98743329 -0.11679183 -0.10646678 2.15134755] [ 0.11644037 0.99315193 -0.00953292 0.05425811] [ 0.10685105 -0.00298391 0.99427056 -0.00795621] [ 0. 0. 0. 1. ]] SLAMing on 3.9650998929999997 meters 0.059157411570694894 Centerline is valid? [True, True] Translation: X:2.21, Y:0.06, Z:-0.00 [[ 9.87705818e-01 -1.12815580e-01 -1.08212116e-01 2.21058224e+00] [ 1.12428665e-01 9.93612554e-01 -9.68957687e-03 6.40126430e-02] [ 1.08614052e-01 -2.59569229e-03 9.94080605e-01 -1.96433957e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.025099892999999 meters 0.06194348436954015 Centerline is valid? [True, True] Translation: X:2.27, Y:0.06, Z:-0.01 [[ 0.98639421 -0.11926185 -0.11315068 2.27275796] [ 0.11888068 0.99285683 -0.0101345 0.05728255] [ 0.11355108 -0.00345482 0.99352615 -0.00516387] [ 0. 0. 0. 1. ]] SLAMing on 4.085099892999999 meters 0.06600148871120051 Centerline is valid? [True, True] Translation: X:2.33, Y:0.05, Z:0.00 [[ 0.98536002 -0.12793879 -0.11268225 2.33317063] [ 0.12761729 0.99177214 -0.0100917 0.05069156] [ 0.11304623 -0.00443625 0.99357983 0.00249667] [ 0. 0. 0. 1. ]] SLAMing on 4.145099892999999 meters 0.06543915125511891 Centerline is valid? [True, True] Translation: X:2.39, Y:0.05, Z:0.01 [[ 0.98547068 -0.12975072 -0.10960055 2.39153503] [ 0.1294576 0.99153637 -0.00981649 0.05326062] [ 0.10994663 -0.00451476 0.99392724 0.01331171] [ 0. 0. 0. 1. ]] SLAMing on 4.205099892999999 meters 0.08084616104865636 Centerline is valid? [True, True] Translation: X:2.45, Y:0.04, Z:0.03 [[ 0.98678276 -0.12425755 -0.1040185 2.45241089] [ 0.1239629 0.9922431 -0.00931805 0.03831612] [ 0.10436948 -0.00369954 0.99453171 0.02985397] [ 0. 0. 0. 1. ]] SLAMing on 4.2650998929999995 meters 0.06734356757484568 Centerline is valid? [True, True] Translation: X:2.51, Y:0.06, Z:0.02 [[ 0.9858657 -0.12575546 -0.1106995 2.5122264 ] [ 0.12543114 0.99205276 -0.00991684 0.05757026] [ 0.11106684 -0.0041085 0.99380445 0.02262308] [ 0. 0. 0. 1. ]] SLAMing on 4.325099892999999 meters 0.06378108320306505 Centerline is valid? [True, True] Translation: X:2.57, Y:0.07, Z:0.03 [[ 0.98585271 -0.12318491 -0.11366581 2.57104096] [ 0.12282598 0.99237598 -0.01018272 0.07066245] [ 0.11405358 -0.00392245 0.99346686 0.02630087] [ 0. 0. 0. 1. ]] SLAMing on 4.385099892999999 meters 0.05747037214580977 Centerline is valid? [True, True] Translation: X:2.63, Y:0.09, Z:0.04 [[ 0.98626679 -0.12284982 -0.11038907 2.62758227] [ 0.12250896 0.99241812 -0.00989111 0.09163485] [ 0.11076723 -0.00376838 0.99383923 0.04051259] [ 0. 0. 0. 1. ]] SLAMing on 4.445099892999999 meters 0.063725899174753 Centerline is valid? [True, True] Translation: X:2.69, Y:0.08, Z:0.03 [[ 0.98595592 -0.12078498 -0.11533388 2.68756627] [ 0.12039806 0.99267183 -0.010341 0.07844491] [ 0.11573773 -0.0036902 0.99327295 0.0330933 ] [ 0. 0. 0. 1. ]] SLAMing on 4.505099892999999 meters 0.06119241065735302 Centerline is valid? [True, True] Translation: X:2.75, Y:0.10, Z:0.05 [[ 0.98729388 -0.11476047 -0.10991285 2.74500528] [ 0.11437119 0.99338915 -0.00986085 0.09508445] [ 0.11031787 -0.0028353 0.99389231 0.05339314] [ 0. 0. 0. 1. ]] SLAMing on 4.565099892999999 meters 0.0586518904265089 Centerline is valid? [True, True] Translation: X:2.80, Y:0.11, Z:0.06 [[ 9.87826103e-01 -1.07999174e-01 -1.11963245e-01 2.80498699e+00] [ 1.07551872e-01 9.94148726e-01 -1.00452099e-02 1.09315505e-01] [ 1.12392992e-01 -2.11893609e-03 9.93661575e-01 5.50548737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.625099892999999 meters 0.055737155960706296 Centerline is valid? [True, True] Translation: X:2.86, Y:0.14, Z:0.07 [[ 9.89011129e-01 -9.90321422e-02 -1.09770767e-01 2.86181332e+00] [ 9.85472457e-02 9.95083651e-01 -9.84727446e-03 1.39459954e-01] [ 1.10206292e-01 -1.07854271e-03 9.93908150e-01 6.88959592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.685099892999999 meters 0.05578924776813894 Centerline is valid? [True, True] Translation: X:2.92, Y:0.16, Z:0.07 [[ 9.90115292e-01 -8.67045966e-02 -1.10245283e-01 2.91841821e+00] [ 8.61391981e-02 9.96234021e-01 -9.89005290e-03 1.60510528e-01] [ 1.10687615e-01 2.95852338e-04 9.93855203e-01 7.40453198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.745099892999999 meters 0.05606770259824831 Centerline is valid? [True, True] Translation: X:2.97, Y:0.17, Z:0.08 [[ 9.90305169e-01 -8.53333016e-02 -1.09607935e-01 2.97498659e+00] [ 8.47653003e-02 9.96352358e-01 -9.83980979e-03 1.71582191e-01] [ 1.10047788e-01 4.53464970e-04 9.93926194e-01 8.08863582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.805099892999999 meters 0.056017009012858054 Centerline is valid? [True, True] Translation: X:3.03, Y:0.17, Z:0.08 [[ 9.89167853e-01 -9.66172399e-02 -1.10508226e-01 3.03356160e+00] [ 9.61083056e-02 9.95321295e-01 -9.93546050e-03 1.71069046e-01] [ 1.10951127e-01 -7.92920202e-04 9.93825547e-01 8.26074744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.865099892999999 meters 0.055923613842584464 Centerline is valid? [True, True] Translation: X:3.09, Y:0.17, Z:0.09 [[ 9.88084165e-01 -1.09420572e-01 -1.08244265e-01 3.09412337e+00] [ 1.09008325e-01 9.93993154e-01 -9.73630205e-03 1.65587698e-01] [ 1.08659410e-01 -2.17924016e-03 9.94076649e-01 9.40424639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.925099892999999 meters 0.05932704805388097 Centerline is valid? [True, True] Translation: X:3.15, Y:0.16, Z:0.11 [[ 9.89350254e-01 -1.05087247e-01 -1.00711197e-01 3.15407253e+00] [ 1.04708057e-01 9.94461746e-01 -9.05861870e-03 1.61334345e-01] [ 1.01105378e-01 -1.58312695e-03 9.94874463e-01 1.07997904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.985099892999999 meters 0.05576120372138531 Centerline is valid? [True, True] Translation: X:3.21, Y:0.18, Z:0.11 [[ 9.88690405e-01 -1.06412878e-01 -1.05676784e-01 3.21177030e+00] [ 1.06002652e-01 9.94320397e-01 -9.50719770e-03 1.82888841e-01] [ 1.06088271e-01 -1.80234430e-03 9.94355083e-01 1.07944900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.045099892999999 meters 0.06270033070468804 Centerline is valid? [True, True] Translation: X:3.28, Y:0.16, Z:0.09 [[ 9.86197400e-01 -1.15886347e-01 -1.18258370e-01 3.27572641e+00] [ 1.15439278e-01 9.93257479e-01 -1.06467246e-02 1.56475956e-01] [ 1.18694821e-01 -3.15188883e-03 9.92925780e-01 8.87100333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.105099892999999 meters 0.06274744378368627 Centerline is valid? [True, True] Translation: X:3.34, Y:0.15, Z:0.09 [[ 0.98583992 -0.11801097 -0.11913463 3.33612605] [ 0.11757273 0.99300635 -0.01072527 0.15131527] [ 0.11956715 -0.00343359 0.99282018 0.09439418] [ 0. 0. 0. 1. ]] SLAMing on 5.165099892999999 meters 0.06729653902774338 Centerline is valid? [True, True] Translation: X:3.40, Y:0.15, Z:0.10 [[ 0.98419051 -0.12690579 -0.12354742 3.39687931] [ 0.12650402 0.99190373 -0.01112337 0.14950589] [ 0.12395877 -0.00468173 0.99227632 0.10026223] [ 0. 0. 0. 1. ]] SLAMing on 5.2250998929999986 meters 0.05915369436744517 Centerline is valid? [True, True] Translation: X:3.45, Y:0.17, Z:0.12 [[ 0.98415102 -0.12794884 -0.12278377 3.45199309] [ 0.12755985 0.99176925 -0.01105653 0.17280639] [ 0.12318784 -0.00478098 0.99237185 0.1185761 ] [ 0. 0. 0. 1. ]] SLAMing on 5.285099892999999 meters 0.06656558685488531 Centerline is valid? [True, True] Translation: X:3.51, Y:0.16, Z:0.13 [[ 0.98595042 -0.12221323 -0.113867 3.51371862] [ 0.1218394 0.99249677 -0.0102631 0.15570512] [ 0.11426692 -0.00375458 0.99344299 0.12849705] [ 0. 0. 0. 1. ]] SLAMing on 5.345099892999999 meters 0.05988143713842906 Centerline is valid? [True, True] Translation: X:3.57, Y:0.17, Z:0.14 [[ 0.98537574 -0.12586373 -0.1148607 3.57241854] [ 0.12550789 0.99203859 -0.01035383 0.17225449] [ 0.11524942 -0.00421351 0.99332765 0.14037626] [ 0. 0. 0. 1. ]] SLAMing on 5.405099892999999 meters 0.07794121301669009 Centerline is valid? [True, True] Translation: X:3.64, Y:0.13, Z:0.15 [[ 0.98436359 -0.13635643 -0.11151345 3.63668324] [ 0.1360879 0.99064577 -0.01005215 0.13198241] [ 0.11184101 -0.00528066 0.99371208 0.14735735] [ 0. 0. 0. 1. ]] SLAMing on 5.465099892999999 meters 0.055518277047959 Centerline is valid? [True, True] Translation: X:3.69, Y:0.19, Z:0.17 [[ 0.98591094 -0.13047214 -0.10467397 3.68993053] [ 0.13020236 0.99144254 -0.00943598 0.19410123] [ 0.10500936 -0.00432576 0.99446183 0.16591959] [ 0. 0. 0. 1. ]] SLAMing on 5.525099892999999 meters 0.05649026125738332 Centerline is valid? [True, True] Translation: X:3.75, Y:0.19, Z:0.18 [[ 9.89219161e-01 -1.10172919e-01 -9.64747629e-02 3.74925967e+00] [ 1.09847294e-01 9.93910432e-01 -8.69622087e-03 1.93858668e-01] [ 9.68453614e-02 -1.99502334e-03 9.95297441e-01 1.76884906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.585099892999999 meters 0.059095171073543555 Centerline is valid? [True, True] Translation: X:3.81, Y:0.18, Z:0.18 [[ 9.88566574e-01 -1.14159245e-01 -9.85078495e-02 3.81084660e+00] [ 1.13839424e-01 9.93459478e-01 -8.87984506e-03 1.76643314e-01] [ 9.88772731e-02 -2.43575885e-03 9.95096655e-01 1.77417830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6450998929999985 meters 0.07426518043365533 Centerline is valid? [True, True] Translation: X:3.88, Y:0.13, Z:0.17 [[ 0.98584718 -0.12864475 -0.10749825 3.87634638] [ 0.12834934 0.99168166 -0.00969131 0.13497074] [ 0.10785078 -0.00424318 0.99415804 0.1683685 ] [ 0. 0. 0. 1. ]] SLAMing on 5.705099892999999 meters 0.06086910318645651 Centerline is valid? [True, True] Translation: X:3.93, Y:0.16, Z:0.17 [[ 0.98390436 -0.13520354 -0.11684271 3.93490532] [ 0.13490055 0.99080314 -0.01053426 0.16418511] [ 0.11719239 -0.00539744 0.99309456 0.16884437] [ 0. 0. 0. 1. ]] SLAMing on 5.765099892999999 meters 0.05686389752109185 Centerline is valid? [True, True] Translation: X:3.99, Y:0.19, Z:0.18 [[ 0.98527476 -0.12302978 -0.11873211 3.99196224] [ 0.12262886 0.99239487 -0.01070476 0.19144602] [ 0.11914614 -0.00401285 0.99286862 0.18292948] [ 0. 0. 0. 1. ]] SLAMing on 5.825099892999999 meters 0.056188555508055904 Centerline is valid? [True, True] Translation: X:4.05, Y:0.21, Z:0.19 [[ 9.89262158e-01 -9.27984449e-02 -1.12910721e-01 4.04961591e+00] [ 9.22389570e-02 9.95684855e-01 -1.01805784e-02 2.06425285e-01] [ 1.13368236e-01 -3.43506151e-04 9.93552980e-01 1.87029460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.885099892999999 meters 0.06341184004251103 Centerline is valid? [True, True] Translation: X:4.10, Y:0.26, Z:0.20 [[ 9.92272652e-01 -6.22090161e-02 -1.07354662e-01 4.10463069e+00] [ 6.15243971e-02 9.98058632e-01 -9.68070613e-03 2.55371306e-01] [ 1.07748474e-01 3.00096912e-03 9.94173657e-01 2.01189303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.945099892999999 meters 0.058534967503917075 Centerline is valid? [True, True] Translation: X:4.17, Y:0.24, Z:0.21 [[ 9.91561385e-01 -7.37432173e-02 -1.06620622e-01 4.16599709e+00] [ 7.31343939e-02 9.97275752e-01 -9.61428986e-03 2.40120370e-01] [ 1.07039149e-01 1.73552403e-03 9.94253292e-01 2.06321625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.005099892999999 meters 0.05699698356880583 Centerline is valid? [True, True] Translation: X:4.23, Y:0.21, Z:0.21 [[ 9.88179994e-01 -1.02320941e-01 -1.14152199e-01 4.22748385e+00] [ 1.01811967e-01 9.94750384e-01 -1.02954355e-02 2.06936735e-01] [ 1.14606383e-01 -1.44831663e-03 9.93409925e-01 2.07366896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.065099892999998 meters 0.056489636336636596 Centerline is valid? [True, True] Translation: X:4.28, Y:0.22, Z:0.22 [[ 9.89734678e-01 -9.19394847e-02 -1.09418453e-01 4.28457540e+00] [ 9.14071842e-02 9.95764572e-01 -9.88152846e-03 2.20865211e-01] [ 1.09863522e-01 -2.21541319e-04 9.93946657e-01 2.17716591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.125099892999999 meters 0.06494278815847772 Centerline is valid? [True, True] Translation: X:4.34, Y:0.28, Z:0.23 [[ 9.92730091e-01 -5.58107371e-02 -1.06640178e-01 4.33863520e+00] [ 5.50968377e-02 9.98434563e-01 -9.63126884e-03 2.81724649e-01] [ 1.07010768e-01 3.68571382e-03 9.94251030e-01 2.27220978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1850998929999985 meters 0.062467248619894146 Centerline is valid? [True, True] Translation: X:4.40, Y:0.29, Z:0.24 [[ 9.92892953e-01 -5.96693623e-02 -1.02971606e-01 4.39672089e+00] [ 5.90245591e-02 9.98213206e-01 -9.30039477e-03 2.93970604e-01] [ 1.03342566e-01 3.15644275e-03 9.94640815e-01 2.40166377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.245099892999999 meters 0.05673047035828056 Centerline is valid? [True, True] Translation: X:4.46, Y:0.27, Z:0.24 [[ 9.89892431e-01 -8.99991863e-02 -1.09604391e-01 4.45994340e+00] [ 8.94530111e-02 9.95941839e-01 -9.90011905e-03 2.72572146e-01] [ 1.10050601e-01 -4.38986851e-06 9.93925986e-01 2.39206273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.305099892999999 meters 0.05667748324388205 Centerline is valid? [True, True] Translation: X:4.52, Y:0.27, Z:0.24 [[ 9.87746345e-01 -1.03706133e-01 -1.16628449e-01 4.52015353e+00] [ 1.03182406e-01 9.94606651e-01 -1.05357283e-02 2.73986925e-01] [ 1.17092050e-01 -1.62737676e-03 9.93119733e-01 2.41828397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.365099892999999 meters 0.05716610903260498 Centerline is valid? [True, True] Translation: X:4.58, Y:0.31, Z:0.24 [[ 9.88998844e-01 -8.62198480e-02 -1.20197439e-01 4.57555296e+00] [ 8.55344357e-02 9.96276029e-01 -1.08597136e-02 3.10217996e-01] [ 1.20686150e-01 4.59224093e-04 9.92690608e-01 2.37819225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.425099892999999 meters 0.056557744552186276 Centerline is valid? [True, True] Translation: X:4.63, Y:0.32, Z:0.26 [[ 9.88190857e-01 -1.03846879e-01 -1.12670561e-01 4.63164171e+00] [ 1.03358328e-01 9.94592040e-01 -1.01847771e-02 3.19971975e-01] [ 1.13118900e-01 -1.58093721e-03 9.93580201e-01 2.58062016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.485099892999998 meters 0.05712106641153165 Centerline is valid? [True, True] Translation: X:4.69, Y:0.32, Z:0.26 [[ 9.88186468e-01 -1.01351215e-01 -1.14958405e-01 4.69016376e+00] [ 1.00824212e-01 9.94849847e-01 -1.04048010e-02 3.15889964e-01] [ 1.15420891e-01 -1.30870706e-03 9.93315813e-01 2.57443923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.545099892999999 meters 0.056258256902469585 Centerline is valid? [True, True] Translation: X:4.75, Y:0.33, Z:0.27 [[ 9.88700052e-01 -9.93158471e-02 -1.12287889e-01 4.74746288e+00] [ 9.87986172e-02 9.95055423e-01 -1.01754010e-02 3.27590066e-01] [ 1.12743252e-01 -1.03346869e-03 9.93623616e-01 2.70268207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6050998929999984 meters 0.05555286902933129 Centerline is valid? [True, True] Translation: X:4.81, Y:0.33, Z:0.28 [[ 9.88506738e-01 -1.01712325e-01 -1.11843781e-01 4.80513506e+00] [ 1.01213152e-01 9.94813017e-01 -1.01468557e-02 3.33476155e-01] [ 1.12295709e-01 -1.28982637e-03 9.93673996e-01 2.79207492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.665099892999999 meters 0.056214373411566564 Centerline is valid? [True, True] Translation: X:4.86, Y:0.34, Z:0.28 [[ 9.88170188e-01 -1.03873392e-01 -1.12827296e-01 4.86360996e+00] [ 1.03377962e-01 9.94589342e-01 -1.02488276e-02 3.36103882e-01] [ 1.13281406e-01 -1.53627009e-03 9.93561756e-01 2.84128017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7250998929999986 meters 0.05705416181347592 Centerline is valid? [True, True] Translation: X:4.92, Y:0.34, Z:0.29 [[ 9.87472678e-01 -1.09166385e-01 -1.13931605e-01 4.92406675e+00] [ 1.08695059e-01 9.94021157e-01 -1.03596836e-02 3.36451379e-01] [ 1.14381355e-01 -2.15389797e-03 9.93434581e-01 2.87303670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.785099892999999 meters 0.057175213879868014 Centerline is valid? [True, True] Translation: X:4.98, Y:0.34, Z:0.29 [[ 9.87448626e-01 -1.10500671e-01 -1.12848626e-01 4.98176820e+00] [ 1.10046840e-01 9.93873422e-01 -1.02622273e-02 3.42296520e-01] [ 1.13291233e-01 -2.28521246e-03 9.93559195e-01 2.94253701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.845099892999999 meters 0.05645936976327035 Centerline is valid? [True, True] Translation: X:5.04, Y:0.36, Z:0.30 [[ 9.89143809e-01 -9.44603540e-02 -1.12568939e-01 5.03966417e+00] [ 9.39037794e-02 9.95528530e-01 -1.02482551e-02 3.55067428e-01] [ 1.13033644e-01 -4.33650723e-04 9.93591066e-01 2.97314731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.905099892999998 meters 0.05691187979862901 Centerline is valid? [True, True] Translation: X:5.10, Y:0.37, Z:0.31 [[ 9.89856868e-01 -8.99845175e-02 -1.09937106e-01 5.09658193e+00] [ 8.94260010e-02 9.95943161e-01 -1.00104828e-02 3.68758341e-01] [ 1.10391898e-01 7.77093731e-05 9.93888134e-01 3.05294688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.965099892999999 meters 0.05783920976856472 Centerline is valid? [True, True] Translation: X:5.15, Y:0.37, Z:0.32 [[ 9.89893150e-01 -9.10606756e-02 -1.08717544e-01 5.15449683e+00] [ 9.05196814e-02 9.95845346e-01 -9.91134778e-03 3.74541394e-01] [ 1.09168394e-01 -2.99021841e-05 9.94023270e-01 3.15263244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.025099892999998 meters 0.05684393163565765 Centerline is valid? [True, True] Translation: X:5.21, Y:0.38, Z:0.32 [[ 9.89855689e-01 -9.34471016e-02 -1.07020346e-01 5.21119239e+00] [ 9.29355783e-02 9.95624207e-01 -9.76810171e-03 3.79684401e-01] [ 1.07464848e-01 -2.76986690e-04 9.94208846e-01 3.24418086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.085099892999999 meters 0.05708258994296703 Centerline is valid? [True, True] Translation: X:5.27, Y:0.38, Z:0.33 [[ 9.89453643e-01 -9.78641100e-02 -1.06790005e-01 5.26990940e+00] [ 9.73790060e-02 9.95199511e-01 -9.76029706e-03 3.81477672e-01] [ 1.07232543e-01 -7.41743030e-04 9.94233691e-01 3.30768500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1450998929999985 meters 0.057534649219103756 Centerline is valid? [True, True] Translation: X:5.33, Y:0.38, Z:0.33 [[ 9.87625283e-01 -1.08414709e-01 -1.13324982e-01 5.33129584e+00] [ 1.07936022e-01 9.94103761e-01 -1.03695212e-02 3.75215489e-01] [ 1.13781000e-01 -1.99064646e-03 9.93503861e-01 3.27389619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.205099892999999 meters 0.05658746345488081 Centerline is valid? [True, True] Translation: X:5.39, Y:0.39, Z:0.34 [[ 9.88383496e-01 -1.05655774e-01 -1.09247072e-01 5.38936411e+00] [ 1.05194114e-01 9.94401459e-01 -9.99688250e-03 3.87042679e-01] [ 1.09691676e-01 -1.61139529e-03 9.93964355e-01 3.42541905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.265099892999999 meters 0.05843893965216803 Centerline is valid? [True, True] Translation: X:5.45, Y:0.37, Z:0.34 [[ 9.87106671e-01 -1.13830924e-01 -1.12529732e-01 5.45136327e+00] [ 1.13393836e-01 9.93496748e-01 -1.02980848e-02 3.74393857e-01] [ 1.12970163e-01 -2.59486976e-03 9.93594992e-01 3.39742554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.325099892999998 meters 0.05927155242577786 Centerline is valid? [True, True] Translation: X:5.51, Y:0.37, Z:0.34 [[ 9.86415465e-01 -1.18838836e-01 -1.13410151e-01 5.51214334e+00] [ 1.18427832e-01 9.92908422e-01 -1.03785807e-02 3.72275315e-01] [ 1.13839272e-01 -3.19332575e-03 9.93494048e-01 3.43763628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.385099892999999 meters 0.058984330386148774 Centerline is valid? [True, True] Translation: X:5.57, Y:0.38, Z:0.35 [[ 9.86371777e-01 -1.20561839e-01 -1.11962314e-01 5.57011684e+00] [ 1.20172211e-01 9.92700175e-01 -1.02470293e-02 3.76623398e-01] [ 1.12380409e-01 -3.34737831e-03 9.93659619e-01 3.53100286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.445099892999998 meters 0.056006916584241 Centerline is valid? [True, True] Translation: X:5.63, Y:0.41, Z:0.37 [[ 9.87945702e-01 -1.06174315e-01 -1.12651255e-01 5.62653620e+00] [ 1.05685259e-01 9.94346064e-01 -1.03213694e-02 4.14205394e-01] [ 1.13110196e-01 -1.70862452e-03 9.93580980e-01 3.67522449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.505099892999999 meters 0.058066727000694575 Centerline is valid? [True, True] Translation: X:5.69, Y:0.42, Z:0.37 [[ 9.88756200e-01 -9.54299226e-02 -1.15127350e-01 5.68569055e+00] [ 9.48464039e-02 9.95436030e-01 -1.05484357e-02 4.21959392e-01] [ 1.15608548e-01 -4.89583901e-04 9.93294732e-01 3.73366424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.565099892999998 meters 0.057811729103435 Centerline is valid? [True, True] Translation: X:5.74, Y:0.43, Z:0.38 [[ 9.88977710e-01 -9.46888025e-02 -1.13829344e-01 5.74415269e+00] [ 9.41132623e-02 9.95506843e-01 -1.04316877e-02 4.27915838e-01] [ 1.14305655e-01 -3.96144281e-04 9.93445550e-01 3.80512740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.625099892999999 meters 0.05749454294430707 Centerline is valid? [True, True] Translation: X:5.80, Y:0.43, Z:0.39 [[ 9.88773555e-01 -9.69935964e-02 -1.13662213e-01 5.80200811e+00] [ 9.64333331e-02 9.95284795e-01 -1.04302214e-02 4.34164025e-01] [ 1.14137937e-01 -6.47698938e-04 9.93464701e-01 3.87598153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6850998929999985 meters 0.056838169573666365 Centerline is valid? [True, True] Translation: X:5.86, Y:0.44, Z:0.39 [[ 9.88461519e-01 -1.00465389e-01 -1.13360179e-01 5.85964883e+00] [ 9.99292564e-02 9.94940019e-01 -1.04164551e-02 4.39319388e-01] [ 1.13833072e-01 -1.03173336e-03 9.93499354e-01 3.93738758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.745099892999998 meters 0.05618854196421608 Centerline is valid? [True, True] Translation: X:5.92, Y:0.44, Z:0.40 [[ 9.87831769e-01 -1.05853470e-01 -1.13944891e-01 5.91876831e+00] [ 1.05346905e-01 9.94380360e-01 -1.04751682e-02 4.43430662e-01] [ 1.14413395e-01 -1.65603772e-03 9.93431846e-01 4.00857396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.805099892999999 meters 0.05784253497758349 Centerline is valid? [True, True] Translation: X:5.98, Y:0.45, Z:0.40 [[ 9.87980235e-01 -1.03053343e-01 -1.15217466e-01 5.97767915e+00] [ 1.02516001e-01 9.94674924e-01 -1.05955561e-02 4.49170519e-01] [ 1.15695832e-01 -1.34343383e-03 9.93283781e-01 4.03525348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.865099892999998 meters 0.05706227251976542 Centerline is valid? [True, True] Translation: X:6.04, Y:0.46, Z:0.41 [[ 9.88964246e-01 -9.81097391e-02 -1.11014413e-01 6.03649283e+00] [ 9.75784472e-02 9.95175339e-01 -1.02220736e-02 4.58458514e-01] [ 1.11481691e-01 -7.23348699e-04 9.93766225e-01 4.13222424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.925099892999999 meters 0.056868817066791075 Centerline is valid? [True, True] Translation: X:6.09, Y:0.46, Z:0.42 [[ 9.88654734e-01 -1.00342550e-01 -1.11772940e-01 6.09362377e+00] [ 9.98176040e-02 9.94952471e-01 -1.02969546e-02 4.62400914e-01] [ 1.12241985e-01 -9.76774198e-04 9.93680423e-01 4.18918538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.985099892999998 meters 0.05778283669158656 Centerline is valid? [True, True] Translation: X:6.15, Y:0.47, Z:0.43 [[ 9.89730588e-01 -9.33355339e-02 -1.08267456e-01 6.15212133e+00] [ 9.28004168e-02 9.95634697e-01 -9.98162382e-03 4.67777403e-01] [ 1.08726476e-01 -1.68146624e-04 9.94071690e-01 4.25288537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.045099893 meters 0.05862744223243296 Centerline is valid? [True, True] Translation: X:6.21, Y:0.47, Z:0.43 [[ 9.89307841e-01 -9.16209064e-02 -1.13470723e-01 6.20948665e+00] [ 9.10201752e-02 9.95793959e-01 -1.04747031e-02 4.70738310e-01] [ 1.13953162e-01 3.45809090e-05 9.93486123e-01 4.30225345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.105099893 meters 0.057920368532379356 Centerline is valid? [True, True] Translation: X:6.27, Y:0.48, Z:0.44 [[ 9.88644199e-01 -1.02495582e-01 -1.09896784e-01 6.26781978e+00] [ 1.01998274e-01 9.94732769e-01 -1.01523662e-02 4.75844198e-01] [ 1.10358505e-01 -1.17220432e-03 9.93891154e-01 4.37438030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.165099892999999 meters 0.05894244507668906 Centerline is valid? [True, True] Translation: X:6.33, Y:0.48, Z:0.44 [[ 9.90846590e-01 -7.59308777e-02 -1.11613338e-01 6.32607032e+00] [ 7.52479807e-02 9.97111402e-01 -1.03243832e-02 4.84743284e-01] [ 1.12074871e-01 1.83120163e-03 9.93698078e-01 4.41414498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.225099893 meters 0.06020474021969157 Centerline is valid? [True, True] Translation: X:6.39, Y:0.49, Z:0.45 [[ 9.91719930e-01 -5.56609401e-02 -1.15730029e-01 6.38549323e+00] [ 5.47887816e-02 9.98440569e-01 -1.07060717e-02 4.92281460e-01] [ 1.16145466e-01 4.27671742e-03 9.93223006e-01 4.50300538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.285099893 meters 0.05945082181146194 Centerline is valid? [True, True] Translation: X:6.44, Y:0.50, Z:0.46 [[ 9.92963529e-01 -5.00771289e-02 -1.07311284e-01 6.44449936e+00] [ 4.92954110e-02 9.98734913e-01 -9.92655762e-03 4.99074155e-01] [ 1.07672620e-01 4.56675582e-03 9.94175916e-01 4.59581215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.345099892999999 meters 0.056879107343561504 Centerline is valid? [True, True] Translation: X:6.51, Y:0.47, Z:0.46 [[ 9.88076759e-01 -1.08914762e-01 -1.08820458e-01 6.50668508e+00] [ 1.08464563e-01 9.94049357e-01 -1.00655293e-02 4.74001551e-01] [ 1.09269191e-01 -1.85764779e-03 9.94010459e-01 4.62267726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.405099893 meters 0.05742744457229328 Centerline is valid? [True, True] Translation: X:6.56, Y:0.50, Z:0.47 [[ 9.89209045e-01 -1.01492239e-01 -1.05663575e-01 6.56423891e+00] [ 1.01025418e-01 9.94835823e-01 -9.77496744e-03 4.98562205e-01] [ 1.06109993e-01 -1.00522058e-03 9.94353890e-01 4.70401193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.465099893 meters 0.05867627896374501 Centerline is valid? [True, True] Translation: X:6.62, Y:0.51, Z:0.47 [[ 9.88641590e-01 -9.77828969e-02 -1.14132871e-01 6.62144815e+00] [ 9.72131239e-02 9.95207555e-01 -1.05608525e-02 5.06217885e-01] [ 1.14618566e-01 -6.54314922e-04 9.93409360e-01 4.72495512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.525099893 meters 0.05779990434608509 Centerline is valid? [True, True] Translation: X:6.68, Y:0.52, Z:0.48 [[ 9.90281800e-01 -8.84887472e-02 -1.07292581e-01 6.67722143e+00] [ 8.79295788e-02 9.96077092e-01 -9.94059760e-03 5.17982348e-01] [ 1.07751313e-01 4.09801463e-04 9.94177794e-01 4.84818197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.585099892999999 meters 0.059116275028705895 Centerline is valid? [True, True] Translation: X:6.74, Y:0.52, Z:0.49 [[ 9.90565675e-01 -8.47483611e-02 -1.07691037e-01 6.73621018e+00] [ 8.41624031e-02 9.96402045e-01 -9.98275031e-03 5.19473153e-01] [ 1.08149591e-01 8.25033324e-04 9.94134289e-01 4.87542094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.645099893 meters 0.05835311499930242 Centerline is valid? [True, True] Translation: X:6.79, Y:0.53, Z:0.49 [[ 9.90817380e-01 -8.07257628e-02 -1.08463219e-01 6.79317932e+00] [ 8.01058585e-02 9.96735520e-01 -1.00675444e-02 5.25673841e-01] [ 1.08921853e-01 1.28655869e-03 9.94049483e-01 4.92789449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.705099893 meters 0.05694548390138112 Centerline is valid? [True, True] Translation: X:6.85, Y:0.52, Z:0.50 [[ 9.88974831e-01 -1.00939677e-01 -1.08351124e-01 6.85190474e+00] [ 1.00441215e-01 9.94892112e-01 -1.00622378e-02 5.23785243e-01] [ 1.08813358e-01 -9.31618660e-04 9.94061761e-01 4.99360727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.765099892999999 meters 0.056214059171331404 Centerline is valid? [True, True] Translation: X:6.91, Y:0.53, Z:0.51 [[ 9.88352526e-01 -1.07465565e-01 -1.07751734e-01 6.91070632e+00] [ 1.07010818e-01 9.94207460e-01 -1.00105557e-02 5.28123742e-01] [ 1.08203368e-01 -1.63664318e-03 9.94127433e-01 5.05930172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.825099892999999 meters 0.05679373833630365 Centerline is valid? [True, True] Translation: X:6.97, Y:0.53, Z:0.51 [[ 9.88346010e-01 -1.07075225e-01 -1.08199175e-01 6.96880137e+00] [ 1.06613973e-01 9.94249639e-01 -1.00556161e-02 5.31772510e-01] [ 1.08653698e-01 -1.59711585e-03 9.94078379e-01 5.10059832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.885099893 meters 0.05647888045018493 Centerline is valid? [True, True] Translation: X:7.03, Y:0.54, Z:0.52 [[ 9.88390096e-01 -1.09332917e-01 -1.05505121e-01 7.02564162e+00] [ 1.08905826e-01 9.94003583e-01 -9.81821370e-03 5.35350995e-01] [ 1.05945922e-01 -1.78589718e-03 9.94370289e-01 5.16756994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.945099893 meters 0.057990305544960444 Centerline is valid? [True, True] Translation: X:7.09, Y:0.54, Z:0.52 [[ 9.86742786e-01 -1.14106816e-01 -1.15404977e-01 7.08564640e+00] [ 1.13627440e-01 9.93465316e-01 -1.07457029e-02 5.38978154e-01] [ 1.15877000e-01 -2.50992733e-03 9.93260399e-01 5.19239704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.005099892999999 meters 0.05836926935393064 Centerline is valid? [True, True] Translation: X:7.15, Y:0.55, Z:0.53 [[ 9.88807577e-01 -9.88526757e-02 -1.11748486e-01 7.14575801e+00] [ 9.83058760e-02 9.95101836e-01 -1.04062625e-02 5.45949433e-01] [ 1.12229810e-01 -6.95741590e-04 9.93682034e-01 5.25399051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.065099893 meters 0.05728270218610268 Centerline is valid? [True, True] Translation: X:7.20, Y:0.56, Z:0.54 [[ 9.90292465e-01 -8.51324731e-02 -1.09878546e-01 7.20190425e+00] [ 8.45193463e-02 9.96369280e-01 -1.02341107e-02 5.58133704e-01] [ 1.10350863e-01 8.47899863e-04 9.93892332e-01 5.35923678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.125099893 meters 0.05883938248308559 Centerline is valid? [True, True] Translation: X:7.26, Y:0.56, Z:0.54 [[ 9.90259949e-01 -8.15953049e-02 -1.12815954e-01 7.26049648e+00] [ 8.09253631e-02 9.96664721e-01 -1.05128382e-02 5.64211153e-01] [ 1.13297479e-01 1.28077059e-03 9.93560285e-01 5.41169488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.185099892999999 meters 0.05865906437136363 Centerline is valid? [True, True] Translation: X:7.32, Y:0.57, Z:0.55 [[ 9.90183138e-01 -8.37591006e-02 -1.11900701e-01 7.31872708e+00] [ 8.31134700e-02 9.96485503e-01 -1.04304346e-02 5.66036124e-01] [ 1.12381070e-01 1.02758491e-03 9.93664651e-01 5.48186580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.245099892999999 meters 0.0568190903970917 Centerline is valid? [True, True] Translation: X:7.38, Y:0.57, Z:0.56 [[ 9.89163287e-01 -1.03119188e-01 -1.04510409e-01 7.37665162e+00] [ 1.02662534e-01 9.94668419e-01 -9.75395875e-03 5.70371588e-01] [ 1.04959024e-01 -1.08104555e-03 9.94475960e-01 5.55699023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.305099893 meters 0.057027314839258055 Centerline is valid? [True, True] Translation: X:7.44, Y:0.58, Z:0.56 [[ 9.86915729e-01 -1.15164728e-01 -1.12846929e-01 7.43583442e+00] [ 1.14709996e-01 9.93343144e-01 -1.05363354e-02 5.76686782e-01] [ 1.13309137e-01 -2.54619569e-03 9.93556519e-01 5.57993361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.365099893 meters 0.05647400468811427 Centerline is valid? [True, True] Translation: X:7.49, Y:0.58, Z:0.56 [[ 9.87712666e-01 -1.10457229e-01 -1.10557182e-01 7.49449455e+00] [ 1.09991186e-01 9.93878940e-01 -1.03243128e-02 5.78662680e-01] [ 1.11020850e-01 -1.96286098e-03 9.93816139e-01 5.64678185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.425099892999999 meters 0.05710770570244132 Centerline is valid? [True, True] Translation: X:7.55, Y:0.59, Z:0.57 [[ 9.87537576e-01 -1.12322893e-01 -1.10241119e-01 7.55198191e+00] [ 1.11871004e-01 9.93669401e-01 -1.02956350e-02 5.86274902e-01] [ 1.10699662e-01 -2.16545820e-03 9.93851546e-01 5.69142774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.485099893 meters 0.057579330381617284 Centerline is valid? [True, True] Translation: X:7.61, Y:0.59, Z:0.58 [[ 9.86526550e-01 -1.17828082e-01 -1.13498499e-01 7.61247023e+00] [ 1.17384513e-01 9.93029894e-01 -1.06069120e-02 5.88165891e-01] [ 1.13957194e-01 -2.85896570e-03 9.93481547e-01 5.75210181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.545099893 meters 0.05690844661177193 Centerline is valid? [True, True] Translation: X:7.67, Y:0.59, Z:0.58 [[ 9.86165568e-01 -1.17191274e-01 -1.17233434e-01 7.67000384e+00] [ 1.16713449e-01 9.93105193e-01 -1.09565860e-02 5.93126008e-01] [ 1.17709149e-01 -2.87771063e-03 9.93043944e-01 5.79033510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.605099892999998 meters 0.05656052793687812 Centerline is valid? [True, True] Translation: X:7.73, Y:0.60, Z:0.59 [[ 9.86963646e-01 -1.14455385e-01 -1.13149134e-01 7.72928399e+00] [ 1.13991873e-01 9.93425352e-01 -1.05793632e-02 6.01814080e-01] [ 1.13616083e-01 -2.45663487e-03 9.93521691e-01 5.86908611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.665099892999999 meters 0.057962474791858405 Centerline is valid? [True, True] Translation: X:7.79, Y:0.61, Z:0.59 [[ 9.86892205e-01 -1.15215464e-01 -1.13000761e-01 7.78763713e+00] [ 1.14757950e-01 9.93337279e-01 -1.05670931e-02 6.05341806e-01] [ 1.13465361e-01 -2.53915388e-03 9.93538708e-01 5.94178581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.725099893 meters 0.05727209471522591 Centerline is valid? [True, True] Translation: X:7.85, Y:0.61, Z:0.60 [[ 9.86561182e-01 -1.17424462e-01 -1.13615715e-01 7.84598013e+00] [ 1.16975044e-01 9.93077882e-01 -1.06376026e-02 6.06852954e-01] [ 1.14078369e-01 -2.79555748e-03 9.93467821e-01 5.97311009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.785099893 meters 0.056950562096192314 Centerline is valid? [True, True] Translation: X:7.90, Y:0.62, Z:0.61 [[ 9.87425922e-01 -1.11957444e-01 -1.11604565e-01 7.90447585e+00] [ 1.11488574e-01 9.93710739e-01 -1.04530380e-02 6.23357895e-01] [ 1.12072950e-01 -2.12103307e-03 9.93697718e-01 6.10049386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.845099892999999 meters 0.05744020672790549 Centerline is valid? [True, True] Translation: X:7.96, Y:0.62, Z:0.61 [[ 9.87860409e-01 -1.08828940e-01 -1.10851587e-01 7.96383551e+00] [ 1.08346736e-01 9.94058945e-01 -1.03826211e-02 6.23465430e-01] [ 1.11322941e-01 -1.75382733e-03 9.93782736e-01 6.10978799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.905099893 meters 0.05722414564934395 Centerline is valid? [True, True] Translation: X:8.02, Y:0.62, Z:0.61 [[ 9.87121515e-01 -1.13019461e-01 -1.13215351e-01 8.02332821e+00] [ 1.12542421e-01 9.93590201e-01 -1.06167931e-02 6.24585440e-01] [ 1.13689568e-01 -2.26146480e-03 9.93513748e-01 6.13668413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.965099893 meters 0.05691722057045745 Centerline is valid? [True, True] Translation: X:8.08, Y:0.64, Z:0.63 [[ 9.86095561e-01 -1.21200878e-01 -1.13692088e-01 8.08215577e+00] [ 1.20773700e-01 9.92622791e-01 -1.06634026e-02 6.35283945e-01] [ 1.14145771e-01 -3.21588009e-03 9.93458807e-01 6.25202884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.025099892999998 meters 0.0570253384503993 Centerline is valid? [True, True] Translation: X:8.14, Y:0.64, Z:0.63 [[ 9.87039399e-01 -1.14762495e-01 -1.12173059e-01 8.14131013e+00] [ 1.14305206e-01 9.93389968e-01 -1.05209745e-02 6.35952528e-01] [ 1.12639005e-01 -2.43734825e-03 9.93632988e-01 6.28906664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.085099892999999 meters 0.05695962653366382 Centerline is valid? [True, True] Translation: X:8.20, Y:0.64, Z:0.63 [[ 9.86776419e-01 -1.14839878e-01 -1.14385759e-01 8.19944354e+00] [ 1.14364549e-01 9.93380889e-01 -1.07312311e-02 6.42825875e-01] [ 1.14861000e-01 -2.49235005e-03 9.93378447e-01 6.33149410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.145099893 meters 0.056288101041792306 Centerline is valid? [True, True] Translation: X:8.26, Y:0.65, Z:0.64 [[ 9.86447930e-01 -1.18086564e-01 -1.13912444e-01 8.25687416e+00] [ 1.17635255e-01 9.92999228e-01 -1.06995612e-02 6.48188982e-01] [ 1.14378444e-01 -2.84555948e-03 9.93433176e-01 6.41810173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.205099893 meters 0.05713101128272631 Centerline is valid? [True, True] Translation: X:8.32, Y:0.66, Z:0.65 [[ 9.87907503e-01 -1.07688223e-01 -1.11543765e-01 8.31640777e+00] [ 1.07188974e-01 9.94183423e-01 -1.04806806e-02 6.59324311e-01] [ 1.12023608e-01 -1.60231873e-03 9.93704254e-01 6.49499948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.265099892999999 meters 0.057430312026756115 Centerline is valid? [True, True] Translation: X:8.37, Y:0.66, Z:0.66 [[ 9.88161458e-01 -1.05695029e-01 -1.11200239e-01 8.37453376e+00] [ 1.05185983e-01 9.94397650e-01 -1.04510007e-02 6.64785871e-01] [ 1.11681875e-01 -1.36943036e-03 9.93743067e-01 6.55622151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.325099892999999 meters 0.05741039109880654 Centerline is valid? [True, True] Translation: X:8.43, Y:0.67, Z:0.66 [[ 9.88168981e-01 -1.06384708e-01 -1.10473340e-01 8.43162602e+00] [ 1.05885180e-01 9.94324023e-01 -1.03954517e-02 6.69297085e-01] [ 1.10952213e-01 -1.42502665e-03 9.93824721e-01 6.62172879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.385099893 meters 0.05778275726916075 Centerline is valid? [True, True] Translation: X:8.49, Y:0.67, Z:0.67 [[ 9.87865639e-01 -1.08030905e-01 -1.11583161e-01 8.48900344e+00] [ 1.07530017e-01 9.94146231e-01 -1.05151033e-02 6.71996895e-01] [ 1.12065935e-01 -1.61102996e-03 9.93699467e-01 6.67211983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.445099892999998 meters 0.05760807828908565 Centerline is valid? [True, True] Translation: X:8.55, Y:0.68, Z:0.67 [[ 9.87646181e-01 -1.09293730e-01 -1.12293818e-01 8.54744448e+00] [ 1.08793923e-01 9.94007939e-01 -1.05876891e-02 6.77610729e-01] [ 1.12778114e-01 -1.75999425e-03 9.93618639e-01 6.74040608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.505099892999999 meters 0.05727519486298901 Centerline is valid? [True, True] Translation: X:8.60, Y:0.68, Z:0.68 [[ 9.87218101e-01 -1.11593216e-01 -1.13786534e-01 8.60497208e+00] [ 1.11093693e-01 9.93751884e-01 -1.07417316e-02 6.83162612e-01] [ 1.14274287e-01 -2.03653435e-03 9.93447150e-01 6.80658774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.565099893 meters 0.0574345508434702 Centerline is valid? [True, True] Translation: X:8.66, Y:0.69, Z:0.69 [[ 9.88241236e-01 -1.04169275e-01 -1.11928642e-01 8.66427078e+00] [ 1.03638044e-01 9.94558912e-01 -1.05700495e-02 6.94045169e-01] [ 1.12420702e-01 -1.15430675e-03 9.93660029e-01 6.86946037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.625099893 meters 0.057905497321639764 Centerline is valid? [True, True] Translation: X:8.72, Y:0.70, Z:0.69 [[ 9.88449161e-01 -1.02604852e-01 -1.11536993e-01 8.72176646e+00] [ 1.02067172e-01 9.94721721e-01 -1.05351960e-02 7.01638622e-01] [ 1.12029232e-01 -9.70759814e-04 9.93704437e-01 6.94199360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.685099892999999 meters 0.05832362109234515 Centerline is valid? [True, True] Translation: X:8.78, Y:0.71, Z:0.70 [[ 9.88410683e-01 -1.02712605e-01 -1.11778540e-01 8.77850377e+00] [ 1.02171653e-01 9.94710600e-01 -1.05723634e-02 7.08676214e-01] [ 1.12273213e-01 -9.70761195e-04 9.93676901e-01 7.01220747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.745099892999999 meters 0.05681005861669015 Centerline is valid? [True, True] Translation: X:8.84, Y:0.72, Z:0.71 [[ 9.88270963e-01 -1.03569098e-01 -1.12222747e-01 8.83638256e+00] [ 1.03027499e-01 9.94621700e-01 -1.06305264e-02 7.15042439e-01] [ 1.12720173e-01 -1.05618836e-03 9.93626211e-01 7.07754668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.805099893 meters 0.0577131034917109 Centerline is valid? [True, True] Translation: X:8.89, Y:0.72, Z:0.71 [[ 9.87901725e-01 -1.05948003e-01 -1.13248412e-01 8.89451866e+00] [ 1.05410371e-01 9.94370788e-01 -1.07419837e-02 7.20763738e-01] [ 1.13749005e-01 -1.32553290e-03 9.93508635e-01 7.14818775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.865099892999998 meters 0.057459986377202746 Centerline is valid? [True, True] Translation: X:8.95, Y:0.72, Z:0.72 [[ 9.87523556e-01 -1.08752832e-01 -1.13886118e-01 8.95325864e+00] [ 1.08226148e-01 9.94067461e-01 -1.08159028e-02 7.24229190e-01] [ 1.14386744e-01 -1.64449705e-03 9.93434934e-01 7.19060220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.925099892999999 meters 0.05751449332481091 Centerline is valid? [True, True] Translation: X:9.01, Y:0.73, Z:0.72 [[ 9.87312788e-01 -1.10638882e-01 -1.13896871e-01 9.01223708e+00] [ 1.10124134e-01 9.93858934e-01 -1.08209775e-02 7.27740608e-01] [ 1.14394644e-01 -1.85910480e-03 9.93433646e-01 7.23383147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.985099893 meters 0.057488244134436026 Centerline is valid? [True, True] Translation: X:9.07, Y:0.73, Z:0.73 [[ 9.88334071e-01 -1.03894645e-01 -1.11362773e-01 9.07167167e+00] [ 1.03358459e-01 9.94587763e-01 -1.05929107e-02 7.34138859e-01] [ 1.11860598e-01 -1.04095006e-03 9.93723363e-01 7.30185419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.045099893 meters 0.057628487222321556 Centerline is valid? [True, True] Translation: X:9.13, Y:0.74, Z:0.74 [[ 9.88189754e-01 -1.04733032e-01 -1.11857058e-01 9.12976757e+00] [ 1.04196930e-01 9.94499724e-01 -1.06442295e-02 7.41624088e-01] [ 1.12356615e-01 -1.13664353e-03 9.93667298e-01 7.37685096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.105099892999998 meters 0.058461367821392884 Centerline is valid? [True, True] Translation: X:9.19, Y:0.75, Z:0.75 [[ 9.89156147e-01 -9.54352735e-02 -1.11634337e-01 9.18768534e+00] [ 9.48407143e-02 9.95435635e-01 -1.06364811e-02 7.47570667e-01] [ 1.12139892e-01 -6.63395691e-05 9.93692427e-01 7.46218195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.165099892999999 meters 0.058597884463927344 Centerline is valid? [True, True] Translation: X:9.25, Y:0.75, Z:0.75 [[ 9.88747353e-01 -9.61885167e-02 -1.14570686e-01 9.24593926e+00] [ 9.55667014e-02 9.95363123e-01 -1.09205884e-02 7.48784862e-01] [ 1.15089871e-01 -1.51439710e-04 9.93355072e-01 7.46824888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.225099893 meters 0.05792701536911714 Centerline is valid? [True, True] Translation: X:9.30, Y:0.75, Z:0.76 [[ 9.89227719e-01 -9.63884936e-02 -1.10171587e-01 9.30373722e+00] [ 9.58143037e-02 9.95343776e-01 -1.05065391e-02 7.54690328e-01] [ 1.10671313e-01 -1.62654224e-04 9.93857049e-01 7.57891889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.285099892999998 meters 0.058123441496349834 Centerline is valid? [True, True] Translation: X:9.36, Y:0.76, Z:0.76 [[ 9.89186836e-01 -9.91308698e-02 -1.08085499e-01 9.36144593e+00] [ 9.85932081e-02 9.95074304e-01 -1.03203268e-02 7.58441718e-01] [ 1.08576166e-01 -4.47764729e-04 9.94088032e-01 7.64809577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.345099892999999 meters 0.05744235281451382 Centerline is valid? [True, True] Translation: X:9.42, Y:0.76, Z:0.77 [[ 9.88002827e-01 -1.08246723e-01 -1.10150171e-01 9.42043764e+00] [ 1.07742926e-01 9.94122987e-01 -1.05332602e-02 7.61826427e-01] [ 1.10643008e-01 -1.46101092e-03 9.93859140e-01 7.69235447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.405099893 meters 0.05731108033774186 Centerline is valid? [True, True] Translation: X:9.48, Y:0.77, Z:0.77 [[ 9.86860349e-01 -1.16611921e-01 -1.11840561e-01 9.47967064e+00] [ 1.16145761e-01 9.93174576e-01 -1.06969144e-02 7.67282879e-01] [ 1.12324589e-01 -2.43344641e-03 9.93668589e-01 7.73420653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.465099893 meters 0.05780326188549828 Centerline is valid? [True, True] Translation: X:9.54, Y:0.78, Z:0.78 [[ 9.88512061e-01 -1.04881318e-01 -1.08829287e-01 9.53814134e+00] [ 1.04368907e-01 9.94484172e-01 -1.04097668e-02 7.80830103e-01] [ 1.09320793e-01 -1.06821366e-03 9.94005947e-01 7.83005599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.525099892999998 meters 0.05760064184397362 Centerline is valid? [True, True] Translation: X:9.60, Y:0.78, Z:0.79 [[ 9.87960982e-01 -1.08018609e-01 -1.10747811e-01 9.59713672e+00] [ 1.07507581e-01 9.94147828e-01 -1.05931683e-02 7.82858833e-01] [ 1.11243955e-01 -1.44059228e-03 9.93792084e-01 7.86774012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.585099892999999 meters 0.058074566713727876 Centerline is valid? [True, True] Translation: X:9.66, Y:0.79, Z:0.79 [[ 9.87376998e-01 -1.11751322e-01 -1.12242178e-01 9.65618862e+00] [ 1.11250068e-01 9.93734419e-01 -1.07390760e-02 7.88515966e-01] [ 1.12739022e-01 -1.88343331e-03 9.93622849e-01 7.93504631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.645099893 meters 0.057774011448898224 Centerline is valid? [True, True] Translation: X:9.71, Y:0.79, Z:0.80 [[ 9.86937582e-01 -1.14018338e-01 -1.13815760e-01 9.71475023e+00] [ 1.13517673e-01 9.93476274e-01 -1.08917819e-02 7.89932230e-01] [ 1.14315120e-01 -2.17059125e-03 9.93442168e-01 7.97308626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.705099892999998 meters 0.057766413139703425 Centerline is valid? [True, True] Translation: X:9.77, Y:0.80, Z:0.80 [[ 9.86706133e-01 -1.15901245e-01 -1.13920625e-01 9.77283553e+00] [ 1.15411689e-01 9.93257874e-01 -1.09058594e-02 7.98845689e-01] [ 1.14416561e-01 -2.38689342e-03 9.93429994e-01 8.04059605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.765099892999999 meters 0.05755415266236527 Centerline is valid? [True, True] Translation: X:9.83, Y:0.81, Z:0.81 [[ 9.87927659e-01 -1.08999452e-01 -1.10082060e-01 9.83211829e+00] [ 1.08498275e-01 9.94040647e-01 -1.05506666e-02 8.05731787e-01] [ 1.10576059e-01 -1.52041823e-03 9.93866502e-01 8.12360356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.825099892999999 meters 0.05692371411204554 Centerline is valid? [True, True] Translation: X:9.89, Y:0.81, Z:0.82 [[ 9.88439746e-01 -1.07566058e-01 -1.06847611e-01 9.89003985e+00] [ 1.07085519e-01 9.94197065e-01 -1.02414670e-02 8.09941157e-01] [ 1.07329216e-01 -1.31875886e-03 9.94222661e-01 8.20602379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.885099893 meters 0.057167679099396795 Centerline is valid? [True, True] Translation: X:9.95, Y:0.81, Z:0.82 [[ 9.87437698e-01 -1.11915942e-01 -1.11541982e-01 9.95073352e+00] [ 1.11418301e-01 9.93715941e-01 -1.07047120e-02 8.13836953e-01] [ 1.12039074e-01 -1.85758198e-03 9.93702066e-01 8.22066398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.945099892999998 meters 0.05833664990753499 Centerline is valid? [True, True] Translation: X:10.01, Y:0.82, Z:0.83 [[ 9.87223577e-01 -1.09909771e-01 -1.15366595e-01 1.00075193e+01] [ 1.09363638e-01 9.93940139e-01 -1.10722841e-02 8.19410019e-01] [ 1.15884441e-01 -1.68609054e-03 9.93261271e-01 8.27760197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.005099892999999 meters 0.0583741552539781 Centerline is valid? [True, True] Translation: X:10.07, Y:0.83, Z:0.83 [[ 9.88209695e-01 -1.04742148e-01 -1.11672202e-01 1.00663860e+01] [ 1.04197089e-01 9.94498869e-01 -1.07222205e-02 8.26619830e-01] [ 1.12180947e-01 -1.04011609e-03 9.93687251e-01 8.34447745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.065099893 meters 0.05702365788921616 Centerline is valid? [True, True] Translation: X:10.13, Y:0.83, Z:0.84 [[ 9.90050352e-01 -9.42741129e-02 -1.04463832e-01 1.01253725e+01] [ 9.37390344e-02 9.95546268e-01 -1.00310056e-02 8.34985994e-01] [ 1.04944242e-01 1.38861871e-04 9.94478098e-01 8.44082591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.125099892999998 meters 0.057973360651935556 Centerline is valid? [True, True] Translation: X:10.18, Y:0.84, Z:0.84 [[ 9.89155897e-01 -9.50272207e-02 -1.11984105e-01 1.01833974e+01] [ 9.44162646e-02 9.95474672e-01 -1.07585494e-02 8.38747306e-01] [ 1.12499695e-01 6.87617528e-05 9.93651757e-01 8.44989950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.185099892999999 meters 0.05853945918850883 Centerline is valid? [True, True] Translation: X:10.24, Y:0.84, Z:0.85 [[ 9.89386803e-01 -9.28542560e-02 -1.11766909e-01 1.02406892e+01] [ 9.22311681e-02 9.95679659e-01 -1.07437299e-02 8.42505328e-01] [ 1.12281639e-01 3.21311997e-04 9.93676371e-01 8.53557562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.245099892999999 meters 0.057911350827761714 Centerline is valid? [True, True] Translation: X:10.30, Y:0.85, Z:0.86 [[ 9.90110635e-01 -8.83406712e-02 -1.08980992e-01 1.02981379e+01] [ 8.77194364e-02 9.96089976e-01 -1.04909140e-02 8.49130332e-01] [ 1.09481648e-01 8.27414334e-04 9.93988473e-01 8.60809141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.305099893 meters 0.05783015769256003 Centerline is valid? [True, True] Translation: X:10.36, Y:0.85, Z:0.87 [[ 9.89380787e-01 -9.66927557e-02 -1.08518059e-01 1.03563847e+01] [ 9.61262765e-02 9.95314273e-01 -1.04516139e-02 8.52419172e-01] [ 1.09020169e-01 -9.08109308e-05 9.94039534e-01 8.67033433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.365099892999998 meters 0.05781153316171988 Centerline is valid? [True, True] Translation: X:10.41, Y:0.85, Z:0.87 [[ 9.88407527e-01 -1.03760412e-01 -1.10834728e-01 1.04148474e+01] [ 1.03212262e-01 9.94601935e-01 -1.06873552e-02 8.54123491e-01] [ 1.11345360e-01 -8.76040739e-04 9.93781386e-01 8.69770774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.425099892999999 meters 0.05663042302974934 Centerline is valid? [True, True] Translation: X:10.47, Y:0.86, Z:0.88 [[ 9.86142572e-01 -1.20292457e-01 -1.14247764e-01 1.04742170e+01] [ 1.19819811e-01 9.92734488e-01 -1.10203851e-02 8.55618510e-01] [ 1.14743364e-01 -2.82147460e-03 9.93391161e-01 8.75046459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.485099893 meters 0.05718280789296122 Centerline is valid? [True, True] Translation: X:10.53, Y:0.86, Z:0.88 [[ 9.86257168e-01 -1.21081668e-01 -1.12410089e-01 1.05314033e+01] [ 1.20629069e-01 9.92638416e-01 -1.08444988e-02 8.58214902e-01] [ 1.12895643e-01 -2.86445976e-03 9.93602722e-01 8.79325753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.545099892999998 meters 0.057180437282198855 Centerline is valid? [True, True] Translation: X:10.59, Y:0.87, Z:0.89 [[ 9.87566490e-01 -1.12673193e-01 -1.09622898e-01 1.05892725e+01] [ 1.12190424e-01 9.93630381e-01 -1.05817740e-02 8.72539416e-01] [ 1.10116924e-01 -1.84843401e-03 9.93916921e-01 8.88678983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.605099892999998 meters 0.05616075792963175 Centerline is valid? [True, True] Translation: X:10.65, Y:0.88, Z:0.89 [[ 9.87637569e-01 -1.10861098e-01 -1.10823504e-01 1.06483130e+01] [ 1.10356079e-01 9.93834520e-01 -1.06996828e-02 8.75171202e-01] [ 1.11326403e-01 -1.66263877e-03 9.93782505e-01 8.94067398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.665099892999999 meters 0.0572839673805782 Centerline is valid? [True, True] Translation: X:10.71, Y:0.88, Z:0.90 [[ 9.86665868e-01 -1.17568958e-01 -1.12552235e-01 1.07079597e+01] [ 1.17090707e-01 9.93061698e-01 -1.08733977e-02 8.77421412e-01] [ 1.13049688e-01 -2.45041044e-03 9.93586314e-01 9.00278667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.725099893 meters 0.05708415431039455 Centerline is valid? [True, True] Translation: X:10.77, Y:0.88, Z:0.91 [[ 9.86182199e-01 -1.21175125e-01 -1.12965747e-01 1.07673602e+01] [ 1.20716784e-01 9.92626986e-01 -1.09144186e-02 8.84576209e-01] [ 1.13455405e-01 -2.87325637e-03 9.93538935e-01 9.06696315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.785099892999998 meters 0.056580165074995914 Centerline is valid? [True, True] Translation: X:10.82, Y:0.89, Z:0.91 [[ 9.86130641e-01 -1.22629818e-01 -1.11840448e-01 1.08248989e+01] [ 1.22189654e-01 9.92447923e-01 -1.08077727e-02 8.88452651e-01] [ 1.12321176e-01 -3.00786987e-03 9.93667402e-01 9.13151693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.845099892999999 meters 0.057621330016254205 Centerline is valid? [True, True] Translation: X:10.88, Y:0.89, Z:0.92 [[ 9.86008834e-01 -1.22201721e-01 -1.13372477e-01 1.08825564e+01] [ 1.21745024e-01 9.92500791e-01 -1.09694676e-02 8.94116566e-01] [ 1.13862761e-01 -2.98654305e-03 9.93491999e-01 9.17261865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.905099893 meters 0.05648596589188793 Centerline is valid? [True, True] Translation: X:10.94, Y:0.90, Z:0.93 [[ 9.86144687e-01 -1.22271102e-01 -1.12109029e-01 1.09407876e+01] [ 1.21823440e-01 9.92492364e-01 -1.08608251e-02 9.03016603e-01] [ 1.12595320e-01 -2.94716266e-03 9.93636557e-01 9.25199816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.965099892999998 meters 0.056275435175515594 Centerline is valid? [True, True] Translation: X:11.00, Y:0.90, Z:0.93 [[ 9.85897764e-01 -1.24533586e-01 -1.11789917e-01 1.09993836e+01] [ 1.24102724e-01 9.92210251e-01 -1.08319513e-02 9.01643134e-01] [ 1.12268044e-01 -3.19423670e-03 9.93672825e-01 9.30222753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.025099892999998 meters 0.05679120498330706 Centerline is valid? [True, True] Translation: X:11.06, Y:0.90, Z:0.94 [[ 9.85772000e-01 -1.26077211e-01 -1.11166999e-01 1.10576607e+01] [ 1.25660499e-01 9.92014784e-01 -1.07752853e-02 9.04317122e-01] [ 1.11637824e-01 -3.34732598e-03 9.93743323e-01 9.35127403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.085099892999999 meters 0.05673156089131781 Centerline is valid? [True, True] Translation: X:11.11, Y:0.91, Z:0.94 [[ 9.85848685e-01 -1.26310966e-01 -1.10217557e-01 1.11145848e+01] [ 1.25902432e-01 9.91985068e-01 -1.06865441e-02 9.13128875e-01] [ 1.10683999e-01 -3.34134307e-03 9.93850033e-01 9.41647092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.145099893 meters 0.05563887473666228 Centerline is valid? [True, True] Translation: X:11.17, Y:0.91, Z:0.95 [[ 9.85446165e-01 -1.28296595e-01 -1.11516096e-01 1.11739461e+01] [ 1.27889518e-01 9.91729334e-01 -1.08258993e-02 9.14586294e-01] [ 1.11982710e-01 -3.59339883e-03 9.93703658e-01 9.46765687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.205099892999998 meters 0.05680851609990121 Centerline is valid? [True, True] Translation: X:11.23, Y:0.93, Z:0.95 [[ 9.85276403e-01 -1.28289812e-01 -1.13013867e-01 1.12317449e+01] [ 1.27871469e-01 9.91730042e-01 -1.09731622e-02 9.28219010e-01] [ 1.13486992e-01 -3.63965136e-03 9.93532816e-01 9.52545925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.265099892999999 meters 0.05648215019302423 Centerline is valid? [True, True] Translation: X:11.29, Y:0.93, Z:0.96 [[ 9.86063477e-01 -1.25075157e-01 -1.09704261e-01 1.12907169e+01] [ 1.24659911e-01 9.92142233e-01 -1.06628494e-02 9.32130530e-01] [ 1.10175888e-01 -3.16147710e-03 9.93907078e-01 9.59092974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.325099892999999 meters 0.055202125126014315 Centerline is valid? [True, True] Translation: X:11.35, Y:0.94, Z:0.97 [[ 9.86368789e-01 -1.23212402e-01 -1.09065654e-01 1.13478693e+01] [ 1.22790505e-01 9.92375983e-01 -1.06019381e-02 9.40975091e-01] [ 1.09540426e-01 -2.93480594e-03 9.93978009e-01 9.68608823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.385099892999998 meters 0.056962410014937924 Centerline is valid? [True, True] Translation: X:11.41, Y:0.95, Z:0.97 [[ 9.85774229e-01 -1.23738517e-01 -1.13745105e-01 1.14069104e+01] [ 1.23282835e-01 9.92309951e-01 -1.10591156e-02 9.46617248e-01] [ 1.14238839e-01 -3.12102796e-03 9.93448412e-01 9.69265184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.445099892999998 meters 0.05526881077976562 Centerline is valid? [True, True] Translation: X:11.46, Y:0.95, Z:0.98 [[ 9.85697040e-01 -1.25685758e-01 -1.12269480e-01 1.14639358e+01] [ 1.25253998e-01 9.92064618e-01 -1.09192486e-02 9.50744758e-01] [ 1.12750972e-01 -3.29913013e-03 9.93617801e-01 9.77766651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.505099892999999 meters 0.05622342061168914 Centerline is valid? [True, True] Translation: X:11.52, Y:0.96, Z:0.98 [[ 9.86316633e-01 -1.22073873e-01 -1.10803739e-01 1.15237823e+01] [ 1.21629248e-01 9.92516966e-01 -1.07887999e-02 9.57909982e-01] [ 1.11291621e-01 -2.83580262e-03 9.93783746e-01 9.84634813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.565099893 meters 0.055633906398207436 Centerline is valid? [True, True] Translation: X:11.58, Y:0.96, Z:0.99 [[ 9.86889339e-01 -1.19270965e-01 -1.08737618e-01 1.15828105e+01] [ 1.18825661e-01 9.92858667e-01 -1.05891015e-02 9.62270271e-01] [ 1.09224059e-01 -2.47054797e-03 9.94014085e-01 9.89288618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.625099892999998 meters 0.055752084817872874 Centerline is valid? [True, True] Translation: X:11.64, Y:0.97, Z:1.00 [[ 9.87183477e-01 -1.16839425e-01 -1.08707555e-01 1.16405345e+01] [ 1.16379461e-01 9.93148384e-01 -1.05880882e-02 9.73390406e-01] [ 1.09199838e-01 -2.19894092e-03 9.94017384e-01 9.96962232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.685099892999999 meters 0.057530360979978504 Centerline is valid? [True, True] Translation: X:11.70, Y:0.98, Z:1.00 [[ 9.86890117e-01 -1.16483641e-01 -1.11711495e-01 1.16987194e+01] [ 1.15995126e-01 9.93190139e-01 -1.08848264e-02 9.77942329e-01] [ 1.12218660e-01 -2.21586129e-03 9.93681067e-01 1.00102117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.745099892999999 meters 0.056915713138504236 Centerline is valid? [True, True] Translation: X:11.76, Y:0.98, Z:1.01 [[ 9.86812708e-01 -1.16648239e-01 -1.12222400e-01 1.17560618e+01] [ 1.16155432e-01 9.93170772e-01 -1.09422441e-02 9.82642232e-01] [ 1.12732401e-01 -2.23729584e-03 9.93622866e-01 1.00578531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.805099892999998 meters 0.056358628015815426 Centerline is valid? [True, True] Translation: X:11.81, Y:0.99, Z:1.02 [[ 9.87509049e-01 -1.12799452e-01 -1.10009823e-01 1.18143694e+01] [ 1.12301371e-01 9.93616225e-01 -1.07330959e-02 9.93525862e-01] [ 1.10518233e-01 -1.75522465e-03 9.93872547e-01 1.01501957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.865099892999998 meters 0.05625145424852862 Centerline is valid? [True, True] Translation: X:11.87, Y:1.00, Z:1.02 [[ 9.87777361e-01 -1.12725537e-01 -1.07651468e-01 1.18724967e+01] [ 1.12247942e-01 9.93624698e-01 -1.05052186e-02 1.00220235e+00] [ 1.08149363e-01 -1.70683853e-03 9.94133191e-01 1.02288385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.925099892999999 meters 0.056555754419478854 Centerline is valid? [True, True] Translation: X:11.93, Y:1.01, Z:1.03 [[ 9.87002002e-01 -1.18199807e-01 -1.08884585e-01 1.19323520e+01] [ 1.17743068e-01 9.92987118e-01 -1.06373363e-02 1.00727166e+00] [ 1.09378322e-01 -2.32133285e-03 9.93997482e-01 1.02639755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.985099893 meters 0.05665064184067218 Centerline is valid? [True, True] Translation: X:11.99, Y:1.01, Z:1.03 [[ 9.86522461e-01 -1.20357494e-01 -1.10849032e-01 1.19905736e+01] [ 1.19897537e-01 9.92727194e-01 -1.08304367e-02 1.00889787e+00] [ 1.11346373e-01 -2.60605686e-03 9.93778242e-01 1.03168798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.045099892999998 meters 0.056616675400417045 Centerline is valid? [True, True] Translation: X:12.05, Y:1.01, Z:1.04 [[ 9.87342834e-01 -1.16962167e-01 -1.07116664e-01 1.20498365e+01] [ 1.16512385e-01 9.93134058e-01 -1.04693673e-02 1.01458462e+00] [ 1.07605727e-01 -2.14356324e-03 9.94191336e-01 1.04106559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.105099892999998 meters 0.05653410871360787 Centerline is valid? [True, True] Translation: X:12.11, Y:1.03, Z:1.05 [[ 9.88106102e-01 -1.08692316e-01 -1.08776426e-01 1.21082449e+01] [ 1.08178058e-01 9.94074644e-01 -1.06353633e-02 1.02710721e+00] [ 1.09287870e-01 -1.25835519e-03 9.94009345e-01 1.04825644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.165099892999999 meters 0.05740113981026005 Centerline is valid? [True, True] Translation: X:12.17, Y:1.02, Z:1.05 [[ 9.89734378e-01 -9.60865835e-02 -1.05798060e-01 1.21674643e+01] [ 9.55281248e-02 9.95372971e-01 -1.03453582e-02 1.02253145e+00] [ 1.06302580e-01 1.32466330e-04 9.94333819e-01 1.05389756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.225099892999998 meters 0.05760776825272989 Centerline is valid? [True, True] Translation: X:12.23, Y:1.03, Z:1.06 [[ 9.89930134e-01 -9.30968304e-02 -1.06636348e-01 1.22262514e+01] [ 9.25118281e-02 9.95656953e-01 -1.04304036e-02 1.02573918e+00] [ 1.07144259e-01 4.60247299e-04 9.94243379e-01 1.05925817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.285099892999998 meters 0.05760776825272989 Centerline is valid? [True, True] Translation: X:12.28, Y:1.03, Z:1.07 [[ 9.89916747e-01 -9.32404704e-02 -1.06635123e-01 1.22831030e+01] [ 9.26549520e-02 9.95643513e-01 -1.04429092e-02 1.03125679e+00] [ 1.07144270e-01 4.57338476e-04 9.94243379e-01 1.06523676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.345099892999999 meters 0.057241344946230184 Centerline is valid? [True, True] Translation: X:12.34, Y:1.04, Z:1.07 [[ 9.90031586e-01 -9.15241883e-02 -1.07055042e-01 1.23398467e+01] [ 9.09223700e-02 9.95802634e-01 -1.04993623e-02 1.03903511e+00] [ 1.07566639e-01 6.61002135e-04 9.94197657e-01 1.07158715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.405099893 meters 0.05755157754677094 Centerline is valid? [True, True] Translation: X:12.40, Y:1.05, Z:1.08 [[ 9.90049337e-01 -9.10411695e-02 -1.07302450e-01 1.23974634e+01] [ 9.04332026e-02 9.95846869e-01 -1.05284764e-02 1.04586307e+00] [ 1.07815334e-01 7.20006851e-04 9.94170677e-01 1.07718769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.465099892999998 meters 0.05703589589452628 Centerline is valid? [True, True] Translation: X:12.46, Y:1.05, Z:1.08 [[ 9.89996562e-01 -9.06390353e-02 -1.08126650e-01 1.24552632e+01] [ 9.00187277e-02 9.95883510e-01 -1.06143083e-02 1.05163856e+00] [ 1.08643619e-01 7.74705199e-04 9.94080462e-01 1.08293531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.525099892999998 meters 0.05721256910609933 Centerline is valid? [True, True] Translation: X:12.51, Y:1.06, Z:1.09 [[ 9.89904708e-01 -9.08536644e-02 -1.08785484e-01 1.25123605e+01] [ 9.02256161e-02 9.95863957e-01 -1.06919380e-02 1.05514836e+00] [ 1.09306944e-01 7.68762395e-04 9.94007747e-01 1.08979157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.585099892999999 meters 0.057390370854921054 Centerline is valid? [True, True] Translation: X:12.57, Y:1.06, Z:1.09 [[ 9.89821162e-01 -9.05075614e-02 -1.09829184e-01 1.25692755e+01] [ 8.98635293e-02 9.95895422e-01 -1.08099058e-02 1.06299791e+00] [ 1.10356759e-01 8.30235469e-04 9.93891692e-01 1.09341603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.645099892999998 meters 0.057415344736878995 Centerline is valid? [True, True] Translation: X:12.63, Y:1.07, Z:1.10 [[ 9.89716000e-01 -9.10829876e-02 -1.10300179e-01 1.26264162e+01] [ 9.04363380e-02 9.95843004e-01 -1.08618620e-02 1.06734673e+00] [ 1.10830992e-01 7.75014369e-04 9.93838966e-01 1.09888909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.705099892999998 meters 0.05709340834176543 Centerline is valid? [True, True] Translation: X:12.68, Y:1.07, Z:1.10 [[ 9.89653407e-01 -9.14763214e-02 -1.10536038e-01 1.26829891e+01] [ 9.08277162e-02 9.95806971e-01 -1.08996108e-02 1.07249925e+00] [ 1.11069614e-01 7.47101101e-04 9.93812348e-01 1.10323647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.765099892999999 meters 0.05803660937672908 Centerline is valid? [True, True] Translation: X:12.74, Y:1.08, Z:1.11 [[ 9.89540769e-01 -9.27479987e-02 -1.10484730e-01 1.27416471e+01] [ 9.21071239e-02 9.95689427e-01 -1.09014836e-02 1.07557626e+00] [ 1.11019568e-01 6.11031818e-04 9.93818033e-01 1.11065625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.825099892999999 meters 0.05634551835697385 Centerline is valid? [True, True] Translation: X:12.80, Y:1.09, Z:1.12 [[ 9.87183280e-01 -1.16616244e-01 -1.08948716e-01 1.27994370e+01] [ 1.16136331e-01 9.93174977e-01 -1.07618602e-02 1.08930417e+00] [ 1.09460147e-01 -2.02897571e-03 9.93989114e-01 1.11769938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.885099892999998 meters 0.05622474707919115 Centerline is valid? [True, True] Translation: X:12.86, Y:1.10, Z:1.12 [[ 9.87430956e-01 -1.14644687e-01 -1.08796608e-01 1.28576441e+01] [ 1.14154011e-01 9.93404919e-01 -1.07484203e-02 1.09610619e+00] [ 1.09311335e-01 -1.80624623e-03 9.94005920e-01 1.12396527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.945099892999998 meters 0.05647917804470513 Centerline is valid? [True, True] Translation: X:12.92, Y:1.10, Z:1.13 [[ 9.87495813e-01 -1.14450401e-01 -1.08411826e-01 1.29157358e+01] [ 1.13960696e-01 9.93427394e-01 -1.07225665e-02 1.10307283e+00] [ 1.08926480e-01 -1.76619767e-03 9.94048240e-01 1.13069954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.005099892999999 meters 0.05630977355237533 Centerline is valid? [True, True] Translation: X:12.97, Y:1.11, Z:1.14 [[ 9.87491299e-01 -1.14486753e-01 -1.08414564e-01 1.29724528e+01] [ 1.13995830e-01 9.93423220e-01 -1.07357286e-02 1.10682755e+00] [ 1.08930644e-01 -1.75736959e-03 9.94047799e-01 1.13616633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.065099892999998 meters 0.056453103448158855 Centerline is valid? [True, True] Translation: X:13.03, Y:1.11, Z:1.14 [[ 9.87422428e-01 -1.15111476e-01 -1.08380333e-01 1.30307169e+01] [ 1.14623874e-01 9.93350915e-01 -1.07390942e-02 1.11359487e+00] [ 1.08895896e-01 -1.81895121e-03 9.94051495e-01 1.14219763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.125099892999998 meters 0.05587205832934539 Centerline is valid? [True, True] Translation: X:13.09, Y:1.12, Z:1.15 [[ 9.87309310e-01 -1.15976225e-01 -1.08488897e-01 1.30890586e+01] [ 1.15491433e-01 9.93250166e-01 -1.07627397e-02 1.12126091e+00] [ 1.09004837e-01 -1.90338506e-03 9.94039397e-01 1.14852870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.185099892999999 meters 0.056413396033706764 Centerline is valid? [True, True] Translation: X:13.15, Y:1.12, Z:1.15 [[ 9.87184173e-01 -1.16646343e-01 -1.08908401e-01 1.31467568e+01] [ 1.16160411e-01 9.93171557e-01 -1.08174496e-02 1.12315998e+00] [ 1.09426542e-01 -1.97202955e-03 9.93992929e-01 1.15268213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.245099892999999 meters 0.05615924619493236 Centerline is valid? [True, True] Translation: X:13.20, Y:1.13, Z:1.16 [[ 9.87044007e-01 -1.17350354e-01 -1.09421303e-01 1.32045480e+01] [ 1.16863604e-01 9.93088451e-01 -1.08732214e-02 1.12902146e+00] [ 1.09941009e-01 -2.05501980e-03 9.93935990e-01 1.15817455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.305099892999998 meters 0.05654919672508497 Centerline is valid? [True, True] Translation: X:13.26, Y:1.13, Z:1.17 [[ 9.86943630e-01 -1.18562930e-01 -1.09018822e-01 1.32628391e+01] [ 1.18086614e-01 9.92944153e-01 -1.08379141e-02 1.13368556e+00] [ 1.09534577e-01 -2.17725330e-03 9.93980601e-01 1.16612182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.365099892999998 meters 0.05673257527991051 Centerline is valid? [True, True] Translation: X:13.32, Y:1.13, Z:1.17 [[ 9.86575551e-01 -1.23343052e-01 -1.07028847e-01 1.33222316e+01] [ 1.22911263e-01 9.92360551e-01 -1.06469666e-02 1.13439995e+00] [ 1.07524435e-01 -2.65101378e-03 9.94198908e-01 1.17380561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.425099892999999 meters 0.05595060778958315 Centerline is valid? [True, True] Translation: X:13.38, Y:1.15, Z:1.18 [[ 9.86550018e-01 -1.21791657e-01 -1.09022262e-01 1.33799219e+01] [ 1.21333983e-01 9.92552471e-01 -1.08470251e-02 1.14639964e+00] [ 1.09531392e-01 -2.52697242e-03 9.93980125e-01 1.18002160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.485099892999997 meters 0.05612427157631699 Centerline is valid? [True, True] Translation: X:13.44, Y:1.15, Z:1.18 [[ 9.86821792e-01 -1.18514347e-01 -1.10168511e-01 1.34389509e+01] [ 1.18025358e-01 9.92949958e-01 -1.09724754e-02 1.14741131e+00] [ 1.10692214e-01 -2.17480011e-03 9.93852355e-01 1.18244969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.545099892999998 meters 0.055794712998986806 Centerline is valid? [True, True] Translation: X:13.50, Y:1.16, Z:1.19 [[ 9.86777086e-01 -1.18481492e-01 -1.10603433e-01 1.34964312e+01] [ 1.17988034e-01 9.92953876e-01 -1.10192636e-02 1.15542125e+00] [ 1.11129686e-01 -2.17632476e-03 9.93803530e-01 1.18828939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.605099892999998 meters 0.05576062168333632 Centerline is valid? [True, True] Translation: X:13.55, Y:1.16, Z:1.19 [[ 9.86705341e-01 -1.18785604e-01 -1.10916863e-01 1.35538516e+01] [ 1.18289751e-01 9.92917481e-01 -1.10638967e-02 1.15755037e+00] [ 1.11445524e-01 -2.20352225e-03 9.93768102e-01 1.19272118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.665099892999999 meters 0.05713556565171861 Centerline is valid? [True, True] Translation: X:13.61, Y:1.17, Z:1.20 [[ 9.87674197e-01 -1.14452446e-01 -1.06772272e-01 1.36120117e+01] [ 1.13967302e-01 9.93427366e-01 -1.06547167e-02 1.17168228e+00] [ 1.07289955e-01 -1.64515901e-03 9.94226412e-01 1.20463167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.725099892999998 meters 0.05628161176176629 Centerline is valid? [True, True] Translation: X:13.67, Y:1.18, Z:1.21 [[ 9.87306247e-01 -1.15402683e-01 -1.09126514e-01 1.36700343e+01] [ 1.14901385e-01 9.93317187e-01 -1.08920729e-02 1.17638038e+00] [ 1.09654217e-01 -1.78497598e-03 9.93968192e-01 1.20921906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.785099892999998 meters 0.05664248907986776 Centerline is valid? [True, True] Translation: X:13.73, Y:1.18, Z:1.21 [[ 9.86642159e-01 -1.18675202e-01 -1.11595010e-01 1.37286042e+01] [ 1.18170323e-01 9.92930724e-01 -1.11513179e-02 1.17699524e+00] [ 1.12129499e-01 -2.18485796e-03 9.93691200e-01 1.21173453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.845099892999999 meters 0.05658557691880478 Centerline is valid? [True, True] Translation: X:13.79, Y:1.18, Z:1.22 [[ 9.86343726e-01 -1.20739932e-01 -1.12017508e-01 1.37876837e+01] [ 1.20244068e-01 9.92681211e-01 -1.11971816e-02 1.18316973e+00] [ 1.12549623e-01 -2.42517101e-03 9.93643146e-01 1.21792544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.905099892999997 meters 0.05672333852900143 Centerline is valid? [True, True] Translation: X:13.85, Y:1.19, Z:1.22 [[ 9.86132542e-01 -1.22448271e-01 -1.12022459e-01 1.38460924e+01] [ 1.21963124e-01 9.92471443e-01 -1.11996047e-02 1.18779249e+00] [ 1.12550464e-01 -2.61831438e-03 9.93642560e-01 1.22417118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.965099892999998 meters 0.055799798406459655 Centerline is valid? [True, True] Translation: X:13.90, Y:1.18, Z:1.23 [[ 9.86072983e-01 -1.26354876e-01 -1.08141197e-01 1.39046224e+01] [ 1.25925913e-01 9.91980704e-01 -1.08141839e-02 1.18306853e+00] [ 1.08640405e-01 -2.95420428e-03 9.94076725e-01 1.22967286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.025099892999997 meters 0.05572726451866797 Centerline is valid? [True, True] Translation: X:13.96, Y:1.19, Z:1.24 [[ 9.85311392e-01 -1.29937333e-01 -1.10805012e-01 1.39648538e+01] [ 1.29509134e-01 9.91516278e-01 -1.10839388e-02 1.18791241e+00] [ 1.11305191e-01 -3.42913000e-03 9.93780356e-01 1.23519933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.085099893 meters 0.055257858906171964 Centerline is valid? [True, True] Translation: X:14.02, Y:1.20, Z:1.24 [[ 9.85057989e-01 -1.31549712e-01 -1.11154992e-01 1.40233182e+01] [ 1.31128998e-01 9.91302956e-01 -1.11191722e-02 1.19754859e+00] [ 1.11650996e-01 -3.62261336e-03 9.93740878e-01 1.24241365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.145099892999998 meters 0.055749989319920965 Centerline is valid? [True, True] Translation: X:14.08, Y:1.19, Z:1.25 [[ 9.84985704e-01 -1.32243931e-01 -1.10971644e-01 1.40819894e+01] [ 1.31828766e-01 9.91210323e-01 -1.11028324e-02 1.19388445e+00] [ 1.11464521e-01 -3.69312369e-03 9.93761552e-01 1.24655255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.205099893 meters 0.055749989319920965 Centerline is valid? [True, True] Translation: X:14.14, Y:1.20, Z:1.25 [[ 9.84969673e-01 -1.32363703e-01 -1.10971135e-01 1.41388696e+01] [ 1.31948724e-01 9.91194304e-01 -1.11079146e-02 1.19954661e+00] [ 1.11464242e-01 -3.70154056e-03 9.93761552e-01 1.25253259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.265099893 meters 0.05554613734768732 Centerline is valid? [True, True] Translation: X:14.20, Y:1.21, Z:1.26 [[ 9.84588845e-01 -1.34289297e-01 -1.12032097e-01 1.41977660e+01] [ 1.33877289e-01 9.90934319e-01 -1.12270325e-02 1.20970349e+00] [ 1.12524120e-01 -3.94454248e-03 9.93641164e-01 1.25855987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.325099892999997 meters 0.05659915394029351 Centerline is valid? [True, True] Translation: X:14.26, Y:1.22, Z:1.26 [[ 9.85727240e-01 -1.26028112e-01 -1.11618653e-01 1.42574917e+01] [ 1.25566215e-01 9.92022169e-01 -1.11866841e-02 1.22171560e+00] [ 1.12138015e-01 -2.98851263e-03 9.93688147e-01 1.26338117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.385099893 meters 0.055090984472146096 Centerline is valid? [True, True] Translation: X:14.31, Y:1.23, Z:1.28 [[ 9.85819827e-01 -1.26044370e-01 -1.10779448e-01 1.43147219e+01] [ 1.25589111e-01 9.92020177e-01 -1.11060485e-02 1.23123772e+00] [ 1.11295303e-01 -2.96412971e-03 9.93782959e-01 1.27585639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.445099893 meters 0.0562442264963095 Centerline is valid? [True, True] Translation: X:14.38, Y:1.23, Z:1.28 [[ 9.84386365e-01 -1.33995887e-01 -1.14142838e-01 1.43760277e+01] [ 1.33564396e-01 9.90973937e-01 -1.14546097e-02 1.23282552e+00] [ 1.14647449e-01 -3.96965768e-03 9.93398311e-01 1.27634862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.505099892999997 meters 0.05592674163759458 Centerline is valid? [True, True] Translation: X:14.43, Y:1.24, Z:1.28 [[ 9.84373289e-01 -1.35457858e-01 -1.12518430e-01 1.44336391e+01] [ 1.35048023e-01 9.90774709e-01 -1.12919548e-02 1.23588688e+00] [ 1.13009999e-01 -4.07989285e-03 9.93585474e-01 1.28348779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.565099893 meters 0.05572594950269542 Centerline is valid? [True, True] Translation: X:14.49, Y:1.24, Z:1.29 [[ 9.85202623e-01 -1.30729121e-01 -1.10840830e-01 1.44926572e+01] [ 1.30301117e-01 9.91412018e-01 -1.11278388e-02 1.24131689e+00] [ 1.11343664e-01 -3.47950806e-03 9.93775871e-01 1.28911940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.625099892999998 meters 0.056257275979804636 Centerline is valid? [True, True] Translation: X:14.55, Y:1.25, Z:1.30 [[ 9.84960473e-01 -1.33929468e-01 -1.09159350e-01 1.45513656e+01] [ 1.33533853e-01 9.90983651e-01 -1.09596287e-02 1.24602015e+00] [ 1.09642948e-01 -3.78166758e-03 9.93963844e-01 1.29706047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.685099892999997 meters 0.05612495581955074 Centerline is valid? [True, True] Translation: X:14.61, Y:1.26, Z:1.30 [[ 9.84296819e-01 -1.33557672e-01 -1.15421490e-01 1.46080930e+01] [ 1.33112457e-01 9.91033153e-01 -1.15915412e-02 1.26156124e+00] [ 1.15934663e-01 -3.95452095e-03 9.93248970e-01 1.30321767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.745099893 meters 0.05693935355956396 Centerline is valid? [True, True] Translation: X:14.67, Y:1.25, Z:1.30 [[ 9.84722477e-01 -1.33774461e-01 -1.11472136e-01 1.46674568e+01] [ 1.33359216e-01 9.91004402e-01 -1.12069463e-02 1.24858576e+00] [ 1.11968581e-01 -3.83010483e-03 9.93704366e-01 1.30416272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.805099892999998 meters 0.05521695978631746 Centerline is valid? [True, True] Translation: X:14.72, Y:1.27, Z:1.31 [[ 9.84829752e-01 -1.32564653e-01 -1.11968621e-01 1.47238605e+01] [ 1.32137391e-01 9.91167437e-01 -1.12614870e-02 1.26677090e+00] [ 1.12472527e-01 -3.70459402e-03 9.93647929e-01 1.31277636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.865099892999996 meters 0.056191443840469917 Centerline is valid? [True, True] Translation: X:14.78, Y:1.27, Z:1.31 [[ 9.84304529e-01 -1.33526567e-01 -1.15391722e-01 1.47828103e+01] [ 1.33078922e-01 9.91037446e-01 -1.16095222e-02 1.26918714e+00] [ 1.15907697e-01 -3.92890060e-03 9.93252218e-01 1.31398668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.925099893 meters 0.05650167020045396 Centerline is valid? [True, True] Translation: X:14.84, Y:1.28, Z:1.32 [[ 9.84884036e-01 -1.30351516e-01 -1.14069790e-01 1.48417882e+01] [ 1.29892577e-01 9.91461624e-01 -1.14789365e-02 1.27649868e+00] [ 1.14592116e-01 -3.51139774e-03 9.93406421e-01 1.32305214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.985099892999997 meters 0.0565408079069105 Centerline is valid? [True, True] Translation: X:14.90, Y:1.29, Z:1.33 [[ 9.85207352e-01 -1.29446770e-01 -1.12294290e-01 1.48994751e+01] [ 1.28996199e-01 9.91580704e-01 -1.12999128e-02 1.28744059e+00] [ 1.12811589e-01 -3.35277946e-03 9.93610741e-01 1.33042088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.045099893 meters 0.05492912856929058 Centerline is valid? [True, True] Translation: X:14.96, Y:1.30, Z:1.34 [[ 9.85552621e-01 -1.28606668e-01 -1.10210511e-01 1.49557456e+01] [ 1.28167034e-01 9.91690545e-01 -1.10938627e-02 1.29684194e+00] [ 1.10721466e-01 -3.19176880e-03 9.93846351e-01 1.34066523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.105099893 meters 0.05710346452401028 Centerline is valid? [True, True] Translation: X:15.02, Y:1.29, Z:1.34 [[ 9.85531932e-01 -1.27222071e-01 -1.11988191e-01 1.50155544e+01] [ 1.26758636e-01 9.91869474e-01 -1.12780270e-02 1.29447599e+00] [ 1.12512482e-01 -3.08061462e-03 9.93645536e-01 1.33854898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.165099892999997 meters 0.05596012122943299 Centerline is valid? [True, True] Translation: X:15.07, Y:1.31, Z:1.35 [[ 9.83801075e-01 -1.33795000e-01 -1.19307762e-01 1.50740999e+01] [ 1.33315536e-01 9.91000660e-01 -1.20274252e-02 1.30720177e+00] [ 1.19843281e-01 -4.07298444e-03 9.92784467e-01 1.34788908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.225099893 meters 0.055954411622674095 Centerline is valid? [True, True] Translation: X:15.13, Y:1.31, Z:1.35 [[ 9.83158120e-01 -1.37692630e-01 -1.20170094e-01 1.51345410e+01] [ 1.37235121e-01 9.90464414e-01 -1.21147154e-02 1.31111486e+00] [ 1.20692309e-01 -4.58087653e-03 9.92679395e-01 1.35044033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.285099892999998 meters 0.0561033269830749 Centerline is valid? [True, True] Translation: X:15.19, Y:1.32, Z:1.36 [[ 9.84859507e-01 -1.28972866e-01 -1.15835018e-01 1.51932628e+01] [ 1.28487629e-01 9.91642354e-01 -1.16777630e-02 1.31737059e+00] [ 1.16373024e-01 -3.38241091e-03 9.93199818e-01 1.36001440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.345099892999997 meters 0.05590776021614635 Centerline is valid? [True, True] Translation: X:15.25, Y:1.33, Z:1.37 [[ 9.86382947e-01 -1.21666413e-01 -1.10661490e-01 1.52514236e+01] [ 1.21177619e-01 9.92568135e-01 -1.11571532e-02 1.32529986e+00] [ 1.11196520e-01 -2.40447026e-03 9.93795529e-01 1.36841784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.405099893 meters 0.055588088905964464 Centerline is valid? [True, True] Translation: X:15.31, Y:1.34, Z:1.38 [[ 9.86349645e-01 -1.23139339e-01 -1.09320996e-01 1.53089407e+01] [ 1.22671242e-01 9.92386145e-01 -1.10229377e-02 1.33502203e+00] [ 1.09845999e-01 -2.53807157e-03 9.93945378e-01 1.37632484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.465099892999998 meters 0.055701121826024914 Centerline is valid? [True, True] Translation: X:15.37, Y:1.34, Z:1.38 [[ 9.85073932e-01 -1.28037639e-01 -1.15046560e-01 1.53691145e+01] [ 1.27550950e-01 9.91764034e-01 -1.16127749e-02 1.33819675e+00] [ 1.15585913e-01 -3.23485616e-03 9.93292219e-01 1.37996695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.525099892999997 meters 0.0556466015656902 Centerline is valid? [True, True] Translation: X:15.43, Y:1.36, Z:1.39 [[ 9.87437140e-01 -1.08658442e-01 -1.14722433e-01 1.54263343e+01] [ 1.08043884e-01 9.94078679e-01 -1.15801027e-02 1.35570212e+00] [ 1.15301401e-01 -9.60433739e-04 9.93330088e-01 1.38629153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.585099893 meters 0.05660976195355807 Centerline is valid? [True, True] Translation: X:15.48, Y:1.36, Z:1.40 [[ 9.88017524e-01 -1.04854951e-01 -1.13255517e-01 1.54838599e+01] [ 1.04230902e-01 9.94487396e-01 -1.14340544e-02 1.36367368e+00] [ 1.13830102e-01 -5.07678616e-04 9.93500101e-01 1.39613489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.645099892999998 meters 0.056178565591023084 Centerline is valid? [True, True] Translation: X:15.54, Y:1.37, Z:1.40 [[ 9.88459027e-01 -1.01913327e-01 -1.12082227e-01 1.55420132e+01] [ 1.01281941e-01 9.94793270e-01 -1.13277875e-02 1.36838613e+00] [ 1.12653098e-01 -1.54851728e-04 9.93634367e-01 1.39870480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.705099892999996 meters 0.057073017223769645 Centerline is valid? [True, True] Translation: X:15.60, Y:1.37, Z:1.41 [[ 9.88591898e-01 -1.01448592e-01 -1.11329436e-01 1.55999220e+01] [ 1.00821284e-01 9.94840779e-01 -1.12646870e-02 1.37486788e+00] [ 1.11897850e-01 -8.81984551e-05 9.93719711e-01 1.40943902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.765099893 meters 0.057185649113197345 Centerline is valid? [True, True] Translation: X:15.66, Y:1.38, Z:1.41 [[ 9.88753132e-01 -1.00363989e-01 -1.10879729e-01 1.56573026e+01] [ 9.97335915e-02 9.94950786e-01 -1.12313480e-02 1.38085068e+00] [ 1.11447096e-01 4.65969431e-05 9.93770367e-01 1.41495993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.825099892999997 meters 0.05721866611008232 Centerline is valid? [True, True] Translation: X:15.71, Y:1.39, Z:1.42 [[ 9.88954113e-01 -9.79591626e-02 -1.11237427e-01 1.57146347e+01] [ 9.73089565e-02 9.95190383e-01 -1.12724987e-02 1.38803856e+00] [ 1.11806662e-01 3.23586038e-04 9.93729926e-01 1.41920085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.885099893 meters 0.057425372064519135 Centerline is valid? [True, True] Translation: X:15.77, Y:1.39, Z:1.43 [[ 9.89051717e-01 -9.67260911e-02 -1.11448482e-01 1.57730235e+01] [ 9.60649887e-02 9.95310928e-01 -1.12993326e-02 1.39351706e+00] [ 1.12018832e-01 4.69327197e-04 9.93705973e-01 1.42689015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.945099893 meters 0.05760591652743017 Centerline is valid? [True, True] Translation: X:15.83, Y:1.40, Z:1.43 [[ 9.89723279e-01 -9.07640157e-02 -1.10497618e-01 1.58303914e+01] [ 9.00756291e-02 9.95871767e-01 -1.12162924e-02 1.40082789e+00] [ 1.11059494e-01 1.14788329e-03 9.93813097e-01 1.43090855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.005099892999997 meters 0.05790553974802779 Centerline is valid? [True, True] Translation: X:15.89, Y:1.36, Z:1.44 [[ 9.90623756e-01 -8.43521545e-02 -1.07467610e-01 1.58936025e+01] [ 8.36621617e-02 9.96434330e-01 -1.09210369e-02 1.36006111e+00] [ 1.08005629e-01 1.82766600e-03 9.94148602e-01 1.44370612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.065099893 meters 0.057893403402590596 Centerline is valid? [True, True] Translation: X:15.95, Y:1.37, Z:1.45 [[ 9.90625465e-01 -8.49700671e-02 -1.06963901e-01 1.59514629e+01] [ 8.42899327e-02 9.96381961e-01 -1.08717825e-02 1.36948777e+00] [ 1.07500678e-01 1.75388456e-03 9.94203464e-01 1.44898517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.125099892999998 meters 0.0570983173868263 Centerline is valid? [True, True] Translation: X:16.01, Y:1.37, Z:1.46 [[ 9.90888594e-01 -8.59530423e-02 -1.03691218e-01 1.60096863e+01] [ 8.53187451e-02 9.96297900e-01 -1.05453891e-02 1.36931211e+00] [ 1.04213751e-01 1.60250115e-03 9.94553632e-01 1.45703412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.185099892999997 meters 0.0581290137237653 Centerline is valid? [True, True] Translation: X:16.07, Y:1.33, Z:1.46 [[ 9.90685104e-01 -8.43615667e-02 -1.06893178e-01 1.60729329e+01] [ 8.36767826e-02 9.96433515e-01 -1.08832991e-02 1.32501423e+00] [ 1.07430077e-01 1.83744514e-03 9.94210945e-01 1.46256074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.245099893 meters 0.057904403118500855 Centerline is valid? [True, True] Translation: X:16.13, Y:1.33, Z:1.47 [[ 9.90611488e-01 -8.32113878e-02 -1.08465405e-01 1.61309869e+01] [ 8.24979186e-02 9.96529903e-01 -1.10565229e-02 1.33430220e+00] [ 1.09009048e-01 2.00454845e-03 9.94038736e-01 1.46789960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.305099892999998 meters 0.05838993691556619 Centerline is valid? [True, True] Translation: X:16.19, Y:1.34, Z:1.47 [[ 9.90556269e-01 -8.25531877e-02 -1.09468027e-01 1.61894749e+01] [ 8.18210797e-02 9.96584430e-01 -1.11707327e-02 1.33788371e+00] [ 1.10016311e-01 2.10844720e-03 9.93927546e-01 1.47273939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.365099892999996 meters 0.05955096786116355 Centerline is valid? [True, True] Translation: X:16.25, Y:1.34, Z:1.48 [[ 9.90490014e-01 -8.19014310e-02 -1.10551739e-01 1.62483009e+01] [ 8.11491889e-02 9.96637971e-01 -1.12943928e-02 1.33926768e+00] [ 1.11105088e-01 2.21579929e-03 9.93806193e-01 1.47716646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.425099893 meters 0.05908303710059661 Centerline is valid? [True, True] Translation: X:16.31, Y:1.33, Z:1.48 [[ 9.90490544e-01 -8.21146588e-02 -1.10388697e-01 1.63068532e+01] [ 8.13645062e-02 9.96620457e-01 -1.12907821e-02 1.33273761e+00] [ 1.10942772e-01 2.20169108e-03 9.93824358e-01 1.48254179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.485099892999997 meters 0.058623977079838234 Centerline is valid? [True, True] Translation: X:16.37, Y:1.33, Z:1.49 [[ 9.90205202e-01 -8.65367234e-02 -1.09567570e-01 1.63658950e+01] [ 8.58231377e-02 9.96247198e-01 -1.12209367e-02 1.32800147e+00] [ 1.10127408e-01 1.70759725e-03 9.93916012e-01 1.49192664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.545099892999996 meters 0.058391833594614626 Centerline is valid? [True, True] Translation: X:16.42, Y:1.33, Z:1.49 [[ 9.89644706e-01 -9.16024007e-02 -1.10509533e-01 1.64247874e+01] [ 9.09076991e-02 9.95794991e-01 -1.13192831e-02 1.32841396e+00] [ 1.11081713e-01 1.15590116e-03 9.93810604e-01 1.49473682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.605099893 meters 0.058193205817161704 Centerline is valid? [True, True] Translation: X:16.48, Y:1.32, Z:1.50 [[ 9.89195432e-01 -9.57681580e-02 -1.10999358e-01 1.64847929e+01] [ 9.50931148e-02 9.95403425e-01 -1.13719375e-02 1.32135836e+00] [ 1.11578211e-01 6.93793960e-04 9.93755413e-01 1.50007137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.665099892999997 meters 0.05815066631907545 Centerline is valid? [True, True] Translation: X:16.54, Y:1.32, Z:1.51 [[ 9.88680775e-01 -1.02429740e-01 -1.09628797e-01 1.65433547e+01] [ 1.01810856e-01 9.94740241e-01 -1.12429236e-02 1.31916459e+00] [ 1.10203785e-01 -4.57391423e-05 9.93909012e-01 1.50855700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.725099893 meters 0.05711218838741488 Centerline is valid? [True, True] Translation: X:16.60, Y:1.32, Z:1.52 [[ 9.88543940e-01 -1.06363514e-01 -1.07087261e-01 1.66011754e+01] [ 1.05794819e-01 9.94327205e-01 -1.09939190e-02 1.31869579e+00] [ 1.07649129e-01 -4.61305365e-04 9.94188841e-01 1.51618437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.785099892999998 meters 0.05878863894131105 Centerline is valid? [True, True] Translation: X:16.66, Y:1.31, Z:1.52 [[ 9.87471256e-01 -1.15801493e-01 -1.07193899e-01 1.66619305e+01] [ 1.15286594e-01 9.93271264e-01 -1.10089987e-02 1.30945413e+00] [ 1.07747478e-01 -1.48694979e-03 9.94177182e-01 1.52224239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.845099892999997 meters 0.05852868438049438 Centerline is valid? [True, True] Translation: X:16.72, Y:1.31, Z:1.53 [[ 9.86333267e-01 -1.21101048e-01 -1.11719396e-01 1.67206690e+01] [ 1.20575498e-01 9.92637849e-01 -1.14739159e-02 1.31424367e+00] [ 1.12286404e-01 -2.15351678e-03 9.93673551e-01 1.52673306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.905099893 meters 0.05867356070432501 Centerline is valid? [True, True] Translation: X:16.78, Y:1.32, Z:1.53 [[ 9.86061242e-01 -1.23941629e-01 -1.11003147e-01 1.67787542e+01] [ 1.23440510e-01 9.92286464e-01 -1.14023693e-02 1.31515983e+00] [ 1.11560148e-01 -2.45885057e-03 9.93754641e-01 1.53173684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.965099892999998 meters 0.058612745346186684 Centerline is valid? [True, True] Translation: X:16.84, Y:1.33, Z:1.54 [[ 9.85636595e-01 -1.26264899e-01 -1.12150250e-01 1.68364827e+01] [ 1.25767904e-01 9.91992758e-01 -1.15239805e-02 1.32679847e+00] [ 1.12707310e-01 -2.74644490e-03 9.93624436e-01 1.53682068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.025099892999997 meters 0.059440204358170885 Centerline is valid? [True, True] Translation: X:16.89, Y:1.34, Z:1.54 [[ 9.85630821e-01 -1.27688678e-01 -1.10577963e-01 1.68945628e+01] [ 1.27214094e-01 9.91810161e-01 -1.13657045e-02 1.33557124e+00] [ 1.11123619e-01 -2.86468676e-03 9.93802463e-01 1.54476656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.085099893 meters 0.05870611714052733 Centerline is valid? [True, True] Translation: X:16.95, Y:1.35, Z:1.55 [[ 9.85425514e-01 -1.30170075e-01 -1.09509397e-01 1.69515178e+01] [ 1.29718674e-01 9.91486825e-01 -1.12668268e-02 1.35472122e+00] [ 1.10043728e-01 -3.10279512e-03 9.93921904e-01 1.55432599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.145099892999998 meters 0.05941417214296984 Centerline is valid? [True, True] Translation: X:17.01, Y:1.36, Z:1.56 [[ 9.84619313e-01 -1.35379984e-01 -1.10440336e-01 1.70108139e+01] [ 1.34953066e-01 9.90786796e-01 -1.13663686e-02 1.36277073e+00] [ 1.10961606e-01 -3.71271598e-03 9.93817759e-01 1.55604626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.205099892999996 meters 0.05779725893080457 Centerline is valid? [True, True] Translation: X:17.07, Y:1.39, Z:1.57 [[ 9.84358477e-01 -1.36829150e-01 -1.10978253e-01 1.70667178e+01] [ 1.36407170e-01 9.90587006e-01 -1.14222677e-02 1.39196046e+00] [ 1.11496515e-01 -3.89462350e-03 9.93757193e-01 1.56599076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.265099893 meters 0.05740726208903914 Centerline is valid? [True, True] Translation: X:17.12, Y:1.42, Z:1.57 [[ 9.84678036e-01 -1.35216903e-01 -1.10116094e-01 1.71241201e+01] [ 1.34791115e-01 9.90809187e-01 -1.13362090e-02 1.41725404e+00] [ 1.10636885e-01 -3.68015517e-03 9.93854082e-01 1.57234208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.325099892999997 meters 0.057904836090398544 Centerline is valid? [True, True] Translation: X:17.18, Y:1.43, Z:1.58 [[ 9.84772584e-01 -1.33083279e-01 -1.11856154e-01 1.71820547e+01] [ 1.32629919e-01 9.91098704e-01 -1.15179867e-02 1.42794026e+00] [ 1.12393340e-01 -3.49287503e-03 9.93657656e-01 1.57525832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.385099892999996 meters 0.057350429323393425 Centerline is valid? [True, True] Translation: X:17.24, Y:1.45, Z:1.58 [[ 9.85255229e-01 -1.27630904e-01 -1.13940709e-01 1.72393250e+01] [ 1.27123842e-01 9.91817429e-01 -1.17352734e-02 1.45365258e+00] [ 1.14506165e-01 -2.92234120e-03 9.93418239e-01 1.58285010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.445099893 meters 0.05748809781685247 Centerline is valid? [True, True] Translation: X:17.30, Y:1.48, Z:1.59 [[ 9.86520931e-01 -1.18739000e-01 -1.12594413e-01 1.72964329e+01] [ 1.18186046e-01 9.92923747e-01 -1.15970696e-02 1.47844874e+00] [ 1.13174690e-01 -1.86633648e-03 9.93573352e-01 1.59313468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.505099892999997 meters 0.057484207435448076 Centerline is valid? [True, True] Translation: X:17.35, Y:1.50, Z:1.60 [[ 9.87797413e-01 -1.07402807e-01 -1.12787006e-01 1.73542500e+01] [ 1.06773920e-01 9.94215428e-01 -1.16194696e-02 1.49783309e+00] [ 1.13382545e-01 -5.65028736e-04 9.93551246e-01 1.59645030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.565099893 meters 0.058038471926400236 Centerline is valid? [True, True] Translation: X:17.41, Y:1.52, Z:1.61 [[ 9.90029283e-01 -8.86932303e-02 -1.09432764e-01 1.74096687e+01] [ 8.79870981e-02 9.96057810e-01 -1.12743296e-02 1.52478468e+00] [ 1.10001315e-01 1.53324513e-03 9.93930259e-01 1.60800468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.625099892999998 meters 0.05873717551968748 Centerline is valid? [True, True] Translation: X:17.47, Y:1.55, Z:1.61 [[ 9.90464079e-01 -8.17786159e-02 -1.10874552e-01 1.74679622e+01] [ 8.10101980e-02 9.96647785e-01 -1.14253931e-02 1.54913548e+00] [ 1.11437230e-01 2.33447204e-03 9.93768733e-01 1.61345000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.685099892999997 meters 0.0596027405753192 Centerline is valid? [True, True] Translation: X:17.53, Y:1.56, Z:1.62 [[ 9.90124530e-01 -8.33105137e-02 -1.12750932e-01 1.75260498e+01] [ 8.25256104e-02 9.96521209e-01 -1.16190845e-02 1.55861407e+00] [ 1.13326687e-01 2.19950108e-03 9.93555345e-01 1.61763601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.745099893 meters 0.058759564022296484 Centerline is valid? [True, True] Translation: X:17.59, Y:1.57, Z:1.62 [[ 9.89359009e-01 -8.95166361e-02 -1.14697526e-01 1.75855361e+01] [ 8.87444109e-02 9.95984156e-01 -1.18317189e-02 1.57090477e+00] [ 1.15296054e-01 1.52705333e-03 9.93330000e-01 1.62008349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.805099892999998 meters 0.05790613656683048 Centerline is valid? [True, True] Translation: X:17.64, Y:1.58, Z:1.63 [[ 9.89043062e-01 -9.52415875e-02 -1.12795667e-01 1.76443809e+01] [ 9.45319371e-02 9.95453829e-01 -1.16356107e-02 1.57964781e+00] [ 1.13391072e-01 8.45327132e-04 9.93550074e-01 1.62989171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.865099892999996 meters 0.057363674680000434 Centerline is valid? [True, True] Translation: X:17.70, Y:1.59, Z:1.64 [[ 9.88986716e-01 -9.88044626e-02 -1.10195071e-01 1.77019920e+01] [ 9.81491897e-02 9.95106776e-01 -1.13684345e-02 1.58978764e+00] [ 1.10779114e-01 4.27673749e-04 9.93844960e-01 1.63882654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.925099893 meters 0.05724153055169488 Centerline is valid? [True, True] Translation: X:17.76, Y:1.60, Z:1.64 [[ 9.88587843e-01 -1.02285186e-01 -1.10597547e-01 1.77595984e+01] [ 1.01646305e-01 9.94755115e-01 -1.14144615e-02 1.59519070e+00] [ 1.11185006e-01 4.23659822e-05 9.93799725e-01 1.64409953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.985099892999997 meters 0.057790161897600216 Centerline is valid? [True, True] Translation: X:17.82, Y:1.60, Z:1.65 [[ 9.87935474e-01 -1.05059620e-01 -1.13780382e-01 1.78185388e+01] [ 1.04399844e-01 9.94465891e-01 -1.17586116e-02 1.59822026e+00] [ 1.14386064e-01 -2.61904628e-04 9.93436339e-01 1.64691152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.045099892999996 meters 0.05806649176981846 Centerline is valid? [True, True] Translation: X:17.88, Y:1.60, Z:1.65 [[ 9.87286345e-01 -1.08363871e-01 -1.16288193e-01 1.78782784e+01] [ 1.07695930e-01 9.94111087e-01 -1.20305003e-02 1.59992478e+00] [ 1.16907053e-01 -6.46216410e-04 9.93142650e-01 1.65052413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.105099893 meters 0.05715728285708166 Centerline is valid? [True, True] Translation: X:17.94, Y:1.61, Z:1.66 [[ 9.88466389e-01 -1.00538182e-01 -1.13253128e-01 1.79364437e+01] [ 9.98531976e-02 9.94933163e-01 -1.17192505e-02 1.60711290e+00] [ 1.13857525e-01 2.75398320e-04 9.93497050e-01 1.65754548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.165099892999997 meters 0.05825191657278848 Centerline is valid? [True, True] Translation: X:17.99, Y:1.62, Z:1.67 [[ 9.89732913e-01 -8.88086630e-02 -1.11990103e-01 1.79948228e+01] [ 8.80627244e-02 9.96047389e-01 -1.15997766e-02 1.61551251e+00] [ 1.12577610e-01 1.61852714e-03 9.93641616e-01 1.66577751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.225099892999996 meters 0.05892917198705917 Centerline is valid? [True, True] Translation: X:18.05, Y:1.62, Z:1.67 [[ 9.90170596e-01 -8.25044105e-02 -1.12938977e-01 1.80540735e+01] [ 8.17047387e-02 9.96587914e-01 -1.16989592e-02 1.62466427e+00] [ 1.13518835e-01 2.35631585e-03 9.93533050e-01 1.67423762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.285099892999998 meters 0.059317848347374975 Centerline is valid? [True, True] Translation: X:18.11, Y:1.63, Z:1.68 [[ 9.90131198e-01 -7.85503000e-02 -1.16060594e-01 1.81142868e+01] [ 7.76785037e-02 9.96905967e-01 -1.20226237e-02 1.62910351e+00] [ 1.16645879e-01 2.88856158e-03 9.93169369e-01 1.67745493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.345099892999997 meters 0.059177698462132756 Centerline is valid? [True, True] Translation: X:18.17, Y:1.62, Z:1.69 [[ 9.90432381e-01 -7.77608376e-02 -1.14004171e-01 1.81726503e+01] [ 7.69144687e-02 9.96967739e-01 -1.18106744e-02 1.62348318e+00] [ 1.14576888e-01 2.92910414e-03 9.93410065e-01 1.68999978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.405099893 meters 0.05844587716724487 Centerline is valid? [True, True] Translation: X:18.23, Y:1.63, Z:1.70 [[ 9.90012549e-01 -8.39515412e-02 -1.13257632e-01 1.82300299e+01] [ 8.31556161e-02 9.96467395e-01 -1.17419916e-02 1.63493079e+00] [ 1.13843296e-01 2.20671086e-03 9.93496268e-01 1.69701682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.465099892999998 meters 0.057844695440279106 Centerline is valid? [True, True] Translation: X:18.29, Y:1.65, Z:1.70 [[ 9.89525828e-01 -8.90249178e-02 -1.13636263e-01 1.82896514e+01] [ 8.82567337e-02 9.96028064e-01 -1.17832032e-02 1.64667621e+00] [ 1.14233906e-01 1.63061852e-03 9.93452543e-01 1.69859027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.525099892999997 meters 0.05815878465037461 Centerline is valid? [True, True] Translation: X:18.35, Y:1.65, Z:1.70 [[ 9.88666499e-01 -9.85408719e-02 -1.13261869e-01 1.83497884e+01] [ 9.78399295e-02 9.95132863e-01 -1.17444606e-02 1.64561645e+00] [ 1.13867917e-01 5.29821486e-04 9.93495756e-01 1.70204031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.585099893 meters 0.0570150331248337 Centerline is valid? [True, True] Translation: X:18.41, Y:1.65, Z:1.71 [[ 9.88338618e-01 -1.04294108e-01 -1.10948254e-01 1.84072462e+01] [ 1.03657530e-01 9.94546491e-01 -1.15062594e-02 1.65098361e+00] [ 1.11543232e-01 -1.28541484e-04 9.93759574e-01 1.71330981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.645099892999998 meters 0.056400445306092194 Centerline is valid? [True, True] Translation: X:18.47, Y:1.66, Z:1.72 [[ 9.87587623e-01 -1.11008644e-01 -1.11120510e-01 1.84656381e+01] [ 1.10410938e-01 9.93819056e-01 -1.15372893e-02 1.65540068e+00] [ 1.11714419e-01 -8.74835658e-04 9.93739968e-01 1.72042600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.705099892999996 meters 0.0570686999844402 Centerline is valid? [True, True] Translation: X:18.52, Y:1.66, Z:1.72 [[ 9.86578501e-01 -1.17241388e-01 -1.13654385e-01 1.85248339e+01] [ 1.16655768e-01 9.93102152e-01 -1.18130186e-02 1.65783584e+00] [ 1.14255389e-01 -1.60396943e-03 9.93450116e-01 1.72431284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.765099893 meters 0.0572522584379194 Centerline is valid? [True, True] Translation: X:18.58, Y:1.67, Z:1.73 [[ 9.86373817e-01 -1.18133622e-01 -1.14503885e-01 1.85827178e+01] [ 1.17544840e-01 9.92996223e-01 -1.19043000e-02 1.66794467e+00] [ 1.15108224e-01 -1.71725102e-03 9.93351472e-01 1.72937364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.825099892999997 meters 0.057119945910147685 Centerline is valid? [True, True] Translation: X:18.64, Y:1.68, Z:1.74 [[ 9.87094372e-01 -1.13556942e-01 -1.12913780e-01 1.86416622e+01] [ 1.12953259e-01 9.93530818e-01 -1.17505172e-02 1.67921418e+00] [ 1.13517673e-01 -1.15511004e-03 9.93535306e-01 1.73586538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.885099892999996 meters 0.05770181090850818 Centerline is valid? [True, True] Translation: X:18.70, Y:1.70, Z:1.74 [[ 9.87965513e-01 -1.04410109e-01 -1.14116933e-01 1.86985305e+01] [ 1.03732447e-01 9.94534322e-01 -1.18769185e-02 1.69551159e+00] [ 1.14733277e-01 -1.03642777e-04 9.93396328e-01 1.74364072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.945099893 meters 0.057265686628740015 Centerline is valid? [True, True] Translation: X:18.76, Y:1.70, Z:1.75 [[ 9.87485624e-01 -1.10983921e-01 -1.12047806e-01 1.87561645e+01] [ 1.10372398e-01 9.93821841e-01 -1.16654524e-02 1.69633513e+00] [ 1.12650235e-01 -8.47518515e-04 9.93634342e-01 1.75363444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.005099892999997 meters 0.05669357228910799 Centerline is valid? [True, True] Translation: X:18.81, Y:1.70, Z:1.76 [[ 9.87482305e-01 -1.12562526e-01 -1.10491519e-01 1.88142060e+01] [ 1.11976965e-01 9.93644134e-01 -1.15105945e-02 1.69841366e+00] [ 1.11084912e-01 -1.00599660e-03 9.93810410e-01 1.75946998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.065099892999996 meters 0.0569169796369873 Centerline is valid? [True, True] Translation: X:18.87, Y:1.70, Z:1.77 [[ 9.87481876e-01 -1.13652109e-01 -1.09374328e-01 1.88713604e+01] [ 1.13083512e-01 9.93519995e-01 -1.14078341e-02 1.70133953e+00] [ 1.09962106e-01 -1.10340366e-03 9.93935168e-01 1.76639189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.125099892999998 meters 0.05665985409220844 Centerline is valid? [True, True] Translation: X:18.93, Y:1.70, Z:1.77 [[ 9.88029611e-01 -1.09410456e-01 -1.08751277e-01 1.89299135e+01] [ 1.08821160e-01 9.93996467e-01 -1.13569081e-02 1.69992710e+00] [ 1.09340949e-01 -6.13478581e-04 9.94004115e-01 1.77015832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.185099892999997 meters 0.059051574330835285 Centerline is valid? [True, True] Translation: X:18.99, Y:1.71, Z:1.77 [[ 9.89779037e-01 -9.18744344e-02 -1.09071293e-01 1.89872125e+01] [ 9.11749163e-02 9.95769708e-01 -1.13939958e-02 1.70972635e+00] [ 1.09656706e-01 1.33297219e-03 9.93968626e-01 1.77409381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.245099893 meters 0.058333991131968604 Centerline is valid? [True, True] Translation: X:19.05, Y:1.72, Z:1.78 [[ 9.89724947e-01 -9.25518990e-02 -1.08989334e-01 1.90453152e+01] [ 9.18570905e-02 9.95707063e-01 -1.13894218e-02 1.71594786e+00] [ 1.09575562e-01 1.26095177e-03 9.93977669e-01 1.78168395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.305099892999998 meters 0.058415270694297576 Centerline is valid? [True, True] Translation: X:19.10, Y:1.72, Z:1.79 [[ 9.89591942e-01 -9.29703696e-02 -1.09837604e-01 1.91028111e+01] [ 9.22658639e-02 9.95668108e-01 -1.14903875e-02 1.72192521e+00] [ 1.10430065e-01 1.23653342e-03 9.93883128e-01 1.78640960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.365099892999996 meters 0.05866970294053093 Centerline is valid? [True, True] Translation: X:19.16, Y:1.73, Z:1.79 [[ 9.89385045e-01 -9.38397880e-02 -1.10956419e-01 1.91603732e+01] [ 9.31246683e-02 9.95586629e-01 -1.16215371e-02 1.72577089e+00] [ 1.11557290e-01 1.16539532e-03 9.93757321e-01 1.79171183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.425099893 meters 0.058584023338497215 Centerline is valid? [True, True] Translation: X:19.22, Y:1.73, Z:1.80 [[ 9.89060868e-01 -9.62477466e-02 -1.11780908e-01 1.92175945e+01] [ 9.55355837e-02 9.95356988e-01 -1.17225723e-02 1.73131141e+00] [ 1.12390179e-01 9.15283246e-04 9.93663731e-01 1.79528510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.485099892999997 meters 0.05682273279608339 Centerline is valid? [True, True] Translation: X:19.28, Y:1.74, Z:1.80 [[ 9.88265078e-01 -1.02162420e-01 -1.13556049e-01 1.92758827e+01] [ 1.01465634e-01 9.94767700e-01 -1.19142262e-02 1.73550417e+00] [ 1.14179076e-01 2.52377105e-04 9.93460153e-01 1.79880876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.545099892999996 meters 0.05800195126950336 Centerline is valid? [True, True] Translation: X:19.33, Y:1.74, Z:1.80 [[ 9.88137117e-01 -1.02834529e-01 -1.14061812e-01 1.93346191e+01] [ 1.02134619e-01 9.94698459e-01 -1.19789387e-02 1.73977669e+00] [ 1.14688957e-01 1.87174308e-04 9.93401434e-01 1.80441667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.605099893 meters 0.05843015316294994 Centerline is valid? [True, True] Translation: X:19.39, Y:1.75, Z:1.81 [[ 9.88094207e-01 -1.01536247e-01 -1.15586457e-01 1.93930151e+01] [ 1.00807084e-01 9.94831777e-01 -1.21518523e-02 1.74553554e+00] [ 1.16222934e-01 3.55241141e-04 9.93223088e-01 1.81099832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.665099892999997 meters 0.05856375697780405 Centerline is valid? [True, True] Translation: X:19.45, Y:1.76, Z:1.82 [[ 9.89264905e-01 -9.35893232e-02 -1.12231838e-01 1.94486026e+01] [ 9.28496410e-02 9.95610085e-01 -1.18111111e-02 1.76173842e+00] [ 1.12844543e-01 1.26363185e-03 9.93611852e-01 1.82219547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.725099892999996 meters 0.05878538427229437 Centerline is valid? [True, True] Translation: X:19.51, Y:1.77, Z:1.83 [[ 9.89735609e-01 -9.01908979e-02 -1.10855881e-01 1.95052049e+01] [ 8.94466797e-02 9.95923141e-01 -1.16785714e-02 1.77206088e+00] [ 1.11457238e-01 1.64300751e-03 9.93767873e-01 1.82826624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.785099892999998 meters 0.05855465905661233 Centerline is valid? [True, True] Translation: X:19.56, Y:1.78, Z:1.84 [[ 9.89105955e-01 -9.69798757e-02 -1.10744360e-01 1.95647954e+01] [ 9.62790367e-02 9.95285952e-01 -1.16713788e-02 1.77610427e+00] [ 1.11354194e-01 8.81870017e-04 9.93780391e-01 1.83686086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.845099892999997 meters 0.05845293769373383 Centerline is valid? [True, True] Translation: X:19.62, Y:1.78, Z:1.84 [[ 9.88444747e-01 -1.01454349e-01 -1.12623253e-01 1.96223324e+01] [ 1.00757846e-01 9.94840120e-01 -1.18740435e-02 1.78018295e+00] [ 1.13246804e-01 3.89159547e-04 9.93566812e-01 1.84023466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.905099892999996 meters 0.05805699838990377 Centerline is valid? [True, True] Translation: X:19.68, Y:1.79, Z:1.85 [[ 9.87776788e-01 -1.06850644e-01 -1.13489897e-01 1.96803342e+01] [ 1.06177988e-01 9.94275057e-01 -1.19726869e-02 1.78503638e+00] [ 1.14119463e-01 -2.23786691e-04 9.93467009e-01 1.84697097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.965099892999998 meters 0.05705483062776445 Centerline is valid? [True, True] Translation: X:19.74, Y:1.79, Z:1.85 [[ 9.86938496e-01 -1.16493561e-01 -1.11272884e-01 1.97383504e+01] [ 1.15907258e-01 9.93190589e-01 -1.17456611e-02 1.78781900e+00] [ 1.11883475e-01 -1.30508974e-03 9.93720476e-01 1.85490549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.025099892999997 meters 0.057600255760881736 Centerline is valid? [True, True] Translation: X:19.80, Y:1.79, Z:1.86 [[ 9.86075622e-01 -1.24332702e-01 -1.10436618e-01 1.97978450e+01] [ 1.23803771e-01 9.92238204e-01 -1.16607736e-02 1.78875906e+00] [ 1.11029247e-01 -2.17406520e-03 9.93814761e-01 1.86027244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.085099893 meters 0.05746398973635462 Centerline is valid? [True, True] Translation: X:19.86, Y:1.80, Z:1.87 [[ 9.85295103e-01 -1.30315677e-01 -1.10505137e-01 1.98575850e+01] [ 1.29823555e-01 9.91468458e-01 -1.16679662e-02 1.79581879e+00] [ 1.11082876e-01 -2.84977974e-03 9.93807060e-01 1.86666648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.145099892999998 meters 0.05736322738774393 Centerline is valid? [True, True] Translation: X:19.92, Y:1.80, Z:1.87 [[ 9.84278340e-01 -1.37399777e-01 -1.10984014e-01 1.99167155e+01] [ 1.36948151e-01 9.90508896e-01 -1.17188327e-02 1.80327827e+00] [ 1.11540818e-01 -3.66446224e-03 9.93753097e-01 1.87170874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.205099892999996 meters 0.0576527219796759 Centerline is valid? [True, True] Translation: X:19.98, Y:1.81, Z:1.88 [[ 9.83825020e-01 -1.38742790e-01 -1.13308284e-01 1.99751808e+01] [ 1.38280800e-01 9.90320783e-01 -1.19652083e-02 1.80797796e+00] [ 1.13871635e-01 -3.89668893e-03 9.93487829e-01 1.87587828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.265099893 meters 0.05791009334024607 Centerline is valid? [True, True] Translation: X:20.03, Y:1.82, Z:1.88 [[ 9.84708406e-01 -1.31773524e-01 -1.13952152e-01 2.00339175e+01] [ 1.31259480e-01 9.91274983e-01 -1.20356113e-02 1.82156234e+00] [ 1.14543892e-01 -3.10573262e-03 9.93413334e-01 1.88052417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.325099892999997 meters 0.05784010963656566 Centerline is valid? [True, True] Translation: X:20.09, Y:1.83, Z:1.89 [[ 9.85611519e-01 -1.27184093e-01 -1.11328968e-01 2.00930820e+01] [ 1.26664270e-01 9.91875948e-01 -1.17586587e-02 1.82798322e+00] [ 1.11920040e-01 -2.51193301e-03 9.93714041e-01 1.88770984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.385099892999996 meters 0.05591569011017303 Centerline is valid? [True, True] Translation: X:20.15, Y:1.84, Z:1.90 [[ 9.86431076e-01 -1.23125005e-01 -1.08600024e-01 2.01509017e+01] [ 1.22605829e-01 9.92389154e-01 -1.14707052e-02 1.84382868e+00] [ 1.09185817e-01 -1.99993596e-03 9.94019345e-01 1.90177788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.445099893 meters 0.057469849612056596 Centerline is valid? [True, True] Translation: X:20.21, Y:1.85, Z:1.90 [[ 9.86959512e-01 -1.16873805e-01 -1.10686203e-01 2.02104695e+01] [ 1.16295071e-01 9.93145880e-01 -1.16926192e-02 1.85071915e+00] [ 1.11294107e-01 -1.33211806e-03 9.93786621e-01 1.90281825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.505099892999997 meters 0.058162203980862213 Centerline is valid? [True, True] Translation: X:20.27, Y:1.86, Z:1.91 [[ 9.87391270e-01 -1.12700190e-01 -1.11162704e-01 2.02683849e+01] [ 1.12089953e-01 9.93628663e-01 -1.17440223e-02 1.85833140e+00] [ 1.11778002e-01 -8.64277205e-04 9.93732827e-01 1.90809905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.565099892999996 meters 0.05731813113626293 Centerline is valid? [True, True] Translation: X:20.32, Y:1.87, Z:1.92 [[ 9.88355974e-01 -1.02965992e-01 -1.12028895e-01 2.03242104e+01] [ 1.02283303e-01 9.94684847e-01 -1.18397874e-02 1.87443708e+00] [ 1.12652540e-01 2.43239247e-04 9.93634413e-01 1.91688830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.625099892999998 meters 0.05859357344802099 Centerline is valid? [True, True] Translation: X:20.38, Y:1.88, Z:1.92 [[ 9.88851039e-01 -9.78657741e-02 -1.12231512e-01 2.03826141e+01] [ 9.71464478e-02 9.95199270e-01 -1.18735023e-02 1.87782911e+00] [ 1.12854728e-01 8.38232366e-04 9.93611145e-01 1.92000992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.685099892999997 meters 0.05878797831911131 Centerline is valid? [True, True] Translation: X:20.44, Y:1.89, Z:1.93 [[ 9.89883029e-01 -9.18310408e-02 -1.08160290e-01 2.04401801e+01] [ 9.11259614e-02 9.95773500e-01 -1.14540579e-02 1.88864382e+00] [ 1.08754989e-01 1.48196710e-03 9.94067481e-01 1.92797787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.745099892999995 meters 0.058819890878804286 Centerline is valid? [True, True] Translation: X:20.50, Y:1.89, Z:1.94 [[ 9.90204905e-01 -8.70327043e-02 -1.09176712e-01 2.04999304e+01] [ 8.62839957e-02 9.96203369e-01 -1.15724072e-02 1.89146151e+00] [ 1.09769386e-01 2.03885140e-03 9.93954991e-01 1.93621219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.805099892999998 meters 0.058666877058372875 Centerline is valid? [True, True] Translation: X:20.56, Y:1.88, Z:1.94 [[ 9.90038561e-01 -9.06445426e-02 -1.07736782e-01 2.05607917e+01] [ 8.99367440e-02 9.95881997e-01 -1.14206437e-02 1.88439682e+00] [ 1.08328341e-01 1.61738219e-03 9.94113854e-01 1.94404650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.865099892999996 meters 0.05901468484418122 Centerline is valid? [True, True] Translation: X:20.62, Y:1.89, Z:1.95 [[ 9.89800688e-01 -9.41096724e-02 -1.06948431e-01 2.06187366e+01] [ 9.34322649e-02 9.95561076e-01 -1.13382366e-02 1.89078586e+00] [ 1.07540733e-01 1.23016027e-03 9.94199918e-01 1.94851273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.925099893 meters 0.05765400918600571 Centerline is valid? [True, True] Translation: X:20.68, Y:1.89, Z:1.96 [[ 9.89305860e-01 -9.85465722e-02 -1.07529011e-01 2.06773527e+01] [ 9.78867301e-02 9.95132148e-01 -1.14103750e-02 1.89066709e+00] [ 1.08130029e-01 7.62687535e-04 9.94136467e-01 1.95615410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.985099892999997 meters 0.05779221839154334 Centerline is valid? [True, True] Translation: X:20.74, Y:1.89, Z:1.96 [[ 9.88853602e-01 -1.02829765e-01 -1.07678191e-01 2.07360895e+01] [ 1.02192999e-01 9.94698925e-01 -1.14298066e-02 1.89148265e+00] [ 1.08282706e-01 2.98448098e-04 9.94120097e-01 1.96005098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.045099892999996 meters 0.05796201461487391 Centerline is valid? [True, True] Translation: X:20.79, Y:1.89, Z:1.96 [[ 9.88011918e-01 -1.08069214e-01 -1.10242895e-01 2.07947721e+01] [ 1.07433379e-01 9.94143334e-01 -1.17089574e-02 1.88786553e+00] [ 1.10862617e-01 -2.75177291e-04 9.93835703e-01 1.96078336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.105099893 meters 0.057965806680742984 Centerline is valid? [True, True] Translation: X:20.85, Y:1.89, Z:1.97 [[ 9.88004407e-01 -1.08474375e-01 -1.09911793e-01 2.08518837e+01] [ 1.07844060e-01 9.94099196e-01 -1.16810324e-02 1.89227525e+00] [ 1.10530318e-01 -3.12422520e-04 9.93872704e-01 1.96841185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.165099892999997 meters 0.057839090517256046 Centerline is valid? [True, True] Translation: X:20.91, Y:1.90, Z:1.98 [[ 9.88415033e-01 -1.06251297e-01 -1.08380741e-01 2.09098053e+01] [ 1.05623614e-01 9.94339308e-01 -1.15322439e-02 1.89930446e+00] [ 1.08992547e-01 -4.89223519e-05 9.94042566e-01 1.97636444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.225099892999996 meters 0.058702380585166886 Centerline is valid? [True, True] Translation: X:20.97, Y:1.91, Z:1.98 [[ 9.89143769e-01 -9.80600351e-02 -1.09447857e-01 2.09654337e+01] [ 9.73684775e-02 9.95180116e-01 -1.16582845e-02 1.91407994e+00] [ 1.10063543e-01 8.74948267e-04 9.93924168e-01 1.98354960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.285099892999998 meters 0.05954543041439549 Centerline is valid? [True, True] Translation: X:21.02, Y:1.91, Z:1.99 [[ 9.89478111e-01 -9.37244867e-02 -1.10221545e-01 2.10245604e+01] [ 9.29954045e-02 9.95597223e-01 -1.17483522e-02 1.91401528e+00] [ 1.10837372e-01 1.37464017e-03 9.93837606e-01 1.99128346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.345099892999997 meters 0.05983385093373187 Centerline is valid? [True, True] Translation: X:21.08, Y:1.93, Z:2.00 [[ 9.90226084e-01 -8.62159195e-02 -1.09631739e-01 2.10826140e+01] [ 8.54484884e-02 9.96274034e-01 -1.16878549e-02 1.93211030e+00] [ 1.10230934e-01 2.20575240e-03 9.93903555e-01 1.99754171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.405099892999996 meters 0.05999198785378705 Centerline is valid? [True, True] Translation: X:21.14, Y:1.94, Z:2.00 [[ 9.90551973e-01 -8.58856034e-02 -1.06913291e-01 2.11403042e+01] [ 8.51540042e-02 9.96302607e-01 -1.13978695e-02 1.93884632e+00] [ 1.07496903e-01 2.18608726e-03 9.94203016e-01 2.00413050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.465099892999998 meters 0.058721458595628606 Centerline is valid? [True, True] Translation: X:21.20, Y:1.94, Z:2.01 [[ 9.89829293e-01 -9.27490864e-02 -1.07868335e-01 2.11999558e+01] [ 9.20435456e-02 9.95688433e-01 -1.15121351e-02 1.94160972e+00] [ 1.08470994e-01 1.46646449e-03 9.94098533e-01 2.00902735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.525099892999997 meters 0.05850572192484247 Centerline is valid? [True, True] Translation: X:21.26, Y:1.94, Z:2.01 [[ 9.88250198e-01 -1.07665317e-01 -1.08488369e-01 2.12608457e+01] [ 1.07040938e-01 9.94187181e-01 -1.15795831e-02 1.93794493e+00] [ 1.09104465e-01 -1.69171421e-04 9.94030275e-01 2.01438034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.585099892999995 meters 0.058159544833698194 Centerline is valid? [True, True] Translation: X:21.32, Y:1.93, Z:2.02 [[ 9.86255787e-01 -1.23115341e-01 -1.10191361e-01 2.13210189e+01] [ 1.22566710e-01 9.92390544e-01 -1.17647484e-02 1.93489862e+00] [ 1.10801286e-01 -1.90274132e-03 9.93840759e-01 2.01785108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.645099892999998 meters 0.05791093303063894 Centerline is valid? [True, True] Translation: X:21.38, Y:1.94, Z:2.03 [[ 9.84898265e-01 -1.35428137e-01 -1.07863934e-01 2.13797000e+01] [ 1.34975917e-01 9.90781951e-01 -1.15164308e-02 1.93860569e+00] [ 1.08429288e-01 -3.21652072e-03 9.94098961e-01 2.02732072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.705099892999996 meters 0.05939130708706645 Centerline is valid? [True, True] Translation: X:21.44, Y:1.94, Z:2.03 [[ 9.84066592e-01 -1.40477855e-01 -1.08990433e-01 2.14388600e+01] [ 1.40046922e-01 9.90076482e-01 -1.16370147e-02 1.94094233e+00] [ 1.09543607e-01 -3.81217729e-03 9.93974680e-01 2.02994508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.765099893 meters 0.05900995311942657 Centerline is valid? [True, True] Translation: X:21.50, Y:1.95, Z:2.04 [[ 9.83649375e-01 -1.42516558e-01 -1.10104212e-01 2.14980284e+01] [ 1.42089527e-01 9.89784003e-01 -1.17555453e-02 1.94903982e+00] [ 1.10654747e-01 -4.08132060e-03 9.93850527e-01 2.03500147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.825099892999997 meters 0.05900995311942657 Centerline is valid? [True, True] Translation: X:21.55, Y:1.96, Z:2.04 [[ 9.83632661e-01 -1.42632002e-01 -1.10104046e-01 2.15548791e+01] [ 1.42205518e-01 9.89767327e-01 -1.17570964e-02 1.95508794e+00] [ 1.10654326e-01 -4.09273890e-03 9.93850527e-01 2.04098134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.885099892999996 meters 0.05914163271630978 Centerline is valid? [True, True] Translation: X:21.61, Y:1.96, Z:2.05 [[ 9.83428401e-01 -1.43569990e-01 -1.10707892e-01 2.16126889e+01] [ 1.43143258e-01 9.89631218e-01 -1.18347274e-02 1.96481526e+00] [ 1.11259097e-01 -4.20848134e-03 9.93782522e-01 2.04788672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.945099893 meters 0.05772482919473301 Centerline is valid? [True, True] Translation: X:21.67, Y:1.99, Z:2.05 [[ 9.84760785e-01 -1.32960559e-01 -1.12105688e-01 2.16711078e+01] [ 1.32453189e-01 9.91116678e-01 -1.19951216e-02 1.98686228e+00] [ 1.12704695e-01 -3.03643051e-03 9.93623889e-01 2.04952456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.005099892999997 meters 0.057887398910623215 Centerline is valid? [True, True] Translation: X:21.73, Y:2.00, Z:2.06 [[ 9.85444141e-01 -1.29580234e-01 -1.10040026e-01 2.17289305e+01] [ 1.29070287e-01 9.91565534e-01 -1.17751281e-02 2.00053173e+00] [ 1.10637721e-01 -2.59916671e-03 9.93857404e-01 2.06005995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.065099892999996 meters 0.0571182944968258 Centerline is valid? [True, True] Translation: X:21.79, Y:2.01, Z:2.07 [[ 9.85865180e-01 -1.26614409e-01 -1.09720725e-01 2.17873516e+01] [ 1.26088982e-01 9.91949440e-01 -1.17421341e-02 2.01144565e+00] [ 1.10324135e-01 -2.25841331e-03 9.93893095e-01 2.06739856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.125099892999998 meters 0.05832937484125607 Centerline is valid? [True, True] Translation: X:21.85, Y:2.02, Z:2.07 [[ 9.87269226e-01 -1.15432233e-01 -1.09429772e-01 2.18461876e+01] [ 1.14840836e-01 9.93314851e-01 -1.17127831e-02 2.02361269e+00] [ 1.10050251e-01 -1.00333626e-03 9.93925518e-01 2.07332385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.185099892999997 meters 0.05742440042813956 Centerline is valid? [True, True] Translation: X:21.90, Y:2.03, Z:2.08 [[ 9.87659035e-01 -1.11615189e-01 -1.09871202e-01 2.19043527e+01] [ 1.10994948e-01 9.93751336e-01 -1.17645004e-02 2.03219657e+00] [ 1.10497751e-01 -5.75833270e-04 9.93876207e-01 2.07986466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.245099892999995 meters 0.05820488769835554 Centerline is valid? [True, True] Translation: X:21.96, Y:2.04, Z:2.09 [[ 9.87777894e-01 -1.10831438e-01 -1.09595732e-01 2.19619664e+01] [ 1.10208154e-01 9.93839105e-01 -1.17471643e-02 2.04002454e+00] [ 1.10222480e-01 -4.74754136e-04 9.93906826e-01 2.08745793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.305099892999998 meters 0.05846664566716546 Centerline is valid? [True, True] Translation: X:22.02, Y:2.05, Z:2.09 [[ 9.89061841e-01 -1.00188982e-01 -1.08253601e-01 2.20201848e+01] [ 9.95159861e-02 9.94968169e-01 -1.16151680e-02 2.04965052e+00] [ 1.08872599e-01 7.15155551e-04 9.94055454e-01 2.09311878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.365099892999996 meters 0.059950220643532795 Centerline is valid? [True, True] Translation: X:22.08, Y:2.06, Z:2.10 [[ 9.90064968e-01 -9.23143652e-02 -1.06063267e-01 2.20782308e+01] [ 9.16221618e-02 9.95728690e-01 -1.13910239e-02 2.06084726e+00] [ 1.06661793e-01 1.56010798e-03 9.94294136e-01 2.09914760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.425099892999995 meters 0.059921133705954734 Centerline is valid? [True, True] Translation: X:22.14, Y:2.07, Z:2.11 [[ 9.90355256e-01 -8.83123687e-02 -1.06758573e-01 2.21375156e+01] [ 8.75876521e-02 9.96090810e-01 -1.14674369e-02 2.06964489e+00] [ 1.07353950e-01 2.00610370e-03 9.94218842e-01 2.10528955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.485099892999997 meters 0.060211001169366694 Centerline is valid? [True, True] Translation: X:22.20, Y:2.08, Z:2.11 [[ 9.90289982e-01 -8.61438256e-02 -1.09110002e-01 2.21957583e+01] [ 8.53734796e-02 9.96280075e-01 -1.17209732e-02 2.07931223e+00] [ 1.09713810e-01 2.29206178e-03 9.93960576e-01 2.10959764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.545099892999996 meters 0.0606751604879182 Centerline is valid? [True, True] Translation: X:22.26, Y:2.08, Z:2.12 [[ 9.90476058e-01 -8.30669731e-02 -1.09804628e-01 2.22558618e+01] [ 8.22677138e-02 9.96540439e-01 -1.17972895e-02 2.07830145e+00] [ 1.10404717e-01 2.65155708e-03 9.93883176e-01 2.11666824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.605099893 meters 0.059734364123715834 Centerline is valid? [True, True] Translation: X:22.32, Y:2.07, Z:2.13 [[ 9.91287951e-01 -7.74099567e-02 -1.06564054e-01 2.23155586e+01] [ 7.66246878e-02 9.96994261e-01 -1.14499478e-02 2.07443057e+00] [ 1.07130090e-01 3.18475789e-03 9.94239911e-01 2.12619960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.665099892999997 meters 0.059076380198867295 Centerline is valid? [True, True] Translation: X:22.37, Y:2.07, Z:2.13 [[ 9.91407846e-01 -7.71093170e-02 -1.05662844e-01 2.23748515e+01] [ 7.63355873e-02 9.97017541e-01 -1.13534842e-02 2.07142376e+00] [ 1.06223169e-01 3.19009804e-03 9.94337197e-01 2.13220713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.725099892999996 meters 0.06006525412445411 Centerline is valid? [True, True] Translation: X:22.44, Y:2.08, Z:2.13 [[ 9.90680389e-01 -8.27620350e-02 -1.08179537e-01 2.24351955e+01] [ 8.19831987e-02 9.96565794e-01 -1.16349728e-02 2.07672800e+00] [ 1.08770960e-01 2.65763491e-03 9.94063285e-01 2.13473731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.785099892999998 meters 0.05980641288053888 Centerline is valid? [True, True] Translation: X:22.49, Y:2.07, Z:2.14 [[ 9.90059529e-01 -8.78018425e-02 -1.09877048e-01 2.24949568e+01] [ 8.70292236e-02 9.96135668e-01 -1.18171626e-02 2.06783430e+00] [ 1.10490016e-01 2.13718021e-03 9.93874936e-01 2.13824008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.845099892999997 meters 0.05763441502904005 Centerline is valid? [True, True] Translation: X:22.56, Y:2.06, Z:2.15 [[ 9.88926875e-01 -1.04692333e-01 -1.05181514e-01 2.25560433e+01] [ 1.04079395e-01 9.94504629e-01 -1.13147143e-02 2.05950515e+00] [ 1.05788066e-01 2.42196739e-04 9.94388670e-01 2.14859878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.905099892999996 meters 0.05687747161463789 Centerline is valid? [True, True] Translation: X:22.62, Y:2.05, Z:2.15 [[ 9.87071131e-01 -1.20293045e-01 -1.05925285e-01 2.26160495e+01] [ 1.19760532e-01 9.92737388e-01 -1.13970864e-02 2.05417911e+00] [ 1.06526981e-01 -1.43593348e-03 9.94308775e-01 2.15452419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.965099892999998 meters 0.05841802468741471 Centerline is valid? [True, True] Translation: X:22.68, Y:2.04, Z:2.16 [[ 9.84497619e-01 -1.37335948e-01 -1.09102133e-01 2.26767948e+01] [ 1.36874907e-01 9.90518774e-01 -1.17395956e-02 2.04395377e+00] [ 1.09679980e-01 -3.37574044e-03 9.93961220e-01 2.15687657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.025099892999997 meters 0.05876062222071716 Centerline is valid? [True, True] Translation: X:22.74, Y:2.05, Z:2.16 [[ 9.83835727e-01 -1.41801725e-01 -1.09359648e-01 2.27368249e+01] [ 1.41366034e-01 9.89887464e-01 -1.17666356e-02 2.05075242e+00] [ 1.09922274e-01 -3.88330320e-03 9.93932600e-01 2.16214537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.085099892999995 meters 0.05914797769141498 Centerline is valid? [True, True] Translation: X:22.80, Y:2.06, Z:2.17 [[ 9.83929190e-01 -1.41764160e-01 -1.08564596e-01 2.27954018e+01] [ 1.41334525e-01 9.89892973e-01 -1.16813445e-02 2.05773580e+00] [ 1.09123327e-01 -3.85030986e-03 9.94020762e-01 2.16804473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.145099892999998 meters 0.05987113146657371 Centerline is valid? [True, True] Translation: X:22.85, Y:2.06, Z:2.18 [[ 9.84199871e-01 -1.40809718e-01 -1.07346343e-01 2.28533800e+01] [ 1.40383369e-01 9.90029779e-01 -1.15562373e-02 2.06425905e+00] [ 1.07903307e-01 -3.69599412e-03 9.94154523e-01 2.17589760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.205099892999996 meters 0.057649528518104225 Centerline is valid? [True, True] Translation: X:22.91, Y:2.09, Z:2.18 [[ 9.84441856e-01 -1.39234050e-01 -1.07182609e-01 2.29103087e+01] [ 1.38799357e-01 9.90253264e-01 -1.15417617e-02 2.08500161e+00] [ 1.07744934e-01 -3.51468383e-03 9.94172357e-01 2.18478898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.265099892999995 meters 0.05839415325351297 Centerline is valid? [True, True] Translation: X:22.97, Y:2.09, Z:2.19 [[ 9.84396020e-01 -1.38640336e-01 -1.08366662e-01 2.29676898e+01] [ 1.38192205e-01 9.90336661e-01 -1.16710389e-02 2.09471268e+00] [ 1.08937555e-01 -3.48650365e-03 9.94042481e-01 2.18916425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.325099892999997 meters 0.0576809101106054 Centerline is valid? [True, True] Translation: X:23.03, Y:2.11, Z:2.19 [[ 9.83306477e-01 -1.45540935e-01 -1.09207181e-01 2.30273779e+01] [ 1.45127715e-01 9.89342973e-01 -1.17655138e-02 2.10625669e+00] [ 1.09755721e-01 -4.27988278e-03 9.93949377e-01 2.19345270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.385099892999996 meters 0.0568174941150328 Centerline is valid? [True, True] Translation: X:23.09, Y:2.12, Z:2.20 [[ 9.82418322e-01 -1.49442752e-01 -1.11897741e-01 2.30868057e+01] [ 1.49034072e-01 9.88758569e-01 -1.20556334e-02 2.11898850e+00] [ 1.12441477e-01 -4.83290081e-03 9.93646596e-01 2.19820780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.445099893 meters 0.05669549131049849 Centerline is valid? [True, True] Translation: X:23.15, Y:2.13, Z:2.20 [[ 9.82563855e-01 -1.47214218e-01 -1.13561636e-01 2.31457290e+01] [ 1.46778494e-01 9.89093717e-01 -1.22348973e-02 2.13195231e+00] [ 1.14124252e-01 -4.64683813e-03 9.93455617e-01 2.20279797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.505099892999997 meters 0.058423937024761625 Centerline is valid? [True, True] Translation: X:23.20, Y:2.14, Z:2.21 [[ 9.84080554e-01 -1.38456712e-01 -1.11423525e-01 2.32044005e+01] [ 1.37981184e-01 9.90362088e-01 -1.20053504e-02 2.14086100e+00] [ 1.12011856e-01 -3.56011805e-03 9.93700493e-01 2.20867899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.565099892999996 meters 0.056441403025209454 Centerline is valid? [True, True] Translation: X:23.26, Y:2.17, Z:2.22 [[ 9.86203145e-01 -1.23677037e-01 -1.10033397e-01 2.32611051e+01] [ 1.23121427e-01 9.92320790e-01 -1.18559993e-02 2.16958512e+00] [ 1.10654742e-01 -1.85504506e-03 9.93857176e-01 2.21792501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.625099892999998 meters 0.05704390655317191 Centerline is valid? [True, True] Translation: X:23.32, Y:2.17, Z:2.22 [[ 9.86079470e-01 -1.21620476e-01 -1.13383151e-01 2.33198401e+01] [ 1.21016771e-01 9.92575267e-01 -1.22180730e-02 2.17328399e+00] [ 1.14027279e-01 -1.67327183e-03 9.93476210e-01 2.21989734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.685099892999997 meters 0.05648800294374983 Centerline is valid? [True, True] Translation: X:23.38, Y:2.18, Z:2.23 [[ 9.86029501e-01 -1.21883051e-01 -1.13535658e-01 2.33785826e+01] [ 1.21278072e-01 9.92543023e-01 -1.22464987e-02 2.17819717e+00] [ 1.14181666e-01 -1.69397671e-03 9.93458443e-01 2.22605866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.745099892999995 meters 0.0571464404741825 Centerline is valid? [True, True] Translation: X:23.44, Y:2.18, Z:2.23 [[ 9.86343040e-01 -1.20167289e-01 -1.12637604e-01 2.34365716e+01] [ 1.19559441e-01 9.92752565e-01 -1.21607869e-02 2.18400396e+00] [ 1.13282599e-01 -1.47218143e-03 9.93561717e-01 2.23349278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.805099892999998 meters 0.05685492580135009 Centerline is valid? [True, True] Translation: X:23.50, Y:2.20, Z:2.24 [[ 9.87776941e-01 -1.10754114e-01 -1.09682451e-01 2.34952365e+01] [ 1.10119557e-01 9.93847767e-01 -1.18448269e-02 2.19878269e+00] [ 1.10319522e-01 -3.78136012e-04 9.93896101e-01 2.24402225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.865099892999996 meters 0.05755727973003242 Centerline is valid? [True, True] Translation: X:23.55, Y:2.21, Z:2.25 [[ 9.88232951e-01 -1.05331995e-01 -1.10908994e-01 2.35535332e+01] [ 1.04648934e-01 9.94437086e-01 -1.19784479e-02 2.20737581e+00] [ 1.11553730e-01 2.30989036e-04 9.93758377e-01 2.24690230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.925099892999995 meters 0.05725728025292109 Centerline is valid? [True, True] Translation: X:23.61, Y:2.21, Z:2.26 [[ 9.86702082e-01 -1.20355999e-01 -1.09240264e-01 2.36112811e+01] [ 1.19783844e-01 9.92729761e-01 -1.18089647e-02 2.20825989e+00] [ 1.09867341e-01 -1.43328864e-03 9.93945226e-01 2.25552144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.985099892999997 meters 0.05681475646846003 Centerline is valid? [True, True] Translation: X:23.67, Y:2.20, Z:2.25 [[ 9.84293023e-01 -1.34156327e-01 -1.14757682e-01 2.36723525e+01] [ 1.33617558e-01 9.90955272e-01 -1.24095388e-02 2.20165933e+00] [ 1.15384548e-01 -3.11901871e-03 9.93316001e-01 2.25468478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.045099892999996 meters 0.05772233541125795 Centerline is valid? [True, True] Translation: X:23.73, Y:2.23, Z:2.27 [[ 9.89369567e-01 -9.50850262e-02 -1.10030438e-01 2.37288920e+01] [ 9.43478938e-02 9.95468183e-01 -1.18983751e-02 2.22948968e+00] [ 1.10663158e-01 1.39075008e-03 9.93856997e-01 2.26920012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.105099892999995 meters 0.05662271943090701 Centerline is valid? [True, True] Translation: X:23.79, Y:2.21, Z:2.27 [[ 9.88025530e-01 -1.09438815e-01 -1.08759813e-01 2.37916074e+01] [ 1.08805086e-01 9.93993511e-01 -1.17623349e-02 2.20928095e+00] [ 1.09393804e-01 -2.12133553e-04 9.93998466e-01 2.27105005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.165099892999997 meters 0.05634814365308896 Centerline is valid? [True, True] Translation: X:23.85, Y:2.21, Z:2.28 [[ 9.87572788e-01 -1.15036772e-01 -1.07081880e-01 2.38498801e+01] [ 1.14454900e-01 9.93360899e-01 -1.15844667e-02 2.21239393e+00] [ 1.07703593e-01 -8.15541878e-04 9.94182715e-01 2.28124859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.225099892999996 meters 0.057180792478757396 Centerline is valid? [True, True] Translation: X:23.91, Y:2.21, Z:2.28 [[ 9.86262652e-01 -1.22451752e-01 -1.10867263e-01 2.39109558e+01] [ 1.21873199e-01 9.92473061e-01 -1.20060707e-02 2.21237879e+00] [ 1.11502937e-01 -1.67060891e-03 9.93762700e-01 2.28303110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.285099892999998 meters 0.056541744876948 Centerline is valid? [True, True] Translation: X:23.97, Y:2.21, Z:2.28 [[ 9.84865944e-01 -1.30403488e-01 -1.14166556e-01 2.39708830e+01] [ 1.29843079e-01 9.91457473e-01 -1.23633908e-02 2.21221488e+00] [ 1.14803515e-01 -2.64745464e-03 9.93384691e-01 2.28478597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.345099892999997 meters 0.05652581319903443 Centerline is valid? [True, True] Translation: X:24.03, Y:2.23, Z:2.29 [[ 9.85525542e-01 -1.26471432e-01 -1.12891020e-01 2.40292952e+01] [ 1.25897711e-01 9.91967890e-01 -1.22258581e-02 2.22644490e+00] [ 1.13530488e-01 -2.16382552e-03 9.93532157e-01 2.29207355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.405099892999996 meters 0.056448391997964954 Centerline is valid? [True, True] Translation: X:24.09, Y:2.24, Z:2.30 [[ 9.86520088e-01 -1.21629412e-01 -1.09473290e-01 2.40871406e+01] [ 1.21060268e-01 9.92574360e-01 -1.18553972e-02 2.24199795e+00] [ 1.10102346e-01 -1.55727832e-03 9.93919035e-01 2.30337988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.465099892999998 meters 0.05665049597836244 Centerline is valid? [True, True] Translation: X:24.14, Y:2.26, Z:2.31 [[ 9.87023027e-01 -1.18802783e-01 -1.08034449e-01 2.41443355e+01] [ 1.18231605e-01 9.92917115e-01 -1.16999728e-02 2.25526220e+00] [ 1.08659243e-01 -1.22494379e-03 9.94078301e-01 2.31382436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.525099892999997 meters 0.05631853936101961 Centerline is valid? [True, True] Translation: X:24.20, Y:2.27, Z:2.32 [[ 9.87156072e-01 -1.16511574e-01 -1.09306645e-01 2.42024702e+01] [ 1.15912431e-01 9.93188850e-01 -1.18413307e-02 2.26604759e+00] [ 1.09941794e-01 -9.80757561e-04 9.93937543e-01 2.31986469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.585099892999995 meters 0.05643131615400254 Centerline is valid? [True, True] Translation: X:24.26, Y:2.27, Z:2.32 [[ 9.87087708e-01 -1.15805077e-01 -1.10666350e-01 2.42596658e+01] [ 1.15185744e-01 9.93271545e-01 -1.19951140e-02 2.27193811e+00] [ 1.11310831e-01 -9.06956279e-04 9.93785226e-01 2.32327223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.645099892999998 meters 0.05655316023415304 Centerline is valid? [True, True] Translation: X:24.32, Y:2.29, Z:2.33 [[ 9.87492143e-01 -1.11435330e-01 -1.11541183e-01 2.43169683e+01] [ 1.10777773e-01 9.93771602e-01 -1.20949625e-02 2.28639065e+00] [ 1.12194266e-01 -4.12603375e-04 9.93686206e-01 2.32827215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.705099892999996 meters 0.05659440401529009 Centerline is valid? [True, True] Translation: X:24.37, Y:2.30, Z:2.33 [[ 9.87655763e-01 -1.09316543e-01 -1.12187282e-01 2.43732833e+01] [ 1.08636330e-01 9.94006976e-01 -1.21770419e-02 2.29538168e+00] [ 1.12846093e-01 -1.60888992e-04 9.93612466e-01 2.33190013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.765099892999995 meters 0.05656860948979946 Centerline is valid? [True, True] Translation: X:24.43, Y:2.30, Z:2.34 [[ 9.86964310e-01 -1.15074517e-01 -1.12513583e-01 2.44312043e+01] [ 1.14426885e-01 9.93356528e-01 -1.22187122e-02 2.30044142e+00] [ 1.13172164e-01 -8.15145985e-04 9.93575058e-01 2.33875870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.825099892999997 meters 0.05711725844885055 Centerline is valid? [True, True] Translation: X:24.49, Y:2.30, Z:2.35 [[ 9.86229484e-01 -1.23640492e-01 -1.09838215e-01 2.44909699e+01] [ 1.23075580e-01 9.92325537e-01 -1.19343937e-02 2.29865303e+00] [ 1.10470840e-01 -1.74835114e-03 9.93877828e-01 2.34832116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.885099892999996 meters 0.05606753943061718 Centerline is valid? [True, True] Translation: X:24.55, Y:2.30, Z:2.35 [[ 9.85936394e-01 -1.25788837e-01 -1.10029975e-01 2.45495278e+01] [ 1.25235169e-01 9.92055040e-01 -1.19561847e-02 2.30348786e+00] [ 1.10659746e-01 -1.99158481e-03 9.93856355e-01 2.35483269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.945099892999995 meters 0.056161524059746365 Centerline is valid? [True, True] Translation: X:24.61, Y:2.31, Z:2.36 [[ 9.85604896e-01 -1.27413970e-01 -1.11124568e-01 2.46080087e+01] [ 1.26859140e-01 9.91847202e-01 -1.20783443e-02 2.30789681e+00] [ 1.11757542e-01 -2.19269187e-03 9.93733085e-01 2.36010371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.005099892999997 meters 0.056939722535664795 Centerline is valid? [True, True] Translation: X:24.67, Y:2.31, Z:2.36 [[ 9.85458475e-01 -1.27671013e-01 -1.12123625e-01 2.46653497e+01] [ 1.27106504e-01 9.91814064e-01 -1.21983583e-02 2.31179348e+00] [ 1.12763165e-01 -2.23066639e-03 9.93619390e-01 2.36460487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.065099892999996 meters 0.05702504154493523 Centerline is valid? [True, True] Translation: X:24.72, Y:2.32, Z:2.37 [[ 9.85922326e-01 -1.23075731e-01 -1.13179199e-01 2.47247187e+01] [ 1.22469845e-01 9.92395796e-01 -1.23174948e-02 2.32075985e+00] [ 1.13834546e-01 -1.71694571e-03 9.93498238e-01 2.36872100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.125099892999998 meters 0.05672826426410619 Centerline is valid? [True, True] Translation: X:24.78, Y:2.34, Z:2.38 [[ 9.87444855e-01 -1.11502752e-01 -1.11891888e-01 2.47833710e+01] [ 1.10836053e-01 9.93764055e-01 -1.21808316e-02 2.33781460e+00] [ 1.12552333e-01 -3.73755820e-04 9.93645728e-01 2.37769232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.185099892999997 meters 0.05721078166819004 Centerline is valid? [True, True] Translation: X:24.84, Y:2.35, Z:2.39 [[ 9.89279469e-01 -9.56443564e-02 -1.10355283e-01 2.48405769e+01] [ 9.48974294e-02 9.95414569e-01 -1.20130838e-02 2.34794462e+00] [ 1.10998240e-01 1.41186450e-03 9.93819600e-01 2.38868478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.245099892999995 meters 0.05814862799079596 Centerline is valid? [True, True] Translation: X:24.90, Y:2.36, Z:2.39 [[ 9.89040761e-01 -9.44436580e-02 -1.13484665e-01 2.48997742e+01] [ 9.36454131e-02 9.95528933e-01 -1.23564134e-02 2.35604681e+00] [ 1.14144252e-01 1.59367821e-03 9.93462908e-01 2.38794008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.305099892999998 meters 0.057659171379156764 Centerline is valid? [True, True] Translation: X:24.96, Y:2.36, Z:2.39 [[ 9.88704337e-01 -9.64177849e-02 -1.14749051e-01 2.49580948e+01] [ 9.56145068e-02 9.95339990e-01 -1.24968312e-02 2.36010316e+00] [ 1.15419236e-01 1.38399728e-03 9.93315904e-01 2.39259700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.365099892999996 meters 0.05790031494827924 Centerline is valid? [True, True] Translation: X:25.02, Y:2.36, Z:2.40 [[ 9.88514816e-01 -9.91815044e-02 -1.14024067e-01 2.50154662e+01] [ 9.84054221e-02 9.95068788e-01 -1.24289702e-02 2.36072148e+00] [ 1.14694514e-01 1.06563473e-03 9.93400238e-01 2.40141455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.425099892999995 meters 0.0578485574012534 Centerline is valid? [True, True] Translation: X:25.07, Y:2.36, Z:2.41 [[ 9.87989367e-01 -1.03809638e-01 -1.14457720e-01 2.50742251e+01] [ 1.03057941e-01 9.94597040e-01 -1.24815355e-02 2.36426341e+00] [ 1.15135013e-01 5.35847391e-04 9.93349708e-01 2.40537950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.485099892999997 meters 0.05690817334769925 Centerline is valid? [True, True] Translation: X:25.13, Y:2.37, Z:2.41 [[ 9.87679930e-01 -1.08541692e-01 -1.12725586e-01 2.51321909e+01] [ 1.07842087e-01 9.94091898e-01 -1.23037883e-02 2.36791141e+00] [ 1.13395065e-01 -4.35762079e-06 9.93549978e-01 2.41315140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.545099892999996 meters 0.056852244836227556 Centerline is valid? [True, True] Translation: X:25.19, Y:2.37, Z:2.42 [[ 9.86668219e-01 -1.20259677e-01 -1.09651425e-01 2.51902209e+01] [ 1.19669210e-01 9.92741608e-01 -1.19741152e-02 2.36813446e+00] [ 1.10295535e-01 -1.30742049e-03 9.93897975e-01 2.42280406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.605099892999995 meters 0.056726992397035395 Centerline is valid? [True, True] Translation: X:25.25, Y:2.37, Z:2.43 [[ 9.84627578e-01 -1.34590105e-01 -1.11328505e-01 2.52496700e+01] [ 1.34072100e-01 9.90896961e-01 -1.21607581e-02 2.36705229e+00] [ 1.11951795e-01 -2.95222877e-03 9.93709253e-01 2.42836311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.665099892999997 meters 0.057811921695372734 Centerline is valid? [True, True] Translation: X:25.31, Y:2.37, Z:2.43 [[ 9.84517660e-01 -1.35660215e-01 -1.11001277e-01 2.53078471e+01] [ 1.35151996e-01 9.90750683e-01 -1.21252988e-02 2.37385363e+00] [ 1.11619511e-01 -3.06447333e-03 9.93746292e-01 2.43472613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.725099892999996 meters 0.056645465364919 Centerline is valid? [True, True] Translation: X:25.37, Y:2.39, Z:2.44 [[ 9.84716660e-01 -1.34387406e-01 -1.10784138e-01 2.53654242e+01] [ 1.33871855e-01 9.90924618e-01 -1.21131289e-02 2.38743209e+00] [ 1.11406581e-01 -2.90287827e-03 9.93770671e-01 2.44338649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.785099892999995 meters 0.0584184809478961 Centerline is valid? [True, True] Translation: X:25.42, Y:2.42, Z:2.45 [[ 9.90305513e-01 -8.37799595e-02 -1.10796698e-01 2.54204471e+01] [ 8.29457430e-02 9.96480295e-01 -1.21253806e-02 2.41801537e+00] [ 1.11422591e-01 2.81771679e-03 9.93769121e-01 2.45464353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.845099892999997 meters 0.060477094980136356 Centerline is valid? [True, True] Translation: X:25.48, Y:2.43, Z:2.46 [[ 9.90119344e-01 -8.65457080e-02 -1.10333697e-01 2.54783540e+01] [ 8.57343525e-02 9.96244727e-01 -1.20857395e-02 2.42749123e+00] [ 1.10965332e-01 2.50693642e-03 9.93821116e-01 2.45676552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.905099892999996 meters 0.058575990073635245 Centerline is valid? [True, True] Translation: X:25.54, Y:2.42, Z:2.46 [[ 9.88855935e-01 -9.72495172e-02 -1.12722985e-01 2.55396435e+01] [ 9.64715278e-02 9.95259134e-01 -1.23491011e-02 2.42194827e+00] [ 1.13389525e-01 1.33692329e-03 9.93549711e-01 2.46143093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.965099892999998 meters 0.057652293612847176 Centerline is valid? [True, True] Translation: X:25.60, Y:2.41, Z:2.47 [[ 9.86977267e-01 -1.14547503e-01 -1.12936902e-01 2.56006002e+01] [ 1.13879146e-01 9.93417560e-01 -1.23730346e-02 2.41344995e+00] [ 1.13610802e-01 -6.49254072e-04 9.93525120e-01 2.46860088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.025099892999997 meters 0.057378891706153526 Centerline is valid? [True, True] Translation: X:25.66, Y:2.42, Z:2.47 [[ 9.86373332e-01 -1.20307181e-01 -1.12222242e-01 2.56589984e+01] [ 1.19684386e-01 9.92735857e-01 -1.22949474e-02 2.41632695e+00] [ 1.12886214e-01 -1.30384185e-03 9.93607067e-01 2.47450828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.085099892999995 meters 0.059200609122586054 Centerline is valid? [True, True] Translation: X:25.71, Y:2.46, Z:2.48 [[ 9.88652370e-01 -9.78837679e-02 -1.13952883e-01 2.57128704e+01] [ 9.70924002e-02 9.95197028e-01 -1.24876466e-02 2.45653875e+00] [ 1.14627909e-01 1.28198251e-03 9.93407670e-01 2.48091008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.145099892999998 meters 0.058668715719931104 Centerline is valid? [True, True] Translation: X:25.77, Y:2.46, Z:2.49 [[ 9.88457010e-01 -1.02530413e-01 -1.11535882e-01 2.57727947e+01] [ 1.01801165e-01 9.94729600e-01 -1.22289071e-02 2.45612717e+00] [ 1.12201878e-01 7.33266206e-04 9.93685162e-01 2.48715203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.205099892999996 meters 0.05804599522975309 Centerline is valid? [True, True] Translation: X:25.83, Y:2.45, Z:2.49 [[ 9.86192499e-01 -1.18647390e-01 -1.15529871e-01 2.58315115e+01] [ 1.17974249e-01 9.92935805e-01 -1.26713705e-02 2.45139301e+00] [ 1.16217171e-01 -1.13313933e-03 9.93223180e-01 2.49125633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.265099892999995 meters 0.058430573744495444 Centerline is valid? [True, True] Translation: X:25.89, Y:2.46, Z:2.50 [[ 9.86363349e-01 -1.18158018e-01 -1.14568876e-01 2.58892760e+01] [ 1.17492176e-01 9.92994238e-01 -1.25710840e-02 2.45885015e+00] [ 1.15251608e-01 -1.06129001e-03 9.93335764e-01 2.49701439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.325099892999997 meters 0.057774612221741024 Centerline is valid? [True, True] Translation: X:25.95, Y:2.47, Z:2.50 [[ 9.86580608e-01 -1.17116685e-01 -1.13764611e-01 2.59472816e+01] [ 1.16451891e-01 9.93117734e-01 -1.24949155e-02 2.46739452e+00] [ 1.14445016e-01 -9.20862846e-04 9.93429157e-01 2.50383735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.385099892999996 meters 0.05734834903181548 Centerline is valid? [True, True] Translation: X:26.00, Y:2.48, Z:2.51 [[ 9.86990352e-01 -1.12881088e-01 -1.14489757e-01 2.60043689e+01] [ 1.12178006e-01 9.93608415e-01 -1.25861855e-02 2.47954005e+00] [ 1.15178729e-01 -4.20789066e-04 9.93344695e-01 2.51037920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.445099892999995 meters 0.05912090164533119 Centerline is valid? [True, True] Translation: X:26.06, Y:2.49, Z:2.52 [[ 9.88889645e-01 -9.29124581e-02 -1.16036825e-01 2.60629039e+01] [ 9.20515470e-02 9.95672383e-01 -1.27679026e-02 2.49246735e+00] [ 1.16720960e-01 1.94467736e-03 9.93162845e-01 2.51807034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.505099892999997 meters 0.05914129746932989 Centerline is valid? [True, True] Translation: X:26.12, Y:2.50, Z:2.53 [[ 9.89202592e-01 -9.39057051e-02 -1.12516447e-01 2.61207219e+01] [ 9.31028059e-02 9.95579520e-01 -1.23809445e-02 2.50001937e+00] [ 1.13181712e-01 1.77166550e-03 9.93572726e-01 2.52654636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.565099892999996 meters 0.057188072631534505 Centerline is valid? [True, True] Translation: X:26.18, Y:2.48, Z:2.54 [[ 9.87147350e-01 -1.17122671e-01 -1.08730810e-01 2.61823502e+01] [ 1.16512879e-01 9.93117087e-01 -1.19666718e-02 2.48312496e+00] [ 1.09383993e-01 -8.55671383e-04 9.93999200e-01 2.53770582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.625099892999994 meters 0.05844023826381103 Centerline is valid? [True, True] Translation: X:26.24, Y:2.49, Z:2.54 [[ 9.88207263e-01 -1.04436082e-01 -1.11979958e-01 2.62394102e+01] [ 1.03707927e-01 9.94531440e-01 -1.23239882e-02 2.49460206e+00] [ 1.12654658e-01 5.65445275e-04 9.93634041e-01 2.53645074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.685099892999997 meters 0.059155041712752175 Centerline is valid? [True, True] Translation: X:26.30, Y:2.51, Z:2.54 [[ 9.88992530e-01 -9.69199073e-02 -1.11804774e-01 2.62971755e+01] [ 9.61456535e-02 9.95291166e-01 -1.23089052e-02 2.50663789e+00] [ 1.12471282e-01 1.42387217e-03 9.93653955e-01 2.54308918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.745099892999995 meters 0.06047321162089319 Centerline is valid? [True, True] Translation: X:26.36, Y:2.52, Z:2.55 [[ 9.89865595e-01 -8.62853074e-02 -1.12787186e-01 2.63551605e+01] [ 8.54282161e-02 9.96266922e-01 -1.24193680e-02 2.52240827e+00] [ 1.13437751e-01 2.65829701e-03 9.93541549e-01 2.54970709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.805099892999998 meters 0.0606704879832121 Centerline is valid? [True, True] Translation: X:26.41, Y:2.53, Z:2.56 [[ 9.90050815e-01 -8.31438280e-02 -1.13518670e-01 2.64149575e+01] [ 8.22549583e-02 9.96532927e-01 -1.24999155e-02 2.52670975e+00] [ 1.14164383e-01 3.03807804e-03 9.93457228e-01 2.55648891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.865099892999996 meters 0.06109848927514411 Centerline is valid? [True, True] Translation: X:26.47, Y:2.54, Z:2.56 [[ 9.90029354e-01 -8.22255951e-02 -1.14371455e-01 2.64725530e+01] [ 8.13169146e-02 9.96608701e-01 -1.25958968e-02 2.53732749e+00] [ 1.15019292e-01 3.16997374e-03 9.93358200e-01 2.55941130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.925099892999995 meters 0.06065324296449926 Centerline is valid? [True, True] Translation: X:26.53, Y:2.54, Z:2.57 [[ 9.90124647e-01 -8.20853556e-02 -1.13644960e-01 2.65299686e+01] [ 8.11858110e-02 9.96620233e-01 -1.25289645e-02 2.53715347e+00] [ 1.14289311e-01 3.17887830e-03 9.93442423e-01 2.56779204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.985099892999997 meters 0.06090381976645656 Centerline is valid? [True, True] Translation: X:26.59, Y:2.54, Z:2.58 [[ 9.90162605e-01 -8.23469305e-02 -1.13123816e-01 2.65883659e+01] [ 8.14556807e-02 9.96598750e-01 -1.24861329e-02 2.54251095e+00] [ 1.13767248e-01 3.14872445e-03 9.93502440e-01 2.57504756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.045099892999996 meters 0.06068110676380061 Centerline is valid? [True, True] Translation: X:26.65, Y:2.55, Z:2.58 [[ 9.90161314e-01 -8.26090029e-02 -1.12943899e-01 2.66452754e+01] [ 8.17209269e-02 9.96577134e-01 -1.24782571e-02 2.55118876e+00] [ 1.13588123e-01 3.12560740e-03 9.93523009e-01 2.58064326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.105099892999995 meters 0.059306368782554825 Centerline is valid? [True, True] Translation: X:26.70, Y:2.55, Z:2.59 [[ 9.89992978e-01 -8.39731409e-02 -1.13412586e-01 2.67045818e+01] [ 8.30857357e-02 9.96463536e-01 -1.25372146e-02 2.54618896e+00] [ 1.14064296e-01 2.98878630e-03 9.93468874e-01 2.59068216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.165099892999997 meters 0.05974724373440615 Centerline is valid? [True, True] Translation: X:26.76, Y:2.55, Z:2.60 [[ 9.89907843e-01 -8.51099205e-02 -1.13308267e-01 2.67629910e+01] [ 8.42301730e-02 9.96367442e-01 -1.25378743e-02 2.55045499e+00] [ 1.13963766e-01 2.86736522e-03 9.93480769e-01 2.59684716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.225099892999996 meters 0.06038558763732243 Centerline is valid? [True, True] Translation: X:26.82, Y:2.56, Z:2.60 [[ 9.89782924e-01 -8.82224342e-02 -1.12011457e-01 2.68224439e+01] [ 8.73814561e-02 9.96097686e-01 -1.24048873e-02 2.55984162e+00] [ 1.12668742e-01 2.49042144e-03 9.93629484e-01 2.60044962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.285099892999995 meters 0.05905976272066267 Centerline is valid? [True, True] Translation: X:26.88, Y:2.56, Z:2.61 [[ 9.89497083e-01 -9.22443358e-02 -1.11294677e-01 2.68823087e+01] [ 9.14391350e-02 9.95734348e-01 -1.23284978e-02 2.55833208e+00] [ 1.11957167e-01 2.02232360e-03 9.93710976e-01 2.60860443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.345099892999997 meters 0.057721795544241145 Centerline is valid? [True, True] Translation: X:26.95, Y:2.53, Z:2.61 [[ 9.86422940e-01 -1.22919464e-01 -1.08906330e-01 2.69460471e+01] [ 1.22334197e-01 9.92415630e-01 -1.20648511e-02 2.53100872e+00] [ 1.09563349e-01 -1.42192253e-03 9.93978798e-01 2.61274003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.405099892999996 meters 0.05744258012072069 Centerline is valid? [True, True] Translation: X:27.00, Y:2.54, Z:2.62 [[ 9.86188487e-01 -1.24964104e-01 -1.08702533e-01 2.70034669e+01] [ 1.24393086e-01 9.92159903e-01 -1.20452035e-02 2.53501518e+00] [ 1.09355513e-01 -1.64300250e-03 9.94001344e-01 2.62005812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.465099892999994 meters 0.05786380654519076 Centerline is valid? [True, True] Translation: X:27.06, Y:2.54, Z:2.62 [[ 9.86121439e-01 -1.22996305e-01 -1.11518685e-01 2.70618871e+01] [ 1.22382151e-01 9.92406059e-01 -1.23621954e-02 2.54044432e+00] [ 1.12192323e-01 -1.45727058e-03 9.93685443e-01 2.62355927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.525099892999997 meters 0.058101042587659406 Centerline is valid? [True, True] Translation: X:27.12, Y:2.55, Z:2.63 [[ 9.86253305e-01 -1.21764197e-01 -1.11704518e-01 2.71195046e+01] [ 1.21138894e-01 9.92558194e-01 -1.23935643e-02 2.54580033e+00] [ 1.12382327e-01 -1.30856802e-03 9.93664179e-01 2.62785700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.585099892999995 meters 0.05815523536662975 Centerline is valid? [True, True] Translation: X:27.18, Y:2.56, Z:2.63 [[ 9.86613126e-01 -1.17180396e-01 -1.13416464e-01 2.71770549e+01] [ 1.16504998e-01 9.93110328e-01 -1.25881318e-02 2.55992151e+00] [ 1.14110144e-01 -7.93968791e-04 9.93467787e-01 2.63498695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.645099892999998 meters 0.05873273979345414 Centerline is valid? [True, True] Translation: X:27.23, Y:2.58, Z:2.64 [[ 9.87484354e-01 -1.08257235e-01 -1.14695341e-01 2.72330528e+01] [ 1.07505700e-01 9.94122885e-01 -1.27363299e-02 2.57850753e+00] [ 1.15400063e-01 2.46523527e-04 9.93319065e-01 2.64202534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.705099892999996 meters 0.05833014765467047 Centerline is valid? [True, True] Translation: X:27.29, Y:2.59, Z:2.65 [[ 9.87565005e-01 -1.08790984e-01 -1.13489566e-01 2.72908286e+01] [ 1.08058145e-01 9.94064629e-01 -1.26075598e-02 2.58633770e+00] [ 1.14187553e-01 1.87312831e-04 9.93459193e-01 2.65328713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.765099892999995 meters 0.05817299549511703 Centerline is valid? [True, True] Translation: X:27.35, Y:2.60, Z:2.66 [[ 9.87630546e-01 -1.09338782e-01 -1.12387438e-01 2.73489136e+01] [ 1.08622359e-01 9.94004534e-01 -1.24968178e-02 2.59847195e+00] [ 1.13080010e-01 1.34450378e-04 9.93585876e-01 2.65693611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.825099892999997 meters 0.05798199513241804 Centerline is valid? [True, True] Translation: X:27.41, Y:2.61, Z:2.67 [[ 9.87461782e-01 -1.10724137e-01 -1.12513976e-01 2.74062574e+01] [ 1.10013730e-01 9.93851179e-01 -1.25225324e-02 2.60613203e+00] [ 1.13208695e-01 -1.25600356e-05 9.93571231e-01 2.66501766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.885099892999996 meters 0.05730187872101151 Centerline is valid? [True, True] Translation: X:27.46, Y:2.62, Z:2.67 [[ 9.86940439e-01 -1.18315930e-01 -1.09315650e-01 2.74639001e+01] [ 1.17690380e-01 9.92975643e-01 -1.21797945e-02 2.61846011e+00] [ 1.09988841e-01 -8.44668568e-04 9.93932463e-01 2.67357873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.945099892999995 meters 0.05784907265840318 Centerline is valid? [True, True] Translation: X:27.52, Y:2.63, Z:2.68 [[ 9.87359058e-01 -1.15768318e-01 -1.08257962e-01 2.75207952e+01] [ 1.15138387e-01 9.93276095e-01 -1.20727751e-02 2.63473790e+00] [ 1.08927691e-01 -5.44483230e-04 9.94049527e-01 2.67991320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.005099892999997 meters 0.05886415338582153 Centerline is valid? [True, True] Translation: X:27.58, Y:2.67, Z:2.68 [[ 9.88598704e-01 -9.84924022e-02 -1.13894030e-01 2.75774150e+01] [ 9.76791065e-02 9.95136756e-01 -1.27133230e-02 2.66855935e+00] [ 1.14592301e-01 1.44330763e-03 9.93411557e-01 2.67890294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.065099892999996 meters 0.058916277742332816 Centerline is valid? [True, True] Translation: X:27.63, Y:2.67, Z:2.69 [[ 9.88626958e-01 -9.83547405e-02 -1.13767670e-01 2.76346349e+01] [ 9.75420795e-02 9.95150347e-01 -1.27015419e-02 2.67190210e+00] [ 1.14465193e-01 1.45995156e-03 9.93426187e-01 2.68622212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.125099892999994 meters 0.05966913913642513 Centerline is valid? [True, True] Translation: X:27.69, Y:2.68, Z:2.69 [[ 9.88764198e-01 -9.80746006e-02 -1.12812828e-01 2.76921820e+01] [ 9.72723237e-02 9.95177947e-01 -1.26075070e-02 2.67789206e+00] [ 1.13505315e-01 1.49228560e-03 9.93536268e-01 2.69259334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.185099892999997 meters 0.05934549841222771 Centerline is valid? [True, True] Translation: X:27.75, Y:2.68, Z:2.70 [[ 9.88813305e-01 -9.83144651e-02 -1.12171806e-01 2.77502807e+01] [ 9.75222825e-02 9.95154325e-01 -1.25408943e-02 2.68167075e+00] [ 1.12861210e-01 1.46135257e-03 9.93609688e-01 2.70225484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.245099892999995 meters 0.05861295594626178 Centerline is valid? [True, True] Translation: X:27.81, Y:2.69, Z:2.71 [[ 9.88841738e-01 -9.81492449e-02 -1.12065798e-01 2.78074975e+01] [ 9.73562005e-02 9.95170591e-01 -1.25405570e-02 2.69201128e+00] [ 1.12755433e-01 1.49032592e-03 9.93621654e-01 2.70773625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.305099892999994 meters 0.059727384031292546 Centerline is valid? [True, True] Translation: X:27.87, Y:2.70, Z:2.71 [[ 9.89024382e-01 -9.43839679e-02 -1.13676904e-01 2.78669263e+01] [ 9.35426101e-02 9.95533956e-01 -1.27248606e-02 2.69976374e+00] [ 1.14370241e-01 1.95156314e-03 9.93436279e-01 2.71058586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.365099892999996 meters 0.059729224306805294 Centerline is valid? [True, True] Translation: X:27.93, Y:2.71, Z:2.72 [[ 9.89960538e-01 -8.79982739e-02 -1.10609389e-01 2.79256677e+01] [ 8.71621410e-02 9.96117191e-01 -1.23815296e-02 2.70617629e+00] [ 1.11269467e-01 2.61627452e-03 9.93786829e-01 2.72071868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.425099892999995 meters 0.06021261417293738 Centerline is valid? [True, True] Translation: X:27.99, Y:2.70, Z:2.72 [[ 9.89347224e-01 -9.18052033e-02 -1.12977322e-01 2.79865327e+01] [ 9.09573601e-02 9.95774474e-01 -1.26473719e-02 2.69863764e+00] [ 1.13661028e-01 2.23652334e-03 9.93517070e-01 2.72497932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.485099892999997 meters 0.05971010997645339 Centerline is valid? [True, True] Translation: X:28.04, Y:2.71, Z:2.73 [[ 9.89539509e-01 -9.15109994e-02 -1.11522633e-01 2.80430324e+01] [ 9.06827811e-02 9.95801539e-01 -1.24871459e-02 2.70513908e+00] [ 1.12197121e-01 2.24334172e-03 9.93683437e-01 2.73365630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.545099892999996 meters 0.05993099381272467 Centerline is valid? [True, True] Translation: X:28.10, Y:2.72, Z:2.74 [[ 9.89592990e-01 -9.07976769e-02 -1.11631069e-01 2.81002495e+01] [ 8.99618132e-02 9.95866611e-01 -1.25126018e-02 2.71522875e+00] [ 1.12305769e-01 2.33984966e-03 9.93670941e-01 2.73849523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.605099892999995 meters 0.06053592148289966 Centerline is valid? [True, True] Translation: X:28.16, Y:2.72, Z:2.74 [[ 9.89652342e-01 -9.00088686e-02 -1.11743660e-01 2.81580165e+01] [ 8.91657403e-02 9.95937983e-01 -1.25301730e-02 2.72042510e+00] [ 1.12417582e-01 2.43680885e-03 9.93658064e-01 2.74437072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.665099892999997 meters 0.061283556192601465 Centerline is valid? [True, True] Translation: X:28.22, Y:2.72, Z:2.75 [[ 9.90027412e-01 -8.52567642e-02 -1.12147257e-01 2.82182690e+01] [ 8.43758486e-02 9.96354501e-01 -1.25866449e-02 2.72071672e+00] [ 1.12811521e-01 2.99860355e-03 9.93611881e-01 2.75155310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.725099892999996 meters 0.061498370694563945 Centerline is valid? [True, True] Translation: X:28.28, Y:2.73, Z:2.76 [[ 9.90508857e-01 -8.13107322e-02 -1.10818632e-01 2.82775050e+01] [ 8.04260130e-02 9.96682977e-01 -1.24378400e-02 2.73311877e+00] [ 1.11462374e-01 3.40708999e-03 9.93762814e-01 2.75858459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.785099892999995 meters 0.06081818903362878 Centerline is valid? [True, True] Translation: X:28.34, Y:2.72, Z:2.76 [[ 9.89647000e-01 -8.86749200e-02 -1.12851996e-01 2.83391317e+01] [ 8.78050368e-02 9.96057161e-01 -1.26652406e-02 2.72262272e+00] [ 1.13530128e-01 2.62514368e-03 9.93531086e-01 2.76459178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.845099892999997 meters 0.058382086809034575 Centerline is valid? [True, True] Translation: X:28.40, Y:2.71, Z:2.77 [[ 9.88123985e-01 -1.04144627e-01 -1.12981803e-01 2.83997616e+01] [ 1.03373278e-01 9.94561800e-01 -1.26803806e-02 2.71199193e+00] [ 1.13687979e-01 8.50488838e-04 9.93516140e-01 2.76791390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.905099892999996 meters 0.058142984385061616 Centerline is valid? [True, True] Translation: X:28.46, Y:2.70, Z:2.77 [[ 9.86804970e-01 -1.17024435e-01 -1.11898313e-01 2.84597984e+01] [ 1.16350142e-01 9.93128839e-01 -1.25599990e-02 2.70146408e+00] [ 1.12599269e-01 -6.25115213e-04 9.93640284e-01 2.77152158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.965099892999994 meters 0.058201734174782985 Centerline is valid? [True, True] Translation: X:28.52, Y:2.71, Z:2.78 [[ 9.87405542e-01 -1.12591512e-01 -1.11146062e-01 2.85176164e+01] [ 1.11896914e-01 9.93641354e-01 -1.24876169e-02 2.71153099e+00] [ 1.11845323e-01 -1.06559136e-04 9.93725622e-01 2.77956946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.025099892999997 meters 0.05928020486636907 Centerline is valid? [True, True] Translation: X:28.58, Y:2.73, Z:2.78 [[ 9.88490780e-01 -1.01510408e-01 -1.12167794e-01 2.85753383e+01] [ 1.00730575e-01 9.94833791e-01 -1.26127099e-02 2.72782611e+00] [ 1.12868633e-01 1.16882110e-03 9.93609232e-01 2.78412638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.085099892999995 meters 0.05996369626219043 Centerline is valid? [True, True] Translation: X:28.63, Y:2.74, Z:2.79 [[ 9.88813088e-01 -9.57530001e-02 -1.14368004e-01 2.86342885e+01] [ 9.49035536e-02 9.95403380e-01 -1.28618495e-02 2.74276064e+00] [ 1.15073859e-01 1.86403508e-03 9.93355189e-01 2.78901774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.145099892999998 meters 0.05863821905873517 Centerline is valid? [True, True] Translation: X:28.70, Y:2.74, Z:2.79 [[ 9.87059920e-01 -1.11694578e-01 -1.15052319e-01 2.86958138e+01] [ 1.10942523e-01 9.93742583e-01 -1.29396800e-02 2.73562191e+00] [ 1.15777680e-01 8.04498732e-06 9.93275153e-01 2.79344601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.205099892999996 meters 0.058327527928939076 Centerline is valid? [True, True] Translation: X:28.75, Y:2.75, Z:2.81 [[ 9.88162152e-01 -1.07707936e-01 -1.09245422e-01 2.87522998e+01] [ 1.07005690e-01 9.94182476e-01 -1.22876518e-02 2.74721839e+00] [ 1.09933361e-01 4.52310742e-04 9.93938857e-01 2.80839886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.265099892999995 meters 0.05904780851191413 Centerline is valid? [True, True] Translation: X:28.81, Y:2.76, Z:2.82 [[ 9.88889914e-01 -1.03493519e-01 -1.06704401e-01 2.88084524e+01] [ 1.02798019e-01 9.94629712e-01 -1.20126668e-02 2.75746705e+00] [ 1.07374601e-01 9.10204008e-04 9.94218219e-01 2.81765485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.325099892999997 meters 0.05834734703862303 Centerline is valid? [True, True] Translation: X:28.87, Y:2.76, Z:2.82 [[ 9.87422031e-01 -1.11512373e-01 -1.12083553e-01 2.88669604e+01] [ 1.10795590e-01 9.93763044e-01 -1.26233364e-02 2.75839886e+00] [ 1.12792151e-01 4.61969415e-05 9.93618603e-01 2.81664092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.385099892999996 meters 0.05792887678915093 Centerline is valid? [True, True] Translation: X:28.93, Y:2.76, Z:2.82 [[ 9.86223936e-01 -1.17857998e-01 -1.16068259e-01 2.89259929e+01] [ 1.17131933e-01 9.93030216e-01 -1.30805523e-02 2.76388937e+00] [ 1.16800936e-01 -6.94945842e-04 9.93155103e-01 2.82186908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.445099892999995 meters 0.057783733276728796 Centerline is valid? [True, True] Translation: X:28.98, Y:2.77, Z:2.83 [[ 9.86203537e-01 -1.18466447e-01 -1.15621301e-01 2.89832389e+01] [ 1.17749794e-01 9.92957764e-01 -1.30331956e-02 2.77099142e+00] [ 1.16351065e-01 -7.61000808e-04 9.93207859e-01 2.82563011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.505099892999997 meters 0.057496887191082285 Centerline is valid? [True, True] Translation: X:29.04, Y:2.78, Z:2.84 [[ 9.86839110e-01 -1.17641316e-01 -1.10946348e-01 2.90420226e+01] [ 1.16975099e-01 9.93055955e-01 -1.25178314e-02 2.78172823e+00] [ 1.11648546e-01 -6.24874350e-04 9.93747559e-01 2.83510932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.565099892999996 meters 0.057944346296723924 Centerline is valid? [True, True] Translation: X:29.10, Y:2.79, Z:2.84 [[ 9.87111882e-01 -1.14226803e-01 -1.12081982e-01 2.90991123e+01] [ 1.13524581e-01 9.93454670e-01 -1.26486685e-02 2.79430646e+00] [ 1.12793185e-01 -2.38409051e-04 9.93618458e-01 2.83920699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.625099892999994 meters 0.05849306502163236 Centerline is valid? [True, True] Translation: X:29.16, Y:2.80, Z:2.85 [[ 9.87042212e-01 -1.15201592e-01 -1.11697200e-01 2.91559657e+01] [ 1.14509856e-01 9.93342074e-01 -1.26102266e-02 2.80362023e+00] [ 1.12406246e-01 -3.43604340e-04 9.93662275e-01 2.84720569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.685099892999997 meters 0.05776999873945271 Centerline is valid? [True, True] Translation: X:29.21, Y:2.81, Z:2.85 [[ 9.87099628e-01 -1.13736770e-01 -1.12686606e-01 2.92133476e+01] [ 1.13021706e-01 9.93510906e-01 -1.27347648e-02 2.81444310e+00] [ 1.13403783e-01 -1.65550772e-04 9.93548969e-01 2.85113205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.745099892999995 meters 0.05806048742332093 Centerline is valid? [True, True] Translation: X:29.27, Y:2.83, Z:2.86 [[ 9.87698660e-01 -1.08917917e-01 -1.12197346e-01 2.92700604e+01] [ 1.08177510e-01 9.94050670e-01 -1.26843162e-02 2.82942266e+00] [ 1.12911396e-01 3.91052565e-04 9.93604984e-01 2.85582060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.805099892999994 meters 0.05826382886378209 Centerline is valid? [True, True] Translation: X:29.33, Y:2.84, Z:2.87 [[ 9.87951523e-01 -1.08361627e-01 -1.10496810e-01 2.93281158e+01] [ 1.07638709e-01 9.94111436e-01 -1.25044798e-02 2.83809269e+00] [ 1.11201149e-01 4.60085754e-04 9.93797813e-01 2.86509269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.865099892999996 meters 0.05795199007040592 Centerline is valid? [True, True] Translation: X:29.39, Y:2.84, Z:2.87 [[ 9.87504408e-01 -1.12954945e-01 -1.09891874e-01 2.93858905e+01] [ 1.12267065e-01 9.93600110e-01 -1.24470027e-02 2.84334713e+00] [ 1.10594529e-01 -4.57681617e-05 9.93865609e-01 2.87338957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.925099892999995 meters 0.05758885911557738 Centerline is valid? [True, True] Translation: X:29.44, Y:2.85, Z:2.88 [[ 9.87593020e-01 -1.12251699e-01 -1.09816130e-01 2.94420241e+01] [ 1.11559211e-01 9.93679805e-01 -1.24494369e-02 2.85216025e+00] [ 1.10519541e-01 4.39762629e-05 9.93873950e-01 2.87827620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.985099892999997 meters 0.05758663292393199 Centerline is valid? [True, True] Translation: X:29.50, Y:2.87, Z:2.88 [[ 9.87867410e-01 -1.07902021e-01 -1.11692138e-01 2.94996419e+01] [ 1.07157104e-01 9.94161383e-01 -1.26688516e-02 2.86520002e+00] [ 1.12407005e-01 5.46539473e-04 9.93662099e-01 2.88287020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.04509989299999 meters 0.05820700032193291 Centerline is valid? [True, True] Translation: X:29.56, Y:2.87, Z:2.89 [[ 9.88071762e-01 -1.05797689e-01 -1.11897461e-01 2.95574960e+01] [ 1.05035198e-01 9.94387354e-01 -1.27042268e-02 2.87481796e+00] [ 1.12613498e-01 7.99515847e-04 9.93638546e-01 2.88909759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.105099892999995 meters 0.05839688280667072 Centerline is valid? [True, True] Translation: X:29.62, Y:2.88, Z:2.90 [[ 9.87976186e-01 -1.05458487e-01 -1.13055574e-01 2.96155330e+01] [ 1.04676498e-01 9.94423335e-01 -1.28476002e-02 2.88395358e+00] [ 1.13779990e-01 8.58861479e-04 9.93505600e-01 2.89569896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.165099893 meters 0.05829588216011322 Centerline is valid? [True, True] Translation: X:29.67, Y:2.89, Z:2.90 [[ 9.87948020e-01 -1.08143674e-01 -1.10741394e-01 2.96735922e+01] [ 1.07409068e-01 9.94135124e-01 -1.25955546e-02 2.89012894e+00] [ 1.11454039e-01 5.49123373e-04 9.93769438e-01 2.90210792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.22509989299999 meters 0.05853071279194363 Centerline is valid? [True, True] Translation: X:29.73, Y:2.89, Z:2.91 [[ 9.87614926e-01 -1.13458944e-01 -1.08368932e-01 2.97319705e+01] [ 1.12786809e-01 9.93542685e-01 -1.23316444e-02 2.89481449e+00] [ 1.09068295e-01 -4.36699392e-05 9.94034258e-01 2.91067906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.285099892999995 meters 0.056932102107637536 Centerline is valid? [True, True] Translation: X:29.79, Y:2.90, Z:2.92 [[ 9.86458357e-01 -1.23437275e-01 -1.07996065e-01 2.97906002e+01] [ 1.22828041e-01 9.92351732e-01 -1.23008717e-02 2.89730828e+00] [ 1.08688468e-01 -1.13064747e-03 9.94075218e-01 2.91726477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.345099893 meters 0.05778212388903424 Centerline is valid? [True, True] Translation: X:29.85, Y:2.90, Z:2.92 [[ 9.85556013e-01 -1.29883940e-01 -1.08671557e-01 2.98500145e+01] [ 1.29305796e-01 9.91527477e-01 -1.23803436e-02 2.90184198e+00] [ 1.09358843e-01 -1.85034011e-03 9.94000614e-01 2.92288866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.405099893 meters 0.05743489667976836 Centerline is valid? [True, True] Translation: X:29.91, Y:2.90, Z:2.93 [[ 9.84740139e-01 -1.34753365e-01 -1.10128965e-01 2.99088758e+01] [ 1.34189774e-01 9.90876210e-01 -1.25475388e-02 2.90426245e+00] [ 1.10814994e-01 -2.42211578e-03 9.93838101e-01 2.92739825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.465099892999994 meters 0.058210034971521926 Centerline is valid? [True, True] Translation: X:29.97, Y:2.92, Z:2.93 [[ 9.85019321e-01 -1.33038862e-01 -1.09715991e-01 2.99667152e+01] [ 1.32468740e-01 9.91108337e-01 -1.25018887e-02 2.91562028e+00] [ 1.10403670e-01 -2.21933708e-03 9.93884352e-01 2.93366529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.525099893 meters 0.05713329739545278 Centerline is valid? [True, True] Translation: X:30.02, Y:2.94, Z:2.94 [[ 9.86354228e-01 -1.24025105e-01 -1.08273314e-01 3.00239325e+01] [ 1.23415370e-01 9.92278366e-01 -1.23405942e-02 2.93568049e+00] [ 1.08967810e-01 -1.19039379e-03 9.94044566e-01 2.94273879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.585099893 meters 0.05786282651769848 Centerline is valid? [True, True] Translation: X:30.08, Y:2.95, Z:2.95 [[ 9.87178162e-01 -1.17350542e-01 -1.08204097e-01 3.00823737e+01] [ 1.16701534e-01 9.93090452e-01 -1.23331434e-02 2.94696894e+00] [ 1.08903756e-01 -4.52574206e-04 9.94052195e-01 2.94866991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.645099892999994 meters 0.058150534046807985 Centerline is valid? [True, True] Translation: X:30.14, Y:2.95, Z:2.95 [[ 9.87449632e-01 -1.14368880e-01 -1.08917323e-01 3.01396725e+01] [ 1.13692923e-01 9.93438345e-01 -1.24167126e-02 2.95435448e+00] [ 1.09622731e-01 -1.22250567e-04 9.93973260e-01 2.95409084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.705099892999996 meters 0.058216392787482724 Centerline is valid? [True, True] Translation: X:30.20, Y:2.96, Z:2.96 [[ 9.88260896e-01 -1.06344605e-01 -1.09686951e-01 3.01969350e+01] [ 1.05608261e-01 9.94329023e-01 -1.25175554e-02 2.96486555e+00] [ 1.10396094e-01 7.86762355e-04 9.93887360e-01 2.95965956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.765099893 meters 0.05883593248090914 Centerline is valid? [True, True] Translation: X:30.26, Y:2.97, Z:2.97 [[ 9.89800486e-01 -9.09581464e-02 -1.09643119e-01 3.02570039e+01] [ 9.01268760e-02 9.95851541e-01 -1.25241295e-02 2.96782349e+00] [ 1.10327441e-01 2.51459766e-03 9.93892113e-01 2.96932672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.825099892999994 meters 0.06024643891551237 Centerline is valid? [True, True] Translation: X:30.32, Y:2.98, Z:2.97 [[ 9.90418433e-01 -8.48180499e-02 -1.08982684e-01 3.03162718e+01] [ 8.39597201e-02 9.96391384e-01 -1.24489475e-02 2.98463245e+00] [ 1.09645303e-01 3.17951142e-03 9.93965693e-01 2.97349251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.885099892999996 meters 0.06017708105869606 Centerline is valid? [True, True] Translation: X:30.37, Y:2.99, Z:2.98 [[ 9.90457356e-01 -8.53631691e-02 -1.08200530e-01 3.03749500e+01] [ 8.45204415e-02 9.96345092e-01 -1.23592885e-02 2.98646016e+00] [ 1.08860095e-01 3.09619168e-03 9.94052259e-01 2.98154133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.945099893 meters 0.05849281169508828 Centerline is valid? [True, True] Translation: X:30.44, Y:2.98, Z:2.99 [[ 9.88866675e-01 -1.01100022e-01 -1.09185548e-01 3.04350792e+01] [ 1.00335954e-01 9.94875296e-01 -1.24836424e-02 2.97907397e+00] [ 1.09888101e-01 1.38942189e-03 9.93942994e-01 2.98575427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.00509989299999 meters 0.05864805268370205 Centerline is valid? [True, True] Translation: X:30.50, Y:2.97, Z:2.99 [[ 9.87173569e-01 -1.14512965e-01 -1.11243538e-01 3.04966481e+01] [ 1.13804260e-01 9.93421749e-01 -1.27208465e-02 2.96784558e+00] [ 1.11968452e-01 -1.02305089e-04 9.93711757e-01 2.98740527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.065099892999996 meters 0.057791169352248865 Centerline is valid? [True, True] Translation: X:30.56, Y:2.97, Z:2.99 [[ 9.86603200e-01 -1.20541764e-01 -1.09926375e-01 3.05554696e+01] [ 1.19886825e-01 9.92707954e-01 -1.25724390e-02 2.96638704e+00] [ 1.10640291e-01 -7.74715540e-04 9.93860214e-01 2.99461741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.125099893 meters 0.05805995426463437 Centerline is valid? [True, True] Translation: X:30.61, Y:2.97, Z:3.00 [[ 9.86938306e-01 -1.20780403e-01 -1.06606162e-01 3.06137594e+01] [ 1.20164789e-01 9.92678955e-01 -1.22031471e-02 2.96907181e+00] [ 1.07299595e-01 -7.66553577e-04 9.94226438e-01 3.00312537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.18509989299999 meters 0.05731316056195519 Centerline is valid? [True, True] Translation: X:30.67, Y:2.98, Z:3.01 [[ 9.87591531e-01 -1.16228734e-01 -1.05611785e-01 3.06721562e+01] [ 1.15597395e-01 9.93222440e-01 -1.21007105e-02 2.97703735e+00] [ 1.06302445e-01 -2.57888068e-04 9.94333809e-01 3.01052214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.245099892999995 meters 0.057160273805642266 Centerline is valid? [True, True] Translation: X:30.73, Y:2.98, Z:3.02 [[ 9.87523808e-01 -1.14466039e-01 -1.08139973e-01 3.07296113e+01] [ 1.13792783e-01 9.93427160e-01 -1.23967974e-02 2.98288443e+00] [ 1.08848199e-01 -6.34160029e-05 9.94058381e-01 3.01573934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.305099893 meters 0.058000282961420443 Centerline is valid? [True, True] Translation: X:30.79, Y:2.99, Z:3.02 [[ 9.87053977e-01 -1.15086528e-01 -1.11711848e-01 3.07879054e+01] [ 1.14371296e-01 9.93355462e-01 -1.28114311e-02 2.98775372e+00] [ 1.12443998e-01 -1.31054913e-04 9.93658055e-01 3.01873020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.36509989299999 meters 0.05767480162553084 Centerline is valid? [True, True] Translation: X:30.85, Y:2.99, Z:3.02 [[ 9.86325504e-01 -1.17825272e-01 -1.15235434e-01 3.08472713e+01] [ 1.17081354e-01 9.93034242e-01 -1.32268701e-02 2.98836598e+00] [ 1.15991191e-01 -4.45921335e-04 9.93250142e-01 3.02066448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.425099892999995 meters 0.057202684430937574 Centerline is valid? [True, True] Translation: X:30.91, Y:3.00, Z:3.03 [[ 9.86783225e-01 -1.17150123e-01 -1.11958543e-01 3.09053941e+01] [ 1.16443379e-01 9.93114155e-01 -1.28536194e-02 2.99552467e+00] [ 1.12693416e-01 -3.53094942e-04 9.93629745e-01 3.02937757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.485099893 meters 0.05794379578102982 Centerline is valid? [True, True] Translation: X:30.96, Y:3.00, Z:3.04 [[ 9.87065890e-01 -1.17964834e-01 -1.08559782e-01 3.09628131e+01] [ 1.17304712e-01 9.93017682e-01 -1.24695042e-02 3.00155166e+00] [ 1.09272746e-01 -4.26351682e-04 9.94011713e-01 3.03997070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.54509989299999 meters 0.057666965870247805 Centerline is valid? [True, True] Translation: X:31.02, Y:3.01, Z:3.05 [[ 9.87425955e-01 -1.16680483e-01 -1.06656686e-01 3.10200247e+01] [ 1.16034605e-01 9.93169469e-01 -1.22628309e-02 3.01019145e+00] [ 1.07358997e-01 -2.67228920e-04 9.94220285e-01 3.04800313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.605099892999995 meters 0.05818528500642852 Centerline is valid? [True, True] Translation: X:31.08, Y:3.02, Z:3.05 [[ 9.87885681e-01 -1.12169599e-01 -1.07237408e-01 3.10772547e+01] [ 1.11488889e-01 9.93689049e-01 -1.23410786e-02 3.01793522e+00] [ 1.07944932e-01 2.35795329e-04 9.94156847e-01 3.05317210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.665099893 meters 0.05880344250570156 Centerline is valid? [True, True] Translation: X:31.14, Y:3.03, Z:3.06 [[ 9.88238503e-01 -1.08294653e-01 -1.07967257e-01 3.11353945e+01] [ 1.07580006e-01 9.94118609e-01 -1.24391986e-02 3.02542184e+00] [ 1.08679358e-01 6.77776871e-04 9.94076626e-01 3.05924925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.72509989299999 meters 0.0583775763019044 Centerline is valid? [True, True] Translation: X:31.19, Y:3.03, Z:3.06 [[ 9.88005201e-01 -1.08916846e-01 -1.09466178e-01 3.11931056e+01] [ 1.08184613e-01 9.94050665e-01 -1.26240177e-02 3.02990364e+00] [ 1.10189895e-01 6.30039058e-04 9.93910353e-01 3.06160558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.785099892999995 meters 0.05868942592235258 Centerline is valid? [True, True] Translation: X:31.25, Y:3.03, Z:3.07 [[ 9.87651912e-01 -1.11311333e-01 -1.10242856e-01 3.12511452e+01] [ 1.10582967e-01 9.93785515e-01 -1.27183957e-02 3.03406527e+00] [ 1.10973455e-01 3.70365781e-04 9.93823302e-01 3.06733094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.845099893 meters 0.05860622900903238 Centerline is valid? [True, True] Translation: X:31.31, Y:3.04, Z:3.07 [[ 9.87259433e-01 -1.14522553e-01 -1.10468984e-01 3.13089583e+01] [ 1.13809950e-01 9.93420648e-01 -1.27558212e-02 3.03850036e+00] [ 1.11202999e-01 2.08352868e-05 9.93797712e-01 3.07193981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.90509989299999 meters 0.058470945280506816 Centerline is valid? [True, True] Translation: X:31.37, Y:3.06, Z:3.08 [[ 9.89151877e-01 -1.00785056e-01 -1.06868780e-01 3.13663637e+01] [ 1.00037809e-01 9.94907063e-01 -1.23439025e-02 3.05619676e+00] [ 1.07568585e-01 1.51907571e-03 9.94196506e-01 3.08151298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.965099892999994 meters 0.06039249874404459 Centerline is valid? [True, True] Translation: X:31.43, Y:3.06, Z:3.09 [[ 9.89869080e-01 -9.35868792e-02 -1.06774063e-01 3.14256525e+01] [ 9.27991920e-02 9.95608461e-01 -1.23329390e-02 3.06383412e+00] [ 1.07459362e-01 2.29944816e-03 9.94206819e-01 3.08694230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.025099893 meters 0.05939460439404395 Centerline is valid? [True, True] Translation: X:31.48, Y:3.07, Z:3.09 [[ 9.89832765e-01 -9.37240934e-02 -1.06990145e-01 3.14837533e+01] [ 9.29340259e-02 9.95595578e-01 -1.23576724e-02 3.06552093e+00] [ 1.07677127e-01 2.28900411e-03 9.94183281e-01 3.09420849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.085099893 meters 0.060264240301653664 Centerline is valid? [True, True] Translation: X:31.54, Y:3.07, Z:3.10 [[ 9.89674507e-01 -9.49839437e-02 -1.07342542e-01 3.15420816e+01] [ 9.41945167e-02 9.95476433e-01 -1.24122795e-02 3.07087282e+00] [ 1.08035938e-01 2.17303767e-03 9.94144614e-01 3.09991115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.145099892999994 meters 0.059264147215765034 Centerline is valid? [True, True] Translation: X:31.60, Y:3.06, Z:3.11 [[ 9.88768835e-01 -1.01978623e-01 -1.09254527e-01 3.16031214e+01] [ 1.01201971e-01 9.94785539e-01 -1.26448265e-02 3.06413663e+00] [ 1.09974326e-01 1.44603692e-03 9.93933376e-01 3.10606623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.205099892999996 meters 0.057711214388854445 Centerline is valid? [True, True] Translation: X:31.66, Y:3.06, Z:3.11 [[ 9.87320721e-01 -1.14679765e-01 -1.09755842e-01 3.16625970e+01] [ 1.13973990e-01 9.93402512e-01 -1.27035129e-02 3.06358347e+00] [ 1.10488565e-01 3.31302051e-05 9.93877395e-01 3.10978095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.265099893 meters 0.05787739056540687 Centerline is valid? [True, True] Translation: X:31.72, Y:3.06, Z:3.11 [[ 9.85859411e-01 -1.26269174e-01 -1.10169494e-01 3.17231668e+01] [ 1.25629981e-01 9.91995205e-01 -1.27523111e-02 3.05639810e+00] [ 1.10897834e-01 -1.26860563e-03 9.93831002e-01 3.11471354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.325099892999994 meters 0.05826359821372169 Centerline is valid? [True, True] Translation: X:31.78, Y:3.06, Z:3.12 [[ 9.85257093e-01 -1.33767956e-01 -1.06651745e-01 3.17822133e+01] [ 1.33212596e-01 9.91010576e-01 -1.23467650e-02 3.05602471e+00] [ 1.07344608e-01 -2.04261797e-03 9.94219776e-01 3.12291647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.385099892999996 meters 0.058322943870209275 Centerline is valid? [True, True] Translation: X:31.84, Y:3.06, Z:3.13 [[ 9.84264227e-01 -1.41214797e-01 -1.06218230e-01 3.18423738e+01] [ 1.40706948e-01 9.89974904e-01 -1.22981715e-02 3.05960808e+00] [ 1.06890066e-01 -2.84099269e-03 9.94266786e-01 3.12947961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.445099893 meters 0.05807121815138842 Centerline is valid? [True, True] Translation: X:31.90, Y:3.07, Z:3.13 [[ 9.83633037e-01 -1.43923968e-01 -1.08406369e-01 3.19013379e+01] [ 1.43411341e-01 9.89583573e-01 -1.25514952e-02 3.07002864e+00] [ 1.09083623e-01 -3.20063736e-03 9.94027424e-01 3.13392471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.50509989299999 meters 0.05901807932363449 Centerline is valid? [True, True] Translation: X:31.96, Y:3.08, Z:3.14 [[ 9.83838989e-01 -1.42237269e-01 -1.08763061e-01 3.19585890e+01] [ 1.41710884e-01 9.89827976e-01 -1.25937585e-02 3.07510441e+00] [ 1.09448022e-01 -3.02267888e-03 9.93987924e-01 3.13843967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.565099892999996 meters 0.058327694541923686 Centerline is valid? [True, True] Translation: X:32.02, Y:3.09, Z:3.15 [[ 9.84727118e-01 -1.35720520e-01 -1.09052480e-01 3.20165747e+01] [ 1.35151111e-01 9.90744491e-01 -1.26305563e-02 3.09397216e+00] [ 1.09757370e-01 -2.30091261e-03 9.93955746e-01 3.14617597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.625099893 meters 0.05738794884054564 Centerline is valid? [True, True] Translation: X:32.07, Y:3.12, Z:3.15 [[ 9.87023779e-01 -1.16936137e-01 -1.10045442e-01 3.20728273e+01] [ 1.16239439e-01 9.93139414e-01 -1.27474271e-02 3.12087623e+00] [ 1.10781101e-01 -2.09606749e-04 9.93844809e-01 3.15266247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.68509989299999 meters 0.057850694293091795 Centerline is valid? [True, True] Translation: X:32.13, Y:3.13, Z:3.16 [[ 9.87793273e-01 -1.11025796e-01 -1.09259884e-01 3.21292940e+01] [ 1.10302822e-01 9.93817422e-01 -1.26577580e-02 3.13305479e+00] [ 1.09989713e-01 4.51574778e-04 9.93932623e-01 3.16195028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.745099892999995 meters 0.05904445020892787 Centerline is valid? [True, True] Translation: X:32.19, Y:3.15, Z:3.16 [[ 9.88589369e-01 -1.01519414e-01 -1.11287318e-01 3.21877920e+01] [ 1.00707742e-01 9.94832350e-01 -1.29052802e-02 3.15081349e+00] [ 1.12022361e-01 1.55052824e-03 9.93704476e-01 3.16444548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.805099893 meters 0.0588034555720018 Centerline is valid? [True, True] Translation: X:32.24, Y:3.16, Z:3.17 [[ 9.88630278e-01 -1.00795006e-01 -1.11581993e-01 3.22449576e+01] [ 9.99744005e-02 9.94905868e-01 -1.29395776e-02 3.16218461e+00] [ 1.12317824e-01 1.63711537e-03 9.93670985e-01 3.17015308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.86509989299999 meters 0.058642705044564716 Centerline is valid? [True, True] Translation: X:32.31, Y:3.16, Z:3.18 [[ 9.87771013e-01 -1.10516098e-01 -1.09975535e-01 3.23054029e+01] [ 1.09778602e-01 9.93874194e-01 -1.27571720e-02 3.16201441e+00] [ 1.10711719e-01 5.28204123e-04 9.93852422e-01 3.17817137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.925099892999995 meters 0.05809910564449493 Centerline is valid? [True, True] Translation: X:32.36, Y:3.16, Z:3.19 [[ 9.86301648e-01 -1.25016909e-01 -1.07609623e-01 3.23640249e+01] [ 1.24396692e-01 9.92154030e-01 -1.24837178e-02 3.16206246e+00] [ 1.08325997e-01 -1.07356965e-03 9.94114845e-01 3.18633749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.985099893 meters 0.05839881794057747 Centerline is valid? [True, True] Translation: X:32.42, Y:3.16, Z:3.19 [[ 9.85403400e-01 -1.33045068e-01 -1.06203339e-01 3.24242602e+01] [ 1.32486234e-01 9.91108131e-01 -1.23316586e-02 3.16353717e+00] [ 1.06899660e-01 -1.91882212e-03 9.94267962e-01 3.19404434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.04509989299999 meters 0.05769638747186536 Centerline is valid? [True, True] Translation: X:32.48, Y:3.16, Z:3.20 [[ 9.84250305e-01 -1.40849976e-01 -1.06829869e-01 3.24837510e+01] [ 1.40330310e-01 9.90027041e-01 -1.24041552e-02 3.16359337e+00] [ 1.07511584e-01 -2.78267507e-03 9.94199938e-01 3.19959111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.105099892999995 meters 0.05783530914732334 Centerline is valid? [True, True] Translation: X:32.54, Y:3.17, Z:3.20 [[ 9.83107875e-01 -1.48164183e-01 -1.07453623e-01 3.25439661e+01] [ 1.47681843e-01 9.88956215e-01 -1.24770765e-02 3.16923660e+00] [ 1.08115584e-01 -3.60263691e-03 9.94131803e-01 3.20477171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.165099893 meters 0.05820352230343147 Centerline is valid? [True, True] Translation: X:32.60, Y:3.18, Z:3.21 [[ 9.82188026e-01 -1.51652878e-01 -1.10941818e-01 3.26032349e+01] [ 1.51160803e-01 9.88425240e-01 -1.28824409e-02 3.17591817e+00] [ 1.11611352e-01 -4.11707503e-03 9.93743405e-01 3.20696262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.22509989299999 meters 0.061168141848974886 Centerline is valid? [True, True] Translation: X:32.66, Y:3.17, Z:3.21 [[ 9.82058433e-01 -1.52198522e-01 -1.11341115e-01 3.26626428e+01] [ 1.51706207e-01 9.88341050e-01 -1.29304099e-02 3.17214719e+00] [ 1.12010984e-01 -4.19272019e-03 9.93698123e-01 3.20943017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.285099892999995 meters 0.05922006931200298 Centerline is valid? [True, True] Translation: X:32.72, Y:3.19, Z:3.22 [[ 9.82041125e-01 -1.52941458e-01 -1.10472346e-01 3.27192186e+01] [ 1.52460184e-01 9.88226188e-01 -1.28410732e-02 3.19112287e+00] [ 1.11135598e-01 -4.23217215e-03 9.93796241e-01 3.21771927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.345099893 meters 0.0584193233885936 Centerline is valid? [True, True] Translation: X:32.78, Y:3.21, Z:3.23 [[ 9.81944469e-01 -1.53582304e-01 -1.10442457e-01 3.27753971e+01] [ 1.53104093e-01 9.88126535e-01 -1.28486143e-02 3.20884319e+00] [ 1.11104442e-01 -4.29256634e-03 9.93799465e-01 3.22583284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.40509989299999 meters 0.058636841575220526 Centerline is valid? [True, True] Translation: X:32.83, Y:3.22, Z:3.23 [[ 9.82254896e-01 -1.51906694e-01 -1.09998528e-01 3.28334649e+01] [ 1.51421428e-01 9.88386407e-01 -1.28008268e-02 3.22349839e+00] [ 1.10665581e-01 -4.08245948e-03 9.93849316e-01 3.23314034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.465099892999994 meters 0.058068997693327795 Centerline is valid? [True, True] Translation: X:32.89, Y:3.24, Z:3.24 [[ 9.83643562e-01 -1.42485643e-01 -1.10196117e-01 3.28915204e+01] [ 1.41939587e-01 9.89792242e-01 -1.28246185e-02 3.24450381e+00] [ 1.10898586e-01 -3.02633799e-03 9.93827120e-01 3.23934629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.525099893 meters 0.057355022174790105 Centerline is valid? [True, True] Translation: X:32.95, Y:3.25, Z:3.25 [[ 9.83931026e-01 -1.39897041e-01 -1.10943923e-01 3.29504044e+01] [ 1.39327090e-01 9.90162229e-01 -1.29121021e-02 3.25467883e+00] [ 1.11658847e-01 -2.75287621e-03 9.93742785e-01 3.24504853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.58509989299999 meters 0.057556209470820255 Centerline is valid? [True, True] Translation: X:33.01, Y:3.26, Z:3.25 [[ 9.84366780e-01 -1.37199197e-01 -1.10446472e-01 3.30093932e+01] [ 1.36617188e-01 9.90540488e-01 -1.28563445e-02 3.26214255e+00] [ 1.11165582e-01 -2.43352806e-03 9.93798919e-01 3.24971900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.645099892999994 meters 0.0573790444457282 Centerline is valid? [True, True] Translation: X:33.07, Y:3.27, Z:3.26 [[ 9.84859689e-01 -1.34145889e-01 -1.09801067e-01 3.30683215e+01] [ 1.33551534e-01 9.90959423e-01 -1.27832138e-02 3.27220411e+00] [ 1.10523218e-01 -2.07442892e-03 9.93871378e-01 3.25687841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.705099892999996 meters 0.058026185654239 Centerline is valid? [True, True] Translation: X:33.13, Y:3.28, Z:3.26 [[ 9.85557741e-01 -1.28539100e-01 -1.10243545e-01 3.31274089e+01] [ 1.27904862e-01 9.91703381e-01 -1.28355199e-02 3.28227469e+00] [ 1.10978762e-01 -1.45053939e-03 9.93821720e-01 3.26315230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.765099893 meters 0.057993282165555916 Centerline is valid? [True, True] Translation: X:33.19, Y:3.29, Z:3.27 [[ 9.86287424e-01 -1.21460702e-01 -1.11733683e-01 3.31858688e+01] [ 1.20763833e-01 9.92596020e-01 -1.30091439e-02 3.29286529e+00] [ 1.12486509e-01 -6.62632784e-04 9.93653031e-01 3.26639823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.825099892999994 meters 0.05757845815250911 Centerline is valid? [True, True] Translation: X:33.24, Y:3.31, Z:3.28 [[ 9.87673595e-01 -1.11673298e-01 -1.09681103e-01 3.32429429e+01] [ 1.10941390e-01 9.93744874e-01 -1.27723545e-02 3.30871758e+00] [ 1.10421365e-01 4.46743212e-04 9.93884763e-01 3.27517835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.885099892999996 meters 0.05837628249945655 Centerline is valid? [True, True] Translation: X:33.30, Y:3.31, Z:3.28 [[ 9.88133678e-01 -1.08911052e-01 -1.08306129e-01 3.33004867e+01] [ 1.08179712e-01 9.94051211e-01 -1.26229818e-02 3.31389599e+00] [ 1.09036620e-01 7.56667647e-04 9.94037445e-01 3.28372204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.945099893 meters 0.0583317378439606 Centerline is valid? [True, True] Translation: X:33.36, Y:3.31, Z:3.29 [[ 9.87150954e-01 -1.14687416e-01 -1.11264508e-01 3.33593394e+01] [ 1.13950584e-01 9.93401620e-01 -1.29802106e-02 3.31270616e+00] [ 1.12019009e-01 1.34771559e-04 9.93706055e-01 3.28512584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.00509989299999 meters 0.05746423274322988 Centerline is valid? [True, True] Translation: X:33.42, Y:3.31, Z:3.29 [[ 9.86200594e-01 -1.20956100e-01 -1.13039864e-01 3.34178256e+01] [ 1.20235064e-01 9.92657692e-01 -1.31998705e-02 3.31404944e+00] [ 1.13806496e-01 -5.73635141e-04 9.93502769e-01 3.28921893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.065099892999996 meters 0.05778561690107554 Centerline is valid? [True, True] Translation: X:33.48, Y:3.31, Z:3.29 [[ 9.85203619e-01 -1.28930302e-01 -1.12919470e-01 3.34780784e+01] [ 1.28262487e-01 9.91652541e-01 -1.31898811e-02 3.31323224e+00] [ 1.13677454e-01 -1.48861351e-03 9.93516593e-01 3.29450376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.125099893 meters 0.05740627674754079 Centerline is valid? [True, True] Translation: X:33.54, Y:3.32, Z:3.31 [[ 9.84700821e-01 -1.36505637e-01 -1.08307453e-01 3.35376754e+01] [ 1.35936915e-01 9.90636706e-01 -1.26519657e-02 3.31647705e+00] [ 1.09020403e-01 -2.26458013e-03 9.94036933e-01 3.30569325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.18509989299999 meters 0.056405377520608944 Centerline is valid? [True, True] Translation: X:33.60, Y:3.32, Z:3.31 [[ 9.84825918e-01 -1.39007217e-01 -1.03898531e-01 3.35961180e+01] [ 1.38497715e-01 9.90288372e-01 -1.21377222e-02 3.32013323e+00] [ 1.04576738e-01 -2.43616560e-03 9.94513837e-01 3.31388463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.245099892999995 meters 0.05723956978280738 Centerline is valid? [True, True] Translation: X:33.66, Y:3.32, Z:3.32 [[ 9.83942129e-01 -1.42376069e-01 -1.07642658e-01 3.36554753e+01] [ 1.41848928e-01 9.89808408e-01 -1.25776681e-02 3.31905111e+00] [ 1.08336367e-01 -2.89329814e-03 9.94110085e-01 3.31649566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.305099893 meters 0.05812237807100005 Centerline is valid? [True, True] Translation: X:33.72, Y:3.32, Z:3.32 [[ 9.83148848e-01 -1.42257492e-01 -1.14809186e-01 3.37150021e+01] [ 1.41656694e-01 9.89824916e-01 -1.34170015e-02 3.32402389e+00] [ 1.15549661e-01 -3.07258005e-03 9.93296952e-01 3.31516474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.36509989299999 meters 0.057779364112933156 Centerline is valid? [True, True] Translation: X:33.77, Y:3.34, Z:3.32 [[ 9.84403150e-01 -1.32096932e-01 -1.16193108e-01 3.37728405e+01] [ 1.31410641e-01 9.91234983e-01 -1.35812851e-02 3.34362529e+00] [ 1.16968719e-01 -1.89955090e-03 9.93133783e-01 3.32293753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.425099892999995 meters 0.057957609372590375 Centerline is valid? [True, True] Translation: X:33.83, Y:3.37, Z:3.33 [[ 9.87296958e-01 -1.11656165e-01 -1.13038122e-01 3.38290795e+01] [ 1.10872685e-01 9.93746767e-01 -1.32140233e-02 3.36911594e+00] [ 1.13806695e-01 5.13324886e-04 9.93502779e-01 3.33017872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.485099893 meters 0.059050339299855065 Centerline is valid? [True, True] Translation: X:33.89, Y:3.39, Z:3.34 [[ 9.89661118e-01 -9.42814191e-02 -1.08082774e-01 3.38861270e+01] [ 9.34618197e-02 9.95542686e-01 -1.26352070e-02 3.38848501e+00] [ 1.08792280e-01 2.40296036e-03 9.94061601e-01 3.34305881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.54509989299999 meters 0.05962977998843984 Centerline is valid? [True, True] Translation: X:33.94, Y:3.40, Z:3.35 [[ 9.89864711e-01 -9.09930293e-02 -1.09032668e-01 3.39446054e+01] [ 9.01389335e-02 9.95847622e-01 -1.27470282e-02 3.39776737e+00] [ 1.09739813e-01 2.78974497e-03 9.93956433e-01 3.34927551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.605099892999995 meters 0.05847232550929456 Centerline is valid? [True, True] Translation: X:34.01, Y:3.40, Z:3.35 [[ 9.88892730e-01 -9.78169842e-02 -1.11906241e-01 3.40059594e+01] [ 9.69604870e-02 9.95202230e-01 -1.30838111e-02 3.39512698e+00] [ 1.12649160e-01 2.08800198e-03 9.93632632e-01 3.35325556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.665099893 meters 0.058628110673126343 Centerline is valid? [True, True] Translation: X:34.07, Y:3.39, Z:3.36 [[ 9.87833285e-01 -1.06535935e-01 -1.13293847e-01 3.40675844e+01] [ 1.05715036e-01 9.94308235e-01 -1.32463169e-02 3.38937651e+00] [ 1.14060213e-01 1.10828963e-03 9.93473220e-01 3.35751848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.72509989299999 meters 0.0577974358523576 Centerline is valid? [True, True] Translation: X:34.13, Y:3.39, Z:3.37 [[ 9.87033546e-01 -1.15541743e-01 -1.11422104e-01 3.41272428e+01] [ 1.14804945e-01 9.93302623e-01 -1.30277980e-02 3.38721238e+00] [ 1.12181122e-01 6.70651480e-05 9.93687774e-01 3.36522368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.785099892999995 meters 0.05781871912140652 Centerline is valid? [True, True] Translation: X:34.18, Y:3.38, Z:3.37 [[ 9.86244772e-01 -1.24850696e-01 -1.08321528e-01 3.41849192e+01] [ 1.24210243e-01 9.92175074e-01 -1.26664157e-02 3.38339527e+00] [ 1.09055331e-01 -9.62457136e-04 9.94035215e-01 3.37218017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.845099893 meters 0.05651484804831641 Centerline is valid? [True, True] Translation: X:34.25, Y:3.38, Z:3.38 [[ 9.84844725e-01 -1.37202541e-01 -1.06095853e-01 3.42454001e+01] [ 1.36658772e-01 9.90540404e-01 -1.24132018e-02 3.37912969e+00] [ 1.06795352e-01 -2.27385266e-03 9.94278423e-01 3.38074326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.90509989299999 meters 0.056681780107048524 Centerline is valid? [True, True] Translation: X:34.31, Y:3.38, Z:3.39 [[ 9.82873606e-01 -1.50859355e-01 -1.05834448e-01 3.43055759e+01] [ 1.50396992e-01 9.88548136e-01 -1.23825522e-02 3.37750620e+00] [ 1.06490470e-01 -3.74669885e-03 9.94306664e-01 3.38791660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.965099892999994 meters 0.05775362654156572 Centerline is valid? [True, True] Translation: X:34.37, Y:3.37, Z:3.39 [[ 9.80998626e-01 -1.59961102e-01 -1.09791350e-01 3.43665740e+01] [ 1.59520133e-01 9.87111096e-01 -1.28457039e-02 3.37084987e+00] [ 1.10431073e-01 -4.91231297e-03 9.93871645e-01 3.39065822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.025099893 meters 0.05868366898265516 Centerline is valid? [True, True] Translation: X:34.43, Y:3.38, Z:3.39 [[ 9.80620962e-01 -1.60231858e-01 -1.12731006e-01 3.44255250e+01] [ 1.59768723e-01 9.87066351e-01 -1.31899583e-02 3.37825333e+00] [ 1.13386434e-01 -5.07653929e-03 9.93537994e-01 3.39417320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.08509989299999 meters 0.057622656188840465 Centerline is valid? [True, True] Translation: X:34.48, Y:3.39, Z:3.40 [[ 9.81386989e-01 -1.56043783e-01 -1.11937108e-01 3.44841556e+01] [ 1.55559830e-01 9.87739623e-01 -1.30987280e-02 3.39303162e+00] [ 1.12608692e-01 -4.55799638e-03 9.93628958e-01 3.40228295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.145099892999994 meters 0.05808780502213085 Centerline is valid? [True, True] Translation: X:34.54, Y:3.40, Z:3.41 [[ 9.82065534e-01 -1.52198689e-01 -1.11278234e-01 3.45431828e+01] [ 1.51695634e-01 9.88341452e-01 -1.30233899e-02 3.40012137e+00] [ 1.11963034e-01 -4.09059977e-03 9.93703953e-01 3.40781333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.205099892999996 meters 0.05762099243280342 Centerline is valid? [True, True] Translation: X:34.60, Y:3.42, Z:3.41 [[ 9.83032403e-01 -1.46644243e-01 -1.10194198e-01 3.46017402e+01] [ 1.46116016e-01 9.89183378e-01 -1.28978542e-02 3.41591873e+00] [ 1.10893665e-01 -3.42212857e-03 9.93826385e-01 3.41496002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.26509989299999 meters 0.0569388434930429 Centerline is valid? [True, True] Translation: X:34.66, Y:3.44, Z:3.42 [[ 9.85168602e-01 -1.32536598e-01 -1.08981081e-01 3.46592431e+01] [ 1.31933594e-01 9.91176460e-01 -1.27574522e-02 3.43703229e+00] [ 1.09710311e-01 -1.81002438e-03 9.93961957e-01 3.42178319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.325099892999994 meters 0.057154858230840544 Centerline is valid? [True, True] Translation: X:34.72, Y:3.46, Z:3.43 [[ 9.86828093e-01 -1.19690479e-01 -1.08832459e-01 3.47167817e+01] [ 1.19011024e-01 9.92811183e-01 -1.27409017e-02 3.45986864e+00] [ 1.09575047e-01 -3.79182781e-04 9.93978453e-01 3.43124083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.385099892999996 meters 0.057033105690659065 Centerline is valid? [True, True] Translation: X:34.77, Y:3.47, Z:3.44 [[ 9.87204114e-01 -1.14101487e-01 -1.11395190e-01 3.47742840e+01] [ 1.13353952e-01 9.93469068e-01 -1.30419414e-02 3.47374762e+00] [ 1.12155781e-01 2.47973126e-04 9.93690605e-01 3.43591350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.445099893 meters 0.057540358461474074 Centerline is valid? [True, True] Translation: X:34.83, Y:3.48, Z:3.44 [[ 9.86586927e-01 -1.17448243e-01 -1.13367308e-01 3.48318966e+01] [ 1.16694584e-01 9.93078997e-01 -1.32845393e-02 3.47929217e+00] [ 1.14142938e-01 -1.22998075e-04 9.93464330e-01 3.43596346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.50509989299999 meters 0.05603871105785606 Centerline is valid? [True, True] Translation: X:34.89, Y:3.48, Z:3.45 [[ 9.85760252e-01 -1.25612069e-01 -1.11795947e-01 3.48899082e+01] [ 1.24930961e-01 9.92078883e-01 -1.31051743e-02 3.48166767e+00] [ 1.12556567e-01 -1.04821520e-03 9.93644766e-01 3.44569812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.565099892999996 meters 0.05656634862101045 Centerline is valid? [True, True] Translation: X:34.95, Y:3.48, Z:3.45 [[ 9.84659733e-01 -1.34663162e-01 -1.10955136e-01 3.49493761e+01] [ 1.34048305e-01 9.90889301e-01 -1.30171349e-02 3.48401016e+00] [ 1.11697186e-01 -2.05589935e-03 9.93740163e-01 3.45247927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.625099893 meters 0.057182617746902115 Centerline is valid? [True, True] Translation: X:35.01, Y:3.48, Z:3.46 [[ 9.83510344e-01 -1.44426345e-01 -1.08850512e-01 3.50095661e+01] [ 1.43894025e-01 9.89510690e-01 -1.27711905e-02 3.48084212e+00] [ 1.09553241e-01 -3.10234028e-03 9.93976088e-01 3.45937175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.68509989299999 meters 0.056871709660348074 Centerline is valid? [True, True] Translation: X:35.07, Y:3.49, Z:3.46 [[ 9.83290914e-01 -1.45693965e-01 -1.09143237e-01 3.50689690e+01] [ 1.45166429e-01 9.89324364e-01 -1.28066468e-02 3.48564792e+00] [ 1.09843915e-01 -3.25127454e-03 9.93943531e-01 3.46449961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.745099892999995 meters 0.05824921516952415 Centerline is valid? [True, True] Translation: X:35.13, Y:3.49, Z:3.47 [[ 9.83409833e-01 -1.45267180e-01 -1.08639532e-01 3.51264633e+01] [ 1.44741707e-01 9.89387331e-01 -1.27494039e-02 3.48717787e+00] [ 1.09338646e-01 -3.18678205e-03 9.93999449e-01 3.47165816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.805099893 meters 0.0567569694799119 Centerline is valid? [True, True] Translation: X:35.18, Y:3.50, Z:3.48 [[ 9.83320095e-01 -1.45292106e-01 -1.09415701e-01 3.51828350e+01] [ 1.44758514e-01 9.89383609e-01 -1.28470787e-02 3.50107280e+00] [ 1.10120681e-01 -3.20606375e-03 9.93913053e-01 3.47777861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.86509989299999 meters 0.057944584081333454 Centerline is valid? [True, True] Translation: X:35.24, Y:3.51, Z:3.48 [[ 9.83228858e-01 -1.44475241e-01 -1.11301021e-01 3.52405393e+01] [ 1.43916325e-01 9.89503385e-01 -1.30821517e-02 3.50598185e+00] [ 1.12022784e-01 -3.15528483e-03 9.93700629e-01 3.48219578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.925099892999995 meters 0.057204202533975027 Centerline is valid? [True, True] Translation: X:35.30, Y:3.52, Z:3.49 [[ 9.83759659e-01 -1.40014129e-01 -1.12307514e-01 3.52998129e+01] [ 1.39414815e-01 9.90145932e-01 -1.32114875e-02 3.51580614e+00] [ 1.13050623e-01 -2.66040281e-03 9.93585668e-01 3.48711655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.985099893 meters 0.056950520739269046 Centerline is valid? [True, True] Translation: X:35.36, Y:3.53, Z:3.49 [[ 9.84601927e-01 -1.33419218e-01 -1.12952899e-01 3.53587930e+01] [ 1.32769662e-01 9.91057844e-01 -1.32878130e-02 3.53199439e+00] [ 1.13715706e-01 -1.91351196e-03 9.93511488e-01 3.49398062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.04509989299999 meters 0.05738215292293688 Centerline is valid? [True, True] Translation: X:35.42, Y:3.55, Z:3.50 [[ 9.86262238e-01 -1.20841043e-01 -1.12624335e-01 3.54171311e+01] [ 1.20113115e-01 9.92671765e-01 -1.32516817e-02 3.54808554e+00] [ 1.13400344e-01 -4.58026369e-04 9.93549270e-01 3.50004358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.105099892999995 meters 0.05746365352426861 Centerline is valid? [True, True] Translation: X:35.47, Y:3.56, Z:3.51 [[ 9.87453022e-01 -1.11783078e-01 -1.11539561e-01 3.54738951e+01] [ 1.11011363e-01 9.93732464e-01 -1.31250988e-02 3.55903517e+00] [ 1.12307647e-01 5.78259854e-04 9.93673316e-01 3.50867619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.165099893 meters 0.05787729203408948 Centerline is valid? [True, True] Translation: X:35.53, Y:3.57, Z:3.52 [[ 9.87976916e-01 -1.06945945e-01 -1.11643086e-01 3.55322667e+01] [ 1.06140686e-01 9.94264182e-01 -1.31488267e-02 3.56933764e+00] [ 1.12408936e-01 1.14086356e-03 9.93661376e-01 3.51587678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.22509989299999 meters 0.058428307274401195 Centerline is valid? [True, True] Translation: X:35.59, Y:3.57, Z:3.52 [[ 9.88128240e-01 -1.06192867e-01 -1.11020970e-01 3.55910328e+01] [ 1.05391673e-01 9.94344801e-01 -1.30771381e-02 3.57322972e+00] [ 1.11781823e-01 1.22120364e-03 9.93732023e-01 3.52163801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.285099892999995 meters 0.05775892930272848 Centerline is valid? [True, True] Translation: X:35.65, Y:3.57, Z:3.53 [[ 9.87594157e-01 -1.11928386e-01 -1.10135447e-01 3.56514041e+01] [ 1.11174286e-01 9.93716107e-01 -1.29836907e-02 3.57015140e+00] [ 1.10896612e-01 5.78387315e-04 9.93831780e-01 3.52764565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.345099893 meters 0.05724601554918006 Centerline is valid? [True, True] Translation: X:35.71, Y:3.57, Z:3.54 [[ 9.86702939e-01 -1.19920061e-01 -1.09710933e-01 3.57107493e+01] [ 1.19220824e-01 9.92783500e-01 -1.29350936e-02 3.56779482e+00] [ 1.10470382e-01 -3.16732981e-04 9.93879366e-01 3.53540569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.40509989299999 meters 0.05678671836256062 Centerline is valid? [True, True] Translation: X:35.77, Y:3.56, Z:3.54 [[ 9.85294867e-01 -1.31909704e-01 -1.08599518e-01 3.57715934e+01] [ 1.31295914e-01 9.91260392e-01 -1.28147452e-02 3.56204307e+00] [ 1.09340791e-01 -1.63237032e-03 9.94002981e-01 3.54159187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.465099892999994 meters 0.05752612277239998 Centerline is valid? [True, True] Translation: X:35.83, Y:3.56, Z:3.55 [[ 9.84200929e-01 -1.39626375e-01 -1.08871518e-01 3.58327592e+01] [ 1.39056502e-01 9.90201115e-01 -1.28468299e-02 3.56143530e+00] [ 1.09598455e-01 -2.49543047e-03 9.93972812e-01 3.54624209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.525099893 meters 0.05716132561008298 Centerline is valid? [True, True] Translation: X:35.89, Y:3.56, Z:3.55 [[ 9.82800950e-01 -1.49955400e-01 -1.07776017e-01 3.58926028e+01] [ 1.49458732e-01 9.88686174e-01 -1.27175523e-02 3.56197206e+00] [ 1.08463723e-01 -3.60924429e-03 9.94093856e-01 3.55313108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.58509989299999 meters 0.05901829417081356 Centerline is valid? [True, True] Translation: X:35.95, Y:3.56, Z:3.56 [[ 9.82135599e-01 -1.54364379e-01 -1.07616466e-01 3.59528023e+01] [ 1.53895470e-01 9.88005524e-01 -1.26991717e-02 3.55820793e+00] [ 1.08285963e-01 -4.08937800e-03 9.94111376e-01 3.55795641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.645099892999994 meters 0.05840075346835812 Centerline is valid? [True, True] Translation: X:36.01, Y:3.57, Z:3.56 [[ 9.81750002e-01 -1.55330426e-01 -1.09724160e-01 3.60110930e+01] [ 1.54848923e-01 9.87853305e-01 -1.29483285e-02 3.56926745e+00] [ 1.10402644e-01 -4.27864653e-03 9.93877734e-01 3.56344819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.705099892999996 meters 0.06066938356990996 Centerline is valid? [True, True] Translation: X:36.07, Y:3.57, Z:3.56 [[ 9.81503435e-01 -1.53733041e-01 -1.14092763e-01 3.60707877e+01] [ 1.53201465e-01 9.88103225e-01 -1.34657984e-02 3.56788170e+00] [ 1.14805565e-01 -4.26245107e-03 9.93378837e-01 3.56223729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.76509989299999 meters 0.05842301476474752 Centerline is valid? [True, True] Translation: X:36.13, Y:3.59, Z:3.57 [[ 9.82265209e-01 -1.48867332e-01 -1.13989369e-01 3.61282328e+01] [ 1.48302806e-01 9.88850333e-01 -1.34646293e-02 3.58978491e+00] [ 1.14722869e-01 -3.67910633e-03 9.93390723e-01 3.57104364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.825099892999994 meters 0.05614036146979629 Centerline is valid? [True, True] Translation: X:36.18, Y:3.62, Z:3.58 [[ 9.84266850e-01 -1.39517749e-01 -1.08413861e-01 3.61844804e+01] [ 1.38950390e-01 9.90216519e-01 -1.28075651e-02 3.61734507e+00] [ 1.09140079e-01 -2.45808653e-03 9.94023340e-01 3.58471420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.885099892999996 meters 0.05640353456530519 Centerline is valid? [True, True] Translation: X:36.24, Y:3.63, Z:3.59 [[ 9.84500351e-01 -1.37467775e-01 -1.08911289e-01 3.62420363e+01] [ 1.36882497e-01 9.90503708e-01 -1.28680333e-02 3.62845684e+00] [ 1.09645976e-01 -2.23946590e-03 9.93968181e-01 3.59013192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.94509989299999 meters 0.05656106404206343 Centerline is valid? [True, True] Translation: X:36.30, Y:3.64, Z:3.60 [[ 9.84138565e-01 -1.38725079e-01 -1.10574122e-01 3.62994579e+01] [ 1.38129217e-01 9.90327993e-01 -1.30685172e-02 3.64098853e+00] [ 1.11317579e-01 -2.41228507e-03 9.93781957e-01 3.59629485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.00509989299999 meters 0.056213713060872424 Centerline is valid? [True, True] Translation: X:36.36, Y:3.65, Z:3.60 [[ 9.83808128e-01 -1.39313848e-01 -1.12752910e-01 3.63568171e+01] [ 1.38696717e-01 9.90245080e-01 -1.33379687e-02 3.64821398e+00] [ 1.13511178e-01 -2.51645638e-03 9.93533532e-01 3.59970583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.065099892999996 meters 0.05681976030881245 Centerline is valid? [True, True] Translation: X:36.42, Y:3.66, Z:3.61 [[ 9.83960642e-01 -1.38228373e-01 -1.12758023e-01 3.64151389e+01] [ 1.37603518e-01 9.90397507e-01 -1.33435307e-02 3.65740113e+00] [ 1.13519719e-01 -2.38639159e-03 9.93532877e-01 3.60575131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.125099893 meters 0.056658262168607726 Centerline is valid? [True, True] Translation: X:36.47, Y:3.67, Z:3.61 [[ 9.84917613e-01 -1.32517879e-01 -1.11248856e-01 3.64738030e+01] [ 1.31872206e-01 9.91179167e-01 -1.31749900e-02 3.67028548e+00] [ 1.12013470e-01 -1.69435225e-03 9.93705244e-01 3.61315186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.18509989299999 meters 0.056769250170458786 Centerline is valid? [True, True] Translation: X:36.53, Y:3.69, Z:3.62 [[ 9.86896734e-01 -1.19248166e-01 -1.08695500e-01 3.65322182e+01] [ 1.18551472e-01 9.92864463e-01 -1.28727088e-02 3.68550036e+00] [ 1.09454947e-01 -1.81977343e-04 9.93991741e-01 3.62200128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.245099892999995 meters 0.05687120237093031 Centerline is valid? [True, True] Translation: X:36.59, Y:3.70, Z:3.63 [[ 9.87527013e-01 -1.13733828e-01 -1.08880738e-01 3.65883789e+01] [ 1.13001364e-01 9.93511163e-01 -1.28941909e-02 3.69632577e+00] [ 1.09640735e-01 4.29689937e-04 9.93971189e-01 3.62903363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.305099893 meters 0.05785725542144042 Centerline is valid? [True, True] Translation: X:36.65, Y:3.70, Z:3.63 [[ 9.87819286e-01 -1.09778900e-01 -1.10279880e-01 3.66472269e+01] [ 1.09002300e-01 9.93955638e-01 -1.30647867e-02 3.69847209e+00] [ 1.11047547e-01 8.84887695e-04 9.93814701e-01 3.63416214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.36509989299999 meters 0.058900830919425606 Centerline is valid? [True, True] Translation: X:36.71, Y:3.71, Z:3.64 [[ 9.88643734e-01 -1.02588661e-01 -1.09814084e-01 3.67063144e+01] [ 1.01773187e-01 9.94722418e-01 -1.30203408e-02 3.71064203e+00] [ 1.10570271e-01 1.69634898e-03 9.93866861e-01 3.64087127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.425099892999995 meters 0.05799572173282283 Centerline is valid? [True, True] Translation: X:36.77, Y:3.71, Z:3.65 [[ 9.89649265e-01 -9.36993606e-02 -1.08695732e-01 3.67664684e+01] [ 9.28470755e-02 9.95596980e-01 -1.28869863e-02 3.71164180e+00] [ 1.09424645e-01 2.66151572e-03 9.93991531e-01 3.64827729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.485099893 meters 0.05847434630727985 Centerline is valid? [True, True] Translation: X:36.83, Y:3.72, Z:3.65 [[ 9.89989697e-01 -9.08215114e-02 -1.08036349e-01 3.68257353e+01] [ 8.99624445e-02 9.95862782e-01 -1.28092983e-02 3.71756473e+00] [ 1.08752739e-01 2.96185924e-03 9.94064419e-01 3.65405496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.54509989299999 meters 0.058476592815936076 Centerline is valid? [True, True] Translation: X:36.89, Y:3.72, Z:3.66 [[ 9.89353989e-01 -9.47162416e-02 -1.10487639e-01 3.68864756e+01] [ 9.38417547e-02 9.95500936e-01 -1.31000435e-02 3.71504942e+00] [ 1.11231335e-01 2.59222637e-03 9.93791160e-01 3.65769314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.605099892999995 meters 0.05829742032766863 Centerline is valid? [True, True] Translation: X:36.95, Y:3.71, Z:3.66 [[ 9.88409583e-01 -1.02817890e-01 -1.11691437e-01 3.69467161e+01] [ 1.01975473e-01 9.94698742e-01 -1.32444462e-02 3.71269718e+00] [ 1.12461098e-01 1.70115038e-03 9.93654672e-01 3.66447913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.665099893 meters 0.05725103376766089 Centerline is valid? [True, True] Translation: X:37.01, Y:3.72, Z:3.67 [[ 9.87692007e-01 -1.10360653e-01 -1.10837833e-01 3.70066948e+01] [ 1.09578283e-01 9.93891254e-01 -1.31443726e-02 3.71609009e+00] [ 1.11611374e-01 8.37172441e-04 9.93751579e-01 3.66810399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.72509989299999 meters 0.05674233935236726 Centerline is valid? [True, True] Translation: X:37.06, Y:3.72, Z:3.68 [[ 9.87438320e-01 -1.15196410e-01 -1.08145050e-01 3.70649073e+01] [ 1.14480600e-01 9.93342693e-01 -1.28251910e-02 3.71656863e+00] [ 1.08902512e-01 2.83574773e-04 9.94052394e-01 3.67693788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.785099892999995 meters 0.056705608944581036 Centerline is valid? [True, True] Translation: X:37.12, Y:3.71, Z:3.68 [[ 9.86622503e-01 -1.24226752e-01 -1.05563966e-01 3.71229359e+01] [ 1.23595921e-01 9.92253614e-01 -1.25225211e-02 3.71372183e+00] [ 1.06301859e-01 -6.92274541e-04 9.94333664e-01 3.68457646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.845099893 meters 0.05714434371731626 Centerline is valid? [True, True] Translation: X:37.18, Y:3.71, Z:3.69 [[ 9.85076447e-01 -1.34388634e-01 -1.07536454e-01 3.71845111e+01] [ 1.33793534e-01 9.90927041e-01 -1.27628568e-02 3.71115213e+00] [ 1.08275963e-01 -1.81529255e-03 9.94119219e-01 3.68853035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.90509989299999 meters 0.05700797988470957 Centerline is valid? [True, True] Translation: X:37.25, Y:3.71, Z:3.69 [[ 9.83810830e-01 -1.42618285e-01 -1.08518547e-01 3.72460402e+01] [ 1.42062075e-01 9.89773958e-01 -1.28794170e-02 3.70701067e+00] [ 1.09245672e-01 -2.74545999e-03 9.94010989e-01 3.69286657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.965099892999994 meters 0.05710539630578664 Centerline is valid? [True, True] Translation: X:37.30, Y:3.71, Z:3.70 [[ 9.83243884e-01 -1.45572489e-01 -1.09727462e-01 3.73048572e+01] [ 1.45022205e-01 9.89342703e-01 -1.30221142e-02 3.70858705e+00] [ 1.10453726e-01 -3.10900439e-03 9.93876405e-01 3.69697857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.025099893 meters 0.05812526322442479 Centerline is valid? [True, True] Translation: X:37.36, Y:3.71, Z:3.70 [[ 9.82786714e-01 -1.46841828e-01 -1.12105985e-01 3.73646540e+01] [ 1.46275423e-01 9.89154410e-01 -1.33061530e-02 3.71294396e+00] [ 1.12844029e-01 -3.32123993e-03 9.93607163e-01 3.69950316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.08509989299999 meters 0.05706444766343939 Centerline is valid? [True, True] Translation: X:37.42, Y:3.72, Z:3.71 [[ 9.83338349e-01 -1.44080017e-01 -1.10845113e-01 3.74237641e+01] [ 1.43508622e-01 9.89561589e-01 -1.31581733e-02 3.72170970e+00] [ 1.11583896e-01 -2.96829303e-03 9.93750584e-01 3.70685485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.145099892999994 meters 0.05634450185158073 Centerline is valid? [True, True] Translation: X:37.48, Y:3.73, Z:3.72 [[ 9.83925126e-01 -1.41120241e-01 -1.09436849e-01 3.74823596e+01] [ 1.40544864e-01 9.89989057e-01 -1.29926170e-02 3.73439595e+00] [ 1.10174804e-01 -2.59702470e-03 9.93908833e-01 3.71553592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.205099892999996 meters 0.05669384221357642 Centerline is valid? [True, True] Translation: X:37.54, Y:3.75, Z:3.72 [[ 9.84398643e-01 -1.38044814e-01 -1.09100598e-01 3.75406592e+01] [ 1.37454045e-01 9.90423440e-01 -1.29535841e-02 3.74575758e+00] [ 1.09843965e-01 -2.24482796e-03 9.93946309e-01 3.72287146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.26509989299999 meters 0.057051049678225066 Centerline is valid? [True, True] Translation: X:37.60, Y:3.76, Z:3.73 [[ 9.84770191e-01 -1.35850718e-01 -1.08500018e-01 3.75983308e+01] [ 1.35252978e-01 9.90727326e-01 -1.28840330e-02 3.75584145e+00] [ 1.09244238e-01 -1.98713885e-03 9.94012952e-01 3.72940359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.325099892999994 meters 0.05694209225859023 Centerline is valid? [True, True] Translation: X:37.66, Y:3.77, Z:3.74 [[ 9.85027210e-01 -1.32990759e-01 -1.09703484e-01 3.76559736e+01] [ 1.32361591e-01 9.91115845e-01 -1.30303962e-02 3.76856674e+00] [ 1.10461784e-01 -1.68523287e-03 9.93878943e-01 3.73519382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.385099892999996 meters 0.05635964286019218 Centerline is valid? [True, True] Translation: X:37.71, Y:3.79, Z:3.74 [[ 9.85852745e-01 -1.26915588e-01 -1.09484243e-01 3.77137662e+01] [ 1.26251183e-01 9.91913018e-01 -1.30077934e-02 3.78667863e+00] [ 1.10249738e-01 -9.98746432e-04 9.93903415e-01 3.74356629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.44509989299999 meters 0.05596674061708435 Centerline is valid? [True, True] Translation: X:37.77, Y:3.80, Z:3.75 [[ 9.86249139e-01 -1.23315705e-01 -1.10026696e-01 3.77714629e+01] [ 1.22621845e-01 9.92367313e-01 -1.30766898e-02 3.80053419e+00] [ 1.10799458e-01 -5.94802436e-04 9.93842606e-01 3.74879832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.50509989299999 meters 0.05699724896933882 Centerline is valid? [True, True] Translation: X:37.83, Y:3.81, Z:3.75 [[ 9.86120740e-01 -1.25033140e-01 -1.09236439e-01 3.78289768e+01] [ 1.24358425e-01 9.92152267e-01 -1.29946636e-02 3.80901546e+00] [ 1.10003944e-01 -7.70164228e-04 9.93930852e-01 3.75349907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.565099892999996 meters 0.05614350076318718 Centerline is valid? [True, True] Translation: X:37.89, Y:3.81, Z:3.76 [[ 9.85614294e-01 -1.28407021e-01 -1.09891312e-01 3.78859192e+01] [ 1.27744332e-01 9.91720889e-01 -1.30791545e-02 3.81478326e+00] [ 1.10660965e-01 -1.14699061e-03 9.93857553e-01 3.75868614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.62509989299999 meters 0.056396898918326215 Centerline is valid? [True, True] Translation: X:37.94, Y:3.82, Z:3.76 [[ 9.85394466e-01 -1.29041780e-01 -1.11112399e-01 3.79437430e+01] [ 1.28367606e-01 9.91638400e-01 -1.32303476e-02 3.82321121e+00] [ 1.11890589e-01 -1.22612133e-03 9.93719776e-01 3.76342808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.68509989299999 meters 0.05677646431591711 Centerline is valid? [True, True] Translation: X:38.00, Y:3.84, Z:3.77 [[ 9.86418354e-01 -1.20816025e-01 -1.11275868e-01 3.80005350e+01] [ 1.20086276e-01 9.92674876e-01 -1.32618690e-02 3.84054773e+00] [ 1.12063005e-01 -2.80953528e-04 9.93701064e-01 3.76874662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.745099892999995 meters 0.05725154124335323 Centerline is valid? [True, True] Translation: X:38.06, Y:3.86, Z:3.78 [[ 9.87297812e-01 -1.14033370e-01 -1.10631918e-01 3.80568773e+01] [ 1.13268291e-01 9.93476795e-01 -1.31966550e-02 3.85550030e+00] [ 1.11415103e-01 4.97940348e-04 9.93773831e-01 3.77600768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.805099893 meters 0.05722974082256612 Centerline is valid? [True, True] Translation: X:38.11, Y:3.87, Z:3.79 [[ 9.88541928e-01 -1.05503131e-01 -1.07953444e-01 3.81139291e+01] [ 1.04722581e-01 9.94417932e-01 -1.28902172e-02 3.86762709e+00] [ 1.08710799e-01 1.43735684e-03 9.94072380e-01 3.78715048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.86509989299999 meters 0.057332891346810695 Centerline is valid? [True, True] Translation: X:38.17, Y:3.88, Z:3.79 [[ 9.88572346e-01 -1.05073880e-01 -1.08093462e-01 3.81722462e+01] [ 1.04288418e-01 9.94463303e-01 -1.29098643e-02 3.87607201e+00] [ 1.08851471e-01 1.48943861e-03 9.94056909e-01 3.79207858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.925099892999995 meters 0.0573196156289982 Centerline is valid? [True, True] Translation: X:38.23, Y:3.88, Z:3.80 [[ 9.88069700e-01 -1.08431597e-01 -1.09365700e-01 3.82307622e+01] [ 1.07646825e-01 9.94103255e-01 -1.30720867e-02 3.88319155e+00] [ 1.10138226e-01 1.14326241e-03 9.93915622e-01 3.79553732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.985099893 meters 0.055611559970994 Centerline is valid? [True, True] Translation: X:38.29, Y:3.88, Z:3.80 [[ 9.85854926e-01 -1.23707025e-01 -1.13078015e-01 3.82908754e+01] [ 1.22966527e-01 9.92318622e-01 -1.35271986e-02 3.87740121e+00] [ 1.13882830e-01 -5.68955439e-04 9.93494025e-01 3.79734906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.04509989299999 meters 0.05655054586271447 Centerline is valid? [True, True] Translation: X:38.35, Y:3.88, Z:3.80 [[ 9.83980158e-01 -1.37668551e-01 -1.13271438e-01 3.83518872e+01] [ 1.37016332e-01 9.90475963e-01 -1.35606854e-02 3.87516930e+00] [ 1.14059516e-01 -2.17659152e-03 9.93471534e-01 3.80415648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.105099892999995 meters 0.056778059730737754 Centerline is valid? [True, True] Translation: X:38.41, Y:3.88, Z:3.81 [[ 9.83082542e-01 -1.44060995e-01 -1.13115631e-01 3.84118570e+01] [ 1.43452640e-01 9.89564521e-01 -1.35424602e-02 3.87984407e+00] [ 1.13886156e-01 -2.91337974e-03 9.93489535e-01 3.81041675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.165099893 meters 0.05722934947081637 Centerline is valid? [True, True] Translation: X:38.47, Y:3.88, Z:3.82 [[ 9.82590014e-01 -1.47192797e-01 -1.13362888e-01 3.84719960e+01] [ 1.46602518e-01 9.89102371e-01 -1.35721170e-02 3.88416043e+00] [ 1.14125219e-01 -3.28345816e-03 9.93460947e-01 3.81537690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.22509989299999 meters 0.05627338953568395 Centerline is valid? [True, True] Translation: X:38.53, Y:3.89, Z:3.83 [[ 9.82805291e-01 -1.48645889e-01 -1.09536109e-01 3.85295594e+01] [ 1.48103661e-01 9.88884873e-01 -1.31153899e-02 3.89198679e+00] [ 1.10268151e-01 -3.33282424e-03 9.93896286e-01 3.82646253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.285099892999995 meters 0.05652923593433893 Centerline is valid? [True, True] Translation: X:38.59, Y:3.89, Z:3.83 [[ 9.82709445e-01 -1.49643840e-01 -1.09036087e-01 3.85867800e+01] [ 1.49111429e-01 9.88734060e-01 -1.30667918e-02 3.89385545e+00] [ 1.09763058e-01 -3.41766700e-03 9.93951906e-01 3.83276164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.345099893 meters 0.057532517700551594 Centerline is valid? [True, True] Translation: X:38.65, Y:3.90, Z:3.83 [[ 9.82491649e-01 -1.47817622e-01 -1.13402426e-01 3.86459196e+01] [ 1.47228937e-01 9.89009001e-01 -1.35954505e-02 3.90053139e+00] [ 1.14165668e-01 -3.33870217e-03 9.93456115e-01 3.83346190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.40509989299999 meters 0.05654484706631287 Centerline is valid? [True, True] Translation: X:38.70, Y:3.92, Z:3.84 [[ 9.83187918e-01 -1.41762856e-01 -1.15086100e-01 3.87045713e+01] [ 1.41114527e-01 9.89897049e-01 -1.38030145e-02 3.91790403e+00] [ 1.15880145e-01 -2.66936344e-03 9.93259617e-01 3.84105339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.465099892999994 meters 0.05647763250637121 Centerline is valid? [True, True] Translation: X:38.76, Y:3.93, Z:3.85 [[ 9.84863953e-01 -1.30103812e-01 -1.14525074e-01 3.87634865e+01] [ 1.29383200e-01 9.91499538e-01 -1.37351537e-02 3.93262746e+00] [ 1.15338554e-01 -1.29036287e-03 9.93325401e-01 3.84669912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.525099893 meters 0.056750008957343286 Centerline is valid? [True, True] Translation: X:38.82, Y:3.95, Z:3.86 [[ 9.86539020e-01 -1.18855493e-01 -1.12312659e-01 3.88210813e+01] [ 1.18089818e-01 9.92911563e-01 -1.34693563e-02 3.94823431e+00] [ 1.13117445e-01 2.50640359e-05 9.93581624e-01 3.85610521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.58509989299999 meters 0.05711056175798609 Centerline is valid? [True, True] Translation: X:38.88, Y:3.96, Z:3.86 [[ 9.87709152e-01 -1.11226774e-01 -1.09814551e-01 3.88769252e+01] [ 1.10447633e-01 9.93794661e-01 -1.31716262e-02 3.96084314e+00] [ 1.10598152e-01 8.80978521e-04 9.93864816e-01 3.86331324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.645099892999994 meters 0.05814109188196405 Centerline is valid? [True, True] Translation: X:38.94, Y:3.97, Z:3.87 [[ 9.88625201e-01 -1.04171433e-01 -1.08482833e-01 3.89364776e+01] [ 1.03368304e-01 9.94557980e-01 -1.30160740e-02 3.96836110e+00] [ 1.09248370e-01 1.65433238e-03 9.94013107e-01 3.87292788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.705099892999996 meters 0.058798577186317445 Centerline is valid? [True, True] Translation: X:38.99, Y:3.98, Z:3.87 [[ 9.88578076e-01 -1.00654154e-01 -1.12170085e-01 3.89946946e+01] [ 9.97723339e-02 9.94919224e-01 -1.34617964e-02 3.97947144e+00] [ 1.12955160e-01 2.11656564e-03 9.93597832e-01 3.87382075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.76509989299999 meters 0.058007892721871734 Centerline is valid? [True, True] Translation: X:39.05, Y:3.97, Z:3.88 [[ 9.88282538e-01 -1.01935507e-01 -1.13607996e-01 3.90546862e+01] [ 1.01039025e-01 9.94789003e-01 -1.36365116e-02 3.97408305e+00] [ 1.14406030e-01 1.99788514e-03 9.93432066e-01 3.88027626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.825099892999994 meters 0.05724717536310219 Centerline is valid? [True, True] Translation: X:39.11, Y:3.97, Z:3.89 [[ 9.88198147e-01 -1.07300333e-01 -1.09320908e-01 3.91139757e+01] [ 1.06502023e-01 9.94225758e-01 -1.31324722e-02 3.97073478e+00] [ 1.10098781e-01 1.33458688e-03 9.93919754e-01 3.89013660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.885099892999996 meters 0.05667412219238951 Centerline is valid? [True, True] Translation: X:39.17, Y:3.97, Z:3.90 [[ 9.87763148e-01 -1.15972533e-01 -1.04280082e-01 3.91741791e+01] [ 1.15294416e-01 9.93252359e-01 -1.25279577e-02 3.97176716e+00] [ 1.05029336e-01 3.51743763e-04 9.94469062e-01 3.89711828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.94509989299999 meters 0.05614675364089106 Centerline is valid? [True, True] Translation: X:39.23, Y:3.97, Z:3.90 [[ 9.86323450e-01 -1.28243102e-01 -1.03536271e-01 3.92319176e+01] [ 1.27641614e-01 9.91742313e-01 -1.24419566e-02 3.96863537e+00] [ 1.04276896e-01 -9.43743203e-04 9.94547856e-01 3.90439017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.00509989299999 meters 0.05614184932509774 Centerline is valid? [True, True] Translation: X:39.29, Y:3.97, Z:3.91 [[ 9.85251574e-01 -1.34505772e-01 -1.05771138e-01 3.92925107e+01] [ 1.33913107e-01 9.90911464e-01 -1.27181339e-02 3.96896458e+00] [ 1.06520496e-01 -1.63358027e-03 9.94309165e-01 3.90890253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.065099892999996 meters 0.056320124625229215 Centerline is valid? [True, True] Translation: X:39.35, Y:3.97, Z:3.91 [[ 9.85000884e-01 -1.35007105e-01 -1.07453897e-01 3.93500184e+01] [ 1.34398348e-01 9.90843147e-01 -1.29206396e-02 3.97413485e+00] [ 1.08214336e-01 -1.71478487e-03 9.94126107e-01 3.91455446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.12509989299999 meters 0.056290110474479585 Centerline is valid? [True, True] Translation: X:39.41, Y:3.99, Z:3.92 [[ 9.86381190e-01 -1.24640197e-01 -1.07317142e-01 3.94087494e+01] [ 1.23971292e-01 9.92201842e-01 -1.29083052e-02 3.98690774e+00] [ 1.08089160e-01 -5.71735387e-04 9.94141040e-01 3.92128600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.18509989299999 meters 0.05668445522286066 Centerline is valid? [True, True] Translation: X:39.47, Y:4.00, Z:3.93 [[ 9.88263856e-01 -1.08459015e-01 -1.07569479e-01 3.94651750e+01] [ 1.07691252e-01 9.94100195e-01 -1.29381984e-02 4.00331899e+00] [ 1.08338105e-01 1.20206188e-03 9.94113379e-01 3.92686942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.245099892999995 meters 0.0586485067387366 Centerline is valid? [True, True] Translation: X:39.52, Y:4.01, Z:3.93 [[ 9.89212333e-01 -9.75402414e-02 -1.09292547e-01 3.95249126e+01] [ 9.66807363e-02 9.95228590e-01 -1.31487483e-02 4.01496841e+00] [ 1.10053600e-01 2.44042004e-03 9.93922658e-01 3.93027415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.30509989299999 meters 0.058783514452600126 Centerline is valid? [True, True] Translation: X:39.58, Y:4.02, Z:3.94 [[ 9.89084524e-01 -9.72732199e-02 -1.10678479e-01 3.95831907e+01] [ 9.63900907e-02 9.95254573e-01 -1.33148744e-02 4.01571116e+00] [ 1.11448443e-01 2.50122762e-03 9.93767070e-01 3.93750607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.36509989299999 meters 0.05799852408117253 Centerline is valid? [True, True] Translation: X:39.64, Y:4.01, Z:3.95 [[ 9.88947905e-01 -1.02139424e-01 -1.07468965e-01 3.96443402e+01] [ 1.01335158e-01 9.94768280e-01 -1.29327197e-02 4.00605079e+00] [ 1.08227658e-01 1.89940151e-03 9.94124321e-01 3.94801098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.425099892999995 meters 0.05699534779416014 Centerline is valid? [True, True] Translation: X:39.70, Y:4.01, Z:3.96 [[ 9.88591149e-01 -1.08935187e-01 -1.04022429e-01 3.97032078e+01] [ 1.08219295e-01 9.94048225e-01 -1.25183767e-02 4.01112917e+00] [ 1.04767003e-01 1.11832244e-03 9.94496166e-01 3.95549520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.485099893 meters 0.05692099093611202 Centerline is valid? [True, True] Translation: X:39.76, Y:4.01, Z:3.96 [[ 9.87860581e-01 -1.15587239e-01 -1.03783732e-01 3.97623941e+01] [ 1.14911179e-01 9.93297247e-01 -1.24900293e-02 4.00590081e+00] [ 1.04531783e-01 4.12496627e-04 9.94521461e-01 3.96204443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.54509989299999 meters 0.05772140401864996 Centerline is valid? [True, True] Translation: X:39.82, Y:3.99, Z:3.96 [[ 9.84946641e-01 -1.36498376e-01 -1.06058039e-01 3.98249463e+01] [ 1.35912437e-01 9.90638587e-01 -1.27671572e-02 3.98881055e+00] [ 1.06807882e-01 -1.83963797e-03 9.94277975e-01 3.96323222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.605099892999995 meters 0.05779694627481382 Centerline is valid? [True, True] Translation: X:39.89, Y:3.98, Z:3.97 [[ 9.83311981e-01 -1.47998022e-01 -1.05802332e-01 3.98865185e+01] [ 1.47481137e-01 9.88982861e-01 -1.27363751e-02 3.98245066e+00] [ 1.06521652e-01 -3.08001805e-03 9.94305613e-01 3.96999083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.665099893 meters 0.05814051447451291 Centerline is valid? [True, True] Translation: X:39.95, Y:3.98, Z:3.97 [[ 9.82416054e-01 -1.51838907e-01 -1.08644569e-01 3.99471778e+01] [ 1.51317193e-01 9.88398731e-01 -1.30788210e-02 3.98434077e+00] [ 1.09370028e-01 -3.59094750e-03 9.93994619e-01 3.97198425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.72509989299999 meters 0.05705623205138553 Centerline is valid? [True, True] Translation: X:40.00, Y:4.01, Z:3.98 [[ 9.83255278e-01 -1.47612061e-01 -1.06863171e-01 4.00046773e+01] [ 1.47082438e-01 9.89040577e-01 -1.28644299e-02 4.00850733e+00] [ 1.07590958e-01 -3.06867721e-03 9.94190509e-01 3.98230829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.785099892999995 meters 0.05665064208738148 Centerline is valid? [True, True] Translation: X:40.06, Y:4.02, Z:3.99 [[ 9.83230224e-01 -1.47525108e-01 -1.07213199e-01 4.00613851e+01] [ 1.46991376e-01 9.89053552e-01 -1.29076320e-02 4.01783009e+00] [ 1.07943795e-01 -3.06824179e-03 9.94152263e-01 3.98819937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.845099893 meters 0.05681976122914391 Centerline is valid? [True, True] Translation: X:40.12, Y:4.03, Z:3.99 [[ 9.83302063e-01 -1.46634158e-01 -1.07775121e-01 4.01188857e+01] [ 1.46087975e-01 9.89186326e-01 -1.29890483e-02 4.02695886e+00] [ 1.08514314e-01 -2.97249116e-03 9.94090443e-01 3.99406417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.90509989299999 meters 0.056657508858771334 Centerline is valid? [True, True] Translation: X:40.18, Y:4.03, Z:4.00 [[ 9.83449858e-01 -1.45291996e-01 -1.08243307e-01 4.01760247e+01] [ 1.44731658e-01 9.89384786e-01 -1.30572773e-02 4.03406278e+00] [ 1.08991399e-01 -2.82505568e-03 9.94038678e-01 3.99946183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.965099892999994 meters 0.05729223467733307 Centerline is valid? [True, True] Translation: X:40.24, Y:4.05, Z:4.01 [[ 9.84100682e-01 -1.40516524e-01 -1.08632195e-01 4.02352486e+01] [ 1.39922681e-01 9.90075662e-01 -1.31083116e-02 4.04768607e+00] [ 1.09396027e-01 -2.30020952e-03 9.93995583e-01 4.00549185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.025099893 meters 0.056280245436795995 Centerline is valid? [True, True] Translation: X:40.29, Y:4.07, Z:4.01 [[ 9.86221824e-01 -1.25678067e-01 -1.07571076e-01 4.02925762e+01] [ 1.25007598e-01 9.92070868e-01 -1.29805092e-02 4.07053760e+00] [ 1.08349496e-01 -6.45540396e-04 9.94112655e-01 4.01144896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.08509989299999 meters 0.05681535577474875 Centerline is valid? [True, True] Translation: X:40.35, Y:4.09, Z:4.02 [[ 9.87636386e-01 -1.14563059e-01 -1.07003152e-01 4.03480206e+01] [ 1.13834496e-01 9.93415813e-01 -1.29123684e-02 4.09032846e+00] [ 1.07777904e-01 5.72074960e-04 9.94174832e-01 4.01694537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.145099892999994 meters 0.05666706350428353 Centerline is valid? [True, True] Translation: X:40.41, Y:4.10, Z:4.02 [[ 9.87445053e-01 -1.14704876e-01 -1.08605061e-01 4.04062302e+01] [ 1.13954591e-01 9.93399450e-01 -1.31104699e-02 4.09827171e+00] [ 1.09392043e-01 5.69823335e-04 9.93998519e-01 4.02165274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.205099892999996 meters 0.05661773234016723 Centerline is valid? [True, True] Translation: X:40.46, Y:4.10, Z:4.03 [[ 9.86755495e-01 -1.21019815e-01 -1.08017578e-01 4.04639650e+01] [ 1.20314136e-01 9.92650085e-01 -1.30506021e-02 4.10190180e+00] [ 1.08803039e-01 -1.18288253e-04 9.94063320e-01 4.02720321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.26509989299999 meters 0.05673825626069285 Centerline is valid? [True, True] Translation: X:40.52, Y:4.10, Z:4.04 [[ 9.85086064e-01 -1.35391324e-01 -1.06182092e-01 4.05242619e+01] [ 1.34792130e-01 9.90790794e-01 -1.28329501e-02 4.10133436e+00] [ 1.06941709e-01 -1.67095003e-03 9.94263888e-01 4.03674010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.325099892999994 meters 0.058514382001899325 Centerline is valid? [True, True] Translation: X:40.58, Y:4.09, Z:4.04 [[ 9.80532299e-01 -1.65426547e-01 -1.05785007e-01 4.05847064e+01] [ 1.65005162e-01 9.86209844e-01 -1.27844030e-02 4.09305333e+00] [ 1.06441095e-01 -4.91955218e-03 9.94306840e-01 4.04226676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.385099892999996 meters 0.05878268545817005 Centerline is valid? [True, True] Translation: X:40.64, Y:4.10, Z:4.05 [[ 9.80081480e-01 -1.68241065e-01 -1.05523630e-01 4.06449904e+01] [ 1.67837961e-01 9.85732104e-01 -1.27529852e-02 4.09680112e+00] [ 1.06163605e-01 -5.21190628e-03 9.94335016e-01 4.04866380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.44509989299999 meters 0.05692771071835382 Centerline is valid? [True, True] Translation: X:40.70, Y:4.11, Z:4.05 [[ 9.79428993e-01 -1.72085795e-01 -1.05381815e-01 4.07036055e+01] [ 1.71705973e-01 9.85065925e-01 -1.27350716e-02 4.11289420e+00] [ 1.05999560e-01 -5.62158859e-03 9.94350286e-01 4.05488095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.50509989299999 meters 0.0560477658571403 Centerline is valid? [True, True] Translation: X:40.76, Y:4.12, Z:4.06 [[ 9.79840615e-01 -1.69829821e-01 -1.05215023e-01 4.07631523e+01] [ 1.69438182e-01 9.85458784e-01 -1.27156399e-02 4.12473521e+00] [ 1.05844564e-01 -5.36814184e-03 9.94368197e-01 4.06029982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.565099892999996 meters 0.06117678557130987 Centerline is valid? [True, True] Translation: X:40.82, Y:4.12, Z:4.06 [[ 9.81186417e-01 -1.61037458e-01 -1.06490155e-01 4.08235336e+01] [ 1.60584664e-01 9.86938159e-01 -1.28699380e-02 4.11954054e+00] [ 1.07171740e-01 -4.47287741e-03 9.94230462e-01 4.06389123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.62509989299999 meters 0.0561920769278146 Centerline is valid? [True, True] Translation: X:40.88, Y:4.16, Z:4.07 [[ 9.83141046e-01 -1.48146810e-01 -1.07173723e-01 4.08795596e+01] [ 1.47611613e-01 9.88960570e-01 -1.29539055e-02 4.15729690e+00] [ 1.07909666e-01 -3.08456986e-03 9.94155918e-01 4.07089783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.68509989299999 meters 0.056378399386168225 Centerline is valid? [True, True] Translation: X:40.94, Y:4.18, Z:4.07 [[ 9.85282305e-01 -1.29001581e-01 -1.12148885e-01 4.09359817e+01] [ 1.28291446e-01 9.91643852e-01 -1.35563798e-02 4.18335546e+00] [ 1.12960547e-01 -1.03088147e-03 9.93598939e-01 4.07185355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.745099892999995 meters 0.05694852699192506 Centerline is valid? [True, True] Translation: X:40.99, Y:4.21, Z:4.08 [[ 9.87158613e-01 -1.13551210e-01 -1.12356555e-01 4.09909056e+01] [ 1.12738293e-01 9.93531868e-01 -1.35832664e-02 4.21238397e+00] [ 1.13172214e-01 7.41952267e-04 9.93575110e-01 4.07846994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.80509989299999 meters 0.057242094853063516 Centerline is valid? [True, True] Translation: X:41.05, Y:4.23, Z:4.09 [[ 9.88672022e-01 -1.02494057e-01 -1.09647622e-01 4.10493547e+01] [ 1.01651004e-01 9.94731666e-01 -1.32659474e-02 4.23067981e+00] [ 1.10429642e-01 1.96988013e-03 9.93881992e-01 4.08735373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.86509989299999 meters 0.05782661253700926 Centerline is valid? [True, True] Translation: X:41.11, Y:4.24, Z:4.10 [[ 9.88821395e-01 -1.03239359e-01 -1.07581989e-01 4.11068976e+01] [ 1.02432207e-01 9.94654818e-01 -1.30167525e-02 4.24075890e+00] [ 1.08350784e-01 1.85138287e-03 9.94111000e-01 4.09609992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.925099892999995 meters 0.05754653004821705 Centerline is valid? [True, True] Translation: X:41.17, Y:4.25, Z:4.10 [[ 9.88299831e-01 -1.07499447e-01 -1.08200334e-01 4.11658866e+01] [ 1.06707169e-01 9.94204153e-01 -1.31027224e-02 4.24509297e+00] [ 1.08981757e-01 1.40366695e-03 9.94042759e-01 4.10258893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.98509989299999 meters 0.05653579634111611 Centerline is valid? [True, True] Translation: X:41.22, Y:4.24, Z:4.11 [[ 9.87554900e-01 -1.13042407e-01 -1.09346851e-01 4.12241787e+01] [ 1.12266918e-01 9.93589841e-01 -1.32426514e-02 4.24106176e+00] [ 1.10142902e-01 8.01811376e-04 9.93915438e-01 4.10808263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.04509989299999 meters 0.055782938114874815 Centerline is valid? [True, True] Translation: X:41.28, Y:4.24, Z:4.11 [[ 9.86781813e-01 -1.20227311e-01 -1.08660233e-01 4.12825585e+01] [ 1.19504464e-01 9.92746389e-01 -1.31639498e-02 4.24355898e+00] [ 1.09454720e-01 4.56334148e-06 9.93991783e-01 4.11271107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.105099892999995 meters 0.055780725572045865 Centerline is valid? [True, True] Translation: X:41.34, Y:4.25, Z:4.12 [[ 9.86908328e-01 -1.21284680e-01 -1.06310767e-01 4.13409161e+01] [ 1.20598310e-01 9.92617759e-01 -1.28853455e-02 4.24533401e+00] [ 1.07088751e-01 -1.04244021e-04 9.94249460e-01 4.11952658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.165099893 meters 0.05562330583614307 Centerline is valid? [True, True] Translation: X:41.40, Y:4.25, Z:4.13 [[ 9.87387973e-01 -1.17464873e-01 -1.06146099e-01 4.13989447e+01] [ 1.16757344e-01 9.93076986e-01 -1.28772046e-02 4.25291249e+00] [ 1.06923867e-01 3.21460346e-04 9.94267159e-01 4.12530411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.22509989299999 meters 0.05649912842862029 Centerline is valid? [True, True] Translation: X:41.46, Y:4.26, Z:4.13 [[ 9.87698811e-01 -1.13578273e-01 -1.07475740e-01 4.14557518e+01] [ 1.12829147e-01 9.93528762e-01 -1.30454251e-02 4.26281032e+00] [ 1.08261915e-01 7.58554857e-04 9.94122116e-01 4.12965093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.285099892999995 meters 0.056306440400949447 Centerline is valid? [True, True] Translation: X:41.51, Y:4.27, Z:4.13 [[ 9.87326514e-01 -1.13737942e-01 -1.10679878e-01 4.15139159e+01] [ 1.12943565e-01 9.93510487e-01 -1.34411231e-02 4.26761195e+00] [ 1.11490385e-01 7.70197209e-04 9.93765214e-01 4.13291469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.345099893 meters 0.05587230411203367 Centerline is valid? [True, True] Translation: X:41.57, Y:4.28, Z:4.14 [[ 9.87209133e-01 -1.14617085e-01 -1.10819909e-01 4.15709473e+01] [ 1.13825646e-01 9.93409516e-01 -1.34631568e-02 4.27527521e+00] [ 1.11632660e-01 6.76803629e-04 9.93749310e-01 4.13829467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.40509989299999 meters 0.055884047810189186 Centerline is valid? [True, True] Translation: X:41.63, Y:4.28, Z:4.14 [[ 9.87045478e-01 -1.16352048e-01 -1.10469117e-01 4.16296352e+01] [ 1.15574921e-01 9.93207913e-01 -1.34342724e-02 4.28036839e+00] [ 1.11281906e-01 4.92778448e-04 9.93788758e-01 4.14455106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.465099892999994 meters 0.05620815001076681 Centerline is valid? [True, True] Translation: X:41.69, Y:4.29, Z:4.15 [[ 9.86905823e-01 -1.18440861e-01 -1.09492733e-01 4.16877357e+01] [ 1.17688946e-01 9.92961072e-01 -1.33274518e-02 4.28723520e+00] [ 1.10300536e-01 2.66855529e-04 9.93898245e-01 4.15437405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.525099893 meters 0.05625791280176811 Centerline is valid? [True, True] Translation: X:41.75, Y:4.29, Z:4.16 [[ 9.86397546e-01 -1.22505024e-01 -1.09601094e-01 4.17450533e+01] [ 1.21775233e-01 9.92467878e-01 -1.33530573e-02 4.29225762e+00] [ 1.10411382e-01 -1.75275768e-04 9.93885957e-01 4.15943150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.58509989299999 meters 0.05553943763063393 Centerline is valid? [True, True] Translation: X:41.80, Y:4.30, Z:4.17 [[ 9.85463536e-01 -1.30536492e-01 -1.08728302e-01 4.18041828e+01] [ 1.29865535e-01 9.91442946e-01 -1.32599810e-02 4.29775450e+00] [ 1.09528819e-01 -1.05283124e-03 9.93983063e-01 4.16707583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.645099892999994 meters 0.05553362621582616 Centerline is valid? [True, True] Translation: X:41.86, Y:4.30, Z:4.17 [[ 9.84514366e-01 -1.37020772e-01 -1.09347027e-01 4.18645147e+01] [ 1.36381782e-01 9.90566571e-01 -1.33370976e-02 4.30290388e+00] [ 1.10142969e-01 -1.78237819e-03 9.93914156e-01 4.17157036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.705099892999996 meters 0.05569590217258685 Centerline is valid? [True, True] Translation: X:41.92, Y:4.31, Z:4.18 [[ 9.84429688e-01 -1.38448726e-01 -1.08305771e-01 4.19214948e+01] [ 1.37830463e-01 9.90367736e-01 -1.32102934e-02 4.30889667e+00] [ 1.09091489e-01 -1.92322961e-03 9.94029853e-01 4.17759113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.76509989299999 meters 0.055684958217436485 Centerline is valid? [True, True] Translation: X:41.98, Y:4.32, Z:4.18 [[ 9.84371597e-01 -1.39177991e-01 -1.07898316e-01 4.19787524e+01] [ 1.38568286e-01 9.90265377e-01 -1.31648091e-02 4.31758210e+00] [ 1.08680218e-01 -1.99222061e-03 9.94074766e-01 4.18434825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.825099892999994 meters 0.05590674657739698 Centerline is valid? [True, True] Translation: X:42.04, Y:4.32, Z:4.19 [[ 9.84124412e-01 -1.37960715e-01 -1.11651164e-01 4.20352517e+01] [ 1.37299418e-01 9.90435844e-01 -1.36275171e-02 4.32467067e+00] [ 1.12463376e-01 -1.91846747e-03 9.93654018e-01 4.18502951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.885099892999996 meters 0.055421868478061846 Centerline is valid? [True, True] Translation: X:42.09, Y:4.33, Z:4.19 [[ 9.84628581e-01 -1.34460149e-01 -1.11476573e-01 4.20939555e+01] [ 1.33777557e-01 9.90917855e-01 -1.36150275e-02 4.33470390e+00] [ 1.12294805e-01 -1.50731836e-03 9.93673792e-01 4.19136590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.94509989299999 meters 0.05545979449737299 Centerline is valid? [True, True] Translation: X:42.15, Y:4.35, Z:4.20 [[ 9.85772249e-01 -1.27995073e-01 -1.08951067e-01 4.21517832e+01] [ 1.27303558e-01 9.91774519e-01 -1.33081572e-02 4.34762624e+00] [ 1.09758271e-01 -7.51046442e-04 9.93958026e-01 4.20404844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.00509989299999 meters 0.056348321227660245 Centerline is valid? [True, True] Translation: X:42.21, Y:4.36, Z:4.21 [[ 9.86348056e-01 -1.22696907e-01 -1.09831606e-01 4.22103340e+01] [ 1.21961209e-01 9.92444176e-01 -1.34171704e-02 4.35526893e+00] [ 1.10647983e-01 -1.61195583e-04 9.93859647e-01 4.20766632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.065099892999996 meters 0.056832410563021935 Centerline is valid? [True, True] Translation: X:42.27, Y:4.37, Z:4.22 [[ 9.86945968e-01 -1.16791769e-01 -1.10893372e-01 4.22675047e+01] [ 1.16003281e-01 9.93156289e-01 -1.35581497e-02 4.36548229e+00] [ 1.11717930e-01 5.17166117e-04 9.93739823e-01 4.21552462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.12509989299999 meters 0.05750704220365241 Centerline is valid? [True, True] Translation: X:42.33, Y:4.38, Z:4.22 [[ 9.87823503e-01 -1.08728052e-01 -1.11278648e-01 4.23256374e+01] [ 1.07881710e-01 9.94070480e-01 -1.36167885e-02 4.37942128e+00] [ 1.12099346e-01 1.44605282e-03 9.93695952e-01 4.21847743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.18509989299999 meters 0.05790526397866894 Centerline is valid? [True, True] Translation: X:42.38, Y:4.39, Z:4.23 [[ 9.88833067e-01 -1.01100189e-01 -1.09489344e-01 4.23842904e+01] [ 1.00234302e-01 9.94873651e-01 -1.33978486e-02 4.38926203e+00] [ 1.10282588e-01 2.27364768e-03 9.93897671e-01 4.22823193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.245099892999995 meters 0.058024066054668935 Centerline is valid? [True, True] Translation: X:42.44, Y:4.39, Z:4.23 [[ 9.88773449e-01 -1.01721589e-01 -1.09452206e-01 4.24427715e+01] [ 1.00859991e-01 9.94810464e-01 -1.33941542e-02 4.38923586e+00] [ 1.10246675e-01 2.20443550e-03 9.93901812e-01 4.23458237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.30509989299999 meters 0.05702830739801933 Centerline is valid? [True, True] Translation: X:42.50, Y:4.39, Z:4.24 [[ 9.87853638e-01 -1.10887176e-01 -1.08854144e-01 4.25026072e+01] [ 1.10089200e-01 9.93832293e-01 -1.33319648e-02 4.39263678e+00] [ 1.09661108e-01 1.18636422e-03 9.93968326e-01 4.23926379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.36509989299999 meters 0.05601205966763985 Centerline is valid? [True, True] Translation: X:42.56, Y:4.39, Z:4.25 [[ 9.86585715e-01 -1.20849268e-01 -1.09745532e-01 4.25604406e+01] [ 1.20099515e-01 9.92670866e-01 -1.34409292e-02 4.39127920e+00] [ 1.10565519e-01 8.02435880e-05 9.93868834e-01 4.24515797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.425099892999995 meters 0.05568249767382614 Centerline is valid? [True, True] Translation: X:42.62, Y:4.38, Z:4.25 [[ 9.84192714e-01 -1.37892819e-01 -1.11131780e-01 4.26226459e+01] [ 1.37231521e-01 9.90445427e-01 -1.36149147e-02 4.38241292e+00] [ 1.11947362e-01 -1.85108334e-03 9.93712414e-01 4.24845975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.48509989299999 meters 0.055303148362756196 Centerline is valid? [True, True] Translation: X:42.68, Y:4.39, Z:4.26 [[ 9.82704688e-01 -1.48557716e-01 -1.10553611e-01 4.26829712e+01] [ 1.47970431e-01 9.88899039e-01 -1.35440758e-02 4.38538495e+00] [ 1.11338437e-01 -3.04883871e-03 9.93777871e-01 4.25629393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.54509989299999 meters 0.056525671009265956 Centerline is valid? [True, True] Translation: X:42.74, Y:4.39, Z:4.26 [[ 9.81431998e-01 -1.57166134e-01 -1.09954717e-01 4.27421367e+01] [ 1.56638905e-01 9.87564067e-01 -1.34709324e-02 4.38634656e+00] [ 1.10704502e-01 -4.00238242e-03 9.93845307e-01 4.26296438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.605099892999995 meters 0.055758687934694386 Centerline is valid? [True, True] Translation: X:42.80, Y:4.40, Z:4.27 [[ 9.80957811e-01 -1.60383553e-01 -1.09539440e-01 4.28011737e+01] [ 1.59880376e-01 9.87045184e-01 -1.34190043e-02 4.39770973e+00] [ 1.10272564e-01 -4.34972973e-03 9.93891866e-01 4.27127808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.66509989299999 meters 0.05708265496836271 Centerline is valid? [True, True] Translation: X:42.86, Y:4.40, Z:4.27 [[ 9.80901857e-01 -1.59906178e-01 -1.10731937e-01 4.28588729e+01] [ 1.59388915e-01 9.87122663e-01 -1.35654588e-02 4.39940699e+00] [ 1.11475205e-01 -4.34305960e-03 9.93757725e-01 4.27447756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.72509989299999 meters 0.0561671827741326 Centerline is valid? [True, True] Translation: X:42.92, Y:4.41, Z:4.28 [[ 9.81718034e-01 -1.53448314e-01 -1.12620234e-01 4.29178862e+01] [ 1.52870449e-01 9.88149868e-01 -1.38008484e-02 4.41190650e+00] [ 1.13403386e-01 -3.66776398e-03 9.93542259e-01 4.27821726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.785099892999995 meters 0.05552756323247985 Centerline is valid? [True, True] Translation: X:42.98, Y:4.43, Z:4.29 [[ 9.82500649e-01 -1.47966417e-01 -1.13130074e-01 4.29755111e+01] [ 1.47347038e-01 9.88987688e-01 -1.38637238e-02 4.42894980e+00] [ 1.13935616e-01 -3.04826365e-03 9.93483459e-01 4.28571139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.845099893 meters 0.055246499046015814 Centerline is valid? [True, True] Translation: X:43.03, Y:4.45, Z:4.29 [[ 9.84500399e-01 -1.33209134e-01 -1.14080195e-01 4.30336771e+01] [ 1.32480227e-01 9.91087033e-01 -1.39814754e-02 4.44707768e+00] [ 1.14925862e-01 -1.34860196e-03 9.93373156e-01 4.28968009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.90509989299999 meters 0.056182665368465966 Centerline is valid? [True, True] Translation: X:43.09, Y:4.47, Z:4.30 [[ 9.86261368e-01 -1.21102744e-01 -1.12350519e-01 4.30909419e+01] [ 1.20317345e-01 9.92639976e-01 -1.37700859e-02 4.46693736e+00] [ 1.13191212e-01 6.31876645e-05 9.93573221e-01 4.29746227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.965099892999994 meters 0.058411159865939165 Centerline is valid? [True, True] Translation: X:43.15, Y:4.49, Z:4.31 [[ 9.88463845e-01 -1.02284876e-01 -1.11700636e-01 4.31477218e+01] [ 1.01388472e-01 9.94752697e-01 -1.36912176e-02 4.49208931e+00] [ 1.12514913e-01 2.20811684e-03 9.93647583e-01 4.30514113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.025099893 meters 0.05725215761643582 Centerline is valid? [True, True] Translation: X:43.21, Y:4.49, Z:4.31 [[ 9.88892939e-01 -9.71422739e-02 -1.12490592e-01 4.32084406e+01] [ 9.61999327e-02 9.95266529e-01 -1.37879941e-02 4.49157851e+00] [ 1.13297518e-01 2.81326266e-03 9.93557124e-01 4.31395477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.08509989299999 meters 0.057820469122326315 Centerline is valid? [True, True] Translation: X:43.27, Y:4.49, Z:4.32 [[ 9.88649439e-01 -1.00855099e-01 -1.11357694e-01 4.32688654e+01] [ 9.99551347e-02 9.94898317e-01 -1.36495351e-02 4.48582686e+00] [ 1.12166207e-01 2.36383197e-03 9.93686648e-01 4.32200704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.145099892999994 meters 0.057190336012815694 Centerline is valid? [True, True] Translation: X:43.33, Y:4.49, Z:4.33 [[ 9.88126659e-01 -1.05334955e-01 -1.11849244e-01 4.33275376e+01] [ 1.04455436e-01 9.94435050e-01 -1.37110478e-02 4.48991157e+00] [ 1.12671062e-01 1.86499019e-03 9.93630592e-01 4.32648502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.205099892999996 meters 0.056846410220190546 Centerline is valid? [True, True] Translation: X:43.39, Y:4.49, Z:4.33 [[ 9.87548222e-01 -1.09933515e-01 -1.12530583e-01 4.33872511e+01] [ 1.09072770e-01 9.93938026e-01 -1.37960743e-02 4.49450442e+00] [ 1.13365076e-01 1.35026621e-03 9.93552483e-01 4.33057506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.26509989299999 meters 0.05593550496070566 Centerline is valid? [True, True] Translation: X:43.45, Y:4.49, Z:4.34 [[ 9.86914575e-01 -1.15511047e-01 -1.12502531e-01 4.34470823e+01] [ 1.14686812e-01 9.93305942e-01 -1.37927797e-02 4.49467929e+00] [ 1.13342651e-01 7.09738750e-04 9.93555705e-01 4.33817620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.325099892999994 meters 0.05662573603918072 Centerline is valid? [True, True] Translation: X:43.51, Y:4.49, Z:4.34 [[ 9.86393478e-01 -1.20251737e-01 -1.12104537e-01 4.35070086e+01] [ 1.19463557e-01 9.92743417e-01 -1.37465118e-02 4.49197835e+00] [ 1.12944083e-01 1.67062767e-04 9.93601332e-01 4.34127688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.385099892999996 meters 0.055572470420891674 Centerline is valid? [True, True] Translation: X:43.56, Y:4.49, Z:4.35 [[ 9.86660761e-01 -1.19875786e-01 -1.10137813e-01 4.35648385e+01] [ 1.19111566e-01 9.92788874e-01 -1.35161455e-02 4.49350635e+00] [ 1.10963854e-01 2.17163102e-04 9.93824419e-01 4.34909341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.44509989299999 meters 0.05532703711605956 Centerline is valid? [True, True] Translation: X:43.62, Y:4.50, Z:4.35 [[ 9.86835501e-01 -1.18659756e-01 -1.09888831e-01 4.36228760e+01] [ 1.17890933e-01 9.92934909e-01 -1.34905085e-02 4.49778768e+00] [ 1.10713237e-01 3.58015818e-04 9.93852329e-01 4.35456004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.50509989299999 meters 0.055879879844693024 Centerline is valid? [True, True] Translation: X:43.68, Y:4.50, Z:4.36 [[ 9.86780624e-01 -1.19279241e-01 -1.09710812e-01 4.36804428e+01] [ 1.18515306e-01 9.92860701e-01 -1.34814765e-02 4.50233276e+00] [ 1.10535614e-01 3.00849285e-04 9.93872118e-01 4.36048136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.565099892999996 meters 0.055949248773563005 Centerline is valid? [True, True] Translation: X:43.74, Y:4.50, Z:4.37 [[ 9.85922235e-01 -1.24027172e-01 -1.12136552e-01 4.37397805e+01] [ 1.23258963e-01 9.92278795e-01 -1.37848064e-02 4.50158675e+00] [ 1.12980413e-01 -2.31087982e-04 9.93597188e-01 4.36582219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.62509989299999 meters 0.05618034313113401 Centerline is valid? [True, True] Translation: X:43.80, Y:4.51, Z:4.37 [[ 9.85502971e-01 -1.27074067e-01 -1.12410297e-01 4.37977034e+01] [ 1.26320443e-01 9.91893067e-01 -1.38307140e-02 4.50615081e+00] [ 1.13256520e-01 -5.69508784e-04 9.93565618e-01 4.37316983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.68509989299999 meters 0.05619794953273683 Centerline is valid? [True, True] Translation: X:43.86, Y:4.51, Z:4.38 [[ 9.85229484e-01 -1.28201900e-01 -1.13521525e-01 4.38553108e+01] [ 1.27439285e-01 9.91747847e-01 -1.39798755e-02 4.51044254e+00] [ 1.14376974e-01 -6.93716464e-04 9.93437178e-01 4.37671562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.745099892999995 meters 0.055144548546509284 Centerline is valid? [True, True] Translation: X:43.91, Y:4.51, Z:4.38 [[ 9.84920031e-01 -1.29956904e-01 -1.14209179e-01 4.39144063e+01] [ 1.29195293e-01 9.91519243e-01 -1.40771474e-02 4.51249081e+00] [ 1.15070021e-01 -8.90423832e-04 9.93356984e-01 4.38192930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.80509989299999 meters 0.0558794294279707 Centerline is valid? [True, True] Translation: X:43.97, Y:4.52, Z:4.39 [[ 9.85128031e-01 -1.30046456e-01 -1.12297293e-01 4.39721870e+01] [ 1.29309492e-01 9.91507516e-01 -1.38528170e-02 4.51863666e+00] [ 1.13145120e-01 -8.74307570e-04 9.93578088e-01 4.39070364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.86509989299999 meters 0.05684760242166989 Centerline is valid? [True, True] Translation: X:44.03, Y:4.53, Z:4.40 [[ 9.86094848e-01 -1.23896572e-01 -1.10754641e-01 4.40293523e+01] [ 1.23139692e-01 9.92295125e-01 -1.36748084e-02 4.52919018e+00] [ 1.11595553e-01 -1.53634347e-04 9.93753696e-01 4.39873954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.925099892999995 meters 0.05654734944389813 Centerline is valid? [True, True] Translation: X:44.09, Y:4.54, Z:4.41 [[ 9.87560898e-01 -1.14097171e-01 -1.08191073e-01 4.40855388e+01] [ 1.13315105e-01 9.93469147e-01 -1.33694229e-02 4.54433663e+00] [ 1.09009906e-01 9.43436540e-04 9.94040216e-01 4.40790075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.98509989299999 meters 0.05772662947480797 Centerline is valid? [True, True] Translation: X:44.14, Y:4.55, Z:4.42 [[ 9.87938234e-01 -1.09208647e-01 -1.09779406e-01 4.41428034e+01] [ 1.08371899e-01 9.94017691e-01 -1.35779956e-02 4.55127257e+00] [ 1.10605506e-01 1.51721835e-03 9.93863230e-01 4.41592097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.04509989299999 meters 0.057831734728733666 Centerline is valid? [True, True] Translation: X:44.20, Y:4.56, Z:4.42 [[ 9.87364338e-01 -1.10207459e-01 -1.13868256e-01 4.42008881e+01] [ 1.09313054e-01 9.93907529e-01 -1.40883106e-02 4.55911377e+00] [ 1.14727154e-01 1.46300858e-03 9.93395963e-01 4.41951997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.105099892999995 meters 0.05651909262447483 Centerline is valid? [True, True] Translation: X:44.26, Y:4.57, Z:4.42 [[ 9.86585849e-01 -1.15489434e-01 -1.15371371e-01 4.42592194e+01] [ 1.14605770e-01 9.93308326e-01 -1.42859079e-02 4.56676714e+00] [ 1.16249215e-01 8.72049638e-04 9.93219693e-01 4.42017466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.16509989299999 meters 0.05650537926120972 Centerline is valid? [True, True] Translation: X:44.32, Y:4.57, Z:4.43 [[ 9.85919831e-01 -1.21146797e-01 -1.15262916e-01 4.43180972e+01] [ 1.20302084e-01 9.92634579e-01 -1.42829030e-02 4.56960434e+00] [ 1.16144284e-01 2.15428310e-04 9.93232329e-01 4.42754253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.22509989299999 meters 0.0559402353664659 Centerline is valid? [True, True] Translation: X:44.38, Y:4.57, Z:4.44 [[ 9.84684159e-01 -1.32873694e-01 -1.12879091e-01 4.43768280e+01] [ 1.32140043e-01 9.91132323e-01 -1.39902436e-02 4.56769322e+00] [ 1.13737051e-01 -1.13987671e-03 9.93510233e-01 4.43642694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.285099892999995 meters 0.05587945683179465 Centerline is valid? [True, True] Translation: X:44.44, Y:4.57, Z:4.44 [[ 9.83681988e-01 -1.41927639e-01 -1.10572560e-01 4.44360730e+01] [ 1.41279368e-01 9.89874745e-01 -1.37160277e-02 4.56848562e+00] [ 1.11399668e-01 -2.12941199e-03 9.93773405e-01 4.44486697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.345099893 meters 0.0565549408572438 Centerline is valid? [True, True] Translation: X:44.50, Y:4.57, Z:4.45 [[ 9.82040118e-01 -1.52243930e-01 -1.11440536e-01 4.44957578e+01] [ 1.51651348e-01 9.88337362e-01 -1.38249234e-02 4.56749533e+00] [ 1.12245606e-01 -3.32347813e-03 9.93674936e-01 4.45039197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.40509989299999 meters 0.0583183295326565 Centerline is valid? [True, True] Translation: X:44.56, Y:4.57, Z:4.45 [[ 9.80869148e-01 -1.57745487e-01 -1.14070488e-01 4.45558027e+01] [ 1.57161551e-01 9.87471511e-01 -1.41514036e-02 4.57211021e+00] [ 1.14873677e-01 -4.04681964e-03 9.93371865e-01 4.45367364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.465099892999994 meters 0.05970421577946439 Centerline is valid? [True, True] Translation: X:44.61, Y:4.57, Z:4.46 [[ 9.81068899e-01 -1.56892762e-01 -1.13527425e-01 4.46145314e+01] [ 1.56308583e-01 9.87607837e-01 -1.40849779e-02 4.57460749e+00] [ 1.14330406e-01 -3.92697724e-03 9.93435019e-01 4.45755665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.525099893 meters 0.057311315323480515 Centerline is valid? [True, True] Translation: X:44.67, Y:4.60, Z:4.47 [[ 9.81200600e-01 -1.55564733e-01 -1.14214694e-01 4.46698397e+01] [ 1.54964095e-01 9.87818422e-01 -1.41737168e-02 4.59851739e+00] [ 1.15028309e-01 -3.79191724e-03 9.93354977e-01 4.46734484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.58509989299999 meters 0.056705343039805955 Centerline is valid? [True, True] Translation: X:44.73, Y:4.61, Z:4.47 [[ 9.81002984e-01 -1.54943789e-01 -1.16728610e-01 4.47271131e+01] [ 1.54311470e-01 9.87915989e-01 -1.44903179e-02 4.61194275e+00] [ 1.17563245e-01 -3.79751832e-03 9.93058136e-01 4.47196726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.645099892999994 meters 0.05655473539771505 Centerline is valid? [True, True] Translation: X:44.79, Y:4.62, Z:4.48 [[ 9.81272323e-01 -1.53219253e-01 -1.16741116e-01 4.47853309e+01] [ 1.52573319e-01 9.88185733e-01 -1.45030675e-02 4.62340405e+00] [ 1.17584054e-01 -3.58012080e-03 9.93056480e-01 4.47742927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.705099892999996 meters 0.055531622203857135 Centerline is valid? [True, True] Translation: X:44.84, Y:4.65, Z:4.49 [[ 9.82222128e-01 -1.47468390e-01 -1.16158363e-01 4.48425250e+01] [ 1.46788626e-01 9.89062591e-01 -1.44322938e-02 4.64655310e+00] [ 1.17016198e-01 -2.87500809e-03 9.93125845e-01 4.48571530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.76509989299999 meters 0.05595781394652445 Centerline is valid? [True, True] Translation: X:44.90, Y:4.66, Z:4.49 [[ 9.83175356e-01 -1.40840826e-01 -1.16318878e-01 4.49017254e+01] [ 1.40112828e-01 9.90030051e-01 -1.44531183e-02 4.66215192e+00] [ 1.17194774e-01 -2.08781724e-03 9.93106755e-01 4.49000469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.825099892999994 meters 0.05541314894253939 Centerline is valid? [True, True] Translation: X:44.96, Y:4.68, Z:4.50 [[ 9.84226926e-01 -1.33215138e-01 -1.16409129e-01 4.49588496e+01] [ 1.32432455e-01 9.91086445e-01 -1.44673252e-02 4.68452507e+00] [ 1.17298777e-01 -1.17721579e-03 9.93095973e-01 4.49681299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.885099892999996 meters 0.05582372883752317 Centerline is valid? [True, True] Translation: X:45.02, Y:4.70, Z:4.50 [[ 9.84328783e-01 -1.33415321e-01 -1.15313482e-01 4.50163522e+01] [ 1.32648447e-01 9.91059505e-01 -1.43334297e-02 4.69881225e+00] [ 1.16194821e-01 -1.18734683e-03 9.93225731e-01 4.50467971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.94509989299999 meters 0.05536756368062297 Centerline is valid? [True, True] Translation: X:45.07, Y:4.71, Z:4.52 [[ 9.84139387e-01 -1.36406260e-01 -1.13415164e-01 4.50735804e+01] [ 1.35682982e-01 9.90651842e-01 -1.41087525e-02 4.71052185e+00] [ 1.14279463e-01 -1.50352860e-03 9.93447504e-01 4.51500328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.00509989299999 meters 0.05503336497715617 Centerline is valid? [True, True] Translation: X:45.13, Y:4.72, Z:4.52 [[ 9.83207358e-01 -1.42299811e-01 -1.14254340e-01 4.51325061e+01] [ 1.41604063e-01 9.89821172e-01 -1.42244883e-02 4.71700887e+00] [ 1.15115507e-01 -2.19325718e-03 9.93349692e-01 4.52203852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.065099892999996 meters 0.056405478019377384 Centerline is valid? [True, True] Translation: X:45.19, Y:4.71, Z:4.52 [[ 9.81908219e-01 -1.48986543e-01 -1.16872838e-01 4.51932142e+01] [ 1.48305498e-01 9.88834536e-01 -1.45512960e-02 4.71341146e+00] [ 1.17735846e-01 -3.04484737e-03 9.93040281e-01 4.52249171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.12509989299999 meters 0.056316711459677586 Centerline is valid? [True, True] Translation: X:45.25, Y:4.72, Z:4.53 [[ 9.81447237e-01 -1.50350698e-01 -1.18978944e-01 4.52530424e+01] [ 1.49654728e-01 9.88627331e-01 -1.48143057e-02 4.71703208e+00] [ 1.19853177e-01 -3.26630200e-03 9.92786255e-01 4.52508975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.18509989299999 meters 0.05603003102863411 Centerline is valid? [True, True] Translation: X:45.31, Y:4.73, Z:4.53 [[ 9.81941871e-01 -1.47617703e-01 -1.18318114e-01 4.53120981e+01] [ 1.46909585e-01 9.89040199e-01 -1.47329073e-02 4.72717662e+00] [ 1.19196209e-01 -2.91520641e-03 9.92866439e-01 4.53280277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.245099892999995 meters 0.05607638353660122 Centerline is valid? [True, True] Translation: X:45.37, Y:4.74, Z:4.54 [[ 9.83827973e-01 -1.38243274e-01 -1.13891689e-01 4.53699759e+01] [ 1.37524490e-01 9.90396826e-01 -1.41824170e-02 4.74167410e+00] [ 1.14758591e-01 -1.70983783e-03 9.93391938e-01 4.54326599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.30509989299999 meters 0.055857841267003244 Centerline is valid? [True, True] Translation: X:45.43, Y:4.76, Z:4.55 [[ 9.84992493e-01 -1.30279748e-01 -1.13212081e-01 4.54283735e+01] [ 1.29517116e-01 9.91476971e-01 -1.40972807e-02 4.75563577e+00] [ 1.14083761e-01 -7.77186532e-04 9.93470831e-01 4.55228174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.36509989299999 meters 0.05585257100946701 Centerline is valid? [True, True] Translation: X:45.49, Y:4.76, Z:4.56 [[ 9.85231994e-01 -1.26345920e-01 -1.15562216e-01 4.54853317e+01] [ 1.25524035e-01 9.91986190e-01 -1.43914913e-02 4.76393296e+00] [ 1.16454429e-01 -3.26877979e-04 9.93195982e-01 4.55513960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.425099892999995 meters 0.05571110031716701 Centerline is valid? [True, True] Translation: X:45.54, Y:4.77, Z:4.56 [[ 9.84713825e-01 -1.28512725e-01 -1.17571948e-01 4.55443238e+01] [ 1.27676509e-01 9.91707686e-01 -1.46483414e-02 4.76811954e+00] [ 1.18479502e-01 -5.86751497e-04 9.92956325e-01 4.55842067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.48509989299999 meters 0.05586938115442614 Centerline is valid? [True, True] Translation: X:45.60, Y:4.77, Z:4.56 [[ 9.83852042e-01 -1.34561242e-01 -1.18018773e-01 4.56046305e+01] [ 1.33761644e-01 9.90904404e-01 -1.47066453e-02 4.76863171e+00] [ 1.18924266e-01 -1.31722209e-03 9.92902454e-01 4.55950742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.54509989299999 meters 0.05625337988671182 Centerline is valid? [True, True] Translation: X:45.66, Y:4.78, Z:4.57 [[ 9.83554331e-01 -1.36681683e-01 -1.18063521e-01 4.56612208e+01] [ 1.35896312e-01 9.90613774e-01 -1.47153946e-02 4.77827742e+00] [ 1.18966676e-01 -1.57100711e-03 9.92897005e-01 4.57055440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.605099892999995 meters 0.056579132545328197 Centerline is valid? [True, True] Translation: X:45.72, Y:4.78, Z:4.58 [[ 9.82679778e-01 -1.43860361e-01 -1.16810321e-01 4.57217858e+01] [ 1.43140807e-01 9.89595081e-01 -1.45700219e-02 4.78033190e+00] [ 1.17690968e-01 -2.40265773e-03 9.93047362e-01 4.57758507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.66509989299999 meters 0.05554194009184573 Centerline is valid? [True, True] Translation: X:45.78, Y:4.79, Z:4.59 [[ 9.81511208e-01 -1.54027483e-01 -1.13627828e-01 4.57799137e+01] [ 1.53414463e-01 9.88060289e-01 -1.41728028e-02 4.79099897e+00] [ 1.14454146e-01 -3.52138734e-03 9.93422291e-01 4.59193125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.72509989299999 meters 0.05636890535725359 Centerline is valid? [True, True] Translation: X:45.84, Y:4.79, Z:4.60 [[ 9.80583548e-01 -1.59388704e-01 -1.14241615e-01 4.58402252e+01] [ 1.58805186e-01 9.87207101e-01 -1.42496882e-02 4.78845979e+00] [ 1.15051373e-01 -4.16915117e-03 9.93350794e-01 4.59508888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.785099892999995 meters 0.05670201653032022 Centerline is valid? [True, True] Translation: X:45.90, Y:4.79, Z:4.60 [[ 9.80374442e-01 -1.59992155e-01 -1.15188815e-01 4.58984536e+01] [ 1.59402830e-01 9.87109035e-01 -1.43698077e-02 4.79498258e+00] [ 1.16002976e-01 -4.27363082e-03 9.93239672e-01 4.60069780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.84509989299999 meters 0.05621125553753366 Centerline is valid? [True, True] Translation: X:45.96, Y:4.80, Z:4.61 [[ 9.80404096e-01 -1.58728655e-01 -1.16674856e-01 4.59572293e+01] [ 1.58113659e-01 9.87313456e-01 -1.45674721e-02 4.80054162e+00] [ 1.17506930e-01 -4.16587900e-03 9.93063325e-01 4.60562611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.90509989299999 meters 0.056817622652227374 Centerline is valid? [True, True] Translation: X:46.02, Y:4.80, Z:4.61 [[ 9.80665296e-01 -1.57851610e-01 -1.15665234e-01 4.60158069e+01] [ 1.57239926e-01 9.87454683e-01 -1.44518124e-02 4.80435186e+00] [ 1.16495419e-01 -4.01480197e-03 9.93183114e-01 4.61119594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.965099892999994 meters 0.056496086746949746 Centerline is valid? [True, True] Translation: X:46.07, Y:4.82, Z:4.62 [[ 9.82450237e-01 -1.45365573e-01 -1.16877635e-01 4.60744156e+01] [ 1.44652467e-01 9.89374709e-01 -1.46064744e-02 4.82200827e+00] [ 1.17759055e-01 -2.55650404e-03 9.93038906e-01 4.61662455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.025099893 meters 0.05541426562420901 Centerline is valid? [True, True] Translation: X:46.13, Y:4.84, Z:4.63 [[ 9.84249756e-01 -1.33457966e-01 -1.15937007e-01 4.61317594e+01] [ 1.32673838e-01 9.91053841e-01 -1.44892252e-02 4.84131653e+00] [ 1.16833519e-01 -1.12079131e-03 9.93150881e-01 4.62580772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.08509989299999 meters 0.05659023202668545 Centerline is valid? [True, True] Translation: X:46.19, Y:4.86, Z:4.63 [[ 9.85816521e-01 -1.21684693e-01 -1.15579506e-01 4.61892508e+01] [ 1.20824602e-01 9.92568768e-01 -1.44449168e-02 4.85665377e+00] [ 1.16478333e-01 2.75189757e-04 9.93193195e-01 4.63255004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.145099892999994 meters 0.057553008833151335 Centerline is valid? [True, True] Translation: X:46.25, Y:4.87, Z:4.64 [[ 9.87392715e-01 -1.08431044e-01 -1.15318405e-01 4.62471369e+01] [ 1.07484432e-01 9.94102275e-01 -1.44140264e-02 4.86697530e+00] [ 1.16201216e-01 1.83737144e-03 9.93223994e-01 4.64204012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.205099892999996 meters 0.05760509748916151 Centerline is valid? [True, True] Translation: X:46.31, Y:4.87, Z:4.65 [[ 9.86558872e-01 -1.13921634e-01 -1.17147140e-01 4.63067528e+01] [ 1.12982899e-01 9.93488999e-01 -1.46449062e-02 4.86778791e+00] [ 1.18052766e-01 1.21243865e-03 9.93006583e-01 4.64595614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.26509989299999 meters 0.05687829914260067 Centerline is valid? [True, True] Translation: X:46.37, Y:4.87, Z:4.65 [[ 9.85538019e-01 -1.21978498e-01 -1.17626780e-01 4.63653452e+01] [ 1.21087849e-01 9.92532709e-01 -1.47157893e-02 4.86799256e+00] [ 1.18543436e-01 2.59796103e-04 9.92948834e-01 4.65259455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.325099892999994 meters 0.05651677899711614 Centerline is valid? [True, True] Translation: X:46.42, Y:4.87, Z:4.66 [[ 9.84852816e-01 -1.30034097e-01 -1.14699888e-01 4.64240451e+01] [ 1.29240472e-01 9.91509289e-01 -1.43607129e-02 4.86828337e+00] [ 1.15593387e-01 -6.80679135e-04 9.93296384e-01 4.65937019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.385099892999996 meters 0.05616637327656289 Centerline is valid? [True, True] Translation: X:46.48, Y:4.87, Z:4.67 [[ 9.84215224e-01 -1.36142642e-01 -1.13073313e-01 4.64829145e+01] [ 1.35410350e-01 9.90688302e-01 -1.41677596e-02 4.86905183e+00] [ 1.13949244e-01 -1.36717208e-03 9.93485632e-01 4.66655446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.44509989299999 meters 0.056313102703688285 Centerline is valid? [True, True] Translation: X:46.54, Y:4.87, Z:4.67 [[ 9.83770659e-01 -1.39405605e-01 -1.12966224e-01 4.65417342e+01] [ 1.38695825e-01 9.90233835e-01 -1.41570152e-02 4.87148986e+00] [ 1.13836544e-01 -1.74068734e-03 9.93497967e-01 4.67286958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.50509989299999 meters 0.057495193726400745 Centerline is valid? [True, True] Translation: X:46.60, Y:4.90, Z:4.68 [[ 9.87177111e-01 -1.07489967e-01 -1.18013811e-01 4.65982817e+01] [ 1.06486747e-01 9.94204085e-01 -1.47922057e-02 4.89570383e+00] [ 1.18919827e-01 2.03562007e-03 9.92901773e-01 4.67528860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.565099892999996 meters 0.05842978584428593 Centerline is valid? [True, True] Translation: X:46.66, Y:4.90, Z:4.68 [[ 9.87390700e-01 -1.03783703e-01 -1.19534720e-01 4.66580739e+01] [ 1.02727181e-01 9.94596711e-01 -1.49836492e-02 4.89966457e+00] [ 1.20443898e-01 2.51525111e-03 9.92716949e-01 4.68421081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.62509989299999 meters 0.0591454544814071 Centerline is valid? [True, True] Translation: X:46.72, Y:4.91, Z:4.69 [[ 9.87415256e-01 -1.02173207e-01 -1.20713499e-01 4.67161906e+01] [ 1.01083606e-01 9.94762852e-01 -1.51318354e-02 4.90838193e+00] [ 1.21627373e-01 2.73924937e-03 9.92572052e-01 4.68719948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.68509989299999 meters 0.058243493929873116 Centerline is valid? [True, True] Translation: X:46.77, Y:4.91, Z:4.70 [[ 9.87356528e-01 -1.04936027e-01 -1.18808740e-01 4.67740449e+01] [ 1.03900274e-01 9.94476166e-01 -1.48959113e-02 4.91021412e+00] [ 1.19715578e-01 2.36331470e-03 9.92805417e-01 4.69953095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.745099892999995 meters 0.056963972211270135 Centerline is valid? [True, True] Translation: X:46.84, Y:4.90, Z:4.70 [[ 9.84632266e-01 -1.30152355e-01 -1.16445975e-01 4.68366298e+01] [ 1.29332419e-01 9.91493772e-01 -1.46022730e-02 4.89801367e+00] [ 1.17355979e-01 -6.82370539e-04 9.93089678e-01 4.70156545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.80509989299999 meters 0.057253211689097194 Centerline is valid? [True, True] Translation: X:46.89, Y:4.90, Z:4.71 [[ 9.84526495e-01 -1.31161691e-01 -1.16207536e-01 4.68938773e+01] [ 1.30351756e-01 9.91360668e-01 -1.45755078e-02 4.90391026e+00] [ 1.17115329e-01 -7.97882809e-04 9.93118001e-01 4.70826135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.86509989299999 meters 0.05728189853922952 Centerline is valid? [True, True] Translation: X:46.95, Y:4.91, Z:4.72 [[ 9.84886863e-01 -1.29888442e-01 -1.14572507e-01 4.69508357e+01] [ 1.29091015e-01 9.91528418e-01 -1.43842256e-02 4.91396191e+00] [ 1.15470241e-01 -6.23446345e-04 9.93310744e-01 4.71816493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.925099892999995 meters 0.05712390864062034 Centerline is valid? [True, True] Translation: X:47.01, Y:4.92, Z:4.72 [[ 9.85056376e-01 -1.28447603e-01 -1.14739486e-01 4.70087298e+01] [ 1.27636707e-01 9.91716198e-01 -1.44171527e-02 4.92137528e+00] [ 1.15640856e-01 -4.43261966e-04 9.93290993e-01 4.72359606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.98509989299999 meters 0.05694096959218588 Centerline is valid? [True, True] Translation: X:47.07, Y:4.91, Z:4.73 [[ 9.83971806e-01 -1.37057466e-01 -1.14082145e-01 4.70686963e+01] [ 1.36312106e-01 9.90562059e-01 -1.43463011e-02 4.91454696e+00] [ 1.14971712e-01 -1.43442158e-03 9.93367730e-01 4.73280937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.04509989299999 meters 0.05749253240345698 Centerline is valid? [True, True] Translation: X:47.13, Y:4.91, Z:4.74 [[ 9.82273221e-01 -1.48475241e-01 -1.14430864e-01 4.71299956e+01] [ 1.47802063e-01 9.88912230e-01 -1.43927341e-02 4.91019583e+00] [ 1.15299046e-01 -2.77552056e-03 9.93326948e-01 4.73697790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.105099892999995 meters 0.05777731523430747 Centerline is valid? [True, True] Translation: X:47.19, Y:4.91, Z:4.75 [[ 9.80460814e-01 -1.60789160e-01 -1.13328893e-01 4.71907374e+01] [ 1.60210568e-01 9.86979925e-01 -1.42548793e-02 4.90877791e+00] [ 1.14145373e-01 -4.18013577e-03 9.93455263e-01 4.74558994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.16509989299999 meters 0.0578526403230116 Centerline is valid? [True, True] Translation: X:47.25, Y:4.91, Z:4.75 [[ 9.79899338e-01 -1.62954881e-01 -1.15078212e-01 4.72498997e+01] [ 1.62373090e-01 9.86623254e-01 -1.44752984e-02 4.91241183e+00] [ 1.15897660e-01 -4.50126957e-03 9.93250961e-01 4.75029832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.22509989299999 meters 0.05781504729851826 Centerline is valid? [True, True] Translation: X:47.31, Y:4.92, Z:4.76 [[ 9.79193883e-01 -1.65840725e-01 -1.16945255e-01 4.73094649e+01] [ 1.65260250e-01 9.86140271e-01 -1.47110828e-02 4.92159803e+00] [ 1.17764123e-01 -4.92139988e-03 9.93029401e-01 4.75563264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.285099892999995 meters 0.0578029064699374 Centerline is valid? [True, True] Translation: X:47.37, Y:4.93, Z:4.76 [[ 9.78767803e-01 -1.68628547e-01 -1.16524683e-01 4.73687008e+01] [ 1.68071884e-01 9.85665755e-01 -1.46581418e-02 4.92650777e+00] [ 1.17326171e-01 -5.23760575e-03 9.93079623e-01 4.76129260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.34509989299999 meters 0.058939569466370634 Centerline is valid? [True, True] Translation: X:47.43, Y:4.93, Z:4.77 [[ 9.78644814e-01 -1.69790044e-01 -1.15869188e-01 4.74275991e+01] [ 1.69247695e-01 9.85465759e-01 -1.45758821e-02 4.92994250e+00] [ 1.16659957e-01 -5.34598148e-03 9.93157528e-01 4.76713109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.40509989299999 meters 0.05680719719943038 Centerline is valid? [True, True] Translation: X:47.48, Y:4.95, Z:4.78 [[ 9.78589029e-01 -1.70680929e-01 -1.15028400e-01 4.74835791e+01] [ 1.70152218e-01 9.85311504e-01 -1.44728518e-02 4.94783430e+00] [ 1.15809046e-01 -5.40936351e-03 9.93256766e-01 4.77592499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.465099892999994 meters 0.059174566561845096 Centerline is valid? [True, True] Translation: X:47.54, Y:4.95, Z:4.78 [[ 9.78635115e-01 -1.70515524e-01 -1.14881542e-01 4.75425902e+01] [ 1.69986519e-01 9.85340311e-01 -1.44587411e-02 4.94528963e+00] [ 1.15662854e-01 -5.37848174e-03 9.93273968e-01 4.77915617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.52509989299999 meters 0.05697676529192615 Centerline is valid? [True, True] Translation: X:47.60, Y:4.97, Z:4.79 [[ 9.79095183e-01 -1.68909681e-01 -1.13323177e-01 4.75998524e+01] [ 1.68383780e-01 9.85618268e-01 -1.42664561e-02 4.96855105e+00] [ 1.14103136e-01 -5.11356645e-03 9.93455749e-01 4.78896379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.58509989299999 meters 0.05764376435306672 Centerline is valid? [True, True] Translation: X:47.66, Y:4.98, Z:4.79 [[ 9.79334590e-01 -1.67867053e-01 -1.12802544e-01 4.76573770e+01] [ 1.67339063e-01 9.85797122e-01 -1.42011417e-02 4.97698498e+00] [ 1.13584327e-01 -4.96860275e-03 9.93515935e-01 4.79494591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.645099892999994 meters 0.057665644908122676 Centerline is valid? [True, True] Translation: X:47.71, Y:4.98, Z:4.80 [[ 9.79258388e-01 -1.67684190e-01 -1.13732234e-01 4.77139105e+01] [ 1.67145885e-01 9.85828157e-01 -1.43212358e-02 4.98325625e+00] [ 1.14521883e-01 -4.98568463e-03 9.93408215e-01 4.79945622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.705099892999996 meters 0.05999729425139009 Centerline is valid? [True, True] Translation: X:47.77, Y:4.99, Z:4.80 [[ 9.79285291e-01 -1.67575722e-01 -1.13660441e-01 4.77725536e+01] [ 1.67036600e-01 9.85846714e-01 -1.43188733e-02 4.98613282e+00] [ 1.14451268e-01 -4.96319159e-03 9.93416466e-01 4.80369160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.76509989299999 meters 0.05814347431596763 Centerline is valid? [True, True] Translation: X:47.83, Y:5.00, Z:4.81 [[ 9.79334151e-01 -1.67631801e-01 -1.13155650e-01 4.78298924e+01] [ 1.67096468e-01 9.85837319e-01 -1.42671415e-02 4.99954473e+00] [ 1.13944689e-01 -4.93561049e-03 9.93474835e-01 4.81163390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.825099892999994 meters 0.058246681472599246 Centerline is valid? [True, True] Translation: X:47.89, Y:5.01, Z:4.82 [[ 9.79291573e-01 -1.68021622e-01 -1.12945779e-01 4.78868012e+01] [ 1.67489514e-01 9.85770832e-01 -1.42523623e-02 5.01124402e+00] [ 1.13733360e-01 -4.96001540e-03 9.93498929e-01 4.81921277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.885099892999996 meters 0.05848862781325066 Centerline is valid? [True, True] Translation: X:47.95, Y:5.02, Z:4.82 [[ 9.79152760e-01 -1.68557385e-01 -1.13350253e-01 4.79452614e+01] [ 1.68023742e-01 9.85679011e-01 -1.43146222e-02 5.01684291e+00] [ 1.14139801e-01 -5.02933194e-03 9.93451967e-01 4.82434869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.94509989299999 meters 0.062163845140070326 Centerline is valid? [True, True] Translation: X:48.01, Y:5.02, Z:4.83 [[ 9.78687860e-01 -1.69927420e-01 -1.15302842e-01 4.80062172e+01] [ 1.69383385e-01 9.85442497e-01 -1.45723980e-02 5.01551817e+00] [ 1.16100570e-01 -5.26855657e-03 9.93223489e-01 4.82554519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.00509989299999 meters 0.057597430529161005 Centerline is valid? [True, True] Translation: X:48.06, Y:5.04, Z:4.83 [[ 9.78088818e-01 -1.72604846e-01 -1.16403742e-01 4.80634544e+01] [ 1.72069141e-01 9.84975006e-01 -1.47122106e-02 5.03877866e+00] [ 1.17194176e-01 -5.63964329e-03 9.93093007e-01 4.83470536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.065099892999996 meters 0.056367705293274416 Centerline is valid? [True, True] Translation: X:48.12, Y:5.06, Z:4.84 [[ 9.77824035e-01 -1.74720939e-01 -1.15467530e-01 4.81206738e+01] [ 1.74208553e-01 9.84600639e-01 -1.45931750e-02 5.05691833e+00] [ 1.16239137e-01 -5.84587406e-03 9.93204052e-01 4.84425695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.12509989299999 meters 0.05809096231803525 Centerline is valid? [True, True] Translation: X:48.18, Y:5.06, Z:4.85 [[ 9.78178696e-01 -1.73612016e-01 -1.14128468e-01 4.81792344e+01] [ 1.73103828e-01 9.84797944e-01 -1.44247948e-02 5.06076998e+00] [ 1.14897798e-01 -5.64604761e-03 9.93361273e-01 4.85040765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.18509989299999 meters 0.0567496530737937 Centerline is valid? [True, True] Translation: X:48.24, Y:5.08, Z:4.86 [[ 9.78802149e-01 -1.71224825e-01 -1.12376212e-01 4.82377641e+01] [ 1.70716366e-01 9.85217827e-01 -1.42041036e-02 5.07812119e+00] [ 1.13147142e-01 -5.28145138e-03 9.93564206e-01 4.85848184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.245099892999995 meters 0.05727335118612113 Centerline is valid? [True, True] Translation: X:48.29, Y:5.08, Z:4.86 [[ 9.78998343e-01 -1.70332880e-01 -1.12022114e-01 4.82946326e+01] [ 1.69821741e-01 9.85373062e-01 -1.41599587e-02 5.08463600e+00] [ 1.12795480e-01 -5.16121423e-03 9.93604822e-01 4.86432119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.30509989299999 meters 0.05707431464415182 Centerline is valid? [True, True] Translation: X:48.35, Y:5.10, Z:4.87 [[ 9.79596032e-01 -1.67296636e-01 -1.11370779e-01 4.83527904e+01] [ 1.66771245e-01 9.85895031e-01 -1.40833381e-02 5.09689042e+00] [ 1.12155993e-01 -4.77746144e-03 9.93679128e-01 4.87125239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.36509989299999 meters 0.059308836720863935 Centerline is valid? [True, True] Translation: X:48.41, Y:5.10, Z:4.88 [[ 9.79925855e-01 -1.65370496e-01 -1.11345942e-01 4.84131279e+01] [ 1.64832830e-01 9.86220996e-01 -1.40813710e-02 5.09834373e+00] [ 1.12140349e-01 -4.55476716e-03 9.93681939e-01 4.87598877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.425099892999995 meters 0.056367019522619986 Centerline is valid? [True, True] Translation: X:48.47, Y:5.12, Z:4.88 [[ 9.80265256e-01 -1.63372345e-01 -1.11308150e-01 4.84703218e+01] [ 1.62822126e-01 9.86555007e-01 -1.40774288e-02 5.12220017e+00] [ 1.12111475e-01 -4.32381522e-03 9.93686229e-01 4.88493703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.48509989299999 meters 0.0559612557419976 Centerline is valid? [True, True] Translation: X:48.53, Y:5.13, Z:4.89 [[ 9.80792268e-01 -1.60030503e-01 -1.11520249e-01 4.85296823e+01] [ 1.59456576e-01 9.87104173e-01 -1.41050648e-02 5.13328753e+00] [ 1.12339344e-01 -3.94849866e-03 9.93662056e-01 4.89094641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.54509989299999 meters 0.057197585445760396 Centerline is valid? [True, True] Translation: X:48.59, Y:5.14, Z:4.89 [[ 9.81291520e-01 -1.57150130e-01 -1.11224046e-01 4.85885785e+01] [ 1.56560791e-01 9.87568131e-01 -1.40678586e-02 5.13816193e+00] [ 1.12052089e-01 -3.60865427e-03 9.93695782e-01 4.89486335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.605099892999995 meters 0.056067269001180496 Centerline is valid? [True, True] Translation: X:48.65, Y:5.15, Z:4.90 [[ 9.81472241e-01 -1.55970939e-01 -1.11289289e-01 4.86458389e+01] [ 1.55373146e-01 9.87755535e-01 -1.40779780e-02 5.15449851e+00] [ 1.12122366e-01 -3.47422228e-03 9.93688334e-01 4.90257307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.66509989299999 meters 0.05679007853948959 Centerline is valid? [True, True] Translation: X:48.70, Y:5.16, Z:4.91 [[ 9.81608961e-01 -1.53616994e-01 -1.13338727e-01 4.87048698e+01] [ 1.52980086e-01 9.88125107e-01 -1.43480137e-02 5.16097306e+00] [ 1.14196941e-01 -3.25442938e-03 9.93452801e-01 4.90520915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.72509989299999 meters 0.05713028271892488 Centerline is valid? [True, True] Translation: X:48.76, Y:5.17, Z:4.91 [[ 9.81985409e-01 -1.50599227e-01 -1.14125058e-01 4.87632873e+01] [ 1.49932936e-01 9.88590580e-01 -1.44492492e-02 5.17482094e+00] [ 1.14999003e-01 -2.92215314e-03 9.93361309e-01 4.91064234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.785099892999995 meters 0.05625724742538189 Centerline is valid? [True, True] Translation: X:48.82, Y:5.19, Z:4.92 [[ 9.83020693e-01 -1.45924278e-01 -1.11249366e-01 4.88215200e+01] [ 1.45261267e-01 9.89293057e-01 -1.40858602e-02 5.19202476e+00] [ 1.12113695e-01 -2.31353189e-03 9.93692692e-01 4.92200777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.84509989299999 meters 0.05672081535011021 Centerline is valid? [True, True] Translation: X:48.88, Y:5.20, Z:4.93 [[ 9.83337001e-01 -1.43831517e-01 -1.11179298e-01 4.88789856e+01] [ 1.43156051e-01 9.89600017e-01 -1.40766316e-02 5.19655018e+00] [ 1.12047698e-01 -2.07391651e-03 9.93700665e-01 4.92601247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.90509989299999 meters 0.056675267862586615 Centerline is valid? [True, True] Translation: X:48.94, Y:5.20, Z:4.93 [[ 9.83490535e-01 -1.43692723e-01 -1.09994401e-01 4.89369569e+01] [ 1.43030206e-01 9.89620269e-01 -1.39314179e-02 5.20393897e+00] [ 1.10854532e-01 -2.03110408e-03 9.93834567e-01 4.93294166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.965099892999994 meters 0.056551006081549844 Centerline is valid? [True, True] Translation: X:49.00, Y:5.21, Z:4.94 [[ 9.83407998e-01 -1.44467574e-01 -1.09717042e-01 4.89953229e+01] [ 1.43811914e-01 9.89507304e-01 -1.39079016e-02 5.20995065e+00] [ 1.10575055e-01 -2.10147610e-03 9.93865555e-01 4.94010021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.02509989299999 meters 0.05678977601802665 Centerline is valid? [True, True] Translation: X:49.06, Y:5.21, Z:4.95 [[ 9.82626630e-01 -1.48273370e-01 -1.11623981e-01 4.90554716e+01] [ 1.47617861e-01 9.88943092e-01 -1.41607849e-02 5.21486051e+00] [ 1.12489432e-01 -2.56292903e-03 9.93649616e-01 4.94518949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.08509989299999 meters 0.05615084432844012 Centerline is valid? [True, True] Translation: X:49.11, Y:5.22, Z:4.95 [[ 9.82167524e-01 -1.51958307e-01 -1.10705136e-01 4.91142132e+01] [ 1.51336864e-01 9.88382472e-01 -1.40442779e-02 5.22328425e+00] [ 1.11553161e-01 -2.95993458e-03 9.93754060e-01 4.95382827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.145099892999994 meters 0.05644963896783966 Centerline is valid? [True, True] Translation: X:49.17, Y:5.23, Z:4.96 [[ 9.81883804e-01 -1.54506117e-01 -1.09690724e-01 4.91729686e+01] [ 1.53911757e-01 9.87986590e-01 -1.39164925e-02 5.22721075e+00] [ 1.10523148e-01 -3.21831350e-03 9.93868339e-01 4.96143243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.20509989299999 meters 0.05691420895527595 Centerline is valid? [True, True] Translation: X:49.23, Y:5.23, Z:4.97 [[ 9.81483303e-01 -1.55922255e-01 -1.11259947e-01 4.92323420e+01] [ 1.55319607e-01 9.87763393e-01 -1.41173393e-02 5.23236963e+00] [ 1.12099710e-01 -3.42491842e-03 9.93691061e-01 4.96593525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.26509989299999 meters 0.056330410372844114 Centerline is valid? [True, True] Translation: X:49.29, Y:5.24, Z:4.97 [[ 9.81194329e-01 -1.57858136e-01 -1.11078789e-01 4.92911447e+01] [ 1.57269605e-01 9.87455099e-01 -1.40960886e-02 5.23696362e+00] [ 1.11910499e-01 -3.63831509e-03 9.93711630e-01 4.97311974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.325099892999994 meters 0.0590583199728212 Centerline is valid? [True, True] Translation: X:49.35, Y:5.23, Z:4.98 [[ 9.80756784e-01 -1.59722069e-01 -1.12271949e-01 4.93516204e+01] [ 1.59132769e-01 9.87154355e-01 -1.42492687e-02 5.23211464e+00] [ 1.13105666e-01 -3.89107924e-03 9.93575346e-01 4.97540941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.385099892999996 meters 0.056369277605146685 Centerline is valid? [True, True] Translation: X:49.41, Y:5.25, Z:4.98 [[ 9.80800468e-01 -1.59429141e-01 -1.12306682e-01 4.94088735e+01] [ 1.58837272e-01 9.87201844e-01 -1.42562443e-02 5.24700221e+00] [ 1.13142224e-01 -3.85595589e-03 9.93571320e-01 4.98290742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.44509989299999 meters 0.056292526926115874 Centerline is valid? [True, True] Translation: X:49.47, Y:5.26, Z:4.99 [[ 9.80996156e-01 -1.58633131e-01 -1.11723191e-01 4.94663004e+01] [ 1.58041007e-01 9.87330538e-01 -1.41932371e-02 5.25842693e+00] [ 1.12559236e-01 -3.73333454e-03 9.93638003e-01 4.98980316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.50509989299999 meters 0.05634583554626972 Centerline is valid? [True, True] Translation: X:49.52, Y:5.27, Z:4.99 [[ 9.81175870e-01 -1.57394593e-01 -1.11896621e-01 4.95246518e+01] [ 1.56792215e-01 9.87529255e-01 -1.42187175e-02 5.26633712e+00] [ 1.12739136e-01 -3.59345661e-03 9.93618123e-01 4.99454057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.565099892999996 meters 0.057812912099115765 Centerline is valid? [True, True] Translation: X:49.58, Y:5.27, Z:5.00 [[ 9.81140743e-01 -1.57817418e-01 -1.11608710e-01 4.95824311e+01] [ 1.57220403e-01 9.87461643e-01 -1.41862042e-02 5.26588726e+00] [ 1.12448150e-01 -3.62850348e-03 9.93650969e-01 4.99927862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.62509989299999 meters 0.05645728624762382 Centerline is valid? [True, True] Translation: X:49.64, Y:5.28, Z:5.01 [[ 9.80672981e-01 -1.60030814e-01 -1.12563950e-01 4.96408931e+01] [ 1.59436747e-01 9.87104297e-01 -1.43189190e-02 5.27776347e+00] [ 1.13403827e-01 -3.90465306e-03 9.93541305e-01 5.00639405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.68509989299999 meters 0.05903256866427707 Centerline is valid? [True, True] Translation: X:49.70, Y:5.28, Z:5.01 [[ 9.80894538e-01 -1.58578560e-01 -1.12688707e-01 4.96996031e+01] [ 1.57973481e-01 9.87339281e-01 -1.43361042e-02 5.27569316e+00] [ 1.13535386e-01 -3.73962108e-03 9.93526915e-01 5.00956979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.745099892999995 meters 0.05730523105246336 Centerline is valid? [True, True] Translation: X:49.76, Y:5.30, Z:5.02 [[ 9.82020856e-01 -1.53504897e-01 -1.09869402e-01 4.97568779e+01] [ 1.52897662e-01 9.88143122e-01 -1.39812873e-02 5.29540766e+00] [ 1.10712889e-01 -3.06885888e-03 9.93847694e-01 5.02112636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.80509989299999 meters 0.05712394724581794 Centerline is valid? [True, True] Translation: X:49.82, Y:5.31, Z:5.03 [[ 9.82935264e-01 -1.48565650e-01 -1.08473563e-01 4.98160021e+01] [ 1.47943726e-01 9.88899439e-01 -1.38041253e-02 5.30668209e+00] [ 1.09320264e-01 -2.47942146e-03 9.94003487e-01 5.02931957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.86509989299999 meters 0.05668360070462802 Centerline is valid? [True, True] Translation: X:49.87, Y:5.32, Z:5.04 [[ 9.83867225e-01 -1.40846323e-01 -1.10306828e-01 4.98749135e+01] [ 1.40154725e-01 9.90030098e-01 -1.40377368e-02 5.32277216e+00] [ 1.11184243e-01 -1.64875397e-03 9.93798443e-01 5.03622744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.925099892999995 meters 0.05728428696369285 Centerline is valid? [True, True] Translation: X:49.93, Y:5.33, Z:5.04 [[ 9.84365108e-01 -1.35996465e-01 -1.11938806e-01 4.99327229e+01] [ 1.35252532e-01 9.90708696e-01 -1.42489189e-02 5.33317464e+00] [ 1.12836551e-01 -1.11386838e-03 9.93612939e-01 5.04093632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.98509989299999 meters 0.05764635439595084 Centerline is valid? [True, True] Translation: X:49.99, Y:5.34, Z:5.04 [[ 9.85029652e-01 -1.30516104e-01 -1.12614967e-01 4.99897087e+01] [ 1.29726157e-01 9.91446074e-01 -1.43459390e-02 5.34262589e+00] [ 1.13524043e-01 -4.77931662e-04 9.93535134e-01 5.04436670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.04509989299999 meters 0.057794322771686044 Centerline is valid? [True, True] Translation: X:50.05, Y:5.35, Z:5.05 [[ 9.86068165e-01 -1.23904404e-01 -1.10983211e-01 5.00468873e+01] [ 1.23094923e-01 9.92294119e-01 -1.41429194e-02 5.35463312e+00] [ 1.11880358e-01 2.84412768e-04 9.93721643e-01 5.05343412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.105099892999995 meters 0.05775418918077609 Centerline is valid? [True, True] Translation: X:50.10, Y:5.36, Z:5.06 [[ 9.86333594e-01 -1.21897408e-01 -1.10847031e-01 5.01039376e+01] [ 1.21075905e-01 9.92542567e-01 -1.41377998e-02 5.36200091e+00] [ 1.11743758e-01 5.23682268e-04 9.93736916e-01 5.05590999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.16509989299999 meters 0.0576892808741397 Centerline is valid? [True, True] Translation: X:50.16, Y:5.36, Z:5.06 [[ 9.86077067e-01 -1.25454822e-01 -1.09147178e-01 5.01624712e+01] [ 1.24678847e-01 9.92099325e-01 -1.39324955e-02 5.36437974e+00] [ 1.10032740e-01 1.30170028e-04 9.93927955e-01 5.06325548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.22509989299999 meters 0.05727124821263364 Centerline is valid? [True, True] Translation: X:50.22, Y:5.37, Z:5.07 [[ 9.85144899e-01 -1.31470814e-01 -1.10476026e-01 5.02200608e+01] [ 1.30712203e-01 9.91319896e-01 -1.41132233e-02 5.36600350e+00] [ 1.11372560e-01 -5.36994927e-04 9.93778579e-01 5.06765677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.285099892999995 meters 0.05678570896160048 Centerline is valid? [True, True] Translation: X:50.28, Y:5.36, Z:5.07 [[ 9.83962685e-01 -1.40382328e-01 -1.10046516e-01 5.02809635e+01] [ 1.39684651e-01 9.90096180e-01 -1.40624449e-02 5.36486087e+00] [ 1.10930754e-01 -1.53488810e-03 9.93826953e-01 5.07435173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.34509989299999 meters 0.05751558715270443 Centerline is valid? [True, True] Translation: X:50.34, Y:5.38, Z:5.08 [[ 9.86395636e-01 -1.22534863e-01 -1.09584933e-01 5.03394140e+01] [ 1.21732978e-01 9.92464097e-01 -1.40035133e-02 5.37624108e+00] [ 1.10475030e-01 4.72904141e-04 9.93878787e-01 5.08043962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.40509989299999 meters 0.05719713668848955 Centerline is valid? [True, True] Translation: X:50.40, Y:5.39, Z:5.09 [[ 9.87184578e-01 -1.16188495e-01 -1.09393068e-01 5.03959717e+01] [ 1.15350434e-01 9.93226478e-01 -1.39800419e-02 5.38865724e+00] [ 1.10276412e-01 1.18234388e-03 9.93900254e-01 5.08752171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.465099892999994 meters 0.0583262661861024 Centerline is valid? [True, True] Translation: X:50.45, Y:5.39, Z:5.09 [[ 9.87215862e-01 -1.14768005e-01 -1.10603558e-01 5.04542772e+01] [ 1.13901866e-01 9.93391391e-01 -1.41389601e-02 5.39487212e+00] [ 1.11495323e-01 1.36025399e-03 9.93764028e-01 5.09338677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.52509989299999 meters 0.05749677339602648 Centerline is valid? [True, True] Translation: X:50.51, Y:5.40, Z:5.10 [[ 9.86596608e-01 -1.20552675e-01 -1.09973570e-01 5.05123838e+01] [ 1.19730949e-01 9.92706675e-01 -1.40697178e-02 5.39935623e+00] [ 1.10867640e-01 7.13895928e-04 9.93834924e-01 5.10043000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.58509989299999 meters 0.05707019316270436 Centerline is valid? [True, True] Translation: X:50.57, Y:5.40, Z:5.11 [[ 9.85869730e-01 -1.26084286e-01 -1.10288838e-01 5.05709615e+01] [ 1.25291925e-01 9.92019528e-01 -1.41134639e-02 5.40168778e+00] [ 1.11188167e-01 9.57360471e-05 9.93799367e-01 5.10848371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.645099892999994 meters 0.057093074366787296 Centerline is valid? [True, True] Translation: X:50.63, Y:5.40, Z:5.11 [[ 9.84944381e-01 -1.32596308e-01 -1.10917924e-01 5.06294901e+01] [ 1.31834589e-01 9.91169926e-01 -1.42063110e-02 5.40245241e+00] [ 1.11822215e-01 -6.30392787e-04 9.93728029e-01 5.11144493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.70509989299999 meters 0.05732104814552498 Centerline is valid? [True, True] Translation: X:50.69, Y:5.40, Z:5.12 [[ 9.83805313e-01 -1.41017387e-01 -1.10639968e-01 5.06904703e+01] [ 1.40312038e-01 9.90005861e-01 -1.41749092e-02 5.40119814e+00] [ 1.11533125e-01 -1.57876831e-03 9.93759463e-01 5.11653973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.76509989299999 meters 0.05706234181400726 Centerline is valid? [True, True] Translation: X:50.75, Y:5.40, Z:5.12 [[ 9.82452508e-01 -1.50823090e-01 -1.09724497e-01 5.07506777e+01] [ 1.50190243e-01 9.88557168e-01 -1.40576170e-02 5.40455690e+00] [ 1.10589151e-01 -2.66860784e-03 9.93862625e-01 5.12430676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.825099892999994 meters 0.056966611801520343 Centerline is valid? [True, True] Translation: X:50.81, Y:5.43, Z:5.13 [[ 9.82402310e-01 -1.49921304e-01 -1.11397055e-01 5.08067834e+01] [ 1.49263117e-01 9.88694499e-01 -1.42727005e-02 5.42747870e+00] [ 1.12277437e-01 -2.60593770e-03 9.93673481e-01 5.12694172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.88509989299999 meters 0.05672577318753701 Centerline is valid? [True, True] Translation: X:50.87, Y:5.44, Z:5.13 [[ 9.82891061e-01 -1.46022526e-01 -1.12261234e-01 5.08653891e+01] [ 1.45327448e-01 9.89278893e-01 -1.43945825e-02 5.43930248e+00] [ 1.13159602e-01 -2.16633216e-03 9.93574462e-01 5.13094362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.94509989299999 meters 0.05653411537922623 Centerline is valid? [True, True] Translation: X:50.92, Y:5.45, Z:5.14 [[ 9.83089977e-01 -1.45156817e-01 -1.11640475e-01 5.09227434e+01] [ 1.44463580e-01 9.89406532e-01 -1.43174371e-02 5.45174118e+00] [ 1.12536089e-01 -2.05265374e-03 9.93645518e-01 5.13829298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.00509989299999 meters 0.05666611072096653 Centerline is valid? [True, True] Translation: X:50.98, Y:5.46, Z:5.15 [[ 9.83074047e-01 -1.45778530e-01 -1.10968637e-01 5.09801390e+01] [ 1.45096261e-01 9.89315022e-01 -1.42429524e-02 5.46193065e+00] [ 1.11859256e-01 -2.09925741e-03 9.93721842e-01 5.14580555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.065099892999996 meters 0.05733565344221696 Centerline is valid? [True, True] Translation: X:51.04, Y:5.46, Z:5.15 [[ 9.82971064e-01 -1.46578971e-01 -1.10826404e-01 5.10387579e+01] [ 1.45902256e-01 9.89196578e-01 -1.42359608e-02 5.46305556e+00] [ 1.11715792e-01 -2.17628480e-03 9.93737815e-01 5.14944172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.12509989299999 meters 0.057783858512444844 Centerline is valid? [True, True] Translation: X:51.10, Y:5.47, Z:5.15 [[ 9.82047521e-01 -1.51145197e-01 -1.12861845e-01 5.10986970e+01] [ 1.50472909e-01 9.88507771e-01 -1.45013957e-02 5.46663240e+00] [ 1.13756627e-01 -2.74159038e-03 9.93504863e-01 5.15389890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.18509989299999 meters 0.05694282285483869 Centerline is valid? [True, True] Translation: X:51.16, Y:5.48, Z:5.16 [[ 9.81839308e-01 -1.52165344e-01 -1.13301726e-01 5.11561923e+01] [ 1.51494432e-01 9.88350885e-01 -1.45590416e-02 5.47739174e+00] [ 1.14197242e-01 -2.86994121e-03 9.93453951e-01 5.16208285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.245099892999995 meters 0.05682515184937467 Centerline is valid? [True, True] Translation: X:51.21, Y:5.49, Z:5.17 [[ 9.81682579e-01 -1.53365316e-01 -1.13041555e-01 5.12135021e+01] [ 1.52704045e-01 9.88165035e-01 -1.45375110e-02 5.48776212e+00] [ 1.13933262e-01 -2.99068140e-03 9.93483904e-01 5.16943297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.30509989299999 meters 0.05661608898798739 Centerline is valid? [True, True] Translation: X:51.27, Y:5.49, Z:5.17 [[ 9.81800018e-01 -1.53984755e-01 -1.11163936e-01 5.12707330e+01] [ 1.53347968e-01 9.88068670e-01 -1.43074606e-02 5.48941220e+00] [ 1.12040733e-01 -2.99969873e-03 9.93699087e-01 5.17475297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.36509989299999 meters 0.056474581272898255 Centerline is valid? [True, True] Translation: X:51.33, Y:5.50, Z:5.18 [[ 9.82077025e-01 -1.53736295e-01 -1.09040675e-01 5.13285710e+01] [ 1.53121502e-01 9.88107632e-01 -1.40396867e-02 5.50055236e+00] [ 1.09902332e-01 -2.90841821e-03 9.93938136e-01 5.18234842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.425099892999995 meters 0.05627135850458668 Centerline is valid? [True, True] Translation: X:51.39, Y:5.51, Z:5.19 [[ 9.82288925e-01 -1.53372450e-01 -1.07635306e-01 5.13859919e+01] [ 1.52771057e-01 9.88164405e-01 -1.38604910e-02 5.50648733e+00] [ 1.08487195e-01 -2.82855270e-03 9.94093822e-01 5.18952689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.48509989299999 meters 0.056259842353897076 Centerline is valid? [True, True] Translation: X:51.44, Y:5.51, Z:5.19 [[ 9.82005841e-01 -1.54449887e-01 -1.08672727e-01 5.14434364e+01] [ 1.53842931e-01 9.87996153e-01 -1.39983371e-02 5.51443977e+00] [ 1.09530278e-01 -2.97208201e-03 9.93979016e-01 5.19489906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.54509989299999 meters 0.05768618669456875 Centerline is valid? [True, True] Translation: X:51.50, Y:5.51, Z:5.20 [[ 9.81184335e-01 -1.57030993e-01 -1.12332403e-01 5.15031498e+01] [ 1.56398771e-01 9.87587935e-01 -1.44739226e-02 5.51425651e+00] [ 1.13210981e-01 -3.36706367e-03 9.93565265e-01 5.19645498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.605099892999995 meters 0.05774725125194513 Centerline is valid? [True, True] Translation: X:51.56, Y:5.52, Z:5.20 [[ 9.81285565e-01 -1.56035146e-01 -1.12834712e-01 5.15610678e+01] [ 1.55390432e-01 9.87746109e-01 -1.45409156e-02 5.52441292e+00] [ 1.13720942e-01 -3.26464417e-03 9.93507368e-01 5.20213476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.66509989299999 meters 0.05715369833828287 Centerline is valid? [True, True] Translation: X:51.62, Y:5.54, Z:5.21 [[ 9.82160355e-01 -1.51167376e-01 -1.11845705e-01 5.16197351e+01] [ 1.50501247e-01 9.88504586e-01 -1.44242166e-02 5.53704686e+00] [ 1.12740464e-01 -2.66602443e-03 9.93620894e-01 5.20916534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.72509989299999 meters 0.05747737569005166 Centerline is valid? [True, True] Translation: X:51.68, Y:5.55, Z:5.22 [[ 9.83171346e-01 -1.45303796e-01 -1.10728999e-01 5.16780869e+01] [ 1.44613814e-01 9.89385120e-01 -1.42804098e-02 5.55370072e+00] [ 1.11628621e-01 -1.97285307e-03 9.93748036e-01 5.21943194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.785099892999995 meters 0.0566781264999077 Centerline is valid? [True, True] Translation: X:51.74, Y:5.56, Z:5.23 [[ 9.82966495e-01 -1.46366394e-01 -1.11147413e-01 5.17359227e+01] [ 1.45677834e-01 9.89228218e-01 -1.43353471e-02 5.56077727e+00] [ 1.12048370e-01 -2.10054852e-03 9.93700534e-01 5.22643865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.84509989299999 meters 0.05719491284694178 Centerline is valid? [True, True] Translation: X:51.79, Y:5.56, Z:5.23 [[ 9.82694150e-01 -1.48026593e-01 -1.11356794e-01 5.17941396e+01] [ 1.47344773e-01 9.88980746e-01 -1.43736455e-02 5.56349275e+00] [ 1.12257407e-01 -2.28294415e-03 9.93676538e-01 5.23114420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.90509989299999 meters 0.05636138404288019 Centerline is valid? [True, True] Translation: X:51.85, Y:5.57, Z:5.24 [[ 9.82702513e-01 -1.48612825e-01 -1.10498867e-01 5.18517433e+01] [ 1.47944670e-01 9.88892721e-01 -1.42674952e-02 5.57314757e+00] [ 1.11391858e-01 -2.32701507e-03 9.93773837e-01 5.23883958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.965099892999994 meters 0.05648731430481921 Centerline is valid? [True, True] Translation: X:51.91, Y:5.58, Z:5.24 [[ 9.82540775e-01 -1.49159369e-01 -1.11198512e-01 5.19089748e+01] [ 1.48484976e-01 9.88810272e-01 -1.43686566e-02 5.57939901e+00] [ 1.12097450e-01 -2.39351728e-03 9.93694336e-01 5.24430342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.02509989299999 meters 0.056976273609694365 Centerline is valid? [True, True] Translation: X:51.97, Y:5.58, Z:5.25 [[ 9.81062524e-01 -1.59821211e-01 -1.09423509e-01 5.19688331e+01] [ 1.59233722e-01 9.87139600e-01 -1.41432937e-02 5.57966834e+00] [ 1.10276677e-01 -3.54845716e-03 9.93894594e-01 5.25231836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.08509989299999 meters 0.05935193928832383 Centerline is valid? [True, True] Translation: X:52.03, Y:5.57, Z:5.25 [[ 9.80772953e-01 -1.60695256e-01 -1.10731433e-01 5.20298157e+01] [ 1.60099067e-01 9.86997173e-01 -1.43132683e-02 5.56769832e+00] [ 1.11591685e-01 -3.68993270e-03 9.93747292e-01 5.25250611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.145099892999994 meters 0.05934288395555876 Centerline is valid? [True, True] Translation: X:52.09, Y:5.58, Z:5.26 [[ 9.80885011e-01 -1.59823077e-01 -1.11000811e-01 5.20877734e+01] [ 1.59218056e-01 9.87139124e-01 -1.43513113e-02 5.57660384e+00] [ 1.11866914e-01 -3.59634722e-03 9.93716690e-01 5.25854062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.20509989299999 meters 0.05666609142965218 Centerline is valid? [True, True] Translation: X:52.14, Y:5.60, Z:5.27 [[ 9.80948486e-01 -1.60126820e-01 -1.09997585e-01 5.21429353e+01] [ 1.59533322e-01 9.87089935e-01 -1.42330541e-02 5.59788328e+00] [ 1.10856602e-01 -3.58638725e-03 9.93829941e-01 5.26851794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.26509989299999 meters 0.05708662613981478 Centerline is valid? [True, True] Translation: X:52.20, Y:5.60, Z:5.28 [[ 9.80916498e-01 -1.60722155e-01 -1.09413038e-01 5.22013714e+01] [ 1.60137240e-01 9.86993047e-01 -1.41700475e-02 5.60445651e+00] [ 1.10267348e-01 -3.62146857e-03 9.93895365e-01 5.27538876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.325099892999994 meters 0.05786954013187293 Centerline is valid? [True, True] Translation: X:52.26, Y:5.61, Z:5.28 [[ 9.80701623e-01 -1.61052917e-01 -1.10843513e-01 5.22586919e+01] [ 1.60453379e-01 9.86938854e-01 -1.43670350e-02 5.61009559e+00] [ 1.11709623e-01 -3.69544172e-03 9.93734021e-01 5.28054260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.38509989299999 meters 0.06129939996610218 Centerline is valid? [True, True] Translation: X:52.32, Y:5.60, Z:5.28 [[ 9.80524314e-01 -1.60871767e-01 -1.12660305e-01 5.23196993e+01] [ 1.60250624e-01 9.86968265e-01 -1.46075839e-02 5.60221472e+00] [ 1.13542093e-01 -3.73079298e-03 9.93526182e-01 5.28078758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.44509989299999 meters 0.05774378047061997 Centerline is valid? [True, True] Translation: X:52.38, Y:5.63, Z:5.29 [[ 9.81097271e-01 -1.58566477e-01 -1.10927078e-01 5.23762855e+01] [ 1.57948437e-01 9.87342452e-01 -1.43935404e-02 5.62690657e+00] [ 1.11805346e-01 -3.39929539e-03 9.93724313e-01 5.29332606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.50509989299999 meters 0.058140247967271075 Centerline is valid? [True, True] Translation: X:52.44, Y:5.63, Z:5.30 [[ 9.81302348e-01 -1.57887229e-01 -1.10078722e-01 5.24352782e+01] [ 1.57274281e-01 9.87451651e-01 -1.42841763e-02 5.62952167e+00] [ 1.10952705e-01 -3.29545610e-03 9.93820224e-01 5.29860462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.56509989299999 meters 0.05733607928543471 Centerline is valid? [True, True] Translation: X:52.49, Y:5.64, Z:5.31 [[ 9.81458346e-01 -1.57256947e-01 -1.09589087e-01 5.24922260e+01] [ 1.56644268e-01 9.87552542e-01 -1.42320166e-02 5.64419759e+00] [ 1.10463065e-01 -3.19837090e-03 9.93875084e-01 5.30674898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.62509989299999 meters 0.05708209342511286 Centerline is valid? [True, True] Translation: X:52.55, Y:5.65, Z:5.31 [[ 9.81574472e-01 -1.56494244e-01 -1.09640814e-01 5.25502229e+01] [ 1.55874951e-01 9.87673998e-01 -1.42503756e-02 5.65126889e+00] [ 1.10519483e-01 -3.10245166e-03 9.93869115e-01 5.31259550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.68509989299999 meters 0.057688619009790325 Centerline is valid? [True, True] Translation: X:52.61, Y:5.65, Z:5.32 [[ 9.81562439e-01 -1.55676778e-01 -1.10905002e-01 5.26082830e+01] [ 1.55036623e-01 9.87803388e-01 -1.44260709e-02 5.65368675e+00] [ 1.11798141e-01 -3.03424760e-03 9.93726305e-01 5.31590098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.745099892999995 meters 0.05711692554852649 Centerline is valid? [True, True] Translation: X:52.67, Y:5.66, Z:5.32 [[ 9.82296676e-01 -1.49485866e-01 -1.12903567e-01 5.26675265e+01] [ 1.48781165e-01 9.88761027e-01 -1.46900057e-02 5.66351829e+00] [ 1.13830595e-01 -2.36798050e-03 9.93497352e-01 5.32170214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.80509989299999 meters 0.05731303933749938 Centerline is valid? [True, True] Translation: X:52.73, Y:5.67, Z:5.33 [[ 9.82654853e-01 -1.47281761e-01 -1.12683289e-01 5.27262467e+01] [ 1.46565259e-01 9.89092332e-01 -1.46623116e-02 5.67069030e+00] [ 1.13613668e-01 -2.10746382e-03 9.93522769e-01 5.32741791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.86509989299999 meters 0.05712660671545699 Centerline is valid? [True, True] Translation: X:52.78, Y:5.68, Z:5.34 [[ 9.83204834e-01 -1.44906214e-01 -1.10952442e-01 5.27846901e+01] [ 1.44195389e-01 9.89443768e-01 -1.44471508e-02 5.67974353e+00] [ 1.11874685e-01 -1.79432213e-03 9.93720703e-01 5.33579971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.925099892999995 meters 0.05706456617001159 Centerline is valid? [True, True] Translation: X:52.84, Y:5.69, Z:5.34 [[ 9.83753367e-01 -1.42807483e-01 -1.08790332e-01 5.28428269e+01] [ 1.42111209e-01 9.89749312e-01 -1.41669569e-02 5.68719752e+00] [ 1.09698304e-01 -1.52353414e-03 9.93963762e-01 5.34406860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.98509989299999 meters 0.05679046838700853 Centerline is valid? [True, True] Translation: X:52.90, Y:5.69, Z:5.35 [[ 9.83050415e-01 -1.47159700e-01 -1.09343056e-01 5.29034568e+01] [ 1.46481980e-01 9.89110705e-01 -1.42493189e-02 5.68510968e+00] [ 1.10249313e-01 -2.00898848e-03 9.93901933e-01 5.35052619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.04509989299999 meters 0.05795034662213825 Centerline is valid? [True, True] Translation: X:52.96, Y:5.68, Z:5.36 [[ 9.82117942e-01 -1.52556407e-01 -1.10321758e-01 5.29647876e+01] [ 1.51900288e-01 9.88291246e-01 -1.43776079e-02 5.68246587e+00] [ 1.11223424e-01 -2.63740010e-03 9.93791927e-01 5.35517339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.105099892999995 meters 0.05877072717290611 Centerline is valid? [True, True] Translation: X:53.03, Y:5.68, Z:5.36 [[ 9.81623057e-01 -1.54869783e-01 -1.11496748e-01 5.30257497e+01] [ 1.54214526e-01 9.87930543e-01 -1.45300595e-02 5.68065791e+00] [ 1.12401310e-01 -2.93137668e-03 9.93658569e-01 5.35839041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.16509989299999 meters 0.05692484733030017 Centerline is valid? [True, True] Translation: X:53.08, Y:5.69, Z:5.37 [[ 9.81448026e-01 -1.55979192e-01 -1.11491091e-01 5.30824534e+01] [ 1.55331007e-01 9.87755610e-01 -1.45304149e-02 5.69305584e+00] [ 1.12392393e-01 -3.05717638e-03 9.93659199e-01 5.36650944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.22509989299999 meters 0.05848722516821154 Centerline is valid? [True, True] Translation: X:53.14, Y:5.69, Z:5.37 [[ 9.81372099e-01 -1.57079660e-01 -1.10610954e-01 5.31417899e+01] [ 1.56448126e-01 9.87580902e-01 -1.44203314e-02 5.69080921e+00] [ 1.11502406e-01 -3.15316545e-03 9.93759161e-01 5.37229564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.285099892999995 meters 0.05704560519726978 Centerline is valid? [True, True] Translation: X:53.20, Y:5.70, Z:5.38 [[ 9.82059513e-01 -1.53663276e-01 -1.09301006e-01 5.31998401e+01] [ 1.53024428e-01 9.88119521e-01 -1.42595827e-02 5.70402268e+00] [ 1.10193632e-01 -2.72196515e-03 9.93906411e-01 5.38272078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.34509989299999 meters 0.05704560519726978 Centerline is valid? [True, True] Translation: X:53.26, Y:5.71, Z:5.39 [[ 9.82040584e-01 -1.53784302e-01 -1.09300867e-01 5.32565125e+01] [ 1.53146083e-01 9.88100658e-01 -1.42606509e-02 5.71138860e+00] [ 1.10193323e-01 -2.73446170e-03 9.93906411e-01 5.38869814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.40509989299999 meters 0.05737315745077028 Centerline is valid? [True, True] Translation: X:53.31, Y:5.72, Z:5.39 [[ 9.82164339e-01 -1.52520617e-01 -1.09957595e-01 5.33142537e+01] [ 1.51865314e-01 9.88296882e-01 -1.43596658e-02 5.71631762e+00] [ 1.10860893e-01 -2.59519300e-03 9.93832545e-01 5.39359308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.465099892999994 meters 0.057482066737000764 Centerline is valid? [True, True] Translation: X:53.37, Y:5.72, Z:5.40 [[ 9.82323525e-01 -1.51203775e-01 -1.10353569e-01 5.33726520e+01] [ 1.50534922e-01 9.88499576e-01 -1.44161421e-02 5.72356570e+00] [ 1.11264231e-01 -2.45075038e-03 9.93787837e-01 5.39886072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.52509989299999 meters 0.05740264785011264 Centerline is valid? [True, True] Translation: X:53.43, Y:5.73, Z:5.41 [[ 9.82468163e-01 -1.49862728e-01 -1.10893966e-01 5.34308070e+01] [ 1.49177524e-01 9.88704140e-01 -1.44979169e-02 5.73255341e+00] [ 1.11814021e-01 -2.29914561e-03 9.93726491e-01 5.40503174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.58509989299999 meters 0.057239664195596396 Centerline is valid? [True, True] Translation: X:53.49, Y:5.74, Z:5.41 [[ 9.83572943e-01 -1.43022965e-01 -1.10130369e-01 5.34894400e+01] [ 1.42303250e-01 9.89718233e-01 -1.44084615e-02 5.74439659e+00] [ 1.11058775e-01 -1.50013657e-03 9.93812708e-01 5.41211179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.645099892999994 meters 0.05781109825481001 Centerline is valid? [True, True] Translation: X:53.55, Y:5.75, Z:5.42 [[ 9.83534094e-01 -1.43662244e-01 -1.09644172e-01 5.35471398e+01] [ 1.42952701e-01 9.89625542e-01 -1.43461467e-02 5.75177280e+00] [ 1.10567673e-01 -1.56400615e-03 9.93867367e-01 5.41874349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.70509989299999 meters 0.05773297530289432 Centerline is valid? [True, True] Translation: X:53.60, Y:5.76, Z:5.42 [[ 9.83282459e-01 -1.45677778e-01 -1.09240980e-01 5.36049816e+01] [ 1.44984529e-01 9.89330503e-01 -1.43052953e-02 5.75783373e+00] [ 1.10159397e-01 -1.77210610e-03 9.93912354e-01 5.42460112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.76509989299999 meters 0.05767958143809302 Centerline is valid? [True, True] Translation: X:53.66, Y:5.76, Z:5.43 [[ 9.82932332e-01 -1.48716119e-01 -1.08293800e-01 5.36629664e+01] [ 1.48051989e-01 9.88877737e-01 -1.41926137e-02 5.76228336e+00] [ 1.09199999e-01 -2.08273361e-03 9.94017617e-01 5.43154780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.825099892999994 meters 0.057891363927916765 Centerline is valid? [True, True] Translation: X:53.72, Y:5.77, Z:5.44 [[ 9.82650858e-01 -1.50721950e-01 -1.08074908e-01 5.37206548e+01] [ 1.50072270e-01 9.88573524e-01 -1.41668800e-02 5.77324423e+00] [ 1.08975253e-01 -2.29795004e-03 9.94041807e-01 5.43924961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.88509989299999 meters 0.0578245613832655 Centerline is valid? [True, True] Translation: X:53.78, Y:5.78, Z:5.44 [[ 9.82342791e-01 -1.52452875e-01 -1.08447046e-01 5.37789788e+01] [ 1.51807932e-01 9.88307612e-01 -1.42273076e-02 5.77783516e+00] [ 1.09348035e-01 -2.48702881e-03 9.94000413e-01 5.44498360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.94509989299999 meters 0.057749677782036955 Centerline is valid? [True, True] Translation: X:53.84, Y:5.78, Z:5.45 [[ 9.81645485e-01 -1.55852975e-01 -1.09918116e-01 5.38382402e+01] [ 1.55211328e-01 9.87776000e-01 -1.44228209e-02 5.78280629e+00] [ 1.10822316e-01 -2.90243962e-03 9.93835998e-01 5.44988127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.00509989299999 meters 0.05705058813665956 Centerline is valid? [True, True] Translation: X:53.89, Y:5.84, Z:5.46 [[ 9.83490370e-01 -1.43762668e-01 -1.09904444e-01 5.38914334e+01] [ 1.43045724e-01 9.89611000e-01 -1.44218543e-02 5.84073642e+00] [ 1.10835971e-01 -1.53760591e-03 9.93837524e-01 5.45819521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.06509989299999 meters 0.05695505207078297 Centerline is valid? [True, True] Translation: X:53.95, Y:5.85, Z:5.46 [[ 9.83470217e-01 -1.43635844e-01 -1.10250068e-01 5.39483354e+01] [ 1.42913429e-01 9.89629432e-01 -1.44685412e-02 5.85170957e+00] [ 1.11184913e-01 -1.52683586e-03 9.93798563e-01 5.46470950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.12509989299999 meters 0.05776524141060903 Centerline is valid? [True, True] Translation: X:54.00, Y:5.86, Z:5.47 [[ 9.83410318e-01 -1.43799666e-01 -1.10570355e-01 5.40048598e+01] [ 1.43072535e-01 9.89605626e-01 -1.45242557e-02 5.86270402e+00] [ 1.11509628e-01 -1.53627806e-03 9.93762166e-01 5.47097330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.18509989299999 meters 0.05692346810423839 Centerline is valid? [True, True] Translation: X:54.06, Y:5.87, Z:5.48 [[ 9.83782423e-01 -1.42532553e-01 -1.08888086e-01 5.40618499e+01] [ 1.41818240e-01 9.89789183e-01 -1.43164237e-02 5.87426610e+00] [ 1.09816806e-01 -1.35807058e-03 9.93950917e-01 5.47930498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.24509989299999 meters 0.057488533945586714 Centerline is valid? [True, True] Translation: X:54.12, Y:5.88, Z:5.48 [[ 9.83813882e-01 -1.41658061e-01 -1.09741690e-01 5.41185241e+01] [ 1.40925829e-01 9.89914849e-01 -1.44396478e-02 5.88313963e+00] [ 1.10680421e-01 -1.25951264e-03 9.93855250e-01 5.48480025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.30509989299999 meters 0.05747994924527597 Centerline is valid? [True, True] Translation: X:54.18, Y:5.89, Z:5.49 [[ 9.83631728e-01 -1.40650800e-01 -1.12632042e-01 5.41755931e+01] [ 1.39872282e-01 9.90058573e-01 -1.48245213e-02 5.89119413e+00] [ 1.13597400e-01 -1.17223130e-03 9.93526173e-01 5.48650925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.36509989299999 meters 0.05700447701384429 Centerline is valid? [True, True] Translation: X:54.23, Y:5.90, Z:5.49 [[ 9.83458648e-01 -1.41413585e-01 -1.13186947e-01 5.42337599e+01] [ 1.40631811e-01 9.89949800e-01 -1.49025971e-02 5.89782861e+00] [ 1.14156825e-01 -1.26159735e-03 9.93461941e-01 5.49207238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.425099892999995 meters 0.0576205539023254 Centerline is valid? [True, True] Translation: X:54.29, Y:5.90, Z:5.50 [[ 9.83468612e-01 -1.41228106e-01 -1.13331866e-01 5.42906858e+01] [ 1.40441682e-01 9.89976318e-01 -1.49339636e-02 5.90391960e+00] [ 1.14304959e-01 -1.22943347e-03 9.93444948e-01 5.49722114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.48509989299999 meters 0.05713664544363477 Centerline is valid? [True, True] Translation: X:54.35, Y:5.92, Z:5.51 [[ 9.85115801e-01 -1.32085301e-01 -1.10001508e-01 5.43485528e+01] [ 1.31286275e-01 9.91238342e-01 -1.45073471e-02 5.91942485e+00] [ 1.10953919e-01 -1.50271388e-04 9.93825541e-01 5.50872689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.54509989299999 meters 0.0582911280568609 Centerline is valid? [True, True] Translation: X:54.41, Y:5.93, Z:5.51 [[ 9.86174482e-01 -1.23218474e-01 -1.10802071e-01 5.44056603e+01] [ 1.22351853e-01 9.92379201e-01 -1.46132290e-02 5.93022433e+00] [ 1.11758291e-01 8.54354810e-04 9.93735052e-01 5.51362475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.605099892999995 meters 0.05896631975089843 Centerline is valid? [True, True] Translation: X:54.47, Y:5.94, Z:5.52 [[ 9.86582502e-01 -1.18124177e-01 -1.12701580e-01 5.44652317e+01] [ 1.17193860e-01 9.92997757e-01 -1.48678612e-02 5.93961832e+00] [ 1.13668670e-01 1.46043851e-03 9.93517640e-01 5.51873746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.66509989299999 meters 0.059221418947923904 Centerline is valid? [True, True] Translation: X:54.52, Y:5.95, Z:5.52 [[ 9.86562589e-01 -1.15892196e-01 -1.15166215e-01 5.45239620e+01] [ 1.14905400e-01 9.93260246e-01 -1.51931878e-02 5.94829045e+00] [ 1.16150795e-01 1.75581058e-03 9.93230039e-01 5.52052399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.72509989299999 meters 0.058863777105370656 Centerline is valid? [True, True] Translation: X:54.58, Y:5.95, Z:5.53 [[ 9.86433894e-01 -1.19717607e-01 -1.12320377e-01 5.45836470e+01] [ 1.18803692e-01 9.92807167e-01 -1.48193064e-02 5.94686803e+00] [ 1.13286607e-01 1.27419075e-03 9.93561534e-01 5.53167673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.785099892999995 meters 0.058352251502106704 Centerline is valid? [True, True] Translation: X:54.64, Y:5.94, Z:5.54 [[ 9.84491626e-01 -1.36710350e-01 -1.09938707e-01 5.46438887e+01] [ 1.35940286e-01 9.90610841e-01 -1.45051835e-02 5.93814846e+00] [ 1.10889484e-01 -6.64867611e-04 9.93832521e-01 5.53950569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.84509989299999 meters 0.05726137199429251 Centerline is valid? [True, True] Translation: X:54.71, Y:5.93, Z:5.55 [[ 9.81710613e-01 -1.55783817e-01 -1.09433424e-01 5.47053307e+01] [ 1.55138411e-01 9.87787201e-01 -1.44401596e-02 5.93347188e+00] [ 1.10346479e-01 -2.80126963e-03 9.93889233e-01 5.54668907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.90509989299999 meters 0.05680907977217748 Centerline is valid? [True, True] Translation: X:54.77, Y:5.93, Z:5.55 [[ 9.79489482e-01 -1.68995200e-01 -1.09731385e-01 5.47654103e+01] [ 1.68428648e-01 9.85607496e-01 -1.44794190e-02 5.93319006e+00] [ 1.10599028e-01 -4.29947032e-03 9.93855809e-01 5.55306977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.965099892999994 meters 0.06230512998709949 Centerline is valid? [True, True] Translation: X:54.83, Y:5.91, Z:5.56 [[ 9.77877129e-01 -1.78242275e-01 -1.09480649e-01 5.48278247e+01] [ 1.77735798e-01 9.83972189e-01 -1.44470288e-02 5.91497770e+00] [ 1.10300985e-01 -5.33121154e-03 9.93883932e-01 5.55626863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.02509989299999 meters 0.057839919418078076 Centerline is valid? [True, True] Translation: X:54.88, Y:5.94, Z:5.56 [[ 9.79659254e-01 -1.67891099e-01 -1.09910529e-01 5.48841714e+01] [ 1.67315639e-01 9.85796684e-01 -1.45042878e-02 5.94443032e+00] [ 1.10784576e-01 -4.18049057e-03 9.93835651e-01 5.56391683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.08509989299999 meters 0.05927702880998715 Centerline is valid? [True, True] Translation: X:54.94, Y:5.95, Z:5.57 [[ 9.79816089e-01 -1.66561075e-01 -1.10534338e-01 5.49436647e+01] [ 1.65970558e-01 9.86022812e-01 -1.45872916e-02 5.94762371e+00] [ 1.11419054e-01 -4.05258280e-03 9.93765249e-01 5.56778740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.145099892999994 meters 0.058483331471426696 Centerline is valid? [True, True] Translation: X:55.00, Y:5.96, Z:5.57 [[ 9.80004950e-01 -1.65086992e-01 -1.11070175e-01 5.50013082e+01] [ 1.64481120e-01 9.86271289e-01 -1.46596386e-02 5.96455029e+00] [ 1.11965441e-01 -3.90242850e-03 9.93704439e-01 5.57351952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.20509989299999 meters 0.05770391810191708 Centerline is valid? [True, True] Translation: X:55.06, Y:5.98, Z:5.58 [[ 9.80129101e-01 -1.64134498e-01 -1.11385870e-01 5.50586447e+01] [ 1.63518781e-01 9.86430641e-01 -1.47036865e-02 5.98072251e+00] [ 1.12287818e-01 -3.80217069e-03 9.93668451e-01 5.58007997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.26509989299999 meters 0.058750599061048174 Centerline is valid? [True, True] Translation: X:55.12, Y:5.99, Z:5.58 [[ 9.80049746e-01 -1.64099368e-01 -1.12133367e-01 5.51154243e+01] [ 1.63473892e-01 9.86436443e-01 -1.48131692e-02 5.98927066e+00] [ 1.13043272e-01 -3.81323520e-03 9.93582748e-01 5.58440602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.325099892999994 meters 0.05928935022056027 Centerline is valid? [True, True] Translation: X:55.17, Y:6.00, Z:5.59 [[ 9.79665994e-01 -1.66160231e-01 -1.12451403e-01 5.51742181e+01] [ 1.65544245e-01 9.86090414e-01 -1.48592572e-02 5.99794464e+00] [ 1.13356268e-01 -4.05857366e-03 9.93546116e-01 5.59066090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.38509989299999 meters 0.058506544560905094 Centerline is valid? [True, True] Translation: X:55.23, Y:6.01, Z:5.60 [[ 9.80508461e-01 -1.60261239e-01 -1.13663949e-01 5.52330623e+01] [ 1.59592295e-01 9.87068737e-01 -1.50202765e-02 6.01474777e+00] [ 1.14601299e-01 -3.41238229e-03 9.93405707e-01 5.59562929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.44509989299999 meters 0.05748956850032352 Centerline is valid? [True, True] Translation: X:55.29, Y:6.03, Z:5.61 [[ 9.81004924e-01 -1.57936909e-01 -1.12628914e-01 5.52907598e+01] [ 1.57264815e-01 9.87444303e-01 -1.48837771e-02 6.03090695e+00] [ 1.13565477e-01 -3.11150667e-03 9.93525642e-01 5.60552620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.50509989299999 meters 0.05980075934974958 Centerline is valid? [True, True] Translation: X:55.35, Y:6.03, Z:5.61 [[ 9.81044830e-01 -1.58019872e-01 -1.12163997e-01 5.53501603e+01] [ 1.57353666e-01 9.87431046e-01 -1.48240708e-02 6.02942986e+00] [ 1.13096710e-01 -3.10633806e-03 9.93579129e-01 5.60947384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.56509989299999 meters 0.05748907493217913 Centerline is valid? [True, True] Translation: X:55.41, Y:6.05, Z:5.62 [[ 9.80738548e-01 -1.59409456e-01 -1.12873934e-01 5.54077565e+01] [ 1.58742632e-01 9.87207117e-01 -1.49293186e-02 6.04511017e+00] [ 1.13809825e-01 -3.27614712e-03 9.93497152e-01 5.61794779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.62509989299999 meters 0.05769099862487639 Centerline is valid? [True, True] Translation: X:55.47, Y:6.05, Z:5.63 [[ 9.81578460e-01 -1.57296450e-01 -1.08450697e-01 5.54672744e+01] [ 1.56667584e-01 9.87547154e-01 -1.43487851e-02 6.04911483e+00] [ 1.09357190e-01 -2.90625033e-03 9.93998269e-01 5.62791085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.68509989299999 meters 0.058101503615292434 Centerline is valid? [True, True] Translation: X:55.52, Y:6.07, Z:5.64 [[ 9.85539793e-01 -1.29904976e-01 -1.08793448e-01 5.55244673e+01] [ 1.29105033e-01 9.91526438e-01 -1.43948923e-02 6.07498651e+00] [ 1.09741548e-01 1.40957379e-04 9.93960146e-01 5.63527800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.74509989299999 meters 0.05813873724998924 Centerline is valid? [True, True] Translation: X:55.58, Y:6.08, Z:5.64 [[ 9.85999573e-01 -1.26671431e-01 -1.08439803e-01 5.55825794e+01] [ 1.25857113e-01 9.91944605e-01 -1.43488164e-02 6.08450096e+00] [ 1.09383863e-01 5.00006324e-04 9.93999457e-01 5.64132056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.80509989299999 meters 0.058583707482298686 Centerline is valid? [True, True] Translation: X:55.64, Y:6.09, Z:5.64 [[ 9.85729716e-01 -1.28750862e-01 -1.08444186e-01 5.56408622e+01] [ 1.27947819e-01 9.91676932e-01 -1.43603164e-02 6.08732929e+00] [ 1.09390501e-01 2.80193502e-04 9.93998813e-01 5.64446088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.86509989299999 meters 0.0570990446979997 Centerline is valid? [True, True] Translation: X:55.70, Y:6.07, Z:5.65 [[ 9.82000299e-01 -1.54279413e-01 -1.08964563e-01 5.57035163e+01] [ 1.53624215e-01 9.88023926e-01 -1.44333779e-02 6.07129120e+00] [ 1.09886369e-01 -2.56601403e-03 9.93940844e-01 5.65187953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.92509989299999 meters 0.05838732229147649 Centerline is valid? [True, True] Translation: X:55.76, Y:6.07, Z:5.66 [[ 9.81128125e-01 -1.59555579e-01 -1.09222803e-01 5.57629623e+01] [ 1.58929767e-01 9.87183877e-01 -1.44679564e-02 6.07028043e+00] [ 1.10131433e-01 -3.16383557e-03 9.93911997e-01 5.65624055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.98509989299999 meters 0.05797290187851125 Centerline is valid? [True, True] Translation: X:55.82, Y:6.07, Z:5.66 [[ 9.80154354e-01 -1.65752796e-01 -1.08735705e-01 5.58231437e+01] [ 1.65170319e-01 9.86159855e-01 -1.44050729e-02 6.07130875e+00] [ 1.09618468e-01 -3.84071611e-03 9.93966318e-01 5.66231711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.04509989299999 meters 0.05794191625338869 Centerline is valid? [True, True] Translation: X:55.88, Y:6.08, Z:5.67 [[ 9.79675160e-01 -1.68240644e-01 -1.09232171e-01 5.58831198e+01] [ 1.67668130e-01 9.85737272e-01 -1.44716631e-02 6.07734813e+00] [ 1.10108944e-01 -4.13722500e-03 9.93910913e-01 5.66912332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.105099892999995 meters 0.05837956816396151 Centerline is valid? [True, True] Translation: X:55.94, Y:6.08, Z:5.67 [[ 9.80485975e-01 -1.62796848e-01 -1.10201811e-01 5.59428152e+01] [ 1.62179850e-01 9.86653197e-01 -1.46001503e-02 6.08478903e+00] [ 1.11107828e-01 -3.55727063e-03 9.93801991e-01 5.67271909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.16509989299999 meters 0.05862140324642133 Centerline is valid? [True, True] Translation: X:56.00, Y:6.09, Z:5.67 [[ 9.81573221e-01 -1.54876799e-01 -1.11924923e-01 5.60029923e+01] [ 1.54188941e-01 9.87930097e-01 -1.48288226e-02 6.09259203e+00] [ 1.12870640e-01 -2.70201018e-03 9.93606017e-01 5.67484175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.22509989299999 meters 0.05797530950827537 Centerline is valid? [True, True] Translation: X:56.06, Y:6.12, Z:5.68 [[ 9.82908786e-01 -1.44363640e-01 -1.14234220e-01 5.60594050e+01] [ 1.43576153e-01 9.89523529e-01 -1.51351933e-02 6.11827458e+00] [ 1.15222420e-01 -1.52479533e-03 9.93338547e-01 5.68380798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.285099892999995 meters 0.05868041545725365 Centerline is valid? [True, True] Translation: X:56.12, Y:6.14, Z:5.69 [[ 9.84871090e-01 -1.31972689e-01 -1.12303804e-01 5.61168941e+01] [ 1.31131172e-01 9.91253350e-01 -1.48799091e-02 6.14082801e+00] [ 1.13285264e-01 -7.17371278e-05 9.93562501e-01 5.69291772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.34509989299999 meters 0.058317760275019045 Centerline is valid? [True, True] Translation: X:56.17, Y:6.15, Z:5.70 [[ 9.85749779e-01 -1.28413762e-01 -1.08661299e-01 5.61738373e+01] [ 1.27604539e-01 9.91720626e-01 -1.43973070e-02 6.15483786e+00] [ 1.09610464e-01 3.26467152e-04 9.93974567e-01 5.70284823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.40509989299999 meters 0.05932235595227522 Centerline is valid? [True, True] Translation: X:56.23, Y:6.17, Z:5.71 [[ 9.85517780e-01 -1.28578676e-01 -1.10554190e-01 5.62311013e+01] [ 1.27740539e-01 9.91699258e-01 -1.46607255e-02 6.16616069e+00] [ 1.11521565e-01 3.26153842e-04 9.93761961e-01 5.70726212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.465099892999994 meters 0.0588473294956532 Centerline is valid? [True, True] Translation: X:56.29, Y:6.18, Z:5.71 [[ 9.85330129e-01 -1.28396526e-01 -1.12422721e-01 5.62873651e+01] [ 1.27527149e-01 9.91722844e-01 -1.49207031e-02 6.17755569e+00] [ 1.13407947e-01 3.64869239e-04 9.93548441e-01 5.71050001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.52509989299999 meters 0.058334816752477224 Centerline is valid? [True, True] Translation: X:56.34, Y:6.19, Z:5.72 [[ 9.85586268e-01 -1.29758840e-01 -1.08546545e-01 5.63444163e+01] [ 1.28956213e-01 9.91545562e-01 -1.44116004e-02 6.18730482e+00] [ 1.09498878e-01 2.06124041e-04 9.93986898e-01 5.72093087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.58509989299999 meters 0.05725366287943753 Centerline is valid? [True, True] Translation: X:56.41, Y:6.17, Z:5.72 [[ 9.80198929e-01 -1.63000730e-01 -1.12431406e-01 5.64067045e+01] [ 1.62354836e-01 9.86619343e-01 -1.49392133e-02 6.16627633e+00] [ 1.13362102e-01 -3.61038149e-03 9.93547180e-01 5.72340819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.645099892999994 meters 0.05855968867230647 Centerline is valid? [True, True] Translation: X:56.47, Y:6.17, Z:5.73 [[ 9.79480167e-01 -1.66235765e-01 -1.13948553e-01 5.64671040e+01] [ 1.65594168e-01 9.86077761e-01 -1.51400568e-02 6.16939588e+00] [ 1.14878953e-01 -4.03983046e-03 9.93371283e-01 5.72783096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.70509989299999 meters 0.0584864813560624 Centerline is valid? [True, True] Translation: X:56.52, Y:6.18, Z:5.73 [[ 9.79294260e-01 -1.67048533e-01 -1.14357073e-01 5.65247618e+01] [ 1.66407787e-01 9.85939941e-01 -1.51947751e-02 6.17621682e+00] [ 1.15287471e-01 -4.14975147e-03 9.93323501e-01 5.73331306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.76509989299999 meters 0.05645829827933746 Centerline is valid? [True, True] Translation: X:56.58, Y:6.19, Z:5.74 [[ 9.80480628e-01 -1.62594212e-01 -1.10547997e-01 5.65829098e+01] [ 1.61966851e-01 9.86686817e-01 -1.46923151e-02 6.19463254e+00] [ 1.11465137e-01 -3.49958058e-03 9.93762183e-01 5.74405807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.825099892999994 meters 0.0560912553892523 Centerline is valid? [True, True] Translation: X:56.64, Y:6.21, Z:5.75 [[ 9.82471572e-01 -1.53005504e-01 -1.06484394e-01 5.66407309e+01] [ 1.52367320e-01 9.88222611e-01 -1.41517248e-02 6.20571741e+00] [ 1.07395578e-01 -2.32107447e-03 9.94213660e-01 5.75268497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.88509989299999 meters 0.056972402608638215 Centerline is valid? [True, True] Translation: X:56.70, Y:6.23, Z:5.76 [[ 9.84518005e-01 -1.37558728e-01 -1.08636526e-01 5.66984622e+01] [ 1.36800507e-01 9.90493401e-01 -1.44375920e-02 6.22571991e+00] [ 1.09589779e-01 -6.47462623e-04 9.93976690e-01 5.75732495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.94509989299999 meters 0.058040165934350046 Centerline is valid? [True, True] Translation: X:56.76, Y:6.23, Z:5.76 [[ 9.83661812e-01 -1.40037026e-01 -1.13132976e-01 5.67574456e+01] [ 1.39230883e-01 9.90145800e-01 -1.50351491e-02 6.22991790e+00] [ 1.14123619e-01 -9.62102164e-04 9.93466091e-01 5.75886259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.00509989299999 meters 0.05792762984583822 Centerline is valid? [True, True] Translation: X:56.82, Y:6.24, Z:5.76 [[ 9.83479325e-01 -1.40970005e-01 -1.13560008e-01 5.68151220e+01] [ 1.40163539e-01 9.90013288e-01 -1.50954137e-02 6.23736011e+00] [ 1.14553917e-01 -1.07094526e-03 9.93416455e-01 5.76419935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.06509989299999 meters 0.05737764514041929 Centerline is valid? [True, True] Translation: X:56.87, Y:6.25, Z:5.77 [[ 9.83567786e-01 -1.41528167e-01 -1.12090088e-01 5.68728808e+01] [ 1.40744836e-01 9.89933607e-01 -1.49112320e-02 6.24624032e+00] [ 1.13072104e-01 -1.10989361e-03 9.93586165e-01 5.77263663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.12509989299999 meters 0.05750064578624861 Centerline is valid? [True, True] Translation: X:56.93, Y:6.25, Z:5.78 [[ 9.83591155e-01 -1.42643193e-01 -1.10459764e-01 5.69299336e+01] [ 1.41888203e-01 9.89773439e-01 -1.47063733e-02 6.25422592e+00] [ 1.11427904e-01 -1.20787859e-03 9.93771786e-01 5.78022563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.18509989299999 meters 0.05771395644236752 Centerline is valid? [True, True] Translation: X:56.99, Y:6.26, Z:5.79 [[ 9.82456290e-01 -1.51124144e-01 -1.09275480e-01 5.69897795e+01] [ 1.50436112e-01 9.88512490e-01 -1.45613537e-02 6.25878376e+00] [ 1.10220749e-01 -2.13308487e-03 9.93904843e-01 5.78688249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.24509989299999 meters 0.055994453482907436 Centerline is valid? [True, True] Translation: X:57.05, Y:6.26, Z:5.79 [[ 9.81375325e-01 -1.57226903e-01 -1.10372877e-01 5.70500382e+01] [ 1.56563363e-01 9.87558402e-01 -1.47076702e-02 6.26165565e+00] [ 1.11312103e-01 -2.84660411e-03 9.93781421e-01 5.79189020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.30509989299999 meters 0.057923579188382306 Centerline is valid? [True, True] Translation: X:57.11, Y:6.26, Z:5.80 [[ 9.80919169e-01 -1.58861517e-01 -1.12074094e-01 5.71085421e+01] [ 1.58187919e-01 9.87296074e-01 -1.49346695e-02 6.26296890e+00] [ 1.13022858e-01 -3.07906424e-03 9.93587617e-01 5.79595655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.36509989299999 meters 0.05752604587399533 Centerline is valid? [True, True] Translation: X:57.17, Y:6.27, Z:5.80 [[ 9.80407683e-01 -1.60913870e-01 -1.13611190e-01 5.71675290e+01] [ 1.60234907e-01 9.86962741e-01 -1.51434054e-02 6.27099749e+00] [ 1.14566796e-01 -3.35776751e-03 9.93409872e-01 5.80298329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.42509989299999 meters 0.05744462174142017 Centerline is valid? [True, True] Translation: X:57.22, Y:6.29, Z:5.81 [[ 9.83605865e-01 -1.42288416e-01 -1.10785870e-01 5.72248336e+01] [ 1.41524711e-01 9.89824568e-01 -1.47675332e-02 6.29104485e+00] [ 1.11759825e-01 -1.15350594e-03 9.93734578e-01 5.81328185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.48509989299999 meters 0.05704791338323689 Centerline is valid? [True, True] Translation: X:57.28, Y:6.30, Z:5.82 [[ 9.84759905e-01 -1.34938427e-01 -1.09724889e-01 5.72835111e+01] [ 1.34143813e-01 9.90853935e-01 -1.46258817e-02 6.30291051e+00] [ 1.10694931e-01 -3.15933058e-04 9.93854382e-01 5.81899098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.54509989299999 meters 0.05881001834899016 Centerline is valid? [True, True] Translation: X:57.34, Y:6.32, Z:5.82 [[ 9.87294770e-01 -1.15392896e-01 -1.09240638e-01 5.73404473e+01] [ 1.14485299e-01 9.93318161e-01 -1.45652957e-02 6.32382921e+00] [ 1.10191441e-01 1.87379319e-03 9.93908615e-01 5.82439153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.60509989299999 meters 0.05960678376343192 Centerline is valid? [True, True] Translation: X:57.40, Y:6.33, Z:5.84 [[ 9.88346351e-01 -1.09572354e-01 -1.05666406e-01 5.73998262e+01] [ 1.08690197e-01 9.93975828e-01 -1.40887919e-02 6.32662739e+00] [ 1.06573596e-01 2.43970359e-03 9.94301824e-01 5.83530589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.66509989299999 meters 0.0564181914546687 Centerline is valid? [True, True] Translation: X:57.47, Y:6.29, Z:5.83 [[ 9.82817023e-01 -1.48895734e-01 -1.09090607e-01 5.74667507e+01] [ 1.48195285e-01 9.88851133e-01 -1.45463153e-02 6.28554988e+00] [ 1.10040254e-01 -1.87034724e-03 9.93925372e-01 5.83237259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.72509989299999 meters 0.056577583271210895 Centerline is valid? [True, True] Translation: X:57.53, Y:6.28, Z:5.84 [[ 9.82355756e-01 -1.53829262e-01 -1.06366002e-01 5.75259448e+01] [ 1.53192061e-01 9.88094625e-01 -1.41846427e-02 6.28282706e+00] [ 1.07281688e-01 -2.36006175e-03 9.94225864e-01 5.84081328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.785099892999995 meters 0.05668065439028929 Centerline is valid? [True, True] Translation: X:57.58, Y:6.29, Z:5.85 [[ 9.82235699e-01 -1.56017548e-01 -1.04266753e-01 5.75842532e+01] [ 1.55417504e-01 9.87751001e-01 -1.39053846e-02 6.28930014e+00] [ 1.05159074e-01 -2.54651331e-03 9.94452153e-01 5.85039850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.84509989299999 meters 0.05700888247297009 Centerline is valid? [True, True] Translation: X:57.64, Y:6.29, Z:5.86 [[ 9.82139608e-01 -1.56986268e-01 -1.03716454e-01 5.76424480e+01] [ 1.56397556e-01 9.87597277e-01 -1.38355714e-02 6.29219910e+00] [ 1.04602082e-01 -2.63253722e-03 9.94510671e-01 5.85674464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.90509989299999 meters 0.058918342392981375 Centerline is valid? [True, True] Translation: X:57.70, Y:6.29, Z:5.86 [[ 9.82049597e-01 -1.57377399e-01 -1.03975685e-01 5.77007735e+01] [ 1.56786730e-01 9.87534924e-01 -1.38814401e-02 6.29253600e+00] [ 1.04864245e-01 -2.66974500e-03 9.94482962e-01 5.86234768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.965099892999994 meters 0.05763440809122454 Centerline is valid? [True, True] Translation: X:57.76, Y:6.30, Z:5.87 [[ 9.81846414e-01 -1.58116741e-01 -1.04769822e-01 5.77589481e+01] [ 1.57520752e-01 9.87416552e-01 -1.39916335e-02 6.30098085e+00] [ 1.05663768e-01 -2.76578593e-03 9.94398068e-01 5.86872636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.02509989299999 meters 0.05697308281644299 Centerline is valid? [True, True] Translation: X:57.82, Y:6.31, Z:5.87 [[ 9.81826833e-01 -1.57426639e-01 -1.05985490e-01 5.78177204e+01] [ 1.56811553e-01 9.87526960e-01 -1.41647659e-02 6.30686028e+00] [ 1.06893441e-01 -2.71240207e-03 9.94266783e-01 5.87401555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.08509989299999 meters 0.05834652312470659 Centerline is valid? [True, True] Translation: X:57.88, Y:6.31, Z:5.88 [[ 9.82895871e-01 -1.49985313e-01 -1.06864925e-01 5.78771539e+01] [ 1.49314934e-01 9.88686384e-01 -1.42928489e-02 6.30725825e+00] [ 1.07799613e-01 -1.90814699e-03 9.94170811e-01 5.87628162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.145099892999994 meters 0.0573631072057349 Centerline is valid? [True, True] Translation: X:57.94, Y:6.32, Z:5.88 [[ 9.83546751e-01 -1.46512015e-01 -1.05688308e-01 5.79355842e+01] [ 1.45836207e-01 9.89207740e-01 -1.41367763e-02 6.32016544e+00] [ 1.06618900e-01 -1.50900151e-03 9.94298815e-01 5.88401834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.20509989299999 meters 0.05775863501980736 Centerline is valid? [True, True] Translation: X:57.99, Y:6.33, Z:5.89 [[ 9.83875746e-01 -1.44564199e-01 -1.05307681e-01 5.79929189e+01] [ 1.43881876e-01 9.89494581e-01 -1.40882737e-02 6.32736409e+00] [ 1.06238040e-01 -1.29075595e-03 9.94339888e-01 5.89009248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.26509989299999 meters 0.057285391159144466 Centerline is valid? [True, True] Translation: X:58.05, Y:6.34, Z:5.90 [[ 9.84528282e-01 -1.41098524e-01 -1.03900280e-01 5.80505426e+01] [ 1.40414670e-01 9.89995150e-01 -1.39041030e-02 6.33646590e+00] [ 1.04822621e-01 -9.00140899e-04 9.94490527e-01 5.89701974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.325099892999994 meters 0.057455339232164046 Centerline is valid? [True, True] Translation: X:58.11, Y:6.34, Z:5.90 [[ 9.84800456e-01 -1.39680146e-01 -1.03235261e-01 5.81080312e+01] [ 1.38996922e-01 9.90196399e-01 -1.38183905e-02 6.34464206e+00] [ 1.04153339e-01 -7.41026315e-04 9.94560975e-01 5.90377519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.38509989299999 meters 0.058036490940334265 Centerline is valid? [True, True] Translation: X:58.17, Y:6.35, Z:5.91 [[ 9.85425788e-01 -1.36289184e-01 -1.01790350e-01 5.81652906e+01] [ 1.35605788e-01 9.90669029e-01 -1.36361924e-02 6.35490973e+00] [ 1.02699013e-01 -3.65904957e-04 9.94712410e-01 5.91222017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.44509989299999 meters 0.0574696098783564 Centerline is valid? [True, True] Translation: X:58.22, Y:6.36, Z:5.92 [[ 9.85847786e-01 -1.32364921e-01 -1.02876967e-01 5.82229591e+01] [ 1.31644279e-01 9.91201052e-01 -1.37934429e-02 6.36293326e+00] [ 1.03797526e-01 5.50709116e-05 9.94598447e-01 5.91752243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.50509989299999 meters 0.05788082201855361 Centerline is valid? [True, True] Translation: X:58.28, Y:6.37, Z:5.92 [[ 9.86241362e-01 -1.27704910e-01 -1.04973477e-01 5.82801583e+01] [ 1.26926971e-01 9.91812045e-01 -1.40858431e-02 6.36935995e+00] [ 1.05912790e-01 5.68075662e-04 9.94375260e-01 5.92201028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.56509989299999 meters 0.05756048292861674 Centerline is valid? [True, True] Translation: X:58.34, Y:6.38, Z:5.93 [[ 9.86389553e-01 -1.25332235e-01 -1.06430635e-01 5.83387121e+01] [ 1.24518208e-01 9.92114473e-01 -1.42859697e-02 6.37681473e+00] [ 1.07381866e-01 8.38979305e-04 9.94217497e-01 5.92650690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.62509989299999 meters 0.05690797477133341 Centerline is valid? [True, True] Translation: X:58.40, Y:6.39, Z:5.93 [[ 9.86437781e-01 -1.24870851e-01 -1.06525932e-01 5.83968627e+01] [ 1.24051609e-01 9.92172596e-01 -1.43086457e-02 6.38533420e+00] [ 1.07478843e-01 8.99875390e-04 9.94206965e-01 5.93164294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.68509989299999 meters 0.057853492258787005 Centerline is valid? [True, True] Translation: X:58.45, Y:6.39, Z:5.94 [[ 9.86565935e-01 -1.24306874e-01 -1.05997439e-01 5.84541265e+01] [ 1.23491367e-01 9.92243350e-01 -1.42483851e-02 6.39165004e+00] [ 1.06946427e-01 9.67202684e-04 9.94264314e-01 5.93822336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.74509989299999 meters 0.05765805001807564 Centerline is valid? [True, True] Translation: X:58.51, Y:6.40, Z:5.94 [[ 9.86652535e-01 -1.24486614e-01 -1.04975514e-01 5.85109640e+01] [ 1.23687364e-01 9.92220839e-01 -1.41153031e-02 6.39984831e+00] [ 1.05916058e-01 9.42755022e-04 9.94374627e-01 5.94430991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.80509989299999 meters 0.05738469921394514 Centerline is valid? [True, True] Translation: X:58.57, Y:6.41, Z:5.95 [[ 9.86698932e-01 -1.24416230e-01 -1.04622267e-01 5.85673090e+01] [ 1.23620650e-01 9.92229651e-01 -1.40802633e-02 6.40732448e+00] [ 1.05561129e-01 9.59508028e-04 9.94412353e-01 5.95035742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.86509989299999 meters 0.056893415652159 Centerline is valid? [True, True] Translation: X:58.62, Y:6.41, Z:5.96 [[ 9.86630294e-01 -1.25056904e-01 -1.04505659e-01 5.86240990e+01] [ 1.24266067e-01 9.92149166e-01 -1.40704085e-02 6.41451716e+00] [ 1.05444805e-01 8.95784009e-04 9.94424754e-01 5.95609145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.92509989299999 meters 0.05727089697057078 Centerline is valid? [True, True] Translation: X:58.68, Y:6.42, Z:5.96 [[ 9.86475369e-01 -1.26356468e-01 -1.04404933e-01 5.86826382e+01] [ 1.25573974e-01 9.91984609e-01 -1.40610079e-02 6.41907444e+00] [ 1.05344786e-01 7.60295646e-04 9.94435467e-01 5.96227307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.98509989299999 meters 0.05755446858341053 Centerline is valid? [True, True] Translation: X:58.74, Y:6.42, Z:5.97 [[ 9.86051645e-01 -1.30251948e-01 -1.03617486e-01 5.87407792e+01] [ 1.29501474e-01 9.91480865e-01 -1.39664899e-02 6.42343590e+00] [ 1.04553917e-01 3.53063238e-04 9.94519157e-01 5.96737060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.04509989299999 meters 0.057386986849571775 Centerline is valid? [True, True] Translation: X:58.80, Y:6.43, Z:5.97 [[ 9.85691336e-01 -1.33110216e-01 -1.03413055e-01 5.87986097e+01] [ 1.32377223e-01 9.91101239e-01 -1.39500646e-02 6.42805005e+00] [ 1.04349703e-01 6.09248131e-05 9.94540666e-01 5.97360877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10509989299999 meters 0.05823663060828485 Centerline is valid? [True, True] Translation: X:58.86, Y:6.40, Z:5.98 [[ 9.79593554e-01 -1.72427102e-01 -1.03273251e-01 5.88631074e+01] [ 1.71911211e-01 9.85013768e-01 -1.39431597e-02 6.40273830e+00] [ 1.04129752e-01 -4.09520023e-03 9.94555290e-01 5.97952622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.16509989299999 meters 0.057618825725584126 Centerline is valid? [True, True] Translation: X:58.92, Y:6.41, Z:5.99 [[ 9.79203596e-01 -1.74700348e-01 -1.03150891e-01 5.89220108e+01] [ 1.74198201e-01 9.84612120e-01 -1.39269310e-02 6.41089954e+00] [ 1.03996657e-01 -4.33139875e-03 9.94568215e-01 5.98596409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.22509989299999 meters 0.05890078818630524 Centerline is valid? [True, True] Translation: X:58.98, Y:6.41, Z:5.99 [[ 9.79020339e-01 -1.75605626e-01 -1.03352988e-01 5.89806634e+01] [ 1.75106444e-01 9.84450603e-01 -1.39550282e-02 6.41398019e+00] [ 1.04196493e-01 -4.43551774e-03 9.94546840e-01 5.99188983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.285099892999995 meters 0.05864842497784595 Centerline is valid? [True, True] Translation: X:59.04, Y:6.42, Z:6.00 [[ 9.78496841e-01 -1.78259857e-01 -1.03765866e-01 5.90400321e+01] [ 1.77771272e-01 9.83972055e-01 -1.40131775e-02 6.42187003e+00] [ 1.04600699e-01 -4.73474003e-03 9.94503030e-01 5.99748589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.34509989299999 meters 0.05797515258628466 Centerline is valid? [True, True] Translation: X:59.10, Y:6.43, Z:6.00 [[ 9.78224219e-01 -1.79545921e-01 -1.04118396e-01 5.90983649e+01] [ 1.79061249e-01 9.83737445e-01 -1.40608710e-02 6.43260672e+00] [ 1.04949737e-01 -4.88888544e-03 9.94465510e-01 6.00348577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.40509989299999 meters 0.059410371127178466 Centerline is valid? [True, True] Translation: X:59.16, Y:6.44, Z:6.01 [[ 9.77848247e-01 -1.81260968e-01 -1.04676962e-01 5.91565741e+01] [ 1.80780768e-01 9.83421809e-01 -1.41371338e-02 6.43933917e+00] [ 1.05504117e-01 -5.09961001e-03 9.94405790e-01 6.00919704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.465099892999994 meters 0.05845982653322439 Centerline is valid? [True, True] Translation: X:59.21, Y:6.45, Z:6.02 [[ 9.77672584e-01 -1.82115848e-01 -1.04833852e-01 5.92142410e+01] [ 1.81638922e-01 9.83263341e-01 -1.41599550e-02 6.45464491e+00] [ 1.05658035e-01 -5.19810799e-03 9.94388938e-01 6.01561195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.52509989299999 meters 0.05817121856614729 Centerline is valid? [True, True] Translation: X:59.27, Y:6.46, Z:6.02 [[ 9.77646564e-01 -1.82173871e-01 -1.04975605e-01 5.92713806e+01] [ 1.81695794e-01 9.83252531e-01 -1.41809246e-02 6.46254434e+00] [ 1.05800923e-01 -5.20969364e-03 9.94373684e-01 6.02141369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.58509989299999 meters 0.06088630061992922 Centerline is valid? [True, True] Translation: X:59.33, Y:6.46, Z:6.03 [[ 9.77710653e-01 -1.81769335e-01 -1.05079912e-01 5.93294325e+01] [ 1.81286627e-01 9.83327666e-01 -1.42077550e-02 6.46106249e+00] [ 1.05910518e-01 -5.15850933e-03 9.94362284e-01 6.02694271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.645099892999994 meters 0.056951053549163924 Centerline is valid? [True, True] Translation: X:59.39, Y:6.49, Z:6.03 [[ 9.77939206e-01 -1.80399295e-01 -1.05313836e-01 5.93864683e+01] [ 1.79906109e-01 9.83580662e-01 -1.42433392e-02 6.48577737e+00] [ 1.06154141e-01 -5.01748260e-03 9.94337027e-01 6.03387443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.70509989299999 meters 0.0590092301310858 Centerline is valid? [True, True] Translation: X:59.45, Y:6.49, Z:6.04 [[ 9.78134504e-01 -1.79292347e-01 -1.05390449e-01 5.94451433e+01] [ 1.78791961e-01 9.83783636e-01 -1.42545263e-02 6.49152580e+00] [ 1.06237126e-01 -4.90012093e-03 9.94328749e-01 6.03959442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.76509989299999 meters 0.05655666410859538 Centerline is valid? [True, True] Translation: X:59.50, Y:6.51, Z:6.05 [[ 9.78348489e-01 -1.78148216e-01 -1.05344424e-01 5.95023684e+01] [ 1.77641496e-01 9.83992093e-01 -1.42498956e-02 6.50968687e+00] [ 1.06196674e-01 -4.77217731e-03 9.94333693e-01 6.04595551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.825099892999994 meters 0.05646682170088969 Centerline is valid? [True, True] Translation: X:59.56, Y:6.54, Z:6.05 [[ 9.81457620e-01 -1.61549450e-01 -1.03163532e-01 5.95576858e+01] [ 1.60971746e-01 9.86860332e-01 -1.39564603e-02 6.54165146e+00] [ 1.04062656e-01 -2.90873958e-03 9.94566490e-01 6.05274523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.88509989299999 meters 0.056204545954778556 Centerline is valid? [True, True] Translation: X:59.62, Y:6.56, Z:6.06 [[ 9.81761075e-01 -1.59376841e-01 -1.03654302e-01 5.96155000e+01] [ 1.58781538e-01 9.87214151e-01 -1.40229528e-02 6.55708914e+00] [ 1.04563927e-01 -2.69120025e-03 9.94514526e-01 6.05831933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.94509989299999 meters 0.05573659917596407 Centerline is valid? [True, True] Translation: X:59.67, Y:6.57, Z:6.06 [[ 9.82054096e-01 -1.57252096e-01 -1.04122675e-01 5.96740729e+01] [ 1.56639311e-01 9.87555393e-01 -1.40879860e-02 6.56591773e+00] [ 1.05042274e-01 -2.47453957e-03 9.94464679e-01 6.06373325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.00509989299999 meters 0.05619660980227044 Centerline is valid? [True, True] Translation: X:59.73, Y:6.57, Z:6.07 [[ 9.82305915e-01 -1.55245300e-01 -1.04756798e-01 5.97310654e+01] [ 1.54613371e-01 9.87873341e-01 -1.41763070e-02 6.57217685e+00] [ 1.05687254e-01 -2.27133153e-03 9.94396825e-01 6.06876276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.06509989299999 meters 0.05537727691540266 Centerline is valid? [True, True] Translation: X:59.79, Y:6.59, Z:6.07 [[ 9.82840459e-01 -1.50451288e-01 -1.06719458e-01 5.97887856e+01] [ 1.49766600e-01 9.88615815e-01 -1.44476827e-02 6.58907012e+00] [ 1.07678217e-01 -1.78324335e-03 9.94184199e-01 6.07293449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.12509989299999 meters 0.055937063139374084 Centerline is valid? [True, True] Translation: X:59.85, Y:6.60, Z:6.08 [[ 9.83299184e-01 -1.47552127e-01 -1.06541473e-01 5.98452818e+01] [ 1.46852650e-01 9.89053200e-01 -1.44245468e-02 6.60082035e+00] [ 1.07503558e-01 -1.46225253e-03 9.94203624e-01 6.07890542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.18509989299999 meters 0.056981148775863084 Centerline is valid? [True, True] Translation: X:59.90, Y:6.61, Z:6.09 [[ 9.83444294e-01 -1.47141876e-01 -1.05766672e-01 5.99028903e+01] [ 1.46449721e-01 9.89114402e-01 -1.43240358e-02 6.61237987e+00] [ 1.06723004e-01 -1.40260838e-03 9.94287802e-01 6.08578185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.24509989299999 meters 0.0558358257615504 Centerline is valid? [True, True] Translation: X:59.96, Y:6.62, Z:6.09 [[ 9.83358956e-01 -1.49550655e-01 -1.03149236e-01 5.99593947e+01] [ 1.48904431e-01 9.88752753e-01 -1.39808691e-02 6.61826980e+00] [ 1.04079940e-01 -1.61116548e-03 9.94567630e-01 6.09363215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.30509989299999 meters 0.0560962015961053 Centerline is valid? [True, True] Translation: X:60.02, Y:6.62, Z:6.10 [[ 9.81908737e-01 -1.58575874e-01 -1.03483930e-01 6.00192326e+01] [ 1.57974589e-01 9.87343454e-01 -1.40333083e-02 6.62275827e+00] [ 1.04399525e-01 -2.56840320e-03 9.94532122e-01 6.09928163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.36509989299999 meters 0.05649134112347596 Centerline is valid? [True, True] Translation: X:60.08, Y:6.62, Z:6.10 [[ 9.78588000e-01 -1.77255300e-01 -1.04623535e-01 6.00795867e+01] [ 1.76746570e-01 9.84154121e-01 -1.41885941e-02 6.62414814e+00] [ 1.05480687e-01 -4.60706302e-03 9.94410680e-01 6.10354183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.42509989299999 meters 0.055708756145891374 Centerline is valid? [True, True] Translation: X:60.14, Y:6.64, Z:6.11 [[ 9.79613807e-01 -1.72216763e-01 -1.03431985e-01 6.01382372e+01] [ 1.71691519e-01 9.85050888e-01 -1.40275018e-02 6.63920203e+00] [ 1.04301540e-01 -4.01686027e-03 9.94537608e-01 6.10979950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.48509989299999 meters 0.05619017710397613 Centerline is valid? [True, True] Translation: X:60.20, Y:6.65, Z:6.11 [[ 9.80291967e-01 -1.68101452e-01 -1.03776499e-01 6.01962614e+01] [ 1.67549799e-01 9.85763157e-01 -1.40734769e-02 6.65033244e+00] [ 1.04664821e-01 -3.59161524e-03 9.94501069e-01 6.11405951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.54509989299999 meters 0.05576093859876172 Centerline is valid? [True, True] Translation: X:60.25, Y:6.67, Z:6.12 [[ 9.80634102e-01 -1.65987138e-01 -1.03947235e-01 6.02548747e+01] [ 1.65421618e-01 9.86122161e-01 -1.40986427e-02 6.66530846e+00] [ 1.04844865e-01 -3.36950992e-03 9.94482881e-01 6.12031260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60509989299999 meters 0.05718687219751968 Centerline is valid? [True, True] Translation: X:60.31, Y:6.67, Z:6.13 [[ 9.80969065e-01 -1.63592003e-01 -1.04581782e-01 6.03136186e+01] [ 1.63005982e-01 9.86523108e-01 -1.41847435e-02 6.66770837e+00] [ 1.05492855e-01 -3.13266153e-03 9.94415127e-01 6.12572048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.66509989299999 meters 0.056827953858598367 Centerline is valid? [True, True] Translation: X:60.37, Y:6.68, Z:6.13 [[ 9.81443284e-01 -1.60342674e-01 -1.05163239e-01 6.03725079e+01] [ 1.59731255e-01 9.87057448e-01 -1.42660489e-02 6.67857983e+00] [ 1.06089614e-01 -2.79653817e-03 9.94352640e-01 6.13161945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.72509989299999 meters 0.054946498046104505 Centerline is valid? [True, True] Translation: X:60.43, Y:6.70, Z:6.14 [[ 9.82056335e-01 -1.56120689e-01 -1.05790766e-01 6.04301592e+01] [ 1.55477512e-01 9.87735181e-01 -1.43511751e-02 6.70011532e+00] [ 1.06733776e-01 -2.35442258e-03 9.94284847e-01 6.13924639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.78509989299999 meters 0.05559693618992318 Centerline is valid? [True, True] Translation: X:60.49, Y:6.71, Z:6.14 [[ 9.82856524e-01 -1.50138103e-01 -1.07012163e-01 6.04897551e+01] [ 1.49444558e-01 9.88663531e-01 -1.45171152e-02 6.71212385e+00] [ 1.07978595e-01 -1.72414400e-03 9.94151724e-01 6.14442731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.84509989299999 meters 0.05687963074691604 Centerline is valid? [True, True] Translation: X:60.55, Y:6.73, Z:6.15 [[ 9.85783302e-01 -1.30003257e-01 -1.06444516e-01 6.05464321e+01] [ 1.29199768e-01 9.91513450e-01 -1.44394883e-02 6.73364781e+00] [ 1.07418349e-01 4.81599713e-04 9.94213793e-01 6.14919225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.90509989299999 meters 0.05595809878098321 Centerline is valid? [True, True] Translation: X:60.60, Y:6.74, Z:6.16 [[ 9.86078426e-01 -1.27919831e-01 -1.06234904e-01 6.06038872e+01] [ 1.27107315e-01 9.91784258e-01 -1.44123492e-02 6.74249657e+00] [ 1.07205731e-01 7.08473191e-04 9.94236606e-01 6.15536533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.965099892999994 meters 0.0558861008445862 Centerline is valid? [True, True] Translation: X:60.66, Y:6.75, Z:6.16 [[ 9.85982621e-01 -1.28616000e-01 -1.06283560e-01 6.06615548e+01] [ 1.27805594e-01 9.91694262e-01 -1.44298398e-02 6.74835070e+00] [ 1.07256705e-01 6.43937708e-04 9.94231152e-01 6.16236597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.02509989299999 meters 0.05631664119793713 Centerline is valid? [True, True] Translation: X:60.72, Y:6.75, Z:6.17 [[ 9.85122264e-01 -1.34706348e-01 -1.06716094e-01 6.07206519e+01] [ 1.33923408e-01 9.90885563e-01 -1.45024482e-02 6.74547077e+00] [ 1.07697009e-01 -5.09846745e-06 9.94183763e-01 6.16696685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08509989299998 meters 0.05534055388878024 Centerline is valid? [True, True] Translation: X:60.78, Y:6.74, Z:6.17 [[ 9.83704014e-01 -1.45784095e-01 -1.05230275e-01 6.07806570e+01] [ 1.45084731e-01 9.89315716e-01 -1.43120747e-02 6.74017307e+00] [ 1.06192438e-01 -1.18846081e-03 9.94344887e-01 6.17428370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.14509989299998 meters 0.05512499204816311 Centerline is valid? [True, True] Translation: X:60.84, Y:6.74, Z:6.18 [[ 9.82017522e-01 -1.57414794e-01 -1.04221730e-01 6.08399798e+01] [ 1.56793807e-01 9.87529609e-01 -1.41765466e-02 6.73718646e+00] [ 1.05153643e-01 -2.41970469e-03 9.94453044e-01 6.18243335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.20509989299998 meters 0.05675835531769102 Centerline is valid? [True, True] Translation: X:60.90, Y:6.72, Z:6.19 [[ 9.79658877e-01 -1.73095140e-01 -1.01521219e-01 6.09018863e+01] [ 1.72589468e-01 9.84897019e-01 -1.38107352e-02 6.72433241e+00] [ 1.02378517e-01 -3.99168390e-03 9.94737506e-01 6.18803616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26509989299998 meters 0.056024340686276854 Centerline is valid? [True, True] Translation: X:60.96, Y:6.73, Z:6.19 [[ 9.79293273e-01 -1.74940194e-01 -1.01885297e-01 6.09615662e+01] [ 1.74440810e-01 9.84570105e-01 -1.38604217e-02 6.73016645e+00] [ 1.02737963e-01 -4.19953611e-03 9.94699590e-01 6.19388129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32509989299999 meters 0.055784491721231684 Centerline is valid? [True, True] Translation: X:61.02, Y:6.74, Z:6.20 [[ 9.79107385e-01 -1.75403165e-01 -1.02871078e-01 6.10190061e+01] [ 1.74896531e-01 9.84487346e-01 -1.39953053e-02 6.73955315e+00] [ 1.03730095e-01 -4.28888789e-03 9.94596236e-01 6.19806814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38509989299999 meters 0.05782119702002174 Centerline is valid? [True, True] Translation: X:61.08, Y:6.74, Z:6.20 [[ 9.79080830e-01 -1.74039048e-01 -1.05409386e-01 6.10783995e+01] [ 1.73498781e-01 9.84729608e-01 -1.43447658e-02 6.73731099e+00] [ 1.06296293e-01 -4.24371471e-03 9.94325444e-01 6.20026965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44509989299998 meters 0.05669070379724454 Centerline is valid? [True, True] Translation: X:61.14, Y:6.76, Z:6.21 [[ 9.81746805e-01 -1.57344624e-01 -1.06845125e-01 6.11358011e+01] [ 1.56690512e-01 9.87540681e-01 -1.45426134e-02 6.76124094e+00] [ 1.07802110e-01 -2.46445314e-03 9.94169317e-01 6.20651870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.50509989299998 meters 0.05573800872352925 Centerline is valid? [True, True] Translation: X:61.19, Y:6.78, Z:6.21 [[ 9.83547389e-01 -1.46108126e-01 -1.06240051e-01 6.11935568e+01] [ 1.45395816e-01 9.89267870e-01 -1.44615864e-02 6.78115439e+00] [ 1.07212825e-01 -1.22320343e-03 9.94235341e-01 6.21420457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.56509989299998 meters 0.05587479682054783 Centerline is valid? [True, True] Translation: X:61.25, Y:6.80, Z:6.22 [[ 9.85341316e-01 -1.34141939e-01 -1.05396538e-01 6.12510643e+01] [ 1.33372612e-01 9.90962125e-01 -1.43461620e-02 6.80019405e+00] [ 1.06368399e-01 7.88545664e-05 9.94326786e-01 6.22170981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62509989299998 meters 0.05636795994658851 Centerline is valid? [True, True] Translation: X:61.31, Y:6.82, Z:6.23 [[ 9.86894831e-01 -1.23293357e-01 -1.04102552e-01 6.13086792e+01] [ 1.22482172e-01 9.92369496e-01 -1.41739474e-02 6.81526576e+00] [ 1.05055751e-01 1.23748876e-03 9.94465564e-01 6.22841897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68509989299999 meters 0.057444652988429275 Centerline is valid? [True, True] Translation: X:61.37, Y:6.83, Z:6.23 [[ 9.87479672e-01 -1.18538345e-01 -1.04079575e-01 6.13653235e+01] [ 1.17700989e-01 9.92947942e-01 -1.41725386e-02 6.82685748e+00] [ 1.05025589e-01 1.74482484e-03 9.94467989e-01 6.23373980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74509989299999 meters 0.05675276674514921 Centerline is valid? [True, True] Translation: X:61.42, Y:6.83, Z:6.24 [[ 9.87504332e-01 -1.17745281e-01 -1.04743703e-01 6.14223720e+01] [ 1.16892360e-01 9.93042118e-01 -1.42663548e-02 6.83065733e+00] [ 1.05694704e-01 1.84434853e-03 9.94396917e-01 6.24005371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.80509989299999 meters 0.05664431063875325 Centerline is valid? [True, True] Translation: X:61.48, Y:6.84, Z:6.24 [[ 9.86954540e-01 -1.20271289e-01 -1.07030619e-01 6.14812770e+01] [ 1.19394811e-01 9.92739750e-01 -1.45831053e-02 6.83727417e+00] [ 1.08007479e-01 1.61396145e-03 9.94148771e-01 6.24442067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.86509989299998 meters 0.056046394304941134 Centerline is valid? [True, True] Translation: X:61.54, Y:6.84, Z:6.25 [[ 9.86288413e-01 -1.27229614e-01 -1.05108475e-01 6.15409435e+01] [ 1.26422802e-01 9.91872930e-01 -1.43305783e-02 6.84236304e+00] [ 1.06077525e-01 8.45975388e-04 9.94357503e-01 6.24996251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.92509989299998 meters 0.0557538786217187 Centerline is valid? [True, True] Translation: X:61.60, Y:6.84, Z:6.26 [[ 9.85373107e-01 -1.35152348e-01 -1.03796349e-01 6.15994072e+01] [ 1.34409398e-01 9.90824830e-01 -1.41517052e-02 6.84463363e+00] [ 1.04756636e-01 -6.49507790e-06 9.94497887e-01 6.25758392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98509989299998 meters 0.05504516694460608 Centerline is valid? [True, True] Translation: X:61.66, Y:6.85, Z:6.26 [[ 9.84342199e-01 -1.43160907e-01 -1.02836718e-01 6.16571216e+01] [ 1.42474865e-01 9.89699064e-01 -1.40241105e-02 6.84529755e+00] [ 1.03785108e-01 -8.47123757e-04 9.94599384e-01 6.26410573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04509989299999 meters 0.05504033347754748 Centerline is valid? [True, True] Translation: X:61.72, Y:6.84, Z:6.27 [[ 9.82322775e-01 -1.55386186e-01 -1.04389166e-01 6.17192237e+01] [ 1.54746678e-01 9.87851444e-01 -1.42474805e-02 6.84000981e+00] [ 1.05334850e-01 -2.15825204e-03 9.94434468e-01 6.26694640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10509989299999 meters 0.054723544449534256 Centerline is valid? [True, True] Translation: X:61.78, Y:6.85, Z:6.27 [[ 9.81501182e-01 -1.59900774e-01 -1.05295640e-01 6.17792277e+01] [ 1.59275914e-01 9.87129494e-01 -1.43716509e-02 6.84724176e+00] [ 1.06238470e-01 -2.66526689e-03 9.94337108e-01 6.27194872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.16509989299999 meters 0.05642534154180234 Centerline is valid? [True, True] Translation: X:61.84, Y:6.85, Z:6.28 [[ 9.81080942e-01 -1.62399611e-01 -1.05387624e-01 6.18382422e+01] [ 1.61788021e-01 9.86720696e-01 -1.43841752e-02 6.84538197e+00] [ 1.06324135e-01 -2.93841496e-03 9.94327182e-01 6.27659992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.22509989299998 meters 0.055409136547085236 Centerline is valid? [True, True] Translation: X:61.89, Y:6.86, Z:6.28 [[ 9.80885951e-01 -1.64279668e-01 -1.04282991e-01 6.18947684e+01] [ 1.63691087e-01 9.86408914e-01 -1.42366571e-02 6.86443874e+00] [ 1.05204465e-01 -3.10565917e-03 9.94445763e-01 6.28478857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.28509989299998 meters 0.0561280764941665 Centerline is valid? [True, True] Translation: X:61.95, Y:6.87, Z:6.29 [[ 9.80552211e-01 -1.65177250e-01 -1.05989798e-01 6.19521342e+01] [ 1.64574156e-01 9.86258535e-01 -1.44723362e-02 6.87008714e+00] [ 1.06923844e-01 -3.25230030e-03 9.94261894e-01 6.28996337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34509989299998 meters 0.05571438199901756 Centerline is valid? [True, True] Translation: X:62.01, Y:6.88, Z:6.29 [[ 9.80316890e-01 -1.65356074e-01 -1.07871052e-01 6.20099687e+01] [ 1.64731683e-01 9.86228331e-01 -1.47360542e-02 6.88095033e+00] [ 1.08822184e-01 -3.32377709e-03 9.94055675e-01 6.29409960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40509989299998 meters 0.054935569282651614 Centerline is valid? [True, True] Translation: X:62.07, Y:6.90, Z:6.30 [[ 9.80140656e-01 -1.65621002e-01 -1.09059517e-01 6.20666857e+01] [ 1.64983092e-01 9.86183688e-01 -1.49101587e-02 6.89534560e+00] [ 1.10022152e-01 -3.37892359e-03 9.93923392e-01 6.29981204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46509989299999 meters 0.056417774603797426 Centerline is valid? [True, True] Translation: X:62.13, Y:6.91, Z:6.30 [[ 9.80697678e-01 -1.61228572e-01 -1.10622837e-01 6.21260882e+01] [ 1.60543108e-01 9.86912782e-01 -1.51350794e-02 6.90593716e+00] [ 1.11615299e-01 -2.91679679e-03 9.93747210e-01 6.30323441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52509989299999 meters 0.0549121756462672 Centerline is valid? [True, True] Translation: X:62.18, Y:6.93, Z:6.31 [[ 9.82297396e-01 -1.53859621e-01 -1.06859919e-01 6.21829881e+01] [ 1.53176532e-01 9.88090679e-01 -1.46205314e-02 6.92947002e+00] [ 1.07836799e-01 -2.00672189e-03 9.94166585e-01 6.31390362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.58509989299998 meters 0.054343346161470615 Centerline is valid? [True, True] Translation: X:62.24, Y:6.95, Z:6.32 [[ 9.83697155e-01 -1.46095574e-01 -1.04861767e-01 6.22409789e+01] [ 1.45393627e-01 9.89269834e-01 -1.43488583e-02 6.94884420e+00] [ 1.05832887e-01 -1.13130149e-03 9.94383286e-01 6.32243201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.64509989299998 meters 0.054654791958099185 Centerline is valid? [True, True] Translation: X:62.30, Y:6.97, Z:6.33 [[ 9.85123149e-01 -1.35950454e-01 -1.05118291e-01 6.22983397e+01] [ 1.35187454e-01 9.90715636e-01 -1.43833207e-02 6.96638364e+00] [ 1.06097754e-01 -4.13319580e-05 9.94355703e-01 6.32904300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.70509989299998 meters 0.054918113217292085 Centerline is valid? [True, True] Translation: X:62.36, Y:6.97, Z:6.33 [[ 9.85155704e-01 -1.35017154e-01 -1.06012294e-01 6.23561883e+01] [ 1.34235563e-01 9.90843259e-01 -1.45068636e-02 6.97208736e+00] [ 1.07000242e-01 6.08995316e-05 9.94258993e-01 6.33345613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76509989299998 meters 0.05499161333068989 Centerline is valid? [True, True] Translation: X:62.41, Y:6.98, Z:6.34 [[ 9.84895896e-01 -1.35670797e-01 -1.07580241e-01 6.24134814e+01] [ 1.34868236e-01 9.90753973e-01 -1.47351328e-02 6.97647914e+00] [ 1.08584678e-01 3.41445103e-06 9.94087203e-01 6.33827048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82509989299999 meters 0.05504601848780148 Centerline is valid? [True, True] Translation: X:62.47, Y:6.98, Z:6.34 [[ 9.84709418e-01 -1.37504695e-01 -1.06957099e-01 6.24712136e+01] [ 1.36721717e-01 9.90501096e-01 -1.46543666e-02 6.97976724e+00] [ 1.07956168e-01 -1.93065408e-04 9.94155636e-01 6.34385866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88509989299999 meters 0.0546578278677883 Centerline is valid? [True, True] Translation: X:62.53, Y:6.97, Z:6.35 [[ 9.83627518e-01 -1.45152597e-01 -1.06806506e-01 6.25303424e+01] [ 1.44415376e-01 9.89408756e-01 -1.46462290e-02 6.97452155e+00] [ 1.07801231e-01 -1.01806784e-03 9.94171946e-01 6.34961192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.94509989299998 meters 0.05487158044142496 Centerline is valid? [True, True] Translation: X:62.59, Y:6.97, Z:6.36 [[ 9.82286011e-01 -1.53899881e-01 -1.06906592e-01 6.25897251e+01] [ 1.53212478e-01 9.88084471e-01 -1.46633555e-02 6.97427773e+00] [ 1.07889432e-01 -1.97581480e-03 9.94160936e-01 6.35685114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.00509989299998 meters 0.0545461238672687 Centerline is valid? [True, True] Translation: X:62.65, Y:6.98, Z:6.36 [[ 9.80388777e-01 -1.64820669e-01 -1.08036996e-01 6.26498228e+01] [ 1.64184577e-01 9.86318327e-01 -1.48183441e-02 6.97656783e+00] [ 1.09001238e-01 -3.21027017e-03 9.94036430e-01 6.36253576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.06509989299998 meters 0.05644662592573921 Centerline is valid? [True, True] Translation: X:62.71, Y:6.97, Z:6.37 [[ 9.78009102e-01 -1.77842678e-01 -1.08950345e-01 6.27105088e+01] [ 1.77275945e-01 9.84047715e-01 -1.49443618e-02 6.97241323e+00] [ 1.09870083e-01 -4.69855341e-03 9.93934851e-01 6.36666518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12509989299998 meters 0.05320417297852026 Centerline is valid? [True, True] Translation: X:62.77, Y:6.99, Z:6.37 [[ 9.77359612e-01 -1.81805644e-01 -1.08235374e-01 6.27696244e+01] [ 1.81270470e-01 9.83321209e-01 -1.48464358e-02 6.98512847e+00] [ 1.09129305e-01 -5.10957040e-03 9.94014430e-01 6.37364546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18509989299999 meters 0.05473820868960089 Centerline is valid? [True, True] Translation: X:62.83, Y:6.99, Z:6.38 [[ 9.78163600e-01 -1.79345759e-01 -1.05028906e-01 6.28287133e+01] [ 1.78827710e-01 9.83774924e-01 -1.44065440e-02 6.99088622e+00] [ 1.05908557e-01 -4.69012180e-03 9.94364813e-01 6.38207901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24509989299999 meters 0.06127740198410182 Centerline is valid? [True, True] Translation: X:62.89, Y:6.98, Z:6.39 [[ 9.77917053e-01 -1.79698793e-01 -1.06707924e-01 6.28884441e+01] [ 1.79166108e-01 9.83709947e-01 -1.46371288e-02 6.97835063e+00] [ 1.07599921e-01 -4.80454556e-03 9.94182666e-01 6.38531438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.30509989299998 meters 0.05565020500053949 Centerline is valid? [True, True] Translation: X:62.95, Y:7.00, Z:6.39 [[ 9.76501970e-01 -1.83920218e-01 -1.12326559e-01 6.29455815e+01] [ 1.83357247e-01 9.82925528e-01 -1.54118887e-02 7.00315389e+00] [ 1.13243200e-01 -5.54614898e-03 9.93551819e-01 6.38978673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.36509989299998 meters 0.055430945506921014 Centerline is valid? [True, True] Translation: X:63.00, Y:7.02, Z:6.40 [[ 9.76193100e-01 -1.85113569e-01 -1.13048653e-01 6.30040306e+01] [ 1.84551365e-01 9.82700475e-01 -1.55103440e-02 7.01513230e+00] [ 1.13964140e-01 -5.72219241e-03 9.93468385e-01 6.39647088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.42509989299998 meters 0.058067302218275434 Centerline is valid? [True, True] Translation: X:63.06, Y:7.01, Z:6.40 [[ 9.77562098e-01 -1.79486991e-01 -1.10257716e-01 6.30643479e+01] [ 1.78916385e-01 9.83747957e-01 -1.51289508e-02 7.01446275e+00] [ 1.11181253e-01 -4.93742310e-03 9.93787880e-01 6.40080291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48509989299998 meters 0.05555618842581274 Centerline is valid? [True, True] Translation: X:63.12, Y:7.04, Z:6.41 [[ 9.78899248e-01 -1.72169173e-01 -1.10063793e-01 6.31216914e+01] [ 1.71554442e-01 9.85058873e-01 -1.51026673e-02 7.03588129e+00] [ 1.11019529e-01 -4.09794286e-03 9.93809776e-01 6.40752791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54509989299999 meters 0.054669691686199826 Centerline is valid? [True, True] Translation: X:63.18, Y:7.05, Z:6.41 [[ 9.79282987e-01 -1.68683931e-01 -1.12029294e-01 6.31805857e+01] [ 1.68024280e-01 9.85662986e-01 -1.53726658e-02 7.04967917e+00] [ 1.13016250e-01 -3.76945126e-03 9.93585990e-01 6.41261393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60509989299999 meters 0.05549187741654444 Centerline is valid? [True, True] Translation: X:63.24, Y:7.06, Z:6.42 [[ 9.79892830e-01 -1.64673718e-01 -1.12661480e-01 6.32405664e+01] [ 1.63980262e-01 9.86342487e-01 -1.54587196e-02 7.05898021e+00] [ 1.13668449e-01 -3.32637053e-03 9.93513170e-01 6.41778552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.66509989299999 meters 0.05481534519020015 Centerline is valid? [True, True] Translation: X:63.30, Y:7.09, Z:6.43 [[ 9.82592360e-01 -1.48212859e-01 -1.12005371e-01 6.32974780e+01] [ 1.47420707e-01 9.88954477e-01 -1.53680993e-02 7.08533883e+00] [ 1.13045963e-01 -1.41133396e-03 9.93588757e-01 6.42571639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.72509989299998 meters 0.05479044358548422 Centerline is valid? [True, True] Translation: X:63.36, Y:7.10, Z:6.43 [[ 9.84123723e-01 -1.39777378e-01 -1.09374501e-01 6.33561461e+01] [ 1.38970033e-01 9.90182862e-01 -1.50076845e-02 7.09660129e+00] [ 1.10398491e-01 -4.30359635e-04 9.93887311e-01 6.43322501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.78509989299998 meters 0.055128969880320434 Centerline is valid? [True, True] Translation: X:63.41, Y:7.11, Z:6.44 [[ 9.84522460e-01 -1.36808052e-01 -1.09540328e-01 6.34135346e+01] [ 1.35979838e-01 9.90597571e-01 -1.50311679e-02 7.10608237e+00] [ 1.10566768e-01 -9.67537056e-05 9.93868694e-01 6.44101004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84509989299998 meters 0.05455028692826571 Centerline is valid? [True, True] Translation: X:63.47, Y:7.11, Z:6.45 [[ 9.84579827e-01 -1.36921651e-01 -1.08880789e-01 6.34711483e+01] [ 1.36102745e-01 9.90581876e-01 -1.49529432e-02 7.11220599e+00] [ 1.09902718e-01 -9.66080736e-05 9.93942344e-01 6.44732635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90509989299998 meters 0.054588617824332795 Centerline is valid? [True, True] Translation: X:63.53, Y:7.12, Z:6.45 [[ 9.84322692e-01 -1.38659352e-01 -1.09006521e-01 6.35287000e+01] [ 1.37847668e-01 9.90340097e-01 -1.49837642e-02 7.11603189e+00] [ 1.10031167e-01 -2.77435630e-04 9.93928099e-01 6.45254024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96509989299999 meters 0.05462614329163555 Centerline is valid? [True, True] Translation: X:63.59, Y:7.11, Z:6.46 [[ 9.82524866e-01 -1.47586918e-01 -1.13415124e-01 6.35898545e+01] [ 1.46766734e-01 9.89048203e-01 -1.55941285e-02 7.11478007e+00] [ 1.14474514e-01 -1.32394836e-03 9.93425303e-01 6.45533133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.02509989299999 meters 0.054457132157636444 Centerline is valid? [True, True] Translation: X:63.65, Y:7.12, Z:6.46 [[ 9.81601341e-01 -1.54438870e-01 -1.12282873e-01 6.36485737e+01] [ 1.53679538e-01 9.88000114e-01 -1.54394010e-02 7.11814897e+00] [ 1.13319935e-01 -2.10024337e-03 9.93556330e-01 6.46266036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08509989299998 meters 0.05440871871312471 Centerline is valid? [True, True] Translation: X:63.71, Y:7.12, Z:6.47 [[ 9.81187144e-01 -1.59570395e-01 -1.08669581e-01 6.37081868e+01] [ 1.58890407e-01 9.87183119e-01 -1.49441601e-02 7.12076303e+00] [ 1.09661421e-01 -2.60353618e-03 9.93965590e-01 6.47029958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.14509989299998 meters 0.055873210370279494 Centerline is valid? [True, True] Translation: X:63.77, Y:7.12, Z:6.48 [[ 9.80742419e-01 -1.63418681e-01 -1.06951589e-01 6.37677814e+01] [ 1.62782757e-01 9.86552294e-01 -1.47087073e-02 7.12358201e+00] [ 1.07917013e-01 -2.98442136e-03 9.94155426e-01 6.47856042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.20509989299998 meters 0.05465934006043342 Centerline is valid? [True, True] Translation: X:63.83, Y:7.14, Z:6.48 [[ 9.81152196e-01 -1.57374984e-01 -1.12131538e-01 6.38260301e+01] [ 1.56636427e-01 9.87535922e-01 -1.54218523e-02 7.14470840e+00] [ 1.13160936e-01 -2.43269923e-03 9.93573694e-01 6.48231133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26509989299998 meters 0.0539803412781584 Centerline is valid? [True, True] Translation: X:63.88, Y:7.17, Z:6.49 [[ 9.83239539e-01 -1.41999969e-01 -1.14350413e-01 6.38835872e+01] [ 1.41128065e-01 9.89866432e-01 -1.57262999e-02 7.16625099e+00] [ 1.15424769e-01 -6.75332632e-04 9.93315995e-01 6.48760658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32509989299999 meters 0.05539619378211983 Centerline is valid? [True, True] Translation: X:63.94, Y:7.19, Z:6.49 [[ 9.85407921e-01 -1.27453604e-01 -1.12813156e-01 6.39384521e+01] [ 1.26509883e-01 9.91844013e-01 -1.55146220e-02 7.18608597e+00] [ 1.13870448e-01 1.01625227e-03 9.93495087e-01 6.49424081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38509989299999 meters 0.0561738763144068 Centerline is valid? [True, True] Translation: X:64.00, Y:7.19, Z:6.50 [[ 9.85878668e-01 -1.24135973e-01 -1.12398894e-01 6.39968592e+01] [ 1.23177166e-01 9.92264230e-01 -1.54623012e-02 7.19077641e+00] [ 1.13448830e-01 1.39897573e-03 9.93542856e-01 6.50229687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.44509989299998 meters 0.055335084536412005 Centerline is valid? [True, True] Translation: X:64.06, Y:7.19, Z:6.51 [[ 9.84978246e-01 -1.31951920e-01 -1.11384673e-01 6.40571624e+01] [ 1.31059454e-01 9.91255991e-01 -1.53290453e-02 7.18766463e+00] [ 1.12433422e-01 5.00761681e-04 9.93659134e-01 6.50963966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.50509989299998 meters 0.055051543392023165 Centerline is valid? [True, True] Translation: X:64.12, Y:7.19, Z:6.52 [[ 9.84149740e-01 -1.40108232e-01 -1.08715098e-01 6.41163640e+01] [ 1.39307566e-01 9.90136106e-01 -1.49630935e-02 7.18701425e+00] [ 1.09739196e-01 -4.18911031e-04 9.93960328e-01 6.51817187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.56509989299998 meters 0.060319445356725544 Centerline is valid? [True, True] Translation: X:64.18, Y:7.15, Z:6.52 [[ 9.78159176e-01 -1.76549568e-01 -1.09703586e-01 6.41810466e+01] [ 1.75959835e-01 9.84281361e-01 -1.51109160e-02 7.15144317e+00] [ 1.10647021e-01 -4.52254373e-03 9.93849477e-01 6.52093834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62509989299998 meters 0.056220980203243724 Centerline is valid? [True, True] Translation: X:64.24, Y:7.17, Z:6.53 [[ 9.77050325e-01 -1.82594446e-01 -1.09690162e-01 6.42381929e+01] [ 1.82042687e-01 9.83174536e-01 -1.51093167e-02 7.17115870e+00] [ 1.10603451e-01 -5.20572900e-03 9.93850983e-01 6.52964441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68509989299999 meters 0.0547698335606168 Centerline is valid? [True, True] Translation: X:64.30, Y:7.18, Z:6.54 [[ 9.76248477e-01 -1.87539572e-01 -1.08479583e-01 6.42963616e+01] [ 1.87030173e-01 9.82240506e-01 -1.49433008e-02 7.18493722e+00] [ 1.09355501e-01 -5.70058046e-03 9.93986357e-01 6.53709877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74509989299999 meters 0.06332262364110039 Centerline is valid? [True, True] Translation: X:64.36, Y:7.17, Z:6.54 [[ 9.76854600e-01 -1.85569024e-01 -1.06391858e-01 6.43586747e+01] [ 1.85067310e-01 9.82616545e-01 -1.46565761e-02 7.16748887e+00] [ 1.07262207e-01 -5.37231129e-03 9.94216253e-01 6.54286702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.80509989299998 meters 0.06257802097231144 Centerline is valid? [True, True] Translation: X:64.42, Y:7.18, Z:6.54 [[ 9.77002049e-01 -1.81129051e-01 -1.12513392e-01 6.44180640e+01] [ 1.80538557e-01 9.83445755e-01 -1.55008770e-02 7.18183909e+00] [ 1.13458477e-01 -5.16861689e-03 9.93529295e-01 6.54061816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.86509989299998 meters 0.05661387842076673 Centerline is valid? [True, True] Translation: X:64.47, Y:7.22, Z:6.55 [[ 9.76289976e-01 -1.82712071e-01 -1.16078341e-01 6.44737497e+01] [ 1.82094693e-01 9.83150944e-01 -1.59919780e-02 7.21676671e+00] [ 1.17044458e-01 -5.52444208e-03 9.93111311e-01 6.54721788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.92509989299998 meters 0.05615923389971777 Centerline is valid? [True, True] Translation: X:64.53, Y:7.23, Z:6.56 [[ 9.77985482e-01 -1.75623552e-01 -1.12697673e-01 6.45320104e+01] [ 1.74994800e-01 9.84446940e-01 -1.55255599e-02 7.23313574e+00] [ 1.13671533e-01 -4.53773450e-03 9.93508023e-01 6.55533127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98509989299998 meters 0.05513903043226154 Centerline is valid? [True, True] Translation: X:64.59, Y:7.25, Z:6.57 [[ 9.79051161e-01 -1.70576840e-01 -1.11186178e-01 6.45893971e+01] [ 1.69932401e-01 9.85336669e-01 -1.53175542e-02 7.25408525e+00] [ 1.12168638e-01 -3.89746502e-03 9.93681542e-01 6.56518904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04509989299999 meters 0.05518850576137251 Centerline is valid? [True, True] Translation: X:64.65, Y:7.26, Z:6.57 [[ 9.79349364e-01 -1.68887727e-01 -1.11138465e-01 6.46478068e+01] [ 1.68233002e-01 9.85628342e-01 -1.53110472e-02 7.26340954e+00] [ 1.12127069e-01 -3.70229327e-03 9.93686980e-01 6.57205917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10509989299999 meters 0.054644376612346314 Centerline is valid? [True, True] Translation: X:64.71, Y:7.27, Z:6.58 [[ 9.79285273e-01 -1.69904256e-01 -1.10149431e-01 6.47050258e+01] [ 1.69267428e-01 9.85453313e-01 -1.51758577e-02 7.26907351e+00] [ 1.11125565e-01 -3.78321700e-03 9.93799173e-01 6.57844477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.16509989299999 meters 0.05744443849549059 Centerline is valid? [True, True] Translation: X:64.76, Y:7.27, Z:6.58 [[ 9.78971988e-01 -1.71101449e-01 -1.11077186e-01 6.47648679e+01] [ 1.70461041e-01 9.85245504e-01 -1.53078225e-02 7.26978711e+00] [ 1.12057489e-01 -3.94840335e-03 9.93693881e-01 6.58253070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.22509989299998 meters 0.05548803280068609 Centerline is valid? [True, True] Translation: X:64.82, Y:7.28, Z:6.59 [[ 9.79001128e-01 -1.70642497e-01 -1.11525464e-01 6.48219734e+01] [ 1.69993661e-01 9.85325254e-01 -1.53720544e-02 7.28356870e+00] [ 1.12511982e-01 -3.90936329e-03 9.93642678e-01 6.58903423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.28509989299998 meters 0.055528929890414636 Centerline is valid? [True, True] Translation: X:64.88, Y:7.29, Z:6.60 [[ 9.79095344e-01 -1.70028785e-01 -1.11635655e-01 6.48794434e+01] [ 1.69373368e-01 9.85431649e-01 -1.53989376e-02 7.29415200e+00] [ 1.12627570e-01 -3.83107882e-03 9.93629887e-01 6.59564746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34509989299998 meters 0.05568494416387906 Centerline is valid? [True, True] Translation: X:64.94, Y:7.29, Z:6.60 [[ 9.79008154e-01 -1.69707724e-01 -1.12881900e-01 6.49384485e+01] [ 1.69034139e-01 9.85487013e-01 -1.55822769e-02 7.29300090e+00] [ 1.13888079e-01 -3.82571863e-03 9.93486220e-01 6.59658079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40509989299998 meters 0.05497476323104711 Centerline is valid? [True, True] Translation: X:65.00, Y:7.31, Z:6.61 [[ 9.79263277e-01 -1.68256899e-01 -1.12840814e-01 6.49962087e+01] [ 1.67572761e-01 9.85736448e-01 -1.55892843e-02 7.30695908e+00] [ 1.13854308e-01 -3.64303312e-03 9.93490777e-01 6.60513965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46509989299999 meters 0.05452556008938578 Centerline is valid? [True, True] Translation: X:65.06, Y:7.32, Z:6.61 [[ 9.80164887e-01 -1.63835623e-01 -1.11510909e-01 6.50551088e+01] [ 1.63138858e-01 9.86482812e-01 -1.54069769e-02 7.32133080e+00] [ 1.12527807e-01 -3.09038456e-03 9.93643770e-01 6.61449267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52509989299999 meters 0.05454358021571969 Centerline is valid? [True, True] Translation: X:65.11, Y:7.33, Z:6.62 [[ 9.80517292e-01 -1.61972972e-01 -1.11133241e-01 6.51129240e+01] [ 1.61269148e-01 9.86791027e-01 -1.53535274e-02 7.32871926e+00] [ 1.12152141e-01 -2.86796400e-03 9.93686908e-01 6.62011458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58509989299998 meters 0.05558625909513924 Centerline is valid? [True, True] Translation: X:65.17, Y:7.34, Z:6.62 [[ 9.81385763e-01 -1.56342703e-01 -1.11530016e-01 6.51721938e+01] [ 1.55597306e-01 9.87700353e-01 -1.54107583e-02 7.33956151e+00] [ 1.12567595e-01 -2.22987119e-03 9.93641567e-01 6.62473868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.64509989299998 meters 0.05467932622987891 Centerline is valid? [True, True] Translation: X:65.23, Y:7.35, Z:6.63 [[ 9.81925010e-01 -1.51852752e-01 -1.12977948e-01 6.52304399e+01] [ 1.51058175e-01 9.88401600e-01 -1.56110411e-02 7.35280476e+00] [ 1.14038164e-01 -1.73737097e-03 9.93474851e-01 6.62845526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.70509989299998 meters 0.0543029985759576 Centerline is valid? [True, True] Translation: X:65.29, Y:7.36, Z:6.64 [[ 9.81589346e-01 -1.57208163e-01 -1.08480181e-01 6.52882364e+01] [ 1.56508206e-01 9.87562894e-01 -1.49903957e-02 7.36273360e+00] [ 1.09487614e-01 -2.26362574e-03 9.93985583e-01 6.64072762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76509989299998 meters 0.0548195246846826 Centerline is valid? [True, True] Translation: X:65.35, Y:7.37, Z:6.64 [[ 9.82780845e-01 -1.45730626e-01 -1.13597515e-01 6.53465231e+01] [ 1.44886182e-01 9.89323771e-01 -1.56993560e-02 7.37315432e+00] [ 1.14672599e-01 -1.02968389e-03 9.93402806e-01 6.64248786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82509989299999 meters 0.05502455032405545 Centerline is valid? [True, True] Translation: X:65.40, Y:7.39, Z:6.65 [[ 9.83962140e-01 -1.36784559e-01 -1.14492321e-01 6.54034656e+01] [ 1.35866038e-01 9.90600820e-01 -1.58251560e-02 7.38741165e+00] [ 1.15580824e-01 1.57363649e-05 9.93298079e-01 6.64854365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88509989299999 meters 0.056146547444375645 Centerline is valid? [True, True] Translation: X:65.46, Y:7.37, Z:6.66 [[ 9.84929612e-01 -1.30396976e-01 -1.13623448e-01 6.54642402e+01] [ 1.29448653e-01 9.91461564e-01 -1.57166382e-02 7.37217476e+00] [ 1.14702684e-01 7.71380042e-04 9.93399567e-01 6.65592434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94509989299998 meters 0.05675773607349475 Centerline is valid? [True, True] Translation: X:65.52, Y:7.38, Z:6.66 [[ 9.85449646e-01 -1.24722116e-01 -1.15470291e-01 6.55229945e+01] [ 1.23702468e-01 9.92190628e-01 -1.59829913e-02 7.38355469e+00] [ 1.16561973e-01 1.46647302e-03 9.93182338e-01 6.65961388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.00509989299998 meters 0.05643119451031202 Centerline is valid? [True, True] Translation: X:65.58, Y:7.39, Z:6.67 [[ 9.85658126e-01 -1.23615110e-01 -1.14879779e-01 6.55813426e+01] [ 1.22598256e-01 9.92328965e-01 -1.59025993e-02 7.38956065e+00] [ 1.15964334e-01 1.59046563e-03 9.93252105e-01 6.66829754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.06509989299998 meters 0.05649103525047038 Centerline is valid? [True, True] Translation: X:65.64, Y:7.39, Z:6.68 [[ 9.85952747e-01 -1.21550105e-01 -1.14554584e-01 6.56392588e+01] [ 1.20523626e-01 9.92583590e-01 -1.58705082e-02 7.39416934e+00] [ 1.15634062e-01 1.84103740e-03 9.93290176e-01 6.67744052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12509989299998 meters 0.05698147203373108 Centerline is valid? [True, True] Translation: X:65.70, Y:7.41, Z:6.68 [[ 9.86015421e-01 -1.20619924e-01 -1.14997491e-01 6.56969338e+01] [ 1.19577743e-01 9.92696809e-01 -1.59439554e-02 7.40599116e+00] [ 1.16080801e-01 1.96984547e-03 9.93237820e-01 6.68130303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18509989299999 meters 0.057109480820664346 Centerline is valid? [True, True] Translation: X:65.76, Y:7.41, Z:6.69 [[ 9.86126025e-01 -1.19419807e-01 -1.15301228e-01 6.57551237e+01] [ 1.18363005e-01 9.92841577e-01 -1.59938449e-02 7.41460956e+00] [ 1.16385835e-01 2.12454686e-03 9.93201804e-01 6.68743915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24509989299999 meters 0.056643862001397934 Centerline is valid? [True, True] Translation: X:65.82, Y:7.41, Z:6.70 [[ 9.86181300e-01 -1.23998866e-01 -1.09866846e-01 6.58150181e+01] [ 1.23066808e-01 9.92281197e-01 -1.52508125e-02 7.41192041e+00] [ 1.10909889e-01 1.51910400e-03 9.93829306e-01 6.70048077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30509989299998 meters 0.056037595353297345 Centerline is valid? [True, True] Translation: X:65.87, Y:7.42, Z:6.71 [[ 9.85511179e-01 -1.29912688e-01 -1.09043151e-01 6.58736515e+01] [ 1.29030627e-01 9.91525075e-01 -1.51367860e-02 7.41501867e+00] [ 1.10085479e-01 8.47565808e-04 9.93921762e-01 6.70562100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.36509989299998 meters 0.055831270759488315 Centerline is valid? [True, True] Translation: X:65.93, Y:7.42, Z:6.71 [[ 9.84999702e-01 -1.33921320e-01 -1.08814827e-01 6.59321805e+01] [ 1.33067071e-01 9.90991887e-01 -1.51074660e-02 7.41819808e+00] [ 1.09857823e-01 4.01179171e-04 9.93947231e-01 6.71162805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.42509989299998 meters 0.05545394446449671 Centerline is valid? [True, True] Translation: X:65.99, Y:7.42, Z:6.72 [[ 9.84447403e-01 -1.38166033e-01 -1.08505569e-01 6.59903407e+01] [ 1.37340960e-01 9.90409079e-01 -1.50770321e-02 7.42125443e+00] [ 1.09548034e-01 -5.97139332e-05 9.93981501e-01 6.71859250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48509989299998 meters 0.05464380132548365 Centerline is valid? [True, True] Translation: X:66.05, Y:7.40, Z:6.72 [[ 9.80986556e-01 -1.58867591e-01 -1.11474055e-01 6.60523855e+01] [ 1.58128003e-01 9.87296932e-01 -1.55017237e-02 7.40392622e+00] [ 1.12520714e-01 -2.42018717e-03 9.93646432e-01 6.72076409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54509989299999 meters 0.05528642690225472 Centerline is valid? [True, True] Translation: X:66.11, Y:7.41, Z:6.72 [[ 9.81018763e-01 -1.57098209e-01 -1.13676471e-01 6.61101522e+01] [ 1.56317071e-01 9.87580398e-01 -1.58091849e-02 7.41382082e+00] [ 1.14748249e-01 -2.26046599e-03 9.93392032e-01 6.72420687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60509989299999 meters 0.05637274578723292 Centerline is valid? [True, True] Translation: X:66.17, Y:7.42, Z:6.73 [[ 9.81217614e-01 -1.54829626e-01 -1.15064247e-01 6.61685699e+01] [ 1.54012237e-01 9.87939147e-01 -1.60147808e-02 7.42417729e+00] [ 1.16156037e-01 -2.00731716e-03 9.93228949e-01 6.72803212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66509989299998 meters 0.05588997726616606 Centerline is valid? [True, True] Translation: X:66.23, Y:7.45, Z:6.74 [[ 9.82501233e-01 -1.47131656e-01 -1.14208595e-01 6.62260562e+01] [ 1.46273316e-01 9.89116330e-01 -1.59060758e-02 7.44624052e+00] [ 1.15305874e-01 -1.07793092e-03 9.93329449e-01 6.73778656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.72509989299998 meters 0.05537034621011765 Centerline is valid? [True, True] Translation: X:66.28, Y:7.46, Z:6.75 [[ 9.82628622e-01 -1.47966200e-01 -1.12013370e-01 6.62829055e+01] [ 1.47145944e-01 9.88991747e-01 -1.56011206e-02 7.45594509e+00] [ 1.13088737e-01 -1.15220557e-03 9.93584224e-01 6.74544504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.78509989299998 meters 0.05534197747946593 Centerline is valid? [True, True] Translation: X:66.34, Y:7.46, Z:6.75 [[ 9.82579880e-01 -1.48953551e-01 -1.11128844e-01 6.63396275e+01] [ 1.48151737e-01 9.88843405e-01 -1.54849159e-02 7.46475302e+00] [ 1.12195558e-01 -1.24876447e-03 9.93685361e-01 6.75222905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84509989299998 meters 0.055362991959748475 Centerline is valid? [True, True] Translation: X:66.40, Y:7.47, Z:6.76 [[ 9.82717765e-01 -1.48669275e-01 -1.10287087e-01 6.63977157e+01] [ 1.47876282e-01 9.88886253e-01 -1.53812527e-02 7.47358652e+00] [ 1.11348104e-01 -1.19341404e-03 9.93780748e-01 6.75836941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90509989299998 meters 0.05582651319256823 Centerline is valid? [True, True] Translation: X:66.45, Y:7.49, Z:6.76 [[ 9.82823209e-01 -1.45852002e-01 -1.13074019e-01 6.64540673e+01] [ 1.44998264e-01 9.89306026e-01 -1.57826228e-02 7.48959733e+00] [ 1.14166735e-01 -8.84008500e-04 9.93461210e-01 6.76332490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96509989299999 meters 0.05522361502879029 Centerline is valid? [True, True] Translation: X:66.51, Y:7.50, Z:6.77 [[ 9.82748987e-01 -1.45543119e-01 -1.14112352e-01 6.65116816e+01] [ 1.44669967e-01 9.89351550e-01 -1.59408354e-02 7.49926224e+00] [ 1.15217311e-01 -8.42790385e-04 9.93339952e-01 6.76702645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.02509989299999 meters 0.05498109047909415 Centerline is valid? [True, True] Translation: X:66.57, Y:7.51, Z:6.77 [[ 9.82718071e-01 -1.45986100e-01 -1.13812356e-01 6.65691333e+01] [ 1.45119056e-01 9.89286250e-01 -1.59114848e-02 7.50792831e+00] [ 1.14915854e-01 -8.79837952e-04 9.93374840e-01 6.77073118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.08509989299998 meters 0.055243121207397286 Centerline is valid? [True, True] Translation: X:66.63, Y:7.52, Z:6.78 [[ 9.82602209e-01 -1.46962358e-01 -1.13555998e-01 6.66265875e+01] [ 1.46104169e-01 9.89141602e-01 -1.58891045e-02 7.52074410e+00] [ 1.14658062e-01 -9.78335547e-04 9.93404536e-01 6.77890960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.14509989299998 meters 0.05518477804656525 Centerline is valid? [True, True] Translation: X:66.69, Y:7.53, Z:6.78 [[ 9.82010430e-01 -1.49894517e-01 -1.14835312e-01 6.66851623e+01] [ 1.49036028e-01 9.88701101e-01 -1.60746686e-02 7.53040112e+00] [ 1.15947304e-01 -1.32910658e-03 9.93254477e-01 6.78325396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.20509989299998 meters 0.055733858425304976 Centerline is valid? [True, True] Translation: X:66.74, Y:7.54, Z:6.79 [[ 9.80955889e-01 -1.57051131e-01 -1.14282485e-01 6.67442004e+01] [ 1.56249052e-01 9.87588106e-01 -1.59989632e-02 7.54070300e+00] [ 1.15376678e-01 -2.16225281e-03 9.93319459e-01 6.79200748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26509989299998 meters 0.05460253817162625 Centerline is valid? [True, True] Translation: X:66.80, Y:7.56, Z:6.80 [[ 9.80498505e-01 -1.62214412e-01 -1.10946681e-01 6.68018362e+01] [ 1.61491392e-01 9.86751876e-01 -1.55327519e-02 7.55537361e+00] [ 1.11996481e-01 -2.68709386e-03 9.93704970e-01 6.80246615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32509989299999 meters 0.055681058056229436 Centerline is valid? [True, True] Translation: X:66.86, Y:7.56, Z:6.81 [[ 9.80580411e-01 -1.61945890e-01 -1.10614588e-01 6.68593898e+01] [ 1.61225345e-01 9.86796089e-01 -1.54876117e-02 7.56260036e+00] [ 1.11662198e-01 -2.64702650e-03 9.93742696e-01 6.80767291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38509989299999 meters 0.05485898161769571 Centerline is valid? [True, True] Translation: X:66.92, Y:7.58, Z:6.82 [[ 9.80627494e-01 -1.61679661e-01 -1.10586642e-01 6.69154182e+01] [ 1.60957060e-01 9.86839844e-01 -1.54902338e-02 7.57969843e+00] [ 1.11635760e-01 -2.60955168e-03 9.93745766e-01 6.81599711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44509989299998 meters 0.059277484567067606 Centerline is valid? [True, True] Translation: X:66.98, Y:7.57, Z:6.81 [[ 9.79595925e-01 -1.64931535e-01 -1.14845167e-01 6.69773091e+01] [ 1.64172958e-01 9.86300195e-01 -1.60985822e-02 7.57318808e+00] [ 1.15926974e-01 -3.08436524e-03 9.93252950e-01 6.81036326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.50509989299998 meters 0.055747367276788966 Centerline is valid? [True, True] Translation: X:67.03, Y:7.60, Z:6.82 [[ 9.79021561e-01 -1.67879481e-01 -1.15469750e-01 6.70325068e+01] [ 1.67132923e-01 9.85801485e-01 -1.61869817e-02 7.60236518e+00] [ 1.16547713e-01 -3.45139273e-03 9.93179097e-01 6.82470284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.56509989299998 meters 0.05485366931524085 Centerline is valid? [True, True] Translation: X:67.09, Y:7.61, Z:6.84 [[ 9.79893872e-01 -1.65361164e-01 -1.11640878e-01 6.70908665e+01] [ 1.64647074e-01 9.86228376e-01 -1.56502950e-02 7.61470972e+00] [ 1.12691353e-01 -3.04571574e-03 9.93625373e-01 6.83511916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62509989299998 meters 0.05547772127225194 Centerline is valid? [True, True] Translation: X:67.15, Y:7.62, Z:6.84 [[ 9.81027635e-01 -1.60053208e-01 -1.09397211e-01 6.71495536e+01] [ 1.59334584e-01 9.87105507e-01 -1.53365300e-02 7.62318145e+00] [ 1.10441250e-01 -2.38519931e-03 9.93879792e-01 6.84229302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68509989299999 meters 0.055338511397011625 Centerline is valid? [True, True] Translation: X:67.21, Y:7.64, Z:6.85 [[ 9.82065219e-01 -1.54044187e-01 -1.08711977e-01 6.72077765e+01] [ 1.53297693e-01 9.88062502e-01 -1.52416715e-02 7.63682569e+00] [ 1.09762119e-01 -1.69697972e-03 9.93956436e-01 6.84933008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74509989299999 meters 0.055459847260011984 Centerline is valid? [True, True] Translation: X:67.27, Y:7.65, Z:6.85 [[ 9.82819619e-01 -1.47186073e-01 -1.11363621e-01 6.72669277e+01] [ 1.46358601e-01 9.89108362e-01 -1.56143563e-02 7.64691315e+00] [ 1.12448905e-01 -9.52928096e-04 9.93657051e-01 6.85184265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.80509989299998 meters 0.05550846542124962 Centerline is valid? [True, True] Translation: X:67.32, Y:7.66, Z:6.86 [[ 9.83182352e-01 -1.44672295e-01 -1.11455776e-01 6.73242767e+01] [ 1.43827011e-01 9.89479402e-01 -1.56302119e-02 7.65753805e+00] [ 1.12544453e-01 -6.63002657e-04 9.93646470e-01 6.86085574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.86509989299998 meters 0.05551997250307533 Centerline is valid? [True, True] Translation: X:67.38, Y:7.66, Z:6.87 [[ 9.83513854e-01 -1.43826773e-01 -1.09610029e-01 6.73828730e+01] [ 1.43002894e-01 9.89602729e-01 -1.53821587e-02 7.66315382e+00] [ 1.10682750e-01 -5.45985288e-04 9.93855639e-01 6.86858882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.92509989299998 meters 0.05489293066028565 Centerline is valid? [True, True] Translation: X:67.44, Y:7.66, Z:6.88 [[ 9.82475649e-01 -1.52158004e-01 -1.07654732e-01 6.74429021e+01] [ 1.51412472e-01 9.88355116e-01 -1.51138238e-02 7.66148668e+00] [ 1.08700794e-01 -1.45130522e-03 9.94073454e-01 6.87718498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98509989299998 meters 0.05546452987872402 Centerline is valid? [True, True] Translation: X:67.50, Y:7.66, Z:6.88 [[ 9.81446734e-01 -1.59028694e-01 -1.07108277e-01 6.75026404e+01] [ 1.58331288e-01 9.87271513e-01 -1.50387498e-02 7.66186907e+00] [ 1.08136544e-01 -2.19885956e-03 9.94133619e-01 6.88394522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04509989299999 meters 0.055990427014270316 Centerline is valid? [True, True] Translation: X:67.56, Y:7.65, Z:6.89 [[ 9.79309713e-01 -1.70981224e-01 -1.08249278e-01 6.75636375e+01] [ 1.70341451e-01 9.85267874e-01 -1.51988999e-02 7.65477827e+00] [ 1.09253262e-01 -3.55490872e-03 9.94007589e-01 6.88786307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10509989299999 meters 0.05551451526555643 Centerline is valid? [True, True] Translation: X:67.62, Y:7.66, Z:6.90 [[ 9.77177429e-01 -1.83161637e-01 -1.07592227e-01 6.76237222e+01] [ 1.82602950e-01 9.83070676e-01 -1.51066102e-02 7.65613726e+00] [ 1.08537715e-01 -4.88481954e-03 9.94080330e-01 6.89564294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16509989299998 meters 0.05626743109608331 Centerline is valid? [True, True] Translation: X:67.68, Y:7.66, Z:6.90 [[ 9.77845313e-01 -1.79389501e-01 -1.07879335e-01 6.76826162e+01] [ 1.78804958e-01 9.83767938e-01 -1.51470084e-02 7.66061687e+00] [ 1.08845445e-01 -4.47792875e-03 9.94048599e-01 6.90190692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.22509989299998 meters 0.055166599924460574 Centerline is valid? [True, True] Translation: X:67.74, Y:7.67, Z:6.91 [[ 9.79856275e-01 -1.68162451e-01 -1.07717550e-01 6.77416688e+01] [ 1.67511827e-01 9.85754027e-01 -1.51256503e-02 7.67465048e+00] [ 1.08726575e-01 -3.22300037e-03 9.94066469e-01 6.90865628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.28509989299998 meters 0.0557750102641023 Centerline is valid? [True, True] Translation: X:67.80, Y:7.69, Z:6.91 [[ 9.82175488e-01 -1.53187221e-01 -1.08926516e-01 6.78003108e+01] [ 1.52429753e-01 9.88195922e-01 -1.52967297e-02 7.68698327e+00] [ 1.09984002e-01 -1.57956896e-03 9.93932102e-01 6.91367093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34509989299998 meters 0.055849358024068145 Centerline is valid? [True, True] Translation: X:67.86, Y:7.70, Z:6.92 [[ 9.83273403e-01 -1.45261569e-01 -1.09874891e-01 6.78580570e+01] [ 1.44441423e-01 9.89393041e-01 -1.54300572e-02 7.69670503e+00] [ 1.10950847e-01 -6.98520720e-04 9.93825650e-01 6.91655708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40509989299998 meters 0.056615398840810446 Centerline is valid? [True, True] Translation: X:67.91, Y:7.71, Z:6.93 [[ 9.84242195e-01 -1.37828306e-01 -1.10773009e-01 6.79146259e+01] [ 1.36947304e-01 9.90456126e-01 -1.55595224e-02 7.71168648e+00] [ 1.11860348e-01 1.44273602e-04 9.93723926e-01 6.92609761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46509989299999 meters 0.05674108050897939 Centerline is valid? [True, True] Translation: X:67.97, Y:7.73, Z:6.93 [[ 9.85185922e-01 -1.30316962e-01 -1.11472814e-01 6.79716510e+01] [ 1.29375448e-01 9.91471864e-01 -1.56695684e-02 7.72545653e+00] [ 1.12564170e-01 1.01559290e-03 9.93643938e-01 6.92935147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.52509989299999 meters 0.05779137346895426 Centerline is valid? [True, True] Translation: X:68.03, Y:7.73, Z:6.94 [[ 9.87865592e-01 -1.11777324e-01 -1.07830436e-01 6.80303281e+01] [ 1.10786036e-01 9.93728662e-01 -1.51591432e-02 7.73081141e+00] [ 1.08848643e-01 3.02908933e-03 9.94053720e-01 6.94266585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58509989299998 meters 0.05941466433700859 Centerline is valid? [True, True] Translation: X:68.09, Y:7.75, Z:6.95 [[ 9.88540121e-01 -1.07198716e-01 -1.06286710e-01 6.80888447e+01] [ 1.06209265e-01 9.94231515e-01 -1.49428083e-02 7.74641175e+00] [ 1.07275446e-01 3.48293226e-03 9.94223238e-01 6.94951979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.64509989299998 meters 0.05926757742383553 Centerline is valid? [True, True] Translation: X:68.15, Y:7.75, Z:6.96 [[ 9.88410259e-01 -1.08316920e-01 -1.06360727e-01 6.81472895e+01] [ 1.07332575e-01 9.94110724e-01 -1.49528235e-02 7.74946999e+00] [ 1.07353983e-01 3.36355348e-03 9.94215172e-01 6.95505412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.70509989299998 meters 0.05830027216238724 Centerline is valid? [True, True] Translation: X:68.21, Y:7.74, Z:6.96 [[ 9.87809885e-01 -1.12855291e-01 -1.07216206e-01 6.82078873e+01] [ 1.11880299e-01 9.93607186e-01 -1.50850569e-02 7.74320844e+00] [ 1.08233222e-01 2.90578702e-03 9.94121283e-01 6.96092506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76509989299998 meters 0.056771065321687894 Centerline is valid? [True, True] Translation: X:68.27, Y:7.73, Z:6.97 [[ 9.85741375e-01 -1.29460565e-01 -1.07489085e-01 6.82700087e+01] [ 1.28578659e-01 9.91583974e-01 -1.51244822e-02 7.73373851e+00] [ 1.08542478e-01 1.08802546e-03 9.94091216e-01 6.96511545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82509989299999 meters 0.057092739786853475 Centerline is valid? [True, True] Translation: X:68.33, Y:7.72, Z:6.97 [[ 9.83140539e-01 -1.47938334e-01 -1.07465944e-01 6.83320136e+01] [ 1.47166598e-01 9.88996132e-01 -1.51209932e-02 7.71677001e+00] [ 1.08520377e-01 -9.49335907e-04 9.94093771e-01 6.97097025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88509989299999 meters 0.056424890766968085 Centerline is valid? [True, True] Translation: X:68.39, Y:7.71, Z:6.98 [[ 9.82087233e-01 -1.54851622e-01 -1.07357540e-01 6.83935811e+01] [ 1.54121401e-01 9.87936275e-01 -1.51165425e-02 7.71242381e+00] [ 1.08403229e-01 -1.70033102e-03 9.94105552e-01 6.97530455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94509989299998 meters 0.05702274282890555 Centerline is valid? [True, True] Translation: X:68.45, Y:7.71, Z:6.98 [[ 9.81727953e-01 -1.57960891e-01 -1.06106473e-01 6.84527876e+01] [ 1.57265360e-01 9.87443311e-01 -1.49437211e-02 7.71445054e+00] [ 1.07134650e-01 -2.01620392e-03 9.94242476e-01 6.98196920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.00509989299998 meters 0.0569128820419791 Centerline is valid? [True, True] Translation: X:68.51, Y:7.71, Z:6.99 [[ 9.80370560e-01 -1.68089519e-01 -1.03050851e-01 6.85129381e+01] [ 1.67489046e-01 9.85767079e-01 -1.45150159e-02 7.70933591e+00] [ 1.04023959e-01 -3.02979446e-03 9.94570177e-01 6.99046399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.06509989299998 meters 0.06016338413690043 Centerline is valid? [True, True] Translation: X:68.58, Y:7.70, Z:6.99 [[ 9.78339420e-01 -1.78067674e-01 -1.05564588e-01 6.85751436e+01] [ 1.77495128e-01 9.84009327e-01 -1.48702393e-02 7.69988358e+00] [ 1.06524448e-01 -4.18905878e-03 9.94301259e-01 6.99271820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12509989299998 meters 0.05731429919226194 Centerline is valid? [True, True] Translation: X:68.63, Y:7.71, Z:7.00 [[ 9.76354636e-01 -1.87134835e-01 -1.08222822e-01 6.86341953e+01] [ 1.86588359e-01 9.82319893e-01 -1.52450441e-02 7.71397866e+00] [ 1.09162310e-01 -5.30854925e-03 9.94009763e-01 6.99697212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18509989299999 meters 0.05961713261687409 Centerline is valid? [True, True] Translation: X:68.69, Y:7.71, Z:7.00 [[ 9.76158893e-01 -1.87443684e-01 -1.09447161e-01 6.86924954e+01] [ 1.86886632e-01 9.82260488e-01 -1.54181910e-02 7.71380975e+00] [ 1.10395664e-01 -5.40360700e-03 9.93873029e-01 7.00150099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24509989299999 meters 0.059296941012719775 Centerline is valid? [True, True] Translation: X:68.75, Y:7.73, Z:7.01 [[ 9.77235217e-01 -1.80839505e-01 -1.10943243e-01 6.87510274e+01] [ 1.80224274e-01 9.83501306e-01 -1.56330610e-02 7.72832513e+00] [ 1.11939899e-01 -4.71748753e-03 9.93703781e-01 7.00612639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.30509989299998 meters 0.05735946108162475 Centerline is valid? [True, True] Translation: X:68.81, Y:7.75, Z:7.01 [[ 9.78741254e-01 -1.72839092e-01 -1.10418320e-01 6.88090992e+01] [ 1.72178833e-01 9.84942811e-01 -1.55598664e-02 7.74728426e+00] [ 1.11445083e-01 -3.78261424e-03 9.93763395e-01 7.01332504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.36509989299998 meters 0.05633376477352319 Centerline is valid? [True, True] Translation: X:68.86, Y:7.78, Z:7.02 [[ 9.83426674e-01 -1.46853279e-01 -1.06330106e-01 6.88638512e+01] [ 1.46088876e-01 9.89157965e-01 -1.49853359e-02 7.78351942e+00] [ 1.07377917e-01 -7.96666676e-04 9.94217958e-01 7.02381888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.42509989299998 meters 0.05607916347691114 Centerline is valid? [True, True] Translation: X:68.92, Y:7.80, Z:7.03 [[ 9.84542963e-01 -1.39993163e-01 -1.05247648e-01 6.89204058e+01] [ 1.39205072e-01 9.90152469e-01 -1.48336057e-02 7.79956077e+00] [ 1.06287822e-01 -4.66843156e-05 9.94335405e-01 7.03075959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48509989299998 meters 0.056449463769350186 Centerline is valid? [True, True] Translation: X:68.98, Y:7.81, Z:7.04 [[ 9.84456779e-01 -1.40027930e-01 -1.06004850e-01 6.89775995e+01] [ 1.39227295e-01 9.90147553e-01 -1.49526946e-02 7.80921268e+00] [ 1.07054238e-01 -3.84869355e-05 9.94253181e-01 7.03638678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54509989299999 meters 0.05619274363568136 Centerline is valid? [True, True] Translation: X:69.04, Y:7.82, Z:7.04 [[ 9.83789062e-01 -1.43771520e-01 -1.07185969e-01 6.90357799e+01] [ 1.42973474e-01 9.89610812e-01 -1.51336081e-02 7.81611281e+00] [ 1.08248175e-01 -4.36472200e-04 9.94123806e-01 7.04247941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60509989299999 meters 0.055993308249724205 Centerline is valid? [True, True] Translation: X:69.09, Y:7.82, Z:7.05 [[ 9.82332554e-01 -1.52962080e-01 -1.07820942e-01 6.90946278e+01] [ 1.52208283e-01 9.88231003e-01 -1.52356147e-02 7.81825641e+00] [ 1.08882469e-01 -1.44480023e-03 9.94053580e-01 7.04768406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66509989299998 meters 0.055862262707337976 Centerline is valid? [True, True] Translation: X:69.15, Y:7.82, Z:7.05 [[ 9.81072022e-01 -1.61072210e-01 -1.07486885e-01 6.91549309e+01] [ 1.60371349e-01 9.86939861e-01 -1.51901429e-02 7.82168964e+00] [ 1.08529802e-01 -2.33519268e-03 9.94090453e-01 7.05298856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.72509989299998 meters 0.055700054540639976 Centerline is valid? [True, True] Translation: X:69.21, Y:7.82, Z:7.06 [[ 9.79989930e-01 -1.69624635e-01 -1.04149988e-01 6.92146144e+01] [ 1.69014722e-01 9.85503617e-01 -1.47188215e-02 7.82363355e+00] [ 1.05136865e-01 -3.17858446e-03 9.94452682e-01 7.06017396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.78509989299998 meters 0.056157545766915395 Centerline is valid? [True, True] Translation: X:69.27, Y:7.83, Z:7.07 [[ 9.78437261e-01 -1.78772518e-01 -1.03445217e-01 6.92741748e+01] [ 1.78221601e-01 9.83881760e-01 -1.46199582e-02 7.82771741e+00] [ 1.04391509e-01 -4.13146030e-03 9.94527699e-01 7.06628658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84509989299998 meters 0.05582059723480484 Centerline is valid? [True, True] Translation: X:69.33, Y:7.84, Z:7.07 [[ 9.77068556e-01 -1.85159135e-01 -1.05133871e-01 6.93339767e+01] [ 1.84626751e-01 9.82696374e-01 -1.48593208e-02 7.83648794e+00] [ 1.06066012e-01 -4.89194983e-03 9.94347057e-01 7.07170529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90509989299998 meters 0.05506972972576495 Centerline is valid? [True, True] Translation: X:69.39, Y:7.85, Z:7.08 [[ 9.74894277e-01 -1.95162955e-01 -1.07203407e-01 6.93932966e+01] [ 1.94669386e-01 9.80751876e-01 -1.51521705e-02 7.84899733e+00] [ 1.08097085e-01 -6.09745708e-03 9.94121643e-01 7.07651097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96509989299999 meters 0.058979260092432886 Centerline is valid? [True, True] Translation: X:69.45, Y:7.85, Z:7.08 [[ 9.74167822e-01 -1.97514633e-01 -1.09476140e-01 6.94531668e+01] [ 1.97014643e-01 9.80278426e-01 -1.54737697e-02 7.84840670e+00] [ 1.10373394e-01 -6.49435406e-03 9.93868974e-01 7.08030504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02509989299998 meters 0.05887631462896513 Centerline is valid? [True, True] Translation: X:69.51, Y:7.86, Z:7.09 [[ 9.74880593e-01 -1.93438661e-01 -1.10405222e-01 6.95120231e+01] [ 1.92904074e-01 9.81093509e-01 -1.56059371e-02 7.86392787e+00] [ 1.11336639e-01 -6.08369197e-03 9.93764128e-01 7.08580788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.08509989299998 meters 0.06063992940548723 Centerline is valid? [True, True] Translation: X:69.57, Y:7.88, Z:7.09 [[ 9.75890714e-01 -1.89367627e-01 -1.08522887e-01 6.95707211e+01] [ 1.88825988e-01 9.81890736e-01 -1.53404498e-02 7.87600251e+00] [ 1.09462602e-01 -5.52133884e-03 9.93975580e-01 7.09399452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.14509989299998 meters 0.05646762585018287 Centerline is valid? [True, True] Translation: X:69.63, Y:7.91, Z:7.10 [[ 9.76775923e-01 -1.86346242e-01 -1.05753841e-01 6.96263125e+01] [ 1.85814228e-01 9.82471166e-01 -1.49492957e-02 7.90692849e+00] [ 1.06685844e-01 -5.04845609e-03 9.94279962e-01 7.10441932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.20509989299998 meters 0.056463990486889305 Centerline is valid? [True, True] Translation: X:69.68, Y:7.92, Z:7.11 [[ 9.77369200e-01 -1.82511147e-01 -1.06953855e-01 6.96831210e+01] [ 1.81943714e-01 9.83192650e-01 -1.51227475e-02 7.92062879e+00] [ 1.07916314e-01 -4.67907389e-03 9.94148970e-01 7.11068114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26509989299998 meters 0.05469993442107715 Centerline is valid? [True, True] Translation: X:69.74, Y:7.95, Z:7.12 [[ 9.78576439e-01 -1.74663025e-01 -1.08999909e-01 6.97398533e+01] [ 1.74024897e-01 9.84620606e-01 -1.54142248e-02 7.94960931e+00] [ 1.10015852e-01 -3.88470073e-03 9.93922241e-01 7.11614214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32509989299999 meters 0.05628465591285057 Centerline is valid? [True, True] Translation: X:69.80, Y:7.96, Z:7.12 [[ 9.78977228e-01 -1.72348493e-01 -1.09085212e-01 6.97982143e+01] [ 1.71695072e-01 9.85029359e-01 -1.54261072e-02 7.95848093e+00] [ 1.10110803e-01 -3.62758553e-03 9.93912698e-01 7.12195901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38509989299999 meters 0.05524358268337061 Centerline is valid? [True, True] Translation: X:69.86, Y:7.98, Z:7.13 [[ 9.81068147e-01 -1.60904212e-01 -1.07773492e-01 6.98558204e+01] [ 1.60197323e-01 9.86967321e-01 -1.52422254e-02 7.98224421e+00] [ 1.08821453e-01 -2.31136305e-03 9.94058625e-01 7.12937337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.44509989299998 meters 0.05515295429805413 Centerline is valid? [True, True] Translation: X:69.91, Y:8.01, Z:7.13 [[ 9.81437929e-01 -1.57007314e-01 -1.10128534e-01 6.99125353e+01] [ 1.56244535e-01 9.87595574e-01 -1.55764899e-02 8.00624576e+00] [ 1.11208076e-01 -1.91962368e-03 9.93795290e-01 7.13213981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.50509989299998 meters 0.05527004155424866 Centerline is valid? [True, True] Translation: X:69.97, Y:8.01, Z:7.14 [[ 9.80680200e-01 -1.61566917e-01 -1.10283623e-01 6.99720446e+01] [ 1.60830508e-01 9.86858747e-01 -1.56000541e-02 8.01315863e+00] [ 1.11354810e-01 -2.43830689e-03 9.93777722e-01 7.13852548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.56509989299998 meters 0.05502794301661074 Centerline is valid? [True, True] Translation: X:70.03, Y:8.02, Z:7.15 [[ 9.80297013e-01 -1.63758234e-01 -1.10458168e-01 7.00299403e+01] [ 1.63033240e-01 9.86496833e-01 -1.56256521e-02 8.02487009e+00] [ 1.11525462e-01 -2.69057281e-03 9.93757934e-01 7.14620873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62509989299998 meters 0.05472052271531739 Centerline is valid? [True, True] Translation: X:70.09, Y:8.03, Z:7.15 [[ 9.79584035e-01 -1.68082652e-01 -1.10287540e-01 7.00892043e+01] [ 1.67387000e-01 9.85767789e-01 -1.56031335e-02 8.02911422e+00] [ 1.11340521e-01 -3.17612000e-03 9.93777239e-01 7.15133732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68509989299999 meters 0.05504380078851393 Centerline is valid? [True, True] Translation: X:70.15, Y:8.04, Z:7.16 [[ 9.79255641e-01 -1.70040146e-01 -1.10203168e-01 7.01473618e+01] [ 1.69357883e-01 9.85431285e-01 -1.55913596e-02 8.03699423e+00] [ 1.11248806e-01 -3.39584842e-03 9.93786784e-01 7.15747770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74509989299999 meters 0.05628053686941767 Centerline is valid? [True, True] Translation: X:70.21, Y:8.04, Z:7.16 [[ 9.79027106e-01 -1.71491435e-01 -1.09984605e-01 7.02065793e+01] [ 1.70820616e-01 9.85179214e-01 -1.55638436e-02 8.04129308e+00] [ 1.11023612e-01 -3.55021323e-03 9.93811428e-01 7.16294225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.80509989299998 meters 0.05470972945358957 Centerline is valid? [True, True] Translation: X:70.27, Y:8.05, Z:7.17 [[ 9.80065165e-01 -1.66938313e-01 -1.07721274e-01 7.02655188e+01] [ 1.66267267e-01 9.85962871e-01 -1.52451012e-02 8.05280771e+00] [ 1.08754168e-01 -2.96932918e-03 9.94064240e-01 7.17119057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.86509989299998 meters 0.05433472521332115 Centerline is valid? [True, True] Translation: X:70.32, Y:8.06, Z:7.18 [[ 9.79800104e-01 -1.67900319e-01 -1.08633509e-01 7.03233339e+01] [ 1.67223620e-01 9.85799099e-01 -1.53752114e-02 8.06343007e+00] [ 1.09672318e-01 -3.10145483e-03 9.93962959e-01 7.17796131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.92509989299998 meters 0.0548524154533489 Centerline is valid? [True, True] Translation: X:70.38, Y:8.07, Z:7.18 [[ 9.79459602e-01 -1.68907089e-01 -1.10133026e-01 7.03809061e+01] [ 1.68216562e-01 9.85626628e-01 -1.55992931e-02 8.07456215e+00] [ 1.11184874e-01 -3.24732165e-03 9.93794435e-01 7.18346937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98509989299998 meters 0.05565687207670232 Centerline is valid? [True, True] Translation: X:70.44, Y:8.08, Z:7.19 [[ 9.79734440e-01 -1.66586451e-01 -1.11217725e-01 7.04396457e+01] [ 1.65866049e-01 9.86022282e-01 -1.57643211e-02 8.07943441e+00] [ 1.12289278e-01 -3.00239633e-03 9.93671024e-01 7.18769631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04509989299999 meters 0.05459456781763333 Centerline is valid? [True, True] Translation: X:70.50, Y:8.10, Z:7.20 [[ 9.81065329e-01 -1.58781873e-01 -1.10901472e-01 7.04972452e+01] [ 1.58015646e-01 9.87311452e-01 -1.57210702e-02 8.09757554e+00] [ 1.11990514e-01 -2.10077079e-03 9.93707055e-01 7.19567678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10509989299999 meters 0.05517776911805806 Centerline is valid? [True, True] Translation: X:70.56, Y:8.11, Z:7.20 [[ 9.83611965e-01 -1.43683642e-01 -1.08915162e-01 7.05554151e+01] [ 1.42852200e-01 9.89623601e-01 -1.54394469e-02 8.11171275e+00] [ 1.10003410e-01 -3.72345791e-04 9.93931140e-01 7.20036215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16509989299998 meters 0.05498164709808304 Centerline is valid? [True, True] Translation: X:70.61, Y:8.12, Z:7.20 [[ 9.84259947e-01 -1.37727248e-01 -1.10740964e-01 7.06133868e+01] [ 1.36829870e-01 9.90470149e-01 -1.56994023e-02 8.12143761e+00] [ 1.11847854e-01 2.99621215e-04 9.93725298e-01 7.20429782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.22509989299998 meters 0.05544006929663203 Centerline is valid? [True, True] Translation: X:70.67, Y:8.12, Z:7.21 [[ 9.83775633e-01 -1.40307246e-01 -1.11800626e-01 7.06709903e+01] [ 1.39408347e-01 9.90108013e-01 -1.58567400e-02 8.12452257e+00] [ 1.12919511e-01 1.35340341e-05 9.93604138e-01 7.21055071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.28509989299998 meters 0.05518720555646282 Centerline is valid? [True, True] Translation: X:70.73, Y:8.12, Z:7.22 [[ 9.82925210e-01 -1.47502060e-01 -1.10005338e-01 7.07293394e+01] [ 1.46675996e-01 9.89061431e-01 -1.56089156e-02 8.12398599e+00] [ 1.11104384e-01 -7.92745864e-04 9.93808426e-01 7.21958000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34509989299998 meters 0.05468949626191476 Centerline is valid? [True, True] Translation: X:70.79, Y:8.12, Z:7.23 [[ 9.81695163e-01 -1.56007992e-01 -1.09252518e-01 7.07885640e+01] [ 1.55244399e-01 9.87754276e-01 -1.55134628e-02 8.12289983e+00] [ 1.10334866e-01 -1.73135006e-03 9.93892962e-01 7.22633899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40509989299998 meters 0.05599238776303388 Centerline is valid? [True, True] Translation: X:70.85, Y:8.12, Z:7.23 [[ 9.80212522e-01 -1.65345460e-01 -1.08831477e-01 7.08495041e+01] [ 1.64644927e-01 9.86231822e-01 -1.54544851e-02 8.12113940e+00] [ 1.09888394e-01 -2.76987075e-03 9.93940073e-01 7.23198578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46509989299999 meters 0.05563732495875502 Centerline is valid? [True, True] Translation: X:70.91, Y:8.12, Z:7.24 [[ 9.77421901e-01 -1.80604241e-01 -1.09674684e-01 7.09108493e+01] [ 1.79988093e-01 9.83545478e-01 -1.55749770e-02 8.11742862e+00] [ 1.10682946e-01 -4.51681354e-03 9.93845503e-01 7.23667992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52509989299998 meters 0.054927025445345425 Centerline is valid? [True, True] Translation: X:70.97, Y:8.13, Z:7.24 [[ 9.76100565e-01 -1.87607332e-01 -1.09686716e-01 7.09704089e+01] [ 1.87034922e-01 9.82229754e-01 -1.55771868e-02 8.12669960e+00] [ 1.10659951e-01 -5.31034565e-03 9.93844140e-01 7.24324949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58509989299998 meters 0.05731165410110163 Centerline is valid? [True, True] Translation: X:71.03, Y:8.12, Z:7.25 [[ 9.75464763e-01 -1.91715230e-01 -1.08230159e-01 7.10309123e+01] [ 1.91182979e-01 9.81434055e-01 -1.53709139e-02 8.12359347e+00] [ 1.09167603e-01 -5.69797947e-03 9.94007026e-01 7.24880158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.64509989299998 meters 0.05489184519765242 Centerline is valid? [True, True] Translation: X:71.09, Y:8.14, Z:7.26 [[ 9.75473508e-01 -1.91909651e-01 -1.07805941e-01 7.10886847e+01] [ 1.91382651e-01 9.81396066e-01 -1.53114974e-02 8.14251849e+00] [ 1.08738751e-01 -5.69622670e-03 9.94054041e-01 7.25681744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.70509989299998 meters 0.055566874579222776 Centerline is valid? [True, True] Translation: X:71.15, Y:8.15, Z:7.26 [[ 9.76039153e-01 -1.88438701e-01 -1.08804535e-01 7.11469703e+01] [ 1.87880432e-01 9.82070331e-01 -1.54534020e-02 8.15032349e+00] [ 1.09765725e-01 -5.35911760e-03 9.93943039e-01 7.26267601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76509989299998 meters 0.05557268817398184 Centerline is valid? [True, True] Translation: X:71.21, Y:8.16, Z:7.27 [[ 9.75968137e-01 -1.86841080e-01 -1.12145472e-01 7.12055067e+01] [ 1.86237343e-01 9.82375644e-01 -1.59294339e-02 8.16215153e+00] [ 1.13145253e-01 -5.33905484e-03 9.93564113e-01 7.26791140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82509989299999 meters 0.055891844204534365 Centerline is valid? [True, True] Translation: X:71.26, Y:8.18, Z:7.27 [[ 9.75231967e-01 -1.88411370e-01 -1.15860977e-01 7.12646043e+01] [ 1.87777794e-01 9.82073627e-01 -1.64587775e-02 8.17529576e+00] [ 1.16885031e-01 -5.70499276e-03 9.93129066e-01 7.27155902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88509989299999 meters 0.058046346653964014 Centerline is valid? [True, True] Translation: X:71.32, Y:8.17, Z:7.27 [[ 9.74727243e-01 -1.89891834e-01 -1.17677075e-01 7.13246103e+01] [ 1.89248954e-01 9.81786830e-01 -1.67168531e-02 8.17379605e+00] [ 1.18708196e-01 -5.97589116e-03 9.92911201e-01 7.27247798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94509989299998 meters 0.055401963966183854 Centerline is valid? [True, True] Translation: X:71.38, Y:8.20, Z:7.28 [[ 9.75747812e-01 -1.85745390e-01 -1.15822522e-01 7.13821837e+01] [ 1.85093508e-01 9.82583162e-01 -1.64536779e-02 8.19656105e+00] [ 1.16861455e-01 -5.38335669e-03 9.93133636e-01 7.28079454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.00509989299998 meters 0.057184309630147194 Centerline is valid? [True, True] Translation: X:71.44, Y:8.20, Z:7.29 [[ 9.77661548e-01 -1.77117939e-01 -1.13168603e-01 7.14411492e+01] [ 1.76437918e-01 9.84180462e-01 -1.60773109e-02 8.20497729e+00] [ 1.14225908e-01 -4.24906404e-03 9.93445714e-01 7.28608329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.06509989299998 meters 0.0566219244597515 Centerline is valid? [True, True] Translation: X:71.50, Y:8.22, Z:7.29 [[ 9.77794078e-01 -1.74473868e-01 -1.16093113e-01 7.14991328e+01] [ 1.73739637e-01 9.84653503e-01 -1.64929472e-02 8.22313443e+00] [ 1.17189078e-01 -4.04326908e-03 9.93101391e-01 7.29092260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12509989299998 meters 0.056000125272671626 Centerline is valid? [True, True] Translation: X:71.56, Y:8.23, Z:7.29 [[ 9.76992164e-01 -1.76197915e-01 -1.20169074e-01 7.15586153e+01] [ 1.75424125e-01 9.84344921e-01 -1.70720078e-02 8.23318220e+00] [ 1.21295870e-01 -4.40133683e-03 9.92606639e-01 7.29463484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18509989299999 meters 0.056659956634785964 Centerline is valid? [True, True] Translation: X:71.62, Y:8.23, Z:7.30 [[ 9.77262223e-01 -1.76627615e-01 -1.17308279e-01 7.16176200e+01] [ 1.75893295e-01 9.84268151e-01 -1.66660313e-02 8.23437239e+00] [ 1.18406484e-01 -4.34665682e-03 9.92955694e-01 7.30178586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24509989299999 meters 0.0563109583742831 Centerline is valid? [True, True] Translation: X:71.68, Y:8.24, Z:7.31 [[ 9.77336249e-01 -1.76965516e-01 -1.16176857e-01 7.16751651e+01] [ 1.76247156e-01 9.84207482e-01 -1.65097480e-02 8.24376866e+00] [ 1.17263788e-01 -4.34026545e-03 9.93091318e-01 7.30962800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.30509989299998 meters 0.05494513583456513 Centerline is valid? [True, True] Translation: X:71.73, Y:8.26, Z:7.32 [[ 9.77376371e-01 -1.78021832e-01 -1.14208832e-01 7.17318887e+01] [ 1.77333423e-01 9.84016796e-01 -1.62419648e-02 8.25865766e+00] [ 1.15274833e-01 -4.37853044e-03 9.93323986e-01 7.32016837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.36509989299998 meters 0.05775112551634447 Centerline is valid? [True, True] Translation: X:71.79, Y:8.26, Z:7.32 [[ 9.77626235e-01 -1.77251135e-01 -1.13265090e-01 7.17905912e+01] [ 1.76567624e-01 9.84156518e-01 -1.61189932e-02 8.25532758e+00] [ 1.14327686e-01 -4.24059708e-03 9.93434043e-01 7.32333042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.42509989299998 meters 0.05709014868972025 Centerline is valid? [True, True] Translation: X:71.85, Y:8.26, Z:7.33 [[ 9.76508567e-01 -1.82388417e-01 -1.14740945e-01 7.18506886e+01] [ 1.81721750e-01 9.83214340e-01 -1.63329784e-02 8.26084452e+00] [ 1.15793889e-01 -4.90163214e-03 9.93261169e-01 7.33048437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48509989299998 meters 0.05547846910677574 Centerline is valid? [True, True] Translation: X:71.91, Y:8.30, Z:7.34 [[ 9.84320191e-01 -1.37887439e-01 -1.10003710e-01 7.19050648e+01] [ 1.36995864e-01 9.90447846e-01 -1.56587632e-02 8.29875519e+00] [ 1.11112085e-01 3.43183360e-04 9.93807822e-01 7.34286862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54509989299999 meters 0.05555254330935546 Centerline is valid? [True, True] Translation: X:71.96, Y:8.31, Z:7.35 [[ 9.84983600e-01 -1.32805340e-01 -1.10317943e-01 7.19623861e+01] [ 1.31876739e-01 9.91141713e-01 -1.57044959e-02 8.30830946e+00] [ 1.11426356e-01 9.20300329e-04 9.93772268e-01 7.34839868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60509989299999 meters 0.056204578701133656 Centerline is valid? [True, True] Translation: X:72.02, Y:8.32, Z:7.35 [[ 9.85831628e-01 -1.26327968e-01 -1.10350555e-01 7.20220497e+01] [ 1.25357107e-01 9.91987135e-01 -1.57200682e-02 8.31636237e+00] [ 1.11452215e-01 1.66411416e-03 9.93768401e-01 7.35412279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66509989299998 meters 0.0558471274583109 Centerline is valid? [True, True] Translation: X:72.08, Y:8.32, Z:7.36 [[ 9.86318289e-01 -1.22568555e-01 -1.10241476e-01 7.20810597e+01] [ 1.21576194e-01 9.92457855e-01 -1.57046349e-02 8.32153418e+00] [ 1.11334913e-01 2.08702967e-03 9.93780751e-01 7.36086516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.72509989299998 meters 0.05673102354373202 Centerline is valid? [True, True] Translation: X:72.14, Y:8.33, Z:7.37 [[ 9.86351631e-01 -1.22050579e-01 -1.10517492e-01 7.21387996e+01] [ 1.21049729e-01 9.92521546e-01 -1.57462102e-02 8.32909075e+00] [ 1.11612827e-01 2.15318763e-03 9.93749436e-01 7.36709640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.78509989299998 meters 0.056750991668587575 Centerline is valid? [True, True] Translation: X:72.20, Y:8.33, Z:7.37 [[ 9.86259410e-01 -1.22212169e-01 -1.11160070e-01 7.21969788e+01] [ 1.21199364e-01 9.92501650e-01 -1.58489195e-02 8.33346365e+00] [ 1.12263483e-01 2.15861628e-03 9.93676130e-01 7.37379750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84509989299998 meters 0.056213981973624774 Centerline is valid? [True, True] Translation: X:72.26, Y:8.34, Z:7.38 [[ 9.86220639e-01 -1.22843034e-01 -1.10808122e-01 7.22550232e+01] [ 1.21839388e-01 9.92423910e-01 -1.58097207e-02 8.34197834e+00] [ 1.11910743e-01 2.09107916e-03 9.93716063e-01 7.37928320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90509989299998 meters 0.05654147788788098 Centerline is valid? [True, True] Translation: X:72.31, Y:8.35, Z:7.38 [[ 9.86108899e-01 -1.24111811e-01 -1.10387940e-01 7.23129445e+01] [ 1.23122540e-01 9.92266323e-01 -1.57602172e-02 8.35181301e+00] [ 1.11490264e-01 1.95004697e-03 9.93763613e-01 7.38394418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96509989299999 meters 0.05582674872746598 Centerline is valid? [True, True] Translation: X:72.37, Y:8.35, Z:7.39 [[ 9.85799737e-01 -1.29134292e-01 -1.07346234e-01 7.23740006e+01] [ 1.28227550e-01 9.91626191e-01 -1.53359883e-02 8.34589413e+00] [ 1.08427739e-01 1.35346869e-03 9.94103412e-01 7.39375908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02509989299998 meters 0.05511833820748344 Centerline is valid? [True, True] Translation: X:72.44, Y:8.31, Z:7.40 [[ 9.83558908e-01 -1.45388305e-01 -1.07117294e-01 7.24387582e+01] [ 1.44581237e-01 9.89374576e-01 -1.53040571e-02 8.31448323e+00] [ 1.08204159e-01 -4.34709182e-04 9.94128599e-01 7.40206603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08509989299998 meters 0.055244442590043026 Centerline is valid? [True, True] Translation: X:72.50, Y:8.31, Z:7.41 [[ 9.83132022e-01 -1.46820590e-01 -1.09064852e-01 7.24974623e+01] [ 1.45992580e-01 9.89162955e-01 -1.55825482e-02 8.30960578e+00] [ 1.10170751e-01 -6.02957143e-04 9.93912492e-01 7.40560032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.14509989299998 meters 0.05530078534987356 Centerline is valid? [True, True] Translation: X:72.55, Y:8.31, Z:7.41 [[ 9.83150342e-01 -1.46374690e-01 -1.09498196e-01 7.25549308e+01] [ 1.45536767e-01 9.89229067e-01 -1.56493512e-02 8.31295327e+00] [ 1.10609467e-01 -5.50348435e-04 9.93863795e-01 7.40871577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.20509989299998 meters 0.056000422055333524 Centerline is valid? [True, True] Translation: X:72.61, Y:8.32, Z:7.42 [[ 9.83244639e-01 -1.45994633e-01 -1.09158361e-01 7.26121846e+01] [ 1.45158065e-01 9.89285260e-01 -1.56144638e-02 8.31993357e+00] [ 1.10268385e-01 -4.92378602e-04 9.93901726e-01 7.41670449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26509989299998 meters 0.055514570634624096 Centerline is valid? [True, True] Translation: X:72.67, Y:8.32, Z:7.42 [[ 9.83573969e-01 -1.43998286e-01 -1.08842732e-01 7.26708681e+01] [ 1.43152907e-01 9.89577904e-01 -1.55825696e-02 8.32362320e+00] [ 1.09952226e-01 -2.54543658e-04 9.93936841e-01 7.42345608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32509989299999 meters 0.056893173358034406 Centerline is valid? [True, True] Translation: X:72.73, Y:8.31, Z:7.43 [[ 9.84314109e-01 -1.39800907e-01 -1.07617105e-01 7.27312356e+01] [ 1.38948171e-01 9.90179608e-01 -1.54191307e-02 8.30828721e+00] [ 1.08715872e-01 2.24067930e-04 9.94072839e-01 7.43209927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38509989299997 meters 0.05626144734353898 Centerline is valid? [True, True] Translation: X:72.79, Y:8.31, Z:7.44 [[ 9.83851263e-01 -1.43358007e-01 -1.07168902e-01 7.27903824e+01] [ 1.42532695e-01 9.89670883e-01 -1.53614811e-02 8.30818916e+00] [ 1.08264133e-01 -1.61659868e-04 9.94122151e-01 7.43787837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.44509989299998 meters 0.05660210524270176 Centerline is valid? [True, True] Translation: X:72.85, Y:8.31, Z:7.44 [[ 9.83557550e-01 -1.45623028e-01 -1.06810484e-01 7.28473769e+01] [ 1.44815791e-01 9.89340069e-01 -1.53171477e-02 8.31185630e+00] [ 1.07902421e-01 -4.02548419e-04 9.94161408e-01 7.44431390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.50509989299998 meters 0.05649595592145054 Centerline is valid? [True, True] Translation: X:72.91, Y:8.31, Z:7.45 [[ 9.82919749e-01 -1.50674456e-01 -1.05669178e-01 7.29066130e+01] [ 1.49912733e-01 9.88582989e-01 -1.51606964e-02 8.31142509e+00] [ 1.06747082e-01 -9.39407420e-04 9.94285763e-01 7.45183927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.56509989299998 meters 0.057248658233588386 Centerline is valid? [True, True] Translation: X:72.97, Y:8.29, Z:7.45 [[ 9.78838202e-01 -1.72008265e-01 -1.10855454e-01 7.29699735e+01] [ 1.71304724e-01 9.85089588e-01 -1.59120989e-02 8.28665175e+00] [ 1.11939566e-01 -3.41469272e-03 9.93709149e-01 7.45337987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62509989299998 meters 0.0587481302955722 Centerline is valid? [True, True] Translation: X:73.03, Y:8.29, Z:7.46 [[ 9.78106952e-01 -1.75257600e-01 -1.12212142e-01 7.30296891e+01] [ 1.74558014e-01 9.84515148e-01 -1.61065922e-02 8.28677390e+00] [ 1.13297357e-01 -3.83355899e-03 9.93553729e-01 7.45702438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68509989299999 meters 0.05974428665534372 Centerline is valid? [True, True] Translation: X:73.09, Y:8.29, Z:7.46 [[ 9.77785351e-01 -1.76877715e-01 -1.12472582e-01 7.30885220e+01] [ 1.76185385e-01 9.84224587e-01 -1.61453292e-02 8.29081100e+00] [ 1.13554029e-01 -4.02935881e-03 9.93523652e-01 7.46221615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74509989299999 meters 0.06402595724252062 Centerline is valid? [True, True] Translation: X:73.15, Y:8.28, Z:7.47 [[ 9.77454641e-01 -1.79106215e-01 -1.11818556e-01 7.31503871e+01] [ 1.78436260e-01 9.83820514e-01 -1.60529546e-02 8.28451634e+00] [ 1.12884573e-01 -4.26144994e-03 9.93598970e-01 7.46612368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.80509989299998 meters 0.059766965914536216 Centerline is valid? [True, True] Translation: X:73.21, Y:8.31, Z:7.48 [[ 9.77323284e-01 -1.80341951e-01 -1.10977383e-01 7.32058241e+01] [ 1.79689965e-01 9.83594265e-01 -1.59322791e-02 8.30554969e+00] [ 1.12029976e-01 -4.37053464e-03 9.93695216e-01 7.47660916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.86509989299998 meters 0.06152288823194826 Centerline is valid? [True, True] Translation: X:73.27, Y:8.31, Z:7.48 [[ 9.76408584e-01 -1.85809108e-01 -1.10005691e-01 7.32656882e+01] [ 1.85201732e-01 9.82573433e-01 -1.58040216e-02 8.30816332e+00] [ 1.11025201e-01 -4.94206222e-03 9.93805303e-01 7.48360705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.92509989299998 meters 0.058598117008153726 Centerline is valid? [True, True] Translation: X:73.32, Y:8.33, Z:7.49 [[ 9.75910592e-01 -1.89687294e-01 -1.07783330e-01 7.33227309e+01] [ 1.89127679e-01 9.81830398e-01 -1.54851950e-02 8.33056283e+00] [ 1.08762294e-01 -5.27264514e-03 9.94053803e-01 7.49432765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98509989299998 meters 0.05868834578372119 Centerline is valid? [True, True] Translation: X:73.38, Y:8.34, Z:7.50 [[ 9.75676348e-01 -1.91072277e-01 -1.07457194e-01 7.33808324e+01] [ 1.90524483e-01 9.81561055e-01 -1.54375366e-02 8.33828117e+00] [ 1.08425482e-01 -5.41118698e-03 9.94089852e-01 7.50093464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04509989299999 meters 0.05927884947724624 Centerline is valid? [True, True] Translation: X:73.44, Y:8.35, Z:7.51 [[ 9.75390311e-01 -1.92351691e-01 -1.07770907e-01 7.34382208e+01] [ 1.91808257e-01 9.81310259e-01 -1.54844389e-02 8.34543592e+00] [ 1.08735155e-01 -5.56797812e-03 9.94055161e-01 7.50705667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10509989299999 meters 0.0646115536493258 Centerline is valid? [True, True] Translation: X:73.50, Y:8.34, Z:7.51 [[ 9.74833587e-01 -1.94865042e-01 -1.08291706e-01 7.34980479e+01] [ 1.94331329e-01 9.80812481e-01 -1.55631397e-02 8.34300489e+00] [ 1.09246569e-01 -5.87299985e-03 9.93997332e-01 7.51154168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.16509989299998 meters 0.05960571454320349 Centerline is valid? [True, True] Translation: X:73.55, Y:8.37, Z:7.52 [[ 9.74579351e-01 -1.96023257e-01 -1.08489495e-01 7.35538722e+01] [ 1.95494877e-01 9.80580797e-01 -1.55901839e-02 8.36785250e+00] [ 1.09438755e-01 -6.01526925e-03 9.93975340e-01 7.51896730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.22509989299998 meters 0.060715466438234916 Centerline is valid? [True, True] Translation: X:73.61, Y:8.40, Z:7.52 [[ 9.75042427e-01 -1.92907710e-01 -1.09903965e-01 7.36105169e+01] [ 1.92345513e-01 9.81200129e-01 -1.57959117e-02 8.39565182e+00] [ 1.10884938e-01 -5.73785048e-03 9.93816687e-01 7.52282136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.28509989299998 meters 0.0617913984007442 Centerline is valid? [True, True] Translation: X:73.67, Y:8.40, Z:7.53 [[ 9.75757790e-01 -1.89234809e-01 -1.09940543e-01 7.36696270e+01] [ 1.88648980e-01 9.81917445e-01 -1.58017110e-02 8.40230416e+00] [ 1.10942771e-01 -5.32152868e-03 9.93812549e-01 7.52756134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34509989299998 meters 0.057766402101571135 Centerline is valid? [True, True] Translation: X:73.73, Y:8.43, Z:7.54 [[ 9.76199975e-01 -1.87143030e-01 -1.09595145e-01 7.37265437e+01] [ 1.86547636e-01 9.82319610e-01 -1.57531671e-02 8.42602672e+00] [ 1.10605556e-01 -5.06647389e-03 9.93851469e-01 7.53574875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40509989299998 meters 0.056491792829558844 Centerline is valid? [True, True] Translation: X:73.78, Y:8.44, Z:7.54 [[ 9.77238141e-01 -1.82336022e-01 -1.08439803e-01 7.37843496e+01] [ 1.81723568e-01 9.83226101e-01 -1.55877667e-02 8.44481377e+00] [ 1.09463056e-01 -4.47310787e-03 9.93980800e-01 7.54282862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46509989299999 meters 0.057738286728051084 Centerline is valid? [True, True] Translation: X:73.84, Y:8.45, Z:7.55 [[ 9.77735465e-01 -1.79756352e-01 -1.08263634e-01 7.38430980e+01] [ 1.79130200e-01 9.83702292e-01 -1.55618904e-02 8.45280975e+00] [ 1.09296533e-01 -4.17787414e-03 9.94000409e-01 7.54827693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52509989299998 meters 0.055729320576146955 Centerline is valid? [True, True] Translation: X:73.90, Y:8.49, Z:7.55 [[ 9.81005168e-01 -1.60587457e-01 -1.08814190e-01 7.38986749e+01] [ 1.59836918e-01 9.87019492e-01 -1.56423309e-02 8.49152304e+00] [ 1.09913689e-01 -2.04731744e-03 9.93939027e-01 7.55415216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.58509989299998 meters 0.05559541839059578 Centerline is valid? [True, True] Translation: X:73.96, Y:8.50, Z:7.56 [[ 9.81662577e-01 -1.56577534e-01 -1.08729297e-01 7.39567227e+01] [ 1.55803425e-01 9.87664382e-01 -1.56320501e-02 8.50296729e+00] [ 1.09835682e-01 -1.59499825e-03 9.93948479e-01 7.55939413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.64509989299998 meters 0.055547417785572165 Centerline is valid? [True, True] Translation: X:74.01, Y:8.52, Z:7.57 [[ 9.81961030e-01 -1.54897194e-01 -1.08440745e-01 7.40141233e+01] [ 1.54116825e-01 9.87929600e-01 -1.55919912e-02 8.51609129e+00] [ 1.09546977e-01 -1.40181555e-03 9.93980631e-01 7.56724054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.70509989299998 meters 0.05568756009101541 Centerline is valid? [True, True] Translation: X:74.07, Y:8.53, Z:7.58 [[ 9.82595476e-01 -1.51380092e-01 -1.07657780e-01 7.40699977e+01] [ 1.50588676e-01 9.88475132e-01 -1.54907946e-02 8.53005895e+00] [ 1.08762036e-01 -9.90857911e-04 9.94067320e-01 7.57542991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76509989299998 meters 0.05526015454590756 Centerline is valid? [True, True] Translation: X:74.13, Y:8.54, Z:7.58 [[ 9.82882179e-01 -1.49797994e-01 -1.07252892e-01 7.41270955e+01] [ 1.49002622e-01 9.88716293e-01 -1.54372973e-02 8.54082434e+00] [ 1.08355158e-01 -8.07917785e-04 9.94111919e-01 7.58259348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82509989299999 meters 0.05565929140615732 Centerline is valid? [True, True] Translation: X:74.18, Y:8.55, Z:7.59 [[ 9.83120206e-01 -1.48430768e-01 -1.06971810e-01 7.41849991e+01] [ 1.47630215e-01 9.88922592e-01 -1.54086658e-02 8.55129055e+00] [ 1.08073959e-01 -6.43700555e-04 9.94142648e-01 7.58940443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88509989299997 meters 0.05564260147437723 Centerline is valid? [True, True] Translation: X:74.25, Y:8.55, Z:7.59 [[ 9.80734824e-01 -1.62971818e-01 -1.07700467e-01 7.42453181e+01] [ 1.62246219e-01 9.86628164e-01 -1.55251683e-02 8.54809561e+00] [ 1.08790479e-01 -2.24792047e-03 9.94062160e-01 7.59242711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94509989299998 meters 0.056417762792428584 Centerline is valid? [True, True] Translation: X:74.31, Y:8.55, Z:7.60 [[ 9.79125897e-01 -1.71286873e-01 -1.09422509e-01 7.43054869e+01] [ 1.70589409e-01 9.85215930e-01 -1.57741609e-02 8.54761464e+00] [ 1.10506705e-01 -3.22143161e-03 9.93870158e-01 7.59622938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.00509989299998 meters 0.058751724411246986 Centerline is valid? [True, True] Translation: X:74.37, Y:8.55, Z:7.60 [[ 9.78253302e-01 -1.75293037e-01 -1.10873026e-01 7.43669364e+01] [ 1.74602521e-01 9.84509264e-01 -1.59833881e-02 8.54780826e+00] [ 1.11957298e-01 -3.72290755e-03 9.93706045e-01 7.59965617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.06509989299998 meters 0.05887630309472543 Centerline is valid? [True, True] Translation: X:74.43, Y:8.55, Z:7.60 [[ 9.76671573e-01 -1.82607344e-01 -1.12992019e-01 7.44271424e+01] [ 1.81938789e-01 9.83174932e-01 -1.62889394e-02 8.55181589e+00] [ 1.14065401e-01 -4.64868709e-03 9.93462367e-01 7.60411772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12509989299998 meters 0.06532604905713628 Centerline is valid? [True, True] Translation: X:74.49, Y:8.55, Z:7.61 [[ 9.76090355e-01 -1.85573589e-01 -1.13181546e-01 7.44887205e+01] [ 1.84922535e-01 9.82617633e-01 -1.63169590e-02 8.54502313e+00] [ 1.14242179e-01 -5.00299203e-03 9.93440333e-01 7.60713480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18509989299999 meters 0.05780758281929254 Centerline is valid? [True, True] Translation: X:74.54, Y:8.58, Z:7.62 [[ 9.74293318e-01 -1.96602575e-01 -1.09999811e-01 7.45430863e+01] [ 1.96057346e-01 9.80464190e-01 -1.58584088e-02 8.57906548e+00] [ 1.10968680e-01 -6.11552928e-03 9.93805088e-01 7.62404660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24509989299999 meters 0.062455055006745905 Centerline is valid? [True, True] Translation: X:74.60, Y:8.57, Z:7.63 [[ 9.74332352e-01 -1.96296248e-01 -1.10200956e-01 7.46026490e+01] [ 1.95746929e-01 9.80525720e-01 -1.58887385e-02 8.57434655e+00] [ 1.11173772e-01 -6.09058677e-03 9.93782319e-01 7.62804823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.30509989299998 meters 0.05605273436649786 Centerline is valid? [True, True] Translation: X:74.66, Y:8.60, Z:7.64 [[ 9.74335486e-01 -1.95757036e-01 -1.11128497e-01 7.46573265e+01] [ 1.95193617e-01 9.80633649e-01 -1.60343103e-02 8.60441079e+00] [ 1.12115172e-01 -6.06877570e-03 9.93676687e-01 7.63512666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.36509989299998 meters 0.06182239577865167 Centerline is valid? [True, True] Translation: X:74.72, Y:8.59, Z:7.64 [[ 9.74358601e-01 -1.95363016e-01 -1.11618136e-01 7.47179120e+01] [ 1.94790784e-01 9.80712404e-01 -1.61161802e-02 8.59312414e+00] [ 1.12613796e-01 -6.03924530e-03 9.93620481e-01 7.63704999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.42509989299998 meters 0.05500838369327111 Centerline is valid? [True, True] Translation: X:74.77, Y:8.68, Z:7.65 [[ 9.84730129e-01 -1.35507369e-01 -1.09290098e-01 7.47652957e+01] [ 1.34586783e-01 9.90775982e-01 -1.57908680e-02 8.68191385e+00] [ 1.10421783e-01 8.40740759e-04 9.93884462e-01 7.64904863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48509989299998 meters 0.05508273479186981 Centerline is valid? [True, True] Translation: X:74.82, Y:8.68, Z:7.65 [[ 9.84172893e-01 -1.40077948e-01 -1.08544395e-01 7.48238219e+01] [ 1.39197520e-01 9.90140425e-01 -1.56840277e-02 8.68473286e+00] [ 1.09671180e-01 3.26684336e-04 9.93967869e-01 7.65498985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54509989299999 meters 0.05500522845959919 Centerline is valid? [True, True] Translation: X:74.88, Y:8.69, Z:7.66 [[ 9.84077271e-01 -1.40870914e-01 -1.08385014e-01 7.48809861e+01] [ 1.39996591e-01 9.90027941e-01 -1.56726232e-02 8.69135432e+00] [ 1.09512009e-01 2.49539777e-04 9.93985441e-01 7.66275855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60509989299999 meters 0.05464739962465435 Centerline is valid? [True, True] Translation: X:74.94, Y:8.70, Z:7.67 [[ 9.83999853e-01 -1.41026342e-01 -1.08884619e-01 7.49378260e+01] [ 1.40143274e-01 9.90005813e-01 -1.57592315e-02 8.69871602e+00] [ 1.10018873e-01 2.47634545e-04 9.93929467e-01 7.66858890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66509989299998 meters 0.05518187704656087 Centerline is valid? [True, True] Translation: X:74.99, Y:8.71, Z:7.67 [[ 9.83976658e-01 -1.40965674e-01 -1.09172413e-01 7.49946020e+01] [ 1.40076068e-01 9.90014448e-01 -1.58141795e-02 8.70601800e+00] [ 1.10311523e-01 2.68341087e-04 9.93897025e-01 7.67340979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.72509989299998 meters 0.055010724439267966 Centerline is valid? [True, True] Translation: X:75.05, Y:8.71, Z:7.68 [[ 9.83943969e-01 -1.40922871e-01 -1.09521731e-01 7.50516242e+01] [ 1.40026741e-01 9.90020539e-01 -1.58696297e-02 8.71314952e+00] [ 1.10665157e-01 2.78855313e-04 9.93857709e-01 7.67835310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.78509989299998 meters 0.05586673867395464 Centerline is valid? [True, True] Translation: X:75.11, Y:8.72, Z:7.69 [[ 9.83854311e-01 -1.41062900e-01 -1.10145143e-01 7.51098805e+01] [ 1.40155871e-01 9.90000596e-01 -1.59734431e-02 8.71935745e+00] [ 1.11297017e-01 2.78052509e-04 9.93787149e-01 7.68555117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84509989299998 meters 0.05554759780630883 Centerline is valid? [True, True] Translation: X:75.17, Y:8.73, Z:7.69 [[ 9.83754119e-01 -1.41330286e-01 -1.10695907e-01 7.51680503e+01] [ 1.40414483e-01 9.89962465e-01 -1.60652091e-02 8.72563105e+00] [ 1.11855293e-01 2.60907173e-04 9.93724472e-01 7.68942075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90509989299998 meters 0.055197818207743984 Centerline is valid? [True, True] Translation: X:75.23, Y:8.73, Z:7.70 [[ 9.84569507e-01 -1.38356396e-01 -1.07146600e-01 7.52264872e+01] [ 1.37479844e-01 9.90382330e-01 -1.55606211e-02 8.72719995e+00] [ 1.08269011e-01 5.90015163e-04 9.94121458e-01 7.69635722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96509989299999 meters 0.055314994968559614 Centerline is valid? [True, True] Translation: X:75.28, Y:8.73, Z:7.70 [[ 9.84730306e-01 -1.37071323e-01 -1.07320438e-01 7.52834768e+01] [ 1.36183109e-01 9.90560902e-01 -1.55968308e-02 8.73333755e+00] [ 1.08445308e-01 7.43441042e-04 9.94102139e-01 7.70180277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02509989299998 meters 0.05573858163473803 Centerline is valid? [True, True] Translation: X:75.34, Y:8.74, Z:7.71 [[ 9.84693976e-01 -1.37214870e-01 -1.07470245e-01 7.53410708e+01] [ 1.36324504e-01 9.90541035e-01 -1.56233104e-02 8.73997425e+00] [ 1.08597438e-01 7.33351812e-04 9.94085539e-01 7.70718283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08509989299998 meters 0.05573858163473803 Centerline is valid? [True, True] Translation: X:75.40, Y:8.75, Z:7.71 [[ 9.84676180e-01 -1.37344005e-01 -1.07468341e-01 7.53976057e+01] [ 1.36452978e-01 9.90523138e-01 -1.56363989e-02 8.74821407e+00] [ 1.08597444e-01 7.32414371e-04 9.94085539e-01 7.71316231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.14509989299998 meters 0.05529683966482619 Centerline is valid? [True, True] Translation: X:75.46, Y:8.75, Z:7.72 [[ 9.84496860e-01 -1.38726475e-01 -1.07335441e-01 7.54551562e+01] [ 1.37844334e-01 9.90330558e-01 -1.56309416e-02 8.75162501e+00] [ 1.08465992e-01 5.93030623e-04 9.94099983e-01 7.71982967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.20509989299998 meters 0.05566072102006492 Centerline is valid? [True, True] Translation: X:75.52, Y:8.73, Z:7.73 [[ 9.81627503e-01 -1.56127422e-01 -1.09688981e-01 7.55185120e+01] [ 1.55313559e-01 9.87735998e-01 -1.59780252e-02 8.73326721e+00] [ 1.10838363e-01 -1.35171711e-03 9.93837527e-01 7.72552264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26509989299998 meters 0.05616450717326179 Centerline is valid? [True, True] Translation: X:75.58, Y:8.74, Z:7.73 [[ 9.80869659e-01 -1.60150840e-01 -1.10663543e-01 7.55778446e+01] [ 1.59347903e-01 9.87090871e-01 -1.61201130e-02 8.73851320e+00] [ 1.11816623e-01 -1.82227386e-03 9.93727187e-01 7.73287539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32509989299999 meters 0.0567188140931631 Centerline is valid? [True, True] Translation: X:75.64, Y:8.74, Z:7.74 [[ 9.80596080e-01 -1.61693482e-01 -1.10844693e-01 7.56361402e+01] [ 1.60897437e-01 9.86839005e-01 -1.61490693e-02 8.73781898e+00] [ 1.11997066e-01 -1.99891296e-03 9.93706527e-01 7.73670001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38509989299997 meters 0.055986368955259054 Centerline is valid? [True, True] Translation: X:75.70, Y:8.74, Z:7.74 [[ 9.82359205e-01 -1.51638150e-01 -1.09436113e-01 7.56953447e+01] [ 1.50798702e-01 9.88435726e-01 -1.59551713e-02 8.74428484e+00] [ 1.10589977e-01 -8.29114456e-04 9.93865770e-01 7.74422123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.44509989299998 meters 0.0562062901294151 Centerline is valid? [True, True] Translation: X:75.75, Y:8.75, Z:7.75 [[ 9.82638452e-01 -1.50465158e-01 -1.08544506e-01 7.57529987e+01] [ 1.49632132e-01 9.88615072e-01 -1.58261020e-02 8.75162551e+00] [ 1.09690011e-01 -6.90409470e-04 9.93965605e-01 7.75034500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.50509989299998 meters 0.05577547598744472 Centerline is valid? [True, True] Translation: X:75.81, Y:8.76, Z:7.76 [[ 9.82913344e-01 -1.49137588e-01 -1.07885762e-01 7.58099851e+01] [ 1.48305473e-01 9.88816313e-01 -1.57411980e-02 8.75955791e+00] [ 1.09026805e-01 -5.27815330e-04 9.94038670e-01 7.75708561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.56509989299998 meters 0.05661354433924307 Centerline is valid? [True, True] Translation: X:75.87, Y:8.77, Z:7.77 [[ 9.83397006e-01 -1.46803622e-01 -1.06672514e-01 7.58677612e+01] [ 1.45975976e-01 9.89165622e-01 -1.55687490e-02 8.76907544e+00] [ 1.07802332e-01 -2.61363183e-04 9.94172313e-01 7.76675060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62509989299998 meters 0.05708425192261481 Centerline is valid? [True, True] Translation: X:75.93, Y:8.77, Z:7.77 [[ 9.83620695e-01 -1.43100326e-01 -1.09602121e-01 7.59275004e+01] [ 1.42202226e-01 9.89708175e-01 -1.60079919e-02 8.76875599e+00] [ 1.10764864e-01 1.60126459e-04 9.93846628e-01 7.76957595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68509989299999 meters 0.056758155734530025 Centerline is valid? [True, True] Translation: X:75.99, Y:8.77, Z:7.77 [[ 9.83450280e-01 -1.43748401e-01 -1.10281200e-01 7.59863271e+01] [ 1.42841862e-01 9.89614262e-01 -1.61187760e-02 8.77468165e+00] [ 1.11452897e-01 9.92428094e-05 9.93769713e-01 7.77432980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74509989299999 meters 0.05667466656089729 Centerline is valid? [True, True] Translation: X:76.04, Y:8.78, Z:7.78 [[ 9.83216168e-01 -1.45312720e-01 -1.10318537e-01 7.60435751e+01] [ 1.44414030e-01 9.89385774e-01 -1.61362604e-02 8.77925657e+00] [ 1.11492395e-01 -6.61124151e-05 9.93765285e-01 7.78134979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.80509989299998 meters 0.05638492896653152 Centerline is valid? [True, True] Translation: X:76.10, Y:8.78, Z:7.78 [[ 9.82760566e-01 -1.47841608e-01 -1.11015890e-01 7.61012800e+01] [ 1.46945906e-01 9.89010992e-01 -1.62529298e-02 8.78215245e+00] [ 1.12198795e-01 -3.40592150e-04 9.93685722e-01 7.78499479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.86509989299998 meters 0.056594323397411224 Centerline is valid? [True, True] Translation: X:76.16, Y:8.77, Z:7.79 [[ 9.80378550e-01 -1.63488483e-01 -1.10133620e-01 7.61632535e+01] [ 1.62703851e-01 9.86543007e-01 -1.61354380e-02 8.77251140e+00] [ 1.11289511e-01 -2.10032674e-03 9.93785809e-01 7.79260528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.92509989299998 meters 0.057082652080966426 Centerline is valid? [True, True] Translation: X:76.22, Y:8.77, Z:7.80 [[ 9.79309159e-01 -1.71135018e-01 -1.08010999e-01 7.62235565e+01] [ 1.70426638e-01 9.85243287e-01 -1.58248723e-02 8.77264925e+00] [ 1.09125302e-01 -2.91050900e-03 9.94023741e-01 7.80094940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98509989299998 meters 0.057995011685614106 Centerline is valid? [True, True] Translation: X:76.28, Y:8.77, Z:7.81 [[ 9.78043643e-01 -1.77899697e-01 -1.08546441e-01 7.62843536e+01] [ 1.77225668e-01 9.84041735e-01 -1.59036840e-02 8.77385694e+00] [ 1.09643489e-01 -3.68271854e-03 9.93964156e-01 7.80693612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04509989299999 meters 0.060277254066634256 Centerline is valid? [True, True] Translation: X:76.35, Y:8.76, Z:7.82 [[ 9.72906271e-01 -2.04470684e-01 -1.07912591e-01 7.63450979e+01] [ 2.03966125e-01 9.78850252e-01 -1.58114916e-02 8.76219322e+00] [ 1.08863254e-01 -6.62741375e-03 9.94034642e-01 7.81582600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10509989299999 meters 0.059770317953347064 Centerline is valid? [True, True] Translation: X:76.40, Y:8.77, Z:7.82 [[ 9.72372828e-01 -2.06724781e-01 -1.08424849e-01 7.64041258e+01] [ 2.06229306e-01 9.78374715e-01 -1.58868131e-02 8.77288188e+00] [ 1.09364328e-01 -6.91247590e-03 9.93977697e-01 7.82202982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16509989299998 meters 0.06131981736381477 Centerline is valid? [True, True] Translation: X:76.46, Y:8.78, Z:7.83 [[ 9.71847457e-01 -2.09133353e-01 -1.08516182e-01 7.64639230e+01] [ 2.08652028e-01 9.77860696e-01 -1.58994115e-02 8.77506901e+00] [ 1.09438806e-01 -7.19031871e-03 9.93967528e-01 7.82759205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.22509989299998 meters 0.05887418031463369 Centerline is valid? [True, True] Translation: X:76.52, Y:8.80, Z:7.84 [[ 9.73603649e-01 -2.02231042e-01 -1.05823153e-01 7.65205339e+01] [ 2.01732632e-01 9.79317886e-01 -1.55055889e-02 8.79740173e+00] [ 1.06770218e-01 -6.25168532e-03 9.94264068e-01 7.83668557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.28509989299998 meters 0.058880995424130715 Centerline is valid? [True, True] Translation: X:76.58, Y:8.81, Z:7.84 [[ 9.74442815e-01 -1.98662631e-01 -1.04853992e-01 7.65790252e+01] [ 1.98152686e-01 9.80050741e-01 -1.53641971e-02 8.80665439e+00] [ 1.05814524e-01 -5.80556860e-03 9.94368936e-01 7.84397173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34509989299998 meters 0.0632830928563767 Centerline is valid? [True, True] Translation: X:76.64, Y:8.81, Z:7.85 [[ 9.75781754e-01 -1.92427660e-01 -1.04026749e-01 7.66382319e+01] [ 1.91890324e-01 9.81297977e-01 -1.52441250e-02 8.80715330e+00] [ 1.05014630e-01 -5.08678766e-03 9.94457667e-01 7.85050510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40509989299998 meters 0.058649532969201425 Centerline is valid? [True, True] Translation: X:76.69, Y:8.84, Z:7.86 [[ 9.76586562e-01 -1.88494293e-01 -1.03675400e-01 7.66948497e+01] [ 1.87938400e-01 9.82063292e-01 -1.51936750e-02 8.83521889e+00] [ 1.04679725e-01 -4.64664988e-03 9.94495130e-01 7.85653097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46509989299999 meters 0.06327862391927232 Centerline is valid? [True, True] Translation: X:76.76, Y:8.83, Z:7.86 [[ 9.77157942e-01 -1.85460867e-01 -1.03762344e-01 7.67553035e+01] [ 1.84886971e-01 9.82642133e-01 -1.52067663e-02 8.83376756e+00] [ 1.04781511e-01 -4.32489302e-03 9.94485862e-01 7.86240017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52509989299998 meters 0.05890003902215831 Centerline is valid? [True, True] Translation: X:76.81, Y:8.86, Z:7.87 [[ 9.77490822e-01 -1.83284139e-01 -1.04492190e-01 7.68107999e+01] [ 1.82689718e-01 9.83051345e-01 -1.53140318e-02 8.86361953e+00] [ 1.05528007e-01 -4.12032317e-03 9.94407795e-01 7.86779896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.58509989299998 meters 0.05749006395718181 Centerline is valid? [True, True] Translation: X:76.87, Y:8.88, Z:7.87 [[ 9.77674189e-01 -1.81745509e-01 -1.05459712e-01 7.68676823e+01] [ 1.81131013e-01 9.83337504e-01 -1.54566996e-02 8.88339976e+00] [ 1.06511676e-01 -3.99040825e-03 9.94303444e-01 7.87348130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.64509989299998 meters 0.05681676405149962 Centerline is valid? [True, True] Translation: X:76.93, Y:8.90, Z:7.88 [[ 9.77863703e-01 -1.80071414e-01 -1.06568585e-01 7.69264309e+01] [ 1.79433827e-01 9.83646017e-01 -1.56209528e-02 8.89628505e+00] [ 1.07638652e-01 -3.84684632e-03 9.94182640e-01 7.87848259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.70509989299998 meters 0.05644477503752145 Centerline is valid? [True, True] Translation: X:76.98, Y:8.91, Z:7.88 [[ 9.78394034e-01 -1.76876954e-01 -1.07049794e-01 7.69848695e+01] [ 1.76214445e-01 9.84226712e-01 -1.56923355e-02 8.90985814e+00] [ 1.08136879e-01 -3.51043252e-03 9.94129817e-01 7.88356040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76509989299998 meters 0.05644919472401672 Centerline is valid? [True, True] Translation: X:77.04, Y:8.93, Z:7.89 [[ 9.79259088e-01 -1.71947092e-01 -1.07171990e-01 7.70438544e+01] [ 1.71253598e-01 9.85101712e-01 -1.57105643e-02 8.92517032e+00] [ 1.08276697e-01 -2.96887607e-03 9.94116363e-01 7.88910231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82509989299999 meters 0.05594893093000204 Centerline is valid? [True, True] Translation: X:77.10, Y:8.94, Z:7.90 [[ 9.79711391e-01 -1.68839423e-01 -1.07976103e-01 7.71006984e+01] [ 1.68116678e-01 9.85640021e-01 -1.58282069e-02 8.94157275e+00] [ 1.09097994e-01 -2.64550922e-03 9.94027479e-01 7.89516071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88509989299997 meters 0.05718685992825796 Centerline is valid? [True, True] Translation: X:77.16, Y:8.95, Z:7.90 [[ 9.79843338e-01 -1.66623035e-01 -1.10198900e-01 7.71579889e+01] [ 1.65855985e-01 9.86017635e-01 -1.61559610e-02 8.95146924e+00] [ 1.11350014e-01 -2.44683639e-03 9.93778238e-01 7.89780338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.94509989299998 meters 0.05614071997562835 Centerline is valid? [True, True] Translation: X:77.21, Y:8.97, Z:7.91 [[ 9.80269721e-01 -1.66486181e-01 -1.06553390e-01 7.72138600e+01] [ 1.65767953e-01 9.86040996e-01 -1.56249796e-02 8.97166975e+00] [ 1.07667354e-01 -2.34644290e-03 9.94184206e-01 7.90957675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.00509989299998 meters 0.055439818040370126 Centerline is valid? [True, True] Translation: X:77.27, Y:8.98, Z:7.92 [[ 9.81256773e-01 -1.60820041e-01 -1.06169955e-01 7.72713049e+01] [ 1.60072690e-01 9.86982270e-01 -1.55799023e-02 8.98405919e+00] [ 1.07293423e-01 -1.70702557e-03 9.94225934e-01 7.91630601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.06509989299998 meters 0.05623737859357908 Centerline is valid? [True, True] Translation: X:77.33, Y:9.00, Z:7.92 [[ 9.82025308e-01 -1.55672738e-01 -1.06734685e-01 7.73299668e+01] [ 1.54886930e-01 9.87808017e-01 -1.56640122e-02 8.99534130e+00] [ 1.07871837e-01 -1.14935122e-03 9.94164144e-01 7.92135473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12509989299998 meters 0.05625877695584895 Centerline is valid? [True, True] Translation: X:77.39, Y:9.01, Z:7.93 [[ 9.82926477e-01 -1.49242661e-01 -1.07620486e-01 7.73872355e+01] [ 1.48405150e-01 9.88800500e-01 -1.57950130e-02 9.00807275e+00] [ 1.08772480e-01 -4.46097814e-04 9.94066572e-01 7.92695811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18509989299999 meters 0.05609403690110475 Centerline is valid? [True, True] Translation: X:77.44, Y:9.02, Z:7.93 [[ 9.83142227e-01 -1.47063840e-01 -1.08644318e-01 7.74439593e+01] [ 1.46196549e-01 9.89126982e-01 -1.59493923e-02 9.01770178e+00] [ 1.09808605e-01 -2.02903311e-04 9.93952730e-01 7.93195341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24509989299997 meters 0.05683970657712906 Centerline is valid? [True, True] Translation: X:77.50, Y:9.03, Z:7.94 [[ 9.83278205e-01 -1.45806798e-01 -1.09107053e-01 7.75005795e+01] [ 1.44922865e-01 9.89313083e-01 -1.60308393e-02 9.02610497e+00] [ 1.10278440e-01 -4.93319003e-05 9.93900731e-01 7.93809971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.30509989299998 meters 0.0563057169802288 Centerline is valid? [True, True] Translation: X:77.56, Y:9.03, Z:7.94 [[ 9.83265030e-01 -1.45762046e-01 -1.09285435e-01 7.75574917e+01] [ 1.44873338e-01 9.89319678e-01 -1.60714359e-02 9.03376877e+00] [ 1.10460836e-01 -3.00647153e-05 9.93880477e-01 7.94284120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.36509989299998 meters 0.055996377929769865 Centerline is valid? [True, True] Translation: X:77.61, Y:9.04, Z:7.95 [[ 9.83177149e-01 -1.46655106e-01 -1.08880544e-01 7.76143082e+01] [ 1.45776958e-01 9.89187680e-01 -1.60253546e-02 9.04064862e+00] [ 1.10053493e-01 -1.16512000e-04 9.93925659e-01 7.94938875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.42509989299998 meters 0.05618416422351636 Centerline is valid? [True, True] Translation: X:77.67, Y:9.04, Z:7.96 [[ 9.82461582e-01 -1.54027017e-01 -1.05094802e-01 7.76732726e+01] [ 1.53249611e-01 9.88066231e-01 -1.54816206e-02 9.04148050e+00] [ 1.06225213e-01 -8.95640103e-04 9.94341693e-01 7.95920365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48509989299998 meters 0.05661692879649751 Centerline is valid? [True, True] Translation: X:77.73, Y:9.03, Z:7.97 [[ 9.80357345e-01 -1.67276865e-01 -1.04488881e-01 7.77349279e+01] [ 1.66582014e-01 9.85907268e-01 -1.54042805e-02 9.03473911e+00] [ 1.05593127e-01 -2.30426869e-03 9.94406749e-01 7.96552466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54509989299999 meters 0.060993089232360846 Centerline is valid? [True, True] Translation: X:77.80, Y:9.02, Z:7.97 [[ 9.76571238e-01 -1.86787520e-01 -1.06859904e-01 7.77980384e+01] [ 1.86176633e-01 9.82389984e-01 -1.57537527e-02 9.01675481e+00] [ 1.07920703e-01 -4.51015521e-03 9.94149275e-01 7.96901873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60509989299999 meters 0.05855419704772636 Centerline is valid? [True, True] Translation: X:77.86, Y:9.03, Z:7.98 [[ 9.74790823e-01 -1.96137956e-01 -1.06361434e-01 7.78567656e+01] [ 1.95587991e-01 9.80560787e-01 -1.56805876e-02 9.03063936e+00] [ 1.07369410e-01 -5.51772624e-03 9.94203885e-01 7.97679213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66509989299998 meters 0.057531888005888765 Centerline is valid? [True, True] Translation: X:77.91, Y:9.04, Z:7.98 [[ 9.74495411e-01 -1.97490160e-01 -1.06566088e-01 7.79149141e+01] [ 1.96946062e-01 9.80288430e-01 -1.57112394e-02 9.04371242e+00] [ 1.07568318e-01 -5.67724080e-03 9.94181485e-01 7.98307795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.72509989299998 meters 0.0569861189264956 Centerline is valid? [True, True] Translation: X:77.97, Y:9.05, Z:7.99 [[ 9.74252208e-01 -1.98395964e-01 -1.07105915e-01 7.79732132e+01] [ 1.97851679e-01 9.80104756e-01 -1.57917752e-02 9.05308065e+00] [ 1.08108041e-01 -5.80591330e-03 9.94122197e-01 7.98868239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.78509989299998 meters 0.05962833988807504 Centerline is valid? [True, True] Translation: X:78.03, Y:9.05, Z:7.99 [[ 9.74185298e-01 -1.98416998e-01 -1.07674042e-01 7.80313524e+01] [ 1.97866657e-01 9.80100320e-01 -1.58791830e-02 9.05267938e+00] [ 1.08682063e-01 -5.83583614e-03 9.94059431e-01 7.99185159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84509989299998 meters 0.05811531456088015 Centerline is valid? [True, True] Translation: X:78.09, Y:9.07, Z:8.00 [[ 9.74883263e-01 -1.94861064e-01 -1.07850773e-01 7.80893979e+01] [ 1.94286824e-01 9.80815745e-01 -1.59092703e-02 9.07205972e+00] [ 1.08881834e-01 -5.44430275e-03 9.94039791e-01 7.99837410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90509989299998 meters 0.060257529914435504 Centerline is valid? [True, True] Translation: X:78.15, Y:9.08, Z:8.01 [[ 9.75833960e-01 -1.90325915e-01 -1.07350490e-01 7.81493157e+01] [ 1.89729639e-01 9.81708660e-01 -1.58357385e-02 9.08014350e+00] [ 1.08400857e-01 -4.91451825e-03 9.94095117e-01 8.00523577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96509989299999 meters 0.05674483390680943 Centerline is valid? [True, True] Translation: X:78.21, Y:9.11, Z:8.01 [[ 9.76668040e-01 -1.85844252e-01 -1.07617161e-01 7.82058240e+01] [ 1.85217873e-01 9.82569240e-01 -1.58754276e-02 9.10752622e+00] [ 1.08691669e-01 -4.42759887e-03 9.94065650e-01 8.01280218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02509989299998 meters 0.05726795038353605 Centerline is valid? [True, True] Translation: X:78.26, Y:9.12, Z:8.02 [[ 9.78183278e-01 -1.77521348e-01 -1.07905726e-01 7.82632742e+01] [ 1.76841174e-01 9.84110683e-01 -1.59173745e-02 9.12227191e+00] [ 1.09016852e-01 -3.51206579e-03 9.94033697e-01 8.01842614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.08509989299998 meters 0.056305093286096015 Centerline is valid? [True, True] Translation: X:78.32, Y:9.14, Z:8.03 [[ 9.79690660e-01 -1.68670090e-01 -1.08427913e-01 7.83202294e+01] [ 1.67929154e-01 9.85669295e-01 -1.59950014e-02 9.14472758e+00] [ 1.09571943e-01 -2.53805425e-03 9.93975627e-01 8.02528502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.14509989299998 meters 0.05595011155529894 Centerline is valid? [True, True] Translation: X:78.38, Y:9.17, Z:8.03 [[ 9.81401073e-01 -1.57686958e-01 -1.09484048e-01 7.83776253e+01] [ 1.56863177e-01 9.87488265e-01 -1.61514840e-02 9.16632707e+00] [ 1.10661091e-01 -1.32293188e-03 9.93857320e-01 8.02942919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.20509989299998 meters 0.05590230224428256 Centerline is valid? [True, True] Translation: X:78.43, Y:9.18, Z:8.04 [[ 9.82503430e-01 -1.51202759e-01 -1.08741597e-01 7.84342024e+01] [ 1.50350473e-01 9.88502595e-01 -1.60422935e-02 9.18447461e+00] [ 1.09916990e-01 -5.87742109e-04 9.93940597e-01 8.03701756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26509989299998 meters 0.05555885168716851 Centerline is valid? [True, True] Translation: X:78.49, Y:9.20, Z:8.04 [[ 9.83116291e-01 -1.47622316e-01 -1.08120346e-01 7.84911445e+01] [ 1.46757927e-01 9.89043790e-01 -1.59528391e-02 9.19830008e+00] [ 1.09290752e-01 -1.84021790e-04 9.94009808e-01 8.04240851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32509989299999 meters 0.05578718800441521 Centerline is valid? [True, True] Translation: X:78.55, Y:9.21, Z:8.05 [[ 9.82861241e-01 -1.47124776e-01 -1.11076913e-01 7.85475832e+01] [ 1.46207848e-01 9.89117933e-01 -1.64005943e-02 9.21113187e+00] [ 1.12281100e-01 -1.20807935e-04 9.93676476e-01 8.04710018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38509989299997 meters 0.05562963576658338 Centerline is valid? [True, True] Translation: X:78.61, Y:9.22, Z:8.05 [[ 9.82814952e-01 -1.49369099e-01 -1.08460328e-01 7.86055922e+01] [ 1.48508093e-01 9.88781442e-01 -1.60189318e-02 9.22057110e+00] [ 1.09636293e-01 -3.63590820e-04 9.93971705e-01 8.05430897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.44509989299998 meters 0.05585673388741826 Centerline is valid? [True, True] Translation: X:78.66, Y:9.23, Z:8.06 [[ 9.82189062e-01 -1.52855127e-01 -1.09270111e-01 7.86633358e+01] [ 1.52001370e-01 9.88248325e-01 -1.61502547e-02 9.22753865e+00] [ 1.10454653e-01 -7.46603004e-04 9.93880884e-01 8.06066751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.50509989299998 meters 0.05549156674475778 Centerline is valid? [True, True] Translation: X:78.72, Y:9.23, Z:8.07 [[ 9.81342617e-01 -1.57876577e-01 -1.09734475e-01 7.87218006e+01] [ 1.57045454e-01 9.87457990e-01 -1.62309122e-02 9.23306235e+00] [ 1.10920665e-01 -1.30521468e-03 9.93828407e-01 8.06711693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.56509989299998 meters 0.05572529032741509 Centerline is valid? [True, True] Translation: X:78.78, Y:9.24, Z:8.07 [[ 9.80612091e-01 -1.61602759e-01 -1.10835350e-01 7.87795547e+01] [ 1.60778219e-01 9.86854354e-01 -1.63965760e-02 9.23858389e+00] [ 1.12028080e-01 -1.74122949e-03 9.93703516e-01 8.07231923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62509989299998 meters 0.05599306896072409 Centerline is valid? [True, True] Translation: X:78.84, Y:9.25, Z:8.08 [[ 9.80740806e-01 -1.61720684e-01 -1.09516625e-01 7.88377388e+01] [ 1.60915923e-01 9.86835057e-01 -1.62060206e-02 9.24641830e+00] [ 1.10695694e-01 -1.72906305e-03 9.93852843e-01 8.07967053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68509989299999 meters 0.055396846599364655 Centerline is valid? [True, True] Translation: X:78.90, Y:9.26, Z:8.09 [[ 9.81707911e-01 -1.56636843e-01 -1.08233434e-01 7.88959876e+01] [ 1.55818881e-01 9.87655618e-01 -1.60267518e-02 9.25906646e+00] [ 1.09407739e-01 -1.13122354e-03 9.93996311e-01 8.08732426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74509989299997 meters 0.0561782664063249 Centerline is valid? [True, True] Translation: X:78.95, Y:9.27, Z:8.09 [[ 9.83022000e-01 -1.48561731e-01 -1.07690113e-01 7.89537998e+01] [ 1.47703491e-01 9.88903109e-01 -1.59473958e-02 9.27085833e+00] [ 1.08864261e-01 -2.29564770e-04 9.94056598e-01 8.09260828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.80509989299998 meters 0.056078358888537204 Centerline is valid? [True, True] Translation: X:79.01, Y:9.28, Z:8.10 [[ 9.83379087e-01 -1.45835795e-01 -1.08154944e-01 7.90108699e+01] [ 1.44952942e-01 9.89308807e-01 -1.60227951e-02 9.27883407e+00] [ 1.09335335e-01 7.91043123e-05 9.94004919e-01 8.09756753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.86509989299998 meters 0.05573577706536347 Centerline is valid? [True, True] Translation: X:79.07, Y:9.29, Z:8.10 [[ 9.83246145e-01 -1.46443359e-01 -1.08541974e-01 7.90676680e+01] [ 1.45556261e-01 9.89219057e-01 -1.60945026e-02 9.28554493e+00] [ 1.09728722e-01 2.58937166e-05 9.93961572e-01 8.10330799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.92509989299998 meters 0.05615133110339429 Centerline is valid? [True, True] Translation: X:79.13, Y:9.29, Z:8.11 [[ 9.82131938e-01 -1.51479826e-01 -1.11672372e-01 7.91258830e+01] [ 1.50571429e-01 9.88460203e-01 -1.65732145e-02 9.28857451e+00] [ 1.12894204e-01 -5.37585469e-04 9.93606869e-01 8.10685336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98509989299998 meters 0.056472148412493074 Centerline is valid? [True, True] Translation: X:79.19, Y:9.29, Z:8.12 [[ 9.80273687e-01 -1.65442239e-01 -1.08131235e-01 7.91864932e+01] [ 1.64674503e-01 9.86217310e-01 -1.60538003e-02 9.28643063e+00] [ 1.09296872e-01 -2.06933927e-03 9.94006998e-01 8.11727950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04509989299999 meters 0.055971725333894794 Centerline is valid? [True, True] Translation: X:79.24, Y:9.30, Z:8.12 [[ 9.79867327e-01 -1.67943254e-01 -1.07958722e-01 7.92446237e+01] [ 1.67193165e-01 9.85793875e-01 -1.60275337e-02 9.29567250e+00] [ 1.09116763e-01 -2.34510383e-03 9.94026173e-01 8.12395080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10509989299999 meters 0.05744660753534613 Centerline is valid? [True, True] Translation: X:79.30, Y:9.29, Z:8.13 [[ 9.78851500e-01 -1.73363610e-01 -1.08603864e-01 7.93045084e+01] [ 1.72637324e-01 9.84853430e-01 -1.61268847e-02 9.29428743e+00] [ 1.09754703e-01 -2.96325524e-03 9.93954287e-01 8.12777709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16509989299998 meters 0.05660804917616541 Centerline is valid? [True, True] Translation: X:79.36, Y:9.30, Z:8.13 [[ 9.78105437e-01 -1.77098894e-01 -1.09296551e-01 7.93641976e+01] [ 1.76386512e-01 9.84187174e-01 -1.62297312e-02 9.30259573e+00] [ 1.10442531e-01 -3.40404907e-03 9.93876682e-01 8.13374314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.22509989299998 meters 0.05818891291693742 Centerline is valid? [True, True] Translation: X:79.42, Y:9.30, Z:8.14 [[ 9.75693630e-01 -1.89039933e-01 -1.10841527e-01 7.94247853e+01] [ 1.88383832e-01 9.81957560e-01 -1.64585109e-02 9.30316239e+00] [ 1.11952991e-01 -4.82228735e-03 9.93701803e-01 8.13832998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.28509989299998 meters 0.059519041287377145 Centerline is valid? [True, True] Translation: X:79.48, Y:9.31, Z:8.14 [[ 9.73668237e-01 -1.98615791e-01 -1.11901440e-01 7.94847923e+01] [ 1.98009821e-01 9.80059191e-01 -1.66160329e-02 9.30827770e+00] [ 1.12970241e-01 -5.97908066e-03 9.93580382e-01 8.14365724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34509989299998 meters 0.05792078482857041 Centerline is valid? [True, True] Translation: X:79.54, Y:9.32, Z:8.15 [[ 9.72847815e-01 -2.02130169e-01 -1.12740962e-01 7.95430905e+01] [ 2.01538505e-01 9.79337521e-01 -1.67407151e-02 9.32232324e+00] [ 1.13795258e-01 -6.43547691e-03 9.93483379e-01 8.14938312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40509989299998 meters 0.05878082278324414 Centerline is valid? [True, True] Translation: X:79.60, Y:9.34, Z:8.16 [[ 9.73949627e-01 -1.97345545e-01 -1.11699868e-01 7.96013433e+01] [ 1.96733380e-01 9.80316713e-01 -1.65867154e-02 9.33518078e+00] [ 1.12774561e-01 -5.82046732e-03 9.93603553e-01 8.15669469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46509989299999 meters 0.056156378745523663 Centerline is valid? [True, True] Translation: X:79.66, Y:9.36, Z:8.17 [[ 9.76258093e-01 -1.87123368e-01 -1.09109954e-01 7.96576484e+01] [ 1.86475563e-01 9.82325984e-01 -1.62026370e-02 9.36113647e+00] [ 1.10213435e-01 -4.52838462e-03 9.93897627e-01 8.16737450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52509989299998 meters 0.055216173383658584 Centerline is valid? [True, True] Translation: X:79.72, Y:9.38, Z:8.18 [[ 9.77866139e-01 -1.79038456e-01 -1.08273018e-01 7.97152247e+01] [ 1.78351116e-01 9.83835534e-01 -1.60785952e-02 9.38413644e+00] [ 1.09401529e-01 -3.58789974e-03 9.93991163e-01 8.17515896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.58509989299998 meters 0.05563780204261206 Centerline is valid? [True, True] Translation: X:79.77, Y:9.40, Z:8.18 [[ 9.79664427e-01 -1.68127648e-01 -1.09502075e-01 7.97736844e+01] [ 1.67356533e-01 9.85762323e-01 -1.62614153e-02 9.40368945e+00] [ 1.10677014e-01 -2.39515757e-03 9.93853541e-01 8.17980482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.64509989299998 meters 0.05582293427744984 Centerline is valid? [True, True] Translation: X:79.83, Y:9.42, Z:8.18 [[ 9.80876398e-01 -1.59470234e-01 -1.11582863e-01 7.98310220e+01] [ 1.58613366e-01 9.87201682e-01 -1.65722250e-02 9.42054322e+00] [ 1.12797567e-01 -1.44322915e-03 9.93616941e-01 8.18338233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.70509989299998 meters 0.05552890962297134 Centerline is valid? [True, True] Translation: X:79.89, Y:9.44, Z:8.19 [[ 9.82083254e-01 -1.50616024e-01 -1.13257648e-01 7.98887038e+01] [ 1.49674269e-01 9.88592245e-01 -1.68221703e-02 9.44276673e+00] [ 1.14499321e-01 -4.30983928e-04 9.93423233e-01 8.18681132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76509989299998 meters 0.05580952426317051 Centerline is valid? [True, True] Translation: X:79.94, Y:9.46, Z:8.19 [[ 9.82325370e-01 -1.48725238e-01 -1.13655932e-01 7.99446027e+01] [ 1.47763796e-01 9.88878537e-01 -1.68849147e-02 9.45740717e+00] [ 1.14903125e-01 -2.07751894e-04 9.93376680e-01 8.19277387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82509989299999 meters 0.05556166281818079 Centerline is valid? [True, True] Translation: X:80.00, Y:9.47, Z:8.20 [[ 9.82051853e-01 -1.52528227e-01 -1.10947275e-01 8.00016940e+01] [ 1.51634868e-01 9.88298918e-01 -1.64959230e-02 9.46942344e+00] [ 1.12165165e-01 -6.23623650e-04 9.93689381e-01 8.20248233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88509989299997 meters 0.05485534030298151 Centerline is valid? [True, True] Translation: X:80.06, Y:9.48, Z:8.21 [[ 9.80875074e-01 -1.60940642e-01 -1.09463229e-01 8.00608662e+01] [ 1.60121986e-01 9.86962866e-01 -1.62864979e-02 9.47779893e+00] [ 1.10657302e-01 -1.55244979e-03 9.93857410e-01 8.21060257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.94509989299998 meters 0.055160561818659595 Centerline is valid? [True, True] Translation: X:80.12, Y:9.48, Z:8.22 [[ 9.78695400e-01 -1.74041656e-01 -1.08925736e-01 8.01198345e+01] [ 1.73311615e-01 9.84733672e-01 -1.62073621e-02 9.48195716e+00] [ 1.10083596e-01 -3.01602447e-03 9.93917756e-01 8.21803921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.00509989299998 meters 0.05729323199660773 Centerline is valid? [True, True] Translation: X:80.18, Y:9.48, Z:8.22 [[ 9.75728869e-01 -1.88240043e-01 -1.11887709e-01 8.01806756e+01] [ 1.87562333e-01 9.82111604e-01 -1.66483662e-02 9.47779678e+00] [ 1.13020107e-01 -4.74162832e-03 9.93581387e-01 8.22085041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.06509989299998 meters 0.06088717849982073 Centerline is valid? [True, True] Translation: X:80.24, Y:9.48, Z:8.22 [[ 9.74674727e-01 -1.92819098e-01 -1.13269464e-01 8.02422134e+01] [ 1.92155197e-01 9.81219805e-01 -1.68545336e-02 9.47535907e+00] [ 1.14392117e-01 -5.33762809e-03 9.93421337e-01 8.22269673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12509989299998 meters 0.05631197514072118 Centerline is valid? [True, True] Translation: X:80.30, Y:9.50, Z:8.24 [[ 9.76133262e-01 -1.86677912e-01 -1.10973922e-01 8.02981641e+01] [ 1.86001120e-01 9.82410762e-01 -1.65129705e-02 9.50483606e+00] [ 1.12104582e-01 -4.52241409e-03 9.93686123e-01 8.23530223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18509989299999 meters 0.05498129961661411 Centerline is valid? [True, True] Translation: X:80.36, Y:9.53, Z:8.25 [[ 9.77340193e-01 -1.81446788e-01 -1.09010138e-01 8.03554216e+01] [ 1.80761464e-01 9.83393217e-01 -1.62195643e-02 9.52653686e+00] [ 1.10142818e-01 -3.85279991e-03 9.93908303e-01 8.24509157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24509989299997 meters 0.055571730183730204 Centerline is valid? [True, True] Translation: X:80.42, Y:9.53, Z:8.25 [[ 9.77799958e-01 -1.79002146e-01 -1.08928755e-01 8.04152390e+01] [ 1.78302905e-01 9.83842184e-01 -1.62059094e-02 9.53058183e+00] [ 1.10069596e-01 -3.57617588e-03 9.93917449e-01 8.24862916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.30509989299998 meters 0.0552978865676413 Centerline is valid? [True, True] Translation: X:80.47, Y:9.54, Z:8.25 [[ 9.78448882e-01 -1.74334375e-01 -1.10658537e-01 8.04740510e+01] [ 1.73582960e-01 9.84681632e-01 -1.64632871e-02 9.54325256e+00] [ 1.11833545e-01 -3.09995145e-03 9.93722118e-01 8.25451894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.36509989299998 meters 0.05552232166481255 Centerline is valid? [True, True] Translation: X:80.53, Y:9.55, Z:8.26 [[ 9.79158523e-01 -1.69367784e-01 -1.12085419e-01 8.05333230e+01] [ 1.68564345e-01 9.85549579e-01 -1.66759733e-02 9.55160728e+00] [ 1.13290110e-01 -2.56518387e-03 9.93558640e-01 8.25849355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.42509989299998 meters 0.055224714324705694 Centerline is valid? [True, True] Translation: X:80.59, Y:9.57, Z:8.27 [[ 9.80953009e-01 -1.59342425e-01 -1.11090888e-01 8.05916529e+01] [ 1.58489029e-01 9.87222391e-01 -1.65280886e-02 9.56920705e+00] [ 1.12305038e-01 -1.39340868e-03 9.93672802e-01 8.26623716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48509989299998 meters 0.056153240470123975 Centerline is valid? [True, True] Translation: X:80.65, Y:9.59, Z:8.28 [[ 9.82893452e-01 -1.47905069e-01 -1.09747679e-01 8.06490399e+01] [ 1.47001125e-01 9.89001559e-01 -1.63274575e-02 9.58870454e+00] [ 1.10955539e-01 -8.48812479e-05 9.93825368e-01 8.27592006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54509989299999 meters 0.056402567408875504 Centerline is valid? [True, True] Translation: X:80.71, Y:9.60, Z:8.28 [[ 9.84555628e-01 -1.38658196e-01 -1.06883671e-01 8.07055389e+01] [ 1.37746502e-01 9.90339858e-01 -1.59018195e-02 9.60104936e+00] [ 1.08056077e-01 9.33374133e-04 9.94144362e-01 8.28340204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60509989299997 meters 0.05640595512145614 Centerline is valid? [True, True] Translation: X:80.76, Y:9.60, Z:8.29 [[ 9.84285162e-01 -1.39697105e-01 -1.08015917e-01 8.07637194e+01] [ 1.38770806e-01 9.90193927e-01 -1.60826271e-02 9.60240747e+00] [ 1.09203401e-01 8.40435415e-04 9.94019070e-01 8.29034984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66509989299998 meters 0.05676023145639911 Centerline is valid? [True, True] Translation: X:80.82, Y:9.60, Z:8.29 [[ 9.83499052e-01 -1.43557271e-01 -1.10095073e-01 8.08217775e+01] [ 1.42617332e-01 9.89641916e-01 -1.64065714e-02 9.60310736e+00] [ 1.11309981e-01 4.34381917e-04 9.93785641e-01 8.29343857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.72509989299998 meters 0.0566941741487733 Centerline is valid? [True, True] Translation: X:80.88, Y:9.60, Z:8.30 [[ 9.83107822e-01 -1.46595562e-01 -1.09584445e-01 8.08809569e+01] [ 1.45682594e-01 9.89196508e-01 -1.63355367e-02 9.60468778e+00] [ 1.10795268e-01 9.50476603e-05 9.93843247e-01 8.30058478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.78509989299998 meters 0.055981314735403326 Centerline is valid? [True, True] Translation: X:80.94, Y:9.61, Z:8.31 [[ 9.82994552e-01 -1.48073820e-01 -1.08608726e-01 8.09394562e+01] [ 1.47184711e-01 9.88976309e-01 -1.62024841e-02 9.61009291e+00] [ 1.09810620e-01 -5.85903854e-05 9.93952526e-01 8.30867217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84509989299998 meters 0.056519685713852456 Centerline is valid? [True, True] Translation: X:81.00, Y:9.61, Z:8.32 [[ 9.82960876e-01 -1.50084255e-01 -1.06125552e-01 8.09968153e+01] [ 1.49245941e-01 9.88673174e-01 -1.58430817e-02 9.61310057e+00] [ 1.07301284e-01 -2.65678463e-04 9.94226515e-01 8.31693376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90509989299998 meters 0.05670241209337814 Centerline is valid? [True, True] Translation: X:81.06, Y:9.61, Z:8.32 [[ 9.82850523e-01 -1.50516519e-01 -1.06534624e-01 8.10553593e+01] [ 1.49673729e-01 9.88607446e-01 -1.59089054e-02 9.61304780e+00] [ 1.07715475e-01 -3.09358381e-04 9.94181714e-01 8.32243557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96509989299999 meters 0.05661157579778133 Centerline is valid? [True, True] Translation: X:81.11, Y:9.62, Z:8.33 [[ 9.83205132e-01 -1.47510907e-01 -1.07462558e-01 8.11134234e+01] [ 1.46633971e-01 9.89060429e-01 -1.60607377e-02 9.61799886e+00] [ 1.08656097e-01 3.33381055e-05 9.94079399e-01 8.32783120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02509989299998 meters 0.05683774773168149 Centerline is valid? [True, True] Translation: X:81.17, Y:9.62, Z:8.33 [[ 9.83788283e-01 -1.41986996e-01 -1.09545911e-01 8.11705958e+01] [ 1.41039977e-01 9.89868297e-01 -1.63853605e-02 9.62269396e+00] [ 1.10762532e-01 6.69372933e-04 9.93846675e-01 8.33143398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08509989299998 meters 0.05653533400562112 Centerline is valid? [True, True] Translation: X:81.23, Y:9.62, Z:8.34 [[ 9.83769324e-01 -1.40466769e-01 -1.11655739e-01 8.12295668e+01] [ 1.39472328e-01 9.90085018e-01 -1.67071158e-02 9.62386535e+00] [ 1.12895469e-01 8.63062141e-04 9.93606496e-01 8.33587060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.14509989299998 meters 0.057146056196169914 Centerline is valid? [True, True] Translation: X:81.29, Y:9.62, Z:8.34 [[ 9.83298984e-01 -1.42611252e-01 -1.13071386e-01 8.12867056e+01] [ 1.41604024e-01 9.89778574e-01 -1.69314983e-02 9.62172292e+00] [ 1.14330258e-01 6.37361724e-04 9.93442593e-01 8.34431163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.20509989299998 meters 0.05666495746602472 Centerline is valid? [True, True] Translation: X:81.35, Y:9.62, Z:8.35 [[ 9.82667923e-01 -1.47150328e-01 -1.12741005e-01 8.13467682e+01] [ 1.46178014e-01 9.89114133e-01 -1.68884750e-02 9.62263518e+00] [ 1.13998866e-01 1.15506439e-04 9.93480873e-01 8.34551679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26509989299998 meters 0.05642254631093258 Centerline is valid? [True, True] Translation: X:81.41, Y:9.62, Z:8.36 [[ 9.81500388e-01 -1.55814983e-01 -1.11259516e-01 8.14060484e+01] [ 1.54922783e-01 9.87785873e-01 -1.66733327e-02 9.61918201e+00] [ 1.12498534e-01 -8.71751454e-04 9.93651508e-01 8.35526148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32509989299999 meters 0.056737962287469884 Centerline is valid? [True, True] Translation: X:81.47, Y:9.62, Z:8.36 [[ 9.80346706e-01 -1.64319837e-01 -1.09175667e-01 8.14654909e+01] [ 1.63512027e-01 9.86405469e-01 -1.63727778e-02 9.61530363e+00] [ 1.10381848e-01 -1.80053581e-03 9.93887622e-01 8.36348548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38509989299997 meters 0.057195558838732716 Centerline is valid? [True, True] Translation: X:81.52, Y:9.62, Z:8.37 [[ 9.79089744e-01 -1.72122823e-01 -1.08429734e-01 8.15249964e+01] [ 1.71373577e-01 9.85071904e-01 -1.62616434e-02 9.61529638e+00] [ 1.09610084e-01 -2.66038306e-03 9.93971102e-01 8.37217085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44509989299998 meters 0.057763421485921444 Centerline is valid? [True, True] Translation: X:81.59, Y:9.61, Z:8.38 [[ 9.78539060e-01 -1.75293301e-01 -1.08321590e-01 8.15858353e+01] [ 1.74564810e-01 9.84511650e-01 -1.62461863e-02 9.61470191e+00] [ 1.09491715e-01 -3.01160991e-03 9.93983146e-01 8.37672554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.50509989299998 meters 0.05851402500446651 Centerline is valid? [True, True] Translation: X:81.65, Y:9.62, Z:8.38 [[ 9.77573169e-01 -1.80365805e-01 -1.08714654e-01 8.16461385e+01] [ 1.79663215e-01 9.83593041e-01 -1.63051808e-02 9.61743780e+00] [ 1.09871874e-01 -3.59251705e-03 9.93939266e-01 8.38132693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.56509989299998 meters 0.06139885450153855 Centerline is valid? [True, True] Translation: X:81.71, Y:9.61, Z:8.38 [[ 9.76441774e-01 -1.85037831e-01 -1.11006588e-01 8.17075871e+01] [ 1.84335201e-01 9.82722402e-01 -1.66497419e-02 9.61357314e+00] [ 1.12169493e-01 -4.20491817e-03 9.93680192e-01 8.38313889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62509989299998 meters 0.06075466381889388 Centerline is valid? [True, True] Translation: X:81.77, Y:9.63, Z:8.39 [[ 9.75462892e-01 -1.89019359e-01 -1.12888569e-01 8.17664840e+01] [ 1.88319103e-01 9.81961912e-01 -1.69327575e-02 9.62506803e+00] [ 1.14052894e-01 -4.74179747e-03 9.93463363e-01 8.38746305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68509989299999 meters 0.061188672542459466 Centerline is valid? [True, True] Translation: X:81.83, Y:9.64, Z:8.40 [[ 9.75181535e-01 -1.91253479e-01 -1.11548554e-01 8.18253612e+01] [ 1.90584208e-01 9.81528238e-01 -1.67325357e-02 9.63553007e+00] [ 1.12688211e-01 -4.94213291e-03 9.93618107e-01 8.39641410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74509989299997 meters 0.057444177573194456 Centerline is valid? [True, True] Translation: X:81.88, Y:9.66, Z:8.41 [[ 9.76036863e-01 -1.87354597e-01 -1.10681057e-01 8.18813776e+01] [ 1.86670638e-01 9.82282242e-01 -1.66032865e-02 9.66014114e+00] [ 1.11830739e-01 -4.45548397e-03 9.93717281e-01 8.40614068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.80509989299998 meters 0.056907957442566735 Centerline is valid? [True, True] Translation: X:81.94, Y:9.68, Z:8.42 [[ 9.78441461e-01 -1.76534976e-01 -1.07180732e-01 8.19390056e+01] [ 1.75828702e-01 9.84289447e-01 -1.60795797e-02 9.68139663e+00] [ 1.08335472e-01 -3.11252167e-03 9.94109520e-01 8.41583630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.86509989299998 meters 0.05708331044543788 Centerline is valid? [True, True] Translation: X:82.00, Y:9.70, Z:8.42 [[ 9.80453810e-01 -1.65328579e-01 -1.06662021e-01 8.19974628e+01] [ 1.64562675e-01 9.86236785e-01 -1.60040486e-02 9.69891913e+00] [ 1.07839935e-01 -1.86135703e-03 9.94166527e-01 8.42232963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.92509989299998 meters 0.056353062960673835 Centerline is valid? [True, True] Translation: X:82.05, Y:9.72, Z:8.43 [[ 9.82399608e-01 -1.52605886e-01 -1.07714688e-01 8.20546768e+01] [ 1.51748055e-01 9.88287017e-01 -1.61647991e-02 9.71786763e+00] [ 1.08919871e-01 -4.65202082e-04 9.94050424e-01 8.42700317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98509989299998 meters 0.05672437265347312 Centerline is valid? [True, True] Translation: X:82.11, Y:9.74, Z:8.43 [[ 9.84422739e-01 -1.38440544e-01 -1.08379365e-01 8.21114774e+01] [ 1.37486177e-01 9.90370123e-01 -1.62656428e-02 9.73818361e+00] [ 1.09587509e-01 1.11160418e-03 9.93976530e-01 8.43192819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04509989299999 meters 0.05805579776541599 Centerline is valid? [True, True] Translation: X:82.17, Y:9.75, Z:8.44 [[ 9.85160274e-01 -1.33375847e-01 -1.08028324e-01 8.21685317e+01] [ 1.32397107e-01 9.91064120e-01 -1.62146923e-02 9.75138458e+00] [ 1.09225644e-01 1.67143305e-03 9.94015576e-01 8.43773936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10509989299997 meters 0.057887138704848594 Centerline is valid? [True, True] Translation: X:82.23, Y:9.75, Z:8.45 [[ 9.85056418e-01 -1.35095590e-01 -1.06831810e-01 8.22273015e+01] [ 1.34148256e-01 9.90831484e-01 -1.60379500e-02 9.74941827e+00] [ 1.08018977e-01 1.46698461e-03 9.94147750e-01 8.44740812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16509989299998 meters 0.05701017738933773 Centerline is valid? [True, True] Translation: X:82.29, Y:9.75, Z:8.45 [[ 9.83323014e-01 -1.46977869e-01 -1.07113753e-01 8.22862090e+01] [ 1.46094386e-01 9.89139765e-01 -1.60920818e-02 9.75146043e+00] [ 1.08315652e-01 1.74996402e-04 9.94116537e-01 8.45132549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.22509989299998 meters 0.05703885521228059 Centerline is valid? [True, True] Translation: X:82.35, Y:9.74, Z:8.46 [[ 9.80949025e-01 -1.61819490e-01 -1.07487033e-01 8.23480377e+01] [ 1.61018244e-01 9.86819287e-01 -1.61498899e-02 9.74409403e+00] [ 1.08683644e-01 -1.46515452e-03 9.94075308e-01 8.45696616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.28509989299998 meters 0.05747294484490968 Centerline is valid? [True, True] Translation: X:82.41, Y:9.74, Z:8.46 [[ 9.78511520e-01 -1.76060743e-01 -1.07321107e-01 8.24090090e+01] [ 1.75346999e-01 9.84374614e-01 -1.61260664e-02 9.73957164e+00] [ 1.08483340e-01 -3.03889238e-03 9.94093622e-01 8.46309411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34509989299998 meters 0.05731696505972481 Centerline is valid? [True, True] Translation: X:82.47, Y:9.75, Z:8.47 [[ 9.76664657e-01 -1.86352722e-01 -1.06765218e-01 8.24685275e+01] [ 1.85707407e-01 9.82474108e-01 -1.60432692e-02 9.74530852e+00] [ 1.07883769e-01 -4.15819769e-03 9.94154818e-01 8.46993230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40509989299998 meters 0.05697797070322393 Centerline is valid? [True, True] Translation: X:82.53, Y:9.75, Z:8.48 [[ 9.75688165e-01 -1.91528787e-01 -1.06533225e-01 8.25282883e+01] [ 1.90916894e-01 9.81475651e-01 -1.60089652e-02 9.74728437e+00] [ 1.07625944e-01 -4.71923448e-03 9.94180258e-01 8.47560208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46509989299999 meters 0.05822384548862964 Centerline is valid? [True, True] Translation: X:82.59, Y:9.75, Z:8.48 [[ 9.75386690e-01 -1.93430053e-01 -1.05856602e-01 8.25872649e+01] [ 1.92836948e-01 9.81101850e-01 -1.59082264e-02 9.75027357e+00] [ 1.06933237e-01 -4.89639182e-03 9.94254147e-01 8.48172339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52509989299998 meters 0.05746471677696 Centerline is valid? [True, True] Translation: X:82.65, Y:9.76, Z:8.49 [[ 9.75201490e-01 -1.94426306e-01 -1.05737715e-01 8.26452369e+01] [ 1.93840282e-01 9.80904388e-01 -1.58910696e-02 9.76358270e+00] [ 1.06808231e-01 -4.99923377e-03 9.94267071e-01 8.48846004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58509989299998 meters 0.05780328591212339 Centerline is valid? [True, True] Translation: X:82.71, Y:9.77, Z:8.49 [[ 9.74677721e-01 -1.95963565e-01 -1.07710821e-01 8.27050174e+01] [ 1.95364607e-01 9.80597051e-01 -1.61893058e-02 9.77028256e+00] [ 1.08793427e-01 -5.26352652e-03 9.94050444e-01 8.49355721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.64509989299998 meters 0.06458322212144776 Centerline is valid? [True, True] Translation: X:82.77, Y:9.76, Z:8.50 [[ 9.74145046e-01 -1.97162616e-01 -1.10310165e-01 8.27668021e+01] [ 1.96541943e-01 9.80355211e-01 -1.65808627e-02 9.75904559e+00] [ 1.11412271e-01 -5.52840894e-03 9.93758896e-01 8.49530617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.70509989299998 meters 0.05882944318942393 Centerline is valid? [True, True] Translation: X:82.82, Y:9.79, Z:8.50 [[ 9.73405125e-01 -1.99132374e-01 -1.13264120e-01 8.28234236e+01] [ 1.98491210e-01 9.79954783e-01 -1.70253491e-02 9.78580202e+00] [ 1.14384014e-01 -5.90937006e-03 9.93419034e-01 8.50147930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76509989299998 meters 0.056185964095994134 Centerline is valid? [True, True] Translation: X:82.88, Y:9.81, Z:8.51 [[ 9.73272963e-01 -1.99729998e-01 -1.13347556e-01 8.28788338e+01] [ 1.99091787e-01 9.79832706e-01 -1.70390113e-02 9.80917361e+00] [ 1.14464844e-01 -5.98295852e-03 9.93409283e-01 8.51000341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82509989299999 meters 0.06729777284828807 Centerline is valid? [True, True] Translation: X:82.94, Y:9.79, Z:8.51 [[ 9.73886455e-01 -1.97949566e-01 -1.11180670e-01 8.29424727e+01] [ 1.97322748e-01 9.80195917e-01 -1.67241732e-02 9.78805963e+00] [ 1.12289382e-01 -5.65102965e-03 9.93659479e-01 8.51197582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88509989299997 meters 0.057124503627885924 Centerline is valid? [True, True] Translation: X:83.00, Y:9.83, Z:8.52 [[ 9.74800717e-01 -1.95129708e-01 -1.08110867e-01 8.29958993e+01] [ 1.94519647e-01 9.80763787e-01 -1.62634844e-02 9.83172488e+00] [ 1.09204713e-01 -5.17603150e-03 9.94005805e-01 8.52449599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.94509989299998 meters 0.056504041096568036 Centerline is valid? [True, True] Translation: X:83.05, Y:9.85, Z:8.53 [[ 9.75059224e-01 -1.94708779e-01 -1.06527001e-01 8.30525888e+01] [ 1.94113874e-01 9.80848087e-01 -1.60260803e-02 9.84830899e+00] [ 1.07607223e-01 -5.05199129e-03 9.94180649e-01 8.53150062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.00509989299998 meters 0.05631621879693802 Centerline is valid? [True, True] Translation: X:83.11, Y:9.86, Z:8.54 [[ 9.74631537e-01 -1.97249614e-01 -1.05763683e-01 8.31102566e+01] [ 1.96676952e-01 9.80339061e-01 -1.59217399e-02 9.86292032e+00] [ 1.06824826e-01 -5.28344894e-03 9.94263819e-01 8.53920180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.06509989299998 meters 0.056947203099754866 Centerline is valid? [True, True] Translation: X:83.17, Y:9.87, Z:8.54 [[ 9.73426535e-01 -2.02064244e-01 -1.07753525e-01 8.31686942e+01] [ 2.01499024e-01 9.79354370e-01 -1.62222413e-02 9.87393587e+00] [ 1.08806820e-01 -5.92107000e-03 9.94045279e-01 8.54441722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12509989299998 meters 0.060700651431181786 Centerline is valid? [True, True] Translation: X:83.23, Y:9.88, Z:8.55 [[ 9.72254461e-01 -2.06573626e-01 -1.09766113e-01 8.32283399e+01] [ 2.06015553e-01 9.78409161e-01 -1.65259341e-02 9.87510789e+00] [ 1.10809992e-01 -6.54611325e-03 9.93820051e-01 8.54864392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18509989299999 meters 0.05650893342620961 Centerline is valid? [True, True] Translation: X:83.28, Y:9.90, Z:8.56 [[ 9.72030734e-01 -2.07657716e-01 -1.09701986e-01 8.32838844e+01] [ 2.07107203e-01 9.78178836e-01 -1.65158062e-02 9.90316754e+00] [ 1.10737795e-01 -6.66620020e-03 9.93827300e-01 8.55599541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24509989299997 meters 0.06282342198249143 Centerline is valid? [True, True] Translation: X:83.35, Y:9.90, Z:8.56 [[ 9.72215422e-01 -2.06605855e-01 -1.10050869e-01 8.33452316e+01] [ 2.06044969e-01 9.78402223e-01 -1.65698916e-02 9.89793979e+00] [ 1.11097452e-01 -6.56592386e-03 9.93787827e-01 8.55881250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.30509989299998 meters 0.05603011361808249 Centerline is valid? [True, True] Translation: X:83.40, Y:9.93, Z:8.57 [[ 9.72647290e-01 -2.05855242e-01 -1.07614445e-01 8.34000499e+01] [ 2.05314229e-01 9.78561955e-01 -1.62039610e-02 9.93166879e+00] [ 1.08643072e-01 -6.33403807e-03 9.94060643e-01 8.56925496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.36509989299998 meters 0.05677212726771911 Centerline is valid? [True, True] Translation: X:83.46, Y:9.94, Z:8.57 [[ 9.72623171e-01 -2.05465220e-01 -1.08573531e-01 8.34589358e+01] [ 2.04911699e-01 9.78643859e-01 -1.63521389e-02 9.94295591e+00] [ 1.09614615e-01 -6.34351751e-03 9.93953920e-01 8.57361695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.42509989299998 meters 0.056517870908081594 Centerline is valid? [True, True] Translation: X:83.52, Y:9.96, Z:8.58 [[ 9.72855158e-01 -2.04455821e-01 -1.08400456e-01 8.35166476e+01] [ 2.03897655e-01 9.78856043e-01 -1.63277010e-02 9.95849549e+00] [ 1.09446735e-01 -6.21811065e-03 9.93973213e-01 8.58016546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48509989299998 meters 0.05458205297968438 Centerline is valid? [True, True] Translation: X:83.57, Y:9.98, Z:8.59 [[ 9.73847914e-01 -1.99985208e-01 -1.07824662e-01 8.35738135e+01] [ 1.99405520e-01 9.79782435e-01 -1.62425191e-02 9.98254263e+00] [ 1.08892973e-01 -5.68308951e-03 9.94037234e-01 8.58798522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54509989299999 meters 0.0574923768872867 Centerline is valid? [True, True] Translation: X:83.63, Y:9.99, Z:8.59 [[ 9.75684853e-01 -1.91689883e-01 -1.06273494e-01 8.36329315e+01] [ 1.91077715e-01 9.81444355e-01 -1.60088936e-02 9.98637835e+00] [ 1.07370264e-01 -4.68686144e-03 9.94208057e-01 8.59428307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60509989299997 meters 0.05502114273160431 Centerline is valid? [True, True] Translation: X:83.69, Y:10.01, Z:8.60 [[ 9.77032198e-01 -1.84702881e-01 -1.06268201e-01 8.36904824e+01] [ 1.84049471e-01 9.82786600e-01 -1.60090900e-02 1.00099131e+01] [ 1.07395889e-01 -3.91720976e-03 9.94208619e-01 8.60168637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66509989299998 meters 0.05507090375626379 Centerline is valid? [True, True] Translation: X:83.75, Y:10.02, Z:8.61 [[ 9.78072243e-01 -1.78436567e-01 -1.07401485e-01 8.37487850e+01] [ 1.77731330e-01 9.83946009e-01 -1.61810394e-02 1.00218682e+01] [ 1.08564552e-01 -3.26238333e-03 9.94084048e-01 8.60591605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.72509989299998 meters 0.05467982872145907 Centerline is valid? [True, True] Translation: X:83.81, Y:10.04, Z:8.61 [[ 9.79111514e-01 -1.72263430e-01 -1.08009043e-01 8.38065509e+01] [ 1.71512615e-01 9.85047509e-01 -1.62735110e-02 1.00401216e+01] [ 1.09197370e-01 -2.59133141e-03 9.94016710e-01 8.61221187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.78509989299998 meters 0.0547038386835806 Centerline is valid? [True, True] Translation: X:83.87, Y:10.05, Z:8.62 [[ 9.79840497e-01 -1.67676043e-01 -1.08615583e-01 8.38652436e+01] [ 1.66888460e-01 9.85839934e-01 -1.63665971e-02 1.00512640e+01] [ 1.09821865e-01 -2.09003273e-03 9.93949088e-01 8.61735376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84509989299998 meters 0.05508082182596421 Centerline is valid? [True, True] Translation: X:83.92, Y:10.06, Z:8.62 [[ 9.80028502e-01 -1.66043636e-01 -1.09424157e-01 8.39233101e+01] [ 1.65234044e-01 9.86116535e-01 -1.64890754e-02 1.00611932e+01] [ 1.10642876e-01 -1.92083205e-03 9.93858372e-01 8.62286658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90509989299998 meters 0.05489424530932768 Centerline is valid? [True, True] Translation: X:83.98, Y:10.07, Z:8.63 [[ 9.80399141e-01 -1.64387817e-01 -1.08600966e-01 8.39807204e+01] [ 1.63579046e-01 9.86394304e-01 -1.63760100e-02 1.00725675e+01] [ 1.09815391e-01 -1.70981619e-03 9.93950530e-01 8.63086862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96509989299997 meters 0.05429703382455699 Centerline is valid? [True, True] Translation: X:84.04, Y:10.08, Z:8.64 [[ 9.80877238e-01 -1.63417757e-01 -1.05709420e-01 8.40378755e+01] [ 1.62644830e-01 9.86555747e-01 -1.59504739e-02 1.00797053e+01] [ 1.06894826e-01 -1.54763390e-03 9.94269129e-01 8.63886136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02509989299998 meters 0.054195130564001624 Centerline is valid? [True, True] Translation: X:84.10, Y:10.09, Z:8.65 [[ 9.80879306e-01 -1.65016088e-01 -1.03176929e-01 8.40955227e+01] [ 1.64288221e-01 9.86289451e-01 -1.55723809e-02 1.00881962e+01] [ 1.04332010e-01 -1.67612801e-03 9.94541111e-01 8.64668559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08509989299998 meters 0.054591712302423365 Centerline is valid? [True, True] Translation: X:84.16, Y:10.09, Z:8.65 [[ 9.79530850e-01 -1.71993423e-01 -1.04582865e-01 8.41564293e+01] [ 1.71283873e-01 9.85095075e-01 -1.57964353e-02 1.00903806e+01] [ 1.05740949e-01 -2.44026248e-03 9.94390716e-01 8.65156690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.14509989299998 meters 0.0545190761518131 Centerline is valid? [True, True] Translation: X:84.22, Y:10.09, Z:8.66 [[ 9.78619881e-01 -1.76376654e-01 -1.05803615e-01 8.42160218e+01] [ 1.75675918e-01 9.84318335e-01 -1.59808224e-02 1.00910285e+01] [ 1.06963082e-01 -2.94799664e-03 9.94258622e-01 8.65583160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.20509989299998 meters 0.05734104605727695 Centerline is valid? [True, True] Translation: X:84.28, Y:10.09, Z:8.66 [[ 9.77735139e-01 -1.80130219e-01 -1.07643401e-01 8.42767117e+01] [ 1.79427474e-01 9.83636837e-01 -1.62589880e-02 1.00869871e+01] [ 1.08810749e-01 -3.41719962e-03 9.94056610e-01 8.65932320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26509989299998 meters 0.056434798341028235 Centerline is valid? [True, True] Translation: X:84.34, Y:10.10, Z:8.66 [[ 9.76833859e-01 -1.83999711e-01 -1.09269017e-01 8.43361574e+01] [ 1.83299652e-01 9.82918533e-01 -1.65043966e-02 1.00953798e+01] [ 1.10439346e-01 -3.90691939e-03 9.93875187e-01 8.66367252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32509989299999 meters 0.05613474548773531 Centerline is valid? [True, True] Translation: X:84.40, Y:10.10, Z:8.67 [[ 9.77090623e-01 -1.82468891e-01 -1.09540033e-01 8.43950754e+01] [ 1.81755762e-01 9.83204502e-01 -1.65454120e-02 1.01044714e+01] [ 1.10719277e-01 -3.74316527e-03 9.93844671e-01 8.66922200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38509989299997 meters 0.05508849327493263 Centerline is valid? [True, True] Translation: X:84.45, Y:10.12, Z:8.68 [[ 9.78269405e-01 -1.76855953e-01 -1.08217114e-01 8.44532952e+01] [ 1.76125556e-01 9.84231964e-01 -1.63471342e-02 1.01196267e+01] [ 1.09401831e-01 -3.06789812e-03 9.93992871e-01 8.67665137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.44509989299998 meters 0.054414996863074105 Centerline is valid? [True, True] Translation: X:84.51, Y:10.13, Z:8.69 [[ 9.79859059e-01 -1.69229491e-01 -1.06007567e-01 8.45119333e+01] [ 1.68484129e-01 9.85574285e-01 -1.60133345e-02 1.01344062e+01] [ 1.07188260e-01 -2.16978163e-03 9.94236375e-01 8.68521725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.50509989299998 meters 0.05421507013057709 Centerline is valid? [True, True] Translation: X:84.57, Y:10.15, Z:8.69 [[ 9.81044741e-01 -1.62384785e-01 -1.05746857e-01 8.45707004e+01] [ 1.61603247e-01 9.86726495e-01 -1.59754492e-02 1.01483178e+01] [ 1.06937395e-01 -1.41640499e-03 9.94264747e-01 8.69247438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.56509989299998 meters 0.05407009276881245 Centerline is valid? [True, True] Translation: X:84.63, Y:10.16, Z:8.70 [[ 9.81301503e-01 -1.60567018e-01 -1.06139495e-01 8.46280582e+01] [ 1.59768991e-01 9.87024183e-01 -1.60352987e-02 1.01577562e+01] [ 1.07336989e-01 -1.22233743e-03 9.94221945e-01 8.69836204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62509989299998 meters 0.0549351560476535 Centerline is valid? [True, True] Translation: X:84.68, Y:10.17, Z:8.70 [[ 9.81694911e-01 -1.56987095e-01 -1.07843187e-01 8.46846769e+01] [ 1.56140310e-01 9.87600303e-01 -1.63047431e-02 1.01667036e+01] [ 1.09065598e-01 -8.32385215e-04 9.94034206e-01 8.70313393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68509989299999 meters 0.055198524057163016 Centerline is valid? [True, True] Translation: X:84.74, Y:10.18, Z:8.71 [[ 9.82069428e-01 -1.54320261e-01 -1.08281555e-01 8.47426915e+01] [ 1.53449717e-01 9.88020735e-01 -1.63771350e-02 1.01775191e+01] [ 1.09511745e-01 -5.32290357e-04 9.93985359e-01 8.70949016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74509989299997 meters 0.05501827999996757 Centerline is valid? [True, True] Translation: X:84.80, Y:10.19, Z:8.72 [[ 9.82342200e-01 -1.53386013e-01 -1.07128580e-01 8.48000055e+01] [ 1.52527696e-01 9.88166260e-01 -1.62094074e-02 1.01860907e+01] [ 1.08347145e-01 -4.16890533e-04 9.94113033e-01 8.71563563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80509989299998 meters 0.055263762687634846 Centerline is valid? [True, True] Translation: X:84.86, Y:10.19, Z:8.72 [[ 9.81914189e-01 -1.55604085e-01 -1.07851259e-01 8.48583728e+01] [ 1.54746110e-01 9.87819286e-01 -1.63309596e-02 1.01927820e+01] [ 1.09078718e-01 -6.53961862e-04 9.94032900e-01 8.72049371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.86509989299998 meters 0.05467640997130324 Centerline is valid? [True, True] Translation: X:84.92, Y:10.20, Z:8.73 [[ 9.81035712e-01 -1.61409318e-01 -1.07312463e-01 8.49175258e+01] [ 1.60593269e-01 9.86886716e-01 -1.62607467e-02 1.01978673e+01] [ 1.08529880e-01 -1.28128594e-03 9.94092362e-01 8.72618351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.92509989299998 meters 0.055253342008699455 Centerline is valid? [True, True] Translation: X:84.98, Y:10.20, Z:8.73 [[ 9.79416172e-01 -1.70450573e-01 -1.08122917e-01 8.49783200e+01] [ 1.69676765e-01 9.85363548e-01 -1.63851774e-02 1.02004625e+01] [ 1.09333244e-01 -2.29803912e-03 9.94002495e-01 8.73094895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98509989299998 meters 0.05641481879381016 Centerline is valid? [True, True] Translation: X:85.04, Y:10.20, Z:8.74 [[ 9.77972556e-01 -1.78687450e-01 -1.07891036e-01 8.50383758e+01] [ 1.77966830e-01 9.83900647e-01 -1.63500371e-02 1.02026623e+01] [ 1.09075607e-01 -3.21113812e-03 9.94028270e-01 8.73674613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04509989299999 meters 0.0551008415180226 Centerline is valid? [True, True] Translation: X:85.10, Y:10.21, Z:8.75 [[ 9.74987809e-01 -1.95602368e-01 -1.05539030e-01 8.50972051e+01] [ 1.95011120e-01 9.80670609e-01 -1.59943553e-02 1.02109625e+01] [ 1.06627559e-01 -4.98698300e-03 9.94286525e-01 8.74727613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10509989299997 meters 0.05655374389947522 Centerline is valid? [True, True] Translation: X:85.16, Y:10.21, Z:8.75 [[ 9.73920548e-01 -2.00785373e-01 -1.05659832e-01 8.51572067e+01] [ 2.00223015e-01 9.79619478e-01 -1.60132151e-02 1.02100566e+01] [ 1.06721649e-01 -5.55993098e-03 9.94273391e-01 8.75354343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16509989299998 meters 0.05351112552546522 Centerline is valid? [True, True] Translation: X:85.22, Y:10.23, Z:8.76 [[ 9.73113074e-01 -2.05048939e-01 -1.04908902e-01 8.52153408e+01] [ 2.04519120e-01 9.78733431e-01 -1.58997180e-02 1.02313490e+01] [ 1.05938070e-01 -5.98365282e-03 9.94354726e-01 8.76013790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.22509989299998 meters 0.056057246559901054 Centerline is valid? [True, True] Translation: X:85.28, Y:10.23, Z:8.76 [[ 9.73015892e-01 -2.04605119e-01 -1.06662175e-01 8.52771686e+01] [ 2.04054846e-01 9.78825986e-01 -1.61650500e-02 1.02327266e+01] [ 1.07711161e-01 -6.03608318e-03 9.94163906e-01 8.76424772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.28509989299998 meters 0.05808807710901979 Centerline is valid? [True, True] Translation: X:85.34, Y:10.24, Z:8.77 [[ 9.73455555e-01 -2.01871728e-01 -1.07852158e-01 8.53366697e+01] [ 2.01292698e-01 9.79394791e-01 -1.63429665e-02 1.02352437e+01] [ 1.08929025e-01 -5.80070035e-03 9.94032605e-01 8.76852902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34509989299998 meters 0.054445997090036585 Centerline is valid? [True, True] Translation: X:85.39, Y:10.27, Z:8.78 [[ 9.75821431e-01 -1.91108898e-01 -1.06065659e-01 8.53929596e+01] [ 1.90485378e-01 9.81558437e-01 -1.60734146e-02 1.02667879e+01] [ 1.07181415e-01 -4.51917462e-03 9.94229210e-01 8.77729618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40509989299998 meters 0.05534433996134371 Centerline is valid? [True, True] Translation: X:85.45, Y:10.27, Z:8.78 [[ 9.77489380e-01 -1.82889428e-01 -1.05194912e-01 8.54515459e+01] [ 1.82228627e-01 9.83126946e-01 -1.59416262e-02 1.02747710e+01] [ 1.06335508e-01 -3.58675410e-03 9.94323838e-01 8.78399417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46509989299997 meters 0.055114947018977664 Centerline is valid? [True, True] Translation: X:85.51, Y:10.30, Z:8.79 [[ 9.81048192e-01 -1.63097540e-01 -1.04611842e-01 8.55077847e+01] [ 1.62331571e-01 9.86608914e-01 -1.58528209e-02 1.03035965e+01] [ 1.05796532e-01 -1.42942345e-03 9.94386771e-01 8.79163590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52509989299998 meters 0.055044177400801336 Centerline is valid? [True, True] Translation: X:85.57, Y:10.32, Z:8.80 [[ 9.82455155e-01 -1.53678661e-01 -1.05663321e-01 8.55653056e+01] [ 1.52842711e-01 9.88120789e-01 -1.60128495e-02 1.03215107e+01] [ 1.06868957e-01 -4.17961895e-04 9.94273027e-01 8.79739109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.58509989299998 meters 0.05552605200172298 Centerline is valid? [True, True] Translation: X:85.62, Y:10.34, Z:8.80 [[ 9.84365965e-01 -1.39783469e-01 -1.07164494e-01 8.56209644e+01] [ 1.38840868e-01 9.90181472e-01 -1.62439683e-02 1.03428657e+01] [ 1.08382935e-01 1.11119815e-03 9.94108598e-01 8.80286930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.64509989299998 meters 0.05539220883412653 Centerline is valid? [True, True] Translation: X:85.68, Y:10.35, Z:8.81 [[ 9.84974906e-01 -1.35556302e-01 -1.06999646e-01 8.56798032e+01] [ 1.34591451e-01 9.90768390e-01 -1.62215245e-02 1.03500706e+01] [ 1.08210797e-01 1.57655689e-03 9.94126721e-01 8.81059695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.70509989299998 meters 0.056431570101343934 Centerline is valid? [True, True] Translation: X:85.74, Y:10.36, Z:8.82 [[ 9.85034865e-01 -1.35699363e-01 -1.06263816e-01 8.57373265e+01] [ 1.34748422e-01 9.90748846e-01 -1.61117286e-02 1.03596097e+01] [ 1.07467104e-01 1.55173286e-03 9.94207430e-01 8.81566627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76509989299998 meters 0.056169408208208996 Centerline is valid? [True, True] Translation: X:85.80, Y:10.37, Z:8.82 [[ 9.84563102e-01 -1.40134248e-01 -1.04870826e-01 8.57965238e+01] [ 1.39232597e-01 9.90131946e-01 -1.59064063e-02 1.03651178e+01] [ 1.06064987e-01 1.05942319e-03 9.94358636e-01 8.82308607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82509989299999 meters 0.054978768198616246 Centerline is valid? [True, True] Translation: X:85.86, Y:10.36, Z:8.83 [[ 9.83325255e-01 -1.48353773e-01 -1.05178898e-01 8.58562604e+01] [ 1.47493531e-01 9.88934339e-01 -1.59540227e-02 1.03625984e+01] [ 1.06381864e-01 1.74786358e-04 9.94325333e-01 8.82905093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88509989299997 meters 0.05471209500769619 Centerline is valid? [True, True] Translation: X:85.91, Y:10.36, Z:8.83 [[ 9.82124777e-01 -1.55359771e-01 -1.06274477e-01 8.59148052e+01] [ 1.54521927e-01 9.87857782e-01 -1.61237706e-02 1.03620988e+01] [ 1.07489054e-01 -5.86182277e-04 9.94206095e-01 8.83351936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.94509989299998 meters 0.055195551605278385 Centerline is valid? [True, True] Translation: X:85.98, Y:10.36, Z:8.84 [[ 9.80823699e-01 -1.62449896e-01 -1.07679630e-01 8.59753599e+01] [ 1.61631776e-01 9.86715834e-01 -1.63411394e-02 1.03648408e+01] [ 1.08903812e-01 -1.37667306e-03 9.94051339e-01 8.83982824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.00509989299998 meters 0.055236390772511856 Centerline is valid? [True, True] Translation: X:86.04, Y:10.36, Z:8.84 [[ 9.79356208e-01 -1.70944888e-01 -1.07885416e-01 8.60372327e+01] [ 1.70175016e-01 9.85277847e-01 -1.63715667e-02 1.03614183e+01] [ 1.09095746e-01 -2.32580690e-03 9.94028525e-01 8.84480043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.06509989299998 meters 0.054738901623661206 Centerline is valid? [True, True] Translation: X:86.09, Y:10.37, Z:8.85 [[ 9.79365442e-01 -1.72133639e-01 -1.05893067e-01 8.60941333e+01] [ 1.71398908e-01 9.85070653e-01 -1.60693076e-02 1.03660171e+01] [ 1.07078221e-01 -2.41223147e-03 9.94247673e-01 8.85232530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12509989299998 meters 0.05428904010098169 Centerline is valid? [True, True] Translation: X:86.15, Y:10.37, Z:8.86 [[ 9.79711632e-01 -1.71998197e-01 -1.02867582e-01 8.61521111e+01] [ 1.71303772e-01 9.85094522e-01 -1.56140875e-02 1.03728281e+01] [ 1.04019886e-01 -2.32430169e-03 9.94572502e-01 8.86096823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18509989299999 meters 0.05497928404425758 Centerline is valid? [True, True] Translation: X:86.21, Y:10.38, Z:8.87 [[ 9.79328978e-01 -1.73446684e-01 -1.04072095e-01 8.62102548e+01] [ 1.72742807e-01 9.84840097e-01 -1.58083857e-02 1.03769955e+01] [ 1.05236284e-01 -2.49609559e-03 9.94444113e-01 8.86533283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24509989299997 meters 0.055164248044939856 Centerline is valid? [True, True] Translation: X:86.27, Y:10.38, Z:8.87 [[ 9.78587692e-01 -1.75650871e-01 -1.07298188e-01 8.62691698e+01] [ 1.74915323e-01 9.84448501e-01 -1.63027431e-02 1.03800822e+01] [ 1.08493131e-01 -2.81443334e-03 9.94093215e-01 8.86813517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.30509989299998 meters 0.05584328690975365 Centerline is valid? [True, True] Translation: X:86.33, Y:10.39, Z:8.87 [[ 9.78086777e-01 -1.75884585e-01 -1.11404083e-01 8.63268616e+01] [ 1.75092620e-01 9.84406385e-01 -1.69305462e-02 1.03870556e+01] [ 1.12644713e-01 -2.94648946e-03 9.93630961e-01 8.87044859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.36509989299998 meters 0.055857876191372995 Centerline is valid? [True, True] Translation: X:86.39, Y:10.40, Z:8.88 [[ 9.78559406e-01 -1.73417704e-01 -1.11120604e-01 8.63862885e+01] [ 1.72613451e-01 9.84844795e-01 -1.68916255e-02 1.03952461e+01] [ 1.12365855e-01 -2.65145188e-03 9.93663366e-01 8.87658016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.42509989299998 meters 0.0551176650598564 Centerline is valid? [True, True] Translation: X:86.44, Y:10.41, Z:8.89 [[ 9.79948946e-01 -1.67893152e-01 -1.07293766e-01 8.64446758e+01] [ 1.67110200e-01 9.85803280e-01 -1.63118027e-02 1.04109195e+01] [ 1.08509186e-01 -1.94514879e-03 9.94093543e-01 8.88811381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48509989299998 meters 0.05506629280047553 Centerline is valid? [True, True] Translation: X:86.50, Y:10.42, Z:8.89 [[ 9.80416599e-01 -1.65261782e-01 -1.07106658e-01 8.65017970e+01] [ 1.64466049e-01 9.86248353e-01 -1.62820553e-02 1.04219741e+01] [ 1.08324567e-01 -1.65221152e-03 9.94114208e-01 8.89474676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54509989299999 meters 0.05483156313331427 Centerline is valid? [True, True] Translation: X:86.56, Y:10.44, Z:8.90 [[ 9.81753098e-01 -1.57924799e-01 -1.05927392e-01 8.65592786e+01] [ 1.57103551e-01 9.87450794e-01 -1.61060338e-02 1.04362365e+01] [ 1.07141630e-01 -8.29420893e-04 9.94243423e-01 8.90269042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60509989299997 meters 0.05509545047272215 Centerline is valid? [True, True] Translation: X:86.62, Y:10.45, Z:8.91 [[ 9.82508595e-01 -1.53504064e-01 -1.05419934e-01 8.66166839e+01] [ 1.52665078e-01 9.88147957e-01 -1.60308968e-02 1.04453673e+01] [ 1.06631301e-01 -3.43448607e-04 9.94298571e-01 8.90862869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66509989299998 meters 0.05524766854725462 Centerline is valid? [True, True] Translation: X:86.67, Y:10.45, Z:8.91 [[ 9.82335042e-01 -1.53384609e-01 -1.07196207e-01 8.66747502e+01] [ 1.52514965e-01 9.88166513e-01 -1.63134507e-02 1.04516423e+01] [ 1.08429935e-01 -3.23751506e-04 9.94104041e-01 8.91473222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.72509989299998 meters 0.055669628140794174 Centerline is valid? [True, True] Translation: X:86.73, Y:10.46, Z:8.92 [[ 9.81945780e-01 -1.54768771e-01 -1.08761727e-01 8.67331391e+01] [ 1.53880530e-01 9.87950609e-01 -1.65643306e-02 1.04586814e+01] [ 1.10014856e-01 -4.71037650e-04 9.93929831e-01 8.92203194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.78509989299998 meters 0.05542299416682695 Centerline is valid? [True, True] Translation: X:86.79, Y:10.46, Z:8.92 [[ 9.81847714e-01 -1.55213621e-01 -1.09012835e-01 8.67898243e+01] [ 1.54322644e-01 9.87880798e-01 -1.66147429e-02 1.04625974e+01] [ 1.10270521e-01 -5.10001620e-04 9.93901480e-01 8.92410830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84509989299998 meters 0.05547957290760181 Centerline is valid? [True, True] Translation: X:86.85, Y:10.47, Z:8.93 [[ 9.81877754e-01 -1.55703804e-01 -1.08038892e-01 8.68468798e+01] [ 1.54830212e-01 9.87803638e-01 -1.64796474e-02 1.04695021e+01] [ 1.09287155e-01 -5.46685412e-04 9.94010070e-01 8.93152937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90509989299998 meters 0.05484772699366189 Centerline is valid? [True, True] Translation: X:86.90, Y:10.47, Z:8.94 [[ 9.81471874e-01 -1.58896833e-01 -1.07073601e-01 8.69045672e+01] [ 1.58056331e-01 9.87294799e-01 -1.63455162e-02 1.04735443e+01] [ 1.08310461e-01 -8.80996145e-04 9.94116728e-01 8.93688877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96509989299997 meters 0.05544996032560557 Centerline is valid? [True, True] Translation: X:86.96, Y:10.47, Z:8.94 [[ 9.80498387e-01 -1.65192557e-01 -1.06462823e-01 8.69633412e+01] [ 1.64397310e-01 9.86260108e-01 -1.62641894e-02 1.04747632e+01] [ 1.07686758e-01 -1.55519028e-03 9.94183657e-01 8.94264300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02509989299998 meters 0.05479577875797594 Centerline is valid? [True, True] Translation: X:87.02, Y:10.48, Z:8.95 [[ 9.79209744e-01 -1.72613774e-01 -1.06549341e-01 8.70234828e+01] [ 1.71860691e-01 9.84986735e-01 -1.62799191e-02 1.04788600e+01] [ 1.07759826e-01 -2.37018791e-03 9.94174131e-01 8.94922131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.08509989299998 meters 0.05483204997549531 Centerline is valid? [True, True] Translation: X:87.08, Y:10.48, Z:8.96 [[ 9.78553463e-01 -1.76839393e-01 -1.05645391e-01 8.70833586e+01] [ 1.76123574e-01 9.84235707e-01 -1.61418399e-02 1.04833751e+01] [ 1.06834479e-01 -2.81099051e-03 9.94272846e-01 8.95593936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.14509989299998 meters 0.054681393807309915 Centerline is valid? [True, True] Translation: X:87.14, Y:10.49, Z:8.96 [[ 9.78121875e-01 -1.80033366e-01 -1.04238115e-01 8.71428795e+01] [ 1.79354459e-01 9.83655568e-01 -1.59279883e-02 1.04874405e+01] [ 1.05401972e-01 -3.11605695e-03 9.94424816e-01 8.96303444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.20509989299998 meters 0.056428940153010976 Centerline is valid? [True, True] Translation: X:87.20, Y:10.49, Z:8.97 [[ 9.78541240e-01 -1.76163810e-01 -1.06880092e-01 8.72022744e+01] [ 1.75426890e-01 9.84356974e-01 -1.63325891e-02 1.04915407e+01] [ 1.08085375e-01 -2.76753008e-03 9.94137763e-01 8.96539206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26509989299998 meters 0.05554052434914208 Centerline is valid? [True, True] Translation: X:87.26, Y:10.51, Z:8.97 [[ 9.80021863e-01 -1.68077493e-01 -1.06334873e-01 8.72601784e+01] [ 1.67300427e-01 9.85772024e-01 -1.62506812e-02 1.05089063e+01] [ 1.07553317e-01 -1.86384681e-03 9.94197571e-01 8.97282015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32509989299997 meters 0.05560067595980842 Centerline is valid? [True, True] Translation: X:87.32, Y:10.53, Z:8.98 [[ 9.82076320e-01 -1.55235979e-01 -1.06901321e-01 8.73181200e+01] [ 1.54374220e-01 9.87877312e-01 -1.63406382e-02 1.05295923e+01] [ 1.08142045e-01 -4.55054231e-04 9.94135348e-01 8.97997634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38509989299997 meters 0.05513951813656112 Centerline is valid? [True, True] Translation: X:87.37, Y:10.54, Z:8.99 [[ 9.83129804e-01 -1.47479131e-01 -1.08192860e-01 8.73748003e+01] [ 1.46549409e-01 9.89065085e-01 -1.65386810e-02 1.05431857e+01] [ 1.09448890e-01 4.04070513e-04 9.93992343e-01 8.98532112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.44509989299998 meters 0.05595182959014282 Centerline is valid? [True, True] Translation: X:87.43, Y:10.55, Z:8.99 [[ 9.83649046e-01 -1.44108430e-01 -1.08015343e-01 8.74320903e+01] [ 1.43160308e-01 9.89561589e-01 -1.65223442e-02 1.05527672e+01] [ 1.09268843e-01 7.88678415e-04 9.94011920e-01 8.99125126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.50509989299998 meters 0.05546673108457871 Centerline is valid? [True, True] Translation: X:87.49, Y:10.56, Z:9.00 [[ 9.83962553e-01 -1.42186620e-01 -1.07706360e-01 8.74888898e+01] [ 1.41231981e-01 9.89839360e-01 -1.64793645e-02 1.05617430e+01] [ 1.08955139e-01 1.00349501e-03 9.94046161e-01 8.99652109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.56509989299998 meters 0.05504491716358302 Centerline is valid? [True, True] Translation: X:87.55, Y:10.57, Z:9.00 [[ 9.83578008e-01 -1.45703087e-01 -1.06512502e-01 8.75476576e+01] [ 1.44789635e-01 9.89328174e-01 -1.63010766e-02 1.05652014e+01] [ 1.07750936e-01 6.11474125e-04 9.94177732e-01 9.00497019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62509989299998 meters 0.05488947718655503 Centerline is valid? [True, True] Translation: X:87.61, Y:10.57, Z:9.01 [[ 9.82349605e-01 -1.54032334e-01 -1.06128669e-01 8.76072813e+01] [ 1.53172747e-01 9.88065765e-01 -1.62528045e-02 1.05662229e+01] [ 1.07365562e-01 -2.90083713e-04 9.94219569e-01 9.00993086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68509989299999 meters 0.05503438930237728 Centerline is valid? [True, True] Translation: X:87.67, Y:10.57, Z:9.02 [[ 9.81083832e-01 -1.61723151e-01 -1.06396128e-01 8.76668653e+01] [ 1.60904055e-01 9.86835518e-01 -1.62955392e-02 1.05674980e+01] [ 1.07630844e-01 -1.13227849e-03 9.94190283e-01 9.01553144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74509989299997 meters 0.05562750089242908 Centerline is valid? [True, True] Translation: X:87.73, Y:10.57, Z:9.02 [[ 9.78350067e-01 -1.77608123e-01 -1.06237947e-01 8.77266552e+01] [ 1.76884275e-01 9.84097107e-01 -1.62738295e-02 1.05652423e+01] [ 1.07438821e-01 -2.87032012e-03 9.94207554e-01 9.02123050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.80509989299998 meters 0.056840317520923916 Centerline is valid? [True, True] Translation: X:87.79, Y:10.56, Z:9.03 [[ 9.77169599e-01 -1.84002404e-01 -1.06220009e-01 8.77874860e+01] [ 1.83316455e-01 9.82919300e-01 -1.62704553e-02 1.05602773e+01] [ 1.07399500e-01 -3.57288114e-03 9.94209526e-01 9.02649386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.86509989299998 meters 0.05588497347516363 Centerline is valid? [True, True] Translation: X:87.85, Y:10.57, Z:9.03 [[ 9.76739511e-01 -1.86728175e-01 -1.05415924e-01 8.78456939e+01] [ 1.86068392e-01 9.82404102e-01 -1.61472245e-02 1.05728452e+01] [ 1.06576178e-01 -3.84293926e-03 9.94297114e-01 9.03391398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.92509989299998 meters 0.056274212970338015 Centerline is valid? [True, True] Translation: X:87.90, Y:10.58, Z:9.04 [[ 9.76613742e-01 -1.87981497e-01 -1.04348238e-01 8.79043863e+01] [ 1.87342058e-01 9.82164675e-01 -1.59845319e-02 1.05767152e+01] [ 1.05491949e-01 -3.93810004e-03 9.94412359e-01 9.04025372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98509989299998 meters 0.05680164359471323 Centerline is valid? [True, True] Translation: X:87.96, Y:10.58, Z:9.05 [[ 9.76175578e-01 -1.90414308e-01 -1.04036683e-01 8.79632558e+01] [ 1.89792175e-01 9.81694897e-01 -1.59392687e-02 1.05832336e+01] [ 1.05167345e-01 -4.18582341e-03 9.94445729e-01 9.04600070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04509989299999 meters 0.0550354930217907 Centerline is valid? [True, True] Translation: X:88.02, Y:10.60, Z:9.05 [[ 9.74538229e-01 -1.97324164e-01 -1.06481990e-01 8.80221383e+01] [ 1.96713311e-01 9.80325304e-01 -1.63147721e-02 1.05974485e+01] [ 1.07606288e-01 -5.04705578e-03 9.94180775e-01 9.05001901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10509989299997 meters 0.05720798525366109 Centerline is valid? [True, True] Translation: X:88.08, Y:10.60, Z:9.05 [[ 9.73473963e-01 -2.01681251e-01 -1.08042197e-01 8.80820010e+01] [ 2.01078951e-01 9.79435146e-01 -1.65544811e-02 1.05986964e+01] [ 1.09159053e-01 -5.60965525e-03 9.94008467e-01 9.05492352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16509989299998 meters 0.05582396019477346 Centerline is valid? [True, True] Translation: X:88.14, Y:10.61, Z:9.06 [[ 9.72082070e-01 -2.07303910e-01 -1.09916053e-01 8.81410874e+01] [ 2.06716227e-01 9.78255981e-01 -1.68415056e-02 1.06116470e+01] [ 1.11017346e-01 -6.35010607e-03 9.93798181e-01 9.06066048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.22509989299998 meters 0.05386637398435533 Centerline is valid? [True, True] Translation: X:88.20, Y:10.64, Z:9.07 [[ 9.71432788e-01 -2.09646206e-01 -1.11206143e-01 8.81982934e+01] [ 2.09059834e-01 9.77754383e-01 -1.70397037e-02 1.06362787e+01] [ 1.12304603e-01 -6.69581091e-03 9.93651268e-01 9.06803778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.28509989299998 meters 0.05518237201287944 Centerline is valid? [True, True] Translation: X:88.26, Y:10.64, Z:9.07 [[ 9.72093565e-01 -2.07184010e-01 -1.10040391e-01 8.82568858e+01] [ 2.06594164e-01 9.78281428e-01 -1.68611895e-02 1.06423930e+01] [ 1.11143840e-01 -6.34304883e-03 9.93784087e-01 9.07339983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34509989299998 meters 0.05662271056112606 Centerline is valid? [True, True] Translation: X:88.32, Y:10.65, Z:9.08 [[ 9.73030444e-01 -2.03863934e-01 -1.07940961e-01 8.83157633e+01] [ 2.03275823e-01 9.78981775e-01 -1.65415650e-02 1.06485402e+01] [ 1.09044462e-01 -5.84634120e-03 9.94019681e-01 9.08073262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40509989299998 meters 0.05491836887747655 Centerline is valid? [True, True] Translation: X:88.37, Y:10.67, Z:9.09 [[ 9.73927432e-01 -2.00653961e-01 -1.05845860e-01 8.83733604e+01] [ 2.00069540e-01 9.79647416e-01 -1.62209619e-02 1.06682848e+01] [ 1.06946424e-01 -5.37849279e-03 9.94250237e-01 9.08924914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46509989299997 meters 0.054281371490429664 Centerline is valid? [True, True] Translation: X:88.43, Y:10.69, Z:9.10 [[ 9.74614667e-01 -1.98316279e-01 -1.03908152e-01 8.84313606e+01] [ 1.97739779e-01 9.80125190e-01 -1.59245602e-02 1.06869820e+01] [ 1.05001097e-01 -5.02646517e-03 9.94459403e-01 9.09682597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52509989299998 meters 0.054978410453597755 Centerline is valid? [True, True] Translation: X:88.49, Y:10.69, Z:9.10 [[ 9.74476511e-01 -1.98561548e-01 -1.04732237e-01 8.84895649e+01] [ 1.97977254e-01 9.80075186e-01 -1.60510538e-02 1.06923560e+01] [ 1.05832589e-01 -5.09322582e-03 9.94370918e-01 9.10216520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.58509989299998 meters 0.05503132513925346 Centerline is valid? [True, True] Translation: X:88.55, Y:10.71, Z:9.11 [[ 9.74275365e-01 -1.98879424e-01 -1.05992870e-01 8.85471044e+01] [ 1.98282542e-01 9.80010237e-01 -1.62470887e-02 1.07058023e+01] [ 1.07105309e-01 -5.18739743e-03 9.94234149e-01 9.10760097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.64509989299998 meters 0.061416045365827586 Centerline is valid? [True, True] Translation: X:88.61, Y:10.70, Z:9.11 [[ 9.74455574e-01 -1.96565572e-01 -1.08620031e-01 8.86085431e+01] [ 1.95923242e-01 9.80477695e-01 -1.66604932e-02 1.06976527e+01] [ 1.09774397e-01 -5.04627822e-03 9.93943719e-01 9.10934332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.70509989299998 meters 0.056032042448420874 Centerline is valid? [True, True] Translation: X:88.66, Y:10.73, Z:9.11 [[ 9.76250317e-01 -1.85797102e-01 -1.11421519e-01 8.86642452e+01] [ 1.85051111e-01 9.82580260e-01 -1.70914852e-02 1.07302249e+01] [ 1.12656134e-01 -3.93310806e-03 9.93626251e-01 9.11384431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76509989299998 meters 0.05460591391873641 Centerline is valid? [True, True] Translation: X:88.72, Y:10.76, Z:9.13 [[ 9.77694380e-01 -1.78012491e-01 -1.11468619e-01 8.87192806e+01] [ 1.77215283e-01 9.84023546e-01 -1.70998466e-02 1.07634143e+01] [ 1.12731732e-01 -3.03551884e-03 9.93620824e-01 9.12519444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82509989299997 meters 0.05444089151650838 Centerline is valid? [True, True] Translation: X:88.78, Y:10.77, Z:9.13 [[ 9.80297225e-01 -1.65544738e-01 -1.07760338e-01 8.87779584e+01] [ 1.64724530e-01 9.86201071e-01 -1.65311141e-02 1.07747000e+01] [ 1.09009999e-01 -1.54536573e-03 9.94039452e-01 9.13057460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88509989299997 meters 0.05476371274898298 Centerline is valid? [True, True] Translation: X:88.83, Y:10.79, Z:9.14 [[ 9.82245046e-01 -1.55711620e-01 -1.04635368e-01 8.88348769e+01] [ 1.54882739e-01 9.87802459e-01 -1.60511488e-02 1.07948799e+01] [ 1.05858424e-01 -4.40050894e-04 9.94381114e-01 9.13968166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.94509989299998 meters 0.05444309358964854 Centerline is valid? [True, True] Translation: X:88.89, Y:10.81, Z:9.15 [[ 9.82904584e-01 -1.51725858e-01 -1.04296899e-01 8.88915937e+01] [ 1.50879903e-01 9.88422614e-01 -1.59997107e-02 1.08093009e+01] [ 1.05516983e-01 -1.01170346e-05 9.94417501e-01 9.14608168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.00509989299998 meters 0.05397388279707781 Centerline is valid? [True, True] Translation: X:88.95, Y:10.82, Z:9.15 [[ 9.82433944e-01 -1.53586253e-01 -1.05994384e-01 8.89495236e+01] [ 1.52721923e-01 9.88135225e-01 -1.62724180e-02 1.08179331e+01] [ 1.07236004e-01 -2.01090352e-04 9.94233574e-01 9.15074216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.06509989299998 meters 0.05482315566203523 Centerline is valid? [True, True] Translation: X:89.01, Y:10.82, Z:9.16 [[ 9.81190472e-01 -1.59581721e-01 -1.08622890e-01 8.90084321e+01] [ 1.58709104e-01 9.87184342e-01 -1.66881528e-02 1.08236229e+01] [ 1.09893940e-01 -8.65184954e-04 9.93942943e-01 9.15534906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12509989299998 meters 0.05423695223204501 Centerline is valid? [True, True] Translation: X:89.07, Y:10.82, Z:9.16 [[ 9.79932291e-01 -1.67161024e-01 -1.08581296e-01 8.90680989e+01] [ 1.66335116e-01 9.85928123e-01 -1.66843088e-02 1.08243413e+01] [ 1.09842319e-01 -1.71138955e-03 9.93947552e-01 9.15952162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18509989299999 meters 0.053864402923113786 Centerline is valid? [True, True] Translation: X:89.13, Y:10.83, Z:9.17 [[ 9.78700330e-01 -1.75683674e-01 -1.06211632e-01 8.91273898e+01] [ 1.74943356e-01 9.84443217e-01 -1.63210124e-02 1.08299370e+01] [ 1.07426656e-01 -2.60763906e-03 9.94209593e-01 9.16808689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24509989299997 meters 0.05417945688202575 Centerline is valid? [True, True] Translation: X:89.19, Y:10.83, Z:9.18 [[ 9.77861384e-01 -1.81798629e-01 -1.03616462e-01 8.91870028e+01] [ 1.81128198e-01 9.83330583e-01 -1.59229636e-02 1.08344861e+01] [ 1.04784009e-01 -3.19741188e-03 9.94489863e-01 9.17513042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.30509989299998 meters 0.05580687720511306 Centerline is valid? [True, True] Translation: X:89.25, Y:10.84, Z:9.18 [[ 9.76983748e-01 -1.86487015e-01 -1.03563265e-01 8.92464879e+01] [ 1.85843409e-01 9.82450469e-01 -1.59155351e-02 1.08364575e+01] [ 1.04713819e-01 -3.69733099e-03 9.94495523e-01 9.18137609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.36509989299998 meters 0.05689414251033567 Centerline is valid? [True, True] Translation: X:89.31, Y:10.84, Z:9.18 [[ 9.75710666e-01 -1.91321474e-01 -1.06699530e-01 8.93076144e+01] [ 1.90666915e-01 9.81517816e-01 -1.63983136e-02 1.08351117e+01] [ 1.07864839e-01 -4.34406073e-03 9.94156077e-01 9.18443694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.42509989299998 meters 0.057491970610007465 Centerline is valid? [True, True] Translation: X:89.37, Y:10.84, Z:9.19 [[ 9.75614064e-01 -1.90256029e-01 -1.09452465e-01 8.93665176e+01] [ 1.89560427e-01 9.81724934e-01 -1.68225514e-02 1.08417038e+01] [ 1.10652806e-01 -4.33553832e-03 9.93849666e-01 9.18693385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48509989299998 meters 0.05406274660994579 Centerline is valid? [True, True] Translation: X:89.42, Y:10.87, Z:9.20 [[ 9.76814926e-01 -1.83458642e-01 -1.10342771e-01 8.94236428e+01] [ 1.82707827e-01 9.83020878e-01 -1.69647974e-02 1.08663146e+01] [ 1.11581586e-01 -3.58902062e-03 9.93748795e-01 9.19534813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54509989299999 meters 0.05416850755115853 Centerline is valid? [True, True] Translation: X:89.48, Y:10.88, Z:9.20 [[ 9.78651785e-01 -1.72870734e-01 -1.11159315e-01 8.94816799e+01] [ 1.72040662e-01 9.84941599e-01 -1.70896769e-02 1.08817552e+01] [ 1.12439738e-01 -2.39907924e-03 9.93655649e-01 9.20042278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60509989299997 meters 0.054109131707391456 Centerline is valid? [True, True] Translation: X:89.54, Y:10.90, Z:9.21 [[ 9.80905925e-01 -1.60241291e-01 -1.10210232e-01 8.95394449e+01] [ 1.59345746e-01 9.87077425e-01 -1.69437548e-02 1.09020617e+01] [ 1.11501121e-01 -9.41302096e-04 9.93763862e-01 9.20655664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66509989299998 meters 0.05402630879709677 Centerline is valid? [True, True] Translation: X:89.60, Y:10.92, Z:9.21 [[ 9.81366214e-01 -1.57414224e-01 -1.10186730e-01 8.95967387e+01] [ 1.56501150e-01 9.87532470e-01 -1.69413940e-02 1.09151260e+01] [ 1.11479790e-01 -6.18638176e-04 9.93766509e-01 9.21283699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.72509989299998 meters 0.054093146765110046 Centerline is valid? [True, True] Translation: X:89.65, Y:10.92, Z:9.22 [[ 9.81427504e-01 -1.58235171e-01 -1.08451299e-01 8.96546976e+01] [ 1.57354513e-01 9.87401213e-01 -1.66853958e-02 1.09244798e+01] [ 1.09725161e-01 -6.89795033e-04 9.93961726e-01 9.22074201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.78509989299998 meters 0.05399875775967203 Centerline is valid? [True, True] Translation: X:89.71, Y:10.93, Z:9.23 [[ 9.80428679e-01 -1.63364486e-01 -1.09871063e-01 8.97139120e+01] [ 1.62491340e-01 9.86564967e-01 -1.69153589e-02 1.09316272e+01] [ 1.11158310e-01 -1.26879325e-03 9.93801902e-01 9.22655502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84509989299998 meters 0.05437322094944841 Centerline is valid? [True, True] Translation: X:89.77, Y:10.93, Z:9.23 [[ 9.79138002e-01 -1.70755856e-01 -1.10141774e-01 8.97736608e+01] [ 1.69924743e-01 9.85311109e-01 -1.69587647e-02 1.09334098e+01] [ 1.11419722e-01 -2.11084155e-03 9.93771196e-01 9.23140390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90509989299998 meters 0.05512425381438501 Centerline is valid? [True, True] Translation: X:89.83, Y:10.94, Z:9.24 [[ 9.77767474e-01 -1.78893771e-01 -1.09397378e-01 8.98333545e+01] [ 1.78124441e-01 9.83863773e-01 -1.68451512e-02 1.09394603e+01] [ 1.10645610e-01 -3.01570596e-03 9.93855349e-01 9.23993661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96509989299997 meters 0.05663322884466954 Centerline is valid? [True, True] Translation: X:89.89, Y:10.94, Z:9.25 [[ 9.76458778e-01 -1.85789266e-01 -1.09592897e-01 8.98938311e+01] [ 1.85060380e-01 9.82582253e-01 -1.68752046e-02 1.09417531e+01] [ 1.10819268e-01 -3.80336159e-03 9.93833298e-01 9.24555892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02509989299998 meters 0.05441119530487687 Centerline is valid? [True, True] Translation: X:89.95, Y:10.96, Z:9.25 [[ 9.75787458e-01 -1.89700926e-01 -1.08868712e-01 8.99511593e+01] [ 1.89005829e-01 9.81832858e-01 -1.67640860e-02 1.09601120e+01] [ 1.10071041e-01 -4.21863629e-03 9.93914770e-01 9.25452736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08509989299998 meters 0.05390098043248178 Centerline is valid? [True, True] Translation: X:90.01, Y:10.97, Z:9.26 [[ 9.76703112e-01 -1.85573358e-01 -1.07766227e-01 9.00092152e+01] [ 1.84867158e-01 9.82623395e-01 -1.65951350e-02 1.09737482e+01] [ 1.08973231e-01 -3.71391611e-03 9.94037747e-01 9.26135508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.14509989299998 meters 0.055829972688509644 Centerline is valid? [True, True] Translation: X:90.07, Y:10.98, Z:9.27 [[ 9.76902492e-01 -1.84623741e-01 -1.07589940e-01 9.00668332e+01] [ 1.83913959e-01 9.82802681e-01 -1.65694195e-02 1.09761285e+01] [ 1.08798790e-01 -3.60058454e-03 9.94057272e-01 9.26667704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.20509989299998 meters 0.05415427126989963 Centerline is valid? [True, True] Translation: X:90.12, Y:10.99, Z:9.27 [[ 9.76728476e-01 -1.84747966e-01 -1.08948026e-01 9.01234880e+01] [ 1.84020388e-01 9.82779132e-01 -1.67831631e-02 1.09913646e+01] [ 1.10172501e-01 -3.65606466e-03 9.93905757e-01 9.27253562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26509989299998 meters 0.054184327368632525 Centerline is valid? [True, True] Translation: X:90.18, Y:11.00, Z:9.28 [[ 9.76719302e-01 -1.84821522e-01 -1.08905511e-01 9.01826008e+01] [ 1.84093760e-01 9.82765316e-01 -1.67875158e-02 1.10045511e+01] [ 1.10131253e-01 -3.65213416e-03 9.93910343e-01 9.27943121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32509989299997 meters 0.05467408589080501 Centerline is valid? [True, True] Translation: X:90.24, Y:11.01, Z:9.29 [[ 9.76775422e-01 -1.84308867e-01 -1.09270385e-01 9.02405331e+01] [ 1.83573002e-01 9.82861758e-01 -1.68439101e-02 1.10102452e+01] [ 1.10502164e-01 -3.60637507e-03 9.93869340e-01 9.28507104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38509989299997 meters 0.05535646281391827 Centerline is valid? [True, True] Translation: X:90.30, Y:11.02, Z:9.29 [[ 9.77032011e-01 -1.83450687e-01 -1.08417224e-01 9.02989891e+01] [ 1.82720699e-01 9.83022759e-01 -1.67153175e-02 1.10179498e+01] [ 1.09643036e-01 -3.47867082e-03 9.93964941e-01 9.29190906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.44509989299998 meters 0.05573864161895386 Centerline is valid? [True, True] Translation: X:90.36, Y:11.02, Z:9.30 [[ 9.77230087e-01 -1.83195700e-01 -1.07054625e-01 9.03570663e+01] [ 1.82481303e-01 9.83070600e-01 -1.65157538e-02 1.10243283e+01] [ 1.08267869e-01 -3.39577584e-03 9.94115958e-01 9.30021466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.50509989299998 meters 0.054017828168008396 Centerline is valid? [True, True] Translation: X:90.42, Y:11.04, Z:9.31 [[ 9.77146222e-01 -1.84167123e-01 -1.06149574e-01 9.04156685e+01] [ 1.83469306e-01 9.82888844e-01 -1.63869787e-02 1.10399542e+01] [ 1.07351175e-01 -3.46271447e-03 9.94215135e-01 9.30929421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.56509989299998 meters 0.05515687208947649 Centerline is valid? [True, True] Translation: X:90.48, Y:11.04, Z:9.31 [[ 9.77135163e-01 -1.83414418e-01 -1.07545450e-01 9.04751636e+01] [ 1.82693643e-01 9.83029712e-01 -1.66017307e-02 1.10409381e+01] [ 1.08765370e-01 -3.42573522e-03 9.94061547e-01 9.31449527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62509989299998 meters 0.054391573412611326 Centerline is valid? [True, True] Translation: X:90.53, Y:11.05, Z:9.32 [[ 9.77404072e-01 -1.81332330e-01 -1.08627188e-01 9.05335103e+01] [ 1.80583959e-01 9.83416588e-01 -1.67704261e-02 1.10528216e+01] [ 1.09866799e-01 -3.22484497e-03 9.93941088e-01 9.32007999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68509989299999 meters 0.05400832447668265 Centerline is valid? [True, True] Translation: X:90.59, Y:11.06, Z:9.32 [[ 9.78599874e-01 -1.74023307e-01 -1.09809722e-01 9.05925801e+01] [ 1.73212424e-01 9.84738540e-01 -1.69547914e-02 1.10630796e+01] [ 1.11084394e-01 -2.42845149e-03 9.93808010e-01 9.32491837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74509989299997 meters 0.05397560295011497 Centerline is valid? [True, True] Translation: X:90.65, Y:11.08, Z:9.33 [[ 9.79951868e-01 -1.66519398e-01 -1.09387503e-01 9.06509935e+01] [ 1.65667760e-01 9.86036932e-01 -1.68926552e-02 1.10779338e+01] [ 1.10673073e-01 -1.56799356e-03 9.93855630e-01 9.33161873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.80509989299998 meters 0.05470760121670481 Centerline is valid? [True, True] Translation: X:90.71, Y:11.10, Z:9.34 [[ 9.82474074e-01 -1.50176870e-01 -1.10415587e-01 9.07077843e+01] [ 1.49205929e-01 9.88659107e-01 -1.70516965e-02 1.10978414e+01] [ 1.11724147e-01 2.78189369e-04 9.93739220e-01 9.33633769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.86509989299998 meters 0.05562367049535557 Centerline is valid? [True, True] Translation: X:90.76, Y:11.11, Z:9.34 [[ 9.83938558e-01 -1.41795586e-01 -1.08438581e-01 9.07647565e+01] [ 1.40808213e-01 9.89895220e-01 -1.67481293e-02 1.11130822e+01] [ 1.09717644e-01 1.21008746e-03 9.93962059e-01 9.34455372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.92509989299998 meters 0.0560165000357458 Centerline is valid? [True, True] Translation: X:90.82, Y:11.12, Z:9.35 [[ 9.84585158e-01 -1.38550684e-01 -1.06750991e-01 9.08206962e+01] [ 1.37574687e-01 9.90354133e-01 -1.64892881e-02 1.11245012e+01] [ 1.08005887e-01 1.54887421e-03 9.94149048e-01 9.35241587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98509989299998 meters 0.0552424140222419 Centerline is valid? [True, True] Translation: X:90.88, Y:11.13, Z:9.36 [[ 9.84110532e-01 -1.42423786e-01 -1.06027947e-01 9.08798732e+01] [ 1.41482956e-01 9.89805137e-01 -1.63817996e-02 1.11276207e+01] [ 1.07280165e-01 1.12035418e-03 9.94228199e-01 9.35924454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04509989299999 meters 0.05455854095768042 Centerline is valid? [True, True] Translation: X:90.94, Y:11.12, Z:9.37 [[ 9.82527117e-01 -1.53458957e-01 -1.05312932e-01 9.09402363e+01] [ 1.52593736e-01 9.88155019e-01 -1.62729720e-02 1.11245036e+01] [ 1.06562736e-01 -8.14575827e-05 9.94305977e-01 9.36583131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10509989299997 meters 0.054423801213740915 Centerline is valid? [True, True] Translation: X:91.00, Y:11.12, Z:9.37 [[ 9.81144282e-01 -1.62550312e-01 -1.04562393e-01 9.09999488e+01] [ 1.61748551e-01 9.86699689e-01 -1.61595109e-02 1.11240874e+01] [ 1.05798414e-01 -1.05800384e-03 9.94387035e-01 9.37217444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16509989299998 meters 0.05506255727877975 Centerline is valid? [True, True] Translation: X:91.06, Y:11.11, Z:9.38 [[ 9.78330918e-01 -1.78500498e-01 -1.04910377e-01 9.10612202e+01] [ 1.77784258e-01 9.83935874e-01 -1.62158151e-02 1.11131291e+01] [ 1.06119615e-01 -2.78698034e-03 9.94349466e-01 9.37703169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.22509989299998 meters 0.05424445424548877 Centerline is valid? [True, True] Translation: X:91.12, Y:11.12, Z:9.38 [[ 9.76929528e-01 -1.85933651e-01 -1.05058913e-01 9.11208396e+01] [ 1.85258216e-01 9.82555708e-01 -1.62380222e-02 1.11175040e+01] [ 1.06245429e-01 -3.59962338e-03 9.94333421e-01 9.38299039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.28509989299998 meters 0.0549037337017563 Centerline is valid? [True, True] Translation: X:91.18, Y:11.12, Z:9.39 [[ 9.76500590e-01 -1.87960538e-01 -1.05439241e-01 9.11801516e+01] [ 1.87291926e-01 9.82169099e-01 -1.62971155e-02 1.11171829e+01] [ 1.06622379e-01 -3.83377562e-03 9.94292196e-01 9.38770188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34509989299998 meters 0.05632597956502013 Centerline is valid? [True, True] Translation: X:91.24, Y:11.12, Z:9.39 [[ 9.77074040e-01 -1.84189819e-01 -1.06772803e-01 9.12391963e+01] [ 1.83481690e-01 9.82884581e-01 -1.65036143e-02 1.11208574e+01] [ 1.07985139e-01 -3.46560120e-03 9.94146468e-01 9.39223292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40509989299998 meters 0.0554709474892213 Centerline is valid? [True, True] Translation: X:91.30, Y:11.14, Z:9.40 [[ 9.78497389e-01 -1.75655696e-01 -1.08110757e-01 9.12976560e+01] [ 1.74877603e-01 9.84448350e-01 -1.67113946e-02 1.11352890e+01] [ 1.09364908e-01 -2.55409412e-03 9.93998387e-01 9.39745165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46509989299997 meters 0.054733410579145325 Centerline is valid? [True, True] Translation: X:91.36, Y:11.15, Z:9.40 [[ 9.80246598e-01 -1.64534460e-01 -1.09749802e-01 9.13567055e+01] [ 1.63662868e-01 9.86370437e-01 -1.69654790e-02 1.11503179e+01] [ 1.11045366e-01 -1.33161425e-03 9.93814446e-01 9.40132845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52509989299998 meters 0.05426959055083175 Centerline is valid? [True, True] Translation: X:91.41, Y:11.17, Z:9.41 [[ 9.81871952e-01 -1.54833658e-01 -1.09334386e-01 9.14142054e+01] [ 1.53908572e-01 9.87940527e-01 -1.69016861e-02 1.11673846e+01] [ 1.10632820e-01 -2.32207607e-04 9.93861321e-01 9.40856957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.58509989299998 meters 0.05501752654203878 Centerline is valid? [True, True] Translation: X:91.47, Y:11.18, Z:9.41 [[ 9.82728058e-01 -1.48861247e-01 -1.09935858e-01 9.14712902e+01] [ 1.47888152e-01 9.88857992e-01 -1.69989881e-02 1.11800400e+01] [ 1.11241443e-01 4.47171766e-04 9.93793309e-01 9.41445694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.64509989299998 meters 0.05498585566950494 Centerline is valid? [True, True] Translation: X:91.53, Y:11.19, Z:9.42 [[ 9.82633016e-01 -1.49513016e-01 -1.09900932e-01 9.15280272e+01] [ 1.48543304e-01 9.88759683e-01 -1.70052046e-02 1.11891838e+01] [ 1.11208110e-01 3.84827992e-04 9.93797066e-01 9.41858507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.70509989299998 meters 0.05436086784769106 Centerline is valid? [True, True] Translation: X:91.59, Y:11.19, Z:9.43 [[ 9.81700351e-01 -1.56628384e-01 -1.08314215e-01 9.15870416e+01] [ 1.55729240e-01 9.87657522e-01 -1.67637489e-02 1.11915960e+01] [ 1.09603028e-01 -4.10712264e-04 9.93975356e-01 9.42789479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76509989299998 meters 0.05471159000822567 Centerline is valid? [True, True] Translation: X:91.65, Y:11.19, Z:9.44 [[ 9.80094276e-01 -1.67532867e-01 -1.06526755e-01 9.16471313e+01] [ 1.66727156e-01 9.85865192e-01 -1.64887306e-02 1.11939194e+01] [ 1.07783424e-01 -1.60039248e-03 9.94173110e-01 9.43665239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82509989299997 meters 0.054924747799656094 Centerline is valid? [True, True] Translation: X:91.71, Y:11.19, Z:9.44 [[ 9.78071937e-01 -1.79179831e-01 -1.06159662e-01 9.17077094e+01] [ 1.78447813e-01 9.83812148e-01 -1.64327572e-02 1.11946918e+01] [ 1.07385584e-01 -2.87154087e-03 9.94213302e-01 9.44268371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88509989299997 meters 0.05518852931624851 Centerline is valid? [True, True] Translation: X:91.77, Y:11.20, Z:9.45 [[ 9.75992862e-01 -1.89673651e-01 -1.07059979e-01 9.17678298e+01] [ 1.88991870e-01 9.81838801e-01 -1.65723428e-02 1.11954178e+01] [ 1.08258979e-01 -4.05897745e-03 9.94114439e-01 9.44741254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.94509989299998 meters 0.05837903141311375 Centerline is valid? [True, True] Translation: X:91.83, Y:11.19, Z:9.45 [[ 9.74471923e-01 -1.97308811e-01 -1.07115376e-01 9.18297005e+01] [ 1.96672176e-01 9.80329095e-01 -1.65807579e-02 1.11916754e+01] [ 1.08279849e-01 -4.90913093e-03 9.94108332e-01 9.45304168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.00509989299998 meters 0.057166841134333124 Centerline is valid? [True, True] Translation: X:91.89, Y:11.21, Z:9.46 [[ 9.73569850e-01 -2.02018987e-01 -1.06536733e-01 9.18876742e+01] [ 2.01417289e-01 9.79366699e-01 -1.64907277e-02 1.12072393e+01] [ 1.07669969e-01 -5.40346459e-03 9.94172007e-01 9.46005827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.06509989299998 meters 0.0577676929740283 Centerline is valid? [True, True] Translation: X:91.95, Y:11.22, Z:9.47 [[ 9.73273363e-01 -2.03613056e-01 -1.06210566e-01 9.19472360e+01] [ 2.03024461e-01 9.79035639e-01 -1.64403417e-02 1.12156099e+01] [ 1.07331398e-01 -5.56239633e-03 9.94207740e-01 9.46635614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12509989299998 meters 0.057878072065529904 Centerline is valid? [True, True] Translation: X:92.00, Y:11.23, Z:9.47 [[ 9.73548927e-01 -2.02877019e-01 -1.05087594e-01 9.20044617e+01] [ 2.02296527e-01 9.79189211e-01 -1.62666321e-02 1.12274057e+01] [ 1.06200765e-01 -5.42249323e-03 9.94329922e-01 9.47266629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18509989299997 meters 0.05700559627111797 Centerline is valid? [True, True] Translation: X:92.06, Y:11.24, Z:9.48 [[ 9.73685820e-01 -2.02167407e-01 -1.05186803e-01 9.20624819e+01] [ 2.01581133e-01 9.79336393e-01 -1.62872948e-02 1.12384973e+01] [ 1.06306024e-01 -5.34496684e-03 9.94319094e-01 9.47912180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24509989299997 meters 0.05541470724716408 Centerline is valid? [True, True] Translation: X:92.12, Y:11.26, Z:9.48 [[ 9.74163686e-01 -1.99471318e-01 -1.05907069e-01 9.21204444e+01] [ 1.98860555e-01 9.79890495e-01 -1.64041694e-02 1.12562142e+01] [ 1.07049491e-01 -5.08039225e-03 9.94240713e-01 9.48498424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.30509989299998 meters 0.05538286039965232 Centerline is valid? [True, True] Translation: X:92.18, Y:11.27, Z:9.49 [[ 9.74766448e-01 -1.95667111e-01 -1.07446516e-01 9.21790130e+01] [ 1.95015430e-01 9.80658962e-01 -1.66427745e-02 1.12709218e+01] [ 1.08624833e-01 -4.73091044e-03 9.94071559e-01 9.49037213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.36509989299998 meters 0.05560642541790531 Centerline is valid? [True, True] Translation: X:92.24, Y:11.28, Z:9.50 [[ 9.75843069e-01 -1.89533084e-01 -1.08662388e-01 9.22383113e+01] [ 1.88828607e-01 9.81865802e-01 -1.68316383e-02 1.12837348e+01] [ 1.09882035e-01 -4.09352985e-03 9.93936206e-01 9.49505796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.42509989299998 meters 0.05543313350017226 Centerline is valid? [True, True] Translation: X:92.30, Y:11.30, Z:9.50 [[ 9.77750808e-01 -1.79726222e-01 -1.08175054e-01 9.22960904e+01] [ 1.78968155e-01 9.83712166e-01 -1.67562872e-02 1.13039027e+01] [ 1.09424661e-01 -2.97641641e-03 9.93990636e-01 9.50137290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48509989299998 meters 0.054469696620082025 Centerline is valid? [True, True] Translation: X:92.35, Y:11.33, Z:9.51 [[ 9.80383022e-01 -1.65816051e-01 -1.06555935e-01 9.23526618e+01] [ 1.64998353e-01 9.86155708e-01 -1.65064594e-02 1.13292234e+01] [ 1.07817780e-01 -1.39890133e-03 9.94169688e-01 9.50891178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54509989299999 meters 0.054180571714465796 Centerline is valid? [True, True] Translation: X:92.41, Y:11.35, Z:9.52 [[ 9.82898061e-01 -1.51683589e-01 -1.04419779e-01 9.24085536e+01] [ 1.50818686e-01 9.88429090e-01 -1.61758428e-02 1.13530302e+01] [ 1.05665157e-01 1.50750664e-04 9.94401756e-01 9.51770871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60509989299997 meters 0.054786580122979746 Centerline is valid? [True, True] Translation: X:92.47, Y:11.37, Z:9.52 [[ 9.84358571e-01 -1.40532535e-01 -1.06248816e-01 9.24664091e+01] [ 1.39572009e-01 9.90075109e-01 -1.64600521e-02 1.13721735e+01] [ 1.07507481e-01 1.37323264e-03 9.94203327e-01 9.52285427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66509989299998 meters 0.05542242728196807 Centerline is valid? [True, True] Translation: X:92.52, Y:11.38, Z:9.53 [[ 9.84407827e-01 -1.39483665e-01 -1.07170602e-01 9.25229905e+01] [ 1.38500126e-01 9.90223235e-01 -1.66030400e-02 1.13805527e+01] [ 1.08438673e-01 1.50102074e-03 9.94102007e-01 9.52826583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.72509989299998 meters 0.05517469117579796 Centerline is valid? [True, True] Translation: X:92.58, Y:11.39, Z:9.53 [[ 9.84080260e-01 -1.41938132e-01 -1.06956109e-01 9.25796121e+01] [ 1.40972489e-01 9.89874763e-01 -1.65743871e-02 1.13905895e+01] [ 1.08225691e-01 1.23265823e-03 9.94125586e-01 9.53357095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.78509989299998 meters 0.054451146117403496 Centerline is valid? [True, True] Translation: X:92.64, Y:11.39, Z:9.54 [[ 9.83421608e-01 -1.47379410e-01 -1.05646823e-01 9.26380881e+01] [ 1.46467994e-01 9.89079830e-01 -1.63773242e-02 1.13945130e+01] [ 1.06906822e-01 6.31936316e-04 9.94268843e-01 9.54153984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84509989299998 meters 0.05419514713621429 Centerline is valid? [True, True] Translation: X:92.70, Y:11.40, Z:9.55 [[ 9.82375232e-01 -1.54852846e-01 -1.04687631e-01 9.26967348e+01] [ 1.54000039e-01 9.87937531e-01 -1.62303221e-02 1.14005768e+01] [ 1.05938152e-01 -1.77632922e-04 9.94372705e-01 9.54793547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90509989299998 meters 0.05395206239408243 Centerline is valid? [True, True] Translation: X:92.76, Y:11.40, Z:9.55 [[ 9.81211684e-01 -1.62349603e-01 -1.04241249e-01 9.27561920e+01] [ 1.61545589e-01 9.86732817e-01 -1.61669354e-02 1.14049380e+01] [ 1.05482957e-01 -9.76528095e-04 9.94420631e-01 9.55422404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96509989299997 meters 0.05374816455700126 Centerline is valid? [True, True] Translation: X:92.82, Y:11.41, Z:9.56 [[ 9.80203377e-01 -1.69310243e-01 -1.02642005e-01 9.28157337e+01] [ 1.68568601e-01 9.85561344e-01 -1.59205590e-02 1.14084547e+01] [ 1.03855506e-01 -1.69683350e-03 9.94590948e-01 9.56031101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02509989299998 meters 0.054157505408630895 Centerline is valid? [True, True] Translation: X:92.88, Y:11.41, Z:9.57 [[ 9.79372424e-01 -1.74827371e-01 -1.01316565e-01 9.28757948e+01] [ 1.74134116e-01 9.84596528e-01 -1.57157971e-02 1.14075600e+01] [ 1.02503490e-01 -2.25105226e-03 9.94730098e-01 9.56689953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08509989299998 meters 0.053923393654986274 Centerline is valid? [True, True] Translation: X:92.94, Y:11.41, Z:9.57 [[ 9.78185362e-01 -1.80235996e-01 -1.03287867e-01 9.29357512e+01] [ 1.79545439e-01 9.83619202e-01 -1.60218830e-02 1.14143244e+01] [ 1.04483649e-01 -2.87249397e-03 9.94522456e-01 9.56979347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.14509989299998 meters 0.05390566360947439 Centerline is valid? [True, True] Translation: X:92.99, Y:11.42, Z:9.58 [[ 9.78086971e-01 -1.80543459e-01 -1.03681900e-01 9.29939100e+01] [ 1.79849324e-01 9.83562684e-01 -1.60831199e-02 1.14221952e+01] [ 1.04881350e-01 -2.91642969e-03 9.94480466e-01 9.57506368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.20509989299998 meters 0.054333834735510206 Centerline is valid? [True, True] Translation: X:93.05, Y:11.43, Z:9.58 [[ 9.78972824e-01 -1.75245312e-01 -1.04409244e-01 9.30529068e+01] [ 1.74510094e-01 9.84521986e-01 -1.62075972e-02 1.14322888e+01] [ 1.05633501e-01 -2.35366972e-03 9.94402345e-01 9.58073361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26509989299998 meters 0.05391453503033904 Centerline is valid? [True, True] Translation: X:93.11, Y:11.44, Z:9.59 [[ 9.79987014e-01 -1.69170750e-01 -1.04912870e-01 9.31121341e+01] [ 1.68393746e-01 9.85585279e-01 -1.62850983e-02 1.14449640e+01] [ 1.06155542e-01 -1.70748628e-03 9.94348071e-01 9.58698581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32509989299997 meters 0.05399141410257867 Centerline is valid? [True, True] Translation: X:93.17, Y:11.46, Z:9.59 [[ 9.81076799e-01 -1.62796997e-01 -1.04811505e-01 9.31707498e+01] [ 1.61985176e-01 9.86659062e-01 -1.62695289e-02 1.14591880e+01] [ 1.06061851e-01 -1.01625273e-03 9.94359015e-01 9.59316746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38509989299997 meters 0.05400681891105981 Centerline is valid? [True, True] Translation: X:93.23, Y:11.47, Z:9.60 [[ 9.82207925e-01 -1.54487011e-01 -1.06777130e-01 9.32266908e+01] [ 1.53595243e-01 9.87994812e-01 -1.65756466e-02 1.14728243e+01] [ 1.08055973e-01 -1.19727812e-04 9.94144805e-01 9.59745373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.44509989299998 meters 0.05373274376134724 Centerline is valid? [True, True] Translation: X:93.28, Y:11.48, Z:9.60 [[ 9.82770176e-01 -1.50313563e-01 -1.07557489e-01 9.32844662e+01] [ 1.49383229e-01 9.88638312e-01 -1.67014457e-02 1.14837858e+01] [ 1.08845908e-01 3.46397834e-04 9.94058574e-01 9.60341558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.50509989299998 meters 0.054826108986848095 Centerline is valid? [True, True] Translation: X:93.34, Y:11.49, Z:9.61 [[ 9.82651712e-01 -1.51125186e-01 -1.07502513e-01 9.33420533e+01] [ 1.50199368e-01 9.88514596e-01 -1.67045895e-02 1.14908091e+01] [ 1.08792287e-01 2.67983949e-04 9.94064468e-01 9.60894869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.56509989299998 meters 0.05410342363640431 Centerline is valid? [True, True] Translation: X:93.40, Y:11.50, Z:9.61 [[ 9.82152927e-01 -1.54055932e-01 -1.07899944e-01 9.33993534e+01] [ 1.53139271e-01 9.88062128e-01 -1.67808086e-02 1.14969336e+01] [ 1.09197031e-01 -4.23984080e-05 9.94020124e-01 9.61403782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62509989299998 meters 0.05430916982462408 Centerline is valid? [True, True] Translation: X:93.46, Y:11.50, Z:9.62 [[ 9.81432159e-01 -1.58855374e-01 -1.07498315e-01 9.34579161e+01] [ 1.57972670e-01 9.87301705e-01 -1.67325669e-02 1.15025244e+01] [ 1.08791328e-01 -5.59916521e-04 9.94064451e-01 9.62026294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68509989299997 meters 0.053727563454013666 Centerline is valid? [True, True] Translation: X:93.52, Y:11.50, Z:9.63 [[ 9.80084243e-01 -1.68066446e-01 -1.05775922e-01 9.35168103e+01] [ 1.67263993e-01 9.85774460e-01 -1.64763949e-02 1.15045549e+01] [ 1.07040332e-01 -1.54424804e-03 9.94253480e-01 9.62733270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74509989299997 meters 0.05492468707240125 Centerline is valid? [True, True] Translation: X:93.58, Y:11.50, Z:9.63 [[ 9.77981451e-01 -1.80202189e-01 -1.05258980e-01 9.35766264e+01] [ 1.79477304e-01 9.83625447e-01 -1.63974983e-02 1.15021117e+01] [ 1.06490277e-01 -2.85514884e-03 9.94309644e-01 9.63362828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.80509989299998 meters 0.05463084459420228 Centerline is valid? [True, True] Translation: X:93.64, Y:11.51, Z:9.64 [[ 9.75644640e-01 -1.92327072e-01 -1.05488549e-01 9.36363311e+01] [ 1.91669681e-01 9.81321943e-01 -1.64309700e-02 1.15085492e+01] [ 1.06678348e-01 -4.18816875e-03 9.94284763e-01 9.63974156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.86509989299998 meters 0.05937656022527272 Centerline is valid? [True, True] Translation: X:93.70, Y:11.50, Z:9.64 [[ 9.74564782e-01 -1.96768695e-01 -1.07264006e-01 9.36993891e+01] [ 1.96115661e-01 9.80438417e-01 -1.67080447e-02 1.14975330e+01] [ 1.08453372e-01 -4.75307942e-03 9.94090174e-01 9.64253322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.92509989299998 meters 0.05377457212719997 Centerline is valid? [True, True] Translation: X:93.76, Y:11.52, Z:9.65 [[ 9.74395651e-01 -1.98022577e-01 -1.06490250e-01 9.37552007e+01] [ 1.97386376e-01 9.80185426e-01 -1.65876050e-02 1.15247788e+01] [ 1.07664912e-01 -4.85683432e-03 9.94175376e-01 9.65119322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98509989299998 meters 0.05460991230408028 Centerline is valid? [True, True] Translation: X:93.81, Y:11.53, Z:9.66 [[ 9.74224039e-01 -1.98797699e-01 -1.06616117e-01 9.38119831e+01] [ 1.98164063e-01 9.80028080e-01 -1.66122489e-02 1.15302262e+01] [ 1.07789265e-01 -4.94343056e-03 9.94161474e-01 9.65716883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04509989299999 meters 0.0555618232952195 Centerline is valid? [True, True] Translation: X:93.87, Y:11.54, Z:9.66 [[ 9.73897253e-01 -1.99431453e-01 -1.08403118e-01 9.38704410e+01] [ 1.98779440e-01 9.79898555e-01 -1.68984276e-02 1.15355782e+01] [ 1.09594137e-01 -5.09097892e-03 9.93963383e-01 9.66016105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10509989299997 meters 0.05591528419715341 Centerline is valid? [True, True] Translation: X:93.93, Y:11.54, Z:9.66 [[ 9.73915733e-01 -1.98783967e-01 -1.09421564e-01 9.39290464e+01] [ 1.98114369e-01 9.80030295e-01 -1.70680119e-02 1.15436015e+01] [ 1.10629294e-01 -5.05517875e-03 9.93848884e-01 9.66476846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16509989299998 meters 0.057865353638982174 Centerline is valid? [True, True] Translation: X:93.99, Y:11.55, Z:9.67 [[ 9.74348211e-01 -1.96651131e-01 -1.09425302e-01 9.39885606e+01] [ 1.95966965e-01 9.80461760e-01 -1.70787934e-02 1.15486082e+01] [ 1.10645889e-01 -4.80305265e-03 9.93848287e-01 9.67026784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.22509989299998 meters 0.053746060375075434 Centerline is valid? [True, True] Translation: X:94.04, Y:11.58, Z:9.68 [[ 9.75297505e-01 -1.92319056e-01 -1.08665349e-01 9.40447960e+01] [ 1.91617517e-01 9.81323116e-01 -1.69607822e-02 1.15771627e+01] [ 1.09897701e-01 -4.28037591e-03 9.93933687e-01 9.67933443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.28509989299998 meters 0.05619617405210162 Centerline is valid? [True, True] Translation: X:94.10, Y:11.58, Z:9.68 [[ 9.76230473e-01 -1.87886441e-01 -1.08040495e-01 9.41041434e+01] [ 1.87165860e-01 9.82183566e-01 -1.68636641e-02 1.15801521e+01] [ 1.09284053e-01 -3.75866941e-03 9.94003455e-01 9.68440588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34509989299998 meters 0.05436307762319442 Centerline is valid? [True, True] Translation: X:94.16, Y:11.60, Z:9.69 [[ 9.76988394e-01 -1.83994503e-01 -1.07887442e-01 9.41606100e+01] [ 1.83252167e-01 9.82921675e-01 -1.68411167e-02 1.16048957e+01] [ 1.09143578e-01 -3.31703198e-03 9.94020461e-01 9.69257677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40509989299998 meters 0.0543625275964893 Centerline is valid? [True, True] Translation: X:94.22, Y:11.61, Z:9.70 [[ 9.77993472e-01 -1.78039502e-01 -1.08769041e-01 9.42188568e+01] [ 1.77248214e-01 9.84019708e-01 -1.69789435e-02 1.16143018e+01] [ 1.10053803e-01 -2.67382229e-03 9.93922035e-01 9.69786709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46509989299997 meters 0.053552487043058074 Centerline is valid? [True, True] Translation: X:94.28, Y:11.63, Z:9.70 [[ 9.78861546e-01 -1.73212853e-01 -1.08753767e-01 9.42774521e+01] [ 1.72391930e-01 9.84882112e-01 -1.69778858e-02 1.16303374e+01] [ 1.10050428e-01 -2.12927233e-03 9.93923724e-01 9.70494015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52509989299998 meters 0.05355447804666067 Centerline is valid? [True, True] Translation: X:94.34, Y:11.65, Z:9.71 [[ 9.80168667e-01 -1.65943368e-01 -1.08315201e-01 9.43361808e+01] [ 1.65084664e-01 9.86134419e-01 -1.69103834e-02 1.16457693e+01] [ 1.09619514e-01 -1.30615073e-03 9.93972764e-01 9.71088820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58509989299998 meters 0.053859562758959964 Centerline is valid? [True, True] Translation: X:94.39, Y:11.66, Z:9.72 [[ 9.81147026e-01 -1.60743636e-01 -1.07293978e-01 9.43940067e+01] [ 1.59870127e-01 9.86995931e-01 -1.67503798e-02 1.16595735e+01] [ 1.08591237e-01 -7.18516686e-04 9.94086227e-01 9.71761835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.64509989299998 meters 0.053975064814599426 Centerline is valid? [True, True] Translation: X:94.45, Y:11.67, Z:9.72 [[ 9.81178322e-01 -1.60678237e-01 -1.07105577e-01 9.44510183e+01] [ 1.59807178e-01 9.87006587e-01 -1.67231260e-02 1.16685994e+01] [ 1.08400952e-01 -7.07871282e-04 9.94107003e-01 9.72323139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.70509989299998 meters 0.05359546444865006 Centerline is valid? [True, True] Translation: X:94.51, Y:11.67, Z:9.73 [[ 9.80543143e-01 -1.65079223e-01 -1.06226149e-01 9.45082271e+01] [ 1.64246746e-01 9.86279615e-01 -1.65990411e-02 1.16719921e+01] [ 1.07508843e-01 -1.17122344e-03 9.94203438e-01 9.72933301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76509989299998 meters 0.053827802373697206 Centerline is valid? [True, True] Translation: X:94.57, Y:11.68, Z:9.73 [[ 9.79844761e-01 -1.69105381e-01 -1.06337265e-01 9.45675489e+01] [ 1.68294233e-01 9.85596662e-01 -1.66214227e-02 1.16755820e+01] [ 1.07616425e-01 -1.60953449e-03 9.94191186e-01 9.73466433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82509989299997 meters 0.05345203767004 Centerline is valid? [True, True] Translation: X:94.63, Y:11.68, Z:9.74 [[ 9.78568513e-01 -1.76272576e-01 -1.06450193e-01 9.46281945e+01] [ 1.75501651e-01 9.84338474e-01 -1.66414836e-02 1.16788102e+01] [ 1.07716458e-01 -2.39735264e-03 9.94178765e-01 9.74160510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88509989299997 meters 0.05359034653472339 Centerline is valid? [True, True] Translation: X:94.69, Y:11.69, Z:9.75 [[ 9.78265569e-01 -1.78836518e-01 -1.04947492e-01 9.46865998e+01] [ 1.78101936e-01 9.83875258e-01 -1.64066148e-02 1.16850078e+01] [ 1.06189343e-01 -2.64132512e-03 9.94342419e-01 9.74827499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94509989299998 meters 0.05368484006710981 Centerline is valid? [True, True] Translation: X:94.75, Y:11.69, Z:9.75 [[ 9.78242308e-01 -1.79924576e-01 -1.03291495e-01 9.47450768e+01] [ 1.79218823e-01 9.83676668e-01 -1.61501363e-02 1.16917029e+01] [ 1.04511240e-01 -2.71303366e-03 9.94520005e-01 9.75471623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.00509989299998 meters 0.0534447529135006 Centerline is valid? [True, True] Translation: X:94.80, Y:11.70, Z:9.76 [[ 9.78812473e-01 -1.77650750e-01 -1.01815294e-01 9.48044992e+01] [ 1.76951653e-01 9.84090614e-01 -1.59303331e-02 1.16995985e+01] [ 1.03025511e-01 -2.42357573e-03 9.94675761e-01 9.76208276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.06509989299998 meters 0.05341381735536152 Centerline is valid? [True, True] Translation: X:94.86, Y:11.71, Z:9.77 [[ 9.79507894e-01 -1.74108979e-01 -1.01244005e-01 9.48629404e+01] [ 1.73398847e-01 9.84724278e-01 -1.58409351e-02 1.17130923e+01] [ 1.02455479e-01 -2.03927266e-03 9.94735501e-01 9.76892383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12509989299998 meters 0.05271948536689142 Centerline is valid? [True, True] Translation: X:94.92, Y:11.72, Z:9.77 [[ 9.79529361e-01 -1.72542904e-01 -1.03687885e-01 9.49204421e+01] [ 1.71789158e-01 9.85000131e-01 -1.62242613e-02 1.17209822e+01] [ 1.04931961e-01 -1.92031410e-03 9.94477549e-01 9.77312780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18509989299997 meters 0.05363529673915629 Centerline is valid? [True, True] Translation: X:94.98, Y:11.73, Z:9.78 [[ 9.79359192e-01 -1.73038434e-01 -1.04466614e-01 9.49794677e+01] [ 1.72274903e-01 9.84913088e-01 -1.63574587e-02 1.17251208e+01] [ 1.05721004e-01 -1.97714824e-03 9.94393866e-01 9.77730962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24509989299997 meters 0.05324102136287932 Centerline is valid? [True, True] Translation: X:95.04, Y:11.73, Z:9.78 [[ 9.79446201e-01 -1.72203936e-01 -1.05028297e-01 9.50376488e+01] [ 1.71426646e-01 9.85059506e-01 -1.64522030e-02 1.17281079e+01] [ 1.06292257e-01 -1.89060100e-03 9.94333134e-01 9.78329213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.30509989299998 meters 0.05366235306068792 Centerline is valid? [True, True] Translation: X:95.10, Y:11.74, Z:9.79 [[ 9.79894417e-01 -1.69226738e-01 -1.05684640e-01 9.50955773e+01] [ 1.68421145e-01 9.85575902e-01 -1.65667924e-02 1.17380193e+01] [ 1.06963779e-01 -1.56582067e-03 9.94261685e-01 9.79074594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.36509989299998 meters 0.053623209217495374 Centerline is valid? [True, True] Translation: X:95.15, Y:11.74, Z:9.80 [[ 9.80397903e-01 -1.66223191e-01 -1.05781862e-01 9.51533586e+01] [ 1.65397491e-01 9.86087391e-01 -1.65930171e-02 1.17431453e+01] [ 1.07068305e-01 -1.22829539e-03 9.94250909e-01 9.79615343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.42509989299998 meters 0.05393389329554103 Centerline is valid? [True, True] Translation: X:95.21, Y:11.75, Z:9.80 [[ 9.80852269e-01 -1.64095499e-01 -1.04888008e-01 9.52116692e+01] [ 1.63270440e-01 9.86443974e-01 -1.64636053e-02 1.17514365e+01] [ 1.06167747e-01 -9.76746646e-04 9.94347754e-01 9.80326276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48509989299998 meters 0.053740467847179826 Centerline is valid? [True, True] Translation: X:95.27, Y:11.76, Z:9.81 [[ 9.81693392e-01 -1.60346983e-01 -1.02795566e-01 9.52688621e+01] [ 1.59532975e-01 9.87060557e-01 -1.61457822e-02 1.17609728e+01] [ 1.04054376e-01 -5.49074712e-04 9.94571458e-01 9.81146359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54509989299997 meters 0.05374197650559578 Centerline is valid? [True, True] Translation: X:95.33, Y:11.77, Z:9.82 [[ 9.82488282e-01 -1.55963318e-01 -1.01942237e-01 9.53268631e+01] [ 1.55138059e-01 9.87762845e-01 -1.60232467e-02 1.17695515e+01] [ 1.03193792e-01 -7.24685889e-05 9.94661267e-01 9.81858053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60509989299997 meters 0.054023688210967466 Centerline is valid? [True, True] Translation: X:95.38, Y:11.78, Z:9.82 [[ 9.82643709e-01 -1.54369975e-01 -1.02865212e-01 9.53840773e+01] [ 1.53519714e-01 9.88013107e-01 -1.61801754e-02 1.17767799e+01] [ 1.04129911e-01 1.07509523e-04 9.94563698e-01 9.82411844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66509989299998 meters 0.053559867152796876 Centerline is valid? [True, True] Translation: X:95.44, Y:11.78, Z:9.83 [[ 9.82279686e-01 -1.54663322e-01 -1.05857811e-01 9.54423201e+01] [ 1.53763434e-01 9.87967231e-01 -1.66600490e-02 1.17807464e+01] [ 1.07160747e-01 8.77671539e-05 9.94241704e-01 9.82727947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.72509989299998 meters 0.05415648560151708 Centerline is valid? [True, True] Translation: X:95.50, Y:11.78, Z:9.83 [[ 9.81642176e-01 -1.57180074e-01 -1.08041949e-01 9.55004247e+01] [ 1.56256984e-01 9.87569942e-01 -1.70107143e-02 1.17832010e+01] [ 1.09372727e-01 -1.83874597e-04 9.94000791e-01 9.83122307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.78509989299998 meters 0.054329060293782344 Centerline is valid? [True, True] Translation: X:95.56, Y:11.79, Z:9.84 [[ 9.81242554e-01 -1.59443055e-01 -1.08355725e-01 9.55592991e+01] [ 1.58527814e-01 9.87207032e-01 -1.70647950e-02 1.17878500e+01] [ 1.09690397e-01 -4.32693174e-04 9.93965708e-01 9.83715715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84509989299998 meters 0.05374274909767278 Centerline is valid? [True, True] Translation: X:95.62, Y:11.79, Z:9.85 [[ 9.80688516e-01 -1.63764461e-01 -1.06916959e-01 9.56179790e+01] [ 1.62897769e-01 9.86499065e-01 -1.68496753e-02 1.17903208e+01] [ 1.08232858e-01 -8.92251130e-04 9.94125169e-01 9.84579646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90509989299998 meters 0.05456174768010706 Centerline is valid? [True, True] Translation: X:95.68, Y:11.79, Z:9.85 [[ 9.79813198e-01 -1.69559784e-01 -1.05903623e-01 9.56775552e+01] [ 1.68742016e-01 9.85518752e-01 -1.67009601e-02 1.17909932e+01] [ 1.07201818e-01 -1.50656973e-03 9.94236139e-01 9.85384820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96509989299997 meters 0.05418452463565448 Centerline is valid? [True, True] Translation: X:95.74, Y:11.79, Z:9.86 [[ 9.78465481e-01 -1.77587630e-01 -1.05204256e-01 9.57379553e+01] [ 1.76826750e-01 9.84102140e-01 -1.65915012e-02 1.17924901e+01] [ 1.06478179e-01 -2.36871538e-03 9.94312218e-01 9.86087969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02509989299998 meters 0.054082712569375795 Centerline is valid? [True, True] Translation: X:95.80, Y:11.80, Z:9.87 [[ 9.77906817e-01 -1.80581098e-01 -1.05303012e-01 9.57967323e+01] [ 1.79836072e-01 9.83556400e-01 -1.66070677e-02 1.17955017e+01] [ 1.06570374e-01 -2.69711527e-03 9.94301504e-01 9.86623374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.08509989299998 meters 0.056605631207405645 Centerline is valid? [True, True] Translation: X:95.86, Y:11.79, Z:9.87 [[ 9.75971065e-01 -1.90499207e-01 -1.05785313e-01 9.58585887e+01] [ 1.89805227e-01 9.81680010e-01 -1.66833538e-02 1.17921911e+01] [ 1.07025493e-01 -3.79613477e-03 9.94249030e-01 9.87112481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.14509989299998 meters 0.05606263757162423 Centerline is valid? [True, True] Translation: X:95.92, Y:11.80, Z:9.88 [[ 9.74271161e-01 -1.98381712e-01 -1.06959816e-01 9.59191036e+01] [ 1.97719421e-01 9.80113504e-01 -1.68686270e-02 1.17968108e+01] [ 1.08179187e-01 -4.71341595e-03 9.94120238e-01 9.87599811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.20509989299998 meters 0.05790774450611289 Centerline is valid? [True, True] Translation: X:95.98, Y:11.80, Z:9.88 [[ 9.73426164e-01 -2.02674509e-01 -1.06604628e-01 9.59798043e+01] [ 2.02042231e-01 9.79232497e-01 -1.68123235e-02 1.17996860e+01] [ 1.07798145e-01 -5.17308131e-03 9.94159343e-01 9.88166064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26509989299998 meters 0.05456085909651549 Centerline is valid? [True, True] Translation: X:96.04, Y:11.82, Z:9.89 [[ 9.73009462e-01 -2.04711060e-01 -1.06517461e-01 9.60362951e+01] [ 2.04091878e-01 9.78807587e-01 -1.67992178e-02 1.18231284e+01] [ 1.07699085e-01 -5.39355093e-03 9.94168908e-01 9.88816274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32509989299997 meters 0.05624610392195135 Centerline is valid? [True, True] Translation: X:96.09, Y:11.83, Z:9.89 [[ 9.73418507e-01 -2.02813523e-01 -1.06409988e-01 9.60949578e+01] [ 2.02184211e-01 9.79203692e-01 -1.67831806e-02 1.18256343e+01] [ 1.07600909e-01 -5.17736081e-03 9.94180688e-01 9.89417729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38509989299997 meters 0.057088768684874065 Centerline is valid? [True, True] Translation: X:96.15, Y:11.84, Z:9.90 [[ 9.74757496e-01 -1.96278546e-01 -1.06407506e-01 9.61535188e+01] [ 1.95610204e-01 9.80538069e-01 -1.67852278e-02 1.18388757e+01] [ 1.07631190e-01 -4.45286731e-03 9.94180919e-01 9.90051670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44509989299998 meters 0.05617816713634177 Centerline is valid? [True, True] Translation: X:96.21, Y:11.86, Z:9.91 [[ 9.75961794e-01 -1.90782935e-01 -1.05358668e-01 9.62116067e+01] [ 1.90095788e-01 9.81624863e-01 -1.66198574e-02 1.18573393e+01] [ 1.06593473e-01 -3.80789314e-03 9.94295394e-01 9.90819887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.50509989299998 meters 0.05368529620248095 Centerline is valid? [True, True] Translation: X:96.27, Y:11.88, Z:9.92 [[ 9.78005538e-01 -1.80981412e-01 -1.03686528e-01 9.62680895e+01] [ 1.80260829e-01 9.83482829e-01 -1.63572043e-02 1.18815479e+01] [ 1.04934270e-01 -2.69318305e-03 9.94475513e-01 9.91683013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.56509989299998 meters 0.0541814310152738 Centerline is valid? [True, True] Translation: X:96.33, Y:11.90, Z:9.92 [[ 9.79906319e-01 -1.69978916e-01 -1.04358870e-01 9.63261887e+01] [ 1.69186548e-01 9.85446522e-01 -1.64640025e-02 1.19013210e+01] [ 1.05638619e-01 -1.52293680e-03 9.94403421e-01 9.92212593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62509989299998 meters 0.05425344542655707 Centerline is valid? [True, True] Translation: X:96.38, Y:11.92, Z:9.93 [[ 9.81100034e-01 -1.62262882e-01 -1.05420495e-01 9.63835074e+01] [ 1.61409875e-01 9.86747317e-01 -1.66308243e-02 1.19178904e+01] [ 1.06721957e-01 -6.99406693e-04 9.94288658e-01 9.92689798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68509989299997 meters 0.05415240151459293 Centerline is valid? [True, True] Translation: X:96.44, Y:11.94, Z:9.93 [[ 9.82847855e-01 -1.50861286e-01 -1.06070572e-01 9.64394597e+01] [ 1.49931157e-01 9.88554791e-01 -1.67353829e-02 1.19384498e+01] [ 1.07381293e-01 5.45051650e-04 9.94217763e-01 9.93115191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74509989299997 meters 0.05440422384871667 Centerline is valid? [True, True] Translation: X:96.50, Y:11.95, Z:9.94 [[ 9.84198372e-01 -1.41880613e-01 -1.05940815e-01 9.64980079e+01] [ 1.40899702e-01 9.89882588e-01 -1.67252965e-02 1.19513145e+01] [ 1.07241963e-01 1.53398043e-03 9.94231768e-01 9.93904442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.80509989299998 meters 0.055128892732283344 Centerline is valid? [True, True] Translation: X:96.55, Y:11.97, Z:9.94 [[ 9.84740289e-01 -1.38210963e-01 -1.05755816e-01 9.65544618e+01] [ 1.37212253e-01 9.90400929e-01 -1.66972545e-02 1.19657971e+01] [ 1.07048402e-01 1.93146536e-03 9.94251934e-01 9.94431319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.86509989299998 meters 0.05583076981854124 Centerline is valid? [True, True] Translation: X:96.61, Y:11.97, Z:9.95 [[ 9.84618509e-01 -1.40407338e-01 -1.03981590e-01 9.66120527e+01] [ 1.39453784e-01 9.90092419e-01 -1.64208328e-02 1.19747970e+01] [ 1.05256990e-01 1.66762975e-03 9.94443656e-01 9.95101154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.92509989299998 meters 0.054508591872014255 Centerline is valid? [True, True] Translation: X:96.67, Y:11.98, Z:9.96 [[ 9.83994728e-01 -1.45649531e-01 -1.02667372e-01 9.66711450e+01] [ 1.44747329e-01 9.89335634e-01 -1.62238718e-02 1.19768028e+01] [ 1.03935489e-01 1.10337637e-03 9.94583429e-01 9.95792316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98509989299998 meters 0.05394426854314934 Centerline is valid? [True, True] Translation: X:96.73, Y:11.98, Z:9.96 [[ 9.82044933e-01 -1.58517468e-01 -1.02273951e-01 9.67311373e+01] [ 1.57691467e-01 9.87356140e-01 -1.61633432e-02 1.19791692e+01] [ 1.03542986e-01 -2.54600063e-04 9.94624947e-01 9.96447135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04509989299997 meters 0.053810483658802075 Centerline is valid? [True, True] Translation: X:96.79, Y:11.98, Z:9.97 [[ 9.79233737e-01 -1.74812250e-01 -1.02674079e-01 9.67919992e+01] [ 1.74068814e-01 9.84599790e-01 -1.62265789e-02 1.19752543e+01] [ 1.03929482e-01 -1.98274180e-03 9.94582692e-01 9.96968056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10509989299997 meters 0.05477045640820422 Centerline is valid? [True, True] Translation: X:96.85, Y:11.97, Z:9.98 [[ 9.76500927e-01 -1.89542942e-01 -1.02564185e-01 9.68534415e+01] [ 1.88881763e-01 9.81866038e-01 -1.62099477e-02 1.19711642e+01] [ 1.03776771e-01 -3.54347517e-03 9.94594302e-01 9.97576961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16509989299998 meters 0.057464040145153286 Centerline is valid? [True, True] Translation: X:96.91, Y:11.97, Z:9.98 [[ 9.75036611e-01 -1.97322226e-01 -1.01821144e-01 9.69133350e+01] [ 1.96712780e-01 9.80329085e-01 -1.60924778e-02 1.19678170e+01] [ 1.02993633e-01 -4.33876533e-03 9.94672553e-01 9.98157424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.22509989299998 meters 0.05910563955611755 Centerline is valid? [True, True] Translation: X:96.97, Y:11.97, Z:9.99 [[ 9.73516380e-01 -2.04457193e-01 -1.02289362e-01 9.69736185e+01] [ 2.03881268e-01 9.78862134e-01 -1.61663909e-02 1.19708637e+01] [ 1.03432518e-01 -5.11663836e-03 9.94623313e-01 9.98594262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.28509989299998 meters 0.05519540310128877 Centerline is valid? [True, True] Translation: X:97.03, Y:11.99, Z:9.99 [[ 9.73294822e-01 -2.05777761e-01 -1.01748226e-01 9.70315381e+01] [ 2.05215062e-01 9.78584782e-01 -1.60811509e-02 1.19912426e+01] [ 1.02878409e-01 -5.22856756e-03 9.94680197e-01 9.99227984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34509989299998 meters 0.05659650432619287 Centerline is valid? [True, True] Translation: X:97.09, Y:12.00, Z:10.00 [[ 9.73662864e-01 -2.03789231e-01 -1.02228062e-01 9.70904168e+01] [ 2.03210304e-01 9.79001800e-01 -1.61569831e-02 1.20006134e+01] [ 1.03374076e-01 -5.04234118e-03 9.94629768e-01 9.99736043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40509989299998 meters 0.054797909352831006 Centerline is valid? [True, True] Translation: X:97.15, Y:12.02, Z:10.00 [[ 9.73906243e-01 -2.02429684e-01 -1.02610198e-01 9.71488090e+01] [ 2.01838804e-01 9.79284464e-01 -1.62184027e-02 1.20156800e+01] [ 1.03767659e-01 -4.91551592e-03 9.94589418e-01 1.00022292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46509989299997 meters 0.054735533596264555 Centerline is valid? [True, True] Translation: X:97.21, Y:12.03, Z:10.01 [[ 9.74390568e-01 -1.98971301e-01 -1.04754195e-01 9.72076419e+01] [ 1.98335475e-01 9.79994321e-01 -1.65580858e-02 1.20298426e+01] [ 1.05953100e-01 -4.64243032e-03 9.94360291e-01 1.00057017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52509989299998 meters 0.05681053719652093 Centerline is valid? [True, True] Translation: X:97.27, Y:12.04, Z:10.01 [[ 9.75348017e-01 -1.92922604e-01 -1.07131294e-01 9.72673218e+01] [ 1.92221160e-01 9.81205511e-01 -1.69343126e-02 1.20370268e+01] [ 1.08384827e-01 -4.07605330e-03 9.94100656e-01 1.00089212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58509989299998 meters 0.05409184374481487 Centerline is valid? [True, True] Translation: X:97.32, Y:12.06, Z:10.02 [[ 9.76331747e-01 -1.87496003e-01 -1.07803381e-01 9.73244647e+01] [ 1.86752733e-01 9.82259147e-01 -1.70406792e-02 1.20618728e+01] [ 1.09085916e-01 -3.49521991e-03 9.94026180e-01 1.00158879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.64509989299998 meters 0.05295445417026667 Centerline is valid? [True, True] Translation: X:97.38, Y:12.09, Z:10.02 [[ 9.78439228e-01 -1.76762218e-01 -1.06826010e-01 9.73815352e+01] [ 1.75968490e-01 9.84250954e-01 -1.68864118e-02 1.20859284e+01] [ 1.08128482e-01 -2.27568393e-03 9.94134323e-01 1.00234650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.70509989299998 meters 0.053052640585954824 Centerline is valid? [True, True] Translation: X:97.44, Y:12.11, Z:10.03 [[ 9.80797102e-01 -1.63767930e-01 -1.05910860e-01 9.74376686e+01] [ 1.62911860e-01 9.86498542e-01 -1.67437356e-02 1.21102257e+01] [ 1.07222996e-01 -8.31927957e-04 9.94234649e-01 1.00305596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76509989299998 meters 0.05382384273111133 Centerline is valid? [True, True] Translation: X:97.49, Y:12.14, Z:10.04 [[ 9.82603892e-01 -1.52980426e-01 -1.05292830e-01 9.74925742e+01] [ 1.52072345e-01 9.88229159e-01 -1.66472818e-02 1.21357242e+01] [ 1.06600153e-01 3.45556316e-04 9.94301910e-01 1.00370225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82509989299997 meters 0.054022301138283345 Centerline is valid? [True, True] Translation: X:97.55, Y:12.15, Z:10.04 [[ 9.83490669e-01 -1.48100301e-01 -1.03982712e-01 9.75484260e+01] [ 1.47186333e-01 9.88971959e-01 -1.64513849e-02 1.21525338e+01] [ 1.05272442e-01 8.74949462e-04 9.94443034e-01 1.00444196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88509989299997 meters 0.05373592489528728 Centerline is valid? [True, True] Translation: X:97.61, Y:12.16, Z:10.05 [[ 9.83542252e-01 -1.47725619e-01 -1.04027788e-01 9.76055862e+01] [ 1.46808080e-01 9.89027953e-01 -1.64649874e-02 1.21646464e+01] [ 1.05318691e-01 9.21890897e-04 9.94438094e-01 1.00506514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.94509989299998 meters 0.05340245110220114 Centerline is valid? [True, True] Translation: X:97.66, Y:12.18, Z:10.06 [[ 9.83379497e-01 -1.49144199e-01 -1.03541163e-01 9.76622211e+01] [ 1.48241949e-01 9.88815152e-01 -1.63987990e-02 1.21764374e+01] [ 1.04828857e-01 7.77098894e-04 9.94489973e-01 1.00571550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.00509989299998 meters 0.05304446571718028 Centerline is valid? [True, True] Translation: X:97.72, Y:12.19, Z:10.06 [[ 9.82819040e-01 -1.52605814e-01 -1.03818111e-01 9.77204097e+01] [ 1.51717520e-01 9.88287051e-01 -1.64468612e-02 1.21867332e+01] [ 1.05111981e-01 4.13262117e-04 9.94460306e-01 1.00621479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.06509989299998 meters 0.052969373377885084 Centerline is valid? [True, True] Translation: X:97.78, Y:12.19, Z:10.07 [[ 9.81302807e-01 -1.61162182e-01 -1.05221444e-01 9.77789686e+01] [ 1.60298422e-01 9.86927806e-01 -1.66710008e-02 1.21932868e+01] [ 1.06532703e-01 -5.07531528e-04 9.94309069e-01 1.00659323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12509989299998 meters 0.0529675452320815 Centerline is valid? [True, True] Translation: X:97.84, Y:12.20, Z:10.07 [[ 9.80294690e-01 -1.67115606e-01 -1.05331358e-01 9.78375168e+01] [ 1.66283094e-01 9.85936643e-01 -1.66993582e-02 1.21990360e+01] [ 1.06640769e-01 -1.14453191e-03 9.94296956e-01 1.00714142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18509989299997 meters 0.05281665581323874 Centerline is valid? [True, True] Translation: X:97.90, Y:12.21, Z:10.08 [[ 9.79139141e-01 -1.74552288e-01 -1.04009813e-01 9.78972187e+01] [ 1.73782098e-01 9.84646021e-01 -1.64923094e-02 1.22062572e+01] [ 1.05291619e-01 -1.92677781e-03 9.94439522e-01 1.00787864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24509989299997 meters 0.05356160015265601 Centerline is valid? [True, True] Translation: X:97.96, Y:12.21, Z:10.09 [[ 9.78722759e-01 -1.77603692e-01 -1.02755483e-01 9.79551206e+01] [ 1.76868799e-01 9.84099571e-01 -1.62930232e-02 1.22105898e+01] [ 1.04015328e-01 -2.22788618e-03 9.94573199e-01 1.00856111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.30509989299998 meters 0.05305646023865901 Centerline is valid? [True, True] Translation: X:98.01, Y:12.22, Z:10.09 [[ 9.78430884e-01 -1.80050186e-01 -1.01266658e-01 9.80130958e+01] [ 1.79349203e-01 9.83654378e-01 -1.60601155e-02 1.22228881e+01] [ 1.02503018e-01 -2.44838143e-03 9.94729680e-01 1.00919138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.36509989299998 meters 0.05277209995482646 Centerline is valid? [True, True] Translation: X:98.07, Y:12.24, Z:10.10 [[ 9.78169400e-01 -1.81253252e-01 -1.01645871e-01 9.80705768e+01] [ 1.80553320e-01 9.83433062e-01 -1.61217373e-02 1.22350129e+01] [ 1.02884027e-01 -2.58270929e-03 9.94690005e-01 1.00973130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.42509989299998 meters 0.05228309380146522 Centerline is valid? [True, True] Translation: X:98.13, Y:12.24, Z:10.10 [[ 9.77791911e-01 -1.82920468e-01 -1.02289205e-01 9.81289614e+01] [ 1.82219559e-01 9.83123827e-01 -1.62349458e-02 1.22434312e+01] [ 1.03532658e-01 -2.76469513e-03 9.94622212e-01 1.01024405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48509989299998 meters 0.05264592875679034 Centerline is valid? [True, True] Translation: X:98.19, Y:12.26, Z:10.11 [[ 9.77629376e-01 -1.83549364e-01 -1.02715307e-01 9.81875614e+01] [ 1.82845890e-01 9.83006386e-01 -1.63041372e-02 1.22553017e+01] [ 1.03962417e-01 -2.84166826e-03 9.94577167e-01 1.01077154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54509989299997 meters 0.051685337238658126 Centerline is valid? [True, True] Translation: X:98.25, Y:12.27, Z:10.11 [[ 9.77347947e-01 -1.83936911e-01 -1.04681440e-01 9.82477580e+01] [ 1.83208390e-01 9.82933659e-01 -1.66164860e-02 1.22688333e+01] [ 1.05951296e-01 -2.93842963e-03 9.94366979e-01 1.01129902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60509989299997 meters 0.05283467641806963 Centerline is valid? [True, True] Translation: X:98.31, Y:12.27, Z:10.12 [[ 9.77275257e-01 -1.83803991e-01 -1.05589605e-01 9.83066337e+01] [ 1.83062156e-01 9.82958485e-01 -1.67590042e-02 1.22742059e+01] [ 1.06870570e-01 -2.95130061e-03 9.94268561e-01 1.01176576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66509989299998 meters 0.052302962344996186 Centerline is valid? [True, True] Translation: X:98.36, Y:12.29, Z:10.12 [[ 9.77199174e-01 -1.83492680e-01 -1.06827951e-01 9.83647265e+01] [ 1.82731370e-01 9.83016647e-01 -1.69563822e-02 1.22896914e+01] [ 1.08125026e-01 -2.95105525e-03 9.94132924e-01 1.01229159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.72509989299998 meters 0.05274568088461434 Centerline is valid? [True, True] Translation: X:98.42, Y:12.30, Z:10.13 [[ 9.77881987e-01 -1.80119290e-01 -1.06319614e-01 9.84229631e+01] [ 1.79345334e-01 9.83641429e-01 -1.68757522e-02 1.22964360e+01] [ 1.07620025e-01 -2.56543251e-03 9.94188789e-01 1.01294385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.78509989299998 meters 0.0521629183531669 Centerline is valid? [True, True] Translation: X:98.48, Y:12.31, Z:10.14 [[ 9.78505177e-01 -1.77059555e-01 -1.05723851e-01 9.84808098e+01] [ 1.76276280e-01 9.84197648e-01 -1.67828224e-02 1.23087788e+01] [ 1.07024724e-01 -2.21452848e-03 9.94253893e-01 1.01368766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84509989299998 meters 0.05210393282275655 Centerline is valid? [True, True] Translation: X:98.54, Y:12.32, Z:10.14 [[ 9.79129744e-01 -1.73925474e-01 -1.05142161e-01 9.85393747e+01] [ 1.73132704e-01 9.84757060e-01 -1.66912835e-02 1.23212575e+01] [ 1.06442524e-01 -1.86061451e-03 9.94317116e-01 1.01446885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90509989299997 meters 0.052503910135942224 Centerline is valid? [True, True] Translation: X:98.60, Y:12.33, Z:10.15 [[ 9.79376216e-01 -1.72140843e-01 -1.05781651e-01 9.85973591e+01] [ 1.71327878e-01 9.85070922e-01 -1.67939276e-02 1.23302523e+01] [ 1.07093350e-01 -1.67577261e-03 9.94247558e-01 1.01504427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96509989299997 meters 0.05285294575583152 Centerline is valid? [True, True] Translation: X:98.65, Y:12.34, Z:10.16 [[ 9.79718260e-01 -1.69996451e-01 -1.06081748e-01 9.86543334e+01] [ 1.69165080e-01 9.85443631e-01 -1.68530542e-02 1.23416807e+01] [ 1.07402542e-01 -1.43408245e-03 9.94214583e-01 1.01571173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02509989299998 meters 0.05282831276776605 Centerline is valid? [True, True] Translation: X:98.71, Y:12.36, Z:10.17 [[ 9.80583351e-01 -1.65152994e-01 -1.05739210e-01 9.87117769e+01] [ 1.64297782e-01 9.86267558e-01 -1.68090000e-02 1.23562053e+01] [ 1.07063209e-01 -8.90092206e-04 9.94251818e-01 1.01658638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.08509989299998 meters 0.05315127718315939 Centerline is valid? [True, True] Translation: X:98.77, Y:12.37, Z:10.17 [[ 9.81217045e-01 -1.61724371e-01 -1.05158632e-01 9.87683330e+01] [ 1.60858716e-01 9.86835836e-01 -1.67184662e-02 1.23666629e+01] [ 1.06478090e-01 -5.11238491e-04 9.94314917e-01 1.01726938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.14509989299998 meters 0.053260681580771574 Centerline is valid? [True, True] Translation: X:98.83, Y:12.38, Z:10.18 [[ 9.81751999e-01 -1.59157678e-01 -1.04076153e-01 9.88256397e+01] [ 1.58294799e-01 9.87253150e-01 -1.65521516e-02 1.23755427e+01] [ 1.05383912e-01 -2.24605804e-04 9.94431587e-01 1.01802857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.20509989299998 meters 0.05273153369474881 Centerline is valid? [True, True] Translation: X:98.88, Y:12.38, Z:10.19 [[ 9.81763998e-01 -1.59100342e-01 -1.04050633e-01 9.88829751e+01] [ 1.58236357e-01 9.87262396e-01 -1.65594999e-02 1.23824069e+01] [ 1.05359899e-01 -2.07072297e-04 9.94434135e-01 1.01864701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26509989299998 meters 0.053614121576206895 Centerline is valid? [True, True] Translation: X:98.94, Y:12.39, Z:10.19 [[ 9.81590208e-01 -1.60494357e-01 -1.03548177e-01 9.89406181e+01] [ 1.59645147e-01 9.87036698e-01 -1.64919132e-02 1.23866413e+01] [ 1.04852710e-01 -3.42663446e-04 9.94487703e-01 1.01933493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32509989299997 meters 0.05330403549295357 Centerline is valid? [True, True] Translation: X:99.00, Y:12.39, Z:10.20 [[ 9.81286198e-01 -1.62269312e-01 -1.03663243e-01 9.89977366e+01] [ 1.61426640e-01 9.86746371e-01 -1.65238997e-02 1.23909001e+01] [ 1.04970650e-01 -5.19334308e-04 9.94475185e-01 1.01998163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38509989299997 meters 0.05326774839856125 Centerline is valid? [True, True] Translation: X:99.06, Y:12.39, Z:10.21 [[ 9.80697000e-01 -1.65674020e-01 -1.03853329e-01 9.90556185e+01] [ 1.64846818e-01 9.86180178e-01 -1.65584877e-02 1.23906131e+01] [ 1.05161406e-01 -8.81031705e-04 9.94454776e-01 1.02051556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44509989299998 meters 0.053362637367817635 Centerline is valid? [True, True] Translation: X:99.12, Y:12.39, Z:10.21 [[ 9.79926157e-01 -1.70228818e-01 -1.03763561e-01 9.91152004e+01] [ 1.69427966e-01 9.85403618e-01 -1.65491355e-02 1.23913222e+01] [ 1.05066128e-01 -1.36351834e-03 9.94464303e-01 1.02122590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.50509989299998 meters 0.05362696436619723 Centerline is valid? [True, True] Translation: X:99.17, Y:12.40, Z:10.22 [[ 9.79299812e-01 -1.73955057e-01 -1.03496460e-01 9.91740363e+01] [ 1.73178808e-01 9.84752027e-01 -1.65089807e-02 1.23950525e+01] [ 1.04790169e-01 -1.75615186e-03 9.94492804e-01 1.02185106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.56509989299998 meters 0.053921790715524935 Centerline is valid? [True, True] Translation: X:99.23, Y:12.39, Z:10.22 [[ 9.78248500e-01 -1.80176503e-01 -1.02792510e-01 9.92344929e+01] [ 1.79444742e-01 9.83631360e-01 -1.63991497e-02 1.23938001e+01] [ 1.04064678e-01 -2.40313182e-03 9.94567629e-01 1.02238093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62509989299998 meters 0.0558023829434816 Centerline is valid? [True, True] Translation: X:99.30, Y:12.39, Z:10.23 [[ 9.77029091e-01 -1.86560414e-01 -1.03001785e-01 9.92966632e+01] [ 1.85860878e-01 9.82438637e-01 -1.64334450e-02 1.23859600e+01] [ 1.04258764e-01 -3.08804832e-03 9.94545411e-01 1.02298104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68509989299997 meters 0.05401255274723316 Centerline is valid? [True, True] Translation: X:99.36, Y:12.40, Z:10.24 [[ 9.76324929e-01 -1.89854860e-01 -1.03656956e-01 9.93556080e+01] [ 1.89164959e-01 9.81806061e-01 -1.65371151e-02 1.23962981e+01] [ 1.04910679e-01 -3.46266604e-03 9.94475620e-01 1.02352697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74509989299997 meters 0.05817349123003811 Centerline is valid? [True, True] Translation: X:99.42, Y:12.39, Z:10.24 [[ 9.75524420e-01 -1.94111203e-01 -1.03309956e-01 9.94182562e+01] [ 1.93449632e-01 9.80971753e-01 -1.64821211e-02 1.23851635e+01] [ 1.04543513e-01 -3.90656127e-03 9.94512641e-01 1.02405702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.80509989299998 meters 0.05352904509945088 Centerline is valid? [True, True] Translation: X:99.48, Y:12.41, Z:10.25 [[ 9.75183461e-01 -1.95923989e-01 -1.03106782e-01 9.94755603e+01] [ 1.95275072e-01 9.80610546e-01 -1.64500228e-02 1.24072555e+01] [ 1.04330552e-01 -4.09239404e-03 9.94534257e-01 1.02466676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.86509989299998 meters 0.05648694372216501 Centerline is valid? [True, True] Translation: X:99.54, Y:12.40, Z:10.25 [[ 9.74076465e-01 -2.00918277e-01 -1.03956172e-01 9.95370905e+01] [ 2.00286980e-01 9.79596893e-01 -1.65847457e-02 1.23980322e+01] [ 1.05167321e-01 -4.66625721e-03 9.94443593e-01 1.02513583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.92509989299998 meters 0.05265211814427663 Centerline is valid? [True, True] Translation: X:99.59, Y:12.42, Z:10.26 [[ 9.73408501e-01 -2.02606033e-01 -1.06895679e-01 9.95943740e+01] [ 2.01948480e-01 9.79247638e-01 -1.70550566e-02 1.24219450e+01] [ 1.08132799e-01 -4.98588287e-03 9.94123955e-01 1.02555208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98509989299998 meters 0.05460936110569317 Centerline is valid? [True, True] Translation: X:99.65, Y:12.42, Z:10.26 [[ 9.73601381e-01 -2.02038415e-01 -1.06211251e-01 9.96529110e+01] [ 2.01385884e-01 9.79365386e-01 -1.69459985e-02 1.24211354e+01] [ 1.07443365e-01 -4.89079906e-03 9.94199177e-01 1.02605039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04509989299997 meters 0.05617540805096682 Centerline is valid? [True, True] Translation: X:99.71, Y:12.42, Z:10.27 [[ 9.73923836e-01 -2.00756725e-01 -1.05683962e-01 9.97122102e+01] [ 2.00102699e-01 9.79629749e-01 -1.68660619e-02 1.24230148e+01] [ 1.06917128e-01 -4.72138633e-03 9.94256725e-01 1.02671973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10509989299997 meters 0.056604483907048656 Centerline is valid? [True, True] Translation: X:99.77, Y:12.43, Z:10.27 [[ 9.74523111e-01 -1.98236932e-01 -1.04913420e-01 9.97707139e+01] [ 1.97577705e-01 9.80144207e-01 -1.67446739e-02 1.24348093e+01] [ 1.06149694e-01 -4.41048110e-03 9.94340379e-01 1.02733535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16509989299998 meters 0.05462089597834313 Centerline is valid? [True, True] Translation: X:99.83, Y:12.45, Z:10.28 [[ 9.74958279e-01 -1.96554994e-01 -1.04031189e-01 9.98282548e+01] [ 1.95897262e-01 9.80483844e-01 -1.66040448e-02 1.24496557e+01] [ 1.05264508e-01 -4.19117402e-03 9.94435427e-01 1.02803101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.22509989299998 meters 0.05446746434635273 Centerline is valid? [True, True] Translation: X:99.89, Y:12.46, Z:10.29 [[ 9.75125697e-01 -1.95288829e-01 -1.04843450e-01 9.98867635e+01] [ 1.94613320e-01 9.80737267e-01 -1.67352644e-02 1.24638105e+01] [ 1.06092089e-01 -4.08494555e-03 9.94347918e-01 1.02864220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.28509989299998 meters 0.05413831768932998 Centerline is valid? [True, True] Translation: X:99.94, Y:12.48, Z:10.29 [[ 9.75286349e-01 -1.93926609e-01 -1.05872603e-01 9.99448050e+01] [ 1.93229732e-01 9.81007984e-01 -1.68998602e-02 1.24759362e+01] [ 1.07139201e-01 -3.97553170e-03 9.94236082e-01 1.02909210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34509989299998 meters 0.05443219032665235 Centerline is valid? [True, True] Translation: X:100.00, Y:12.48, Z:10.30 [[ 9.75356834e-01 -1.93711634e-01 -1.05616521e-01 1.00001925e+02] [ 1.93015739e-01 9.81050632e-01 -1.68695359e-02 1.24842566e+01] [ 1.06882980e-01 -3.93183377e-03 9.94263833e-01 1.02973398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40509989299997 meters 0.059042834188652304 Centerline is valid? [True, True] Translation: X:100.06, Y:12.48, Z:10.30 [[ 9.75176161e-01 -1.94234093e-01 -1.06322965e-01 1.00061883e+02] [ 1.93531461e-01 9.80947003e-01 -1.69867704e-02 1.24813981e+01] [ 1.07596603e-01 -4.01174519e-03 9.94186540e-01 1.03016257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46509989299997 meters 0.05569892125313785 Centerline is valid? [True, True] Translation: X:100.12, Y:12.50, Z:10.31 [[ 9.74630459e-01 -1.96744088e-01 -1.06710971e-01 1.00119859e+02] [ 1.96050082e-01 9.80445474e-01 -1.70598144e-02 1.25011223e+01] [ 1.07980707e-01 -4.29367996e-03 9.94143718e-01 1.03073989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52509989299998 meters 0.05724948974709288 Centerline is valid? [True, True] Translation: X:100.18, Y:12.50, Z:10.31 [[ 9.74134058e-01 -1.98845098e-01 -1.07347401e-01 1.00179932e+02] [ 1.98155475e-01 9.80020352e-01 -1.71615294e-02 1.25049163e+01] [ 1.08615124e-01 -4.55384501e-03 9.94073447e-01 1.03121030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58509989299998 meters 0.05585463868554514 Centerline is valid? [True, True] Translation: X:100.24, Y:12.52, Z:10.32 [[ 9.73606176e-01 -2.01629549e-01 -1.06941759e-01 1.00238252e+02] [ 2.00961753e-01 9.79449871e-01 -1.70974599e-02 1.25206913e+01] [ 1.08191446e-01 -4.84501088e-03 9.94118271e-01 1.03197021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.64509989299998 meters 0.05370878832430559 Centerline is valid? [True, True] Translation: X:100.30, Y:12.54, Z:10.33 [[ 9.73152310e-01 -2.03346414e-01 -1.07818446e-01 1.00295551e+02] [ 2.02678086e-01 9.79093691e-01 -1.72377099e-02 1.25391332e+01] [ 1.09069587e-01 -5.07751907e-03 9.94021149e-01 1.03261087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.70509989299998 meters 0.05525075829292471 Centerline is valid? [True, True] Translation: X:100.35, Y:12.55, Z:10.33 [[ 9.72775676e-01 -2.04543875e-01 -1.08946260e-01 1.00353457e+02] [ 2.03868848e-01 9.78843232e-01 -1.74189690e-02 1.25469274e+01] [ 1.10204253e-01 -5.26599916e-03 9.93895011e-01 1.03315805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76509989299998 meters 0.05361075122651998 Centerline is valid? [True, True] Translation: X:100.41, Y:12.57, Z:10.34 [[ 9.73073289e-01 -2.03548856e-01 -1.08149146e-01 1.00410707e+02] [ 2.02877296e-01 9.79051440e-01 -1.72939232e-02 1.25664851e+01] [ 1.09403736e-01 -5.11275160e-03 9.93984247e-01 1.03392723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82509989299997 meters 0.05457331702204327 Centerline is valid? [True, True] Translation: X:100.47, Y:12.58, Z:10.35 [[ 9.74038461e-01 -2.00364170e-01 -1.05372079e-01 1.00468541e+02] [ 1.99708031e-01 9.79710548e-01 -1.68506508e-02 1.25759065e+01] [ 1.06610404e-01 -4.63046847e-03 9.94290089e-01 1.03471957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88509989299997 meters 0.056161006279181205 Centerline is valid? [True, True] Translation: X:100.53, Y:12.58, Z:10.36 [[ 9.74780407e-01 -1.97456829e-01 -1.03990184e-01 1.00528194e+02] [ 1.96801189e-01 9.80302354e-01 -1.66309078e-02 1.25845126e+01] [ 1.05225709e-01 -4.25390888e-03 9.94439266e-01 1.03555849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94509989299998 meters 0.0522666515712421 Centerline is valid? [True, True] Translation: X:100.59, Y:12.61, Z:10.36 [[ 9.74782721e-01 -1.96709961e-01 -1.05374748e-01 1.00585269e+02] [ 1.96032374e-01 9.80452601e-01 -1.68524391e-02 1.26144093e+01] [ 1.06629988e-01 -4.22939546e-03 9.94289776e-01 1.03614544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.00509989299998 meters 0.05436920351150127 Centerline is valid? [True, True] Translation: X:100.64, Y:12.61, Z:10.36 [[ 9.74515776e-01 -1.97065208e-01 -1.07164856e-01 1.00644273e+02] [ 1.96366682e-01 9.80380763e-01 -1.71372360e-02 1.26124329e+01] [ 1.08439517e-01 -4.34310049e-03 9.94093561e-01 1.03646517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.06509989299998 meters 0.05414352978176686 Centerline is valid? [True, True] Translation: X:100.70, Y:12.63, Z:10.37 [[ 9.73721355e-01 -1.99664373e-01 -1.09548441e-01 1.00703125e+02] [ 1.98950292e-01 9.79852918e-01 -1.75225717e-02 1.26261308e+01] [ 1.10839992e-01 -4.73259202e-03 9.93826996e-01 1.03682275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12509989299998 meters 0.05550549721752317 Centerline is valid? [True, True] Translation: X:100.76, Y:12.63, Z:10.37 [[ 9.73388943e-01 -2.00715080e-01 -1.10577675e-01 1.00761670e+02] [ 1.99994218e-01 9.79637415e-01 -1.76874930e-02 1.26335618e+01] [ 1.11876174e-01 -4.89808552e-03 9.93710084e-01 1.03723931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18509989299997 meters 0.05235345951896175 Centerline is valid? [True, True] Translation: X:100.82, Y:12.66, Z:10.38 [[ 9.73825610e-01 -1.98779621e-01 -1.10228601e-01 1.00817294e+02] [ 1.98050580e-01 9.80033148e-01 -1.76350896e-02 1.26615357e+01] [ 1.11533179e-01 -4.65733646e-03 9.93749797e-01 1.03813163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24509989299997 meters 0.055567654501355965 Centerline is valid? [True, True] Translation: X:100.88, Y:12.66, Z:10.39 [[ 9.75264568e-01 -1.92335802e-01 -1.08930993e-01 1.00877105e+02] [ 1.91583682e-01 9.81321530e-01 -1.74283458e-02 1.26640981e+01] [ 1.10248423e-01 -3.87215246e-03 9.93896520e-01 1.03868586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.30509989299998 meters 0.05390372714109029 Centerline is valid? [True, True] Translation: X:100.93, Y:12.69, Z:10.40 [[ 9.76806285e-01 -1.85461966e-01 -1.07020279e-01 1.00934687e+02] [ 1.84694775e-01 9.82646742e-01 -1.71236683e-02 1.26858417e+01] [ 1.08338918e-01 -3.03957945e-03 9.94109370e-01 1.03958261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.36509989299998 meters 0.05277242773584744 Centerline is valid? [True, True] Translation: X:100.99, Y:12.70, Z:10.40 [[ 9.77517203e-01 -1.81729845e-01 -1.06931665e-01 1.00993024e+02] [ 1.80941595e-01 9.83344997e-01 -1.71101010e-02 1.27016163e+01] [ 1.08260134e-01 -2.62296798e-03 9.94119139e-01 1.04026476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.42509989299998 meters 0.053639791917193425 Centerline is valid? [True, True] Translation: X:101.05, Y:12.71, Z:10.41 [[ 9.77342864e-01 -1.82385515e-01 -1.07407865e-01 1.01051173e+02] [ 1.81594080e-01 9.83223370e-01 -1.71870296e-02 1.27059801e+01] [ 1.08740588e-01 -2.70701179e-03 9.94066475e-01 1.04084974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48509989299998 meters 0.052789015443145536 Centerline is valid? [True, True] Translation: X:101.11, Y:12.72, Z:10.42 [[ 9.76984842e-01 -1.84568038e-01 -1.06935765e-01 1.01109150e+02] [ 1.83795382e-01 9.82815384e-01 -1.71224747e-02 1.27188906e+01] [ 1.08258377e-01 -2.92590155e-03 9.94118485e-01 1.04158660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54509989299997 meters 0.053740988456689384 Centerline is valid? [True, True] Translation: X:101.17, Y:12.72, Z:10.42 [[ 9.76112982e-01 -1.88868223e-01 -1.07388272e-01 1.01169247e+02] [ 1.88114731e-01 9.81996501e-01 -1.71964984e-02 1.27228723e+01] [ 1.08702780e-01 -3.41559071e-03 9.94068428e-01 1.04215395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60509989299997 meters 0.05387234212892692 Centerline is valid? [True, True] Translation: X:101.23, Y:12.73, Z:10.43 [[ 9.75773943e-01 -1.90066955e-01 -1.08350195e-01 1.01228269e+02] [ 1.89307232e-01 9.81764599e-01 -1.73506253e-02 1.27310231e+01] [ 1.09672167e-01 -3.58118747e-03 9.93961363e-01 1.04276685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66509989299998 meters 0.05420855623679273 Centerline is valid? [True, True] Translation: X:101.29, Y:12.74, Z:10.43 [[ 9.75636242e-01 -1.90638253e-01 -1.08586274e-01 1.01287047e+02] [ 1.89878491e-01 9.81653567e-01 -1.73906262e-02 1.27363031e+01] [ 1.09909422e-01 -3.65127267e-03 9.93934901e-01 1.04329913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.72509989299998 meters 0.05347875682671261 Centerline is valid? [True, True] Translation: X:101.34, Y:12.75, Z:10.44 [[ 9.75761779e-01 -1.90257749e-01 -1.08124648e-01 1.01344350e+02] [ 1.89500855e-01 9.81727641e-01 -1.73281537e-02 1.27483303e+01] [ 1.09445772e-01 -3.58156318e-03 9.93986316e-01 1.04399323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.78509989299998 meters 0.05360211536747897 Centerline is valid? [True, True] Translation: X:101.40, Y:12.76, Z:10.45 [[ 9.75913525e-01 -1.88955871e-01 -1.09034265e-01 1.01402297e+02] [ 1.88176830e-01 9.81979506e-01 -1.74851372e-02 1.27574706e+01] [ 1.10373333e-01 -3.45374045e-03 9.93884198e-01 1.04452069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84509989299998 meters 0.053539841144926985 Centerline is valid? [True, True] Translation: X:101.46, Y:12.76, Z:10.45 [[ 9.75907112e-01 -1.89391022e-01 -1.08334433e-01 1.01460345e+02] [ 1.88624231e-01 9.81895592e-01 -1.73765714e-02 1.27630041e+01] [ 1.09664069e-01 -3.47657946e-03 9.93962628e-01 1.04519026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90509989299997 meters 0.05406969228972527 Centerline is valid? [True, True] Translation: X:101.52, Y:12.77, Z:10.46 [[ 9.75760706e-01 -1.90770453e-01 -1.07227226e-01 1.01518998e+02] [ 1.90026474e-01 9.81628131e-01 -1.72090378e-02 1.27701645e+01] [ 1.08540238e-01 -3.58410875e-03 9.94085595e-01 1.04592738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96509989299997 meters 0.05430278355864466 Centerline is valid? [True, True] Translation: X:101.58, Y:12.78, Z:10.47 [[ 9.75568889e-01 -1.91632340e-01 -1.07435513e-01 1.01576984e+02] [ 1.90890440e-01 9.81459865e-01 -1.72445354e-02 1.27776487e+01] [ 1.08748254e-01 -3.68518005e-03 9.94062491e-01 1.04656427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02509989299998 meters 0.05248583967526917 Centerline is valid? [True, True] Translation: X:101.63, Y:12.80, Z:10.47 [[ 9.75402420e-01 -1.92407893e-01 -1.07560787e-01 1.01634709e+02] [ 1.91667755e-01 9.81307814e-01 -1.72755957e-02 1.27961092e+01] [ 1.08874201e-01 -3.76527661e-03 9.94048405e-01 1.04739754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08509989299998 meters 0.053172886969164425 Centerline is valid? [True, True] Translation: X:101.69, Y:12.80, Z:10.48 [[ 9.75060490e-01 -1.92715395e-01 -1.10080963e-01 1.01692196e+02] [ 1.91942036e-01 9.81246987e-01 -1.76806615e-02 1.27998283e+01] [ 1.11423949e-01 -3.88944979e-03 9.93765352e-01 1.04778518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.14509989299998 meters 0.05344342294366908 Centerline is valid? [True, True] Translation: X:101.75, Y:12.81, Z:10.48 [[ 9.75127804e-01 -1.92138459e-01 -1.10492436e-01 1.01750540e+02] [ 1.91355099e-01 9.81360340e-01 -1.77513101e-02 1.28085332e+01] [ 1.11843604e-01 -3.83349506e-03 9.93718427e-01 1.04836126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.20509989299998 meters 0.053322387155487344 Centerline is valid? [True, True] Translation: X:101.81, Y:12.82, Z:10.49 [[ 9.75791050e-01 -1.88698654e-01 -1.10565117e-01 1.01808895e+02] [ 1.87891591e-01 9.82029030e-01 -1.77689228e-02 1.28241927e+01] [ 1.11931126e-01 -3.43549985e-03 9.93710028e-01 1.04913981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26509989299997 meters 0.052917163864322346 Centerline is valid? [True, True] Translation: X:101.87, Y:12.83, Z:10.50 [[ 9.76940071e-01 -1.82649917e-01 -1.10576240e-01 1.01866508e+02] [ 1.81804024e-01 9.83174191e-01 -1.77709759e-02 1.28341508e+01] [ 1.11961572e-01 -2.74202691e-03 9.93708754e-01 1.04974067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32509989299997 meters 0.0536279809005214 Centerline is valid? [True, True] Translation: X:101.93, Y:12.84, Z:10.50 [[ 9.77542912e-01 -1.79653394e-01 -1.10156771e-01 1.01925077e+02] [ 1.78794798e-01 9.83727073e-01 -1.77049462e-02 1.28411731e+01] [ 1.11544951e-01 -2.38811297e-03 9.93756520e-01 1.05025839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38509989299997 meters 0.05379665197476714 Centerline is valid? [True, True] Translation: X:101.98, Y:12.85, Z:10.51 [[ 9.77754195e-01 -1.79275992e-01 -1.08889181e-01 1.01982374e+02] [ 1.78434589e-01 9.83796094e-01 -1.75026747e-02 1.28517646e+01] [ 1.10262560e-01 -2.31628259e-03 9.93899795e-01 1.05109748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44509989299998 meters 0.05273515394478664 Centerline is valid? [True, True] Translation: X:102.04, Y:12.87, Z:10.52 [[ 9.77008758e-01 -1.83195200e-01 -1.09056889e-01 1.02040082e+02] [ 1.82374261e-01 9.83072707e-01 -1.75408561e-02 1.28655165e+01] [ 1.10424252e-01 -2.75159960e-03 9.93880734e-01 1.05198852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.50509989299998 meters 0.05461426032695054 Centerline is valid? [True, True] Translation: X:102.10, Y:12.86, Z:10.52 [[ 9.75642022e-01 -1.89116286e-01 -1.11165079e-01 1.02101614e+02] [ 1.88301371e-01 9.81948507e-01 -1.78808319e-02 1.28591665e+01] [ 1.12539940e-01 -3.48724583e-03 9.93641083e-01 1.05231226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.56509989299998 meters 0.056982766230043995 Centerline is valid? [True, True] Translation: X:102.16, Y:12.86, Z:10.53 [[ 9.73775651e-01 -1.96847846e-01 -1.14069745e-01 1.02162753e+02] [ 1.96042347e-01 9.80423746e-01 -1.83487562e-02 1.28598460e+01] [ 1.15448600e-01 -4.49492847e-03 9.93303285e-01 1.05266247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62509989299998 meters 0.052189857866772396 Centerline is valid? [True, True] Translation: X:102.22, Y:12.88, Z:10.54 [[ 9.72401301e-01 -2.03386744e-01 -1.14322095e-01 1.02219409e+02] [ 2.02622503e-01 9.79084232e-01 -1.83898768e-02 1.28830954e+01] [ 1.15671217e-01 -5.28188878e-03 9.93273513e-01 1.05387033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68509989299997 meters 0.06346822934653454 Centerline is valid? [True, True] Translation: X:102.28, Y:12.86, Z:10.54 [[ 9.72179042e-01 -2.05221022e-01 -1.12925832e-01 1.02282728e+02] [ 2.04487621e-01 9.78700581e-01 -1.81654996e-02 1.28587226e+01] [ 1.14248520e-01 -5.43181669e-03 9.93437351e-01 1.05391626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74509989299997 meters 0.055954556150067426 Centerline is valid? [True, True] Translation: X:102.34, Y:12.89, Z:10.55 [[ 9.72350167e-01 -2.05218918e-01 -1.11446617e-01 1.02337531e+02] [ 2.04504192e-01 9.78701440e-01 -1.79311445e-02 1.28860776e+01] [ 1.12752775e-01 -5.35594902e-03 9.93608638e-01 1.05499892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.80509989299998 meters 0.056172320494152696 Centerline is valid? [True, True] Translation: X:102.40, Y:12.89, Z:10.56 [[ 9.72338566e-01 -2.05282980e-01 -1.11429850e-01 1.02395042e+02] [ 2.04568157e-01 9.78688004e-01 -1.79348791e-02 1.28937228e+01] [ 1.12736783e-01 -5.35622443e-03 9.93610451e-01 1.05557835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.86509989299998 meters 0.05541975107784763 Centerline is valid? [True, True] Translation: X:102.45, Y:12.90, Z:10.56 [[ 9.72259581e-01 -2.05491417e-01 -1.11734439e-01 1.02452221e+02] [ 2.04772526e-01 9.78644118e-01 -1.79972871e-02 1.29042461e+01] [ 1.13046540e-01 -5.38210846e-03 9.93575117e-01 1.05631746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.92509989299998 meters 0.05593241748071844 Centerline is valid? [True, True] Translation: X:102.51, Y:12.91, Z:10.57 [[ 9.71717504e-01 -2.06714573e-01 -1.14167323e-01 1.02512016e+02] [ 2.05971106e-01 9.78385062e-01 -1.84003663e-02 1.29106556e+01] [ 1.15503227e-01 -5.63521182e-03 9.93291120e-01 1.05672359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98509989299998 meters 0.05467139985426822 Centerline is valid? [True, True] Translation: X:102.57, Y:12.93, Z:10.57 [[ 9.71528892e-01 -2.06394343e-01 -1.16331368e-01 1.02569070e+02] [ 2.05619829e-01 9.78452278e-01 -1.87516954e-02 1.29250721e+01] [ 1.17694935e-01 -5.70222202e-03 9.93033427e-01 1.05735646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04509989299997 meters 0.05335991019854741 Centerline is valid? [True, True] Translation: X:102.63, Y:12.94, Z:10.58 [[ 9.71781402e-01 -2.04758965e-01 -1.17109660e-01 1.02625847e+02] [ 2.03960885e-01 9.78796803e-01 -1.88885003e-02 1.29430429e+01] [ 1.18494150e-01 -5.53029647e-03 9.92939350e-01 1.05822385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10509989299997 meters 0.057797784301033134 Centerline is valid? [True, True] Translation: X:102.69, Y:12.94, Z:10.58 [[ 9.72443518e-01 -2.01999344e-01 -1.16403909e-01 1.02687436e+02] [ 2.01190982e-01 9.79372062e-01 -1.87764138e-02 1.29373511e+01] [ 1.17795560e-01 -5.16041483e-03 9.93024459e-01 1.05838081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16509989299998 meters 0.05571212337535358 Centerline is valid? [True, True] Translation: X:102.74, Y:12.96, Z:10.59 [[ 9.73765602e-01 -1.96562942e-01 -1.14645373e-01 1.02744595e+02] [ 1.95741201e-01 9.80481190e-01 -1.84937145e-02 1.29559798e+01] [ 1.16042810e-01 -4.43227979e-03 9.93234323e-01 1.05936849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.22509989299998 meters 0.05385018506076476 Centerline is valid? [True, True] Translation: X:102.80, Y:12.97, Z:10.60 [[ 9.74655688e-01 -1.92327439e-01 -1.14264811e-01 1.02802375e+02] [ 1.91482134e-01 9.81323002e-01 -1.84325251e-02 1.29721821e+01] [ 1.15675767e-01 -3.91430430e-03 9.93279314e-01 1.06017267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.28509989299998 meters 0.05353767219211591 Centerline is valid? [True, True] Translation: X:102.86, Y:12.99, Z:10.61 [[ 9.75909438e-01 -1.86024312e-01 -1.13998795e-01 1.02861095e+02] [ 1.85140103e-01 9.82540062e-01 -1.83893597e-02 1.29850066e+01] [ 1.15429251e-01 -3.15939886e-03 9.93310680e-01 1.06075788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34509989299998 meters 0.053300620961964064 Centerline is valid? [True, True] Translation: X:102.92, Y:13.00, Z:10.62 [[ 9.76692311e-01 -1.81651640e-01 -1.14345143e-01 1.02918998e+02] [ 1.80732097e-01 9.83359375e-01 -1.84458475e-02 1.30011034e+01] [ 1.15793087e-01 -2.64992004e-03 9.93269822e-01 1.06156348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40509989299997 meters 0.053414438352844706 Centerline is valid? [True, True] Translation: X:102.98, Y:13.01, Z:10.62 [[ 9.76996945e-01 -1.79353988e-01 -1.15365141e-01 1.02976358e+02] [ 1.78401685e-01 9.83781685e-01 -1.86127835e-02 1.30135297e+01] [ 1.16832390e-01 -2.39670309e-03 9.93148754e-01 1.06229725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46509989299997 meters 0.0540118365108282 Centerline is valid? [True, True] Translation: X:103.03, Y:13.02, Z:10.63 [[ 9.76893771e-01 -1.79962058e-01 -1.15291882e-01 1.03034021e+02] [ 1.79013875e-01 9.83670484e-01 -1.86121194e-02 1.30192402e+01] [ 1.16758697e-01 -2.45678304e-03 9.93157274e-01 1.06276895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52509989299998 meters 0.05314768582651603 Centerline is valid? [True, True] Translation: X:103.09, Y:13.03, Z:10.63 [[ 9.76067600e-01 -1.82733365e-01 -1.17900622e-01 1.03092656e+02] [ 1.81761283e-01 9.83158384e-01 -1.90375694e-02 1.30308885e+01] [ 1.19393784e-01 -2.84781350e-03 9.92842895e-01 1.06346099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.58509989299998 meters 0.05340123010334491 Centerline is valid? [True, True] Translation: X:103.15, Y:13.04, Z:10.64 [[ 9.75617522e-01 -1.85253892e-01 -1.17692164e-01 1.03151173e+02] [ 1.84303380e-01 9.82685645e-01 -1.90049406e-02 1.30393979e+01] [ 1.19175139e-01 -3.14951064e-03 9.92868252e-01 1.06412875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.64509989299998 meters 0.05403713541590283 Centerline is valid? [True, True] Translation: X:103.21, Y:13.05, Z:10.65 [[ 9.75460190e-01 -1.86539763e-01 -1.16962963e-01 1.03208857e+02] [ 1.85609966e-01 9.82441924e-01 -1.88893212e-02 1.30456812e+01] [ 1.18432928e-01 -3.28371086e-03 9.92956625e-01 1.06469133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.70509989299998 meters 0.05340232263874939 Centerline is valid? [True, True] Translation: X:103.27, Y:13.06, Z:10.66 [[ 9.74906671e-01 -1.90698381e-01 -1.14852561e-01 1.03267387e+02] [ 1.89830156e-01 9.81641646e-01 -1.85523716e-02 1.30581682e+01] [ 1.16281964e-01 -3.71564863e-03 9.93209293e-01 1.06579293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76509989299997 meters 0.05451067708539544 Centerline is valid? [True, True] Translation: X:103.33, Y:13.06, Z:10.66 [[ 9.73787319e-01 -1.96282299e-01 -1.14941359e-01 1.03326743e+02] [ 1.95451379e-01 9.80537622e-01 -1.85668934e-02 1.30608113e+01] [ 1.16348680e-01 -4.38524188e-03 9.93198749e-01 1.06622510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82509989299997 meters 0.05602347682225078 Centerline is valid? [True, True] Translation: X:103.39, Y:13.06, Z:10.67 [[ 9.72311902e-01 -2.03524172e-01 -1.14836740e-01 1.03387325e+02] [ 2.02744753e-01 9.79055874e-01 -1.85515586e-02 1.30621167e+01] [ 1.16207275e-01 -5.24464516e-03 9.93211137e-01 1.06671320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88509989299997 meters 0.05499586896485064 Centerline is valid? [True, True] Translation: X:103.45, Y:13.07, Z:10.67 [[ 9.71023825e-01 -2.09864366e-01 -1.14322695e-01 1.03446456e+02] [ 2.09135457e-01 9.77712253e-01 -1.84692144e-02 1.30723889e+01] [ 1.15650730e-01 -5.97488189e-03 9.93271972e-01 1.06748415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94509989299998 meters 0.05812511510958561 Centerline is valid? [True, True] Translation: X:103.51, Y:13.07, Z:10.68 [[ 9.70469659e-01 -2.12467421e-01 -1.14220119e-01 1.03507780e+02] [ 2.11757671e-01 9.77147978e-01 -1.84531084e-02 1.30701912e+01] [ 1.15530643e-01 -6.27880454e-03 9.93284072e-01 1.06791042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.00509989299998 meters 0.05280559631657111 Centerline is valid? [True, True] Translation: X:103.56, Y:13.10, Z:10.69 [[ 9.70241627e-01 -2.13291663e-01 -1.14620466e-01 1.03563882e+02] [ 2.12582760e-01 9.76967604e-01 -1.85167785e-02 1.31013605e+01] [ 1.15929956e-01 -6.40058573e-03 9.93236768e-01 1.06902924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.06509989299998 meters 0.05930220966543072 Centerline is valid? [True, True] Translation: X:103.63, Y:13.09, Z:10.69 [[ 9.70732035e-01 -2.10219089e-01 -1.16134624e-01 1.03626609e+02] [ 2.09469659e-01 9.77635172e-01 -1.87598377e-02 1.30879515e+01] [ 1.17480969e-01 -6.11590460e-03 9.93056301e-01 1.06898395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12509989299998 meters 0.05614044762318443 Centerline is valid? [True, True] Translation: X:103.68, Y:13.11, Z:10.70 [[ 9.71822784e-01 -2.05654399e-01 -1.15181357e-01 1.03683823e+02] [ 2.04885217e-01 9.78609134e-01 -1.86067491e-02 1.31112071e+01] [ 1.16544088e-01 -5.51649469e-03 9.93170199e-01 1.07001283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18509989299997 meters 0.0641119795811731 Centerline is valid? [True, True] Translation: X:103.75, Y:13.10, Z:10.70 [[ 9.73102420e-01 -1.99531096e-01 -1.15147829e-01 1.03746822e+02] [ 1.98719735e-01 9.79879828e-01 -1.86007916e-02 1.31025212e+01] [ 1.16542472e-01 -4.78167078e-03 9.93174198e-01 1.06987527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24509989299997 meters 0.054453472959551545 Centerline is valid? [True, True] Translation: X:103.80, Y:13.14, Z:10.71 [[ 9.74233772e-01 -1.94753502e-01 -1.13752503e-01 1.03800670e+02] [ 1.93929208e-01 9.80843407e-01 -1.83758999e-02 1.31423570e+01] [ 1.15152163e-01 -4.15751049e-03 9.93339164e-01 1.07128002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.30509989299998 meters 0.05408065003944258 Centerline is valid? [True, True] Translation: X:103.86, Y:13.16, Z:10.72 [[ 9.75135549e-01 -1.90648022e-01 -1.12977846e-01 1.03858881e+02] [ 1.89807430e-01 9.81651687e-01 -1.82511913e-02 1.31567837e+01] [ 1.14384447e-01 -3.64664915e-03 9.93429867e-01 1.07197807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.36509989299998 meters 0.05468857801281337 Centerline is valid? [True, True] Translation: X:103.92, Y:13.16, Z:10.73 [[ 9.75262882e-01 -1.90339436e-01 -1.12397552e-01 1.03917544e+02] [ 1.89504915e-01 9.81711786e-01 -1.81619411e-02 1.31640029e+01] [ 1.13798935e-01 -3.58722145e-03 9.93497325e-01 1.07253572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.42509989299998 meters 0.05459708613443797 Centerline is valid? [True, True] Translation: X:103.98, Y:13.17, Z:10.74 [[ 9.74614344e-01 -1.94694910e-01 -1.10547603e-01 1.03976268e+02] [ 1.93914418e-01 9.80855623e-01 -1.78730551e-02 1.31747903e+01] [ 1.11911031e-01 -4.01743816e-03 9.93710109e-01 1.07356049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48509989299998 meters 0.055130932584370886 Centerline is valid? [True, True] Translation: X:104.03, Y:13.18, Z:10.74 [[ 9.74261057e-01 -1.96226366e-01 -1.10953172e-01 1.04034411e+02] [ 1.95449991e-01 9.80549591e-01 -1.79388047e-02 1.31828427e+01] [ 1.12315154e-01 -4.20871761e-03 9.93663722e-01 1.07418096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54509989299997 meters 0.0562933685571051 Centerline is valid? [True, True] Translation: X:104.09, Y:13.19, Z:10.75 [[ 9.73409463e-01 -1.99456113e-01 -1.12655565e-01 1.04094390e+02] [ 1.98676933e-01 9.79895727e-01 -1.82164636e-02 1.31861752e+01] [ 1.14024092e-01 -4.64998410e-03 9.93467103e-01 1.07463750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60509989299997 meters 0.057223043617525414 Centerline is valid? [True, True] Translation: X:104.15, Y:13.19, Z:10.75 [[ 9.72821901e-01 -2.01374623e-01 -1.14305773e-01 1.04154590e+02] [ 2.00585554e-01 9.79501807e-01 -1.84836432e-02 1.31919667e+01] [ 1.15684848e-01 -4.94679396e-03 9.93273651e-01 1.07498718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66509989299998 meters 0.05429920539950974 Centerline is valid? [True, True] Translation: X:104.21, Y:13.21, Z:10.76 [[ 9.72960874e-01 -2.01522534e-01 -1.12853029e-01 1.04211048e+02] [ 2.00754279e-01 9.79471625e-01 -1.82497978e-02 1.32134172e+01] [ 1.14214085e-01 -4.89938929e-03 9.93444079e-01 1.07593785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.72509989299998 meters 0.05363046243049879 Centerline is valid? [True, True] Translation: X:104.27, Y:13.23, Z:10.77 [[ 9.73165095e-01 -2.01034187e-01 -1.11959605e-01 1.04270884e+02] [ 2.00274771e-01 9.79572453e-01 -1.81059476e-02 1.32252596e+01] [ 1.13312459e-01 -4.80260801e-03 9.93547795e-01 1.07669333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.78509989299998 meters 0.05487964898450955 Centerline is valid? [True, True] Translation: X:104.33, Y:13.23, Z:10.77 [[ 9.73718229e-01 -2.00118043e-01 -1.08745478e-01 1.04330166e+02] [ 1.99396122e-01 9.79761178e-01 -1.75846429e-02 1.32275188e+01] [ 1.10063602e-01 -4.56093918e-03 9.93914082e-01 1.07736161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84509989299998 meters 0.055400511157820645 Centerline is valid? [True, True] Translation: X:104.39, Y:13.23, Z:10.78 [[ 9.74255306e-01 -1.98721773e-01 -1.06471851e-01 1.04388915e+02] [ 1.98021357e-01 9.80046473e-01 -1.72178347e-02 1.32338399e+01] [ 1.07768921e-01 -4.30913361e-03 9.94166631e-01 1.07810213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90509989299997 meters 0.055261045457660266 Centerline is valid? [True, True] Translation: X:104.45, Y:13.24, Z:10.79 [[ 9.74768241e-01 -1.96757211e-01 -1.05420474e-01 1.04447440e+02] [ 1.96058961e-01 9.80443880e-01 -1.70493878e-02 1.32427943e+01] [ 1.06713449e-01 -4.04942685e-03 9.94281571e-01 1.07881121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96509989299997 meters 0.05494860384493139 Centerline is valid? [True, True] Translation: X:104.51, Y:13.25, Z:10.79 [[ 9.75393963e-01 -1.94006387e-01 -1.04728878e-01 1.04506911e+02] [ 1.93301317e-01 9.80993205e-01 -1.69390738e-02 1.32525885e+01] [ 1.06024606e-01 -3.72195964e-03 9.94356541e-01 1.07945174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02509989299998 meters 0.05492256078408362 Centerline is valid? [True, True] Translation: X:104.57, Y:13.26, Z:10.80 [[ 9.75638405e-01 -1.91735177e-01 -1.06617659e-01 1.04566600e+02] [ 1.90990875e-01 9.81440320e-01 -1.72448049e-02 1.32598801e+01] [ 1.07945305e-01 -3.53830603e-03 9.94150538e-01 1.07995285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08509989299998 meters 0.05355080526315716 Centerline is valid? [True, True] Translation: X:104.63, Y:13.28, Z:10.81 [[ 9.75876007e-01 -1.90033245e-01 -1.07486672e-01 1.04625303e+02] [ 1.89266244e-01 9.81771852e-01 -1.73873215e-02 1.32756390e+01] [ 1.08831558e-01 -3.37572880e-03 9.94054474e-01 1.08054325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.14509989299998 meters 0.05496368783154047 Centerline is valid? [True, True] Translation: X:104.69, Y:13.27, Z:10.81 [[ 9.76421065e-01 -1.86419271e-01 -1.08856601e-01 1.04685252e+02] [ 1.85609996e-01 9.82465673e-01 -1.76105489e-02 1.32749243e+01] [ 1.10230820e-01 -3.00956240e-03 9.93901458e-01 1.08080832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.20509989299998 meters 0.05362190060824447 Centerline is valid? [True, True] Translation: X:104.74, Y:13.29, Z:10.82 [[ 9.77520475e-01 -1.81524468e-01 -1.07250124e-01 1.04742838e+02] [ 1.80709389e-01 9.83383453e-01 -1.73522474e-02 1.32947250e+01] [ 1.08617855e-01 -2.41892732e-03 9.94080636e-01 1.08172140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26509989299997 meters 0.05413295805417059 Centerline is valid? [True, True] Translation: X:104.80, Y:13.30, Z:10.82 [[ 9.78892417e-01 -1.75532872e-01 -1.04679734e-01 1.04803698e+02] [ 1.74722269e-01 9.84472084e-01 -1.69364919e-02 1.32965797e+01] [ 1.06027187e-01 -1.71087722e-03 9.94361759e-01 1.08233324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32509989299997 meters 0.05403118012364027 Centerline is valid? [True, True] Translation: X:104.86, Y:13.30, Z:10.83 [[ 9.78953282e-01 -1.75201188e-01 -1.04666214e-01 1.04861496e+02] [ 1.74388954e-01 9.84531227e-01 -1.69338505e-02 1.33046602e+01] [ 1.06013987e-01 -1.67518298e-03 9.94363228e-01 1.08294447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38509989299997 meters 0.05387825665850409 Centerline is valid? [True, True] Translation: X:104.92, Y:13.30, Z:10.83 [[ 9.77472395e-01 -1.83437025e-01 -1.04396240e-01 1.04923802e+02] [ 1.82674511e-01 9.83028157e-01 -1.69016575e-02 1.32979413e+01] [ 1.05724833e-01 -2.54962831e-03 9.94392156e-01 1.08349435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44509989299998 meters 0.0559878149557348 Centerline is valid? [True, True] Translation: X:104.98, Y:13.29, Z:10.84 [[ 9.76826813e-01 -1.86410250e-01 -1.05169372e-01 1.04984121e+02] [ 1.85653632e-01 9.82467733e-01 -1.70259582e-02 1.32941501e+01] [ 1.06499328e-01 -2.89366350e-03 9.94308564e-01 1.08395059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.50509989299998 meters 0.05526739770923334 Centerline is valid? [True, True] Translation: X:105.04, Y:13.31, Z:10.85 [[ 9.76575711e-01 -1.88069462e-01 -1.04545482e-01 1.05042012e+02] [ 1.87331229e-01 9.82150976e-01 -1.69254316e-02 1.33071106e+01] [ 1.05862604e-01 -3.05566818e-03 9.94376072e-01 1.08459897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.56509989299998 meters 0.055945440106207736 Centerline is valid? [True, True] Translation: X:105.10, Y:13.31, Z:10.85 [[ 9.76343420e-01 -1.89264186e-01 -1.04559048e-01 1.05100279e+02] [ 1.88532409e-01 9.81921041e-01 -1.69292845e-02 1.33112662e+01] [ 1.05872836e-01 -3.18397358e-03 9.94374580e-01 1.08517704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62509989299998 meters 0.05489137038466203 Centerline is valid? [True, True] Translation: X:105.16, Y:13.32, Z:10.86 [[ 9.76209831e-01 -1.90195733e-01 -1.04115074e-01 1.05156932e+02] [ 1.89475021e-01 9.81740755e-01 -1.68613834e-02 1.33242295e+01] [ 1.05420975e-01 -3.26695768e-03 9.94422317e-01 1.08582849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68509989299997 meters 0.05733857266768998 Centerline is valid? [True, True] Translation: X:105.22, Y:13.32, Z:10.86 [[ 9.76141877e-01 -1.90567820e-01 -1.04071812e-01 1.05215616e+02] [ 1.89849378e-01 9.81668480e-01 -1.68584969e-02 1.33202435e+01] [ 1.05376705e-01 -3.30168400e-03 9.94426895e-01 1.08634751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74509989299997 meters 0.05508875494240948 Centerline is valid? [True, True] Translation: X:105.27, Y:13.33, Z:10.87 [[ 9.76436117e-01 -1.89315825e-01 -1.03595504e-01 1.05273309e+02] [ 1.88596501e-01 9.81911202e-01 -1.67854229e-02 1.33326767e+01] [ 1.04899332e-01 -3.14785645e-03 9.94477864e-01 1.08691887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.80509989299998 meters 0.054203132207818486 Centerline is valid? [True, True] Translation: X:105.33, Y:13.34, Z:10.87 [[ 9.76660863e-01 -1.88556560e-01 -1.02859037e-01 1.05330722e+02] [ 1.87842665e-01 9.82057630e-01 -1.66716399e-02 1.33430472e+01] [ 1.04157050e-01 -3.03877751e-03 9.94556220e-01 1.08748077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.86509989299998 meters 0.05547853446269569 Centerline is valid? [True, True] Translation: X:105.39, Y:13.34, Z:10.88 [[ 9.76541576e-01 -1.88962020e-01 -1.03246815e-01 1.05389087e+02] [ 1.88243766e-01 9.81979559e-01 -1.67460622e-02 1.33442788e+01] [ 1.04550632e-01 -3.08234329e-03 9.94514788e-01 1.08803288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.92509989299998 meters 0.055047323342651666 Centerline is valid? [True, True] Translation: X:105.45, Y:13.35, Z:10.89 [[ 9.76289560e-01 -1.89945587e-01 -1.03823736e-01 1.05446495e+02] [ 1.89224365e-01 9.81789399e-01 -1.68438487e-02 1.33531244e+01] [ 1.05132459e-01 -3.20150695e-03 9.94453074e-01 1.08860542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98509989299998 meters 0.05682735086081907 Centerline is valid? [True, True] Translation: X:105.51, Y:13.35, Z:10.89 [[ 9.76224270e-01 -1.89439558e-01 -1.05350977e-01 1.05505973e+02] [ 1.88692757e-01 9.81887227e-01 -1.71031392e-02 1.33547723e+01] [ 1.06682790e-01 -3.18246683e-03 9.94288014e-01 1.08894192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04509989299997 meters 0.05501448210721381 Centerline is valid? [True, True] Translation: X:105.56, Y:13.37, Z:10.90 [[ 9.76477995e-01 -1.88964367e-01 -1.03842158e-01 1.05563058e+02] [ 1.88235065e-01 9.81979130e-01 -1.68685374e-02 1.33670945e+01] [ 1.05158385e-01 -3.07497984e-03 9.94450732e-01 1.08969099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10509989299997 meters 0.055386511489944744 Centerline is valid? [True, True] Translation: X:105.62, Y:13.37, Z:10.90 [[ 9.76346211e-01 -1.89423834e-01 -1.04243403e-01 1.05621215e+02] [ 1.88690269e-01 9.81890444e-01 -1.69451756e-02 1.33740616e+01] [ 1.05565422e-01 -3.12535787e-03 9.94407449e-01 1.09035293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16509989299998 meters 0.05641909837750735 Centerline is valid? [True, True] Translation: X:105.68, Y:13.38, Z:10.91 [[ 9.75656941e-01 -1.93110342e-01 -1.03932334e-01 1.05680719e+02] [ 1.92400791e-01 9.81170795e-01 -1.69058194e-02 1.33800974e+01] [ 1.05240060e-01 -3.50238326e-03 9.94440679e-01 1.09095959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.22509989299998 meters 0.05578179072479731 Centerline is valid? [True, True] Translation: X:105.74, Y:13.39, Z:10.92 [[ 9.74964706e-01 -1.96675820e-01 -1.03742198e-01 1.05739921e+02] [ 1.95988939e-01 9.80460896e-01 -1.68750275e-02 1.33916589e+01] [ 1.05034079e-01 -3.87976710e-03 9.94461055e-01 1.09158536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.28509989299998 meters 0.05911685529035198 Centerline is valid? [True, True] Translation: X:105.80, Y:13.39, Z:10.92 [[ 9.73820016e-01 -2.02344646e-01 -1.03591605e-01 1.05801144e+02] [ 2.01691649e-01 9.79304108e-01 -1.68505695e-02 1.33897950e+01] [ 1.04857307e-01 -4.48413993e-03 9.94477168e-01 1.09219215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34509989299998 meters 0.05474464719915911 Centerline is valid? [True, True] Translation: X:105.86, Y:13.41, Z:10.93 [[ 9.72993754e-01 -2.06876484e-01 -1.02397630e-01 1.05857361e+02] [ 2.06263398e-01 9.78354727e-01 -1.66565198e-02 1.34137439e+01] [ 1.03627048e-01 -4.91419345e-03 9.94604085e-01 1.09290575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40509989299997 meters 0.05644809801618736 Centerline is valid? [True, True] Translation: X:105.92, Y:13.42, Z:10.93 [[ 9.72438495e-01 -2.09275263e-01 -1.02797076e-01 1.05916889e+02] [ 2.08670633e-01 9.77843001e-01 -1.67222153e-02 1.34180300e+01] [ 1.04018947e-01 -5.18940491e-03 9.94561777e-01 1.09344087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46509989299997 meters 0.05688490363778357 Centerline is valid? [True, True] Translation: X:105.97, Y:13.43, Z:10.94 [[ 9.72041938e-01 -2.10479304e-01 -1.04081377e-01 1.05974830e+02] [ 2.09866337e-01 9.77583479e-01 -1.69310723e-02 1.34292299e+01] [ 1.05311875e-01 -5.38546494e-03 9.94424661e-01 1.09389357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52509989299998 meters 0.05724580210695703 Centerline is valid? [True, True] Translation: X:106.03, Y:13.44, Z:10.94 [[ 9.72004447e-01 -2.10648366e-01 -1.04089483e-01 1.06033133e+02] [ 2.10036002e-01 9.77546974e-01 -1.69348945e-02 1.34372486e+01] [ 1.05319667e-01 -5.40174611e-03 9.94423747e-01 1.09444663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58509989299998 meters 0.056345877594527305 Centerline is valid? [True, True] Translation: X:106.09, Y:13.46, Z:10.95 [[ 9.72533368e-01 -2.08856413e-01 -1.02751381e-01 1.06090244e+02] [ 2.08248615e-01 9.77932865e-01 -1.67279826e-02 1.34569430e+01] [ 1.03977699e-01 -5.12931159e-03 9.94566402e-01 1.09520091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.64509989299998 meters 0.05555995515171439 Centerline is valid? [True, True] Translation: X:106.15, Y:13.47, Z:10.96 [[ 9.73097274e-01 -2.06867919e-01 -1.01426623e-01 1.06147931e+02] [ 2.06264892e-01 9.78356847e-01 -1.65128343e-02 1.34748987e+01] [ 1.02647407e-01 -4.85215738e-03 9.94705970e-01 1.09591319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.70509989299998 meters 0.053720751531480294 Centerline is valid? [True, True] Translation: X:106.21, Y:13.49, Z:10.97 [[ 9.73558554e-01 -2.05130733e-01 -1.00524244e-01 1.06205098e+02] [ 2.04529149e-01 9.78723646e-01 -1.63661616e-02 1.34947568e+01] [ 1.01742658e-01 -4.62672147e-03 9.94799993e-01 1.09653849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76509989299997 meters 0.054412796500147395 Centerline is valid? [True, True] Translation: X:106.26, Y:13.51, Z:10.97 [[ 9.74289937e-01 -2.02033980e-01 -9.97065125e-02 1.06263348e+02] [ 2.01425914e-01 9.79369217e-01 -1.62338443e-02 1.35089383e+01] [ 1.00929277e-01 -4.26700425e-03 9.94884452e-01 1.09719948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82509989299997 meters 0.05360926233819988 Centerline is valid? [True, True] Translation: X:106.32, Y:13.52, Z:10.98 [[ 9.74385608e-01 -2.02032702e-01 -9.87698052e-02 1.06321268e+02] [ 2.01436083e-01 9.79369654e-01 -1.60805966e-02 1.35238075e+01] [ 9.99809563e-02 -4.22710080e-03 9.94980372e-01 1.09793450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88509989299997 meters 0.05551576279595714 Centerline is valid? [True, True] Translation: X:106.38, Y:13.53, Z:10.98 [[ 9.73200005e-01 -2.04794193e-01 -1.04599663e-01 1.06380277e+02] [ 2.04140685e-01 9.78793395e-01 -1.70314825e-02 1.35304417e+01] [ 1.05869408e-01 -4.77800808e-03 9.94368563e-01 1.09811652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.94509989299998 meters 0.054723883754779844 Centerline is valid? [True, True] Translation: X:106.44, Y:13.54, Z:10.98 [[ 9.72578673e-01 -2.06336270e-01 -1.07312952e-01 1.06438803e+02] [ 2.05657628e-01 9.78467982e-01 -1.74742195e-02 1.35436977e+01] [ 1.08607852e-01 -5.07467394e-03 9.94071719e-01 1.09842001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.00509989299998 meters 0.05702199433901737 Centerline is valid? [True, True] Translation: X:106.50, Y:13.55, Z:10.99 [[ 9.72568535e-01 -2.07010353e-01 -1.06099759e-01 1.06496119e+02] [ 2.06350953e-01 9.78325506e-01 -1.72768024e-02 1.35477329e+01] [ 1.07376577e-01 -5.09091188e-03 9.94205388e-01 1.09905371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.06509989299998 meters 0.054637142921175164 Centerline is valid? [True, True] Translation: X:106.55, Y:13.57, Z:11.00 [[ 9.73440299e-01 -2.03828656e-01 -1.04249043e-01 1.06552200e+02] [ 2.03173488e-01 9.78995524e-01 -1.69793499e-02 1.35720726e+01] [ 1.05520225e-01 -4.65225838e-03 9.94406274e-01 1.09987758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12509989299997 meters 0.05381992348740814 Centerline is valid? [True, True] Translation: X:106.61, Y:13.59, Z:11.01 [[ 9.73786479e-01 -2.02987096e-01 -1.02645665e-01 1.06609905e+02] [ 2.02347159e-01 9.79171123e-01 -1.67194056e-02 1.35864724e+01] [ 1.03901494e-01 -4.48892755e-03 9.94577463e-01 1.10069838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18509989299997 meters 0.05315150624373014 Centerline is valid? [True, True] Translation: X:106.67, Y:13.60, Z:11.01 [[ 9.73958479e-01 -2.02643077e-01 -1.01689054e-01 1.06669418e+02] [ 2.02012994e-01 9.79242741e-01 -1.65651444e-02 1.36012327e+01] [ 1.02935080e-01 -4.40874734e-03 9.94678306e-01 1.10138385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24509989299997 meters 0.054155562195967226 Centerline is valid? [True, True] Translation: X:106.73, Y:13.61, Z:11.02 [[ 9.73646243e-01 -2.03672742e-01 -1.02617775e-01 1.06729491e+02] [ 2.03037031e-01 9.79028399e-01 -1.67140241e-02 1.36079436e+01] [ 1.03869907e-01 -4.56166152e-03 9.94580431e-01 1.10190667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.30509989299998 meters 0.052080141210542906 Centerline is valid? [True, True] Translation: X:106.79, Y:13.62, Z:11.03 [[ 9.73178342e-01 -2.06201998e-01 -1.02003186e-01 1.06787629e+02] [ 2.05587785e-01 9.78497658e-01 -1.66131318e-02 1.36248986e+01] [ 1.03235540e-01 -4.80306909e-03 9.94645341e-01 1.10258893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.36509989299998 meters 0.05286204856452098 Centerline is valid? [True, True] Translation: X:106.85, Y:13.63, Z:11.03 [[ 9.72718944e-01 -2.08524455e-01 -1.01663207e-01 1.06847451e+02] [ 2.07926962e-01 9.78004205e-01 -1.65576064e-02 1.36344676e+01] [ 1.02879710e-01 -5.03262440e-03 9.94681073e-01 1.10323023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.42509989299998 meters 0.05304287690972404 Centerline is valid? [True, True] Translation: X:106.91, Y:13.64, Z:11.04 [[ 9.72572691e-01 -2.09283278e-01 -1.01503057e-01 1.06908617e+02] [ 2.08691789e-01 9.77841731e-01 -1.65314058e-02 1.36410500e+01] [ 1.02713671e-01 -5.10486064e-03 9.94697865e-01 1.10383915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48509989299998 meters 0.05567503031972428 Centerline is valid? [True, True] Translation: X:106.97, Y:13.64, Z:11.04 [[ 9.72555015e-01 -2.09832514e-01 -1.00533871e-01 1.06969133e+02] [ 2.09255508e-01 9.77723960e-01 -1.63704291e-02 1.36425810e+01] [ 1.01729423e-01 -5.11612328e-03 9.94798949e-01 1.10449934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54509989299997 meters 0.054495281518138296 Centerline is valid? [True, True] Translation: X:107.03, Y:13.66, Z:11.05 [[ 9.72647972e-01 -2.09710415e-01 -9.98872540e-02 1.07028457e+02] [ 2.09140245e-01 9.77750391e-01 -1.62643914e-02 1.36560255e+01] [ 1.01075614e-01 -5.07091739e-03 9.94865823e-01 1.10507429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60509989299997 meters 0.05299206629131978 Centerline is valid? [True, True] Translation: X:107.09, Y:13.67, Z:11.05 [[ 9.72824299e-01 -2.07523771e-01 -1.02697460e-01 1.07087484e+02] [ 2.06909100e-01 9.78217283e-01 -1.67203727e-02 1.36710233e+01] [ 1.03930305e-01 -4.98305417e-03 9.94572099e-01 1.10533238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66509989299998 meters 0.05846986364349189 Centerline is valid? [True, True] Translation: X:107.15, Y:13.67, Z:11.06 [[ 9.74474438e-01 -1.99205494e-01 -1.03521695e-01 1.07148618e+02] [ 1.98534132e-01 9.79949043e-01 -1.68544083e-02 1.36668827e+01] [ 1.04803477e-01 -4.12839981e-03 9.94484383e-01 1.10583391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.72509989299998 meters 0.05846986364349189 Centerline is valid? [True, True] Translation: X:107.21, Y:13.68, Z:11.06 [[ 9.74451273e-01 -1.99318791e-01 -1.03521672e-01 1.07205058e+02] [ 1.98648050e-01 9.79925955e-01 -1.68545517e-02 1.36760442e+01] [ 1.04803002e-01 -4.14043891e-03 9.94484383e-01 1.10643195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.78509989299998 meters 0.05382623657917406 Centerline is valid? [True, True] Translation: X:107.26, Y:13.70, Z:11.07 [[ 9.74786044e-01 -1.98108335e-01 -1.02690098e-01 1.07261521e+02] [ 1.97440369e-01 9.80172108e-01 -1.67313819e-02 1.37014851e+01] [ 1.03968596e-01 -3.96565336e-03 9.94572674e-01 1.10711313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84509989299998 meters 0.054960900716928614 Centerline is valid? [True, True] Translation: X:107.32, Y:13.71, Z:11.08 [[ 9.75028491e-01 -1.96860856e-01 -1.02787374e-01 1.07320483e+02] [ 1.96184638e-01 9.80423935e-01 -1.67480036e-02 1.37074639e+01] [ 1.04072228e-01 -3.83552311e-03 9.94562346e-01 1.10773878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90509989299997 meters 0.053432524037658 Centerline is valid? [True, True] Translation: X:107.38, Y:13.72, Z:11.08 [[ 9.75260343e-01 -1.95454704e-01 -1.03270138e-01 1.07378884e+02] [ 1.94764011e-01 9.80705748e-01 -1.68290290e-02 1.37226925e+01] [ 1.04566930e-01 -3.70062162e-03 9.94510966e-01 1.10829726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96509989299997 meters 0.0560466524418336 Centerline is valid? [True, True] Translation: X:107.44, Y:13.73, Z:11.09 [[ 9.75626218e-01 -1.93079650e-01 -1.04277184e-01 1.07439405e+02] [ 1.92361797e-01 9.81176918e-01 -1.69939696e-02 1.37255201e+01] [ 1.05595556e-01 -3.47918424e-03 9.94403074e-01 1.10875409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02509989299998 meters 0.052998127208003426 Centerline is valid? [True, True] Translation: X:107.50, Y:13.75, Z:11.09 [[ 9.75966868e-01 -1.91185748e-01 -1.04578596e-01 1.07496155e+02] [ 1.90452579e-01 9.81548392e-01 -1.70460933e-02 1.37474531e+01] [ 1.05907923e-01 -3.28084096e-03 9.94370529e-01 1.10933866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08509989299998 meters 0.055129357525808886 Centerline is valid? [True, True] Translation: X:107.55, Y:13.75, Z:11.10 [[ 9.76012351e-01 -1.90759917e-01 -1.04931140e-01 1.07554263e+02] [ 1.90019085e-01 9.81631364e-01 -1.71059215e-02 1.37481505e+01] [ 1.06266823e-01 -3.24332862e-03 9.94332361e-01 1.10983002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.14509989299998 meters 0.05372212993954604 Centerline is valid? [True, True] Translation: X:107.61, Y:13.77, Z:11.10 [[ 9.75948099e-01 -1.91124085e-01 -1.04866073e-01 1.07610316e+02] [ 1.90385606e-01 9.81560421e-01 -1.71015012e-02 1.37651350e+01] [ 1.06200895e-01 -3.27481322e-03 9.94339301e-01 1.11045630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.20509989299998 meters 0.052956138201000924 Centerline is valid? [True, True] Translation: X:107.67, Y:13.78, Z:11.11 [[ 9.76230026e-01 -1.89528927e-01 -1.05136679e-01 1.07668976e+02] [ 1.88776235e-01 9.81870248e-01 -1.71565800e-02 1.37827038e+01] [ 1.06482245e-01 -3.09853785e-03 9.94309776e-01 1.11114287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26509989299997 meters 0.053457473103907194 Centerline is valid? [True, True] Translation: X:107.73, Y:13.79, Z:11.12 [[ 9.76873587e-01 -1.86118419e-01 -1.05251744e-01 1.07727993e+02] [ 1.85344513e-01 9.82523524e-01 -1.71737327e-02 1.37895873e+01] [ 1.06608663e-01 -2.73126743e-03 9.94297306e-01 1.11171228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32509989299997 meters 0.05302545623305896 Centerline is valid? [True, True] Translation: X:107.79, Y:13.81, Z:11.12 [[ 9.77383275e-01 -1.83510972e-01 -1.05098320e-01 1.07786891e+02] [ 1.82724216e-01 9.83014627e-01 -1.71494344e-02 1.38064242e+01] [ 1.06460295e-01 -2.44243771e-03 9.94313954e-01 1.11237409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38509989299997 meters 0.053348301965367044 Centerline is valid? [True, True] Translation: X:107.85, Y:13.81, Z:11.13 [[ 9.77299152e-01 -1.84355853e-01 -1.04399648e-01 1.07846008e+02] [ 1.83584432e-01 9.82856336e-01 -1.70346301e-02 1.38110986e+01] [ 1.05750289e-01 -2.51822045e-03 9.94389529e-01 1.11302615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44509989299998 meters 0.054986179217850234 Centerline is valid? [True, True] Translation: X:107.91, Y:13.81, Z:11.14 [[ 9.76536554e-01 -1.88344915e-01 -1.04415288e-01 1.07906717e+02] [ 1.87595879e-01 9.82098515e-01 -1.70380045e-02 1.38109932e+01] [ 1.05755121e-01 -2.94964355e-03 9.94387829e-01 1.11361738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.50509989299998 meters 0.05424153842355855 Centerline is valid? [True, True] Translation: X:107.97, Y:13.82, Z:11.14 [[ 9.75556541e-01 -1.92671002e-01 -1.05675541e-01 1.07965797e+02] [ 1.91928969e-01 9.81257314e-01 -1.72439966e-02 1.38220524e+01] [ 1.07017315e-01 -3.45970392e-03 9.94251138e-01 1.11421868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.56509989299998 meters 0.05296574396479605 Centerline is valid? [True, True] Translation: X:108.02, Y:13.84, Z:11.15 [[ 9.74532704e-01 -1.96990072e-01 -1.07149058e-01 1.08024360e+02] [ 1.96253155e-01 9.80397367e-01 -1.74843297e-02 1.38388991e+01] [ 1.08492893e-01 -3.98928960e-03 9.94089220e-01 1.11488514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62509989299997 meters 0.05425067756146673 Centerline is valid? [True, True] Translation: X:108.08, Y:13.84, Z:11.15 [[ 9.73896209e-01 -2.00101101e-01 -1.07171467e-01 1.08084886e+02] [ 1.99382843e-01 9.79765648e-01 -1.74859086e-02 1.38361357e+01] [ 1.08501871e-01 -4.33869167e-03 9.94086777e-01 1.11540605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68509989299997 meters 0.056029170666297146 Centerline is valid? [True, True] Translation: X:108.15, Y:13.84, Z:11.16 [[ 9.73530689e-01 -2.02037617e-01 -1.06858784e-01 1.08145121e+02] [ 2.01335071e-01 9.79367238e-01 -1.74356480e-02 1.38361730e+01] [ 1.08176649e-01 -4.54028252e-03 9.94121320e-01 1.11599135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74509989299997 meters 0.06133779334395323 Centerline is valid? [True, True] Translation: X:108.20, Y:13.83, Z:11.16 [[ 9.73465728e-01 -2.02304062e-01 -1.06946446e-01 1.08204773e+02] [ 2.01601829e-01 9.79312085e-01 -1.74511782e-02 1.38320599e+01] [ 1.08264391e-01 -4.57247519e-03 9.94111621e-01 1.11646280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.80509989299998 meters 0.05204393029071452 Centerline is valid? [True, True] Translation: X:108.26, Y:13.87, Z:11.17 [[ 9.73191477e-01 -2.03689575e-01 -1.06812485e-01 1.08259613e+02] [ 2.02996249e-01 9.79024194e-01 -1.74399313e-02 1.38720023e+01] [ 1.08124339e-01 -4.71014125e-03 9.94126220e-01 1.11737981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.86509989299998 meters 0.05383218777076369 Centerline is valid? [True, True] Translation: X:108.32, Y:13.87, Z:11.18 [[ 9.72959032e-01 -2.05029015e-01 -1.06366467e-01 1.08320132e+02] [ 2.04349703e-01 9.78743924e-01 -1.73646233e-02 1.38719977e+01] [ 1.07665785e-01 -4.84088893e-03 9.94175359e-01 1.11797606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.92509989299998 meters 0.054540682682475555 Centerline is valid? [True, True] Translation: X:108.38, Y:13.88, Z:11.19 [[ 9.72393803e-01 -2.07484897e-01 -1.06772232e-01 1.08378449e+02] [ 2.06815119e-01 9.78224757e-01 -1.74307736e-02 1.38784514e+01] [ 1.08063862e-01 -5.13253552e-03 9.94130705e-01 1.11865680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98509989299998 meters 0.05280154815400306 Centerline is valid? [True, True] Translation: X:108.44, Y:13.89, Z:11.19 [[ 9.71612954e-01 -2.09793149e-01 -1.09339389e-01 1.08437469e+02] [ 2.09105549e-01 9.77730196e-01 -1.78475089e-02 1.38913298e+01] [ 1.10648707e-01 -5.52260205e-03 9.93844236e-01 1.11927716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04509989299997 meters 0.05429879989008503 Centerline is valid? [True, True] Translation: X:108.50, Y:13.90, Z:11.20 [[ 9.71115163e-01 -2.11459422e-01 -1.10545253e-01 1.08497454e+02] [ 2.10767312e-01 9.77369708e-01 -1.80442096e-02 1.38953601e+01] [ 1.11859200e-01 -5.77632029e-03 9.93707278e-01 1.11974084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10509989299997 meters 0.054070616684711185 Centerline is valid? [True, True] Translation: X:108.56, Y:13.91, Z:11.20 [[ 9.70968523e-01 -2.12637097e-01 -1.09570033e-01 1.08556065e+02] [ 2.11964586e-01 9.77113676e-01 -1.78851306e-02 1.39051546e+01] [ 1.10865420e-01 -5.85906787e-03 9.93818157e-01 1.12047516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16509989299998 meters 0.05577867080721103 Centerline is valid? [True, True] Translation: X:108.62, Y:13.91, Z:11.21 [[ 9.71465711e-01 -2.11112460e-01 -1.08101349e-01 1.08615089e+02] [ 2.10448286e-01 9.77445702e-01 -1.76470740e-02 1.39059003e+01] [ 1.09388716e-01 -5.60621644e-03 9.93983239e-01 1.12103474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.22509989299998 meters 0.05604354659214863 Centerline is valid? [True, True] Translation: X:108.67, Y:13.92, Z:11.22 [[ 9.72091370e-01 -2.08430147e-01 -1.07681208e-01 1.08674553e+02] [ 2.07754499e-01 9.78022998e-01 -1.75807967e-02 1.39151954e+01] [ 1.08979066e-01 -5.28111474e-03 9.94030016e-01 1.12156691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.28509989299998 meters 0.055247419943147844 Centerline is valid? [True, True] Translation: X:108.73, Y:13.93, Z:11.22 [[ 9.72521432e-01 -2.06262367e-01 -1.07971755e-01 1.08732821e+02] [ 2.05569761e-01 9.78483682e-01 -1.76283351e-02 1.39282804e+01] [ 1.09284662e-01 -5.05179411e-03 9.93997657e-01 1.12225093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34509989299998 meters 0.05792010835845291 Centerline is valid? [True, True] Translation: X:108.79, Y:13.93, Z:11.23 [[ 9.72877673e-01 -2.04576373e-01 -1.07970091e-01 1.08792996e+02] [ 2.03873517e-01 9.78838526e-01 -1.76274977e-02 1.39293003e+01] [ 1.09291454e-01 -4.86284331e-03 9.93997852e-01 1.12283329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40509989299997 meters 0.052917902645034584 Centerline is valid? [True, True] Translation: X:108.85, Y:13.96, Z:11.24 [[ 9.73012518e-01 -2.03867043e-01 -1.08096576e-01 1.08849847e+02] [ 2.03158110e-01 9.78986875e-01 -1.76487991e-02 1.39582614e+01] [ 1.09423138e-01 -4.78819367e-03 9.93983727e-01 1.12373766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46509989299997 meters 0.05429334699066742 Centerline is valid? [True, True] Translation: X:108.91, Y:13.96, Z:11.24 [[ 9.74136080e-01 -1.98579890e-01 -1.07818946e-01 1.08909035e+02] [ 1.97842593e-01 9.80075768e-01 -1.76010789e-02 1.39632227e+01] [ 1.09165957e-01 -4.18533396e-03 9.94014727e-01 1.12425712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52509989299998 meters 0.056020571072973084 Centerline is valid? [True, True] Translation: X:108.97, Y:13.97, Z:11.25 [[ 9.75240390e-01 -1.93192933e-01 -1.07622825e-01 1.08969262e+02] [ 1.92425518e-01 9.81154277e-01 -1.75700176e-02 1.39671528e+01] [ 1.08988998e-01 -3.57438704e-03 9.94036530e-01 1.12477188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.58509989299998 meters 0.05297265975054798 Centerline is valid? [True, True] Translation: X:109.03, Y:14.00, Z:11.26 [[ 9.76716602e-01 -1.86200765e-01 -1.06554938e-01 1.09025830e+02] [ 1.85407023e-01 9.82507826e-01 -1.73956389e-02 1.39950312e+01] [ 1.07930141e-01 -2.76542444e-03 9.94154634e-01 1.12582879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.64509989299998 meters 0.053226323561629346 Centerline is valid? [True, True] Translation: X:109.08, Y:14.00, Z:11.26 [[ 9.77587685e-01 -1.81962997e-01 -1.05885726e-01 1.09084306e+02] [ 1.81154565e-01 9.83302726e-01 -1.72850383e-02 1.40007931e+01] [ 1.07262960e-01 -2.28404204e-03 9.94228063e-01 1.12643655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.70509989299998 meters 0.054072447139857545 Centerline is valid? [True, True] Translation: X:109.14, Y:14.01, Z:11.27 [[ 9.78175812e-01 -1.78094207e-01 -1.07025854e-01 1.09142748e+02] [ 1.77244998e-01 9.84011648e-01 -1.74724515e-02 1.40085752e+01] [ 1.08426429e-01 -1.87866787e-03 9.94102701e-01 1.12691713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76509989299997 meters 0.05375277671452369 Centerline is valid? [True, True] Translation: X:109.20, Y:14.02, Z:11.28 [[ 9.78697426e-01 -1.75012069e-01 -1.07341154e-01 1.09200631e+02] [ 1.74139156e-01 9.84565084e-01 -1.75256919e-02 1.40176008e+01] [ 1.08751560e-01 -1.53994844e-03 9.94067768e-01 1.12755809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82509989299997 meters 0.05401668476072883 Centerline is valid? [True, True] Translation: X:109.26, Y:14.03, Z:11.28 [[ 9.78924164e-01 -1.73611082e-01 -1.07548469e-01 1.09258616e+02] [ 1.72725950e-01 9.84813322e-01 -1.75632440e-02 1.40260222e+01] [ 1.08964339e-01 -1.38332761e-03 9.94044697e-01 1.12819317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88509989299997 meters 0.05454366669712891 Centerline is valid? [True, True] Translation: X:109.32, Y:14.03, Z:11.29 [[ 9.79014887e-01 -1.73544856e-01 -1.06827121e-01 1.09316586e+02] [ 1.72669935e-01 9.84825033e-01 -1.74570006e-02 1.40344374e+01] [ 1.08235596e-01 -1.35516867e-03 9.94124348e-01 1.12887265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.94509989299998 meters 0.054285942349855607 Centerline is valid? [True, True] Translation: X:109.37, Y:14.04, Z:11.30 [[ 9.78699713e-01 -1.75555509e-01 -1.06429013e-01 1.09374795e+02] [ 1.74697705e-01 9.84468298e-01 -1.74035241e-02 1.40410491e+01] [ 1.07831274e-01 -1.56008016e-03 9.94167985e-01 1.12962646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.00509989299998 meters 0.05446859465935812 Centerline is valid? [True, True] Translation: X:109.44, Y:14.05, Z:11.30 [[ 9.77864405e-01 -1.80898991e-01 -1.05151128e-01 1.09435106e+02] [ 1.80091285e-01 9.83499413e-01 -1.72056596e-02 1.40450828e+01] [ 1.06528559e-01 -2.11199963e-03 9.94307400e-01 1.13034105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.06509989299998 meters 0.0558850830024919 Centerline is valid? [True, True] Translation: X:109.50, Y:14.04, Z:11.31 [[ 9.76673899e-01 -1.86818140e-01 -1.05863490e-01 1.09496643e+02] [ 1.86034038e-01 9.82390593e-01 -1.73222476e-02 1.40389098e+01] [ 1.07235407e-01 -2.77602548e-03 9.94229783e-01 1.13079948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12509989299997 meters 0.05591710489561994 Centerline is valid? [True, True] Translation: X:109.56, Y:14.04, Z:11.31 [[ 9.75898452e-01 -1.90014833e-01 -1.07315306e-01 1.09556744e+02] [ 1.89228185e-01 9.81776103e-01 -1.75606738e-02 1.40441744e+01] [ 1.08696392e-01 -3.16964630e-03 9.94069941e-01 1.13128943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18509989299997 meters 0.05472904942233177 Centerline is valid? [True, True] Translation: X:109.62, Y:14.06, Z:11.32 [[ 9.75087935e-01 -1.93480095e-01 -1.08484896e-01 1.09616252e+02] [ 1.92697438e-01 9.81097617e-01 -1.77528244e-02 1.40554296e+01] [ 1.09869091e-01 -3.59419659e-03 9.93939568e-01 1.13187252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24509989299997 meters 0.05555225005063011 Centerline is valid? [True, True] Translation: X:109.67, Y:14.06, Z:11.32 [[ 9.74939288e-01 -1.94202599e-01 -1.08529879e-01 1.09673734e+02] [ 1.93423792e-01 9.80954549e-01 -1.77597969e-02 1.40571636e+01] [ 1.09911877e-01 -3.67753703e-03 9.93934533e-01 1.13242491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.30509989299998 meters 0.05413885127428687 Centerline is valid? [True, True] Translation: X:109.73, Y:14.07, Z:11.33 [[ 9.75042363e-01 -1.93507866e-01 -1.08844365e-01 1.09730269e+02] [ 1.92719609e-01 9.81092103e-01 -1.78167725e-02 1.40742169e+01] [ 1.10234033e-01 -3.60433562e-03 9.93899123e-01 1.13316435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.36509989299998 meters 0.05557954566830532 Centerline is valid? [True, True] Translation: X:109.79, Y:14.07, Z:11.34 [[ 9.75145108e-01 -1.93015263e-01 -1.08798556e-01 1.09789181e+02] [ 1.92223352e-01 9.81189383e-01 -1.78206915e-02 1.40738287e+01] [ 1.10191654e-01 -3.53586303e-03 9.93904068e-01 1.13357842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.42509989299998 meters 0.056302856879317534 Centerline is valid? [True, True] Translation: X:109.85, Y:14.08, Z:11.34 [[ 9.75269223e-01 -1.92287734e-01 -1.08974171e-01 1.09847397e+02] [ 1.91487375e-01 9.81332535e-01 -1.78617163e-02 1.40797075e+01] [ 1.10374489e-01 -3.44719590e-03 9.93884092e-01 1.13411525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48509989299997 meters 0.05527301462646454 Centerline is valid? [True, True] Translation: X:109.90, Y:14.09, Z:11.35 [[ 9.75081889e-01 -1.92889836e-01 -1.09584767e-01 1.09904545e+02] [ 1.92082929e-01 9.81214093e-01 -1.79736682e-02 1.40934481e+01] [ 1.10993056e-01 -3.52356467e-03 9.93814936e-01 1.13477432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54509989299997 meters 0.05476186201257079 Centerline is valid? [True, True] Translation: X:109.96, Y:14.10, Z:11.36 [[ 9.74740507e-01 -1.94517997e-01 -1.09743763e-01 1.09962801e+02] [ 1.93717853e-01 9.80891956e-01 -1.80101388e-02 1.41045376e+01] [ 1.11150070e-01 -3.70411421e-03 9.93796730e-01 1.13553742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60509989299997 meters 0.05537383622298407 Centerline is valid? [True, True] Translation: X:110.02, Y:14.11, Z:11.36 [[ 9.74052684e-01 -1.97700699e-01 -1.10162614e-01 1.10021517e+02] [ 1.96914487e-01 9.80253935e-01 -1.80805797e-02 1.41115859e+01] [ 1.11561879e-01 -4.08117746e-03 9.93749109e-01 1.13614713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.66509989299998 meters 0.057613614558875356 Centerline is valid? [True, True] Translation: X:110.08, Y:14.11, Z:11.37 [[ 9.73554044e-01 -2.00389544e-01 -1.09711230e-01 1.10081732e+02] [ 1.99626639e-01 9.79706555e-01 -1.80075223e-02 1.41135675e+01] [ 1.11093330e-01 -4.36998793e-03 9.93800370e-01 1.13673664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.72509989299998 meters 0.056796020696786985 Centerline is valid? [True, True] Translation: X:110.14, Y:14.13, Z:11.38 [[ 9.72991352e-01 -2.03781036e-01 -1.08448691e-01 1.10140072e+02] [ 2.03056476e-01 9.79005205e-01 -1.78010440e-02 1.41288361e+01] [ 1.09799348e-01 -4.70094708e-03 9.93942656e-01 1.13760111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.78509989299998 meters 0.05569690036741058 Centerline is valid? [True, True] Translation: X:110.20, Y:14.14, Z:11.38 [[ 9.72584439e-01 -2.06547725e-01 -1.06852923e-01 1.10198016e+02] [ 2.05860953e-01 9.78424063e-01 -1.75391055e-02 1.41434614e+01] [ 1.08170133e-01 -4.93858340e-03 9.94120130e-01 1.13838214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84509989299998 meters 0.05513508762293083 Centerline is valid? [True, True] Translation: X:110.26, Y:14.16, Z:11.39 [[ 9.71996658e-01 -2.09086683e-01 -1.07262556e-01 1.10256422e+02] [ 2.08409992e-01 9.77883065e-01 -1.76064290e-02 1.41577810e+01] [ 1.08571507e-01 -5.24119836e-03 9.94074825e-01 1.13899581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90509989299997 meters 0.05504606256246916 Centerline is valid? [True, True] Translation: X:110.31, Y:14.17, Z:11.40 [[ 9.71197353e-01 -2.12477860e-01 -1.07837195e-01 1.10314878e+02] [ 2.11814664e-01 9.77149544e-01 -1.77007781e-02 1.41706589e+01] [ 1.09134089e-01 -5.65055035e-03 9.94010977e-01 1.13961621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96509989299997 meters 0.05685638491436833 Centerline is valid? [True, True] Translation: X:110.37, Y:14.17, Z:11.40 [[ 9.70348490e-01 -2.15891681e-01 -1.08694943e-01 1.10374135e+02] [ 2.15239170e-01 9.76398372e-01 -1.78415150e-02 1.41746880e+01] [ 1.09981400e-01 -6.08292213e-03 9.93915031e-01 1.14012663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02509989299998 meters 0.05996719497364169 Centerline is valid? [True, True] Translation: X:110.43, Y:14.18, Z:11.41 [[ 9.69964258e-01 -2.17874655e-01 -1.08166416e-01 1.10434266e+02] [ 2.17240696e-01 9.75956577e-01 -1.77549780e-02 1.41781756e+01] [ 1.09434084e-01 -6.27645334e-03 9.93974239e-01 1.14074062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.08509989299998 meters 0.058422207832740096 Centerline is valid? [True, True] Translation: X:110.49, Y:14.19, Z:11.41 [[ 9.69797870e-01 -2.18947921e-01 -1.07489062e-01 1.10491819e+02] [ 2.18328404e-01 9.75715839e-01 -1.76439589e-02 1.41933710e+01] [ 1.08741889e-01 -6.35684168e-03 9.94049693e-01 1.14145588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.14509989299998 meters 0.05264971700741906 Centerline is valid? [True, True] Translation: X:110.55, Y:14.23, Z:11.42 [[ 9.70018503e-01 -2.18134073e-01 -1.07152372e-01 1.10548209e+02] [ 2.17513426e-01 9.75898829e-01 -1.75893341e-02 1.42283228e+01] [ 1.08406707e-01 -6.24509991e-03 9.94087011e-01 1.14218260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20509989299998 meters 0.05780183642804139 Centerline is valid? [True, True] Translation: X:110.61, Y:14.22, Z:11.43 [[ 9.70259629e-01 -2.16764148e-01 -1.07747655e-01 1.10610436e+02] [ 2.16128512e-01 9.76204762e-01 -1.76841313e-02 1.42189882e+01] [ 1.09017060e-01 -6.12914170e-03 9.94020983e-01 1.14263024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26509989299997 meters 0.058959530486233036 Centerline is valid? [True, True] Translation: X:110.67, Y:14.23, Z:11.43 [[ 9.70236651e-01 -2.16839140e-01 -1.07803656e-01 1.10667139e+02] [ 2.16203323e-01 9.76188033e-01 -1.76931408e-02 1.42292962e+01] [ 1.09073204e-01 -6.14097496e-03 9.94014751e-01 1.14321389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32509989299997 meters 0.05479395217914233 Centerline is valid? [True, True] Translation: X:110.72, Y:14.25, Z:11.44 [[ 9.70023475e-01 -2.17297869e-01 -1.08793813e-01 1.10723549e+02] [ 2.16651797e-01 9.76085409e-01 -1.78682124e-02 1.42538238e+01] [ 1.10074778e-01 -6.23778952e-03 9.93903734e-01 1.14385452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38509989299997 meters 0.05550917826066494 Centerline is valid? [True, True] Translation: X:110.78, Y:14.26, Z:11.44 [[ 9.69817539e-01 -2.17799311e-01 -1.09623908e-01 1.10781871e+02] [ 2.17146430e-01 9.75972967e-01 -1.80054121e-02 1.42629959e+01] [ 1.10911537e-01 -6.34247585e-03 9.93810044e-01 1.14441826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.44509989299998 meters 0.05644826138890229 Centerline is valid? [True, True] Translation: X:110.84, Y:14.27, Z:11.45 [[ 9.69812242e-01 -2.17587878e-01 -1.10089645e-01 1.10839755e+02] [ 2.16927833e-01 9.76020122e-01 -1.80841603e-02 1.42711142e+01] [ 1.11384603e-01 -6.34326803e-03 9.93757130e-01 1.14498812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.50509989299998 meters 0.05330249575955963 Centerline is valid? [True, True] Translation: X:110.90, Y:14.29, Z:11.46 [[ 9.70149668e-01 -2.16663439e-01 -1.08933812e-01 1.10898061e+02] [ 2.16010307e-01 9.76226917e-01 -1.79040233e-02 1.42947689e+01] [ 1.10223267e-01 -6.16124404e-03 9.93887755e-01 1.14589592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.56509989299998 meters 0.05632044483970754 Centerline is valid? [True, True] Translation: X:110.96, Y:14.29, Z:11.47 [[ 9.70485378e-01 -2.15875182e-01 -1.07499009e-01 1.10959090e+02] [ 2.15234579e-01 9.76402576e-01 -1.76659526e-02 1.42922712e+01] [ 1.08775950e-01 -5.99295530e-03 9.94048227e-01 1.14657790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62509989299997 meters 0.0594321189853243 Centerline is valid? [True, True] Translation: X:111.02, Y:14.29, Z:11.47 [[ 9.70428496e-01 -2.15962173e-01 -1.07837258e-01 1.11017557e+02] [ 2.15318092e-01 9.76383160e-01 -1.77213044e-02 1.42930812e+01] [ 1.09117614e-01 -6.02205381e-03 9.94010604e-01 1.14709943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68509989299997 meters 0.0540480574911267 Centerline is valid? [True, True] Translation: X:111.07, Y:14.32, Z:11.48 [[ 9.69738792e-01 -2.17999668e-01 -1.09921886e-01 1.11073891e+02] [ 2.17342132e-01 9.75928107e-01 -1.80756201e-02 1.43203968e+01] [ 1.11216337e-01 -6.36202710e-03 9.93775855e-01 1.14777635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74509989299997 meters 0.058638373499412796 Centerline is valid? [True, True] Translation: X:111.14, Y:14.31, Z:11.48 [[ 9.68987755e-01 -2.19835358e-01 -1.12850105e-01 1.11135837e+02] [ 2.19154700e-01 9.75513635e-01 -1.85570840e-02 1.43135797e+01] [ 1.14166319e-01 -6.75004359e-03 9.93438719e-01 1.14797678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.80509989299998 meters 0.057776180957195944 Centerline is valid? [True, True] Translation: X:111.20, Y:14.33, Z:11.49 [[ 9.69488799e-01 -2.17829508e-01 -1.12435641e-01 1.11195007e+02] [ 2.17140362e-01 9.75965266e-01 -1.84895568e-02 1.43272703e+01] [ 1.13760851e-01 -6.48889755e-03 9.93486972e-01 1.14862732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.86509989299998 meters 0.054900553356160745 Centerline is valid? [True, True] Translation: X:111.25, Y:14.35, Z:11.50 [[ 9.70668272e-01 -2.13251346e-01 -1.11026881e-01 1.11252399e+02] [ 2.12549735e-01 9.76979690e-01 -1.82563895e-02 1.43501317e+01] [ 1.12364207e-01 -5.87783608e-03 9.93649705e-01 1.14955592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.92509989299998 meters 0.05477056076795325 Centerline is valid? [True, True] Translation: X:111.31, Y:14.36, Z:11.50 [[ 9.72592993e-01 -2.05502565e-01 -1.08773004e-01 1.11309979e+02] [ 2.04781027e-01 9.78644408e-01 -1.78844480e-02 1.43614985e+01] [ 1.10125392e-01 -4.88035863e-03 9.93905720e-01 1.15038495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98509989299997 meters 0.055931059907591514 Centerline is valid? [True, True] Translation: X:111.37, Y:14.37, Z:11.51 [[ 9.73720915e-01 -2.00572300e-01 -1.07881104e-01 1.11369659e+02] [ 1.99832382e-01 9.79669526e-01 -1.77380423e-02 1.43690777e+01] [ 1.09245590e-01 -4.28623514e-03 9.94005548e-01 1.15112295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04509989299997 meters 0.05500097856990469 Centerline is valid? [True, True] Translation: X:111.43, Y:14.38, Z:11.52 [[ 9.73965036e-01 -1.99090851e-01 -1.08420207e-01 1.11427515e+02] [ 1.98334348e-01 9.79972289e-01 -1.78268993e-02 1.43811003e+01] [ 1.09797971e-01 -4.14067442e-03 9.93945301e-01 1.15184617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10509989299997 meters 0.055077851203776444 Centerline is valid? [True, True] Translation: X:111.49, Y:14.39, Z:11.52 [[ 9.73684054e-01 -1.99857229e-01 -1.09528311e-01 1.11485444e+02] [ 1.99089733e-01 9.79815731e-01 -1.80113958e-02 1.43890797e+01] [ 1.10917270e-01 -4.26855333e-03 9.93820476e-01 1.15245938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.16509989299998 meters 0.056023707972912416 Centerline is valid? [True, True] Translation: X:111.55, Y:14.39, Z:11.53 [[ 9.73264727e-01 -2.00478944e-01 -1.12089092e-01 1.11545422e+02] [ 1.99677909e-01 9.79687991e-01 -1.84437966e-02 1.43921046e+01] [ 1.13509930e-01 -4.43101889e-03 9.93526981e-01 1.15281579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.22509989299998 meters 0.05393504861961714 Centerline is valid? [True, True] Translation: X:111.60, Y:14.41, Z:11.54 [[ 9.72918701e-01 -2.00426929e-01 -1.15144463e-01 1.11602198e+02] [ 1.99581000e-01 9.79698109e-01 -1.89483361e-02 1.44116185e+01] [ 1.16604570e-01 -4.54545654e-03 9.93168019e-01 1.15352242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.28509989299998 meters 0.05377965086077598 Centerline is valid? [True, True] Translation: X:111.66, Y:14.42, Z:11.54 [[ 9.73240246e-01 -1.99110160e-01 -1.14710799e-01 1.11661644e+02] [ 1.98261307e-01 9.79967374e-01 -1.88785878e-02 1.44186968e+01] [ 1.16171759e-01 -4.36931150e-03 9.93219528e-01 1.15408196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34509989299998 meters 0.054021917934356296 Centerline is valid? [True, True] Translation: X:111.72, Y:14.42, Z:11.55 [[ 9.73905823e-01 -1.96685744e-01 -1.13235008e-01 1.11720182e+02] [ 1.95842290e-01 9.80458313e-01 -1.86358097e-02 1.44244314e+01] [ 1.14687603e-01 -4.02667961e-03 9.93393447e-01 1.15470069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40509989299997 meters 0.053339346991057544 Centerline is valid? [True, True] Translation: X:111.78, Y:14.44, Z:11.56 [[ 9.75177445e-01 -1.92257521e-01 -1.09845330e-01 1.11777471e+02] [ 1.91435763e-01 9.81338626e-01 -1.80789961e-02 1.44387840e+01] [ 1.11271288e-01 -3.39809528e-03 9.93784259e-01 1.15573069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46509989299997 meters 0.05449563165423802 Centerline is valid? [True, True] Translation: X:111.84, Y:14.44, Z:11.56 [[ 9.75335566e-01 -1.91586206e-01 -1.09614140e-01 1.11835540e+02] [ 1.90763486e-01 9.81470199e-01 -1.80427412e-02 1.44412688e+01] [ 1.11039752e-01 -3.31264829e-03 9.93810445e-01 1.15631462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.52509989299998 meters 0.05513012377872102 Centerline is valid? [True, True] Translation: X:111.89, Y:14.45, Z:11.57 [[ 9.74964647e-01 -1.92891514e-01 -1.10620078e-01 1.11893864e+02] [ 1.92061270e-01 9.81213892e-01 -1.82144595e-02 1.44486835e+01] [ 1.12055372e-01 -3.48737861e-03 9.93695845e-01 1.15692358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.58509989299998 meters 0.056981259374040555 Centerline is valid? [True, True] Translation: X:111.96, Y:14.44, Z:11.57 [[ 9.73937536e-01 -1.96870422e-01 -1.12639747e-01 1.11955803e+02] [ 1.96035721e-01 9.80421294e-01 -1.85494629e-02 1.44439219e+01] [ 1.14086247e-01 -4.01539584e-03 9.93462734e-01 1.15706128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.64509989299998 meters 0.05796196427735669 Centerline is valid? [True, True] Translation: X:112.02, Y:14.45, Z:11.58 [[ 9.72824167e-01 -2.00992826e-01 -1.14956618e-01 1.12015425e+02] [ 2.00151952e-01 9.79581951e-01 -1.89313919e-02 1.44494789e+01] [ 1.16414502e-01 -4.59187592e-03 9.93190102e-01 1.15752880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70509989299998 meters 0.054516584445782564 Centerline is valid? [True, True] Translation: X:112.07, Y:14.47, Z:11.59 [[ 9.71423675e-01 -2.07264883e-01 -1.15660333e-01 1.12072759e+02] [ 2.06457760e-01 9.78270092e-01 -1.90478466e-02 1.44695817e+01] [ 1.17094994e-01 -5.37544409e-03 9.93106171e-01 1.15854288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76509989299997 meters 0.05582412108098644 Centerline is valid? [True, True] Translation: X:112.13, Y:14.47, Z:11.59 [[ 9.70801333e-01 -2.10579964e-01 -1.14894954e-01 1.12131692e+02] [ 2.09806644e-01 9.77559801e-01 -1.89210907e-02 1.44742110e+01] [ 1.16301091e-01 -5.73710464e-03 9.93197433e-01 1.15907361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82509989299997 meters 0.05536362993965585 Centerline is valid? [True, True] Translation: X:112.19, Y:14.49, Z:11.60 [[ 9.70570231e-01 -2.13169595e-01 -1.12036383e-01 1.12190228e+02] [ 2.12451247e-01 9.76997437e-01 -1.84519714e-02 1.44859289e+01] [ 1.13392658e-01 -5.89333521e-03 9.93532774e-01 1.15998581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88509989299997 meters 0.05823600250060083 Centerline is valid? [True, True] Translation: X:112.25, Y:14.49, Z:11.61 [[ 9.70826545e-01 -2.13517294e-01 -1.09115470e-01 1.12247954e+02] [ 2.12837992e-01 9.76922208e-01 -1.79719063e-02 1.44859285e+01] [ 1.10434639e-01 -5.77631383e-03 9.93866603e-01 1.16074078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.94509989299998 meters 0.05686186925208687 Centerline is valid? [True, True] Translation: X:112.31, Y:14.50, Z:11.62 [[ 9.70459833e-01 -2.15234954e-01 -1.09002881e-01 1.12305978e+02] [ 2.14567377e-01 9.76544097e-01 -1.79573506e-02 1.45005868e+01] [ 1.10311170e-01 -5.96157482e-03 9.93879221e-01 1.16155666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.00509989299998 meters 0.05492261292220469 Centerline is valid? [True, True] Translation: X:112.36, Y:14.51, Z:11.62 [[ 9.69579305e-01 -2.18471222e-01 -1.10391562e-01 1.12364482e+02] [ 2.17807259e-01 9.75822336e-01 -1.81869720e-02 1.45147252e+01] [ 1.11695882e-01 -6.41037182e-03 9.93721760e-01 1.16219824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.06509989299998 meters 0.05758554450130073 Centerline is valid? [True, True] Translation: X:112.42, Y:14.52, Z:11.63 [[ 9.69020516e-01 -2.20424215e-01 -1.11410969e-01 1.12424225e+02] [ 2.19760661e-01 9.75381115e-01 -1.83557110e-02 1.45153587e+01] [ 1.12714199e-01 -6.69668771e-03 9.93604883e-01 1.16258331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12509989299997 meters 0.054422066352847735 Centerline is valid? [True, True] Translation: X:112.48, Y:14.54, Z:11.63 [[ 9.68935087e-01 -2.20656174e-01 -1.11694453e-01 1.12482628e+02] [ 2.19990702e-01 9.75328365e-01 -1.84030280e-02 1.45373312e+01] [ 1.12999510e-01 -6.74040152e-03 9.93572180e-01 1.16339710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18509989299997 meters 0.05815189113646092 Centerline is valid? [True, True] Translation: X:112.54, Y:14.53, Z:11.64 [[ 9.69125329e-01 -2.19373316e-01 -1.12567514e-01 1.12543123e+02] [ 2.18689069e-01 9.75618362e-01 -1.85445966e-02 1.45344881e+01] [ 1.13891123e-01 -6.64524639e-03 9.93471013e-01 1.16369444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24509989299997 meters 0.05493929858058203 Centerline is valid? [True, True] Translation: X:112.60, Y:14.56, Z:11.64 [[ 9.69626120e-01 -2.17670527e-01 -1.11555946e-01 1.12600142e+02] [ 2.16987125e-01 9.76001422e-01 -1.83796605e-02 1.45575360e+01] [ 1.12879473e-01 -6.38480517e-03 9.93588174e-01 1.16443283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.30509989299998 meters 0.05722665728215579 Centerline is valid? [True, True] Translation: X:112.66, Y:14.56, Z:11.65 [[ 9.69766212e-01 -2.17059797e-01 -1.11528200e-01 1.12659051e+02] [ 2.16372539e-01 9.76137911e-01 -1.83766913e-02 1.45575983e+01] [ 1.12855745e-01 -6.31054545e-03 9.93591344e-01 1.16490675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.36509989299998 meters 0.05620394065052962 Centerline is valid? [True, True] Translation: X:112.72, Y:14.57, Z:11.66 [[ 9.70046914e-01 -2.16413877e-01 -1.10335934e-01 1.12717223e+02] [ 2.15736720e-01 9.76282249e-01 -1.81834421e-02 1.45728040e+01] [ 1.11654163e-01 -6.16472069e-03 9.93728003e-01 1.16562897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.42509989299998 meters 0.05386429568941354 Centerline is valid? [True, True] Translation: X:112.77, Y:14.60, Z:11.66 [[ 9.69799603e-01 -2.17642918e-01 -1.10092190e-01 1.12774823e+02] [ 2.16976622e-01 9.76008181e-01 -1.81432138e-02 1.45950047e+01] [ 1.11399620e-01 -6.29215001e-03 9.93755772e-01 1.16646341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48509989299997 meters 0.05733664361715016 Centerline is valid? [True, True] Translation: X:112.84, Y:14.59, Z:11.67 [[ 9.69392278e-01 -2.19125713e-01 -1.10736327e-01 1.12836369e+02] [ 2.18461304e-01 9.75674972e-01 -1.82485024e-02 1.45915213e+01] [ 1.12041378e-01 -6.50164504e-03 9.93682272e-01 1.16693808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54509989299997 meters 0.052962571227197115 Centerline is valid? [True, True] Translation: X:112.89, Y:14.62, Z:11.68 [[ 9.69538653e-01 -2.18632788e-01 -1.10428729e-01 1.12893079e+02] [ 2.17969007e-01 9.75786037e-01 -1.81967507e-02 1.46238151e+01] [ 1.11733218e-01 -6.42758732e-03 9.93717452e-01 1.16787322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60509989299997 meters 0.05961099896270009 Centerline is valid? [True, True] Translation: X:112.96, Y:14.61, Z:11.68 [[ 9.70014857e-01 -2.16895034e-01 -1.09670968e-01 1.12955584e+02] [ 2.16229990e-01 9.76175304e-01 -1.80656175e-02 1.46096760e+01] [ 1.10976433e-01 -6.19023480e-03 9.93803759e-01 1.16819492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.66509989299998 meters 0.05654539370430153 Centerline is valid? [True, True] Translation: X:113.01, Y:14.63, Z:11.69 [[ 9.70460947e-01 -2.15211588e-01 -1.09039092e-01 1.13012673e+02] [ 2.14543978e-01 9.76549221e-01 -1.79582993e-02 1.46306472e+01] [ 1.10346874e-01 -5.96585239e-03 9.93875232e-01 1.16890200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.72509989299998 meters 0.055971544557841965 Centerline is valid? [True, True] Translation: X:113.07, Y:14.64, Z:11.70 [[ 9.70364155e-01 -2.16139685e-01 -1.08060370e-01 1.13070280e+02] [ 2.15489695e-01 9.76343917e-01 -1.77973692e-02 1.46430052e+01] [ 1.09350803e-01 -6.01596719e-03 9.93985015e-01 1.16960456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.78509989299998 meters 0.05602090380107705 Centerline is valid? [True, True] Translation: X:113.13, Y:14.65, Z:11.70 [[ 9.69765707e-01 -2.19038801e-01 -1.07594034e-01 1.13128818e+02] [ 2.18411957e-01 9.75695723e-01 -1.77221268e-02 1.46543423e+01] [ 1.08860872e-01 -6.31351272e-03 9.94036946e-01 1.17023052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84509989299997 meters 0.05574182991628234 Centerline is valid? [True, True] Translation: X:113.19, Y:14.66, Z:11.71 [[ 9.69011686e-01 -2.21268250e-01 -1.09803068e-01 1.13188303e+02] [ 2.20629546e-01 9.75189969e-01 -1.80866533e-02 1.46632195e+01] [ 1.11080853e-01 -6.69962271e-03 9.93788790e-01 1.17061067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90509989299997 meters 0.05426418205786659 Centerline is valid? [True, True] Translation: X:113.25, Y:14.68, Z:11.71 [[ 9.69033996e-01 -2.20901500e-01 -1.10343295e-01 1.13248415e+02] [ 2.20254093e-01 9.75273175e-01 -1.81760281e-02 1.46802998e+01] [ 1.11629967e-01 -6.69037320e-03 9.93727321e-01 1.17128373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96509989299997 meters 0.055043169166474545 Centerline is valid? [True, True] Translation: X:113.31, Y:14.69, Z:11.72 [[ 9.69305606e-01 -2.19783974e-01 -1.10189137e-01 1.13308310e+02] [ 2.19131667e-01 9.75526534e-01 -1.81464839e-02 1.46885756e+01] [ 1.11480733e-01 -6.55644069e-03 9.93744967e-01 1.17193177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02509989299998 meters 0.053104895489109266 Centerline is valid? [True, True] Translation: X:113.37, Y:14.71, Z:11.73 [[ 9.69825267e-01 -2.18289419e-01 -1.08575692e-01 1.13366868e+02] [ 2.17646937e-01 9.75863795e-01 -1.78791589e-02 1.47054227e+01] [ 1.09857918e-01 -6.29150684e-03 9.93927389e-01 1.17271794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.08509989299998 meters 0.054623294739945795 Centerline is valid? [True, True] Translation: X:113.43, Y:14.71, Z:11.73 [[ 9.70285941e-01 -2.17037966e-01 -1.06956603e-01 1.13426086e+02] [ 2.16407025e-01 9.76144367e-01 -1.76117600e-02 1.47117015e+01] [ 1.08227506e-01 -6.05771707e-03 9.94107696e-01 1.17326261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.14509989299998 meters 0.05295445879839313 Centerline is valid? [True, True] Translation: X:113.49, Y:14.73, Z:11.74 [[ 9.69921961e-01 -2.18490226e-01 -1.07300565e-01 1.13485071e+02] [ 2.17864053e-01 9.75819186e-01 -1.76683610e-02 1.47250204e+01] [ 1.08566314e-01 -6.24000461e-03 9.94069624e-01 1.17377194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20509989299998 meters 0.05310877286941497 Centerline is valid? [True, True] Translation: X:113.55, Y:14.73, Z:11.74 [[ 9.69288585e-01 -2.21306168e-01 -1.07253064e-01 1.13545304e+02] [ 2.20697758e-01 9.75182360e-01 -1.76596703e-02 1.47341712e+01] [ 1.08499490e-01 -6.55319385e-03 9.94074905e-01 1.17438874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26509989299997 meters 0.06043536322794757 Centerline is valid? [True, True] Translation: X:113.61, Y:14.72, Z:11.75 [[ 9.69316972e-01 -2.21197009e-01 -1.07221689e-01 1.13609968e+02] [ 2.20588465e-01 9.75207211e-01 -1.76529181e-02 1.47186972e+01] [ 1.08468137e-01 -6.54059459e-03 9.94078409e-01 1.17488426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32509989299997 meters 0.05715192824862568 Centerline is valid? [True, True] Translation: X:113.67, Y:14.74, Z:11.76 [[ 9.69621311e-01 -2.20553796e-01 -1.05785329e-01 1.13668298e+02] [ 2.19958195e-01 9.75353906e-01 -1.74112309e-02 1.47363574e+01] [ 1.07018246e-01 -6.38604940e-03 9.94236548e-01 1.17578915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38509989299997 meters 0.06171011395950374 Centerline is valid? [True, True] Translation: X:113.73, Y:14.74, Z:11.76 [[ 9.70363082e-01 -2.16966863e-01 -1.06399578e-01 1.13729301e+02] [ 2.16342893e-01 9.76160373e-01 -1.75122612e-02 1.47370232e+01] [ 1.07662632e-01 -6.02554087e-03 9.94169226e-01 1.17633382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.44509989299998 meters 0.05870271122130665 Centerline is valid? [True, True] Translation: X:113.79, Y:14.75, Z:11.77 [[ 9.70710599e-01 -2.15211625e-01 -1.06793673e-01 1.13787479e+02] [ 2.14572447e-01 9.76549898e-01 -1.75772774e-02 1.47534709e+01] [ 1.08072185e-01 -5.85253038e-03 9.94125822e-01 1.17688876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.50509989299998 meters 0.061748264518384006 Centerline is valid? [True, True] Translation: X:113.85, Y:14.76, Z:11.77 [[ 9.71365600e-01 -2.12234037e-01 -1.06796934e-01 1.13847724e+02] [ 2.11576781e-01 9.77203276e-01 -1.75790645e-02 1.47568307e+01] [ 1.08093189e-01 -5.52005281e-03 9.94125441e-01 1.17739116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.56509989299998 meters 0.05283068434316165 Centerline is valid? [True, True] Translation: X:113.90, Y:14.79, Z:11.78 [[ 9.72058064e-01 -2.09816116e-01 -1.05263088e-01 1.13902721e+02] [ 2.09163326e-01 9.77727179e-01 -1.73282162e-02 1.47949696e+01] [ 1.06554321e-01 -5.17314521e-03 9.94293425e-01 1.17815788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62509989299997 meters 0.05596139751567897 Centerline is valid? [True, True] Translation: X:113.96, Y:14.79, Z:11.79 [[ 9.72004569e-01 -2.09809847e-01 -1.05768357e-01 1.13964703e+02] [ 2.09150751e-01 9.77728394e-01 -1.74112477e-02 1.47907143e+01] [ 1.07065777e-01 -5.19771899e-03 9.94238353e-01 1.17869611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68509989299997 meters 0.061036719285822716 Centerline is valid? [True, True] Translation: X:114.03, Y:14.78, Z:11.79 [[ 9.71700756e-01 -2.11598425e-01 -1.04994033e-01 1.14026848e+02] [ 2.10959927e-01 9.77341994e-01 -1.72781859e-02 1.47843723e+01] [ 1.06271115e-01 -5.36030737e-03 9.94322743e-01 1.17935708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74509989299997 meters 0.05363888515601418 Centerline is valid? [True, True] Translation: X:114.08, Y:14.82, Z:11.80 [[ 9.71413084e-01 -2.13835278e-01 -1.03107202e-01 1.14082378e+02] [ 2.13232053e-01 9.76854231e-01 -1.69676813e-02 1.48151876e+01] [ 1.04348995e-01 -5.50313279e-03 9.94525516e-01 1.18016588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.80509989299998 meters 0.061069076159011415 Centerline is valid? [True, True] Translation: X:114.15, Y:14.80, Z:11.81 [[ 9.71091714e-01 -2.15327804e-01 -1.03028244e-01 1.14145439e+02] [ 2.14733876e-01 9.76525427e-01 -1.69544644e-02 1.47995692e+01] [ 1.04260467e-01 -5.65931421e-03 9.94533925e-01 1.18080051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.86509989299998 meters 0.055635987146159235 Centerline is valid? [True, True] Translation: X:114.20, Y:14.82, Z:11.81 [[ 9.70920156e-01 -2.16343472e-01 -1.02516111e-01 1.14203530e+02] [ 2.15761088e-01 9.76300445e-01 -1.68699223e-02 1.48235756e+01] [ 1.03736222e-01 -5.73964006e-03 9.94588283e-01 1.18146804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.92509989299998 meters 0.05384452123147199 Centerline is valid? [True, True] Translation: X:114.26, Y:14.84, Z:11.82 [[ 9.70570106e-01 -2.17539025e-01 -1.03297831e-01 1.14262360e+02] [ 2.16954702e-01 9.76033701e-01 -1.69962078e-02 1.48387652e+01] [ 1.04519503e-01 -5.91493896e-03 9.94505247e-01 1.18204795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98509989299997 meters 0.05585356246003352 Centerline is valid? [True, True] Translation: X:114.32, Y:14.84, Z:11.83 [[ 9.70361849e-01 -2.18552006e-01 -1.03115971e-01 1.14323333e+02] [ 2.17975506e-01 9.75806769e-01 -1.69654828e-02 1.48385479e+01] [ 1.04329103e-01 -6.01409865e-03 9.94524645e-01 1.18258457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04509989299997 meters 0.05680588966868073 Centerline is valid? [True, True] Translation: X:114.38, Y:14.84, Z:11.83 [[ 9.69891504e-01 -2.20134860e-01 -1.04168682e-01 1.14382959e+02] [ 2.19555765e-01 9.75449427e-01 -1.71371220e-02 1.48392286e+01] [ 1.05383759e-01 -6.24968571e-03 9.94411989e-01 1.18306714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10509989299997 meters 0.07207087895042537 Centerline is valid? [True, True] Translation: X:114.45, Y:14.81, Z:11.83 [[ 9.69534773e-01 -2.20899294e-01 -1.05857572e-01 1.14446893e+02] [ 2.20305679e-01 9.75275390e-01 -1.74161276e-02 1.48145851e+01] [ 1.07087495e-01 -6.43548279e-03 9.94228773e-01 1.18335678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.16509989299998 meters 0.05775637748459421 Centerline is valid? [True, True] Translation: X:114.50, Y:14.85, Z:11.84 [[ 9.69248717e-01 -2.22480440e-01 -1.05163582e-01 1.14501289e+02] [ 2.21903576e-01 9.74915056e-01 -1.73042277e-02 1.48531972e+01] [ 1.06375411e-01 -6.56407430e-03 9.94304372e-01 1.18413180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.22509989299998 meters 0.057244411398255035 Centerline is valid? [True, True] Translation: X:114.56, Y:14.86, Z:11.85 [[ 9.68882840e-01 -2.23838088e-01 -1.05652986e-01 1.14560174e+02] [ 2.23263860e-01 9.74603006e-01 -1.73847499e-02 1.48621507e+01] [ 1.06861087e-01 -6.74470758e-03 9.94251083e-01 1.18475219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.28509989299998 meters 0.053608218905891555 Centerline is valid? [True, True] Translation: X:114.62, Y:14.88, Z:11.85 [[ 9.68899682e-01 -2.23533078e-01 -1.06143156e-01 1.14619455e+02] [ 2.22951622e-01 9.74673027e-01 -1.74660930e-02 1.48793344e+01] [ 1.07359120e-01 -6.74189671e-03 9.94197448e-01 1.18538746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34509989299997 meters 0.057220978602748454 Centerline is valid? [True, True] Translation: X:114.68, Y:14.88, Z:11.86 [[ 9.70007037e-01 -2.18924845e-01 -1.05632670e-01 1.14679849e+02] [ 2.18322041e-01 9.75722004e-01 -1.73797756e-02 1.48781000e+01] [ 1.06872985e-01 -6.20343544e-03 9.94253329e-01 1.18604806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40509989299997 meters 0.06171811473902059 Centerline is valid? [True, True] Translation: X:114.74, Y:14.88, Z:11.87 [[ 9.70850928e-01 -2.15030823e-01 -1.05878326e-01 1.14741187e+02] [ 2.14402155e-01 9.76590111e-01 -1.74204082e-02 1.48756333e+01] [ 1.07145651e-01 -5.78792191e-03 9.94226488e-01 1.18665822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46509989299997 meters 0.06461845839074887 Centerline is valid? [True, True] Translation: X:114.80, Y:14.88, Z:11.87 [[ 9.72199381e-01 -2.08521100e-01 -1.06523772e-01 1.14801474e+02] [ 2.07845809e-01 9.78004566e-01 -1.75268011e-02 1.48786459e+01] [ 1.07835444e-01 -5.10097457e-03 9.94155670e-01 1.18721764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52509989299998 meters 0.05658562792503775 Centerline is valid? [True, True] Translation: X:114.86, Y:14.91, Z:11.88 [[ 9.73301909e-01 -2.03486131e-01 -1.06192223e-01 1.14856652e+02] [ 2.02785108e-01 9.79067359e-01 -1.74729907e-02 1.49097534e+01] [ 1.07524850e-01 -4.52770617e-03 9.94192087e-01 1.18802935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.58509989299998 meters 0.05512408821031609 Centerline is valid? [True, True] Translation: X:114.91, Y:14.93, Z:11.89 [[ 9.74313077e-01 -1.98722393e-01 -1.05940734e-01 1.14914536e+02] [ 1.97996605e-01 9.80047690e-01 -1.74318382e-02 1.49272115e+01] [ 1.07291068e-01 -3.99183773e-03 9.94219640e-01 1.18874661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.64509989299998 meters 0.05570977862434347 Centerline is valid? [True, True] Translation: X:114.97, Y:14.94, Z:11.89 [[ 9.75187520e-01 -1.93488680e-01 -1.07570586e-01 1.14974314e+02] [ 1.92708567e-01 9.81096377e-01 -1.77005062e-02 1.49353365e+01] [ 1.08961960e-01 -3.46846073e-03 9.94039869e-01 1.18926281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70509989299998 meters 0.05541967561972065 Centerline is valid? [True, True] Translation: X:115.03, Y:14.95, Z:11.90 [[ 9.75748338e-01 -1.89713099e-01 -1.09197624e-01 1.15033252e+02] [ 1.88885587e-01 9.81834697e-01 -1.79683855e-02 1.49473836e+01] [ 1.10622854e-01 -3.09323500e-03 9.93857644e-01 1.18968324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76509989299997 meters 0.055165894990089705 Centerline is valid? [True, True] Translation: X:115.09, Y:14.96, Z:11.90 [[ 9.76126475e-01 -1.88310735e-01 -1.08241270e-01 1.15091136e+02] [ 1.87488949e-01 9.82105196e-01 -1.78122871e-02 1.49569428e+01] [ 1.09658558e-01 -2.90699686e-03 9.93965065e-01 1.19032083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82509989299997 meters 0.05491962967096083 Centerline is valid? [True, True] Translation: X:115.15, Y:14.97, Z:11.91 [[ 9.75998442e-01 -1.89675125e-01 -1.07006484e-01 1.15148410e+02] [ 1.88879820e-01 9.81842256e-01 -1.76124148e-02 1.49653643e+01] [ 1.08404125e-01 -3.02167606e-03 9.94102316e-01 1.19106403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88509989299997 meters 0.056399442893583986 Centerline is valid? [True, True] Translation: X:115.21, Y:14.97, Z:11.92 [[ 9.73767136e-01 -2.01683260e-01 -1.05363315e-01 1.15208593e+02] [ 2.00981647e-01 9.79441422e-01 -1.73458528e-02 1.49671380e+01] [ 1.06695563e-01 -4.28527116e-03 9.94282502e-01 1.19193872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.94509989299998 meters 0.055240135319513196 Centerline is valid? [True, True] Translation: X:115.27, Y:14.98, Z:11.93 [[ 9.72669585e-01 -2.06580359e-01 -1.06011481e-01 1.15267867e+02] [ 2.05898932e-01 9.78417609e-01 -1.74531321e-02 1.49785099e+01] [ 1.07328974e-01 -4.85151984e-03 9.94211725e-01 1.19253177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.00509989299998 meters 0.05804526922816788 Centerline is valid? [True, True] Translation: X:115.33, Y:14.97, Z:11.93 [[ 9.71315460e-01 -2.12709989e-01 -1.06304927e-01 1.15328465e+02] [ 2.12061212e-01 9.77099653e-01 -1.75017476e-02 1.49749163e+01] [ 1.07593303e-01 -5.54343353e-03 9.94179537e-01 1.19302624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.06509989299998 meters 0.05842536461274882 Centerline is valid? [True, True] Translation: X:115.39, Y:14.98, Z:11.94 [[ 9.70597054e-01 -2.15712846e-01 -1.06814452e-01 1.15387926e+02] [ 2.15075824e-01 9.76438995e-01 -1.75863226e-02 1.49841974e+01] [ 1.08091392e-01 -5.90397330e-03 9.94123430e-01 1.19362358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12509989299997 meters 0.06342947977482699 Centerline is valid? [True, True] Translation: X:115.45, Y:14.98, Z:11.94 [[ 9.70174967e-01 -2.17267058e-01 -1.07496782e-01 1.15449979e+02] [ 2.16631356e-01 9.76093036e-01 -1.76986021e-02 1.49794610e+01] [ 1.08772183e-01 -6.11643297e-03 9.94047887e-01 1.19409934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18509989299997 meters 0.05750618906870099 Centerline is valid? [True, True] Translation: X:115.51, Y:15.00, Z:11.95 [[ 9.70272451e-01 -2.16328323e-01 -1.08505424e-01 1.15505727e+02] [ 2.15674794e-01 9.76301815e-01 -1.78647554e-02 1.50048190e+01] [ 1.09798695e-01 -6.06820485e-03 9.93935322e-01 1.19474653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24509989299997 meters 0.05983665634615549 Centerline is valid? [True, True] Translation: X:115.57, Y:15.01, Z:11.95 [[ 9.70679436e-01 -2.14454208e-01 -1.08585564e-01 1.15566530e+02] [ 2.13787884e-01 9.76716471e-01 -1.78794913e-02 1.50085860e+01] [ 1.09891641e-01 -5.85902344e-03 9.93926305e-01 1.19530570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.30509989299998 meters 0.056929678491493156 Centerline is valid? [True, True] Translation: X:115.62, Y:15.03, Z:11.96 [[ 9.71309458e-01 -2.11830310e-01 -1.08101140e-01 1.15623035e+02] [ 2.11153726e-01 9.77290778e-01 -1.77999697e-02 1.50293710e+01] [ 1.09416820e-01 -5.53667965e-03 9.93980535e-01 1.19613522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.36509989299998 meters 0.05932469355610073 Centerline is valid? [True, True] Translation: X:115.68, Y:15.03, Z:11.97 [[ 9.71646398e-01 -2.10612334e-01 -1.07451023e-01 1.15683199e+02] [ 2.09936308e-01 9.77554939e-01 -1.76942880e-02 1.50321626e+01] [ 1.08765914e-01 -5.36528000e-03 9.94052911e-01 1.19679543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.42509989299998 meters 0.06507940773945596 Centerline is valid? [True, True] Translation: X:115.74, Y:15.03, Z:11.97 [[ 9.71559319e-01 -2.10566251e-01 -1.08325175e-01 1.15742323e+02] [ 2.09878729e-01 9.77564660e-01 -1.78397134e-02 1.50288699e+01] [ 1.09651305e-01 -5.40281032e-03 9.93955432e-01 1.19716137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48509989299997 meters 0.05700757050004623 Centerline is valid? [True, True] Translation: X:115.80, Y:15.06, Z:11.98 [[ 9.71307579e-01 -2.11331758e-01 -1.09089296e-01 1.15796777e+02] [ 2.10637898e-01 9.77398824e-01 -1.79781571e-02 1.50601908e+01] [ 1.10423105e-01 -5.51601978e-03 9.93869363e-01 1.19802663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54509989299997 meters 0.059185898255102676 Centerline is valid? [True, True] Translation: X:115.86, Y:15.06, Z:11.99 [[ 9.71127131e-01 -2.12227667e-01 -1.08956472e-01 1.15855994e+02] [ 2.11540921e-01 9.77204151e-01 -1.79578955e-02 1.50647235e+01] [ 1.10283879e-01 -5.60935292e-03 9.93884300e-01 1.19861153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60509989299997 meters 0.055221515452740476 Centerline is valid? [True, True] Translation: X:115.91, Y:15.09, Z:11.99 [[ 9.70953577e-01 -2.13045707e-01 -1.08906741e-01 1.15911574e+02] [ 2.12364518e-01 9.77025619e-01 -1.79513736e-02 1.50884055e+01] [ 1.10229139e-01 -5.69797713e-03 9.93889868e-01 1.19938421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.66509989299998 meters 0.05546476114229048 Centerline is valid? [True, True] Translation: X:115.97, Y:15.10, Z:12.00 [[ 9.70741921e-01 -2.13852052e-01 -1.09212744e-01 1.15969766e+02] [ 2.13171837e-01 9.76848820e-01 -1.80041766e-02 1.50994371e+01] [ 1.10534571e-01 -5.80367246e-03 9.93855335e-01 1.19995552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.72509989299998 meters 0.05600965547238142 Centerline is valid? [True, True] Translation: X:116.03, Y:15.11, Z:12.00 [[ 9.70587737e-01 -2.14807675e-01 -1.08706515e-01 1.16027155e+02] [ 2.14139602e-01 9.76638645e-01 -1.79216989e-02 1.51069085e+01] [ 1.10016702e-01 -5.88378877e-03 9.93912323e-01 1.20048574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.78509989299998 meters 0.05606202235782657 Centerline is valid? [True, True] Translation: X:116.08, Y:15.12, Z:12.01 [[ 9.70708452e-01 -2.14767137e-01 -1.07704124e-01 1.16084569e+02] [ 2.14110681e-01 9.76647939e-01 -1.77600819e-02 1.51172794e+01] [ 1.09003292e-01 -5.82074164e-03 9.94024346e-01 1.20122945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84509989299997 meters 0.05781960980398916 Centerline is valid? [True, True] Translation: X:116.14, Y:15.12, Z:12.02 [[ 9.70703866e-01 -2.14803625e-01 -1.07672682e-01 1.16142102e+02] [ 2.14146602e-01 9.76639963e-01 -1.77656010e-02 1.51223024e+01] [ 1.08973559e-01 -5.81260132e-03 9.94027654e-01 1.20183805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90509989299997 meters 0.056441548985813786 Centerline is valid? [True, True] Translation: X:116.20, Y:15.14, Z:12.02 [[ 9.70436671e-01 -2.15436613e-01 -1.08810541e-01 1.16199127e+02] [ 2.14768172e-01 9.76499796e-01 -1.79660794e-02 1.51372952e+01] [ 1.10124022e-01 -5.93409873e-03 9.93900139e-01 1.20247406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96509989299997 meters 0.05615308822621008 Centerline is valid? [True, True] Translation: X:116.26, Y:15.15, Z:12.03 [[ 9.70443432e-01 -2.15079272e-01 -1.09455255e-01 1.16256828e+02] [ 2.14400292e-01 9.76578614e-01 -1.80755346e-02 1.51473821e+01] [ 1.10779334e-01 -5.92595473e-03 9.93827360e-01 1.20307452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02509989299998 meters 0.054827018166392454 Centerline is valid? [True, True] Translation: X:116.31, Y:15.17, Z:12.04 [[ 9.70917349e-01 -2.12359714e-01 -1.10557010e-01 1.16314326e+02] [ 2.11648244e-01 9.77175159e-01 -1.82682720e-02 1.51664369e+01] [ 1.11913009e-01 -5.66221478e-03 9.93701876e-01 1.20379369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.08509989299998 meters 0.05480096127119165 Centerline is valid? [True, True] Translation: X:116.37, Y:15.18, Z:12.04 [[ 9.72169035e-01 -2.06768431e-01 -1.10155265e-01 1.16373658e+02] [ 2.06026360e-01 9.78377137e-01 -1.82021040e-02 1.51776684e+01] [ 1.11537013e-01 -4.99936639e-03 9.93747705e-01 1.20446918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.14509989299998 meters 0.05628307573613505 Centerline is valid? [True, True] Translation: X:116.43, Y:15.18, Z:12.05 [[ 9.72936212e-01 -2.03159311e-01 -1.10097326e-01 1.16432440e+02] [ 2.02395062e-01 9.79134969e-01 -1.81920881e-02 1.51829204e+01] [ 1.11496033e-01 -4.58341376e-03 9.93754309e-01 1.20499200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20509989299997 meters 0.055470443022280276 Centerline is valid? [True, True] Translation: X:116.49, Y:15.20, Z:12.06 [[ 9.73661218e-01 -1.99715406e-01 -1.09989038e-01 1.16491308e+02] [ 1.98930551e-01 9.79845019e-01 -1.81762080e-02 1.51979313e+01] [ 1.11402280e-01 -4.18271118e-03 9.93766591e-01 1.20575477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26509989299997 meters 0.05562371441657123 Centerline is valid? [True, True] Translation: X:116.55, Y:15.20, Z:12.06 [[ 9.74023904e-01 -1.97437441e-01 -1.10886841e-01 1.16550549e+02] [ 1.96625063e-01 9.80307510e-01 -1.83240355e-02 1.52043157e+01] [ 1.12321054e-01 -3.95508352e-03 9.93664097e-01 1.20622861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32509989299997 meters 0.05528399777684644 Centerline is valid? [True, True] Translation: X:116.61, Y:15.22, Z:12.07 [[ 9.74593035e-01 -1.94413161e-01 -1.11229218e-01 1.16609358e+02] [ 1.93575957e-01 9.80913068e-01 -1.83821313e-02 1.52177426e+01] [ 1.12679922e-01 -3.61620522e-03 9.93624757e-01 1.20701074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38509989299997 meters 0.05492540647180853 Centerline is valid? [True, True] Translation: X:116.67, Y:15.23, Z:12.08 [[ 9.75041100e-01 -1.92400815e-01 -1.10800628e-01 1.16668053e+02] [ 1.91557177e-01 9.81310636e-01 -1.83107790e-02 1.52292166e+01] [ 1.12252844e-01 -3.37089341e-03 9.93673959e-01 1.20778241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.44509989299998 meters 0.05621473327658737 Centerline is valid? [True, True] Translation: X:116.73, Y:15.23, Z:12.08 [[ 9.75246499e-01 -1.90903729e-01 -1.11579716e-01 1.16727452e+02] [ 1.90038210e-01 9.81603484e-01 -1.84412168e-02 1.52325024e+01] [ 1.13047535e-01 -3.21967735e-03 9.93584364e-01 1.20815032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.50509989299998 meters 0.05524154005221788 Centerline is valid? [True, True] Translation: X:116.79, Y:15.25, Z:12.09 [[ 9.74949381e-01 -1.92051562e-01 -1.12204731e-01 1.16785185e+02] [ 1.91182677e-01 9.81379080e-01 -1.85549411e-02 1.52452764e+01] [ 1.13678881e-01 -3.36147249e-03 9.93511858e-01 1.20890437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.56509989299998 meters 0.05537045365339511 Centerline is valid? [True, True] Translation: X:116.84, Y:15.25, Z:12.10 [[ 9.74585526e-01 -1.94284537e-01 -1.11519377e-01 1.16843442e+02] [ 1.93440604e-01 9.80938619e-01 -1.84433715e-02 1.52520666e+01] [ 1.12976926e-01 -3.59773268e-03 9.93591098e-01 1.20963003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62509989299997 meters 0.0555939883826718 Centerline is valid? [True, True] Translation: X:116.90, Y:15.26, Z:12.10 [[ 9.73972265e-01 -1.97386649e-01 -1.11429522e-01 1.16903455e+02] [ 1.96564004e-01 9.80317751e-01 -1.84309108e-02 1.52585559e+01] [ 1.12874354e-01 -3.95183704e-03 9.93601411e-01 1.21038742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68509989299997 meters 0.056882594746514324 Centerline is valid? [True, True] Translation: X:116.96, Y:15.26, Z:12.11 [[ 9.72249244e-01 -2.04463931e-01 -1.13692165e-01 1.16963517e+02] [ 2.03655512e-01 9.78861983e-01 -1.88056165e-02 1.52601391e+01] [ 1.15134008e-01 -4.87028957e-03 9.93338029e-01 1.21101336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74509989299997 meters 0.05595181449757041 Centerline is valid? [True, True] Translation: X:117.02, Y:15.27, Z:12.12 [[ 9.71334505e-01 -2.08659388e-01 -1.13888279e-01 1.17022809e+02] [ 2.07876743e-01 9.77973598e-01 -1.88388058e-02 1.52667448e+01] [ 1.15310624e-01 -5.37594243e-03 9.93314935e-01 1.21170640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.80509989299998 meters 0.05657223526182199 Centerline is valid? [True, True] Translation: X:117.08, Y:15.27, Z:12.13 [[ 9.71469596e-01 -2.09528578e-01 -1.11106251e-01 1.17080278e+02] [ 2.08789244e-01 9.77787929e-01 -1.83798112e-02 1.52729238e+01] [ 1.12489447e-01 -5.34236244e-03 9.93638558e-01 1.21263321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.86509989299998 meters 0.05597570801867462 Centerline is valid? [True, True] Translation: X:117.14, Y:15.28, Z:12.13 [[ 9.71391819e-01 -2.08573792e-01 -1.13555742e-01 1.17137499e+02] [ 2.07794152e-01 9.77992045e-01 -1.87922695e-02 1.52841162e+01] [ 1.14976188e-01 -5.34156235e-03 9.93353887e-01 1.21321735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.92509989299998 meters 0.05763891027407652 Centerline is valid? [True, True] Translation: X:117.20, Y:15.29, Z:12.14 [[ 9.71544980e-01 -2.07577785e-01 -1.14069345e-01 1.17196357e+02] [ 2.06783029e-01 9.78204495e-01 -1.88877055e-02 1.52885324e+01] [ 1.15503814e-01 -5.23734928e-03 9.93293229e-01 1.21366098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98509989299997 meters 0.05535279450106459 Centerline is valid? [True, True] Translation: X:117.25, Y:15.31, Z:12.14 [[ 9.71596233e-01 -2.07128083e-01 -1.14449629e-01 1.17252448e+02] [ 2.06324404e-01 9.78300029e-01 -1.89550253e-02 1.53074468e+01] [ 1.15892194e-01 -5.19712032e-03 9.93248201e-01 1.21449921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04509989299997 meters 0.055966105155198044 Centerline is valid? [True, True] Translation: X:117.31, Y:15.31, Z:12.15 [[ 9.72237210e-01 -2.04204783e-01 -1.14259416e-01 1.17311325e+02] [ 2.03382422e-01 9.78916279e-01 -1.89343540e-02 1.53144284e+01] [ 1.15716888e-01 -4.82967321e-03 9.93270495e-01 1.21500266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10509989299997 meters 0.05565371917060386 Centerline is valid? [True, True] Translation: X:117.37, Y:15.33, Z:12.16 [[ 9.73589543e-01 -1.98010668e-01 -1.13644963e-01 1.17369101e+02] [ 1.97154966e-01 9.80191417e-01 -1.88336041e-02 1.53254777e+01] [ 1.15123072e-01 -4.06946873e-03 9.93342900e-01 1.21557947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.16509989299998 meters 0.05766291282761469 Centerline is valid? [True, True] Translation: X:117.43, Y:15.33, Z:12.16 [[ 9.74040439e-01 -1.96003733e-01 -1.13259703e-01 1.17429683e+02] [ 1.95140195e-01 9.80595717e-01 -1.87708437e-02 1.53285764e+01] [ 1.14741135e-01 -3.81795976e-03 9.93388089e-01 1.21600093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.22509989299998 meters 0.0573669763724776 Centerline is valid? [True, True] Translation: X:117.49, Y:15.34, Z:12.17 [[ 9.74304438e-01 -1.95027151e-01 -1.12673302e-01 1.17486978e+02] [ 1.94165919e-01 9.80790931e-01 -1.86747446e-02 1.53392202e+01] [ 1.14151035e-01 -3.68242855e-03 9.93456582e-01 1.21669656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.28509989299998 meters 0.05672821409211204 Centerline is valid? [True, True] Translation: X:117.54, Y:15.35, Z:12.17 [[ 9.74564857e-01 -1.93534225e-01 -1.12994881e-01 1.17543911e+02] [ 1.92657667e-01 9.81087230e-01 -1.87315094e-02 1.53537461e+01] [ 1.14483023e-01 -3.51425937e-03 9.93418989e-01 1.21737774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34509989299997 meters 0.05663948124794422 Centerline is valid? [True, True] Translation: X:117.60, Y:15.37, Z:12.18 [[ 9.75489596e-01 -1.89487777e-01 -1.11867919e-01 1.17602947e+02] [ 1.88601779e-01 9.81878480e-01 -1.85477441e-02 1.53651960e+01] [ 1.13355273e-01 -3.00535715e-03 9.93549974e-01 1.21798614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40509989299997 meters 0.055235402775682826 Centerline is valid? [True, True] Translation: X:117.66, Y:15.39, Z:12.19 [[ 9.77080494e-01 -1.79875345e-01 -1.13835705e-01 1.17660770e+02] [ 1.78892814e-01 9.83687532e-01 -1.88732949e-02 1.53863195e+01] [ 1.15373604e-01 -1.92366125e-03 9.93320306e-01 1.21853032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46509989299997 meters 0.055469101351482655 Centerline is valid? [True, True] Translation: X:117.72, Y:15.40, Z:12.19 [[ 9.79800127e-01 -1.65569119e-01 -1.12154255e-01 1.17718794e+02] [ 1.64521898e-01 9.86198161e-01 -1.85938968e-02 1.54046075e+01] [ 1.13684895e-01 -2.33528439e-04 9.93516829e-01 1.21931748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52509989299998 meters 0.0547399030111122 Centerline is valid? [True, True] Translation: X:117.78, Y:15.41, Z:12.20 [[ 9.80100385e-01 -1.64077575e-01 -1.11721906e-01 1.17775623e+02] [ 1.63028685e-01 9.86447437e-01 -1.85230196e-02 1.54145694e+01] [ 1.13247000e-01 -5.94566912e-05 9.93566864e-01 1.21991650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.58509989299998 meters 0.05524401412725821 Centerline is valid? [True, True] Translation: X:117.83, Y:15.42, Z:12.21 [[ 9.80301998e-01 -1.63372982e-01 -1.10983155e-01 1.17833530e+02] [ 1.62332901e-01 9.86564376e-01 -1.84054647e-02 1.54243148e+01] [ 1.12498983e-01 2.66962696e-05 9.93651840e-01 1.22060594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.64509989299998 meters 0.05599690294562728 Centerline is valid? [True, True] Translation: X:117.89, Y:15.43, Z:12.21 [[ 9.80520714e-01 -1.62736465e-01 -1.09981687e-01 1.17890091e+02] [ 1.61710353e-01 9.86669566e-01 -1.82463712e-02 1.54335165e+01] [ 1.11484934e-01 1.05767458e-04 9.93766119e-01 1.22113276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70509989299997 meters 0.05575438277406371 Centerline is valid? [True, True] Translation: X:117.95, Y:15.44, Z:12.22 [[ 9.80553621e-01 -1.62836869e-01 -1.09538804e-01 1.17946702e+02] [ 1.61818841e-01 9.86653001e-01 -1.81801797e-02 1.54423980e+01] [ 1.11037193e-01 1.01198714e-04 9.93816246e-01 1.22183364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76509989299997 meters 0.05527369917358583 Centerline is valid? [True, True] Translation: X:118.00, Y:15.45, Z:12.23 [[ 9.80046321e-01 -1.66315804e-01 -1.08849718e-01 1.18004577e+02] [ 1.65330427e-01 9.86072501e-01 -1.80796442e-02 1.54479414e+01] [ 1.10340644e-01 -2.77281563e-04 9.93893790e-01 1.22251874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82509989299997 meters 0.05566311751949802 Centerline is valid? [True, True] Translation: X:118.06, Y:15.45, Z:12.23 [[ 9.78767209e-01 -1.74060737e-01 -1.08247917e-01 1.18064576e+02] [ 1.73132058e-01 9.84734269e-01 -1.79919544e-02 1.54489578e+01] [ 1.09727126e-01 -1.13124957e-03 9.93961105e-01 1.22321602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88509989299997 meters 0.0550764000153951 Centerline is valid? [True, True] Translation: X:118.12, Y:15.46, Z:12.24 [[ 9.78182881e-01 -1.77466817e-01 -1.07998986e-01 1.18123245e+02] [ 1.76562901e-01 9.84125630e-01 -1.79523557e-02 1.54550769e+01] [ 1.09470517e-01 -1.50792722e-03 9.93988899e-01 1.22381890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94509989299998 meters 0.05588347900781809 Centerline is valid? [True, True] Translation: X:118.18, Y:15.45, Z:12.24 [[ 9.76247298e-01 -1.87561197e-01 -1.08452801e-01 1.18183144e+02] [ 1.86711330e-01 9.82249352e-01 -1.80302622e-02 1.54527446e+01] [ 1.09909471e-01 -2.64737192e-03 9.93938076e-01 1.22431045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.00509989299998 meters 0.05814292047456126 Centerline is valid? [True, True] Translation: X:118.25, Y:15.44, Z:12.25 [[ 9.72660588e-01 -2.05631999e-01 -1.07920628e-01 1.18245975e+02] [ 2.04900787e-01 9.78618287e-01 -1.79420293e-02 1.54437590e+01] [ 1.09302556e-01 -4.66151686e-03 9.93997596e-01 1.22481538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.06509989299998 meters 0.06261344571390136 Centerline is valid? [True, True] Translation: X:118.31, Y:15.44, Z:12.26 [[ 9.69647157e-01 -2.19816937e-01 -1.07074296e-01 1.18308149e+02] [ 2.19182850e-01 9.75521389e-01 -1.78016258e-02 1.54350481e+01] [ 1.08366365e-01 -6.20755351e-03 9.94091644e-01 1.22556841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12509989299997 meters 0.061114367691183315 Centerline is valid? [True, True] Translation: X:118.37, Y:15.45, Z:12.26 [[ 9.69166998e-01 -2.21900724e-01 -1.07123289e-01 1.18367157e+02] [ 2.21278666e-01 9.75047975e-01 -1.78100569e-02 1.54456617e+01] [ 1.08402411e-01 -6.44317911e-03 9.94086215e-01 1.22623775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18509989299997 meters 0.05862760676762618 Centerline is valid? [True, True] Translation: X:118.42, Y:15.46, Z:12.27 [[ 9.68652334e-01 -2.24242329e-01 -1.06901982e-01 1.18424873e+02] [ 2.23636993e-01 9.74510445e-01 -1.77732597e-02 1.54635238e+01] [ 1.08162615e-01 -6.69112828e-03 9.94110697e-01 1.22697845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24509989299997 meters 0.05999321395282665 Centerline is valid? [True, True] Translation: X:118.48, Y:15.47, Z:12.28 [[ 9.68156916e-01 -2.26390022e-01 -1.06863206e-01 1.18484790e+02] [ 2.25798196e-01 9.74012086e-01 -1.77659994e-02 1.54702996e+01] [ 1.08108099e-01 -6.92924393e-03 9.94114996e-01 1.22755341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.30509989299998 meters 0.05628085416666659 Centerline is valid? [True, True] Translation: X:118.54, Y:15.49, Z:12.28 [[ 9.67277270e-01 -2.29264981e-01 -1.08684184e-01 1.18542192e+02] [ 2.28670828e-01 9.73336104e-01 -1.80687704e-02 1.54917246e+01] [ 1.09928776e-01 -7.37539140e-03 9.93912103e-01 1.22814945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.36509989299998 meters 0.0569564424751506 Centerline is valid? [True, True] Translation: X:118.60, Y:15.50, Z:12.29 [[ 9.67784043e-01 -2.27516347e-01 -1.07844137e-01 1.18600643e+02] [ 2.26920457e-01 9.73748233e-01 -1.79299860e-02 1.54983986e+01] [ 1.09092403e-01 -7.11968659e-03 9.94006116e-01 1.22886440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.42509989299998 meters 0.06009592522727634 Centerline is valid? [True, True] Translation: X:118.66, Y:15.50, Z:12.30 [[ 9.68893556e-01 -2.23085194e-01 -1.07136708e-01 1.18660197e+02] [ 2.22470053e-01 9.74776774e-01 -1.78133642e-02 1.55022794e+01] [ 1.08408272e-01 -6.57545535e-03 9.94084710e-01 1.22959598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48509989299997 meters 0.05772148422310993 Centerline is valid? [True, True] Translation: X:118.72, Y:15.52, Z:12.30 [[ 9.71031570e-01 -2.13936167e-01 -1.06437810e-01 1.18717572e+02] [ 2.13274222e-01 9.76832072e-01 -1.76977208e-02 1.55243632e+01] [ 1.07758049e-01 -5.51539560e-03 9.94161850e-01 1.23028043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54509989299997 meters 0.057346996389293046 Centerline is valid? [True, True] Translation: X:118.78, Y:15.54, Z:12.31 [[ 9.73967622e-01 -2.00403272e-01 -1.05950933e-01 1.18775714e+02] [ 1.99667330e-01 9.79705345e-01 -1.76179825e-02 1.55416687e+01] [ 1.07331397e-01 -3.99559541e-03 9.94215272e-01 1.23104863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60509989299997 meters 0.05719473667596972 Centerline is valid? [True, True] Translation: X:118.83, Y:15.56, Z:12.32 [[ 9.75259601e-01 -1.93758083e-01 -1.06426104e-01 1.18834520e+02] [ 1.92975988e-01 9.81043863e-01 -1.76976630e-02 1.55562488e+01] [ 1.07837742e-01 -3.27786687e-03 9.94163104e-01 1.23166561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.66509989299998 meters 0.05597755425611643 Centerline is valid? [True, True] Translation: X:118.89, Y:15.58, Z:12.32 [[ 9.77034636e-01 -1.84019634e-01 -1.07424831e-01 1.18891302e+02] [ 1.83164079e-01 9.82920053e-01 -1.78630938e-02 1.55789728e+01] [ 1.08877180e-01 -2.22350881e-03 9.94052723e-01 1.23242809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.72509989299998 meters 0.05567689858257475 Centerline is valid? [True, True] Translation: X:118.95, Y:15.59, Z:12.33 [[ 9.78783876e-01 -1.73367312e-01 -1.09205769e-01 1.18949098e+02] [ 1.72416859e-01 9.84856671e-01 -1.81594166e-02 1.55945502e+01] [ 1.10700279e-01 -1.05477153e-03 9.93853277e-01 1.23290058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.78509989299998 meters 0.05567382802385518 Centerline is valid? [True, True] Translation: X:119.01, Y:15.61, Z:12.33 [[ 9.80603753e-01 -1.63080636e-01 -1.08724360e-01 1.19005195e+02] [ 1.62075303e-01 9.86612738e-01 -1.80804242e-02 1.56119658e+01] [ 1.10217406e-01 1.08198177e-04 9.93907497e-01 1.23349043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84509989299997 meters 0.056685277876326594 Centerline is valid? [True, True] Translation: X:119.06, Y:15.63, Z:12.34 [[ 9.81606758e-01 -1.56996535e-01 -1.08629007e-01 1.19061355e+02] [ 1.55954505e-01 9.87598827e-01 -1.80761852e-02 1.56255741e+01] [ 1.10119778e-01 8.02522546e-04 9.93918000e-01 1.23398524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90509989299997 meters 0.05623210446557732 Centerline is valid? [True, True] Translation: X:119.12, Y:15.63, Z:12.35 [[ 9.81727065e-01 -1.56088618e-01 -1.08849954e-01 1.19119920e+02] [ 1.55035375e-01 9.87742628e-01 -1.81254831e-02 1.56324397e+01] [ 1.10344922e-01 9.18683864e-04 9.93892929e-01 1.23454486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96509989299997 meters 0.05603371164337371 Centerline is valid? [True, True] Translation: X:119.18, Y:15.63, Z:12.36 [[ 9.81361349e-01 -1.59505514e-01 -1.07181589e-01 1.19179354e+02] [ 1.58503417e-01 9.87196891e-01 -1.78596034e-02 1.56326124e+01] [ 1.08658037e-01 5.38076485e-04 9.94079042e-01 1.23551001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02509989299998 meters 0.05598090309304959 Centerline is valid? [True, True] Translation: X:119.24, Y:15.62, Z:12.36 [[ 9.79641109e-01 -1.71030607e-01 -1.05127682e-01 1.19239598e+02] [ 1.70131592e-01 9.85265457e-01 -1.75277131e-02 1.56240212e+01] [ 1.06576449e-01 -7.14671639e-04 9.94304254e-01 1.23607204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.08509989299998 meters 0.05585291852460706 Centerline is valid? [True, True] Translation: X:119.30, Y:15.62, Z:12.37 [[ 9.77354839e-01 -1.82986650e-01 -1.06270430e-01 1.19302039e+02] [ 1.82137327e-01 9.83113301e-01 -1.77265863e-02 1.56158310e+01] [ 1.07719602e-01 -2.03064712e-03 9.94179241e-01 1.23669049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.14509989299998 meters 0.05690682961714312 Centerline is valid? [True, True] Translation: X:119.36, Y:15.62, Z:12.37 [[ 9.76744014e-01 -1.85721496e-01 -1.07138492e-01 1.19361169e+02] [ 1.84874547e-01 9.82599613e-01 -1.78718465e-02 1.56195376e+01] [ 1.08593427e-01 -2.35096106e-03 9.94083468e-01 1.23721875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20509989299997 meters 0.05687661979253256 Centerline is valid? [True, True] Translation: X:119.42, Y:15.63, Z:12.38 [[ 9.76508374e-01 -1.86745146e-01 -1.07506492e-01 1.19419332e+02] [ 1.85898225e-01 9.82405287e-01 -1.79360782e-02 1.56252745e+01] [ 1.08964421e-01 -2.47053545e-03 9.94042580e-01 1.23777807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26509989299997 meters 0.05647442271851848 Centerline is valid? [True, True] Translation: X:119.48, Y:15.63, Z:12.38 [[ 9.76382826e-01 -1.87283268e-01 -1.07710517e-01 1.19477605e+02] [ 1.86435588e-01 9.82302695e-01 -1.79773811e-02 1.56328838e+01] [ 1.09171194e-01 -2.52826733e-03 9.94019747e-01 1.23840915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32509989299997 meters 0.057120866202318724 Centerline is valid? [True, True] Translation: X:119.53, Y:15.64, Z:12.39 [[ 9.76326841e-01 -1.87375006e-01 -1.08057884e-01 1.19534702e+02] [ 1.86521043e-01 9.82285184e-01 -1.80476563e-02 1.56355035e+01] [ 1.09525338e-01 -2.53465796e-03 9.93980772e-01 1.23893204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38509989299997 meters 0.05737423253103903 Centerline is valid? [True, True] Translation: X:119.59, Y:15.64, Z:12.39 [[ 9.76379798e-01 -1.86479986e-01 -1.09122428e-01 1.19592523e+02] [ 1.85602401e-01 9.82455708e-01 -1.82354079e-02 1.56435490e+01] [ 1.10608491e-01 -2.44870070e-03 9.93861039e-01 1.23946430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.44509989299998 meters 0.05698631282483168 Centerline is valid? [True, True] Translation: X:119.65, Y:15.65, Z:12.40 [[ 9.76581381e-01 -1.85173411e-01 -1.09542746e-01 1.19650874e+02] [ 1.84279487e-01 9.82703174e-01 -1.83178082e-02 1.56512441e+01] [ 1.11039975e-01 -2.29765053e-03 9.93813285e-01 1.23997797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.50509989299998 meters 0.057278348372390535 Centerline is valid? [True, True] Translation: X:119.71, Y:15.66, Z:12.41 [[ 9.76887172e-01 -1.84476020e-01 -1.07981713e-01 1.19708189e+02] [ 1.83601909e-01 9.82834609e-01 -1.80685003e-02 1.56616235e+01] [ 1.09461370e-01 -2.17476246e-03 9.93988671e-01 1.24078821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.56509989299998 meters 0.05684348347526262 Centerline is valid? [True, True] Translation: X:119.77, Y:15.67, Z:12.41 [[ 9.77042110e-01 -1.83820083e-01 -1.07698151e-01 1.19765958e+02] [ 1.82945337e-01 9.82957696e-01 -1.80325014e-02 1.56701658e+01] [ 1.09177463e-01 -2.08436141e-03 9.94020089e-01 1.24133775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62509989299997 meters 0.0571897910087045 Centerline is valid? [True, True] Translation: X:119.82, Y:15.68, Z:12.42 [[ 9.76834220e-01 -1.84686597e-01 -1.08100732e-01 1.19823359e+02] [ 1.83809207e-01 9.82795055e-01 -1.81122819e-02 1.56764051e+01] [ 1.09585961e-01 -2.17721305e-03 9.93974938e-01 1.24191619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68509989299997 meters 0.05761613880002567 Centerline is valid? [True, True] Translation: X:119.88, Y:15.68, Z:12.43 [[ 9.76627645e-01 -1.86154332e-01 -1.07447698e-01 1.19880111e+02] [ 1.85295888e-01 9.82517770e-01 -1.80073912e-02 1.56827905e+01] [ 1.08921426e-01 -2.32310051e-03 9.94047648e-01 1.24257799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74509989299997 meters 0.057086870835153784 Centerline is valid? [True, True] Translation: X:119.94, Y:15.69, Z:12.43 [[ 9.76383562e-01 -1.87344558e-01 -1.07597199e-01 1.19937946e+02] [ 1.86490309e-01 9.82291197e-01 -1.80379986e-02 1.56904277e+01] [ 1.09071102e-01 -2.45382957e-03 9.94030922e-01 1.24317564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.80509989299998 meters 0.05710692727492314 Centerline is valid? [True, True] Translation: X:120.00, Y:15.70, Z:12.44 [[ 9.76271783e-01 -1.88284148e-01 -1.06969554e-01 1.19995828e+02] [ 1.87444184e-01 9.82111332e-01 -1.79446143e-02 1.56979592e+01] [ 1.08434697e-01 -2.53200016e-03 9.94100350e-01 1.24386155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.86509989299998 meters 0.05784818962911572 Centerline is valid? [True, True] Translation: X:120.05, Y:15.70, Z:12.44 [[ 9.76222971e-01 -1.88579641e-01 -1.06894481e-01 1.20054118e+02] [ 1.87741325e-01 9.82054586e-01 -1.79439392e-02 1.57043364e+01] [ 1.08360077e-01 -2.55122588e-03 9.94108437e-01 1.24447898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.92509989299998 meters 0.057584063903673294 Centerline is valid? [True, True] Translation: X:120.11, Y:15.71, Z:12.45 [[ 9.76037952e-01 -1.89361428e-01 -1.07201524e-01 1.20112028e+02] [ 1.88521665e-01 9.81903922e-01 -1.80074802e-02 1.57141633e+01] [ 1.08671519e-01 -2.63382568e-03 9.94074225e-01 1.24508323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98509989299997 meters 0.05775160394064728 Centerline is valid? [True, True] Translation: X:120.17, Y:15.72, Z:12.46 [[ 9.75882057e-01 -1.90770470e-01 -1.06117103e-01 1.20170116e+02] [ 1.89954663e-01 9.81630818e-01 -1.78371297e-02 1.57213280e+01] [ 1.07570617e-01 -2.75050387e-03 9.94193642e-01 1.24579758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04509989299997 meters 0.05744299197743148 Centerline is valid? [True, True] Translation: X:120.23, Y:15.73, Z:12.46 [[ 9.75576989e-01 -1.92184526e-01 -1.06370325e-01 1.20227744e+02] [ 1.91371888e-01 9.81354517e-01 -1.78916624e-02 1.57307113e+01] [ 1.07825500e-01 -2.90159580e-03 9.94165601e-01 1.24643107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10509989299997 meters 0.05924754152734809 Centerline is valid? [True, True] Translation: X:120.29, Y:15.73, Z:12.47 [[ 9.75132041e-01 -1.93654188e-01 -1.07775500e-01 1.20288217e+02] [ 1.92827563e-01 9.81064975e-01 -1.81396130e-02 1.57310653e+01] [ 1.09247580e-01 -3.09356915e-03 9.94009757e-01 1.24677348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.16509989299998 meters 0.05827390146865334 Centerline is valid? [True, True] Translation: X:120.35, Y:15.75, Z:12.47 [[ 9.74526298e-01 -1.96121289e-01 -1.08788482e-01 1.20346572e+02] [ 1.95294243e-01 9.80573746e-01 -1.83108669e-02 1.57467187e+01] [ 1.10266280e-01 -3.40134289e-03 9.93896261e-01 1.24740782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.22509989299998 meters 0.05878610929164702 Centerline is valid? [True, True] Translation: X:120.40, Y:15.75, Z:12.48 [[ 9.74339113e-01 -1.97401521e-01 -1.08147733e-01 1.20403467e+02] [ 1.96592118e-01 9.80316382e-01 -1.82024626e-02 1.57527164e+01] [ 1.09612188e-01 -3.52562060e-03 9.93968178e-01 1.24805490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.28509989299998 meters 0.058521772671406604 Centerline is valid? [True, True] Translation: X:120.46, Y:15.76, Z:12.49 [[ 9.74050139e-01 -1.99418959e-01 -1.07043946e-01 1.20461230e+02] [ 1.98637597e-01 9.79907303e-01 -1.80217148e-02 1.57638820e+01] [ 1.08487016e-01 -3.70889844e-03 9.94090947e-01 1.24884554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34509989299997 meters 0.05952292577613558 Centerline is valid? [True, True] Translation: X:120.52, Y:15.77, Z:12.49 [[ 9.73583405e-01 -2.01075172e-01 -1.08185620e-01 1.20520415e+02] [ 2.00286937e-01 9.79567918e-01 -1.82163705e-02 1.57718076e+01] [ 1.09638022e-01 -3.93301047e-03 9.93963800e-01 1.24931270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40509989299997 meters 0.06010874107932499 Centerline is valid? [True, True] Translation: X:120.58, Y:15.78, Z:12.50 [[ 9.73009037e-01 -2.03723258e-01 -1.08398560e-01 1.20580225e+02] [ 2.02948174e-01 9.79019339e-01 -1.82530277e-02 1.57799350e+01] [ 1.09842852e-01 -4.23892883e-03 9.93939927e-01 1.24989286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46509989299997 meters 0.05945506763307627 Centerline is valid? [True, True] Translation: X:120.64, Y:15.79, Z:12.51 [[ 9.72001960e-01 -2.08694005e-01 -1.07976862e-01 1.20638614e+02] [ 2.07955433e-01 9.77969299e-01 -1.81820554e-02 1.57910995e+01] [ 1.09392542e-01 -4.78138159e-03 9.93987128e-01 1.25052109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52509989299998 meters 0.06079759838287864 Centerline is valid? [True, True] Translation: X:120.70, Y:15.80, Z:12.51 [[ 9.70545868e-01 -2.14667555e-01 -1.09355197e-01 1.20698593e+02] [ 2.13947555e-01 9.76671557e-01 -1.84150307e-02 1.57989115e+01] [ 1.10757221e-01 -5.52364522e-03 9.93832142e-01 1.25096650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.58509989299998 meters 0.059163299302616934 Centerline is valid? [True, True] Translation: X:120.76, Y:15.82, Z:12.52 [[ 9.69751617e-01 -2.18556883e-01 -1.08695400e-01 1.20756832e+02] [ 2.17869828e-01 9.75806184e-01 -1.83038095e-02 1.58152547e+01] [ 1.10066067e-01 -5.93129926e-03 9.93906575e-01 1.25170361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.64509989299998 meters 0.06154164764049794 Centerline is valid? [True, True] Translation: X:120.82, Y:15.82, Z:12.52 [[ 9.69733402e-01 -2.18816170e-01 -1.08335646e-01 1.20815109e+02] [ 2.18135206e-01 9.75748019e-01 -1.82437596e-02 1.58204813e+01] [ 1.09700322e-01 -5.94023539e-03 9.93946957e-01 1.25229506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70509989299997 meters 0.06048656033444585 Centerline is valid? [True, True] Translation: X:120.87, Y:15.84, Z:12.53 [[ 9.70743784e-01 -2.15156766e-01 -1.06602404e-01 1.20873198e+02] [ 2.14474288e-01 9.76564448e-01 -1.79626974e-02 1.58377698e+01] [ 1.07968913e-01 -5.42629784e-03 9.94139462e-01 1.25312396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76509989299997 meters 0.059552864509334835 Centerline is valid? [True, True] Translation: X:120.93, Y:15.86, Z:12.54 [[ 9.73288648e-01 -2.03835657e-01 -1.05642002e-01 1.20929653e+02] [ 2.03098830e-01 9.78996410e-01 -1.78015403e-02 1.58621079e+01] [ 1.07051729e-01 -4.12972990e-03 9.94244876e-01 1.25386727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82509989299997 meters 0.05769003779894997 Centerline is valid? [True, True] Translation: X:120.99, Y:15.88, Z:12.55 [[ 9.74825618e-01 -1.96452974e-01 -1.05457304e-01 1.20986874e+02] [ 1.95675572e-01 9.80507655e-01 -1.77710210e-02 1.58825317e+01] [ 1.06892864e-01 -3.31177175e-03 9.94265029e-01 1.25451088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88509989299997 meters 0.05683286968649735 Centerline is valid? [True, True] Translation: X:121.04, Y:15.90, Z:12.55 [[ 9.75341978e-01 -1.93618042e-01 -1.05924881e-01 1.21043987e+02] [ 1.92817013e-01 9.81072357e-01 -1.78502139e-02 1.59021873e+01] [ 1.07376097e-01 -3.01405630e-03 9.94213905e-01 1.25516799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.94509989299998 meters 0.05780723396935594 Centerline is valid? [True, True] Translation: X:121.10, Y:15.91, Z:12.55 [[ 9.74951137e-01 -1.94023963e-01 -1.08742736e-01 1.21101472e+02] [ 1.93182052e-01 9.80991765e-01 -1.83262659e-02 1.59113897e+01] [ 1.10231464e-01 -3.13993112e-03 9.93900984e-01 1.25532072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.00509989299998 meters 0.05801991731159987 Centerline is valid? [True, True] Translation: X:121.16, Y:15.92, Z:12.56 [[ 9.74549510e-01 -1.95584798e-01 -1.09543775e-01 1.21159694e+02] [ 1.94739541e-01 9.80681123e-01 -1.84674616e-02 1.59231826e+01] [ 1.11039467e-01 -3.33504866e-03 9.93810402e-01 1.25577120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.06509989299997 meters 0.057943749333936014 Centerline is valid? [True, True] Translation: X:121.22, Y:15.94, Z:12.57 [[ 9.75012986e-01 -1.94740317e-01 -1.06891936e-01 1.21216625e+02] [ 1.93930314e-01 9.80849753e-01 -1.80221025e-02 1.59369361e+01] [ 1.08354559e-01 -3.15780283e-03 9.94107297e-01 1.25671375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12509989299997 meters 0.056844068006916854 Centerline is valid? [True, True] Translation: X:121.27, Y:15.95, Z:12.58 [[ 9.75743857e-01 -1.92022596e-01 -1.05124915e-01 1.21274078e+02] [ 1.91223131e-01 9.81386496e-01 -1.77273564e-02 1.59549416e+01] [ 1.06572225e-01 -2.80495635e-03 9.94301007e-01 1.25756003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18509989299997 meters 0.05625996038579511 Centerline is valid? [True, True] Translation: X:121.33, Y:15.97, Z:12.58 [[ 9.76360492e-01 -1.89401791e-01 -1.04149659e-01 1.21331639e+02] [ 1.88602164e-01 9.81896502e-01 -1.75637145e-02 1.59706820e+01] [ 1.05590785e-01 -2.49433414e-03 9.94406539e-01 1.25828628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24509989299997 meters 0.05591462033608483 Centerline is valid? [True, True] Translation: X:121.39, Y:15.99, Z:12.59 [[ 9.76881784e-01 -1.86576123e-01 -1.04361535e-01 1.21389580e+02] [ 1.85757063e-01 9.82438061e-01 -1.76002937e-02 1.59854376e+01] [ 1.05812538e-01 -2.19248587e-03 9.94383678e-01 1.25889763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.30509989299998 meters 0.05638413202366063 Centerline is valid? [True, True] Translation: X:121.45, Y:15.99, Z:12.59 [[ 9.77444871e-01 -1.83693842e-01 -1.04202194e-01 1.21447677e+02] [ 1.82860855e-01 9.82981715e-01 -1.75743182e-02 1.59923768e+01] [ 1.05657145e-01 -1.87657504e-03 9.94400848e-01 1.25947577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.36509989299998 meters 0.056536735191987826 Centerline is valid? [True, True] Translation: X:121.51, Y:16.00, Z:12.60 [[ 9.78126995e-01 -1.78816382e-01 -1.06265157e-01 1.21506071e+02] [ 1.77921007e-01 9.83881504e-01 -1.79248866e-02 1.60044141e+01] [ 1.07757586e-01 -1.37398831e-03 9.94176249e-01 1.25986621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.42509989299998 meters 0.05607750381534308 Centerline is valid? [True, True] Translation: X:121.56, Y:16.02, Z:12.60 [[ 9.79301410e-01 -1.71937242e-01 -1.06800437e-01 1.21563132e+02] [ 1.70991866e-01 9.85107711e-01 -1.80161030e-02 1.60186571e+01] [ 1.08307573e-01 -6.18810919e-04 9.94117240e-01 1.26033926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48509989299997 meters 0.05609166092062553 Centerline is valid? [True, True] Translation: X:121.62, Y:16.03, Z:12.61 [[ 9.80313418e-01 -1.66577756e-01 -1.06006855e-01 1.21619862e+02] [ 1.65614838e-01 9.86028321e-01 -1.78850471e-02 1.60314669e+01] [ 1.07505013e-01 -2.33565409e-05 9.94204542e-01 1.26112540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54509989299997 meters 0.05610237477048845 Centerline is valid? [True, True] Translation: X:121.68, Y:16.04, Z:12.62 [[ 9.80395558e-01 -1.65512210e-01 -1.06912388e-01 1.21677598e+02] [ 1.64525134e-01 9.86207735e-01 -1.80494549e-02 1.60414838e+01] [ 1.08425229e-01 1.05830483e-04 9.94104601e-01 1.26153063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60509989299997 meters 0.05582611502794412 Centerline is valid? [True, True] Translation: X:121.74, Y:16.04, Z:12.62 [[ 9.79073863e-01 -1.73208864e-01 -1.06831925e-01 1.21736534e+02] [ 1.72267728e-01 9.84884841e-01 -1.80466178e-02 1.60421148e+01] [ 1.08342978e-01 -7.34721193e-04 9.94113303e-01 1.26195192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.66509989299998 meters 0.05594272268396457 Centerline is valid? [True, True] Translation: X:121.79, Y:16.05, Z:12.63 [[ 9.78446680e-01 -1.76696045e-01 -1.06867217e-01 1.21794472e+02] [ 1.75773738e-01 9.84264841e-01 -1.80642320e-02 1.60483185e+01] [ 1.08377523e-01 -1.10956243e-03 9.94109190e-01 1.26254575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.72509989299998 meters 0.05719040191897794 Centerline is valid? [True, True] Translation: X:121.86, Y:16.04, Z:12.63 [[ 9.75514834e-01 -1.92064019e-01 -1.07155127e-01 1.21857022e+02] [ 1.91228396e-01 9.81378354e-01 -1.81170425e-02 1.60413333e+01] [ 1.08639354e-01 -2.81765929e-03 9.94077236e-01 1.26313034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.78509989299998 meters 0.05763379665209966 Centerline is valid? [True, True] Translation: X:121.92, Y:16.05, Z:12.64 [[ 9.74363430e-01 -1.98542556e-01 -1.05814742e-01 1.21916052e+02] [ 1.97765760e-01 9.80086037e-01 -1.78903520e-02 1.60496967e+01] [ 1.07259547e-01 -3.49482798e-03 9.94224912e-01 1.26391382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84509989299997 meters 0.060317371983534214 Centerline is valid? [True, True] Translation: X:121.98, Y:16.05, Z:12.65 [[ 9.73245947e-01 -2.04339233e-01 -1.05060960e-01 1.21977160e+02] [ 2.03606991e-01 9.78891539e-01 -1.77636580e-02 1.60460621e+01] [ 1.06473097e-01 -4.10273793e-03 9.94307119e-01 1.26459158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90509989299997 meters 0.0580616675375716 Centerline is valid? [True, True] Translation: X:122.04, Y:16.06, Z:12.65 [[ 9.71728190e-01 -2.11543180e-01 -1.04851362e-01 1.22035434e+02] [ 2.10855458e-01 9.77356466e-01 -1.77289268e-02 1.60607888e+01] [ 1.06227590e-01 -4.88078392e-03 9.94329863e-01 1.26525578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96509989299997 meters 0.05828757584074224 Centerline is valid? [True, True] Translation: X:122.09, Y:16.07, Z:12.66 [[ 9.70740686e-01 -2.16239920e-01 -1.04416561e-01 1.22094829e+02] [ 2.15584820e-01 9.76325483e-01 -1.76560853e-02 1.60681149e+01] [ 1.05762500e-01 -5.37114529e-03 9.94376913e-01 1.26593954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.02509989299998 meters 0.05844153626581986 Centerline is valid? [True, True] Translation: X:122.15, Y:16.08, Z:12.66 [[ 9.70572553e-01 -2.16730203e-01 -1.04961608e-01 1.22152216e+02] [ 2.16071060e-01 9.76216311e-01 -1.77485726e-02 1.60779482e+01] [ 1.06311885e-01 -5.45288850e-03 9.94317881e-01 1.26644444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.08509989299998 meters 0.057518523058970254 Centerline is valid? [True, True] Translation: X:122.21, Y:16.10, Z:12.67 [[ 9.70964893e-01 -2.13375225e-01 -1.08158170e-01 1.22209671e+02] [ 2.12654136e-01 9.76956281e-01 -1.82932634e-02 1.60970796e+01] [ 1.09569133e-01 -5.23816568e-03 9.93965375e-01 1.26680509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.14509989299998 meters 0.06042125504461943 Centerline is valid? [True, True] Translation: X:122.27, Y:16.10, Z:12.67 [[ 9.71760019e-01 -2.09897093e-01 -1.07822431e-01 1.22268538e+02] [ 2.09158990e-01 9.77711558e-01 -1.82380348e-02 1.60984498e+01] [ 1.09247347e-01 -4.82903777e-03 9.94002866e-01 1.26733632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20509989299997 meters 0.06311512186193857 Centerline is valid? [True, True] Translation: X:122.33, Y:16.11, Z:12.68 [[ 9.72241077e-01 -2.07504836e-01 -1.08115820e-01 1.22327951e+02] [ 2.06747748e-01 9.78223314e-01 -1.82897888e-02 1.61051310e+01] [ 1.09556635e-01 -4.57061831e-03 9.93970046e-01 1.26787537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26509989299997 meters 0.05744047482648051 Centerline is valid? [True, True] Translation: X:122.38, Y:16.14, Z:12.69 [[ 9.73260641e-01 -2.02350038e-01 -1.08711481e-01 1.22382747e+02] [ 2.01552500e-01 9.79305042e-01 -1.83908544e-02 1.61368054e+01] [ 1.10183092e-01 -4.01197605e-03 9.93903210e-01 1.26871125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32509989299997 meters 0.05601568442084176 Centerline is valid? [True, True] Translation: X:122.44, Y:16.16, Z:12.70 [[ 9.74759716e-01 -1.95368121e-01 -1.08049962e-01 1.22439355e+02] [ 1.94537474e-01 9.80724755e-01 -1.82791288e-02 1.61587813e+01] [ 1.09538431e-01 -3.20200824e-03 9.93977404e-01 1.26953192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38509989299997 meters 0.056122510416717536 Centerline is valid? [True, True] Translation: X:122.50, Y:16.18, Z:12.70 [[ 9.76269771e-01 -1.87964165e-01 -1.07549093e-01 1.22496829e+02] [ 1.87096370e-01 9.82173053e-01 -1.81945508e-02 1.61775988e+01] [ 1.09051745e-01 -2.35925501e-03 9.94033275e-01 1.27013768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.44509989299998 meters 0.05547130939822558 Centerline is valid? [True, True] Translation: X:122.55, Y:16.20, Z:12.71 [[ 9.77843821e-01 -1.80206392e-01 -1.06522851e-01 1.22553073e+02] [ 1.79309153e-01 9.83627709e-01 -1.80210447e-02 1.61972847e+01] [ 1.08026335e-01 -1.47875493e-03 9.94146933e-01 1.27082849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.50509989299998 meters 0.055514769996868614 Centerline is valid? [True, True] Translation: X:122.61, Y:16.21, Z:12.71 [[ 9.78380677e-01 -1.77591145e-01 -1.05984129e-01 1.22610916e+02] [ 1.76687527e-01 9.84103647e-01 -1.79312751e-02 1.62078825e+01] [ 1.07483803e-01 -1.18246060e-03 9.94206132e-01 1.27143080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.56509989299997 meters 0.05531579318963593 Centerline is valid? [True, True] Translation: X:122.67, Y:16.22, Z:12.72 [[ 9.78769794e-01 -1.74994552e-01 -1.06707995e-01 1.22667397e+02] [ 1.74061862e-01 9.84568998e-01 -1.80653608e-02 1.62190333e+01] [ 1.08222723e-01 -8.91962777e-04 9.94126273e-01 1.27195881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62509989299997 meters 0.0551131887902785 Centerline is valid? [True, True] Translation: X:122.72, Y:16.23, Z:12.72 [[ 9.78801653e-01 -1.74090894e-01 -1.07887374e-01 1.22723737e+02] [ 1.73131379e-01 9.84729266e-01 -1.82701405e-02 1.62316244e+01] [ 1.09420519e-01 -7.95846074e-04 9.93995230e-01 1.27249534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68509989299997 meters 0.05568819896989084 Centerline is valid? [True, True] Translation: X:122.78, Y:16.24, Z:12.73 [[ 9.78525442e-01 -1.76709497e-01 -1.06121215e-01 1.22782156e+02] [ 1.75795096e-01 9.84262483e-01 -1.79846670e-02 1.62391304e+01] [ 1.07629192e-01 -1.05713494e-03 9.94190545e-01 1.27315839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74509989299997 meters 0.05505788339436972 Centerline is valid? [True, True] Translation: X:122.84, Y:16.25, Z:12.74 [[ 9.77316686e-01 -1.84122062e-01 -1.04647793e-01 1.22840836e+02] [ 1.83273999e-01 9.82901673e-01 -1.77466285e-02 1.62478397e+01] [ 1.06126037e-01 -1.83514337e-03 9.94350993e-01 1.27405222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.80509989299998 meters 0.05670216320958272 Centerline is valid? [True, True] Translation: X:122.90, Y:16.25, Z:12.75 [[ 9.75930941e-01 -1.90972320e-01 -1.05301335e-01 1.22901860e+02] [ 1.90153205e-01 9.81591992e-01 -1.78583074e-02 1.62452045e+01] [ 1.06773390e-01 -2.59491156e-03 9.94279996e-01 1.27450154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.86509989299998 meters 0.05676623718113371 Centerline is valid? [True, True] Translation: X:122.96, Y:16.25, Z:12.75 [[ 9.74975020e-01 -1.95242830e-01 -1.06320026e-01 1.22961889e+02] [ 1.94433039e-01 9.80750057e-01 -1.80310400e-02 1.62523697e+01] [ 1.07793803e-01 -3.09231214e-03 9.94168463e-01 1.27492068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.92509989299998 meters 0.057634306670753505 Centerline is valid? [True, True] Translation: X:123.02, Y:16.26, Z:12.76 [[ 9.74753795e-01 -1.96549935e-01 -1.05939428e-01 1.23019783e+02] [ 1.95753609e-01 9.80488512e-01 -1.79666809e-02 1.62618952e+01] [ 1.07403742e-01 -3.22493508e-03 9.94210257e-01 1.27558532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98509989299997 meters 0.05841528441348962 Centerline is valid? [True, True] Translation: X:123.08, Y:16.27, Z:12.76 [[ 9.74364658e-01 -1.97648107e-01 -1.07465061e-01 1.23079426e+02] [ 1.96835019e-01 9.80267167e-01 -1.82279141e-02 1.62680131e+01] [ 1.08947183e-01 -3.39225194e-03 9.94041752e-01 1.27601409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.04509989299999 meters 0.05734626400340393 Centerline is valid? [True, True] Translation: X:123.14, Y:16.28, Z:12.76 [[ 9.74070917e-01 -1.98193271e-01 -1.09111302e-01 1.23135942e+02] [ 1.97358235e-01 9.80156693e-01 -1.85090234e-02 1.62824238e+01] [ 1.10614536e-01 -3.50491256e-03 9.93857203e-01 1.27644085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.105099893 meters 0.057111772711880615 Centerline is valid? [True, True] Translation: X:123.19, Y:16.30, Z:12.77 [[ 9.74204622e-01 -1.97789614e-01 -1.08649083e-01 1.23192518e+02] [ 1.96958643e-01 9.80238459e-01 -1.84351876e-02 1.62982568e+01] [ 1.10148298e-01 -3.43973103e-03 9.93909211e-01 1.27718538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.16509989299996 meters 0.05711003375689086 Centerline is valid? [True, True] Translation: X:123.25, Y:16.31, Z:12.78 [[ 9.74475988e-01 -1.97327584e-01 -1.07043789e-01 1.23250283e+02] [ 1.96517088e-01 9.80331964e-01 -1.81734463e-02 1.63085099e+01] [ 1.08524570e-01 -3.32634652e-03 9.94088202e-01 1.27793783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.22509989299996 meters 0.05740077427742435 Centerline is valid? [True, True] Translation: X:123.31, Y:16.32, Z:12.79 [[ 9.74038991e-01 -1.99022719e-01 -1.07879568e-01 1.23308067e+02] [ 1.98208594e-01 9.79988512e-01 -1.83267254e-02 1.63211627e+01] [ 1.09368172e-01 -3.53171239e-03 9.93995035e-01 1.27857305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.28509989299997 meters 0.057522263820568485 Centerline is valid? [True, True] Translation: X:123.37, Y:16.33, Z:12.79 [[ 9.73254549e-01 -2.02698318e-01 -1.08115561e-01 1.23366762e+02] [ 2.01902922e-01 9.79233262e-01 -1.83692135e-02 1.63319374e+01] [ 1.09593762e-01 -3.95092719e-03 9.93968610e-01 1.27925182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.34509989299997 meters 0.06546692543819221 Centerline is valid? [True, True] Translation: X:123.43, Y:16.32, Z:12.80 [[ 9.72483940e-01 -2.07031648e-01 -1.06831098e-01 1.23429584e+02] [ 2.06281069e-01 9.78324416e-01 -1.81509815e-02 1.63186115e+01] [ 1.08273299e-01 -4.38569512e-03 9.94111492e-01 1.27986944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.40509989299997 meters 0.05787751057889436 Centerline is valid? [True, True] Translation: X:123.48, Y:16.35, Z:12.81 [[ 9.71974970e-01 -2.10131375e-01 -1.05401434e-01 1.23484828e+02] [ 2.09418821e-01 9.77662024e-01 -1.79088002e-02 1.63514855e+01] [ 1.06810180e-01 -4.66613839e-03 9.94268481e-01 1.28088424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.46509989299997 meters 0.05650797432267826 Centerline is valid? [True, True] Translation: X:123.54, Y:16.37, Z:12.82 [[ 9.73028434e-01 -2.07009060e-01 -1.01798412e-01 1.23543103e+02] [ 2.06327384e-01 9.78330124e-01 -1.72968063e-02 1.63668185e+01] [ 1.03173049e-01 -4.17351578e-03 9.94654666e-01 1.28180394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52509989299998 meters 0.055785289451370054 Centerline is valid? [True, True] Translation: X:123.60, Y:16.38, Z:12.82 [[ 9.74445572e-01 -2.00517676e-01 -1.01234816e-01 1.23601434e+02] [ 1.99808669e-01 9.79683951e-01 -1.72003688e-02 1.63838579e+01] [ 1.02627103e-01 -3.46677065e-03 9.94713858e-01 1.28245246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58509989299998 meters 0.055995996047642535 Centerline is valid? [True, True] Translation: X:123.66, Y:16.39, Z:12.83 [[ 9.75632090e-01 -1.94660197e-01 -1.01239482e-01 1.23658677e+02] [ 1.93919601e-01 9.80866600e-01 -1.72017784e-02 1.63948468e+01] [ 1.02650928e-01 -2.84971311e-03 9.94713359e-01 1.28307498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64509989299998 meters 0.05480021019174648 Centerline is valid? [True, True] Translation: X:123.72, Y:16.41, Z:12.84 [[ 9.78156018e-01 -1.81310469e-01 -1.01672602e-01 1.23716973e+02] [ 1.80491207e-01 9.83424836e-01 -1.72775976e-02 1.64144895e+01] [ 1.03119971e-01 -1.45082452e-03 9.94667868e-01 1.28356531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.70509989299998 meters 0.05573313186990535 Centerline is valid? [True, True] Translation: X:123.77, Y:16.43, Z:12.84 [[ 9.80553182e-01 -1.65769247e-01 -1.05052436e-01 1.23773961e+02] [ 1.64805100e-01 9.86164550e-01 -1.78538441e-02 1.64306926e+01] [ 1.06558607e-01 1.93466367e-04 9.94306404e-01 1.28388420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.76509989299998 meters 0.05572042877652476 Centerline is valid? [True, True] Translation: X:123.83, Y:16.43, Z:12.85 [[ 9.79836184e-01 -1.70276146e-01 -1.04532706e-01 1.23831880e+02] [ 1.69346981e-01 9.85396340e-01 -1.77666050e-02 1.64330518e+01] [ 1.06031375e-01 -2.93935703e-04 9.94362741e-01 1.28453992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.825099893 meters 0.055547980717516404 Centerline is valid? [True, True] Translation: X:123.89, Y:16.44, Z:12.85 [[ 9.79371890e-01 -1.72924038e-01 -1.04536967e-01 1.23890471e+02] [ 1.72008397e-01 9.84935001e-01 -1.77807834e-02 1.64395277e+01] [ 1.06036842e-01 -5.67236562e-04 9.94362040e-01 1.28510144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.88509989299996 meters 0.05571791553845169 Centerline is valid? [True, True] Translation: X:123.95, Y:16.45, Z:12.86 [[ 9.78794244e-01 -1.76086746e-01 -1.04667505e-01 1.23948756e+02] [ 1.75185661e-01 9.84374242e-01 -1.78139348e-02 1.64470994e+01] [ 1.06168794e-01 -9.00069299e-04 9.94347714e-01 1.28574912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.94509989299996 meters 0.055646329136214735 Centerline is valid? [True, True] Translation: X:124.01, Y:16.45, Z:12.86 [[ 9.77472711e-01 -1.83189702e-01 -1.04826676e-01 1.24009256e+02] [ 1.82325295e-01 9.83076177e-01 -1.78526332e-02 1.64458765e+01] [ 1.06323027e-01 -1.66209289e-03 9.94330253e-01 1.28625882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.00509989299997 meters 0.055646329136214735 Centerline is valid? [True, True] Translation: X:124.07, Y:16.46, Z:12.87 [[ 9.77450415e-01 -1.83308656e-01 -1.04826629e-01 1.24065587e+02] [ 1.82444900e-01 9.83053982e-01 -1.78529122e-02 1.64554704e+01] [ 1.06322828e-01 -1.67474741e-03 9.94330253e-01 1.28685647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.06509989299997 meters 0.05566722838522605 Centerline is valid? [True, True] Translation: X:124.13, Y:16.46, Z:12.88 [[ 9.75294145e-01 -1.95124927e-01 -1.03574099e-01 1.24125853e+02] [ 1.94346641e-01 9.80774070e-01 -1.76523575e-02 1.64565068e+01] [ 1.05027206e-01 -2.91303744e-03 9.94465082e-01 1.28757812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.12509989299997 meters 0.058141750250900306 Centerline is valid? [True, True] Translation: X:124.19, Y:16.45, Z:12.88 [[ 9.72617933e-01 -2.06428282e-01 -1.06778840e-01 1.24188946e+02] [ 2.05668589e-01 9.78452460e-01 -1.81993279e-02 1.64483807e+01] [ 1.08234874e-01 -4.26006050e-03 9.94116223e-01 1.28775729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.18509989299997 meters 0.05505048876799063 Centerline is valid? [True, True] Translation: X:124.25, Y:16.47, Z:12.88 [[ 9.72378927e-01 -2.07382264e-01 -1.07106575e-01 1.24245824e+02] [ 2.06623750e-01 9.78250176e-01 -1.82543024e-02 1.64682966e+01] [ 1.08562645e-01 -4.38066324e-03 9.94079958e-01 1.28833046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.24509989299997 meters 0.06150012268288874 Centerline is valid? [True, True] Translation: X:124.31, Y:16.45, Z:12.89 [[ 9.73831597e-01 -2.02150693e-01 -1.03861055e-01 1.24308379e+02] [ 2.01407749e-01 9.79347516e-01 -1.77020113e-02 1.64534644e+01] [ 1.05294540e-01 -3.67964325e-03 9.94434271e-01 1.28920162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30509989299998 meters 0.057396737307033784 Centerline is valid? [True, True] Translation: X:124.36, Y:16.48, Z:12.90 [[ 9.74045611e-01 -2.01566204e-01 -1.02986472e-01 1.24362668e+02] [ 2.00832379e-01 9.79468333e-01 -1.75539244e-02 1.64798118e+01] [ 1.04410266e-01 -3.58469519e-03 9.94527851e-01 1.28994475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.36509989299998 meters 0.05620441840272123 Centerline is valid? [True, True] Translation: X:124.42, Y:16.49, Z:12.91 [[ 9.73905548e-01 -2.02724170e-01 -1.02033795e-01 1.24420447e+02] [ 2.02009060e-01 9.79229029e-01 -1.74025440e-02 1.64925763e+01] [ 1.03442371e-01 -3.66331700e-03 9.94628703e-01 1.29072932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42509989299998 meters 0.05767325461519352 Centerline is valid? [True, True] Translation: X:124.48, Y:16.49, Z:12.91 [[ 9.72607597e-01 -2.06165105e-01 -1.07379757e-01 1.24480827e+02] [ 2.05393663e-01 9.78508030e-01 -1.83160577e-02 1.64935379e+01] [ 1.08848086e-01 -4.24078468e-03 9.94049350e-01 1.29089425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48509989299998 meters 0.056503257391542064 Centerline is valid? [True, True] Translation: X:124.54, Y:16.51, Z:12.92 [[ 9.72574334e-01 -2.06294053e-01 -1.07433371e-01 1.24536682e+02] [ 2.05522474e-01 9.78480787e-01 -1.83265602e-02 1.65103011e+01] [ 1.08902150e-01 -4.25602999e-03 9.94043363e-01 1.29155768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.54509989299999 meters 0.055222121949028875 Centerline is valid? [True, True] Translation: X:124.59, Y:16.53, Z:12.92 [[ 9.73821889e-01 -2.01503692e-01 -1.05200719e-01 1.24594259e+02] [ 2.00734737e-01 9.79481029e-01 -1.79576937e-02 1.65286241e+01] [ 1.06660650e-01 -3.62984344e-03 9.94288856e-01 1.29243506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.605099893 meters 0.056970677669650215 Centerline is valid? [True, True] Translation: X:124.65, Y:16.54, Z:12.93 [[ 9.75565340e-01 -1.93289301e-01 -1.04458194e-01 1.24652872e+02] [ 1.92484123e-01 9.81138063e-01 -1.78315478e-02 1.65361002e+01] [ 1.05934558e-01 -2.71070385e-03 9.94369409e-01 1.29296691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.66509989299996 meters 0.05566785824240869 Centerline is valid? [True, True] Translation: X:124.71, Y:16.56, Z:12.94 [[ 9.78588321e-01 -1.80031988e-01 -9.97666365e-02 1.24709204e+02] [ 1.79228722e-01 9.83660006e-01 -1.70310628e-02 1.65625006e+01] [ 1.01202586e-01 -1.21464765e-03 9.94865097e-01 1.29387203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.72509989299996 meters 0.05535972915911273 Centerline is valid? [True, True] Translation: X:124.77, Y:16.58, Z:12.95 [[ 9.80579077e-01 -1.68702344e-01 -1.00020961e-01 1.24766449e+02] [ 1.67836048e-01 9.85667042e-01 -1.70746559e-02 1.65788177e+01] [ 1.01467899e-01 -4.40724027e-05 9.94838813e-01 1.29454341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.78509989299997 meters 0.05580198968095512 Centerline is valid? [True, True] Translation: X:124.83, Y:16.58, Z:12.94 [[ 9.79273822e-01 -1.72748352e-01 -1.05739245e-01 1.24825500e+02] [ 1.71803265e-01 9.84965872e-01 -1.80518652e-02 1.65772999e+01] [ 1.07267978e-01 -4.88628528e-04 9.94230025e-01 1.29430815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.84509989299997 meters 0.05548117842800962 Centerline is valid? [True, True] Translation: X:124.88, Y:16.59, Z:12.95 [[ 9.79036445e-01 -1.74617473e-01 -1.04863612e-01 1.24883285e+02] [ 1.73698222e-01 9.84636111e-01 -1.79068778e-02 1.65852677e+01] [ 1.06379353e-01 -6.83137035e-04 9.94325383e-01 1.29502430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.90509989299997 meters 0.054976367015559455 Centerline is valid? [True, True] Translation: X:124.94, Y:16.59, Z:12.96 [[ 9.78718176e-01 -1.76762634e-01 -1.04238680e-01 1.24939966e+02] [ 1.75865227e-01 9.84253099e-01 -1.78117728e-02 1.65935840e+01] [ 1.05745700e-01 -8.99253280e-04 9.94392799e-01 1.29572169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.96509989299997 meters 0.05491285106706185 Centerline is valid? [True, True] Translation: X:125.00, Y:16.60, Z:12.96 [[ 9.78366312e-01 -1.78937404e-01 -1.03830461e-01 1.24998247e+02] [ 1.78058792e-01 9.83859816e-01 -1.77462128e-02 1.66001286e+01] [ 1.05330080e-01 -1.12562969e-03 9.94436678e-01 1.29638193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02509989299998 meters 0.05553713537621032 Centerline is valid? [True, True] Translation: X:125.06, Y:16.61, Z:12.97 [[ 9.77915795e-01 -1.81492719e-01 -1.03639232e-01 1.25056100e+02] [ 1.80630964e-01 9.83391304e-01 -1.77200132e-02 1.66069576e+01] [ 1.05133973e-01 -1.39177358e-03 9.94457093e-01 1.29702359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08509989299998 meters 0.05644033782760313 Centerline is valid? [True, True] Translation: X:125.12, Y:16.61, Z:12.98 [[ 9.76305254e-01 -1.90192949e-01 -1.03221572e-01 1.25116355e+02] [ 1.89385356e-01 9.81744019e-01 -1.76597951e-02 1.66098171e+01] [ 1.04695930e-01 -2.30730343e-03 9.94501603e-01 1.29772598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14509989299998 meters 0.06424542873838267 Centerline is valid? [True, True] Translation: X:125.18, Y:16.59, Z:12.98 [[ 9.69759086e-01 -2.21148722e-01 -1.03249976e-01 1.25181950e+02] [ 2.20514262e-01 9.75223795e-01 -1.76637991e-02 1.65850622e+01] [ 1.04598160e-01 -5.63846259e-03 9.94498584e-01 1.29833116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.20509989299998 meters 0.0671746872593268 Centerline is valid? [True, True] Translation: X:125.24, Y:16.59, Z:12.99 [[ 9.68199074e-01 -2.27382658e-01 -1.04344051e-01 1.25242034e+02] [ 2.26770566e-01 9.73784597e-01 -1.78513138e-02 1.65883697e+01] [ 1.05667709e-01 -6.37853388e-03 9.94381038e-01 1.29880039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.26509989299998 meters 0.05891848336029605 Centerline is valid? [True, True] Translation: X:125.30, Y:16.62, Z:12.99 [[ 9.67717768e-01 -2.29509036e-01 -1.04153372e-01 1.25297960e+02] [ 2.28911387e-01 9.73284165e-01 -1.78188549e-02 1.66178980e+01] [ 1.05460416e-01 -6.59827023e-03 9.94401611e-01 1.29943916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.325099893 meters 0.05586808135576358 Centerline is valid? [True, True] Translation: X:125.36, Y:16.64, Z:13.00 [[ 9.67245754e-01 -2.31479469e-01 -1.04177281e-01 1.25356077e+02] [ 2.30892891e-01 9.72815921e-01 -1.78229351e-02 1.66367400e+01] [ 1.05470961e-01 -6.81463521e-03 9.94399033e-01 1.30002834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.38509989299996 meters 0.06087388773177864 Centerline is valid? [True, True] Translation: X:125.42, Y:16.63, Z:13.01 [[ 9.67288015e-01 -2.31293116e-01 -1.04198807e-01 1.25415092e+02] [ 2.30705215e-01 9.72860377e-01 -1.78266797e-02 1.66344094e+01] [ 1.05494079e-01 -6.79567450e-03 9.94396711e-01 1.30057901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.44509989299996 meters 0.06771669682736532 Centerline is valid? [True, True] Translation: X:125.48, Y:16.63, Z:13.01 [[ 9.68236459e-01 -2.27301498e-01 -1.04173842e-01 1.25475957e+02] [ 2.26690506e-01 9.73803697e-01 -1.78262250e-02 1.66348969e+01] [ 1.05496800e-01 -6.35521987e-03 9.94399334e-01 1.30120586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.50509989299997 meters 0.05908046576896055 Centerline is valid? [True, True] Translation: X:125.53, Y:16.67, Z:13.02 [[ 9.68739045e-01 -2.25212159e-01 -1.04039158e-01 1.25531759e+02] [ 2.24590744e-01 9.74290530e-01 -1.78034083e-02 1.66662972e+01] [ 1.05373910e-01 -6.11937509e-03 9.94413844e-01 1.30187743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.56509989299997 meters 0.06321500995639044 Centerline is valid? [True, True] Translation: X:125.59, Y:16.68, Z:13.02 [[ 9.72428524e-01 -2.07922871e-01 -1.05597564e-01 1.25589717e+02] [ 2.07180988e-01 9.78135744e-01 -1.80694481e-02 1.66832211e+01] [ 1.07045803e-01 -4.30656090e-03 9.94244763e-01 1.30229349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.62509989299997 meters 0.05500444377367791 Centerline is valid? [True, True] Translation: X:125.64, Y:16.73, Z:13.03 [[ 9.76144794e-01 -1.90148130e-01 -1.04809495e-01 1.25641850e+02] [ 1.89314817e-01 9.81752635e-01 -1.79349631e-02 1.67326565e+01] [ 1.06307298e-01 -2.33486960e-03 9.94330582e-01 1.30299996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.68509989299997 meters 0.054201998383826 Centerline is valid? [True, True] Translation: X:125.70, Y:16.75, Z:13.04 [[ 9.77238382e-01 -1.84431027e-01 -1.04834823e-01 1.25699478e+02] [ 1.83564396e-01 9.82843968e-01 -1.79401214e-02 1.67527147e+01] [ 1.06344989e-01 -1.71216576e-03 9.94327819e-01 1.30360964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.74509989299997 meters 0.053930384327499664 Centerline is valid? [True, True] Translation: X:125.76, Y:16.77, Z:13.04 [[ 9.78512427e-01 -1.77432404e-01 -1.05029385e-01 1.25755414e+02] [ 1.76522278e-01 9.84132529e-01 -1.79736160e-02 1.67728343e+01] [ 1.06551936e-01 -9.52619649e-04 9.94306682e-01 1.30418054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80509989299998 meters 0.0539083896795653 Centerline is valid? [True, True] Translation: X:125.81, Y:16.79, Z:13.05 [[ 9.79170329e-01 -1.73394865e-01 -1.05639417e-01 1.25812013e+02] [ 1.72450469e-01 9.84852251e-01 -1.80798110e-02 1.67895754e+01] [ 1.07174164e-01 -5.14352622e-04 9.94240129e-01 1.30475889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86509989299998 meters 0.05483621761339105 Centerline is valid? [True, True] Translation: X:125.87, Y:16.80, Z:13.05 [[ 9.79426205e-01 -1.71545119e-01 -1.06285375e-01 1.25868395e+02] [ 1.70577549e-01 9.85176216e-01 -1.81967661e-02 1.68028519e+01] [ 1.07831390e-01 -3.07509224e-04 9.94169149e-01 1.30542734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92509989299998 meters 0.05463637039483066 Centerline is valid? [True, True] Translation: X:125.92, Y:16.82, Z:13.06 [[ 9.79863989e-01 -1.68725297e-01 -1.06762996e-01 1.25924184e+02] [ 1.67731523e-01 9.85663114e-01 -1.82855725e-02 1.68168887e+01] [ 1.08317586e-01 9.85407834e-06 9.94116342e-01 1.30593938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98509989299998 meters 0.054180415494256354 Centerline is valid? [True, True] Translation: X:125.98, Y:16.83, Z:13.07 [[ 9.80083267e-01 -1.68234685e-01 -1.05517207e-01 1.25980308e+02] [ 1.67259907e-01 9.85746968e-01 -1.80842059e-02 1.68313066e+01] [ 1.07055657e-01 7.52294104e-05 9.94253026e-01 1.30654425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.04509989299999 meters 0.054153717549052356 Centerline is valid? [True, True] Translation: X:126.04, Y:16.84, Z:13.07 [[ 9.79345200e-01 -1.72692336e-01 -1.05168137e-01 1.26038514e+02] [ 1.71749166e-01 9.84975732e-01 -1.80286416e-02 1.68396433e+01] [ 1.06701471e-01 -4.06276107e-04 9.94291019e-01 1.30708837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.10509989299996 meters 0.05392167586182939 Centerline is valid? [True, True] Translation: X:126.10, Y:16.85, Z:13.08 [[ 9.78268332e-01 -1.78155464e-01 -1.06074037e-01 1.26097728e+02] [ 1.77226771e-01 9.84001845e-01 -1.81945269e-02 1.68463854e+01] [ 1.07618503e-01 -1.00002962e-03 9.94191761e-01 1.30761417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.16509989299996 meters 0.053981842351200564 Centerline is valid? [True, True] Translation: X:126.16, Y:16.85, Z:13.08 [[ 9.76748112e-01 -1.86892310e-01 -1.05044704e-01 1.26157637e+02] [ 1.86031713e-01 9.82378489e-01 -1.80195725e-02 1.68522085e+01] [ 1.06561378e-01 -1.94106292e-03 9.94304232e-01 1.30841794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.22509989299996 meters 0.055673763651019045 Centerline is valid? [True, True] Translation: X:126.22, Y:16.85, Z:13.09 [[ 9.75461747e-01 -1.93845864e-01 -1.04394256e-01 1.26218451e+02] [ 1.93035537e-01 9.81028329e-01 -1.79080904e-02 1.68523651e+01] [ 1.05885132e-01 -2.68314417e-03 9.94374748e-01 1.30899261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.28509989299997 meters 0.054648185508796805 Centerline is valid? [True, True] Translation: X:126.28, Y:16.86, Z:13.10 [[ 9.74943135e-01 -1.96346941e-01 -1.04564632e-01 1.26276108e+02] [ 1.95548285e-01 9.80530020e-01 -1.79373408e-02 1.68645835e+01] [ 1.06050702e-01 -2.95954711e-03 9.94356319e-01 1.30965464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.34509989299997 meters 0.05509824880970171 Centerline is valid? [True, True] Translation: X:126.33, Y:16.87, Z:13.10 [[ 9.75167854e-01 -1.95248525e-01 -1.04525927e-01 1.26333771e+02] [ 1.94443758e-01 9.80749701e-01 -1.79345917e-02 1.68742385e+01] [ 1.06015474e-01 -2.83517679e-03 9.94360438e-01 1.31021249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.40509989299997 meters 0.05472279110866171 Centerline is valid? [True, True] Translation: X:126.39, Y:16.89, Z:13.11 [[ 9.76119176e-01 -1.90710815e-01 -1.04022779e-01 1.26393007e+02] [ 1.89887000e-01 9.81643520e-01 -1.78585260e-02 1.68862450e+01] [ 1.05519101e-01 -2.32052371e-03 9.94414569e-01 1.31081855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.46509989299997 meters 0.05442459400095315 Centerline is valid? [True, True] Translation: X:126.45, Y:16.91, Z:13.11 [[ 9.77274941e-01 -1.84340439e-01 -1.04653200e-01 1.26450539e+02] [ 1.83470118e-01 9.82861082e-01 -1.79669092e-02 1.69051116e+01] [ 1.06171585e-01 -1.64212480e-03 9.94346468e-01 1.31138746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52509989299998 meters 0.054149634909956605 Centerline is valid? [True, True] Translation: X:126.51, Y:16.93, Z:13.12 [[ 9.78347881e-01 -1.77011876e-01 -1.07248401e-01 1.26507647e+02] [ 1.76053870e-01 9.84208333e-01 -1.84117694e-02 1.69270172e+01] [ 1.08813872e-01 -8.68380496e-04 9.94061762e-01 1.31190673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58509989299998 meters 0.05386600179180792 Centerline is valid? [True, True] Translation: X:126.57, Y:16.94, Z:13.12 [[ 9.78029910e-01 -1.77731751e-01 -1.08944576e-01 1.26565471e+02] [ 1.76747484e-01 9.84078502e-01 -1.87037228e-02 1.69385286e+01] [ 1.10534261e-01 -9.62879475e-04 9.93871848e-01 1.31238359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64509989299998 meters 0.05377831560704109 Centerline is valid? [True, True] Translation: X:126.62, Y:16.95, Z:13.13 [[ 9.77512121e-01 -1.80426200e-01 -1.09162450e-01 1.26624113e+02] [ 1.79453346e-01 9.83587721e-01 -1.87534599e-02 1.69491824e+01] [ 1.10754461e-01 -1.25783263e-03 9.93847004e-01 1.31293618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.70509989299998 meters 0.054604900958392766 Centerline is valid? [True, True] Translation: X:126.68, Y:16.96, Z:13.13 [[ 9.77099315e-01 -1.82886808e-01 -1.08762792e-01 1.26681266e+02] [ 1.81936050e-01 9.83132787e-01 -1.86867930e-02 1.69552172e+01] [ 1.10345835e-01 -1.52902017e-03 9.93892076e-01 1.31337335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.76509989299998 meters 0.05386852788261277 Centerline is valid? [True, True] Translation: X:126.74, Y:16.96, Z:13.14 [[ 9.76182096e-01 -1.87439416e-01 -1.09247340e-01 1.26740498e+02] [ 1.86508044e-01 9.82274030e-01 -1.87744378e-02 1.69624184e+01] [ 1.10829894e-01 -2.04823770e-03 9.93837280e-01 1.31384952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.825099893 meters 0.05356106115883361 Centerline is valid? [True, True] Translation: X:126.80, Y:16.98, Z:13.15 [[ 9.75351351e-01 -1.92608229e-01 -1.07665279e-01 1.26797684e+02] [ 1.91734956e-01 9.81272302e-01 -1.85033845e-02 1.69785257e+01] [ 1.09212860e-01 -2.59589652e-03 9.94014996e-01 1.31481717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88509989299996 meters 0.054434025932832884 Centerline is valid? [True, True] Translation: X:126.86, Y:16.99, Z:13.15 [[ 9.74374560e-01 -1.97269373e-01 -1.08069472e-01 1.26856519e+02] [ 1.96417961e-01 9.80344329e-01 -1.85736666e-02 1.69851385e+01] [ 1.09609310e-01 -3.12907719e-03 9.93969823e-01 1.31530276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.94509989299996 meters 0.05487664987441535 Centerline is valid? [True, True] Translation: X:126.92, Y:17.00, Z:13.16 [[ 9.73560467e-01 -2.02189852e-01 -1.06298076e-01 1.26915199e+02] [ 2.01395351e-01 9.79339648e-01 -1.82692586e-02 1.69958307e+01] [ 1.07795779e-01 -3.62171033e-03 9.94166462e-01 1.31601542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.00509989299997 meters 0.05349612533474304 Centerline is valid? [True, True] Translation: X:126.97, Y:17.01, Z:13.17 [[ 9.73855721e-01 -2.00544637e-01 -1.06709338e-01 1.26974544e+02] [ 1.99734075e-01 9.79678482e-01 -1.83404138e-02 1.70142391e+01] [ 1.08218914e-01 -3.45257411e-03 9.94121092e-01 1.31668886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.06509989299997 meters 0.05459189870772016 Centerline is valid? [True, True] Translation: X:127.03, Y:17.02, Z:13.17 [[ 9.74281800e-01 -1.98435650e-01 -1.06762670e-01 1.27034468e+02] [ 1.97611923e-01 9.80108621e-01 -1.83471517e-02 1.70193349e+01] [ 1.08279742e-01 -3.22228058e-03 9.94115242e-01 1.31718266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.12509989299997 meters 0.05334595689409319 Centerline is valid? [True, True] Translation: X:127.09, Y:17.04, Z:13.18 [[ 9.74486644e-01 -1.97221705e-01 -1.07141872e-01 1.27093285e+02] [ 1.96384887e-01 9.80354014e-01 -1.84114808e-02 1.70376562e+01] [ 1.08668108e-01 -3.09930227e-03 9.94073255e-01 1.31791252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.18509989299997 meters 0.05616112795068965 Centerline is valid? [True, True] Translation: X:127.15, Y:17.04, Z:13.18 [[ 9.74089980e-01 -1.97963590e-01 -1.09357796e-01 1.27154376e+02] [ 1.97096569e-01 9.80203985e-01 -1.87906739e-02 1.70354001e+01] [ 1.10912817e-01 -3.25023926e-03 9.93824825e-01 1.31809795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.24509989299997 meters 0.05319371897395801 Centerline is valid? [True, True] Translation: X:127.21, Y:17.06, Z:13.19 [[ 9.74351521e-01 -1.96410471e-01 -1.09827317e-01 1.27211858e+02] [ 1.95526069e-01 9.80516906e-01 -1.88720331e-02 1.70591632e+01] [ 1.11394206e-01 -3.08610940e-03 9.93771506e-01 1.31905430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30509989299998 meters 0.054015304924429734 Centerline is valid? [True, True] Translation: X:127.27, Y:17.07, Z:13.20 [[ 9.75836909e-01 -1.90223651e-01 -1.07504835e-01 1.27270196e+02] [ 1.89339043e-01 9.81738017e-01 -1.84713821e-02 1.70668834e+01] [ 1.09055277e-01 -2.32980618e-03 9.94032956e-01 1.31981526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36509989299998 meters 0.053865144948789453 Centerline is valid? [True, True] Translation: X:127.33, Y:17.08, Z:13.21 [[ 9.76421258e-01 -1.87619788e-01 -1.06772381e-01 1.27328576e+02] [ 1.86731590e-01 9.82239645e-01 -1.83465033e-02 1.70806284e+01] [ 1.08318232e-01 -2.02386056e-03 9.94114211e-01 1.32054593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42509989299998 meters 0.054136256367696 Centerline is valid? [True, True] Translation: X:127.39, Y:17.10, Z:13.21 [[ 9.78032356e-01 -1.79476988e-01 -1.06022267e-01 1.27386811e+02] [ 1.78553244e-01 9.83761545e-01 -1.82198428e-02 1.70959296e+01] [ 1.07570672e-01 -1.11102395e-03 9.94196820e-01 1.32115067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48509989299998 meters 0.053910934584059565 Centerline is valid? [True, True] Translation: X:127.44, Y:17.11, Z:13.22 [[ 9.79733529e-01 -1.70767139e-01 -1.04693824e-01 1.27444404e+02] [ 1.69816734e-01 9.85311403e-01 -1.79921040e-02 1.71120155e+01] [ 1.06228479e-01 -1.51295757e-04 9.94341736e-01 1.32180084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.54509989299999 meters 0.05447671192728093 Centerline is valid? [True, True] Translation: X:127.50, Y:17.12, Z:13.22 [[ 9.80913861e-01 -1.63281487e-01 -1.05580080e-01 1.27501687e+02] [ 1.62271461e-01 9.86579298e-01 -1.81455557e-02 1.71241771e+01] [ 1.07125955e-01 6.66593156e-04 9.94245234e-01 1.32238872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.60509989299996 meters 0.05511193913013847 Centerline is valid? [True, True] Translation: X:127.56, Y:17.14, Z:13.23 [[ 9.81514939e-01 -1.59861152e-01 -1.05227548e-01 1.27558939e+02] [ 1.58837046e-01 9.87138954e-01 -1.80963761e-02 1.71350655e+01] [ 1.06767119e-01 1.04783058e-03 9.94283503e-01 1.32295355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.66509989299996 meters 0.05469000379190307 Centerline is valid? [True, True] Translation: X:127.62, Y:17.14, Z:13.24 [[ 9.81421307e-01 -1.60162435e-01 -1.05641906e-01 1.27616037e+02] [ 1.59131216e-01 9.87090139e-01 -1.81745514e-02 1.71410561e+01] [ 1.07188964e-01 1.02596703e-03 9.94238137e-01 1.32355236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.72509989299996 meters 0.05454422504329336 Centerline is valid? [True, True] Translation: X:127.68, Y:17.14, Z:13.24 [[ 9.80481763e-01 -1.66026703e-01 -1.05312140e-01 1.27676047e+02] [ 1.65034191e-01 9.86121177e-01 -1.81311753e-02 1.71399532e+01] [ 1.06860791e-01 3.97182847e-04 9.94273913e-01 1.32414801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.78509989299997 meters 0.053956624989966395 Centerline is valid? [True, True] Translation: X:127.74, Y:17.13, Z:13.25 [[ 9.78422122e-01 -1.78330023e-01 -1.04348233e-01 1.27735823e+02] [ 1.77424124e-01 9.83970297e-01 -1.79759372e-02 1.71339373e+01] [ 1.05881212e-01 -9.25839284e-04 9.94378354e-01 1.32490965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.84509989299997 meters 0.05355316126192384 Centerline is valid? [True, True] Translation: X:127.79, Y:17.14, Z:13.25 [[ 9.77760076e-01 -1.81855074e-01 -1.04469927e-01 1.27793957e+02] [ 1.80966429e-01 9.83324481e-01 -1.80032333e-02 1.71385487e+01] [ 1.06001816e-01 -1.30270685e-03 9.94365083e-01 1.32545588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.90509989299997 meters 0.05484311586987642 Centerline is valid? [True, True] Translation: X:127.86, Y:17.14, Z:13.26 [[ 9.76350997e-01 -1.89105182e-01 -1.04775762e-01 1.27855581e+02] [ 1.88252536e-01 9.81954608e-01 -1.80590758e-02 1.71362871e+01] [ 1.06300107e-01 -2.09230622e-03 9.94331891e-01 1.32603146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.96509989299997 meters 0.05483943096753361 Centerline is valid? [True, True] Translation: X:127.92, Y:17.14, Z:13.27 [[ 9.74457998e-01 -1.98612835e-01 -1.04807212e-01 1.27916743e+02] [ 1.97814358e-01 9.80073033e-01 -1.80645990e-02 1.71375969e+01] [ 1.06306584e-01 -3.12917846e-03 9.94328476e-01 1.32670125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02509989299998 meters 0.05451510975953271 Centerline is valid? [True, True] Translation: X:127.98, Y:17.14, Z:13.27 [[ 9.73409589e-01 -2.03352675e-01 -1.05458344e-01 1.27976738e+02] [ 2.02571881e-01 9.79098681e-01 -1.81770846e-02 1.71410337e+01] [ 1.06950484e-01 -3.66914657e-03 9.94257578e-01 1.32724804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.08509989299998 meters 0.054681609247596845 Centerline is valid? [True, True] Translation: X:128.03, Y:17.14, Z:13.28 [[ 9.73372511e-01 -2.04043534e-01 -1.04461431e-01 1.28034197e+02] [ 2.03281362e-01 9.78954790e-01 -1.80057338e-02 1.71436345e+01] [ 1.05936972e-01 -3.70877563e-03 9.94365930e-01 1.32786467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14509989299998 meters 0.05339674606672651 Centerline is valid? [True, True] Translation: X:128.09, Y:17.16, Z:13.29 [[ 9.73799792e-01 -2.01877439e-01 -1.04687462e-01 1.28092031e+02] [ 2.01098754e-01 9.79404631e-01 -1.80515830e-02 1.71592396e+01] [ 1.06175593e-01 -3.47389042e-03 9.94341328e-01 1.32851184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.20509989299998 meters 0.056276811418778536 Centerline is valid? [True, True] Translation: X:128.15, Y:17.15, Z:13.29 [[ 9.73790436e-01 -2.01335470e-01 -1.05812169e-01 1.28151414e+02] [ 2.00536628e-01 9.79516269e-01 -1.82466487e-02 1.71545569e+01] [ 1.07318438e-01 -3.45080359e-03 9.94218711e-01 1.32889921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.26509989299998 meters 0.05390159925235074 Centerline is valid? [True, True] Translation: X:128.21, Y:17.18, Z:13.30 [[ 9.72882202e-01 -2.04778637e-01 -1.07545015e-01 1.28208789e+02] [ 2.03973077e-01 9.78800610e-01 -1.85566789e-02 1.71770251e+01] [ 1.09065137e-01 -3.88282495e-03 9.94027022e-01 1.32952937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.325099893 meters 0.05401357267545371 Centerline is valid? [True, True] Translation: X:128.27, Y:17.18, Z:13.30 [[ 9.72441089e-01 -2.06673710e-01 -1.07908789e-01 1.28266375e+02] [ 2.05874357e-01 9.78401291e-01 -1.86188818e-02 1.71830371e+01] [ 1.09426132e-01 -4.10988696e-03 9.93986434e-01 1.33009274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.38509989299996 meters 0.054336760216824286 Centerline is valid? [True, True] Translation: X:128.33, Y:17.19, Z:13.31 [[ 9.71869551e-01 -2.08647299e-01 -1.09251457e-01 1.28325224e+02] [ 2.07839917e-01 9.77981131e-01 -1.88540692e-02 1.71935351e+01] [ 1.10779714e-01 -4.38311787e-03 9.93835320e-01 1.33073138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.44509989299996 meters 0.05482698694454354 Centerline is valid? [True, True] Translation: X:128.38, Y:17.20, Z:13.31 [[ 9.72015235e-01 -2.07942272e-01 -1.09299560e-01 1.28382866e+02] [ 2.07129571e-01 9.78131634e-01 -1.88638994e-02 1.72046506e+01] [ 1.10831959e-01 -4.30317334e-03 9.93829844e-01 1.33137408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.50509989299997 meters 0.054276537231069476 Centerline is valid? [True, True] Translation: X:128.44, Y:17.22, Z:13.32 [[ 9.73304674e-01 -2.02403688e-01 -1.08216260e-01 1.28441286e+02] [ 2.01571722e-01 9.79295466e-01 -1.86877153e-02 1.72192518e+01] [ 1.09758155e-01 -3.62449734e-03 9.93951714e-01 1.33208898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.56509989299997 meters 0.05462996569597837 Centerline is valid? [True, True] Translation: X:128.50, Y:17.23, Z:13.33 [[ 9.75651291e-01 -1.92695558e-01 -1.04751994e-01 1.28498890e+02] [ 1.91860305e-01 9.81255534e-01 -1.80887011e-02 1.72335719e+01] [ 1.06274086e-01 -2.44948505e-03 9.94333857e-01 1.33293507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.62509989299997 meters 0.053758352352773243 Centerline is valid? [True, True] Translation: X:128.56, Y:17.26, Z:13.34 [[ 9.77691587e-01 -1.82046584e-01 -1.04776915e-01 1.28556141e+02] [ 1.81149837e-01 9.83289060e-01 -1.80931386e-02 1.72565452e+01] [ 1.06319788e-01 -1.29081171e-03 9.94331150e-01 1.33354265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.68509989299997 meters 0.05341002645576924 Centerline is valid? [True, True] Translation: X:128.61, Y:17.27, Z:13.34 [[ 9.79163178e-01 -1.73517242e-01 -1.05504681e-01 1.28613230e+02] [ 1.72558457e-01 9.84830764e-01 -1.82193853e-02 1.72741168e+01] [ 1.07065633e-01 -3.65973757e-04 9.94251888e-01 1.33417339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.74509989299997 meters 0.053640206575153816 Centerline is valid? [True, True] Translation: X:128.67, Y:17.29, Z:13.35 [[ 9.79859386e-01 -1.69172298e-01 -1.06095793e-01 1.28669155e+02] [ 1.68177188e-01 9.85586486e-01 -1.83224533e-02 1.72877788e+01] [ 1.07666232e-01 1.10535658e-04 9.94187090e-01 1.33467040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80509989299998 meters 0.05435229040455848 Centerline is valid? [True, True] Translation: X:128.73, Y:17.30, Z:13.35 [[ 9.80515504e-01 -1.64139705e-01 -1.07923604e-01 1.28726036e+02] [ 1.63078950e-01 9.86436868e-01 -1.86429821e-02 1.73003701e+01] [ 1.09519876e-01 6.79664849e-04 9.93984374e-01 1.33523827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.86509989299998 meters 0.05446355262333575 Centerline is valid? [True, True] Translation: X:128.78, Y:17.31, Z:13.36 [[ 9.80997064e-01 -1.60806005e-01 -1.08564213e-01 1.28782813e+02] [ 1.59710917e-01 9.86985453e-01 -1.87653672e-02 1.73125554e+01] [ 1.10168882e-01 1.06988025e-03 9.93912306e-01 1.33577484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92509989299998 meters 0.05507655046360779 Centerline is valid? [True, True] Translation: X:128.84, Y:17.32, Z:13.37 [[ 9.80953362e-01 -1.61182362e-01 -1.08400869e-01 1.28839962e+02] [ 1.60092387e-01 9.86924103e-01 -1.87414768e-02 1.73186768e+01] [ 1.10004226e-01 1.03036078e-03 9.93930585e-01 1.33653157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98509989299998 meters 0.05430304522412354 Centerline is valid? [True, True] Translation: X:128.90, Y:17.33, Z:13.37 [[ 9.79685466e-01 -1.69770781e-01 -1.06743943e-01 1.28899658e+02] [ 1.68763442e-01 9.85483575e-01 -1.84668604e-02 1.73256718e+01] [ 1.08329536e-01 7.72395720e-05 9.94115036e-01 1.33713475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.04509989299999 meters 0.053624140441589516 Centerline is valid? [True, True] Translation: X:128.96, Y:17.33, Z:13.38 [[ 9.78234857e-01 -1.78284152e-01 -1.06166502e-01 1.28957756e+02] [ 1.77337609e-01 9.83978669e-01 -1.83671153e-02 1.73278488e+01] [ 1.07740138e-01 -8.59961146e-04 9.94178718e-01 1.33774446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.10509989299996 meters 0.05345239815373289 Centerline is valid? [True, True] Translation: X:129.02, Y:17.33, Z:13.38 [[ 9.77177387e-01 -1.84066224e-01 -1.06037629e-01 1.29017153e+02] [ 1.83155417e-01 9.82912713e-01 -1.83491523e-02 1.73314451e+01] [ 1.07603193e-01 -1.49098945e-03 9.94192803e-01 1.33832987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.16509989299996 meters 0.05348245944141105 Centerline is valid? [True, True] Translation: X:129.07, Y:17.34, Z:13.39 [[ 9.77174170e-01 -1.84519075e-01 -1.05277499e-01 1.29074351e+02] [ 1.83623736e-01 9.82827745e-01 -1.82194108e-02 1.73358091e+01] [ 1.06831476e-01 -1.52791008e-03 9.94275968e-01 1.33888276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.22509989299996 meters 0.05343293138158036 Centerline is valid? [True, True] Translation: X:129.13, Y:17.35, Z:13.40 [[ 9.77488707e-01 -1.83258804e-01 -1.04556389e-01 1.29131241e+02] [ 1.82368055e-01 9.83063740e-01 -1.80990416e-02 1.73472171e+01] [ 1.06102404e-01 -1.37613671e-03 9.94354256e-01 1.33957159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.28509989299997 meters 0.05402761772481358 Centerline is valid? [True, True] Translation: X:129.19, Y:17.35, Z:13.40 [[ 9.77636428e-01 -1.82333612e-01 -1.04792507e-01 1.29189471e+02] [ 1.81432298e-01 9.83235907e-01 -1.81513911e-02 1.73548440e+01] [ 1.06345365e-01 -1.26728431e-03 9.94328445e-01 1.34006485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.34509989299997 meters 0.05386212138298765 Centerline is valid? [True, True] Translation: X:129.25, Y:17.37, Z:13.41 [[ 9.78711177e-01 -1.76546838e-01 -1.04669224e-01 1.29247646e+02] [ 1.75613467e-01 9.84292041e-01 -1.81408035e-02 1.73652627e+01] [ 1.06227786e-01 -6.26718246e-04 9.94341624e-01 1.34057859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.40509989299997 meters 0.05415720128475351 Centerline is valid? [True, True] Translation: X:129.30, Y:17.38, Z:13.41 [[ 9.80440945e-01 -1.66457280e-01 -1.05012036e-01 1.29304750e+02] [ 1.65459751e-01 9.86048555e-01 -1.82021619e-02 1.73779061e+01] [ 1.06576849e-01 4.70879500e-04 9.94304357e-01 1.34124895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.46509989299997 meters 0.054381628478355926 Centerline is valid? [True, True] Translation: X:129.36, Y:17.39, Z:13.42 [[ 9.80992015e-01 -1.61613368e-01 -1.07404773e-01 1.29362062e+02] [ 1.60539423e-01 9.86853613e-01 -1.86290008e-02 1.73857837e+01] [ 1.09003484e-01 1.03220075e-03 9.94040832e-01 1.34173674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52509989299998 meters 0.05492078699059002 Centerline is valid? [True, True] Translation: X:129.42, Y:17.40, Z:13.42 [[ 9.80862797e-01 -1.61098707e-01 -1.09340657e-01 1.29419684e+02] [ 1.59981924e-01 9.86937671e-01 -1.89688404e-02 1.73958726e+01] [ 1.10968269e-01 1.11330118e-03 9.93823326e-01 1.34199692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.58509989299998 meters 0.054869231826021464 Centerline is valid? [True, True] Translation: X:129.48, Y:17.40, Z:13.43 [[ 9.80556464e-01 -1.62966711e-01 -1.09320046e-01 1.29477417e+02] [ 1.61860660e-01 9.86631146e-01 -1.89765405e-02 1.74017235e+01] [ 1.10951106e-01 9.12954672e-04 9.93825447e-01 1.34253664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64509989299998 meters 0.05399469436450793 Centerline is valid? [True, True] Translation: X:129.54, Y:17.40, Z:13.43 [[ 9.79841572e-01 -1.68355051e-01 -1.07550319e-01 1.29536155e+02] [ 1.67316493e-01 9.85726375e-01 -1.86736579e-02 1.74021369e+01] [ 1.09158991e-01 3.02283997e-04 9.94024257e-01 1.34334903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.70509989299998 meters 0.05398825981932609 Centerline is valid? [True, True] Translation: X:129.60, Y:17.40, Z:13.44 [[ 9.77484350e-01 -1.82298611e-01 -1.06261765e-01 1.29596658e+02] [ 1.81366445e-01 9.83242438e-01 -1.84532016e-02 1.73956291e+01] [ 1.07845070e-01 -1.23460267e-03 9.94166946e-01 1.34415537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.76509989299998 meters 0.05424833468733232 Centerline is valid? [True, True] Translation: X:129.66, Y:17.39, Z:13.45 [[ 9.75758022e-01 -1.91777198e-01 -1.05440929e-01 1.29657805e+02] [ 1.90914219e-01 9.81435884e-01 -1.83130284e-02 1.73947791e+01] [ 1.06995533e-01 -2.26108828e-03 9.94256930e-01 1.34481717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.825099893 meters 0.05473263876991737 Centerline is valid? [True, True] Translation: X:129.72, Y:17.40, Z:13.45 [[ 9.74572019e-01 -1.97594465e-01 -1.05668386e-01 1.29718325e+02] [ 1.96761793e-01 9.80279544e-01 -1.83524526e-02 1.73973665e+01] [ 1.07210900e-01 -2.90571436e-03 9.94232055e-01 1.34543505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.88509989299996 meters 0.05514450531287148 Centerline is valid? [True, True] Translation: X:129.78, Y:17.41, Z:13.46 [[ 9.74233096e-01 -1.99596724e-01 -1.05028672e-01 1.29776509e+02] [ 1.98785794e-01 9.79873201e-01 -1.82405557e-02 1.74076560e+01] [ 1.06555536e-01 -3.10765482e-03 9.94301896e-01 1.34620812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.94509989299996 meters 0.05502907183728692 Centerline is valid? [True, True] Translation: X:129.83, Y:17.42, Z:13.47 [[ 9.74099420e-01 -2.00275462e-01 -1.04976468e-01 1.29834511e+02] [ 1.99469061e-01 9.79734473e-01 -1.82333962e-02 1.74153566e+01] [ 1.06500766e-01 -3.17841677e-03 9.94307540e-01 1.34683109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.00509989299997 meters 0.05621945750502815 Centerline is valid? [True, True] Translation: X:129.89, Y:17.42, Z:13.47 [[ 9.73944079e-01 -2.00336403e-01 -1.06293256e-01 1.29892425e+02] [ 1.99508771e-01 9.79721895e-01 -1.84731722e-02 1.74202216e+01] [ 1.07838679e-01 -3.21460013e-03 9.94163209e-01 1.34726863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.06509989299997 meters 0.05734461843700478 Centerline is valid? [True, True] Translation: X:129.95, Y:17.43, Z:13.48 [[ 9.73349992e-01 -2.02035281e-01 -1.08496717e-01 1.29951519e+02] [ 2.01182943e-01 9.79372097e-01 -1.88604908e-02 1.74253266e+01] [ 1.10069142e-01 -3.46983038e-03 9.93917876e-01 1.34750309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.12509989299997 meters 0.05445501025420084 Centerline is valid? [True, True] Translation: X:130.01, Y:17.45, Z:13.48 [[ 9.71917723e-01 -2.07556329e-01 -1.10888730e-01 1.30008714e+02] [ 2.06701382e-01 9.78214122e-01 -1.92787504e-02 1.74473540e+01] [ 1.12474348e-01 -4.18349455e-03 9.93645822e-01 1.34820078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.18509989299997 meters 0.05546931068818876 Centerline is valid? [True, True] Translation: X:130.07, Y:17.46, Z:13.49 [[ 9.71091347e-01 -2.11168812e-01 -1.11307365e-01 1.30067765e+02] [ 2.10330986e-01 9.77438691e-01 -1.93515196e-02 1.74553724e+01] [ 1.12882562e-01 -4.61929457e-03 9.93597599e-01 1.34875523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.24509989299997 meters 0.05474226213558405 Centerline is valid? [True, True] Translation: X:130.13, Y:17.47, Z:13.50 [[ 9.70415647e-01 -2.14629772e-01 -1.10578174e-01 1.30126125e+02] [ 2.13825147e-01 9.76682745e-01 -1.92255539e-02 1.74722090e+01] [ 1.12126171e-01 -4.98761594e-03 9.93681461e-01 1.34956774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30509989299998 meters 0.05407800227380822 Centerline is valid? [True, True] Translation: X:130.18, Y:17.49, Z:13.50 [[ 9.69714540e-01 -2.18546484e-01 -1.09046530e-01 1.30183905e+02] [ 2.17788628e-01 9.75811796e-01 -1.89592342e-02 1.74874378e+01] [ 1.10552365e-01 -5.36404914e-03 9.93855825e-01 1.35040175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36509989299998 meters 0.0566139654752181 Centerline is valid? [True, True] Translation: X:130.24, Y:17.49, Z:13.51 [[ 9.69328938e-01 -2.21163264e-01 -1.07183115e-01 1.30242720e+02] [ 2.20447002e-01 9.75220922e-01 -1.86352462e-02 1.74909990e+01] [ 1.08648648e-01 -5.56451303e-03 9.94064639e-01 1.35104390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42509989299998 meters 0.05495217838927623 Centerline is valid? [True, True] Translation: X:130.30, Y:17.51, Z:13.52 [[ 9.69109997e-01 -2.22616003e-01 -1.06150501e-01 1.30299664e+02] [ 2.21922027e-01 9.74889717e-01 -1.84567897e-02 1.75120243e+01] [ 1.07593809e-01 -5.67047500e-03 9.94178766e-01 1.35183358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.48509989299998 meters 0.05559894772411374 Centerline is valid? [True, True] Translation: X:130.36, Y:17.52, Z:13.52 [[ 9.68792216e-01 -2.23565520e-01 -1.07051860e-01 1.30357236e+02] [ 2.22865359e-01 9.74671500e-01 -1.86144897e-02 1.75238503e+01] [ 1.08501955e-01 -5.82457857e-03 9.94079172e-01 1.35232679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.54509989299999 meters 0.05451652459687983 Centerline is valid? [True, True] Translation: X:130.42, Y:17.54, Z:13.53 [[ 9.68335988e-01 -2.25081305e-01 -1.07999166e-01 1.30415073e+02] [ 2.24377650e-01 9.74321236e-01 -1.87829443e-02 1.75417426e+01] [ 1.09453571e-01 -6.04439819e-03 9.93973531e-01 1.35286074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.60509989299996 meters 0.05433513686233051 Centerline is valid? [True, True] Translation: X:130.47, Y:17.55, Z:13.53 [[ 9.67892157e-01 -2.26316126e-01 -1.09388226e-01 1.30473504e+02] [ 2.25601989e-01 9.74033766e-01 -1.90253827e-02 1.75539138e+01] [ 1.10853577e-01 -6.26368267e-03 9.93817011e-01 1.35331471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.66509989299996 meters 0.0558812900746524 Centerline is valid? [True, True] Translation: X:130.53, Y:17.57, Z:13.54 [[ 9.68121903e-01 -2.24403419e-01 -1.11279317e-01 1.30531582e+02] [ 2.23651708e-01 9.74476931e-01 -1.93552333e-02 1.75652764e+01] [ 1.12782508e-01 -6.14958411e-03 9.93600669e-01 1.35369570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.72509989299996 meters 0.05676650926386953 Centerline is valid? [True, True] Translation: X:130.59, Y:17.58, Z:13.54 [[ 9.69230350e-01 -2.20351786e-01 -1.09716080e-01 1.30589632e+02] [ 2.19595049e-01 9.75404419e-01 -1.90848923e-02 1.75801794e+01] [ 1.11222939e-01 -5.59545107e-03 9.93779728e-01 1.35438215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.78509989299997 meters 0.05448623049558226 Centerline is valid? [True, True] Translation: X:130.65, Y:17.61, Z:13.55 [[ 9.70611751e-01 -2.14725055e-01 -1.08655328e-01 1.30646218e+02] [ 2.13947759e-01 9.76662238e-01 -1.89005349e-02 1.76055463e+01] [ 1.10177974e-01 -4.90148268e-03 9.93899788e-01 1.35515719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.84509989299997 meters 0.052273531566589954 Centerline is valid? [True, True] Translation: X:130.70, Y:17.63, Z:13.56 [[ 9.72060255e-01 -2.08951991e-01 -1.06948241e-01 1.30702264e+02] [ 2.08164143e-01 9.77916970e-01 -1.86034749e-02 1.76329332e+01] [ 1.08473733e-01 -4.17909034e-03 9.94090531e-01 1.35594143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.90509989299997 meters 0.05370898821210205 Centerline is valid? [True, True] Translation: X:130.76, Y:17.65, Z:13.57 [[ 9.72840398e-01 -2.05678217e-01 -1.06198078e-01 1.30759886e+02] [ 2.04881959e-01 9.78612350e-01 -1.84730020e-02 1.76454127e+01] [ 1.07726244e-01 -3.78678751e-03 9.94173384e-01 1.35654422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.96509989299997 meters 0.054313549468494364 Centerline is valid? [True, True] Translation: X:130.82, Y:17.66, Z:13.57 [[ 9.73319118e-01 -2.02765181e-01 -1.07406592e-01 1.30817570e+02] [ 2.01932903e-01 9.79221123e-01 -1.86840844e-02 1.76566797e+01] [ 1.08963285e-01 -3.50334835e-03 9.94039601e-01 1.35692792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02509989299998 meters 0.05370865273434252 Centerline is valid? [True, True] Translation: X:130.87, Y:17.67, Z:13.57 [[ 9.72980076e-01 -2.03425228e-01 -1.09215148e-01 1.30874715e+02] [ 2.02568587e-01 9.79083731e-01 -1.90004108e-02 1.76749812e+01] [ 1.10795937e-01 -3.63653698e-03 9.93836524e-01 1.35742837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.08509989299998 meters 0.05336079726581601 Centerline is valid? [True, True] Translation: X:130.93, Y:17.69, Z:13.58 [[ 9.73050344e-01 -2.03563189e-01 -1.08328462e-01 1.30931613e+02] [ 2.02721033e-01 9.79055118e-01 -1.88483316e-02 1.76900357e+01] [ 1.09896361e-01 -3.62008215e-03 9.93936459e-01 1.35798797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14509989299998 meters 0.053593907876420994 Centerline is valid? [True, True] Translation: X:130.99, Y:17.71, Z:13.59 [[ 9.73990412e-01 -1.99057113e-01 -1.08254068e-01 1.30989702e+02] [ 1.98187156e-01 9.79982993e-01 -1.88463654e-02 1.77056609e+01] [ 1.09838648e-01 -3.09838656e-03 9.93944602e-01 1.35861097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.20509989299998 meters 0.053473025451763766 Centerline is valid? [True, True] Translation: X:131.05, Y:17.71, Z:13.59 [[ 9.74378567e-01 -1.97203885e-01 -1.08152838e-01 1.31048279e+02] [ 1.96324168e-01 9.80358249e-01 -1.88288483e-02 1.77126159e+01] [ 1.09741649e-01 -2.88658974e-03 9.93955954e-01 1.35914311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.26509989299998 meters 0.05279833333648201 Centerline is valid? [True, True] Translation: X:131.10, Y:17.73, Z:13.60 [[ 9.74359482e-01 -1.97685699e-01 -1.07442846e-01 1.31104933e+02] [ 1.96820202e-01 9.80261109e-01 -1.87073629e-02 1.77256250e+01] [ 1.09020221e-01 -2.91922625e-03 9.94035246e-01 1.35992199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.325099893 meters 0.053233246139378514 Centerline is valid? [True, True] Translation: X:131.16, Y:17.74, Z:13.61 [[ 9.73879535e-01 -1.99533436e-01 -1.08374628e-01 1.31163724e+02] [ 1.98662996e-01 9.79885979e-01 -1.88807142e-02 1.77383802e+01] [ 1.09962113e-01 -3.14248720e-03 9.93930812e-01 1.36053813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.38509989299996 meters 0.05302940258096796 Centerline is valid? [True, True] Translation: X:131.22, Y:17.74, Z:13.61 [[ 9.73109397e-01 -2.03650696e-01 -1.07631291e-01 1.31223540e+02] [ 2.02817239e-01 9.79037057e-01 -1.87512052e-02 1.77446926e+01] [ 1.09193719e-01 -3.58250736e-03 9.94014033e-01 1.36111899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.44509989299996 meters 0.05385534771466489 Centerline is valid? [True, True] Translation: X:131.28, Y:17.75, Z:13.61 [[ 9.72799444e-01 -2.04805456e-01 -1.08240321e-01 1.31282945e+02] [ 2.03969659e-01 9.78795579e-01 -1.88571492e-02 1.77466048e+01] [ 1.09807195e-01 -3.73351717e-03 9.93945894e-01 1.36149400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.50509989299997 meters 0.052159654082209704 Centerline is valid? [True, True] Translation: X:131.34, Y:17.76, Z:13.62 [[ 9.73033470e-01 -2.03939246e-01 -1.07771287e-01 1.31340783e+02] [ 2.03105426e-01 9.78976853e-01 -1.87751676e-02 1.77597662e+01] [ 1.09334589e-01 -3.62006666e-03 9.93998412e-01 1.36227341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.56509989299997 meters 0.05398897258447633 Centerline is valid? [True, True] Translation: X:131.40, Y:17.76, Z:13.63 [[ 9.72949386e-01 -2.05275274e-01 -1.05979024e-01 1.31400476e+02] [ 2.04476718e-01 9.78697263e-01 -1.84645188e-02 1.77633201e+01] [ 1.07511690e-01 -3.70520080e-03 9.94196916e-01 1.36291867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.62509989299997 meters 0.055324023644900064 Centerline is valid? [True, True] Translation: X:131.46, Y:17.77, Z:13.63 [[ 9.72108786e-01 -2.08729483e-01 -1.06941627e-01 1.31460605e+02] [ 2.07936952e-01 9.77964725e-01 -1.86338388e-02 1.77666799e+01] [ 1.08474570e-01 -4.12299761e-03 9.94090674e-01 1.36342582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.68509989299997 meters 0.05223733048009183 Centerline is valid? [True, True] Translation: X:131.52, Y:17.79, Z:13.64 [[ 9.71412272e-01 -2.11008555e-01 -1.08782297e-01 1.31518168e+02] [ 2.10202598e-01 9.77474072e-01 -1.89553630e-02 1.77880986e+01] [ 1.10331618e-01 -4.45284909e-03 9.93884856e-01 1.36411771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.74509989299997 meters 0.05350236140495175 Centerline is valid? [True, True] Translation: X:131.58, Y:17.79, Z:13.64 [[ 9.70661155e-01 -2.13242749e-01 -1.11105588e-01 1.31578883e+02] [ 2.12416533e-01 9.76987414e-01 -1.93600014e-02 1.77882098e+01] [ 1.12677141e-01 -4.80866254e-03 9.93620017e-01 1.36442747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.80509989299998 meters 0.05515366208335479 Centerline is valid? [True, True] Translation: X:131.64, Y:17.79, Z:13.65 [[ 9.70479729e-01 -2.13878987e-01 -1.11466920e-01 1.31637418e+02] [ 2.13051443e-01 9.76847886e-01 -1.94239626e-02 1.77926952e+01] [ 1.13040603e-01 -4.89762622e-03 9.93578299e-01 1.36493350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86509989299998 meters 0.054658299582165795 Centerline is valid? [True, True] Translation: X:131.69, Y:17.80, Z:13.66 [[ 9.70773069e-01 -2.13157305e-01 -1.10288765e-01 1.31694694e+02] [ 2.12341309e-01 9.77006340e-01 -1.92296508e-02 1.78033391e+01] [ 1.11851763e-01 -4.75123349e-03 9.93713545e-01 1.36565919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92509989299998 meters 0.0548418626675791 Centerline is valid? [True, True] Translation: X:131.75, Y:17.82, Z:13.66 [[ 9.71598398e-01 -2.09952004e-01 -1.09163681e-01 1.31753302e+02] [ 2.09132106e-01 9.77702089e-01 -1.90364863e-02 1.78155374e+01] [ 1.10726307e-01 -4.33381094e-03 9.93841488e-01 1.36647292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.98509989299998 meters 0.05337629196037199 Centerline is valid? [True, True] Translation: X:131.81, Y:17.83, Z:13.67 [[ 9.72391719e-01 -2.06163670e-01 -1.09320111e-01 1.31811267e+02] [ 2.05317640e-01 9.78509716e-01 -1.90631140e-02 1.78321128e+01] [ 1.10900913e-01 -3.90853309e-03 9.93823783e-01 1.36707555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.04509989299999 meters 0.053345520435076586 Centerline is valid? [True, True] Translation: X:131.87, Y:17.85, Z:13.68 [[ 9.73160868e-01 -2.02844729e-01 -1.08682757e-01 1.31869507e+02] [ 2.01987909e-01 9.79204627e-01 -1.89521147e-02 1.78451691e+01] [ 1.10266995e-01 -3.50914645e-03 9.93895807e-01 1.36772477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.10509989299996 meters 0.053798051728382354 Centerline is valid? [True, True] Translation: X:131.93, Y:17.85, Z:13.68 [[ 9.73477721e-01 -2.01359178e-01 -1.08607591e-01 1.31928986e+02] [ 2.00494298e-01 9.79511786e-01 -1.89393347e-02 1.78529420e+01] [ 1.10196024e-01 -3.33818231e-03 9.93904267e-01 1.36831976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.16509989299996 meters 0.05279964471333607 Centerline is valid? [True, True] Translation: X:131.99, Y:17.87, Z:13.69 [[ 9.73427658e-01 -2.00723941e-01 -1.10220209e-01 1.31986634e+02] [ 1.99828731e-01 9.79642245e-01 -1.92236869e-02 1.78651778e+01] [ 1.11835027e-01 -3.31229598e-03 9.93721266e-01 1.36886535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.22509989299996 meters 0.0535059694101867 Centerline is valid? [True, True] Translation: X:132.05, Y:17.87, Z:13.69 [[ 9.73562431e-01 -2.00180345e-01 -1.10018287e-01 1.32045241e+02] [ 1.99283644e-01 9.79753735e-01 -1.92001852e-02 1.78727049e+01] [ 1.11634327e-01 -3.23226617e-03 9.93744097e-01 1.36939162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.28509989299997 meters 0.05416603926731373 Centerline is valid? [True, True] Translation: X:132.10, Y:17.88, Z:13.70 [[ 9.73551429e-01 -2.00240014e-01 -1.10007055e-01 1.32102149e+02] [ 1.99342631e-01 9.79741557e-01 -1.92093147e-02 1.78806564e+01] [ 1.11624957e-01 -3.22784001e-03 9.93745164e-01 1.36994479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.34509989299997 meters 0.052457183466985004 Centerline is valid? [True, True] Translation: X:132.16, Y:17.90, Z:13.71 [[ 9.73349991e-01 -2.00969041e-01 -1.10459222e-01 1.32159009e+02] [ 2.00067585e-01 9.79591989e-01 -1.93001522e-02 1.79003668e+01] [ 1.12083702e-01 -3.31350684e-03 9.93693245e-01 1.37084560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.40509989299997 meters 0.05416383750240751 Centerline is valid? [True, True] Translation: X:132.22, Y:17.90, Z:13.71 [[ 9.72544346e-01 -2.04910601e-01 -1.10313831e-01 1.32219355e+02] [ 2.04036649e-01 9.78773465e-01 -1.92756382e-02 1.78999647e+01] [ 1.11922034e-01 -3.76165164e-03 9.93709871e-01 1.37127483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.46509989299997 meters 0.05444654151957815 Centerline is valid? [True, True] Translation: X:132.28, Y:17.91, Z:13.72 [[ 9.72030041e-01 -2.07564671e-01 -1.09884065e-01 1.32278340e+02] [ 2.06714293e-01 9.78212913e-01 -1.92014998e-02 1.79090808e+01] [ 1.11475565e-01 -4.05017218e-03 9.93758922e-01 1.37194139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52509989299998 meters 0.052446874049419126 Centerline is valid? [True, True] Translation: X:132.34, Y:17.92, Z:13.73 [[ 9.71179169e-01 -2.12409496e-01 -1.08135225e-01 1.32336171e+02] [ 2.11615752e-01 9.77170240e-01 -1.88969752e-02 1.79235629e+01] [ 1.09680421e-01 -4.53076827e-03 9.93956577e-01 1.37281026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58509989299998 meters 0.05281734663063576 Centerline is valid? [True, True] Translation: X:132.40, Y:17.93, Z:13.74 [[ 9.70300782e-01 -2.17067407e-01 -1.06762045e-01 1.32395452e+02] [ 2.16321668e-01 9.76143856e-01 -1.86576788e-02 1.79323410e+01] [ 1.08265088e-01 -4.99138324e-03 9.94109530e-01 1.37363236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64509989299998 meters 0.0566285599332989 Centerline is valid? [True, True] Translation: X:132.46, Y:17.93, Z:13.74 [[ 9.69433380e-01 -2.19896030e-01 -1.08833162e-01 1.32456563e+02] [ 2.19138744e-01 9.75508307e-01 -1.90198499e-02 1.79282166e+01] [ 1.10350043e-01 -5.41108500e-03 9.93878055e-01 1.37395298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.70509989299998 meters 0.05443285052467774 Centerline is valid? [True, True] Translation: X:132.51, Y:17.95, Z:13.75 [[ 9.69501960e-01 -2.18968355e-01 -1.10085467e-01 1.32514880e+02] [ 2.18187548e-01 9.75717200e-01 -1.92390049e-02 1.79473798e+01] [ 1.11625017e-01 -5.36702521e-03 9.93735906e-01 1.37463729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.76509989299998 meters 0.05378439551288538 Centerline is valid? [True, True] Translation: X:132.57, Y:17.96, Z:13.75 [[ 9.69808966e-01 -2.17564716e-01 -1.10164260e-01 1.32573404e+02] [ 2.16773838e-01 9.76031994e-01 -1.92522728e-02 1.79605645e+01] [ 1.11712458e-01 -5.20970269e-03 9.93726917e-01 1.37538107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.82509989299996 meters 0.05341792230800291 Centerline is valid? [True, True] Translation: X:132.63, Y:17.98, Z:13.76 [[ 9.70396272e-01 -2.15528821e-01 -1.08988087e-01 1.32632079e+02] [ 2.14741582e-01 9.76485095e-01 -1.90502497e-02 1.79751300e+01] [ 1.10531120e-01 -4.91798291e-03 9.93860496e-01 1.37625083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88509989299996 meters 0.05338808150991571 Centerline is valid? [True, True] Translation: X:132.69, Y:17.99, Z:13.77 [[ 9.71091559e-01 -2.13113743e-01 -1.07534728e-01 1.32690619e+02] [ 2.12332621e-01 9.77016661e-01 -1.87963593e-02 1.79889577e+01] [ 1.09068983e-01 -4.58014470e-03 9.94023631e-01 1.37702834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.94509989299996 meters 0.0554452347244241 Centerline is valid? [True, True] Translation: X:132.75, Y:17.99, Z:13.77 [[ 9.71412367e-01 -2.11236113e-01 -1.08338907e-01 1.32749236e+02] [ 2.10431636e-01 9.77425150e-01 -1.89368296e-02 1.79926823e+01] [ 1.09893314e-01 -4.40246293e-03 9.93933639e-01 1.37742748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.00509989299997 meters 0.05536334914902555 Centerline is valid? [True, True] Translation: X:132.81, Y:18.00, Z:13.78 [[ 9.71359558e-01 -2.10613362e-01 -1.10011912e-01 1.32808110e+02] [ 2.09779559e-01 9.77559551e-01 -1.92317729e-02 1.80029793e+01] [ 1.11593664e-01 -4.39728392e-03 9.93744191e-01 1.37799134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.06509989299997 meters 0.053743545403464085 Centerline is valid? [True, True] Translation: X:132.87, Y:18.02, Z:13.79 [[ 9.71138320e-01 -2.11694589e-01 -1.09889780e-01 1.32866404e+02] [ 2.10869346e-01 9.77325441e-01 -1.92120153e-02 1.80166005e+01] [ 1.11465157e-01 -4.51486171e-03 9.93758087e-01 1.37872124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.12509989299997 meters 0.054601535338158085 Centerline is valid? [True, True] Translation: X:132.93, Y:18.02, Z:13.79 [[ 9.70764965e-01 -2.13457803e-01 -1.09777729e-01 1.32926614e+02] [ 2.12645379e-01 9.76940923e-01 -1.91931361e-02 1.80223496e+01] [ 1.11343281e-01 -4.71170279e-03 9.93770836e-01 1.37930042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.18509989299997 meters 0.057997235768125176 Centerline is valid? [True, True] Translation: X:132.99, Y:18.02, Z:13.80 [[ 9.70601697e-01 -2.14227970e-01 -1.09721115e-01 1.32985855e+02] [ 2.13421280e-01 9.76771908e-01 -1.91832373e-02 1.80220664e+01] [ 1.11282089e-01 -4.79753820e-03 9.93777279e-01 1.37974519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.24509989299997 meters 0.05656728150149655 Centerline is valid? [True, True] Translation: X:133.04, Y:18.04, Z:13.80 [[ 9.70778862e-01 -2.13270081e-01 -1.10019420e-01 1.33043099e+02] [ 2.12451637e-01 9.76982026e-01 -1.92463912e-02 1.80373045e+01] [ 1.11591676e-01 -4.68981629e-03 9.93743077e-01 1.38048359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30509989299998 meters 0.05637317345092051 Centerline is valid? [True, True] Translation: X:133.10, Y:18.05, Z:13.81 [[ 9.70857560e-01 -2.13150665e-01 -1.09555430e-01 1.33100378e+02] [ 2.12338191e-01 9.77008254e-01 -1.91667390e-02 1.80496624e+01] [ 1.11121963e-01 -4.65462846e-03 9.93795876e-01 1.38124595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36509989299998 meters 0.05330489993262551 Centerline is valid? [True, True] Translation: X:133.16, Y:18.07, Z:13.82 [[ 9.70651896e-01 -2.14281382e-01 -1.09171359e-01 1.33158099e+02] [ 2.13480518e-01 9.76760393e-01 -1.91103045e-02 1.80691512e+01] [ 1.10729242e-01 -4.75650498e-03 9.93839228e-01 1.38215313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42509989299998 meters 0.056211565842929044 Centerline is valid? [True, True] Translation: X:133.22, Y:18.07, Z:13.83 [[ 9.70313973e-01 -2.15399851e-01 -1.09971349e-01 1.33218259e+02] [ 2.14594397e-01 9.76513538e-01 -1.92498225e-02 1.80672079e+01] [ 1.11534920e-01 -4.92086350e-03 9.93748332e-01 1.38262796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48509989299998 meters 0.05489217093853141 Centerline is valid? [True, True] Translation: X:133.28, Y:18.08, Z:13.83 [[ 9.70361895e-01 -2.15330562e-01 -1.09683829e-01 1.33275807e+02] [ 2.14528460e-01 9.76528943e-01 -1.92032313e-02 1.80803736e+01] [ 1.11244476e-01 -4.89621895e-03 9.93781009e-01 1.38333674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.54509989299999 meters 0.0547014170136514 Centerline is valid? [True, True] Translation: X:133.33, Y:18.09, Z:13.84 [[ 9.70408742e-01 -2.15779328e-01 -1.08379677e-01 1.33334732e+02] [ 2.14998603e-01 9.76429937e-01 -1.89783888e-02 1.80902638e+01] [ 1.09920305e-01 -4.88468466e-03 9.93928401e-01 1.38397458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.60509989299996 meters 0.055343974984932466 Centerline is valid? [True, True] Translation: X:133.39, Y:18.10, Z:13.85 [[ 9.70593926e-01 -2.15542345e-01 -1.07186422e-01 1.33393452e+02] [ 2.14777123e-01 9.76482686e-01 -1.87710069e-02 1.80990614e+01] [ 1.08711632e-01 -4.80216601e-03 9.94061729e-01 1.38472439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.66509989299996 meters 0.05647984057279488 Centerline is valid? [True, True] Translation: X:133.45, Y:18.10, Z:13.85 [[ 9.70605591e-01 -2.15659692e-01 -1.06844207e-01 1.33452148e+02] [ 2.14899926e-01 9.76456794e-01 -1.87123094e-02 1.81025521e+01] [ 1.08364243e-01 -4.79854006e-03 9.94099676e-01 1.38535473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.72509989299996 meters 0.06124903424240007 Centerline is valid? [True, True] Translation: X:133.51, Y:18.10, Z:13.86 [[ 9.70222102e-01 -2.16534931e-01 -1.08543526e-01 1.33512575e+02] [ 2.15754992e-01 9.76262250e-01 -1.90210999e-02 1.80999787e+01] [ 1.10085679e-01 -4.96411593e-03 9.93909705e-01 1.38561232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.78509989299997 meters 0.0553921567457488 Centerline is valid? [True, True] Translation: X:133.57, Y:18.12, Z:13.86 [[ 9.70092709e-01 -2.17178081e-01 -1.08415019e-01 1.33568256e+02] [ 2.16403699e-01 9.76119048e-01 -1.90011594e-02 1.81247476e+01] [ 1.09952601e-01 -5.02852499e-03 9.93924112e-01 1.38642354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.84509989299997 meters 0.05899872096140318 Centerline is valid? [True, True] Translation: X:133.63, Y:18.12, Z:13.87 [[ 9.70667751e-01 -2.13985314e-01 -1.09610228e-01 1.33629438e+02] [ 2.13172988e-01 9.76825501e-01 -1.92150564e-02 1.81242500e+01] [ 1.11181805e-01 -4.71450412e-03 9.93788901e-01 1.38676401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.90509989299997 meters 0.057946698332147106 Centerline is valid? [True, True] Translation: X:133.69, Y:18.14, Z:13.87 [[ 9.71415704e-01 -2.10616305e-01 -1.09509372e-01 1.33688084e+02] [ 2.09784138e-01 9.77559241e-01 -1.91975255e-02 1.81371252e+01] [ 1.11095210e-01 -4.32455144e-03 9.93800359e-01 1.38734118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.96509989299997 meters 0.05479049932891587 Centerline is valid? [True, True] Translation: X:133.74, Y:18.16, Z:13.88 [[ 9.72645441e-01 -2.05879147e-01 -1.07585422e-01 1.33744700e+02] [ 2.05047102e-01 9.78570371e-01 -1.88604030e-02 1.81593925e+01] [ 1.09162870e-01 -3.71559403e-03 9.94016933e-01 1.38822298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02509989299998 meters 0.053432919845272916 Centerline is valid? [True, True] Translation: X:133.80, Y:18.18, Z:13.89 [[ 9.73915896e-01 -2.00066242e-01 -1.07057587e-01 1.33802888e+02] [ 1.99207260e-01 9.79777633e-01 -1.87685177e-02 1.81753730e+01] [ 1.08647576e-01 -3.04769094e-03 9.94075659e-01 1.38885405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08509989299998 meters 0.053983574983406946 Centerline is valid? [True, True] Translation: X:133.86, Y:18.19, Z:13.89 [[ 9.75357409e-01 -1.93019748e-01 -1.06870488e-01 1.33861921e+02] [ 1.92121582e-01 9.81192273e-01 -1.87355450e-02 1.81881120e+01] [ 1.08476828e-01 -2.25827468e-03 9.94096413e-01 1.38943146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14509989299998 meters 0.05320916015755939 Centerline is valid? [True, True] Translation: X:133.92, Y:18.20, Z:13.90 [[ 9.75708199e-01 -1.90948421e-01 -1.07388132e-01 1.33918960e+02] [ 1.90029001e-01 9.81597956e-01 -1.88263430e-02 1.82011588e+01] [ 1.09006831e-01 -2.03784221e-03 9.94038912e-01 1.39002723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.20509989299998 meters 0.053629053199339236 Centerline is valid? [True, True] Translation: X:133.98, Y:18.21, Z:13.91 [[ 9.75899895e-01 -1.90387211e-01 -1.06640067e-01 1.33977426e+02] [ 1.89476856e-01 9.81707124e-01 -1.86987633e-02 1.82089616e+01] [ 1.08249319e-01 -1.95770355e-03 9.94121850e-01 1.39065211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.26509989299998 meters 0.05377915534608784 Centerline is valid? [True, True] Translation: X:134.04, Y:18.22, Z:13.91 [[ 9.75787664e-01 -1.90972261e-01 -1.06620966e-01 1.34035886e+02] [ 1.90064542e-01 9.81593373e-01 -1.87061720e-02 1.82159333e+01] [ 1.08230793e-01 -2.01161311e-03 9.94123759e-01 1.39120661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.32509989299996 meters 0.053436757683412245 Centerline is valid? [True, True] Translation: X:134.09, Y:18.22, Z:13.92 [[ 9.75178090e-01 -1.94091670e-01 -1.06565081e-01 1.34094533e+02] [ 1.93202240e-01 9.80980592e-01 -1.87075358e-02 1.82249810e+01] [ 1.08169253e-01 -2.34543331e-03 9.94129726e-01 1.39190280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.38509989299996 meters 0.05391958880253473 Centerline is valid? [True, True] Translation: X:134.15, Y:18.23, Z:13.92 [[ 9.74625374e-01 -1.96944698e-01 -1.06386867e-01 1.34152851e+02] [ 1.96074992e-01 9.80411002e-01 -1.86779287e-02 1.82322263e+01] [ 1.07981374e-01 -2.65582096e-03 9.94149370e-01 1.39249379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.44509989299996 meters 0.05401372982452002 Centerline is valid? [True, True] Translation: X:134.21, Y:18.24, Z:13.93 [[ 9.73966285e-01 -2.00286638e-01 -1.06183508e-01 1.34212556e+02] [ 1.99439775e-01 9.79732695e-01 -1.86446173e-02 1.82392280e+01] [ 1.07765722e-01 -3.01798636e-03 9.94171736e-01 1.39315197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.50509989299997 meters 0.05793876063774746 Centerline is valid? [True, True] Translation: X:134.27, Y:18.23, Z:13.94 [[ 9.72195364e-01 -2.08698969e-01 -1.06211653e-01 1.34274457e+02] [ 2.07901477e-01 9.77971952e-01 -1.86503653e-02 1.82316719e+01] [ 1.07764329e-01 -3.94976080e-03 9.94168622e-01 1.39366151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.56509989299997 meters 0.05467783695774811 Centerline is valid? [True, True] Translation: X:134.33, Y:18.25, Z:13.94 [[ 9.71072554e-01 -2.14020592e-01 -1.05892782e-01 1.34332097e+02] [ 2.13259303e-01 9.76818665e-01 -1.85947776e-02 1.82504627e+01] [ 1.07417711e-01 -4.52574282e-03 9.94203678e-01 1.39438201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.62509989299997 meters 0.053882382564060194 Centerline is valid? [True, True] Translation: X:134.39, Y:18.26, Z:13.95 [[ 9.69424272e-01 -2.21721485e-01 -1.05148294e-01 1.34390970e+02] [ 2.21015814e-01 9.75095417e-01 -1.84644875e-02 1.82605908e+01] [ 1.06623593e-01 -5.33951338e-03 9.94285120e-01 1.39509657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.68509989299997 meters 0.05890269077554714 Centerline is valid? [True, True] Translation: X:134.45, Y:18.25, Z:13.95 [[ 9.67952873e-01 -2.26897870e-01 -1.07631740e-01 1.34453370e+02] [ 2.26190195e-01 9.73899765e-01 -1.89008680e-02 1.82519263e+01] [ 1.09111093e-01 -6.05009468e-03 9.94011150e-01 1.39541200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74509989299997 meters 0.05560493516682901 Centerline is valid? [True, True] Translation: X:134.51, Y:18.27, Z:13.96 [[ 9.68063598e-01 -2.27286914e-01 -1.05799472e-01 1.34509262e+02] [ 2.26605338e-01 9.73809428e-01 -1.85800587e-02 1.82716076e+01] [ 1.07251527e-01 -5.98804664e-03 9.94213887e-01 1.39624813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80509989299998 meters 0.05707360578351278 Centerline is valid? [True, True] Translation: X:134.57, Y:18.28, Z:13.97 [[ 9.68725636e-01 -2.24260328e-01 -1.06197685e-01 1.34568420e+02] [ 2.23554420e-01 9.74512812e-01 -1.86601458e-02 1.82793248e+01] [ 1.07675735e-01 -5.66440039e-03 9.94169930e-01 1.39683223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86509989299998 meters 0.05963939979745738 Centerline is valid? [True, True] Translation: X:134.63, Y:18.28, Z:13.97 [[ 9.69275230e-01 -2.21435704e-01 -1.07106290e-01 1.34628007e+02] [ 2.20700351e-01 9.75160047e-01 -1.88211887e-02 1.82834764e+01] [ 1.08613458e-01 -5.39548386e-03 9.94069417e-01 1.39728908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92509989299998 meters 0.056176684796916225 Centerline is valid? [True, True] Translation: X:134.68, Y:18.31, Z:13.98 [[ 9.69998650e-01 -2.18110083e-01 -1.07380678e-01 1.34684800e+02] [ 2.17350501e-01 9.75911188e-01 -1.88709632e-02 1.83061071e+01] [ 1.08909952e-01 -5.03443540e-03 9.94038871e-01 1.39793909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98509989299998 meters 0.05688750365869277 Centerline is valid? [True, True] Translation: X:134.74, Y:18.32, Z:13.98 [[ 9.70510516e-01 -2.15591152e-01 -1.07841522e-01 1.34744191e+02] [ 2.14809172e-01 9.76472075e-01 -1.89554072e-02 1.83171956e+01] [ 1.09390853e-01 -4.76892602e-03 9.93987373e-01 1.39847689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.04509989299999 meters 0.05256607891243779 Centerline is valid? [True, True] Translation: X:134.80, Y:18.35, Z:13.99 [[ 9.70951895e-01 -2.13681912e-01 -1.07668276e-01 1.34800334e+02] [ 2.12890753e-01 9.76892712e-01 -1.89250053e-02 1.83486173e+01] [ 1.09224285e-01 -4.54631046e-03 9.94006734e-01 1.39931893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.10509989299996 meters 0.05546518231989377 Centerline is valid? [True, True] Translation: X:134.86, Y:18.35, Z:14.00 [[ 9.71220562e-01 -2.11859233e-01 -1.08840642e-01 1.34860416e+02] [ 2.11039519e-01 9.77290329e-01 -1.91294236e-02 1.83487258e+01] [ 1.10421652e-01 -4.39078724e-03 9.93875133e-01 1.39970020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.16509989299996 meters 0.0524795950136291 Centerline is valid? [True, True] Translation: X:134.92, Y:18.38, Z:14.01 [[ 9.71184477e-01 -2.11695889e-01 -1.09478594e-01 1.34918646e+02] [ 2.10865437e-01 9.77325693e-01 -1.92420499e-02 1.83764633e+01] [ 1.11069705e-01 -4.39767134e-03 9.93802888e-01 1.40054266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.22509989299996 meters 0.054405925199887115 Centerline is valid? [True, True] Translation: X:134.98, Y:18.38, Z:14.01 [[ 9.71226080e-01 -2.11549728e-01 -1.09392019e-01 1.34979782e+02] [ 2.10720236e-01 9.77357410e-01 -1.92217482e-02 1.83787840e+01] [ 1.10981456e-01 -4.38244893e-03 9.93812815e-01 1.40099305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.28509989299997 meters 0.05357035284851922 Centerline is valid? [True, True] Translation: X:135.04, Y:18.40, Z:14.02 [[ 9.71570841e-01 -2.10521078e-01 -1.08309628e-01 1.35036771e+02] [ 2.09701668e-01 9.77580197e-01 -1.90307264e-02 1.83973358e+01] [ 1.09887717e-01 -4.22301080e-03 9.93935036e-01 1.40185852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.34509989299997 meters 0.05354245360710263 Centerline is valid? [True, True] Translation: X:135.10, Y:18.41, Z:14.03 [[ 9.71717860e-01 -2.10088200e-01 -1.07830186e-01 1.35096936e+02] [ 2.09273407e-01 9.77673606e-01 -1.89462772e-02 1.84141284e+01] [ 1.09403117e-01 -4.15555461e-03 9.93988777e-01 1.40266398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.40509989299997 meters 0.0536562542622941 Centerline is valid? [True, True] Translation: X:135.16, Y:18.42, Z:14.03 [[ 9.71982294e-01 -2.08986480e-01 -1.07587506e-01 1.35155714e+02] [ 2.08169073e-01 9.77910242e-01 -1.88996409e-02 1.84248784e+01] [ 1.09160693e-01 -4.02627499e-03 9.94015962e-01 1.40323245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.46509989299997 meters 0.05430845594954345 Centerline is valid? [True, True] Translation: X:135.21, Y:18.44, Z:14.04 [[ 9.72547690e-01 -2.05715574e-01 -1.08775421e-01 1.35214710e+02] [ 2.04859696e-01 9.78604827e-01 -1.91075285e-02 1.84354450e+01] [ 1.10378868e-01 -3.70071711e-03 9.93882694e-01 1.40357694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52509989299998 meters 0.05367917374414326 Centerline is valid? [True, True] Translation: X:135.27, Y:18.45, Z:14.04 [[ 9.73994453e-01 -1.99498362e-01 -1.07402091e-01 1.35272823e+02] [ 1.98626276e-01 9.79893698e-01 -1.88664552e-02 1.84529842e+01] [ 1.09006459e-01 -2.95705466e-03 9.94036643e-01 1.40429229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58509989299998 meters 0.052628966014561004 Centerline is valid? [True, True] Translation: X:135.33, Y:18.47, Z:14.05 [[ 9.75319022e-01 -1.93590557e-01 -1.06186168e-01 1.35330438e+02] [ 1.92703174e-01 9.81079785e-01 -1.86531917e-02 1.84726730e+01] [ 1.07788185e-01 -2.26959898e-03 9.94171291e-01 1.40510363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64509989299998 meters 0.05184606420377371 Centerline is valid? [True, True] Translation: X:135.39, Y:18.49, Z:14.06 [[ 9.75760001e-01 -1.91597614e-01 -1.05748643e-01 1.35389917e+02] [ 1.90705899e-01 9.81471440e-01 -1.85761005e-02 1.84866642e+01] [ 1.07348410e-01 -2.04107429e-03 9.94219369e-01 1.40578179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.70509989299998 meters 0.05312276354010471 Centerline is valid? [True, True] Translation: X:135.45, Y:18.50, Z:14.06 [[ 9.76440100e-01 -1.87906955e-01 -1.06092916e-01 1.35449815e+02] [ 1.86987869e-01 9.82185461e-01 -1.86348503e-02 1.84963072e+01] [ 1.07704538e-01 -1.64227322e-03 9.94181591e-01 1.40628643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.76509989299998 meters 0.053299048388517185 Centerline is valid? [True, True] Translation: X:135.51, Y:18.51, Z:14.07 [[ 9.77179543e-01 -1.83388299e-01 -1.07186157e-01 1.35508244e+02] [ 1.82423177e-01 9.83039873e-01 -1.88253187e-02 1.85103822e+01] [ 1.08820609e-01 -1.15752288e-03 9.94060730e-01 1.40687779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.82509989299996 meters 0.0532690025337002 Centerline is valid? [True, True] Translation: X:135.57, Y:18.52, Z:14.07 [[ 9.77634213e-01 -1.80157596e-01 -1.08510763e-01 1.35565740e+02] [ 1.79148217e-01 9.83637430e-01 -1.90610459e-02 1.85230450e+01] [ 1.10169240e-01 -8.04779045e-04 9.93912517e-01 1.40746844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.88509989299996 meters 0.053269796651095914 Centerline is valid? [True, True] Translation: X:135.62, Y:18.53, Z:14.08 [[ 9.77928544e-01 -1.78576761e-01 -1.08471670e-01 1.35624098e+02] [ 1.77557129e-01 9.83925791e-01 -1.90657755e-02 1.85320219e+01] [ 1.10132778e-01 -6.14952323e-04 9.93916693e-01 1.40805791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.94509989299996 meters 0.05295733257434424 Centerline is valid? [True, True] Translation: X:135.68, Y:18.54, Z:14.09 [[ 9.78185992e-01 -1.78109073e-01 -1.06908011e-01 1.35680473e+02] [ 1.77115500e-01 9.84010597e-01 -1.87947950e-02 1.85400737e+01] [ 1.08546140e-01 -5.50260712e-04 9.94091260e-01 1.40879539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.00509989299997 meters 0.052845853279498894 Centerline is valid? [True, True] Translation: X:135.74, Y:18.55, Z:14.09 [[ 9.78068605e-01 -1.78917724e-01 -1.06631383e-01 1.35738241e+02] [ 1.77933418e-01 9.83863836e-01 -1.87523441e-02 1.85468333e+01] [ 1.08265889e-01 -6.32207416e-04 9.94121772e-01 1.40933624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.06509989299997 meters 0.053113991273483714 Centerline is valid? [True, True] Translation: X:135.80, Y:18.55, Z:14.10 [[ 9.77724207e-01 -1.80523425e-01 -1.07082529e-01 1.35796494e+02] [ 1.79539849e-01 9.83570353e-01 -1.88362381e-02 1.85521678e+01] [ 1.08723583e-01 -8.08935169e-04 9.94071692e-01 1.40989586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.12509989299997 meters 0.05352648587807021 Centerline is valid? [True, True] Translation: X:135.85, Y:18.56, Z:14.11 [[ 9.77207794e-01 -1.82945133e-01 -1.07684748e-01 1.35854566e+02] [ 1.81963766e-01 9.83122540e-01 -1.89541477e-02 1.85588029e+01] [ 1.09334872e-01 -1.07258141e-03 9.94004394e-01 1.41057352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.18509989299997 meters 0.053571172712178206 Centerline is valid? [True, True] Translation: X:135.91, Y:18.56, Z:14.11 [[ 9.76477199e-01 -1.86109228e-01 -1.08883582e-01 1.35913863e+02] [ 1.85124148e-01 9.82528018e-01 -1.91766415e-02 1.85638354e+01] [ 1.10550120e-01 -1.43142714e-03 9.93869520e-01 1.41111133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24509989299997 meters 0.054042787705665514 Centerline is valid? [True, True] Translation: X:135.97, Y:18.57, Z:14.12 [[ 9.76092167e-01 -1.88244285e-01 -1.08665411e-01 1.35971389e+02] [ 1.87276122e-01 9.82120821e-01 -1.91401832e-02 1.85669937e+01] [ 1.10325593e-01 -1.66785396e-03 9.93894100e-01 1.41155345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30509989299998 meters 0.05324492403694342 Centerline is valid? [True, True] Translation: X:136.03, Y:18.58, Z:14.12 [[ 9.75899724e-01 -1.89114663e-01 -1.08882382e-01 1.36029187e+02] [ 1.88147388e-01 9.81953426e-01 -1.91840742e-02 1.85754183e+01] [ 1.10545418e-01 -1.76420305e-03 9.93869508e-01 1.41210580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36509989299998 meters 0.05384170949230075 Centerline is valid? [True, True] Translation: X:136.09, Y:18.58, Z:14.13 [[ 9.75353141e-01 -1.92608983e-01 -1.07647711e-01 1.36088242e+02] [ 1.91683546e-01 9.81273289e-01 -1.89776538e-02 1.85806014e+01] [ 1.09287090e-01 -2.12438068e-03 9.94007957e-01 1.41284329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42509989299998 meters 0.053736483454361716 Centerline is valid? [True, True] Translation: X:136.15, Y:18.59, Z:14.13 [[ 9.74832572e-01 -1.94775742e-01 -1.08461364e-01 1.36146963e+02] [ 1.93849395e-01 9.80844906e-01 -1.91228442e-02 1.85870715e+01] [ 1.10108443e-01 -2.38359849e-03 9.93916722e-01 1.41344298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48509989299998 meters 0.05374420053207368 Centerline is valid? [True, True] Translation: X:136.21, Y:18.59, Z:14.14 [[ 9.73861715e-01 -1.98927616e-01 -1.09641063e-01 1.36207106e+02] [ 1.98006889e-01 9.80009948e-01 -1.93332119e-02 1.85946167e+01] [ 1.11295242e-01 -2.88181085e-03 9.93783208e-01 1.41406378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.54509989299999 meters 0.054695226300352444 Centerline is valid? [True, True] Translation: X:136.27, Y:18.60, Z:14.15 [[ 9.73200167e-01 -2.01576672e-01 -1.10671946e-01 1.36266998e+02] [ 2.00655624e-01 9.79467460e-01 -1.95144729e-02 1.86002832e+01] [ 1.12333233e-01 -3.21546019e-03 9.93665389e-01 1.41461287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.60509989299996 meters 0.05508956811438932 Centerline is valid? [True, True] Translation: X:136.33, Y:18.61, Z:14.15 [[ 9.72345312e-01 -2.04967891e-01 -1.11949805e-01 1.36326957e+02] [ 2.04047679e-01 9.78761898e-01 -1.97406122e-02 1.86068792e+01] [ 1.13618395e-01 -3.64840620e-03 9.93517765e-01 1.41517886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.66509989299996 meters 0.05457765190419073 Centerline is valid? [True, True] Translation: X:136.38, Y:18.62, Z:14.16 [[ 9.72145202e-01 -2.06386830e-01 -1.11077371e-01 1.36384199e+02] [ 2.05490020e-01 9.78463165e-01 -1.95879150e-02 1.86180262e+01] [ 1.12727803e-01 -3.78299359e-03 9.93618705e-01 1.41596684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.72509989299996 meters 0.0553486297091488 Centerline is valid? [True, True] Translation: X:136.44, Y:18.62, Z:14.16 [[ 9.71667844e-01 -2.08243900e-01 -1.11785865e-01 1.36443677e+02] [ 2.07346563e-01 9.78068694e-01 -1.97238881e-02 1.86248611e+01] [ 1.13441634e-01 -4.01334707e-03 9.93536556e-01 1.41649203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.78509989299997 meters 0.05545366995928472 Centerline is valid? [True, True] Translation: X:136.50, Y:18.64, Z:14.17 [[ 9.70938969e-01 -2.11964718e-01 -1.11123698e-01 1.36502217e+02] [ 2.11102142e-01 9.77267322e-01 -1.96078406e-02 1.86363853e+01] [ 1.12753729e-01 -4.42043406e-03 9.93613132e-01 1.41712291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.84509989299997 meters 0.05605907487902792 Centerline is valid? [True, True] Translation: X:136.56, Y:18.64, Z:14.18 [[ 9.70176731e-01 -2.17185088e-01 -1.07646408e-01 1.36562038e+02] [ 2.16407645e-01 9.76118304e-01 -1.89943908e-02 1.86420237e+01] [ 1.09200928e-01 -4.86758966e-03 9.94007779e-01 1.41792897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.90509989299997 meters 0.052562635006825675 Centerline is valid? [True, True] Translation: X:136.62, Y:18.67, Z:14.19 [[ 9.70060506e-01 -2.17868937e-01 -1.07311423e-01 1.36619762e+02] [ 2.17100432e-01 9.75965592e-01 -1.89358284e-02 1.86694540e+01] [ 1.08857785e-01 -4.92845712e-03 9.94045116e-01 1.41880723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.96509989299997 meters 0.061997832530784135 Centerline is valid? [True, True] Translation: X:136.68, Y:18.65, Z:14.19 [[ 9.69932504e-01 -2.18196277e-01 -1.07802237e-01 1.36683807e+02] [ 2.17423091e-01 9.75892141e-01 -1.90191599e-02 1.86487960e+01] [ 1.09353266e-01 -4.99139432e-03 9.93990417e-01 1.41906260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02509989299998 meters 0.05417776894036088 Centerline is valid? [True, True] Translation: X:136.74, Y:18.69, Z:14.20 [[ 9.69492068e-01 -2.19503533e-01 -1.09102378e-01 1.36738920e+02] [ 2.18719783e-01 9.75597839e-01 -1.92486910e-02 1.86859513e+01] [ 1.10665200e-01 -5.20139517e-03 9.93844132e-01 1.41991310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08509989299998 meters 0.052783898991607736 Centerline is valid? [True, True] Translation: X:136.80, Y:18.70, Z:14.21 [[ 9.69161430e-01 -2.20381842e-01 -1.10263172e-01 1.36797321e+02] [ 2.19587245e-01 9.75398944e-01 -1.94509930e-02 1.87037058e+01] [ 1.11837227e-01 -5.36123389e-03 9.93712077e-01 1.42062247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14509989299998 meters 0.052172892234951695 Centerline is valid? [True, True] Translation: X:136.86, Y:18.72, Z:14.21 [[ 9.68718293e-01 -2.22016031e-01 -1.10877184e-01 1.36856382e+02] [ 2.21223396e-01 9.75027032e-01 -1.95575080e-02 1.87188149e+01] [ 1.12450332e-01 -5.58291138e-03 9.93641663e-01 1.42141592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.20509989299998 meters 0.055504857939269105 Centerline is valid? [True, True] Translation: X:136.92, Y:18.71, Z:14.22 [[ 9.68369739e-01 -2.23616675e-01 -1.10705154e-01 1.36918485e+02] [ 2.22837099e-01 9.74660140e-01 -1.95253506e-02 1.87105474e+01] [ 1.12266095e-01 -5.76145665e-03 9.93661476e-01 1.42178954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.26509989299998 meters 0.056187056680507254 Centerline is valid? [True, True] Translation: X:136.98, Y:18.72, Z:14.22 [[ 9.68262996e-01 -2.24434707e-01 -1.09981053e-01 1.36977300e+02] [ 2.23670739e-01 9.74471754e-01 -1.93959089e-02 1.87193860e+01] [ 1.11526545e-01 -5.81920257e-03 9.93744417e-01 1.42245458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.32509989299996 meters 0.05758745658031185 Centerline is valid? [True, True] Translation: X:137.04, Y:18.73, Z:14.23 [[ 9.68199925e-01 -2.25282471e-01 -1.08796663e-01 1.37036385e+02] [ 2.24540015e-01 9.74275925e-01 -1.91886622e-02 1.87272386e+01] [ 1.10320838e-01 -5.85074286e-03 9.93878806e-01 1.42319534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.38509989299996 meters 0.05293865679315985 Centerline is valid? [True, True] Translation: X:137.09, Y:18.76, Z:14.24 [[ 9.68267860e-01 -2.24811056e-01 -1.09166575e-01 1.37093271e+02] [ 2.24060415e-01 9.74385020e-01 -1.92552202e-02 1.87587973e+01] [ 1.10699062e-01 -5.81569729e-03 9.93836956e-01 1.42404058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.44509989299996 meters 0.0576731701260885 Centerline is valid? [True, True] Translation: X:137.16, Y:18.75, Z:14.24 [[ 9.68149025e-01 -2.25053417e-01 -1.09719754e-01 1.37156548e+02] [ 2.24297088e-01 9.74328703e-01 -1.93492659e-02 1.87499505e+01] [ 1.11257724e-01 -5.87684840e-03 9.93774211e-01 1.42442983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.50509989299997 meters 0.055248577991175565 Centerline is valid? [True, True] Translation: X:137.21, Y:18.77, Z:14.25 [[ 9.68625992e-01 -2.23292532e-01 -1.09106061e-01 1.37213373e+02] [ 2.22533821e-01 9.74735133e-01 -1.92384622e-02 1.87725909e+01] [ 1.10645316e-01 -5.64491418e-03 9.93843926e-01 1.42529478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.56509989299997 meters 0.05483535202968541 Centerline is valid? [True, True] Translation: X:137.27, Y:18.79, Z:14.26 [[ 9.69168074e-01 -2.21608817e-01 -1.07716184e-01 1.37272226e+02] [ 2.20859136e-01 9.75120786e-01 -1.89919573e-02 1.87859397e+01] [ 1.09245075e-01 -5.38370455e-03 9.94000266e-01 1.42603423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.62509989299997 meters 0.05492137507887069 Centerline is valid? [True, True] Translation: X:137.33, Y:18.80, Z:14.27 [[ 9.70150655e-01 -2.18304230e-01 -1.05598151e-01 1.37331559e+02] [ 2.17564353e-01 9.75868399e-01 -1.86177433e-02 1.87958474e+01] [ 1.07114231e-01 -4.91237762e-03 9.94234585e-01 1.42678286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.68509989299997 meters 0.055035938216597045 Centerline is valid? [True, True] Translation: X:137.39, Y:18.81, Z:14.27 [[ 9.70636858e-01 -2.16405455e-01 -1.05036986e-01 1.37391578e+02] [ 2.15662437e-01 9.76292371e-01 -1.85180913e-02 1.88065094e+01] [ 1.06554224e-01 -4.67819039e-03 9.94295887e-01 1.42744754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74509989299997 meters 0.05583147739711861 Centerline is valid? [True, True] Translation: X:137.45, Y:18.81, Z:14.28 [[ 9.70540003e-01 -2.16517495e-01 -1.05698991e-01 1.37452289e+02] [ 2.15765810e-01 9.76267323e-01 -1.86340947e-02 1.88131265e+01] [ 1.07225079e-01 -4.72109419e-03 9.94223563e-01 1.42804028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80509989299998 meters 0.05672738931434532 Centerline is valid? [True, True] Translation: X:137.51, Y:18.82, Z:14.28 [[ 9.70241735e-01 -2.16650362e-01 -1.08136930e-01 1.37512112e+02] [ 2.15864641e-01 9.76237221e-01 -1.90616021e-02 1.88180686e+01] [ 1.09696999e-01 -4.84857765e-03 9.93953248e-01 1.42838323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.86509989299998 meters 0.05470680932866958 Centerline is valid? [True, True] Translation: X:137.57, Y:18.84, Z:14.29 [[ 9.70239260e-01 -2.16162956e-01 -1.09129996e-01 1.37570644e+02] [ 2.15359492e-01 9.76345320e-01 -1.92381235e-02 1.88388782e+01] [ 1.10707130e-01 -4.83659766e-03 9.93841305e-01 1.42907390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92509989299998 meters 0.05363701475798192 Centerline is valid? [True, True] Translation: X:137.63, Y:18.86, Z:14.30 [[ 9.70886559e-01 -2.12622613e-01 -1.10321865e-01 1.37628389e+02] [ 2.11778907e-01 9.77124109e-01 -1.94466137e-02 1.88590672e+01] [ 1.11932943e-01 -4.48338810e-03 9.93705648e-01 1.42978808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98509989299998 meters 0.05680307665630659 Centerline is valid? [True, True] Translation: X:137.69, Y:18.85, Z:14.30 [[ 9.71793266e-01 -2.08396764e-01 -1.10402160e-01 1.37689937e+02] [ 2.07524746e-01 9.78036190e-01 -1.94600015e-02 1.88524174e+01] [ 1.12032709e-01 -4.00008178e-03 9.93696468e-01 1.42999322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.04509989299999 meters 0.05405016958924679 Centerline is valid? [True, True] Translation: X:137.74, Y:18.88, Z:14.31 [[ 9.74501526e-01 -1.97002748e-01 -1.07409000e-01 1.37744992e+02] [ 1.96108239e-01 9.80399453e-01 -1.89333104e-02 1.88812210e+01] [ 1.09033639e-01 -2.61324997e-03 9.94034625e-01 1.43111862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.10509989299996 meters 0.053532731874381 Centerline is valid? [True, True] Translation: X:137.80, Y:18.89, Z:14.32 [[ 9.76132484e-01 -1.89968113e-01 -1.05249652e-01 1.37803394e+02] [ 1.89068404e-01 9.81788631e-01 -1.85532463e-02 1.88949677e+01] [ 1.06857437e-01 -1.78895736e-03 9.94272743e-01 1.43197610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.16509989299996 meters 0.05375536323394713 Centerline is valid? [True, True] Translation: X:137.86, Y:18.90, Z:14.33 [[ 9.76600625e-01 -1.87554951e-01 -1.05234782e-01 1.37861443e+02] [ 1.86641566e-01 9.82252928e-01 -1.85502351e-02 1.89037846e+01] [ 1.06846362e-01 -1.52501342e-03 9.94274373e-01 1.43258360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.22509989299996 meters 0.05368573500965294 Centerline is valid? [True, True] Translation: X:137.92, Y:18.91, Z:14.33 [[ 9.75988136e-01 -1.89756580e-01 -1.06956058e-01 1.37920127e+02] [ 1.88824969e-01 9.81829546e-01 -1.88646372e-02 1.89094650e+01] [ 1.08592307e-01 -1.78431229e-03 9.94084769e-01 1.43296542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.28509989299997 meters 0.054430670702966366 Centerline is valid? [True, True] Translation: X:137.98, Y:18.91, Z:14.33 [[ 9.75257126e-01 -1.92202647e-01 -1.09232232e-01 1.37979938e+02] [ 1.91245859e-01 9.81353015e-01 -1.92686762e-02 1.89137349e+01] [ 1.10898871e-01 -2.09829838e-03 9.93829481e-01 1.43330245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.34509989299997 meters 0.054326836378220084 Centerline is valid? [True, True] Translation: X:138.04, Y:18.92, Z:14.34 [[ 9.74051322e-01 -1.96718494e-01 -1.11918975e-01 1.38039604e+02] [ 1.95743520e-01 9.80456359e-01 -1.97434305e-02 1.89208851e+01] [ 1.13615569e-01 -2.67629964e-03 9.93521182e-01 1.43385604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.40509989299997 meters 0.05394163513862781 Centerline is valid? [True, True] Translation: X:138.10, Y:18.93, Z:14.35 [[ 9.74181257e-01 -1.96429098e-01 -1.11294600e-01 1.38097557e+02] [ 1.95463092e-01 9.80514511e-01 -1.96334828e-02 1.89348933e+01] [ 1.12982558e-01 -2.62741571e-03 9.93593498e-01 1.43469497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.46509989299997 meters 0.054235911269708295 Centerline is valid? [True, True] Translation: X:138.16, Y:18.95, Z:14.35 [[ 9.74871083e-01 -1.93729188e-01 -1.09978965e-01 1.38155800e+02] [ 1.92768618e-01 9.81052384e-01 -1.94030820e-02 1.89453434e+01] [ 1.11654069e-01 -2.28498952e-03 9.93744508e-01 1.43536080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52509989299998 meters 0.05350906752757602 Centerline is valid? [True, True] Translation: X:138.21, Y:18.96, Z:14.36 [[ 9.77059408e-01 -1.84474270e-01 -1.06415020e-01 1.38212827e+02] [ 1.83520171e-01 9.82836629e-01 -1.87751675e-02 1.89589955e+01] [ 1.08052115e-01 -1.18484873e-03 9.94144525e-01 1.43626958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.58509989299998 meters 0.05338147155987528 Centerline is valid? [True, True] Translation: X:138.27, Y:18.97, Z:14.37 [[ 9.78021298e-01 -1.79692774e-01 -1.05758438e-01 1.38270468e+02] [ 1.78722363e-01 9.83722564e-01 -1.86610112e-02 1.89695092e+01] [ 1.07390211e-01 -6.50531543e-04 9.94216737e-01 1.43690747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64509989299998 meters 0.05310771185500105 Centerline is valid? [True, True] Translation: X:138.33, Y:18.98, Z:14.37 [[ 9.78948565e-01 -1.73577018e-01 -1.07381219e-01 1.38327909e+02] [ 1.72538528e-01 9.84820297e-01 -1.89588630e-02 1.89794449e+01] [ 1.09042027e-01 3.23541878e-05 9.94037140e-01 1.43738648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.70509989299998 meters 0.05413472638368043 Centerline is valid? [True, True] Translation: X:138.39, Y:18.99, Z:14.38 [[ 9.78967282e-01 -1.71901176e-01 -1.09877413e-01 1.38386355e+02] [ 1.70801815e-01 9.85114171e-01 -1.94115909e-02 1.89869096e+01] [ 1.11578671e-01 2.36050807e-04 9.93755576e-01 1.43774882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.76509989299998 meters 0.05489097348803535 Centerline is valid? [True, True] Translation: X:138.44, Y:18.99, Z:14.38 [[ 9.78498871e-01 -1.73060496e-01 -1.12205273e-01 1.38444292e+02] [ 1.71920076e-01 9.84911189e-01 -1.98352413e-02 1.89895607e+01] [ 1.13944926e-01 1.18422115e-04 9.93487061e-01 1.43814659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.82509989299996 meters 0.05453384048022251 Centerline is valid? [True, True] Translation: X:138.50, Y:19.00, Z:14.39 [[ 9.78397106e-01 -1.73964908e-01 -1.11692947e-01 1.38502150e+02] [ 1.72840196e-01 9.84751852e-01 -1.97498392e-02 1.89974970e+01] [ 1.13425615e-01 1.81545811e-05 9.93546491e-01 1.43884825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.88509989299996 meters 0.05478893742045258 Centerline is valid? [True, True] Translation: X:138.56, Y:19.00, Z:14.40 [[ 9.78143513e-01 -1.77289466e-01 -1.08644896e-01 1.38560519e+02] [ 1.76244652e-01 9.84158689e-01 -1.92223028e-02 1.90015040e+01] [ 1.10331730e-01 -3.45911137e-04 9.93894758e-01 1.43984431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.94509989299996 meters 0.054793462509475505 Centerline is valid? [True, True] Translation: X:138.62, Y:19.00, Z:14.41 [[ 9.77415638e-01 -1.83306262e-01 -1.05154574e-01 1.38618988e+02] [ 1.82361216e-01 9.83055366e-01 -1.86154551e-02 1.90039115e+01] [ 1.06785097e-01 -9.81079009e-04 9.94281640e-01 1.44081004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.00509989299997 meters 0.05390925097780817 Centerline is valid? [True, True] Translation: X:138.68, Y:19.01, Z:14.41 [[ 9.76305824e-01 -1.89283584e-01 -1.04874514e-01 1.38678562e+02] [ 1.88376715e-01 9.81921129e-01 -1.85771137e-02 1.90070326e+01] [ 1.06494843e-01 -1.61897216e-03 9.94311937e-01 1.44146282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.06509989299997 meters 0.05493227128415589 Centerline is valid? [True, True] Translation: X:138.74, Y:19.00, Z:14.42 [[ 9.73892557e-01 -2.01025293e-01 -1.05461460e-01 1.38739408e+02] [ 2.00176480e-01 9.79581711e-01 -1.86828085e-02 1.90035871e+01] [ 1.07063835e-01 -2.91585579e-03 9.94247873e-01 1.44203458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.12509989299997 meters 0.054747644179716455 Centerline is valid? [True, True] Translation: X:138.80, Y:19.00, Z:14.43 [[ 9.71933627e-01 -2.09586518e-01 -1.06857456e-01 1.38799026e+02] [ 2.08766491e-01 9.77782290e-01 -1.89300036e-02 1.90040775e+01] [ 1.08450802e-01 -3.90954909e-03 9.94094130e-01 1.44252319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.18509989299997 meters 0.05723593916207699 Centerline is valid? [True, True] Translation: X:138.86, Y:19.00, Z:14.43 [[ 9.69143406e-01 -2.21034921e-01 -1.09108304e-01 1.38860760e+02] [ 2.20252056e-01 9.75251492e-01 -1.93276706e-02 1.89997245e+01] [ 1.10680127e-01 -5.30004378e-03 9.93841949e-01 1.44286800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24509989299997 meters 0.058944846795690786 Centerline is valid? [True, True] Translation: X:138.92, Y:19.00, Z:14.43 [[ 9.67408002e-01 -2.27571348e-01 -1.11054216e-01 1.38922173e+02] [ 2.26802986e-01 9.73741951e-01 -1.96727758e-02 1.89982860e+01] [ 1.12615109e-01 -6.15582705e-03 9.93619617e-01 1.44328332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30509989299998 meters 0.05659376720944442 Centerline is valid? [True, True] Translation: X:138.98, Y:19.02, Z:14.44 [[ 9.67113388e-01 -2.29070215e-01 -1.10537469e-01 1.38979000e+02] [ 2.28318687e-01 9.73389513e-01 -1.95814698e-02 1.90174434e+01] [ 1.12081544e-01 -6.30026814e-03 9.93679040e-01 1.44412389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36509989299998 meters 0.0627155606530928 Centerline is valid? [True, True] Translation: X:139.04, Y:19.01, Z:14.45 [[ 9.67568208e-01 -2.27697844e-01 -1.09386724e-01 1.39039925e+02] [ 2.26953154e-01 9.73712878e-01 -1.93777258e-02 1.90097977e+01] [ 1.10923528e-01 -6.07639061e-03 9.93810368e-01 1.44461477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42509989299998 meters 0.057374404589962506 Centerline is valid? [True, True] Translation: X:139.10, Y:19.04, Z:14.45 [[ 9.68023838e-01 -2.25866169e-01 -1.09152754e-01 1.39095673e+02] [ 2.25112906e-01 9.74140763e-01 -1.93378806e-02 1.90357677e+01] [ 1.10697920e-01 -5.85216426e-03 9.93836869e-01 1.44547152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48509989299998 meters 0.05343307051459026 Centerline is valid? [True, True] Translation: X:139.15, Y:19.07, Z:14.46 [[ 9.67734347e-01 -2.26558773e-01 -1.10278540e-01 1.39151507e+02] [ 2.25794325e-01 9.73979058e-01 -1.95375930e-02 1.90655993e+01] [ 1.11835401e-01 -5.99306859e-03 9.93708673e-01 1.44629876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.54509989299999 meters 0.058385218928177246 Centerline is valid? [True, True] Translation: X:139.21, Y:19.06, Z:14.47 [[ 9.67494864e-01 -2.27210010e-01 -1.11037380e-01 1.39212797e+02] [ 2.26439247e-01 9.73826613e-01 -1.96721737e-02 1.90576510e+01] [ 1.12600870e-01 -6.11049359e-03 9.93621510e-01 1.44650809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.60509989299996 meters 0.05593723449932538 Centerline is valid? [True, True] Translation: X:139.27, Y:19.08, Z:14.47 [[ 9.67510644e-01 -2.27101525e-01 -1.11121781e-01 1.39269013e+02] [ 2.26328580e-01 9.73851984e-01 -1.96897522e-02 1.90767062e+01] [ 1.12687740e-01 -6.09999010e-03 9.93611727e-01 1.44723942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.66509989299996 meters 0.058054171142857 Centerline is valid? [True, True] Translation: X:139.33, Y:19.08, Z:14.48 [[ 9.68245801e-01 -2.24683940e-01 -1.09622973e-01 1.39327350e+02] [ 2.23915049e-01 9.74414859e-01 -1.94353794e-02 1.90847351e+01] [ 1.11185072e-01 -5.72800888e-03 9.93783211e-01 1.44784105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.72509989299996 meters 0.05610873264157471 Centerline is valid? [True, True] Translation: X:139.38, Y:19.10, Z:14.49 [[ 9.69481649e-01 -2.19583641e-01 -1.09033739e-01 1.39384551e+02] [ 2.18790757e-01 9.75580277e-01 -1.93320455e-02 1.91048240e+01] [ 1.10616167e-01 -5.11351107e-03 9.93850047e-01 1.44856035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.78509989299997 meters 0.055899200893125355 Centerline is valid? [True, True] Translation: X:139.44, Y:19.12, Z:14.49 [[ 9.71678722e-01 -2.10255744e-01 -1.07856306e-01 1.39441912e+02] [ 2.09422588e-01 9.77638213e-01 -1.91233795e-02 1.91226213e+01] [ 1.09465247e-01 -4.00576585e-03 9.93982552e-01 1.44921219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.84509989299997 meters 0.05476761191727184 Centerline is valid? [True, True] Translation: X:139.50, Y:19.14, Z:14.50 [[ 9.73992708e-01 -1.99799689e-01 -1.06856392e-01 1.39498652e+02] [ 1.98919085e-01 9.79832757e-01 -1.89463808e-02 1.91440989e+01] [ 1.08486875e-01 -2.80213907e-03 9.94093932e-01 1.44997240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.90509989299997 meters 0.054299016921205784 Centerline is valid? [True, True] Translation: X:139.56, Y:19.17, Z:14.51 [[ 9.75734598e-01 -1.91010007e-01 -1.07038181e-01 1.39555458e+02] [ 1.90073576e-01 9.81586389e-01 -1.89788298e-02 1.91674241e+01] [ 1.08692368e-01 -1.82682889e-03 9.94073756e-01 1.45065896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.96509989299997 meters 0.0539315673931866 Centerline is valid? [True, True] Translation: X:139.61, Y:19.18, Z:14.51 [[ 9.76495373e-01 -1.86832596e-01 -1.07472635e-01 1.39613754e+02] [ 1.85863370e-01 9.82390813e-01 -1.90551230e-02 1.91788552e+01] [ 1.09140248e-01 -1.36798681e-03 9.94025420e-01 1.45115130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02509989299998 meters 0.05430919827500896 Centerline is valid? [True, True] Translation: X:139.67, Y:19.19, Z:14.52 [[ 9.77648137e-01 -1.81232577e-01 -1.06578011e-01 1.39672068e+02] [ 1.80246015e-01 9.83439990e-01 -1.88986709e-02 1.91922541e+01] [ 1.08238133e-01 -7.34011348e-04 9.94124724e-01 1.45168444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08509989299998 meters 0.053573522830697114 Centerline is valid? [True, True] Translation: X:139.73, Y:19.20, Z:14.52 [[ 9.77559717e-01 -1.81348900e-01 -1.07189439e-01 1.39729213e+02] [ 1.80351631e-01 9.83418534e-01 -1.90072815e-02 1.92024854e+01] [ 1.08859030e-01 -7.51037355e-04 9.94056914e-01 1.45223290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14509989299998 meters 0.05355089149849812 Centerline is valid? [True, True] Translation: X:139.79, Y:19.21, Z:14.53 [[ 9.76530653e-01 -1.87278195e-01 -1.06370865e-01 1.39787743e+02] [ 1.86330719e-01 9.82305923e-01 -1.88662637e-02 1.92113309e+01] [ 1.08021970e-01 -1.39667494e-03 9.94147526e-01 1.45305211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.20509989299998 meters 0.05403222885352094 Centerline is valid? [True, True] Translation: X:139.85, Y:19.21, Z:14.54 [[ 9.75193202e-01 -1.94003726e-01 -1.06586927e-01 1.39847651e+02] [ 1.93092188e-01 9.80998450e-01 -1.89063096e-02 1.92135547e+01] [ 1.08229505e-01 -2.14379836e-03 9.94123623e-01 1.45358141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.26509989299998 meters 0.054882770560383515 Centerline is valid? [True, True] Translation: X:139.91, Y:19.22, Z:14.54 [[ 9.72703807e-01 -2.05839815e-01 -1.07132040e-01 1.39907867e+02] [ 2.04990232e-01 9.78579524e-01 -1.90031798e-02 1.92154244e+01] [ 1.08748832e-01 -3.47655635e-03 9.94063180e-01 1.45416949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.32509989299996 meters 0.05578574246157748 Centerline is valid? [True, True] Translation: X:139.97, Y:19.22, Z:14.55 [[ 9.70272964e-01 -2.17052172e-01 -1.07045457e-01 1.39968449e+02] [ 2.16271646e-01 9.76148560e-01 -1.89885139e-02 1.92184152e+01] [ 1.08613767e-01 -4.72685549e-03 9.94072787e-01 1.45478405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38509989299996 meters 0.05855427544651008 Centerline is valid? [True, True] Translation: X:140.03, Y:19.22, Z:14.55 [[ 9.69670289e-01 -2.19772607e-01 -1.06955743e-01 1.40029800e+02] [ 2.19009794e-01 9.75538176e-01 -1.89730619e-02 1.92183525e+01] [ 1.08509169e-01 -5.02674074e-03 9.94082739e-01 1.45530157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.44509989299996 meters 0.057590735318271906 Centerline is valid? [True, True] Translation: X:140.09, Y:19.23, Z:14.56 [[ 9.68340336e-01 -2.26400489e-01 -1.05165638e-01 1.40088895e+02] [ 2.25701807e-01 9.74017792e-01 -1.86557251e-02 1.92296186e+01] [ 1.06656867e-01 -5.67098327e-03 9.94279715e-01 1.45610291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.50509989299997 meters 0.06070576333235999 Centerline is valid? [True, True] Translation: X:140.15, Y:19.23, Z:14.57 [[ 9.68058235e-01 -2.27885703e-01 -1.04553142e-01 1.40149247e+02] [ 2.27203714e-01 9.73670615e-01 -1.85473766e-02 1.92308014e+01] [ 1.06027004e-01 -5.79992143e-03 9.94346336e-01 1.45673220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.56509989299997 meters 0.0562458374351749 Centerline is valid? [True, True] Translation: X:140.20, Y:19.25, Z:14.57 [[ 9.68026870e-01 -2.27870520e-01 -1.04876141e-01 1.40204978e+02] [ 2.27184110e-01 9.73674077e-01 -1.86057144e-02 1.92503716e+01] [ 1.06354874e-01 -5.81536132e-03 9.94311230e-01 1.45732578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.62509989299997 meters 0.056706315460844564 Centerline is valid? [True, True] Translation: X:140.26, Y:19.26, Z:14.58 [[ 9.68316474e-01 -2.26030009e-01 -1.06177407e-01 1.40264460e+02] [ 2.25314258e-01 9.74103821e-01 -1.88475831e-02 1.92610722e+01] [ 1.07687937e-01 -5.67285838e-03 9.94168561e-01 1.45782461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.68509989299997 meters 0.05354934848909425 Centerline is valid? [True, True] Translation: X:140.32, Y:19.29, Z:14.58 [[ 9.68739271e-01 -2.23054623e-01 -1.08585725e-01 1.40320695e+02] [ 2.22287481e-01 9.74790627e-01 -1.92745759e-02 1.92875243e+01] [ 1.10147630e-01 -5.46520865e-03 9.93900212e-01 1.45841954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74509989299997 meters 0.057831812767196705 Centerline is valid? [True, True] Translation: X:140.38, Y:19.28, Z:14.59 [[ 9.69033970e-01 -2.21313631e-01 -1.09514578e-01 1.40381532e+02] [ 2.20522220e-01 9.75188213e-01 -1.94396234e-02 1.92806371e+01] [ 1.11099579e-01 -5.31274236e-03 9.93795079e-01 1.45871663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80509989299998 meters 0.05877987534374435 Centerline is valid? [True, True] Translation: X:140.44, Y:19.29, Z:14.59 [[ 9.69987825e-01 -2.17031846e-01 -1.09639400e-01 1.40440447e+02] [ 2.16211110e-01 9.76152599e-01 -1.94643154e-02 1.92910600e+01] [ 1.11249162e-01 -4.82510746e-03 9.93780832e-01 1.45929280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86509989299998 meters 0.0566363975908952 Centerline is valid? [True, True] Translation: X:140.50, Y:19.31, Z:14.60 [[ 9.71248477e-01 -2.11668546e-01 -1.08962486e-01 1.40497150e+02] [ 2.10824275e-01 9.77332555e-01 -1.93443148e-02 1.93127394e+01] [ 1.10587167e-01 -4.18380075e-03 9.93857623e-01 1.46004439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92509989299998 meters 0.05410566897388494 Centerline is valid? [True, True] Translation: X:140.55, Y:19.34, Z:14.61 [[ 9.73285767e-01 -2.02159465e-01 -1.08841019e-01 1.40553332e+02] [ 2.01257670e-01 9.79347719e-01 -1.93234624e-02 1.93392638e+01] [ 1.10499625e-01 -3.09783898e-03 9.93871338e-01 1.46088238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98509989299998 meters 0.05363186496931416 Centerline is valid? [True, True] Translation: X:140.61, Y:19.36, Z:14.61 [[ 9.74977718e-01 -1.93974622e-01 -1.08592337e-01 1.40610961e+02] [ 1.93026279e-01 9.81004160e-01 -1.92793561e-02 1.93561233e+01] [ 1.10269240e-01 -2.16423203e-03 9.93899397e-01 1.46145671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04509989299996 meters 0.053931189264237664 Centerline is valid? [True, True] Translation: X:140.67, Y:19.37, Z:14.62 [[ 9.76211182e-01 -1.88628105e-01 -1.06916635e-01 1.40668813e+02] [ 1.87676861e-01 9.82047392e-01 -1.89819653e-02 1.93736909e+01] [ 1.08577735e-01 -1.53537164e-03 9.94086776e-01 1.46221447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.10509989299996 meters 0.05351800821914608 Centerline is valid? [True, True] Translation: X:140.73, Y:19.39, Z:14.63 [[ 9.76446524e-01 -1.87265713e-01 -1.07162211e-01 1.40726054e+02] [ 1.86301812e-01 9.82308318e-01 -1.90264003e-02 1.93866155e+01] [ 1.08829323e-01 -1.38625154e-03 9.94059483e-01 1.46281645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.16509989299996 meters 0.05358122056017094 Centerline is valid? [True, True] Translation: X:140.78, Y:19.40, Z:14.63 [[ 9.76708230e-01 -1.85675405e-01 -1.07543844e-01 1.40782952e+02] [ 1.84693678e-01 9.82610401e-01 -1.91061477e-02 1.94003792e+01] [ 1.09221241e-01 -1.20153642e-03 9.94016739e-01 1.46339577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.22509989299996 meters 0.05347861041588676 Centerline is valid? [True, True] Translation: X:140.84, Y:19.41, Z:14.64 [[ 9.76850261e-01 -1.84783909e-01 -1.07789033e-01 1.40840340e+02] [ 1.83790957e-01 9.82778568e-01 -1.91616930e-02 1.94129125e+01] [ 1.09473524e-01 -1.09254476e-03 9.93989112e-01 1.46398638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.28509989299997 meters 0.05396264941057126 Centerline is valid? [True, True] Translation: X:140.90, Y:19.42, Z:14.65 [[ 9.77179841e-01 -1.83276487e-01 -1.07374521e-01 1.40898139e+02] [ 1.82280813e-01 9.83060987e-01 -1.90997607e-02 1.94238843e+01] [ 1.09056239e-01 -9.08413890e-04 9.94035166e-01 1.46457420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.34509989299997 meters 0.05398445515955266 Centerline is valid? [True, True] Translation: X:140.96, Y:19.44, Z:14.65 [[ 9.77532715e-01 -1.81303862e-01 -1.07511394e-01 1.40955084e+02] [ 1.80292535e-01 9.83426891e-01 -1.91351044e-02 1.94370216e+01] [ 1.09198864e-01 -6.78311253e-04 9.94019692e-01 1.46524396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.40509989299997 meters 0.0535217140587617 Centerline is valid? [True, True] Translation: X:141.01, Y:19.45, Z:14.66 [[ 9.78058901e-01 -1.78253714e-01 -1.07825782e-01 1.41011996e+02] [ 1.77216639e-01 9.83984505e-01 -1.92030257e-02 1.94505354e+01] [ 1.09521909e-01 -3.26832359e-04 9.93984328e-01 1.46581618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.46509989299997 meters 0.05305449531822722 Centerline is valid? [True, True] Translation: X:141.07, Y:19.46, Z:14.66 [[ 9.78984600e-01 -1.73107715e-01 -1.07809427e-01 1.41066765e+02] [ 1.72038545e-01 9.84902864e-01 -1.92116644e-02 1.94642181e+01] [ 1.09507501e-01 2.60546625e-04 9.93985935e-01 1.46627284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52509989299998 meters 0.054094104620291024 Centerline is valid? [True, True] Translation: X:141.12, Y:19.47, Z:14.67 [[ 9.79330217e-01 -1.71221565e-01 -1.07682410e-01 1.41123958e+02] [ 1.70142821e-01 9.85232433e-01 -1.91956413e-02 1.94733386e+01] [ 1.09378911e-01 4.77482422e-04 9.94000013e-01 1.46722021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58509989299998 meters 0.05381744536226804 Centerline is valid? [True, True] Translation: X:141.18, Y:19.48, Z:14.68 [[ 9.79385025e-01 -1.71108439e-01 -1.07363285e-01 1.41183044e+02] [ 1.70034207e-01 9.85252076e-01 -1.91498333e-02 1.94831789e+01] [ 1.09056598e-01 4.99628891e-04 9.94035416e-01 1.46784896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64509989299998 meters 0.05342719217861914 Centerline is valid? [True, True] Translation: X:141.24, Y:19.49, Z:14.68 [[ 9.78826646e-01 -1.74672625e-01 -1.06713971e-01 1.41241306e+02] [ 1.73632464e-01 9.84626560e-01 -1.90342838e-02 1.94898881e+01] [ 1.08398179e-01 1.02254446e-04 9.94107552e-01 1.46829501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.70509989299998 meters 0.05388689545286673 Centerline is valid? [True, True] Translation: X:141.30, Y:19.49, Z:14.69 [[ 9.78218439e-01 -1.78734399e-01 -1.05558988e-01 1.41298250e+02] [ 1.77739556e-01 9.83897302e-01 -1.88347957e-02 1.94945261e+01] [ 1.07225629e-01 -3.37463132e-04 9.94234656e-01 1.46891504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.76509989299998 meters 0.053574897786824505 Centerline is valid? [True, True] Translation: X:141.36, Y:19.50, Z:14.70 [[ 9.77421513e-01 -1.83556662e-01 -1.04662013e-01 1.41357294e+02] [ 1.82605234e-01 9.83008764e-01 -1.86841760e-02 1.94982741e+01] [ 1.06313281e-01 -8.49515831e-04 9.94332321e-01 1.46959800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82509989299996 meters 0.054141359623047364 Centerline is valid? [True, True] Translation: X:141.42, Y:19.50, Z:14.70 [[ 9.76438950e-01 -1.89058507e-01 -1.04037773e-01 1.41416206e+02] [ 1.88148319e-01 9.81964786e-01 -1.85841078e-02 1.95027823e+01] [ 1.05674913e-01 -1.42828541e-03 9.94399705e-01 1.47029656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.88509989299996 meters 0.05406751416986289 Centerline is valid? [True, True] Translation: X:141.48, Y:19.50, Z:14.71 [[ 9.74496774e-01 -1.98670705e-01 -1.04335944e-01 1.41477254e+02] [ 1.97809828e-01 9.80063176e-01 -1.86398173e-02 1.95039111e+01] [ 1.05959002e-01 -2.47423326e-03 9.94367421e-01 1.47092878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.94509989299996 meters 0.05422135994897922 Centerline is valid? [True, True] Translation: X:141.54, Y:19.51, Z:14.71 [[ 9.73004101e-01 -2.05288837e-01 -1.05449098e-01 1.41536299e+02] [ 2.04448127e-01 9.78696106e-01 -1.88386573e-02 1.95092026e+01] [ 1.07069987e-01 -3.22877962e-03 9.94246244e-01 1.47138113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.00509989299997 meters 0.054990716171281644 Centerline is valid? [True, True] Translation: X:141.60, Y:19.51, Z:14.72 [[ 9.71610133e-01 -2.11661167e-01 -1.05703828e-01 1.41596855e+02] [ 2.10853721e-01 9.77335172e-01 -1.88857067e-02 1.95122540e+01] [ 1.07305440e-01 -3.93850144e-03 9.94218301e-01 1.47189077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.06509989299997 meters 0.055336203044143904 Centerline is valid? [True, True] Translation: X:141.66, Y:19.51, Z:14.72 [[ 9.69582098e-01 -2.20781683e-01 -1.05669315e-01 1.41657733e+02] [ 2.20028550e-01 9.75310718e-01 -1.88796415e-02 1.95144014e+01] [ 1.07228695e-01 -4.94490388e-03 9.94222085e-01 1.47244141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.12509989299997 meters 0.05533896616021881 Centerline is valid? [True, True] Translation: X:141.72, Y:19.52, Z:14.73 [[ 9.68566741e-01 -2.25047306e-01 -1.05981968e-01 1.41716937e+02] [ 2.24315089e-01 9.74332690e-01 -1.89354107e-02 1.95231976e+01] [ 1.07523059e-01 -5.43314560e-03 9.94187745e-01 1.47297066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.18509989299997 meters 0.059246227195343774 Centerline is valid? [True, True] Translation: X:141.78, Y:19.52, Z:14.74 [[ 9.67727232e-01 -2.28946804e-01 -1.05296560e-01 1.41778435e+02] [ 2.28246912e-01 9.73421493e-01 -1.88134186e-02 1.95186327e+01] [ 1.06805207e-01 -5.82735719e-03 9.94262888e-01 1.47352318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24509989299997 meters 0.06165682295089514 Centerline is valid? [True, True] Translation: X:141.84, Y:19.52, Z:14.74 [[ 9.67649238e-01 -2.29644740e-01 -1.04490411e-01 1.41837457e+02] [ 2.28959522e-01 9.73256890e-01 -1.86698337e-02 1.95227608e+01] [ 1.05983441e-01 -5.85822410e-03 9.94350638e-01 1.47419272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30509989299998 meters 0.059081217146251225 Centerline is valid? [True, True] Translation: X:141.90, Y:19.54, Z:14.75 [[ 9.67979112e-01 -2.28738357e-01 -1.03417614e-01 1.41895047e+02] [ 2.28061755e-01 9.73471268e-01 -1.84804413e-02 1.95399344e+01] [ 1.04901262e-01 -5.69692145e-03 9.94466324e-01 1.47494785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36509989299998 meters 0.05553639076569028 Centerline is valid? [True, True] Translation: X:141.95, Y:19.56, Z:14.76 [[ 9.68300275e-01 -2.27485287e-01 -1.03174716e-01 1.41951322e+02] [ 2.26804786e-01 9.73765713e-01 -1.84370420e-02 1.95626721e+01] [ 1.04662156e-01 -5.54792654e-03 9.94492360e-01 1.47558745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42509989299998 meters 0.055212533069131355 Centerline is valid? [True, True] Translation: X:142.01, Y:19.57, Z:14.76 [[ 9.68962330e-01 -2.24232014e-01 -1.04076931e-01 1.42010057e+02] [ 2.23520791e-01 9.74521693e-01 -1.85990789e-02 1.95741114e+01] [ 1.05595736e-01 -5.24155126e-03 9.94395327e-01 1.47611959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48509989299998 meters 0.06066863564204077 Centerline is valid? [True, True] Translation: X:142.07, Y:19.57, Z:14.77 [[ 9.69494616e-01 -2.21286956e-01 -1.05414763e-01 1.42071294e+02] [ 2.20539819e-01 9.75196007e-01 -1.88397569e-02 1.95722612e+01] [ 1.06969049e-01 -4.98310996e-03 9.94249864e-01 1.47653394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54509989299996 meters 0.05471115807072235 Centerline is valid? [True, True] Translation: X:142.13, Y:19.60, Z:14.77 [[ 9.70251338e-01 -2.18231110e-01 -1.04821391e-01 1.42126188e+02] [ 2.17474580e-01 9.75886184e-01 -1.87339881e-02 1.96016490e+01] [ 1.06382086e-01 -4.61931104e-03 9.94314595e-01 1.47728178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.60509989299996 meters 0.05399120070910389 Centerline is valid? [True, True] Translation: X:142.18, Y:19.62, Z:14.78 [[ 9.70716597e-01 -2.16353517e-01 -1.04405191e-01 1.42183738e+02] [ 2.15591979e-01 9.76305203e-01 -1.86614529e-02 1.96209500e+01] [ 1.05968802e-01 -4.39393962e-03 9.94359747e-01 1.47795658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.66509989299996 meters 0.055672291841033346 Centerline is valid? [True, True] Translation: X:142.24, Y:19.63, Z:14.79 [[ 9.71861011e-01 -2.11459615e-01 -1.03783456e-01 1.42242895e+02] [ 2.10678966e-01 9.77379218e-01 -1.85536327e-02 1.96280077e+01] [ 1.05359137e-01 -3.83343894e-03 9.94426848e-01 1.47858253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.72509989299996 meters 0.05418965690022658 Centerline is valid? [True, True] Translation: X:142.30, Y:19.65, Z:14.79 [[ 9.72943156e-01 -2.06912827e-01 -1.02804170e-01 1.42299639e+02] [ 2.06121484e-01 9.78353790e-01 -1.83792288e-02 1.96469948e+01] [ 1.04381747e-01 -3.30820318e-03 9.94531803e-01 1.47928366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.78509989299997 meters 0.05455710636469117 Centerline is valid? [True, True] Translation: X:142.36, Y:19.66, Z:14.80 [[ 9.74066664e-01 -2.01612944e-01 -1.02695446e-01 1.42357314e+02] [ 2.00793761e-01 9.79461452e-01 -1.83610654e-02 1.96566598e+01] [ 1.04288060e-01 -2.73570317e-03 9.94543371e-01 1.47987912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.84509989299997 meters 0.05387302546667165 Centerline is valid? [True, True] Translation: X:142.41, Y:19.67, Z:14.80 [[ 9.74633149e-01 -1.98648109e-01 -1.03097790e-01 1.42414816e+02] [ 1.97805722e-01 9.80067877e-01 -1.84350892e-02 1.96737724e+01] [ 1.04704928e-01 -2.42588387e-03 9.94500374e-01 1.48035756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.90509989299997 meters 0.05411287677151532 Centerline is valid? [True, True] Translation: X:142.47, Y:19.68, Z:14.81 [[ 9.75047210e-01 -1.95999321e-01 -1.04245883e-01 1.42472203e+02] [ 1.95122551e-01 9.80601648e-01 -1.86439876e-02 1.96840107e+01] [ 1.05877894e-01 -2.16195453e-03 9.94376789e-01 1.48083685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.96509989299997 meters 0.05290272368965066 Centerline is valid? [True, True] Translation: X:142.53, Y:19.70, Z:14.82 [[ 9.76094360e-01 -1.90049230e-01 -1.05456585e-01 1.42529635e+02] [ 1.89117070e-01 9.81773366e-01 -1.88624171e-02 1.97023054e+01] [ 1.07119255e-01 -1.53214152e-03 9.94244999e-01 1.48152615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02509989299998 meters 0.0532465451965872 Centerline is valid? [True, True] Translation: X:142.59, Y:19.72, Z:14.82 [[ 9.76962061e-01 -1.85869735e-01 -1.04869317e-01 1.42587862e+02] [ 1.84923888e-01 9.82573815e-01 -1.87577388e-02 1.97151283e+01] [ 1.06528341e-01 -1.06724268e-03 9.94309094e-01 1.48221913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08509989299998 meters 0.05333476066096355 Centerline is valid? [True, True] Translation: X:142.64, Y:19.73, Z:14.83 [[ 9.78237461e-01 -1.79023120e-01 -1.04891336e-01 1.42644669e+02] [ 1.78037119e-01 9.83844816e-01 -1.87659825e-02 1.97299490e+01] [ 1.06556342e-01 -3.16964358e-04 9.94306615e-01 1.48285589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14509989299998 meters 0.053207800679891996 Centerline is valid? [True, True] Translation: X:142.70, Y:19.74, Z:14.84 [[ 9.78616156e-01 -1.76912596e-01 -1.04939755e-01 1.42700470e+02] [ 1.75912390e-01 9.84226563e-01 -1.87857325e-02 1.97416532e+01] [ 1.06607927e-01 -7.61816568e-05 9.94301134e-01 1.48351030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.20509989299998 meters 0.05401231035210382 Centerline is valid? [True, True] Translation: X:142.76, Y:19.75, Z:14.84 [[ 9.79307029e-01 -1.72633798e-01 -1.05618724e-01 1.42757873e+02] [ 1.71595256e-01 9.84985997e-01 -1.89117360e-02 1.97546999e+01] [ 1.07297769e-01 3.96723949e-04 9.94226851e-01 1.48402670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.26509989299998 meters 0.05362562468497093 Centerline is valid? [True, True] Translation: X:142.81, Y:19.76, Z:14.85 [[ 9.79267210e-01 -1.72987913e-01 -1.05408315e-01 1.42813619e+02] [ 1.71954815e-01 9.84923880e-01 -1.88810052e-02 1.97638323e+01] [ 1.07085353e-01 3.64081945e-04 9.94249765e-01 1.48461978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.32509989299996 meters 0.053747077406532784 Centerline is valid? [True, True] Translation: X:142.87, Y:19.77, Z:14.85 [[ 9.78349244e-01 -1.78192684e-01 -1.05262173e-01 1.42872391e+02] [ 1.77191435e-01 9.83995594e-01 -1.88644163e-02 1.97680611e+01] [ 1.06939015e-01 -1.95568054e-04 9.94265562e-01 1.48518575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.38509989299996 meters 0.05338161821465944 Centerline is valid? [True, True] Translation: X:142.93, Y:19.77, Z:14.86 [[ 9.77246523e-01 -1.84563080e-01 -1.04526082e-01 1.42930951e+02] [ 1.83610934e-01 9.82820280e-01 -1.87435625e-02 1.97720941e+01] [ 1.06189722e-01 -8.75050177e-04 9.94345502e-01 1.48583786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.44509989299996 meters 0.053486779269097375 Centerline is valid? [True, True] Translation: X:142.99, Y:19.77, Z:14.87 [[ 9.75827166e-01 -1.92696385e-01 -1.03099198e-01 1.42990316e+02] [ 1.91814075e-01 9.81256914e-01 -1.84994182e-02 1.97741036e+01] [ 1.04731572e-01 -1.72364256e-03 9.94499033e-01 1.48652400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.50509989299997 meters 0.054655066802909734 Centerline is valid? [True, True] Translation: X:143.05, Y:19.77, Z:14.87 [[ 9.73287636e-01 -2.05038878e-01 -1.03296831e-01 1.43051762e+02] [ 2.04222097e-01 9.78749064e-01 -1.85365640e-02 1.97692104e+01] [ 1.04902393e-01 -3.05408682e-03 9.94477833e-01 1.48697976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.56509989299997 meters 0.05368396027067547 Centerline is valid? [True, True] Translation: X:143.11, Y:19.78, Z:14.88 [[ 9.70828047e-01 -2.16259123e-01 -1.03561066e-01 1.43111644e+02] [ 2.15501522e-01 9.76326643e-01 -1.85844085e-02 1.97763886e+01] [ 1.05128476e-01 -4.27530243e-03 9.94449458e-01 1.48758212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.62509989299997 meters 0.05640382838147615 Centerline is valid? [True, True] Translation: X:143.17, Y:19.78, Z:14.88 [[ 9.69418474e-01 -2.22273209e-01 -1.04030967e-01 1.43172110e+02] [ 2.21543088e-01 9.74971859e-01 -1.86690687e-02 1.97753217e+01] [ 1.05576899e-01 -4.94920159e-03 9.94398825e-01 1.48823542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.68509989299997 meters 0.055608126669332666 Centerline is valid? [True, True] Translation: X:143.23, Y:19.79, Z:14.89 [[ 9.68097074e-01 -2.27575191e-01 -1.04869383e-01 1.43231422e+02] [ 2.26864064e-01 9.73744573e-01 -1.88202786e-02 1.97867192e+01] [ 1.06399021e-01 -5.57123774e-03 9.94307905e-01 1.48883600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74509989299997 meters 0.05261743249348313 Centerline is valid? [True, True] Translation: X:143.29, Y:19.81, Z:14.89 [[ 9.67011265e-01 -2.31748415e-01 -1.05744430e-01 1.43288077e+02] [ 2.31050150e-01 9.72756749e-01 -1.89772338e-02 1.98100690e+01] [ 1.07261552e-01 -6.08106774e-03 9.94212241e-01 1.48945592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80509989299998 meters 0.058753163540092995 Centerline is valid? [True, True] Translation: X:143.35, Y:19.80, Z:14.90 [[ 9.66277124e-01 -2.34570256e-01 -1.06232364e-01 1.43351093e+02] [ 2.33882491e-01 9.72077941e-01 -1.90645309e-02 1.97955482e+01] [ 1.07738110e-01 -6.42426997e-03 9.94158553e-01 1.48989413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.86509989299998 meters 0.054123953416204636 Centerline is valid? [True, True] Translation: X:143.41, Y:19.82, Z:14.91 [[ 9.66005205e-01 -2.35758547e-01 -1.06074745e-01 1.43406944e+02] [ 2.35079880e-01 9.71789613e-01 -1.90367547e-02 1.98217814e+01] [ 1.07570413e-01 -6.54643423e-03 9.94175915e-01 1.49068168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92509989299998 meters 0.053652610081085586 Centerline is valid? [True, True] Translation: X:143.47, Y:19.83, Z:14.91 [[ 9.66514574e-01 -2.33301214e-01 -1.06864970e-01 1.43465749e+02] [ 2.32597380e-01 9.72383983e-01 -1.91794047e-02 1.98348860e+01] [ 1.08388364e-01 -6.31933790e-03 9.94088542e-01 1.49126216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98509989299998 meters 0.05850448632026444 Centerline is valid? [True, True] Translation: X:143.53, Y:19.83, Z:14.92 [[ 9.67276916e-01 -2.30123187e-01 -1.06858253e-01 1.43526384e+02] [ 2.29400128e-01 9.73143241e-01 -1.91784446e-02 1.98294653e+01] [ 1.08401792e-01 -5.96243024e-03 9.94089282e-01 1.49174014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04509989299996 meters 0.06016905147762346 Centerline is valid? [True, True] Translation: X:143.59, Y:19.84, Z:14.92 [[ 9.68579589e-01 -2.25023245e-01 -1.05915620e-01 1.43585146e+02] [ 2.24282297e-01 9.74338757e-01 -1.90114926e-02 1.98396534e+01] [ 1.07475722e-01 -5.34085498e-03 9.94193364e-01 1.49243802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.10509989299996 meters 0.05601605239589031 Centerline is valid? [True, True] Translation: X:143.64, Y:19.86, Z:14.93 [[ 9.69395659e-01 -2.21303372e-01 -1.06286751e-01 1.43641600e+02] [ 2.20534912e-01 9.75192474e-01 -1.90785508e-02 1.98631977e+01] [ 1.07872188e-01 -4.94527498e-03 9.94152471e-01 1.49311175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.16509989299996 meters 0.05602087432635817 Centerline is valid? [True, True] Translation: X:143.70, Y:19.88, Z:14.94 [[ 9.70318162e-01 -2.16964356e-01 -1.06813543e-01 1.43699498e+02] [ 2.16161717e-01 9.76169238e-01 -1.91763194e-02 1.98782849e+01] [ 1.08428673e-01 -4.48186793e-03 9.94094128e-01 1.49370147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.22509989299996 meters 0.057466866683944476 Centerline is valid? [True, True] Translation: X:143.76, Y:19.89, Z:14.94 [[ 9.71972519e-01 -2.09582362e-01 -1.06511291e-01 1.43758154e+02] [ 2.08739959e-01 9.77784199e-01 -1.91230289e-02 1.98901081e+01] [ 1.08152906e-01 -3.64610378e-03 9.94127585e-01 1.49425065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.28509989299997 meters 0.054898695574524405 Centerline is valid? [True, True] Translation: X:143.81, Y:19.91, Z:14.95 [[ 9.73192308e-01 -2.03820665e-01 -1.06554528e-01 1.43814779e+02] [ 2.02943091e-01 9.79003626e-01 -1.91311901e-02 1.99130713e+01] [ 1.08216601e-01 -3.00617816e-03 9.94122794e-01 1.49493674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.34509989299997 meters 0.05355664641055035 Centerline is valid? [True, True] Translation: X:143.87, Y:19.93, Z:14.96 [[ 9.74435394e-01 -1.97814380e-01 -1.06513540e-01 1.43871517e+02] [ 1.96901659e-01 9.80236710e-01 -1.91240586e-02 1.99333399e+01] [ 1.08191496e-01 -2.33753311e-03 9.94127324e-01 1.49556679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.40509989299997 meters 0.05374670898462658 Centerline is valid? [True, True] Translation: X:143.93, Y:19.95, Z:14.96 [[ 9.75694466e-01 -1.91958284e-01 -1.05699221e-01 1.43929592e+02] [ 1.91025076e-01 9.81401659e-01 -1.89790392e-02 1.99500265e+01] [ 1.07376575e-01 -1.67345825e-03 9.94217014e-01 1.49621373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.46509989299997 meters 0.053613465122728056 Centerline is valid? [True, True] Translation: X:143.99, Y:19.97, Z:14.97 [[ 9.77288166e-01 -1.83729130e-01 -1.05600416e-01 1.43985987e+02] [ 1.82749765e-01 9.82976610e-01 -1.89606733e-02 1.99733051e+01] [ 1.07286367e-01 -7.68409631e-04 9.94227864e-01 1.49703167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52509989299998 meters 0.05349221833568453 Centerline is valid? [True, True] Translation: X:144.04, Y:19.98, Z:14.97 [[ 9.77749062e-01 -1.81271478e-01 -1.05581355e-01 1.44043156e+02] [ 1.80278046e-01 9.83432969e-01 -1.89584379e-02 1.99816101e+01] [ 1.07268810e-01 -4.97405545e-04 9.94229931e-01 1.49744019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58509989299998 meters 0.05319012702029195 Centerline is valid? [True, True] Translation: X:144.10, Y:20.00, Z:14.98 [[ 9.78521427e-01 -1.76346105e-01 -1.06760804e-01 1.44100097e+02] [ 1.75299702e-01 9.84328222e-01 -1.91824453e-02 1.99972517e+01] [ 1.08470422e-01 5.52966435e-05 9.94099675e-01 1.49804247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64509989299998 meters 0.0540799730738941 Centerline is valid? [True, True] Translation: X:144.16, Y:20.01, Z:14.99 [[ 9.79149795e-01 -1.72152757e-01 -1.07838339e-01 1.44157230e+02] [ 1.71058341e-01 9.85070119e-01 -1.93882575e-02 2.00108553e+01] [ 1.09566068e-01 5.37360907e-04 9.93979370e-01 1.49853661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.70509989299998 meters 0.05393213409300605 Centerline is valid? [True, True] Translation: X:144.21, Y:20.02, Z:14.99 [[ 9.79468408e-01 -1.70898397e-01 -1.06936316e-01 1.44213987e+02] [ 1.69813520e-01 9.85288420e-01 -1.92379304e-02 2.00208159e+01] [ 1.08650845e-01 6.83712882e-04 9.94079738e-01 1.49931296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.76509989299998 meters 0.053998635933667986 Centerline is valid? [True, True] Translation: X:144.27, Y:20.03, Z:15.00 [[ 9.79398980e-01 -1.71432947e-01 -1.06716362e-01 1.44269977e+02] [ 1.70354111e-01 9.85195584e-01 -1.92129867e-02 2.00326551e+01] [ 1.08430227e-01 6.37608675e-04 9.94103857e-01 1.49981189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.82509989299996 meters 0.0537336697253985 Centerline is valid? [True, True] Translation: X:144.33, Y:20.04, Z:15.01 [[ 9.78413188e-01 -1.77342658e-01 -1.06100021e-01 1.44328882e+02] [ 1.76309366e-01 9.84149166e-01 -1.91161171e-02 2.00365221e+01] [ 1.07808350e-01 -2.96638097e-06 9.94171695e-01 1.50054529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.88509989299996 meters 0.05370943995406973 Centerline is valid? [True, True] Translation: X:144.39, Y:20.04, Z:15.01 [[ 9.76562820e-01 -1.86510281e-01 -1.07419618e-01 1.44387054e+02] [ 1.85504899e-01 9.82452485e-01 -1.93661305e-02 2.00394632e+01] [ 1.09146653e-01 -1.01462225e-03 9.94025140e-01 1.50108132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.94509989299996 meters 0.053719982645306946 Centerline is valid? [True, True] Translation: X:144.45, Y:20.04, Z:15.02 [[ 9.75459534e-01 -1.92460861e-01 -1.06946318e-01 1.44447318e+02] [ 1.91499530e-01 9.81303232e-01 -1.92846530e-02 2.00426173e+01] [ 1.08658308e-01 -1.66877102e-03 9.94077757e-01 1.50167396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.00509989299997 meters 0.053496103858397114 Centerline is valid? [True, True] Translation: X:144.51, Y:20.04, Z:15.03 [[ 9.74219256e-01 -1.99466986e-01 -1.05402860e-01 1.44508293e+02] [ 1.98574079e-01 9.79901574e-01 -1.90063359e-02 2.00446577e+01] [ 1.07075565e-01 -2.41393743e-03 9.94247955e-01 1.50252705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.06509989299997 meters 0.05372525867361428 Centerline is valid? [True, True] Translation: X:144.57, Y:20.05, Z:15.03 [[ 9.73616444e-01 -2.02685853e-01 -1.04830645e-01 1.44567894e+02] [ 2.01821213e-01 9.79239944e-01 -1.89031734e-02 2.00533893e+01] [ 1.06485761e-01 -2.75260755e-03 9.94310417e-01 1.50325039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.12509989299997 meters 0.05417515094454304 Centerline is valid? [True, True] Translation: X:144.63, Y:20.06, Z:15.04 [[ 9.73075288e-01 -2.05206052e-01 -1.04952183e-01 1.44627558e+02] [ 2.04353997e-01 9.78714097e-01 -1.89251105e-02 2.00597666e+01] [ 1.06601728e-01 -3.03184063e-03 9.94297179e-01 1.50386424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.18509989299997 meters 0.05489136431692653 Centerline is valid? [True, True] Translation: X:144.69, Y:20.07, Z:15.04 [[ 9.72766918e-01 -2.06358874e-01 -1.05548746e-01 1.44685812e+02] [ 2.05503746e-01 9.78471222e-01 -1.90336130e-02 2.00653196e+01] [ 1.07204166e-01 -3.17539368e-03 9.94231957e-01 1.50437341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24509989299997 meters 0.05435381850767297 Centerline is valid? [True, True] Translation: X:144.75, Y:20.08, Z:15.05 [[ 9.71615458e-01 -2.10975314e-01 -1.07017843e-01 1.44745390e+02] [ 2.10123765e-01 9.77484258e-01 -1.93009900e-02 2.00761884e+01] [ 1.08680290e-01 -3.73385194e-03 9.94069743e-01 1.50491488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30509989299998 meters 0.05607025375371594 Centerline is valid? [True, True] Translation: X:144.81, Y:20.08, Z:15.05 [[ 9.70190421e-01 -2.16183625e-01 -1.09522542e-01 1.44805795e+02] [ 2.15324631e-01 9.76342725e-01 -1.97531479e-02 2.00765503e+01] [ 1.11201844e-01 -4.41858600e-03 9.93788019e-01 1.50527379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36509989299998 meters 0.053451167167357976 Centerline is valid? [True, True] Translation: X:144.86, Y:20.10, Z:15.06 [[ 9.69270740e-01 -2.19581083e-01 -1.10898061e-01 1.44863444e+02] [ 2.18722290e-01 9.75582109e-01 -2.00027017e-02 2.00962192e+01] [ 1.12582380e-01 -4.86784440e-03 9.93630471e-01 1.50607113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42509989299998 meters 0.05374381053599128 Centerline is valid? [True, True] Translation: X:144.92, Y:20.11, Z:15.07 [[ 9.68582357e-01 -2.22284685e-01 -1.11524597e-01 1.44922651e+02] [ 2.21433968e-01 9.74967875e-01 -2.01156705e-02 2.01062561e+01] [ 1.13204305e-01 -5.21165041e-03 9.93558063e-01 1.50668722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48509989299998 meters 0.05376219501875208 Centerline is valid? [True, True] Translation: X:144.98, Y:20.12, Z:15.07 [[ 9.67967443e-01 -2.25275326e-01 -1.10860532e-01 1.44981498e+02] [ 2.24454197e-01 9.74279464e-01 -1.99960113e-02 2.01155807e+01] [ 1.12513748e-01 -5.52762376e-03 9.93634793e-01 1.50736302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54509989299996 meters 0.05720557441189454 Centerline is valid? [True, True] Translation: X:145.04, Y:20.11, Z:15.08 [[ 9.67683677e-01 -2.26884418e-01 -1.10053452e-01 1.45042076e+02] [ 2.26085447e-01 9.73905177e-01 -1.98513802e-02 2.01124469e+01] [ 1.11685595e-01 -5.67162721e-03 9.93727408e-01 1.50783464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.60509989299996 meters 0.05501067311790406 Centerline is valid? [True, True] Translation: X:145.10, Y:20.13, Z:15.09 [[ 9.67498795e-01 -2.27983708e-01 -1.09405257e-01 1.45098376e+02] [ 2.27200918e-01 9.73647896e-01 -1.97361888e-02 2.01311473e+01] [ 1.11021728e-01 -5.76223603e-03 9.93801274e-01 1.50861575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.66509989299996 meters 0.05862908729702604 Centerline is valid? [True, True] Translation: X:145.16, Y:20.13, Z:15.09 [[ 9.67479019e-01 -2.29078314e-01 -1.07272896e-01 1.45157069e+02] [ 2.28332260e-01 9.73390894e-01 -1.93532055e-02 2.01326128e+01] [ 1.08851860e-01 -5.77004248e-03 9.94041236e-01 1.50937096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.72509989299996 meters 0.055390646848458146 Centerline is valid? [True, True] Translation: X:145.21, Y:20.15, Z:15.10 [[ 9.67392371e-01 -2.29815568e-01 -1.06474433e-01 1.45213086e+02] [ 2.29084715e-01 9.73216879e-01 -1.92119826e-02 2.01523074e+01] [ 1.08037929e-01 -5.80613983e-03 9.94129818e-01 1.51017813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.78509989299997 meters 0.05550943911384889 Centerline is valid? [True, True] Translation: X:145.27, Y:20.16, Z:15.11 [[ 9.67280631e-01 -2.30323151e-01 -1.06392797e-01 1.45269420e+02] [ 2.29595240e-01 9.73096633e-01 -1.92085806e-02 2.01646595e+01] [ 1.07954654e-01 -5.84719186e-03 9.94138624e-01 1.51081812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.84509989299997 meters 0.05595130538506575 Centerline is valid? [True, True] Translation: X:145.33, Y:20.17, Z:15.11 [[ 9.67163391e-01 -2.30657560e-01 -1.06733616e-01 1.45327635e+02] [ 2.29926269e-01 9.73017120e-01 -1.92768241e-02 2.01734428e+01] [ 1.08299980e-01 -5.89702343e-03 9.94100769e-01 1.51137453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.90509989299997 meters 0.062490996800887995 Centerline is valid? [True, True] Translation: X:145.39, Y:20.17, Z:15.12 [[ 9.66932860e-01 -2.30958876e-01 -1.08161186e-01 1.45388709e+02] [ 2.30208558e-01 9.72945010e-01 -1.95455232e-02 2.01685916e+01] [ 1.09749098e-01 -6.00042193e-03 9.93941211e-01 1.51162766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.96509989299997 meters 0.053517528735567636 Centerline is valid? [True, True] Translation: X:145.44, Y:20.21, Z:15.12 [[ 9.66819735e-01 -2.31177255e-01 -1.08704541e-01 1.45442986e+02] [ 2.30419529e-01 9.72892869e-01 -1.96546967e-02 2.02064958e+01] [ 1.10301592e-01 -6.04510056e-03 9.93879779e-01 1.51245731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02509989299998 meters 0.05430649976554758 Centerline is valid? [True, True] Translation: X:145.50, Y:20.22, Z:15.13 [[ 9.66578425e-01 -2.31278944e-01 -1.10617350e-01 1.45502574e+02] [ 2.30494976e-01 9.72867949e-01 -2.00004832e-02 2.02169066e+01] [ 1.12241765e-01 -6.16470805e-03 9.93661805e-01 1.51292901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08509989299998 meters 0.05603026141446364 Centerline is valid? [True, True] Translation: X:145.56, Y:20.22, Z:15.13 [[ 9.66631092e-01 -2.30616236e-01 -1.11536918e-01 1.45560653e+02] [ 2.29814843e-01 9.73025415e-01 -2.01662934e-02 2.02208840e+01] [ 1.13178930e-01 -6.13947294e-03 9.93555654e-01 1.51335026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14509989299998 meters 0.054888293229828675 Centerline is valid? [True, True] Translation: X:145.62, Y:20.24, Z:15.14 [[ 9.66649119e-01 -2.30567081e-01 -1.11482290e-01 1.45617503e+02] [ 2.29765582e-01 9.73037150e-01 -2.01613884e-02 2.02355994e+01] [ 1.13124962e-01 -6.12580491e-03 9.93561884e-01 1.51404720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.20509989299998 meters 0.052452946486537026 Centerline is valid? [True, True] Translation: X:145.68, Y:20.26, Z:15.15 [[ 9.66727840e-01 -2.30862897e-01 -1.10179883e-01 1.45675713e+02] [ 2.30080825e-01 9.72967308e-01 -1.99356954e-02 2.02587229e+01] [ 1.11803837e-01 -6.07788665e-03 9.93711709e-01 1.51493290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.26509989299998 meters 0.054204929630646354 Centerline is valid? [True, True] Translation: X:145.74, Y:20.26, Z:15.15 [[ 9.66836146e-01 -2.30670033e-01 -1.09632120e-01 1.45736549e+02] [ 2.29894874e-01 9.73013357e-01 -1.98331452e-02 2.02628560e+01] [ 1.11248430e-01 -6.02846078e-03 9.93774343e-01 1.51549806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.32509989299996 meters 0.0593835988921588 Centerline is valid? [True, True] Translation: X:145.80, Y:20.26, Z:15.16 [[ 9.66871656e-01 -2.30783922e-01 -1.09077873e-01 1.45795087e+02] [ 2.30017447e-01 9.72986453e-01 -1.97315849e-02 2.02576010e+01] [ 1.10685025e-01 -6.01190377e-03 9.93837352e-01 1.51597022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.38509989299996 meters 0.05578054508197954 Centerline is valid? [True, True] Translation: X:145.85, Y:20.28, Z:15.17 [[ 9.66668452e-01 -2.31739648e-01 -1.08852378e-01 1.45850610e+02] [ 2.30981742e-01 9.72758700e-01 -1.96963629e-02 2.02810316e+01] [ 1.10451526e-01 -6.10305933e-03 9.93862774e-01 1.51680149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.44509989299996 meters 0.05489915336298824 Centerline is valid? [True, True] Translation: X:145.91, Y:20.30, Z:15.17 [[ 9.66508678e-01 -2.32388520e-01 -1.08887793e-01 1.45907882e+02] [ 2.31634023e-01 9.72603420e-01 -1.97044682e-02 2.02957321e+01] [ 1.10483732e-01 -6.17757794e-03 9.93858734e-01 1.51741362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.50509989299997 meters 0.059951749833621275 Centerline is valid? [True, True] Translation: X:145.97, Y:20.29, Z:15.18 [[ 9.66142813e-01 -2.33437781e-01 -1.09885702e-01 1.45967878e+02] [ 2.32675838e-01 9.72350984e-01 -1.98876466e-02 2.02929221e+01] [ 1.11489999e-01 -6.35344101e-03 9.93745246e-01 1.51776440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.56509989299997 meters 0.05668643241098845 Centerline is valid? [True, True] Translation: X:146.03, Y:20.31, Z:15.18 [[ 9.65589157e-01 -2.35662146e-01 -1.10004238e-01 1.46025739e+02] [ 2.34912620e-01 9.71812530e-01 -1.99114795e-02 2.03110729e+01] [ 1.11595879e-01 -6.61507496e-03 9.93731654e-01 1.51845260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.62509989299997 meters 0.05355550091046606 Centerline is valid? [True, True] Translation: X:146.08, Y:20.33, Z:15.19 [[ 9.64773137e-01 -2.39167737e-01 -1.09597393e-01 1.46082317e+02] [ 2.38446190e-01 9.70953076e-01 -1.98377970e-02 2.03335538e+01] [ 1.11158487e-01 -6.99410730e-03 9.93778080e-01 1.51931778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.68509989299997 meters 0.05360191633098079 Centerline is valid? [True, True] Translation: X:146.14, Y:20.34, Z:15.20 [[ 9.64549916e-01 -2.40205454e-01 -1.09292270e-01 1.46141922e+02] [ 2.39494575e-01 9.70696149e-01 -1.97821558e-02 2.03426436e+01] [ 1.10841367e-01 -7.09402904e-03 9.93812792e-01 1.51995211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74509989299997 meters 0.05563704678677093 Centerline is valid? [True, True] Translation: X:146.20, Y:20.35, Z:15.21 [[ 9.64911813e-01 -2.38987590e-01 -1.08766377e-01 1.46201198e+02] [ 2.38276068e-01 9.70997949e-01 -1.96850040e-02 2.03475336e+01] [ 1.10316400e-01 -6.92213170e-03 9.93872414e-01 1.52056206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80509989299998 meters 0.05659304109643676 Centerline is valid? [True, True] Translation: X:146.26, Y:20.36, Z:15.21 [[ 9.65544974e-01 -2.36820510e-01 -1.07883965e-01 1.46259747e+02] [ 2.36107335e-01 9.71530850e-01 -1.95226502e-02 2.03572903e+01] [ 1.09435964e-01 -6.62219858e-03 9.93971788e-01 1.52124676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86509989299998 meters 0.05536481609454688 Centerline is valid? [True, True] Translation: X:146.32, Y:20.37, Z:15.22 [[ 9.66133219e-01 -2.34840645e-01 -1.06941453e-01 1.46318443e+02] [ 2.34127685e-01 9.72013207e-01 -1.93533428e-02 2.03718750e+01] [ 1.08493456e-01 -6.34004731e-03 9.94076946e-01 1.52204692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92509989299998 meters 0.05656919686842333 Centerline is valid? [True, True] Translation: X:146.38, Y:20.38, Z:15.23 [[ 9.67021193e-01 -2.30853119e-01 -1.07595771e-01 1.46377772e+02] [ 2.30106582e-01 9.72970562e-01 -1.94742550e-02 2.03802904e+01] [ 1.09183210e-01 -5.92647770e-03 9.94003976e-01 1.52252761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98509989299998 meters 0.05716323437919034 Centerline is valid? [True, True] Translation: X:146.44, Y:20.39, Z:15.23 [[ 9.67494084e-01 -2.28226032e-01 -1.08940694e-01 1.46438191e+02] [ 2.27444109e-01 9.73591484e-01 -1.97179884e-02 2.03883979e+01] [ 1.10563890e-01 -5.70088201e-03 9.93852668e-01 1.52293064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04509989299996 meters 0.05678511949931468 Centerline is valid? [True, True] Translation: X:146.50, Y:20.40, Z:15.24 [[ 9.67884718e-01 -2.26186225e-01 -1.09722219e-01 1.46496068e+02] [ 2.25379718e-01 9.74068522e-01 -1.98619429e-02 2.04041164e+01] [ 1.11369457e-01 -5.50509179e-03 9.93763824e-01 1.52351289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.10509989299996 meters 0.05850847800786227 Centerline is valid? [True, True] Translation: X:146.56, Y:20.41, Z:15.24 [[ 9.68856000e-01 -2.21535345e-01 -1.10635180e-01 1.46557064e+02] [ 2.20685135e-01 9.75139463e-01 -2.00274476e-02 2.04082752e+01] [ 1.12321518e-01 -5.01182690e-03 9.93659277e-01 1.52390818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.16509989299996 meters 0.05947274745962762 Centerline is valid? [True, True] Translation: X:146.62, Y:20.42, Z:15.25 [[ 9.71373355e-01 -2.11211936e-01 -1.08735101e-01 1.46615861e+02] [ 2.10326149e-01 9.77433097e-01 -1.96838016e-02 2.04184546e+01] [ 1.10438741e-01 -3.74951465e-03 9.93875860e-01 1.52466730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.22509989299996 meters 0.05349758192103307 Centerline is valid? [True, True] Translation: X:146.67, Y:20.45, Z:15.26 [[ 9.73196667e-01 -2.03809132e-01 -1.06536782e-01 1.46669808e+02] [ 2.02914563e-01 9.79006498e-01 -1.92861858e-02 2.04520665e+01] [ 1.08230902e-01 -2.84861283e-03 9.94121701e-01 1.52586454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.28509989299997 meters 0.053607098518219425 Centerline is valid? [True, True] Translation: X:146.73, Y:20.47, Z:15.27 [[ 9.74884046e-01 -1.96160002e-01 -1.05462554e-01 1.46728176e+02] [ 1.95238662e-01 9.80569907e-01 -1.90924458e-02 2.04663584e+01] [ 1.07158581e-01 -1.97744724e-03 9.94239975e-01 1.52658827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.34509989299997 meters 0.053569720983226356 Centerline is valid? [True, True] Translation: X:146.79, Y:20.48, Z:15.27 [[ 9.76236709e-01 -1.89208032e-01 -1.05651352e-01 1.46786263e+02] [ 1.88242683e-01 9.81936273e-01 -1.91271833e-02 2.04806005e+01] [ 1.07361911e-01 -1.21543550e-03 9.94219263e-01 1.52726282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.40509989299997 meters 0.05333401638135983 Centerline is valid? [True, True] Translation: X:146.84, Y:20.49, Z:15.28 [[ 9.77015750e-01 -1.84984589e-01 -1.05928874e-01 1.46843872e+02] [ 1.83989312e-01 9.82741134e-01 -1.91780451e-02 2.04912222e+01] [ 1.07648305e-01 -7.52528587e-04 9.94188753e-01 1.52787409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.46509989299997 meters 0.05373669468913083 Centerline is valid? [True, True] Translation: X:146.90, Y:20.50, Z:15.28 [[ 9.77169709e-01 -1.83522398e-01 -1.07046199e-01 1.46901176e+02] [ 1.82495983e-01 9.83015354e-01 -1.93915206e-02 2.05004865e+01] [ 1.08786836e-01 -5.86694814e-04 9.94064928e-01 1.52843020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52509989299998 meters 0.05349287589641701 Centerline is valid? [True, True] Translation: X:146.96, Y:20.51, Z:15.29 [[ 9.77103387e-01 -1.83061782e-01 -1.08431339e-01 1.46959652e+02] [ 1.82004402e-01 9.83101268e-01 -1.96543947e-02 2.05063743e+01] [ 1.10196955e-01 -5.30605318e-04 9.93909628e-01 1.52885908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58509989299998 meters 0.05363907906582256 Centerline is valid? [True, True] Translation: X:147.02, Y:20.51, Z:15.29 [[ 9.76894723e-01 -1.83967281e-01 -1.08778397e-01 1.47017084e+02] [ 1.82907916e-01 9.82932167e-01 -1.97243253e-02 2.05122283e+01] [ 1.10550416e-01 -6.27840593e-04 9.93870319e-01 1.52937409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64509989299998 meters 0.05354503889000566 Centerline is valid? [True, True] Translation: X:147.08, Y:20.52, Z:15.30 [[ 9.76417243e-01 -1.87295080e-01 -1.07377465e-01 1.47075193e+02] [ 1.86282206e-01 9.82303203e-01 -1.94770781e-02 2.05162196e+01] [ 1.09125189e-01 -9.84756139e-04 9.94027527e-01 1.53023623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.70509989299998 meters 0.053954549803123385 Centerline is valid? [True, True] Translation: X:147.13, Y:20.52, Z:15.31 [[ 9.75563844e-01 -1.92398974e-01 -1.06102882e-01 1.47134479e+02] [ 1.91438888e-01 9.81315600e-01 -1.92573227e-02 2.05215938e+01] [ 1.07825503e-01 -1.52546998e-03 9.94168665e-01 1.53105629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76509989299996 meters 0.053978809437430865 Centerline is valid? [True, True] Translation: X:147.19, Y:20.52, Z:15.32 [[ 9.74279727e-01 -1.99021676e-01 -1.05685317e-01 1.47194727e+02] [ 1.98107745e-01 9.79992512e-01 -1.91832947e-02 2.05203616e+01] [ 1.07388711e-01 -2.24718470e-03 9.94214572e-01 1.53165154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.82509989299996 meters 0.05381942302693783 Centerline is valid? [True, True] Translation: X:147.25, Y:20.53, Z:15.32 [[ 9.73103192e-01 -2.04469063e-01 -1.06125302e-01 1.47254024e+02] [ 2.03579607e-01 9.78868852e-01 -1.92643173e-02 2.05313894e+01] [ 1.07821710e-01 -2.85877865e-03 9.94166136e-01 1.53232215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.88509989299996 meters 0.05857053955279145 Centerline is valid? [True, True] Translation: X:147.32, Y:20.52, Z:15.33 [[ 9.72464510e-01 -2.07130161e-01 -1.06817007e-01 1.47316660e+02] [ 2.06245029e-01 9.78308243e-01 -1.93899241e-02 2.05183439e+01] [ 1.08516196e-01 -3.17446363e-03 9.94089613e-01 1.53258950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.94509989299996 meters 0.05538745720110941 Centerline is valid? [True, True] Translation: X:147.37, Y:20.54, Z:15.33 [[ 9.70744628e-01 -2.14487171e-01 -1.07935722e-01 1.47373838e+02] [ 2.13628528e-01 9.76718459e-01 -1.95934522e-02 2.05371721e+01] [ 1.09625356e-01 -4.03791085e-03 9.93964776e-01 1.53334089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.00509989299997 meters 0.055080949539671645 Centerline is valid? [True, True] Translation: X:147.43, Y:20.54, Z:15.34 [[ 9.68271465e-01 -2.24346951e-01 -1.10085490e-01 1.47433733e+02] [ 2.23516968e-01 9.74495160e-01 -1.99837009e-02 2.05428739e+01] [ 1.11761060e-01 -5.25632765e-03 9.93721207e-01 1.53380412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.06509989299997 meters 0.05593551496095756 Centerline is valid? [True, True] Translation: X:147.49, Y:20.55, Z:15.34 [[ 9.67132144e-01 -2.29369962e-01 -1.09748973e-01 1.47493782e+02] [ 2.28577115e-01 9.73321927e-01 -1.99230797e-02 2.05466575e+01] [ 1.11390838e-01 -5.81785278e-03 9.93759646e-01 1.53446252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.12509989299997 meters 0.05721794324096938 Centerline is valid? [True, True] Translation: X:147.55, Y:20.56, Z:15.35 [[ 9.67295371e-01 -2.29387596e-01 -1.08263547e-01 1.47550910e+02] [ 2.28616153e-01 9.73318234e-01 -1.96537408e-02 2.05556905e+01] [ 1.09883208e-01 -5.73982308e-03 9.93927932e-01 1.53513948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.18509989299997 meters 0.05671119655035607 Centerline is valid? [True, True] Translation: X:147.61, Y:20.57, Z:15.36 [[ 9.68078066e-01 -2.26905070e-01 -1.06484499e-01 1.47609633e+02] [ 2.26143207e-01 9.73902123e-01 -1.93366205e-02 2.05680478e+01] [ 1.08093057e-01 -5.36138795e-03 9.94126323e-01 1.53584106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24509989299997 meters 0.054426095145737693 Centerline is valid? [True, True] Translation: X:147.67, Y:20.59, Z:15.36 [[ 9.68482198e-01 -2.25269536e-01 -1.06282022e-01 1.47666320e+02] [ 2.24500745e-01 9.74282773e-01 -1.93000978e-02 2.05893805e+01] [ 1.07896467e-01 -5.16859188e-03 9.94148700e-01 1.53648772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30509989299998 meters 0.05575627376854167 Centerline is valid? [True, True] Translation: X:147.72, Y:20.60, Z:15.37 [[ 9.68600497e-01 -2.24704730e-01 -1.06399534e-01 1.47723421e+02] [ 2.23930829e-01 9.74413495e-01 -1.93215955e-02 2.05960219e+01] [ 1.08018796e-01 -5.11122900e-03 9.94135713e-01 1.53700916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36509989299998 meters 0.05533780896418095 Centerline is valid? [True, True] Translation: X:147.78, Y:20.61, Z:15.38 [[ 9.68719533e-01 -2.24266146e-01 -1.06241052e-01 1.47781120e+02] [ 2.23491471e-01 9.74514847e-01 -1.92970234e-02 2.06088009e+01] [ 1.07861151e-01 -5.05056536e-03 9.94153139e-01 1.53761883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42509989299998 meters 0.05627255452761272 Centerline is valid? [True, True] Translation: X:147.84, Y:20.62, Z:15.38 [[ 9.68983894e-01 -2.23050985e-01 -1.06388301e-01 1.47839948e+02] [ 2.22266242e-01 9.74794381e-01 -1.93295518e-02 2.06186279e+01] [ 1.08018193e-01 -4.91650339e-03 9.94136760e-01 1.53818491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48509989299998 meters 0.05872947577520113 Centerline is valid? [True, True] Translation: X:147.90, Y:20.62, Z:15.39 [[ 9.69424551e-01 -2.21009083e-01 -1.06635006e-01 1.47899419e+02] [ 2.20208311e-01 9.75260428e-01 -1.93751559e-02 2.06245205e+01] [ 1.08278987e-01 -4.69916268e-03 9.94109440e-01 1.53865198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54509989299996 meters 0.056725830522564975 Centerline is valid? [True, True] Translation: X:147.96, Y:20.64, Z:15.39 [[ 9.70135790e-01 -2.18424081e-01 -1.05486825e-01 1.47956677e+02] [ 2.17625262e-01 9.75844193e-01 -1.91665228e-02 2.06449967e+01] [ 1.07125135e-01 -4.36246812e-03 9.94235975e-01 1.53941024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.60509989299996 meters 0.054853384674658535 Centerline is valid? [True, True] Translation: X:148.01, Y:20.67, Z:15.40 [[ 9.70909769e-01 -2.15370233e-01 -1.04641690e-01 1.48014044e+02] [ 2.14566492e-01 9.76524307e-01 -1.90131123e-02 2.06662420e+01] [ 1.06280012e-01 -3.99258382e-03 9.94328225e-01 1.54017071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.66509989299996 meters 0.05465637866555826 Centerline is valid? [True, True] Translation: X:148.07, Y:20.68, Z:15.41 [[ 9.72089148e-01 -2.09564296e-01 -1.05477459e-01 1.48072297e+02] [ 2.08713553e-01 9.77789012e-01 -1.91651056e-02 2.06844595e+01] [ 1.07151022e-01 -3.38438412e-03 9.94236996e-01 1.54073403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.72509989299996 meters 0.05519536111157407 Centerline is valid? [True, True] Translation: X:148.13, Y:20.70, Z:15.41 [[ 9.73020991e-01 -2.05093985e-01 -1.05672172e-01 1.48131301e+02] [ 2.04213804e-01 9.78737995e-01 -1.92004860e-02 2.06966680e+01] [ 1.07363274e-01 -2.89724030e-03 9.94215637e-01 1.54131455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.78509989299997 meters 0.054016120166813106 Centerline is valid? [True, True] Translation: X:148.19, Y:20.72, Z:15.42 [[ 9.74620146e-01 -1.97814565e-01 -1.04809205e-01 1.48187721e+02] [ 1.96906787e-01 9.80237257e-01 -1.90430317e-02 2.07195947e+01] [ 1.06504877e-01 -2.07792151e-03 9.94310009e-01 1.54214030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.84509989299997 meters 0.05391185555801185 Centerline is valid? [True, True] Translation: X:148.24, Y:20.74, Z:15.43 [[ 9.75994503e-01 -1.90907302e-01 -1.04829066e-01 1.48244924e+02] [ 1.89959347e-01 9.81607178e-01 -1.90471908e-02 2.07391995e+01] [ 1.06537211e-01 -1.32330739e-03 9.94307835e-01 1.54274195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.90509989299997 meters 0.05396122481735788 Centerline is valid? [True, True] Translation: X:148.30, Y:20.75, Z:15.43 [[ 9.76737318e-01 -1.87081439e-01 -1.04808144e-01 1.48301912e+02] [ 1.86111838e-01 9.82343991e-01 -1.90438404e-02 2.07533708e+01] [ 1.06520400e-01 -9.05206795e-04 9.94310105e-01 1.54333110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.96509989299997 meters 0.05357620434097449 Centerline is valid? [True, True] Translation: X:148.36, Y:20.77, Z:15.44 [[ 9.77301374e-01 -1.83994590e-01 -1.05014360e-01 1.48359028e+02] [ 1.83002152e-01 9.82927097e-01 -1.90927536e-02 2.07663818e+01] [ 1.06734424e-01 -5.58479604e-04 9.94287409e-01 1.54389370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02509989299998 meters 0.054012125331867 Centerline is valid? [True, True] Translation: X:148.41, Y:20.78, Z:15.44 [[ 9.78159663e-01 -1.79651935e-01 -1.04541166e-01 1.48414824e+02] [ 1.78642381e-01 9.83730236e-01 -1.90190026e-02 2.07803158e+01] [ 1.06257107e-01 -7.18617510e-05 9.94338686e-01 1.54449773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.08509989299998 meters 0.05396282902890278 Centerline is valid? [True, True] Translation: X:148.47, Y:20.79, Z:15.45 [[ 9.78390257e-01 -1.78558126e-01 -1.04256894e-01 1.48471519e+02] [ 1.77546571e-01 9.83929363e-01 -1.89795349e-02 2.07914366e+01] [ 1.05970370e-01 5.89379228e-05 9.94369286e-01 1.54515717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14509989299998 meters 0.05397249253407924 Centerline is valid? [True, True] Translation: X:148.53, Y:20.80, Z:15.46 [[ 9.78542915e-01 -1.77633880e-01 -1.04402908e-01 1.48528882e+02] [ 1.76612753e-01 9.84096629e-01 -1.90200075e-02 2.08004311e+01] [ 1.06121148e-01 1.73008558e-04 9.94353193e-01 1.54570920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.20509989299998 meters 0.053956060006802246 Centerline is valid? [True, True] Translation: X:148.58, Y:20.81, Z:15.46 [[ 9.78211789e-01 -1.79000656e-01 -1.05168725e-01 1.48584885e+02] [ 1.77970904e-01 9.83848954e-01 -1.91727394e-02 2.08081011e+01] [ 1.06902073e-01 3.80266259e-05 9.94269554e-01 1.54623834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26509989299996 meters 0.05352698769371169 Centerline is valid? [True, True] Translation: X:148.64, Y:20.81, Z:15.47 [[ 9.77425056e-01 -1.82401696e-01 -1.06629646e-01 1.48642640e+02] [ 1.81362494e-01 9.83224039e-01 -1.94456813e-02 2.08148284e+01] [ 1.08387757e-01 -3.31922490e-04 9.94108638e-01 1.54669245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.32509989299996 meters 0.05370485462342578 Centerline is valid? [True, True] Translation: X:148.70, Y:20.82, Z:15.47 [[ 9.76044560e-01 -1.89707618e-01 -1.06527160e-01 1.48701722e+02] [ 1.88712465e-01 9.81839978e-01 -1.94386923e-02 2.08182533e+01] [ 1.08280292e-01 -1.12997298e-03 9.94119762e-01 1.54742436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.38509989299996 meters 0.053696820950986004 Centerline is valid? [True, True] Translation: X:148.76, Y:20.82, Z:15.48 [[ 9.75023408e-01 -1.95366024e-01 -1.05647860e-01 1.48761139e+02] [ 1.94419946e-01 9.80728857e-01 -1.92819710e-02 2.08206593e+01] [ 1.07378947e-01 -1.73967819e-03 9.94216644e-01 1.54803340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.44509989299996 meters 0.05386746818967065 Centerline is valid? [True, True] Translation: X:148.82, Y:20.82, Z:15.49 [[ 9.73950648e-01 -2.01061992e-01 -1.04853279e-01 1.48821902e+02] [ 2.00162969e-01 9.79575702e-01 -1.91371091e-02 2.08243419e+01] [ 1.06559470e-01 -2.34914396e-03 9.94303556e-01 1.54874199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.50509989299997 meters 0.053623323154587704 Centerline is valid? [True, True] Translation: X:148.88, Y:20.83, Z:15.49 [[ 9.72481160e-01 -2.08283791e-01 -1.04394714e-01 1.48881536e+02] [ 2.07434167e-01 9.78063435e-01 -1.90521152e-02 2.08301149e+01] [ 1.06072899e-01 -3.12720750e-03 9.94353438e-01 1.54949913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.56509989299997 meters 0.055466939583264936 Centerline is valid? [True, True] Translation: X:148.94, Y:20.83, Z:15.50 [[ 9.71642606e-01 -2.12007649e-01 -1.04706273e-01 1.48941793e+02] [ 2.11174378e-01 9.77261582e-01 -1.91097267e-02 2.08321547e+01] [ 1.06376826e-01 -3.54345746e-03 9.94319574e-01 1.54998688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.62509989299997 meters 0.057260998006088845 Centerline is valid? [True, True] Translation: X:149.00, Y:20.83, Z:15.50 [[ 9.70398395e-01 -2.17302222e-01 -1.05388324e-01 1.49002425e+02] [ 2.16489102e-01 9.76095547e-01 -1.92341467e-02 2.08310258e+01] [ 1.07048696e-01 -4.15063848e-03 9.94245115e-01 1.55042253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.68509989299997 meters 0.05399931869516906 Centerline is valid? [True, True] Translation: X:149.06, Y:20.85, Z:15.51 [[ 9.69994903e-01 -2.19289828e-01 -1.04985046e-01 1.49058982e+02] [ 2.18494421e-01 9.75650055e-01 -1.91613791e-02 2.08525121e+01] [ 1.06630562e-01 -4.35220675e-03 9.94289184e-01 1.55113964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74509989299997 meters 0.05817634227000073 Centerline is valid? [True, True] Translation: X:149.12, Y:20.85, Z:15.52 [[ 9.69094488e-01 -2.22860793e-01 -1.05777786e-01 1.49120769e+02] [ 2.22074375e-01 9.74838559e-01 -1.93069034e-02 2.08457338e+01] [ 1.07419016e-01 -4.78032190e-03 9.94202345e-01 1.55153865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80509989299998 meters 0.05708587046681099 Centerline is valid? [True, True] Translation: X:149.18, Y:20.86, Z:15.52 [[ 9.68834938e-01 -2.23864646e-01 -1.06035293e-01 1.49177876e+02] [ 2.23080276e-01 9.74607912e-01 -1.93547802e-02 2.08598136e+01] [ 1.07675686e-01 -4.90279513e-03 9.94173983e-01 1.55218174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.86509989299998 meters 0.05428532708954 Centerline is valid? [True, True] Translation: X:149.23, Y:20.88, Z:15.53 [[ 9.69063801e-01 -2.22925914e-01 -1.05921605e-01 1.49234320e+02] [ 2.22137263e-01 9.74823622e-01 -1.93375728e-02 2.08788204e+01] [ 1.07565729e-01 -4.78979357e-03 9.94186437e-01 1.55287998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92509989299998 meters 0.05498855397434388 Centerline is valid? [True, True] Translation: X:149.29, Y:20.89, Z:15.54 [[ 9.69296482e-01 -2.22146621e-01 -1.05428693e-01 1.49291162e+02] [ 2.21360084e-01 9.75002061e-01 -1.92534127e-02 2.08877920e+01] [ 1.07070274e-01 -4.67543925e-03 9.94240462e-01 1.55350271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.98509989299998 meters 0.05450482792856906 Centerline is valid? [True, True] Translation: X:149.35, Y:20.90, Z:15.54 [[ 9.70041917e-01 -2.19087446e-01 -1.04973191e-01 1.49349184e+02] [ 2.18289219e-01 9.75695696e-01 -1.91761874e-02 2.09031066e+01] [ 1.06623153e-01 -4.31281040e-03 9.94290150e-01 1.55425296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04509989299996 meters 0.055948039636069986 Centerline is valid? [True, True] Translation: X:149.41, Y:20.91, Z:15.55 [[ 9.70407268e-01 -2.16822801e-01 -1.06290199e-01 1.49407345e+02] [ 2.15990933e-01 9.76202300e-01 -1.94161478e-02 2.09109084e+01] [ 1.07970601e-01 -4.11614832e-03 9.94145566e-01 1.55475282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.10509989299996 meters 0.05518207138098337 Centerline is valid? [True, True] Translation: X:149.46, Y:20.93, Z:15.55 [[ 9.70749625e-01 -2.15290738e-01 -1.06278241e-01 1.49464300e+02] [ 2.14449727e-01 9.76542035e-01 -1.94156647e-02 2.09289209e+01] [ 1.07965183e-01 -3.94359062e-03 9.94146854e-01 1.55542763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.16509989299996 meters 0.054318832264260195 Centerline is valid? [True, True] Translation: X:149.52, Y:20.94, Z:15.56 [[ 9.71119756e-01 -2.13293147e-01 -1.06922649e-01 1.49522229e+02] [ 2.12429652e-01 9.76981077e-01 -1.95350280e-02 2.09412665e+01] [ 1.08628092e-01 -3.74268953e-03 9.94075415e-01 1.55601872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.22509989299996 meters 0.05487415327026236 Centerline is valid? [True, True] Translation: X:149.58, Y:20.95, Z:15.57 [[ 9.71508177e-01 -2.11227030e-01 -1.07494205e-01 1.49580485e+02] [ 2.10341571e-01 9.77430654e-01 -1.96402895e-02 2.09538049e+01] [ 1.09216692e-01 -3.52979825e-03 9.94011698e-01 1.55660195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.28509989299997 meters 0.05510381765884927 Centerline is valid? [True, True] Translation: X:149.64, Y:20.96, Z:15.57 [[ 9.72076095e-01 -2.08747460e-01 -1.07203375e-01 1.49639251e+02] [ 2.07851676e-01 9.77964208e-01 -1.95879851e-02 2.09641233e+01] [ 1.08930006e-01 -3.24138921e-03 9.94044137e-01 1.55721835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.34509989299997 meters 0.05465233337586476 Centerline is valid? [True, True] Translation: X:149.70, Y:20.98, Z:15.58 [[ 9.72682509e-01 -2.05824451e-01 -1.07354706e-01 1.49697338e+02] [ 2.04908289e-01 9.78584583e-01 -1.96165186e-02 2.09783886e+01] [ 1.09093220e-01 -2.91722474e-03 9.94027243e-01 1.55781491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.40509989299997 meters 0.05384858033794099 Centerline is valid? [True, True] Translation: X:149.76, Y:21.00, Z:15.58 [[ 9.73851974e-01 -1.99767921e-01 -1.08190161e-01 1.49755413e+02] [ 1.98799939e-01 9.79840648e-01 -1.97708873e-02 2.09950727e+01] [ 1.09958707e-01 -2.25427982e-03 9.93933600e-01 1.55829562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.46509989299997 meters 0.05444780922598671 Centerline is valid? [True, True] Translation: X:149.81, Y:21.01, Z:15.59 [[ 9.74356819e-01 -1.97070633e-01 -1.08590767e-01 1.49813213e+02] [ 1.96078714e-01 9.80387340e-01 -1.98444228e-02 2.10083462e+01] [ 1.10371767e-01 -1.95678939e-03 9.93888447e-01 1.55889140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52509989299998 meters 0.05369764939325168 Centerline is valid? [True, True] Translation: X:149.87, Y:21.03, Z:15.60 [[ 9.76280243e-01 -1.87337228e-01 -1.08543307e-01 1.49869960e+02] [ 1.86285920e-01 9.82295289e-01 -1.98373693e-02 2.10304174e+01] [ 1.10337856e-01 -8.53257945e-04 9.93893772e-01 1.55966909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.58509989299998 meters 0.053498144381089484 Centerline is valid? [True, True] Translation: X:149.93, Y:21.05, Z:15.60 [[ 9.77510630e-01 -1.80662722e-01 -1.08783952e-01 1.49927025e+02] [ 1.79565422e-01 9.83545104e-01 -1.98818600e-02 2.10461877e+01] [ 1.10585834e-01 -9.91067369e-05 9.93866572e-01 1.56024177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64509989299998 meters 0.05446273360555282 Centerline is valid? [True, True] Translation: X:149.98, Y:21.06, Z:15.61 [[ 9.78570882e-01 -1.74854902e-01 -1.08741858e-01 1.49983000e+02] [ 1.73721982e-01 9.84594051e-01 -1.98803206e-02 2.10601208e+01] [ 1.10542758e-01 5.63451784e-04 9.93871210e-01 1.56104454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.70509989299998 meters 0.0540990317786321 Centerline is valid? [True, True] Translation: X:150.04, Y:21.07, Z:15.62 [[ 9.79432460e-01 -1.70008596e-01 -1.08669836e-01 1.50040732e+02] [ 1.68846928e-01 9.85441949e-01 -1.98715645e-02 2.10720718e+01] [ 1.10466152e-01 1.11428725e-03 9.93879262e-01 1.56166210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76509989299996 meters 0.05460270222138664 Centerline is valid? [True, True] Translation: X:150.10, Y:21.08, Z:15.62 [[ 9.79410055e-01 -1.70072756e-01 -1.08771329e-01 1.50097086e+02] [ 1.68908883e-01 9.85430881e-01 -1.98939190e-02 2.10840407e+01] [ 1.10570040e-01 1.11186067e-03 9.93867713e-01 1.56205167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.82509989299996 meters 0.054291089119291945 Centerline is valid? [True, True] Translation: X:150.15, Y:21.09, Z:15.63 [[ 9.79122553e-01 -1.72222389e-01 -1.07974418e-01 1.50154792e+02] [ 1.71087583e-01 9.85057708e-01 -1.97572768e-02 2.10895847e+01] [ 1.09763679e-01 8.71713029e-04 9.93957331e-01 1.56281929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.88509989299996 meters 0.05438972225340547 Centerline is valid? [True, True] Translation: X:150.21, Y:21.09, Z:15.64 [[ 9.78332153e-01 -1.76411724e-01 -1.08374820e-01 1.50213525e+02] [ 1.75292663e-01 9.84316377e-01 -1.98431746e-02 2.10933426e+01] [ 1.10175679e-01 4.15904977e-04 9.93912042e-01 1.56354754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.94509989299996 meters 0.053285214950036616 Centerline is valid? [True, True] Translation: X:150.27, Y:21.09, Z:15.64 [[ 9.76942672e-01 -1.84981570e-01 -1.06605974e-01 1.50272430e+02] [ 1.83948399e-01 9.82741847e-01 -1.95307002e-02 2.10949258e+01] [ 1.08378972e-01 -5.29623776e-04 9.94109510e-01 1.56424611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.00509989299997 meters 0.05330199256030995 Centerline is valid? [True, True] Translation: X:150.33, Y:21.10, Z:15.65 [[ 9.75809313e-01 -1.90670907e-01 -1.06961628e-01 1.50330648e+02] [ 1.89663672e-01 9.81653336e-01 -1.96066027e-02 2.11010119e+01] [ 1.08737648e-01 -1.15442962e-03 9.94069812e-01 1.56493146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.06509989299997 meters 0.05402340187229659 Centerline is valid? [True, True] Translation: X:150.39, Y:21.10, Z:15.65 [[ 9.74121177e-01 -1.98706757e-01 -1.07719813e-01 1.50392700e+02] [ 1.97733779e-01 9.80056819e-01 -1.97480039e-02 2.10956294e+01] [ 1.09495599e-01 -2.06289684e-03 9.93985140e-01 1.56520758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.12509989299997 meters 0.05487326632851555 Centerline is valid? [True, True] Translation: X:150.45, Y:21.10, Z:15.66 [[ 9.73257757e-01 -2.02879907e-01 -1.07745451e-01 1.50453080e+02] [ 2.01932003e-01 9.79200350e-01 -1.97519942e-02 2.10982069e+01] [ 1.09511666e-01 -2.53347318e-03 9.93982282e-01 1.56580874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.18509989299997 meters 0.05622739254095584 Centerline is valid? [True, True] Translation: X:150.51, Y:21.10, Z:15.66 [[ 9.72517094e-01 -2.06425356e-01 -1.07699000e-01 1.50513393e+02] [ 2.05499821e-01 9.78457963e-01 -1.97443320e-02 2.10990633e+01] [ 1.09454675e-01 -2.93042492e-03 9.93987468e-01 1.56642271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24509989299997 meters 0.05465273919432215 Centerline is valid? [True, True] Translation: X:150.57, Y:21.11, Z:15.67 [[ 9.72402891e-01 -2.07025942e-01 -1.07577306e-01 1.50570031e+02] [ 2.06106010e-01 9.78330874e-01 -1.97234060e-02 2.11142423e+01] [ 1.09329457e-01 -2.99323237e-03 9.94001062e-01 1.56717646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30509989299998 meters 0.05424036946552784 Centerline is valid? [True, True] Translation: X:150.63, Y:21.12, Z:15.68 [[ 9.72474325e-01 -2.06651226e-01 -1.07652025e-01 1.50628055e+02] [ 2.05726453e-01 9.78410250e-01 -1.97486642e-02 2.11236824e+01] [ 1.09408930e-01 -2.94180033e-03 9.93992471e-01 1.56782860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36509989299998 meters 0.055229970842528016 Centerline is valid? [True, True] Translation: X:150.69, Y:21.13, Z:15.68 [[ 9.72547592e-01 -2.05931981e-01 -1.08366050e-01 1.50685792e+02] [ 2.04989690e-01 9.78562089e-01 -1.98863074e-02 2.11277667e+01] [ 1.10138135e-01 -2.87354263e-03 9.93912136e-01 1.56823949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42509989299998 meters 0.055304947398239136 Centerline is valid? [True, True] Translation: X:150.74, Y:21.14, Z:15.69 [[ 9.72607546e-01 -2.05296278e-01 -1.09032104e-01 1.50743834e+02] [ 2.04337604e-01 9.78695831e-01 -2.00153547e-02 2.11384263e+01] [ 1.10818343e-01 -2.81227383e-03 9.93836700e-01 1.56879631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48509989299998 meters 0.05453015036627171 Centerline is valid? [True, True] Translation: X:150.80, Y:21.16, Z:15.69 [[ 9.72664699e-01 -2.04875638e-01 -1.09313111e-01 1.50799890e+02] [ 2.03908092e-01 9.78784120e-01 -2.00782687e-02 2.11553992e+01] [ 1.11107486e-01 -2.76040485e-03 9.93804562e-01 1.56949927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54509989299996 meters 0.05415966746687082 Centerline is valid? [True, True] Translation: X:150.86, Y:21.17, Z:15.70 [[ 9.72946094e-01 -2.03066112e-01 -1.10181908e-01 1.50855744e+02] [ 2.02070183e-01 9.79161676e-01 -2.02497831e-02 2.11728427e+01] [ 1.11997946e-01 -2.56253089e-03 9.93705134e-01 1.57017172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.60509989299996 meters 0.0546148024608001 Centerline is valid? [True, True] Translation: X:150.91, Y:21.18, Z:15.71 [[ 9.73376777e-01 -2.01237705e-01 -1.09731657e-01 1.50913934e+02] [ 2.00237955e-01 9.79539645e-01 -2.01704230e-02 2.11829126e+01] [ 1.11545558e-01 -2.33902129e-03 9.93756569e-01 1.57068571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.66509989299996 meters 0.054826665114386434 Centerline is valid? [True, True] Translation: X:150.97, Y:21.19, Z:15.71 [[ 9.74013517e-01 -1.98427782e-01 -1.09197459e-01 1.50971783e+02] [ 1.97419970e-01 9.80113459e-01 -2.00739143e-02 2.11932301e+01] [ 1.11009121e-01 -2.00549513e-03 9.93817364e-01 1.57124904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.72509989299996 meters 0.054388312734884495 Centerline is valid? [True, True] Translation: X:151.03, Y:21.21, Z:15.72 [[ 9.75176477e-01 -1.93282438e-01 -1.08040448e-01 1.51028516e+02] [ 1.92264318e-01 9.81142156e-01 -1.98620770e-02 2.12142851e+01] [ 1.09842029e-01 -1.40329286e-03 9.93948067e-01 1.57216493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.78509989299997 meters 0.05349581780595667 Centerline is valid? [True, True] Translation: X:151.08, Y:21.23, Z:15.73 [[ 9.75961359e-01 -1.89929447e-01 -1.06893545e-01 1.51084631e+02] [ 1.88912717e-01 9.81797218e-01 -1.96521819e-02 2.12311650e+01] [ 1.08680313e-01 -1.01377975e-03 9.94076235e-01 1.57298256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.84509989299997 meters 0.054213502737507004 Centerline is valid? [True, True] Translation: X:151.14, Y:21.24, Z:15.74 [[ 9.76803147e-01 -1.86153701e-01 -1.05841446e-01 1.51142245e+02] [ 1.85134468e-01 9.82520462e-01 -1.94620297e-02 2.12439539e+01] [ 1.07614315e-01 -5.84327878e-04 9.94192546e-01 1.57363251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.90509989299997 meters 0.05370903986754296 Centerline is valid? [True, True] Translation: X:151.20, Y:21.26, Z:15.74 [[ 9.76961734e-01 -1.85205476e-01 -1.06041041e-01 1.51198660e+02] [ 1.84176576e-01 9.82699701e-01 -1.95009276e-02 2.12570409e+01] [ 1.07818178e-01 -4.78615838e-04 9.94170514e-01 1.57435604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.96509989299997 meters 0.054162608652200774 Centerline is valid? [True, True] Translation: X:151.26, Y:21.27, Z:15.75 [[ 9.76700491e-01 -1.86476492e-01 -1.06219905e-01 1.51256074e+02] [ 1.85450065e-01 9.82459236e-01 -1.95479565e-02 2.12660715e+01] [ 1.08001962e-01 -6.05989608e-04 9.94150496e-01 1.57495480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02509989299998 meters 0.05382668022852652 Centerline is valid? [True, True] Translation: X:151.31, Y:21.27, Z:15.75 [[ 9.76147474e-01 -1.89034550e-01 -1.06780377e-01 1.51314059e+02] [ 1.88011159e-01 9.81970041e-01 -1.96632257e-02 2.12721760e+01] [ 1.08572160e-01 -8.81694345e-04 9.94088180e-01 1.57539077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08509989299998 meters 0.05395233703528522 Centerline is valid? [True, True] Translation: X:151.37, Y:21.28, Z:15.76 [[ 9.75501803e-01 -1.92234054e-01 -1.06968689e-01 1.51370793e+02] [ 1.91224886e-01 9.81348338e-01 -1.97099572e-02 2.12798794e+01] [ 1.08762471e-01 -1.22797660e-03 9.94067008e-01 1.57598777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14509989299998 meters 0.05477654291267541 Centerline is valid? [True, True] Translation: X:151.43, Y:21.29, Z:15.77 [[ 9.75131831e-01 -1.94008136e-01 -1.07138952e-01 1.51428464e+02] [ 1.93005931e-01 9.80998887e-01 -1.97457506e-02 2.12875649e+01] [ 1.08934029e-01 -1.42374321e-03 9.94047962e-01 1.57653964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.20509989299998 meters 0.054147499966616795 Centerline is valid? [True, True] Translation: X:151.49, Y:21.29, Z:15.77 [[ 9.73994114e-01 -2.00305390e-01 -1.05892479e-01 1.51487996e+02] [ 1.99363051e-01 9.79731262e-01 -1.95199411e-02 2.12927571e+01] [ 1.07656121e-01 -2.09873990e-03 9.94185976e-01 1.57726029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26509989299996 meters 0.054434725251622906 Centerline is valid? [True, True] Translation: X:151.55, Y:21.30, Z:15.78 [[ 9.73044222e-01 -2.05213730e-01 -1.05224839e-01 1.51548010e+02] [ 2.04311832e-01 9.78713664e-01 -1.93968863e-02 2.12989223e+01] [ 1.06965495e-01 -2.62465155e-03 9.94259269e-01 1.57790315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32509989299996 meters 0.054661539459965644 Centerline is valid? [True, True] Translation: X:151.61, Y:21.31, Z:15.79 [[ 9.72012123e-01 -2.10361761e-01 -1.04596184e-01 1.51608190e+02] [ 2.09500232e-01 9.77618471e-01 -1.92815678e-02 2.13052063e+01] [ 1.06311266e-01 -3.17100722e-03 9.94327843e-01 1.57853991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.38509989299996 meters 0.05640776034218068 Centerline is valid? [True, True] Translation: X:151.67, Y:21.31, Z:15.79 [[ 9.71129532e-01 -2.14878926e-01 -1.03607328e-01 1.51667832e+02] [ 2.14059190e-01 9.76633949e-01 -1.90995453e-02 2.13067469e+01] [ 1.05290524e-01 -3.62996828e-03 9.94434879e-01 1.57921934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.44509989299996 meters 0.05423725311065734 Centerline is valid? [True, True] Translation: X:151.73, Y:21.32, Z:15.80 [[ 9.69881885e-01 -2.20752671e-01 -1.02943609e-01 1.51726065e+02] [ 2.19976237e-01 9.75320610e-01 -1.89779869e-02 2.13219767e+01] [ 1.04592465e-01 -4.23874202e-03 9.94506133e-01 1.57986397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.50509989299997 meters 0.0558314541403203 Centerline is valid? [True, True] Translation: X:151.79, Y:21.32, Z:15.80 [[ 9.69296201e-01 -2.23256251e-01 -1.03060763e-01 1.51785531e+02] [ 2.22492067e-01 9.74749340e-01 -1.90001225e-02 2.13226928e+01] [ 1.04700306e-01 -4.51345557e-03 9.94493577e-01 1.58043427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.56509989299997 meters 0.055904583811486365 Centerline is valid? [True, True] Translation: X:151.84, Y:21.33, Z:15.81 [[ 9.68796324e-01 -2.25362412e-01 -1.03176865e-01 1.51844955e+02] [ 2.24608210e-01 9.74263450e-01 -1.90231919e-02 2.13301586e+01] [ 1.04808561e-01 -4.74477255e-03 9.94481097e-01 1.58103648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.62509989299997 meters 0.05558529330149257 Centerline is valid? [True, True] Translation: X:151.90, Y:21.34, Z:15.82 [[ 9.68126543e-01 -2.27886401e-01 -1.03917205e-01 1.51902993e+02] [ 2.27135696e-01 9.73674612e-01 -1.91605122e-02 2.13423889e+01] [ 1.05547965e-01 -5.05350625e-03 9.94401372e-01 1.58150893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.68509989299997 meters 0.0569834366829501 Centerline is valid? [True, True] Translation: X:151.96, Y:21.35, Z:15.82 [[ 9.67687685e-01 -2.29247887e-01 -1.05004529e-01 1.51963281e+02] [ 2.28489251e-01 9.73353882e-01 -1.93618922e-02 2.13459181e+01] [ 1.06645239e-01 -5.25614158e-03 9.94283242e-01 1.58201594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74509989299997 meters 0.05830031180539513 Centerline is valid? [True, True] Translation: X:152.02, Y:21.35, Z:15.82 [[ 9.67031487e-01 -2.31380364e-01 -1.06363673e-01 1.52023464e+02] [ 2.30614766e-01 9.72847459e-01 -1.96125192e-02 2.13510776e+01] [ 1.08013581e-01 -5.56310995e-03 9.94133853e-01 1.58247808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80509989299998 meters 0.060184330635156165 Centerline is valid? [True, True] Translation: X:152.08, Y:21.36, Z:15.83 [[ 9.66758615e-01 -2.32525613e-01 -1.06346691e-01 1.52081570e+02] [ 2.31767101e-01 9.72573630e-01 -1.96098111e-02 2.13593887e+01] [ 1.07989770e-01 -5.68971031e-03 9.94135723e-01 1.58305739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86509989299998 meters 0.05685436489438779 Centerline is valid? [True, True] Translation: X:152.14, Y:21.38, Z:15.84 [[ 9.66498273e-01 -2.33483891e-01 -1.06613139e-01 1.52137803e+02] [ 2.32727100e-01 9.72343318e-01 -1.96613818e-02 2.13797041e+01] [ 1.08255189e-01 -5.80907499e-03 9.94106166e-01 1.58372326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92509989299998 meters 0.055615386573722725 Centerline is valid? [True, True] Translation: X:152.19, Y:21.40, Z:15.84 [[ 9.66470621e-01 -2.33969475e-01 -1.05796138e-01 1.52194008e+02] [ 2.33226927e-01 9.72226546e-01 -1.95126410e-02 2.13974272e+01] [ 1.07423176e-01 -5.81611383e-03 9.94196376e-01 1.58447852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98509989299998 meters 0.06069413568312289 Centerline is valid? [True, True] Translation: X:152.25, Y:21.39, Z:15.85 [[ 9.66631693e-01 -2.33521163e-01 -1.05313990e-01 1.52253224e+02] [ 2.32781506e-01 9.72334844e-01 -1.94350543e-02 2.13932748e+01] [ 1.06938958e-01 -5.72860966e-03 9.94249085e-01 1.58506894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04509989299996 meters 0.05770975313379267 Centerline is valid? [True, True] Translation: X:152.31, Y:21.41, Z:15.86 [[ 9.66816229e-01 -2.33125629e-01 -1.04493164e-01 1.52309167e+02] [ 2.32394727e-01 9.72430294e-01 -1.92876780e-02 2.14144710e+01] [ 1.06108770e-01 -5.63602024e-03 9.94338556e-01 1.58585021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.10509989299996 meters 0.05612229406107274 Centerline is valid? [True, True] Translation: X:152.37, Y:21.43, Z:15.87 [[ 9.66659678e-01 -2.33923941e-01 -1.04156890e-01 1.52366034e+02] [ 2.33201748e-01 9.72238194e-01 -1.92312044e-02 2.14320620e+01] [ 1.05763945e-01 -5.69953898e-03 9.94374931e-01 1.58655274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.16509989299996 meters 0.061638298934500596 Centerline is valid? [True, True] Translation: X:152.43, Y:21.43, Z:15.87 [[ 9.65673162e-01 -2.36647074e-01 -1.07114456e-01 1.52427193e+02] [ 2.35899724e-01 9.71576098e-01 -1.97789204e-02 2.14289972e+01] [ 1.08750469e-01 -6.16829790e-03 9.94049942e-01 1.58682256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.22509989299996 meters 0.06326009639140756 Centerline is valid? [True, True] Translation: X:152.49, Y:21.44, Z:15.87 [[ 9.65055910e-01 -2.38896012e-01 -1.07683734e-01 1.52487274e+02] [ 2.38154549e-01 9.71023696e-01 -1.98844658e-02 2.14372592e+01] [ 1.09313777e-01 -6.45574979e-03 9.93986329e-01 1.58735213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.28509989299997 meters 0.06885646972024798 Centerline is valid? [True, True] Translation: X:152.55, Y:21.44, Z:15.88 [[ 9.64544697e-01 -2.40931451e-01 -1.07729124e-01 1.52547737e+02] [ 2.40202050e-01 9.70519078e-01 -1.98920827e-02 2.14393095e+01] [ 1.09345798e-01 -6.68995349e-03 9.93981258e-01 1.58785811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.34509989299997 meters 0.06525841087510342 Centerline is valid? [True, True] Translation: X:152.60, Y:21.46, Z:15.89 [[ 9.64725758e-01 -2.40539871e-01 -1.06980294e-01 1.52603697e+02] [ 2.39818084e-01 9.70616834e-01 -1.97547149e-02 2.14596588e+01] [ 1.08588671e-01 -6.59792680e-03 9.94064871e-01 1.58860174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.40509989299997 meters 0.05520988231888111 Centerline is valid? [True, True] Translation: X:152.66, Y:21.50, Z:15.89 [[ 9.65197169e-01 -2.39177318e-01 -1.05776348e-01 1.52656814e+02] [ 2.38463388e-01 9.70955013e-01 -1.95339370e-02 2.14985703e+01] [ 1.07376150e-01 -6.36968565e-03 9.94198064e-01 1.58945258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.46509989299997 meters 0.05645188967061168 Centerline is valid? [True, True] Translation: X:152.72, Y:21.51, Z:15.90 [[ 9.65887173e-01 -2.36931668e-01 -1.04524414e-01 1.52715224e+02] [ 2.36221380e-01 9.71507505e-01 -1.93035497e-02 2.15094513e+01] [ 1.06119875e-01 -6.04585032e-03 9.94334964e-01 1.59011243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52509989299998 meters 0.0596456233424048 Centerline is valid? [True, True] Translation: X:152.77, Y:21.51, Z:15.91 [[ 9.66016137e-01 -2.36041363e-01 -1.05343717e-01 1.52774114e+02] [ 2.35314525e-01 9.71724521e-01 -1.94558521e-02 2.15142064e+01] [ 1.06957459e-01 -5.99423959e-03 9.94245529e-01 1.59057318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58509989299998 meters 0.058207397258689675 Centerline is valid? [True, True] Translation: X:152.83, Y:21.53, Z:15.91 [[ 9.65849172e-01 -2.36499514e-01 -1.05845910e-01 1.52829797e+02] [ 2.35768249e-01 9.71612633e-01 -1.95505609e-02 2.15319189e+01] [ 1.07464922e-01 -6.07221183e-03 9.94190333e-01 1.59114960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64509989299998 meters 0.059247337492779995 Centerline is valid? [True, True] Translation: X:152.89, Y:21.54, Z:15.92 [[ 9.65564179e-01 -2.37705057e-01 -1.05745551e-01 1.52888551e+02] [ 2.36981188e-01 9.71317658e-01 -1.95428855e-02 2.15446310e+01] [ 1.07357964e-01 -6.18979617e-03 9.94201164e-01 1.59179544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.70509989299998 meters 0.05895294605270143 Centerline is valid? [True, True] Translation: X:152.95, Y:21.56, Z:15.92 [[ 9.65149512e-01 -2.39049568e-01 -1.06497525e-01 1.52947119e+02] [ 2.38323491e-01 9.70986373e-01 -1.96818896e-02 2.15567855e+01] [ 1.08112593e-01 -6.38489575e-03 9.94118152e-01 1.59232489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76509989299996 meters 0.06335983866565569 Centerline is valid? [True, True] Translation: X:153.01, Y:21.56, Z:15.93 [[ 9.64632897e-01 -2.41350675e-01 -1.05986912e-01 1.53007630e+02] [ 2.40645249e-01 9.70415459e-01 -1.95882940e-02 2.15617257e+01] [ 1.07578986e-01 -6.60973402e-03 9.94174569e-01 1.59296828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.82509989299996 meters 0.05248368963751615 Centerline is valid? [True, True] Translation: X:153.06, Y:21.61, Z:15.94 [[ 9.64976952e-01 -2.40857823e-01 -1.03956681e-01 1.53061177e+02] [ 2.40176294e-01 9.70539127e-01 -1.92133159e-02 2.16068624e+01] [ 1.05521704e-01 -6.42752342e-03 9.94396227e-01 1.59386779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.88509989299996 meters 0.05572750322058873 Centerline is valid? [True, True] Translation: X:153.12, Y:21.61, Z:15.94 [[ 9.65732213e-01 -2.38084751e-01 -1.03329298e-01 1.53121367e+02] [ 2.37395808e-01 9.71225299e-01 -1.90957887e-02 2.16102718e+01] [ 1.04902444e-01 -6.08852390e-03 9.94463879e-01 1.59442744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.94509989299996 meters 0.05555120587234343 Centerline is valid? [True, True] Translation: X:153.18, Y:21.62, Z:15.95 [[ 9.65941620e-01 -2.36897933e-01 -1.04096857e-01 1.53178455e+02] [ 2.36191939e-01 9.71515985e-01 -1.92369368e-02 2.16244569e+01] [ 1.05688951e-01 -6.00508053e-03 9.94381106e-01 1.59500918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.00509989299997 meters 0.06812824779939024 Centerline is valid? [True, True] Translation: X:153.24, Y:21.61, Z:15.95 [[ 9.66107318e-01 -2.35171196e-01 -1.06447913e-01 1.53242618e+02] [ 2.34422344e-01 9.71935767e-01 -1.96730456e-02 2.16083412e+01] [ 1.08087067e-01 -5.94749596e-03 9.94123641e-01 1.59518812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.06509989299997 meters 0.05674835809647815 Centerline is valid? [True, True] Translation: X:153.29, Y:21.65, Z:15.96 [[ 9.66114856e-01 -2.35097321e-01 -1.06542646e-01 1.53294772e+02] [ 2.34346563e-01 9.71953664e-01 -1.96917082e-02 2.16456669e+01] [ 1.08183983e-01 -5.94345106e-03 9.94113123e-01 1.59597113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.12509989299997 meters 0.05327411040685811 Centerline is valid? [True, True] Translation: X:153.35, Y:21.67, Z:15.97 [[ 9.66715704e-01 -2.32777564e-01 -1.06185470e-01 1.53351946e+02] [ 2.32016831e-01 9.72513563e-01 -1.96356801e-02 2.16684820e+01] [ 1.07837556e-01 -5.65469606e-03 9.94152446e-01 1.59666525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.18509989299997 meters 0.05524164892125493 Centerline is valid? [True, True] Translation: X:153.41, Y:21.68, Z:15.97 [[ 9.68053576e-01 -2.27379655e-01 -1.05691842e-01 1.53411228e+02] [ 2.26593946e-01 9.73793202e-01 -1.95443962e-02 2.16752163e+01] [ 1.07365996e-01 -5.02910898e-03 9.94206845e-01 1.59737229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24509989299997 meters 0.055134669381963985 Centerline is valid? [True, True] Translation: X:153.47, Y:21.69, Z:15.98 [[ 9.69178691e-01 -2.22604416e-01 -1.05545913e-01 1.53469583e+02] [ 2.21792646e-01 9.74898500e-01 -1.95176230e-02 2.16894845e+01] [ 1.07241262e-01 -4.49324307e-03 9.94222874e-01 1.59796805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30509989299998 meters 0.05350798829634021 Centerline is valid? [True, True] Translation: X:153.53, Y:21.71, Z:15.99 [[ 9.70311579e-01 -2.17422826e-01 -1.05937506e-01 1.53527341e+02] [ 2.16574202e-01 9.76069584e-01 -1.95903310e-02 2.17081589e+01] [ 1.07661763e-01 -3.93460587e-03 9.94179794e-01 1.59855882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.36509989299998 meters 0.053511331198347 Centerline is valid? [True, True] Translation: X:153.59, Y:21.72, Z:15.99 [[ 9.72258692e-01 -2.08345912e-01 -1.06325056e-01 1.53585844e+02] [ 2.07436888e-01 9.78050787e-01 -1.96620297e-02 2.17236402e+01] [ 1.08087808e-01 -2.93915944e-03 9.94137006e-01 1.59904272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42509989299998 meters 0.05215517727665239 Centerline is valid? [True, True] Translation: X:153.64, Y:21.74, Z:16.00 [[ 9.74057480e-01 -1.99743308e-01 -1.06370279e-01 1.53642965e+02] [ 1.98782341e-01 9.79846249e-01 -1.96700183e-02 2.17435410e+01] [ 1.08155473e-01 -1.98480449e-03 9.94132010e-01 1.59969633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48509989299998 meters 0.051801708916572146 Centerline is valid? [True, True] Translation: X:153.70, Y:21.76, Z:16.00 [[ 9.74971627e-01 -1.95168419e-01 -1.06487629e-01 1.53700526e+02] [ 1.94178103e-01 9.80768628e-01 -1.96916907e-02 2.17599491e+01] [ 1.08282922e-01 -1.47872599e-03 9.94119018e-01 1.60038978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54509989299996 meters 0.05260913010402648 Centerline is valid? [True, True] Translation: X:153.76, Y:21.77, Z:16.01 [[ 9.76065628e-01 -1.89398702e-01 -1.06883219e-01 1.53758478e+02] [ 1.88366378e-01 9.81899906e-01 -1.97656849e-02 2.17734220e+01] [ 1.08692218e-01 -8.40599236e-04 9.94075095e-01 1.60090180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.60509989299996 meters 0.052683109663750734 Centerline is valid? [True, True] Translation: X:153.81, Y:21.79, Z:16.02 [[ 9.77081990e-01 -1.84328884e-01 -1.06459606e-01 1.53814185e+02] [ 1.83274609e-01 9.82864582e-01 -1.96883381e-02 2.17877804e+01] [ 1.08264505e-01 -2.74221963e-04 9.94122086e-01 1.60155742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.66509989299996 meters 0.05260845300191732 Centerline is valid? [True, True] Translation: X:153.87, Y:21.80, Z:16.02 [[ 9.77560910e-01 -1.81927404e-01 -1.06193627e-01 1.53870144e+02] [ 1.80863769e-01 9.83311965e-01 -1.96437549e-02 2.17995820e+01] [ 1.07995201e-01 -3.61267008e-06 9.94151415e-01 1.60218533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.72509989299996 meters 0.05289199413388804 Centerline is valid? [True, True] Translation: X:153.93, Y:21.81, Z:16.03 [[ 9.77773103e-01 -1.80760324e-01 -1.06233071e-01 1.53927256e+02] [ 1.79687592e-01 9.83527166e-01 -1.96642574e-02 2.18098237e+01] [ 1.08037629e-01 1.38417202e-04 9.94146796e-01 1.60279382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.78509989299997 meters 0.05248638276389451 Centerline is valid? [True, True] Translation: X:153.98, Y:21.82, Z:16.03 [[ 9.77439886e-01 -1.82606300e-01 -1.06142395e-01 1.53984126e+02] [ 1.81544814e-01 9.83186115e-01 -1.96607221e-02 2.18182328e+01] [ 1.07947901e-01 -5.24275098e-05 9.94156551e-01 1.60335901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.84509989299997 meters 0.05160318745183759 Centerline is valid? [True, True] Translation: X:154.04, Y:21.82, Z:16.04 [[ 9.75781998e-01 -1.90721338e-01 -1.07120790e-01 1.54042681e+02] [ 1.89687407e-01 9.81643763e-01 -1.98547362e-02 2.18208196e+01] [ 1.08941177e-01 -9.45570712e-04 9.94047748e-01 1.60392496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.90509989299997 meters 0.05205747016278902 Centerline is valid? [True, True] Translation: X:154.10, Y:21.83, Z:16.05 [[ 9.74672115e-01 -1.96473499e-01 -1.06828988e-01 1.54101227e+02] [ 1.95479212e-01 9.80507862e-01 -1.98042992e-02 2.18273106e+01] [ 1.08637682e-01 -1.58014820e-03 9.94080156e-01 1.60456529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.96509989299997 meters 0.05244951906182276 Centerline is valid? [True, True] Translation: X:154.16, Y:21.83, Z:16.05 [[ 9.72300430e-01 -2.08251153e-01 -1.06128846e-01 1.54162434e+02] [ 2.07339242e-01 9.78071169e-01 -1.96781027e-02 2.18251514e+01] [ 1.07899552e-01 -2.87164675e-03 9.94157654e-01 1.60513586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02509989299998 meters 0.054664175110846 Centerline is valid? [True, True] Translation: X:154.22, Y:21.82, Z:16.06 [[ 9.71129228e-01 -2.13516579e-01 -1.06389346e-01 1.54223564e+02] [ 2.12631611e-01 9.76933296e-01 -1.97264378e-02 2.18246896e+01] [ 1.08147216e-01 -3.46481783e-03 9.94128852e-01 1.60563706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08509989299998 meters 0.05342933693016678 Centerline is valid? [True, True] Translation: X:154.28, Y:21.84, Z:16.06 [[ 9.69995025e-01 -2.18476495e-01 -1.06666177e-01 1.54282559e+02] [ 2.17616655e-01 9.75833901e-01 -1.97785048e-02 2.18376575e+01] [ 1.08409610e-01 -4.02728534e-03 9.94098153e-01 1.60630838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14509989299998 meters 0.053517580925897035 Centerline is valid? [True, True] Translation: X:154.34, Y:21.85, Z:16.07 [[ 9.69039130e-01 -2.22559842e-01 -1.06912496e-01 1.54341930e+02] [ 2.21720741e-01 9.74908671e-01 -1.98241245e-02 2.18454166e+01] [ 1.08641974e-01 -4.49436555e-03 9.94070783e-01 1.60690606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.20509989299998 meters 0.05542569779134138 Centerline is valid? [True, True] Translation: X:154.40, Y:21.85, Z:16.07 [[ 9.67780302e-01 -2.26979834e-01 -1.09002030e-01 1.54402461e+02] [ 2.26135379e-01 9.73886165e-01 -2.02120543e-02 2.18480980e+01] [ 1.10743297e-01 -5.08838735e-03 9.93836018e-01 1.60731710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26509989299996 meters 0.05488803191433436 Centerline is valid? [True, True] Translation: X:154.46, Y:21.86, Z:16.08 [[ 9.67654474e-01 -2.26755488e-01 -1.10574715e-01 1.54459049e+02] [ 2.25884844e-01 9.73938180e-01 -2.05051096e-02 2.18591548e+01] [ 1.12342582e-01 -5.13529114e-03 9.93656265e-01 1.60774835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.32509989299996 meters 0.05341343989967378 Centerline is valid? [True, True] Translation: X:154.52, Y:21.88, Z:16.08 [[ 9.68071529e-01 -2.24742607e-01 -1.11032770e-01 1.54515934e+02] [ 2.23850113e-01 9.74405796e-01 -2.06027200e-02 2.18769072e+01] [ 1.12821283e-01 -4.90979142e-03 9.93603166e-01 1.60847282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38509989299996 meters 0.052228420944662526 Centerline is valid? [True, True] Translation: X:154.57, Y:21.90, Z:16.09 [[ 9.68379761e-01 -2.23110603e-01 -1.11634655e-01 1.54573737e+02] [ 2.22197434e-01 9.74781592e-01 -2.07158877e-02 2.18966182e+01] [ 1.13441341e-01 -4.74408755e-03 9.93533369e-01 1.60925912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.44509989299996 meters 0.05204965185205664 Centerline is valid? [True, True] Translation: X:154.63, Y:21.91, Z:16.10 [[ 9.69080186e-01 -2.19969830e-01 -1.11789391e-01 1.54631823e+02] [ 2.19033417e-01 9.75496828e-01 -2.07437076e-02 2.19120181e+01] [ 1.13613186e-01 -4.38329626e-03 9.93515390e-01 1.60987236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.50509989299997 meters 0.05323987674660134 Centerline is valid? [True, True] Translation: X:154.69, Y:21.92, Z:16.10 [[ 9.69727891e-01 -2.17097501e-01 -1.11787715e-01 1.54691507e+02] [ 2.16142210e-01 9.76141533e-01 -2.07425120e-02 2.19162375e+01] [ 1.13623779e-01 -4.04745142e-03 9.93515604e-01 1.61024745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.56509989299997 meters 0.05231178456544853 Centerline is valid? [True, True] Translation: X:154.75, Y:21.94, Z:16.11 [[ 9.71117598e-01 -2.10949199e-01 -1.11494598e-01 1.54748137e+02] [ 2.09958505e-01 9.77491393e-01 -2.06882436e-02 2.19394302e+01] [ 1.13349178e-01 -3.31852164e-03 9.93549672e-01 1.61108766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.62509989299997 meters 0.05204280553620807 Centerline is valid? [True, True] Translation: X:154.81, Y:21.95, Z:16.12 [[ 9.72784107e-01 -2.03051383e-01 -1.11629821e-01 1.54805305e+02] [ 2.02006462e-01 9.79165140e-01 -2.07127464e-02 2.19544964e+01] [ 1.13509781e-01 -2.40091463e-03 9.93533978e-01 1.61167149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.68509989299997 meters 0.05236799667456211 Centerline is valid? [True, True] Translation: X:154.86, Y:21.97, Z:16.12 [[ 9.73950208e-01 -1.97283042e-01 -1.11805159e-01 1.54863292e+02] [ 1.96196758e-01 9.80345046e-01 -2.07466240e-02 2.19708675e+01] [ 1.13700590e-01 -1.72963094e-03 9.93513555e-01 1.61232922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74509989299997 meters 0.05214879909126321 Centerline is valid? [True, True] Translation: X:154.92, Y:21.99, Z:16.13 [[ 9.75043083e-01 -1.91895441e-01 -1.11656283e-01 1.54921135e+02] [ 1.90776775e-01 9.81414760e-01 -2.07193362e-02 2.19865014e+01] [ 1.13557071e-01 -1.09918017e-03 9.93530867e-01 1.61300180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80509989299998 meters 0.05246935737098637 Centerline is valid? [True, True] Translation: X:154.98, Y:22.00, Z:16.14 [[ 9.76623381e-01 -1.83424333e-01 -1.12081599e-01 1.54977449e+02] [ 1.82241276e-01 9.83033825e-01 -2.07994255e-02 2.20044424e+01] [ 1.13995124e-01 -1.12688429e-04 9.93481303e-01 1.61354007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86509989299998 meters 0.052822638920226726 Centerline is valid? [True, True] Translation: X:155.03, Y:22.02, Z:16.14 [[ 9.78213325e-01 -1.75248977e-01 -1.11294599e-01 1.55033566e+02] [ 1.74029208e-01 9.84523789e-01 -2.06577563e-02 2.20222276e+01] [ 1.13192431e-01 8.39181514e-04 9.93572730e-01 1.61430999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92509989299998 meters 0.05346337425799412 Centerline is valid? [True, True] Translation: X:155.09, Y:22.03, Z:16.15 [[ 9.79103228e-01 -1.70329083e-01 -1.11107484e-01 1.55090532e+02] [ 1.69080472e-01 9.85386215e-01 -2.06349305e-02 2.20348129e+01] [ 1.12998512e-01 1.41762125e-03 9.93594146e-01 1.61497300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98509989299995 meters 0.05300878562583096 Centerline is valid? [True, True] Translation: X:155.15, Y:22.05, Z:16.15 [[ 9.79174018e-01 -1.69881364e-01 -1.11169077e-01 1.55147396e+02] [ 1.68628138e-01 9.85463420e-01 -2.06494325e-02 2.20463185e+01] [ 1.13061012e-01 1.47315338e-03 9.93586955e-01 1.61548104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04509989299996 meters 0.052980402822918736 Centerline is valid? [True, True] Translation: X:155.21, Y:22.05, Z:16.16 [[ 9.78736093e-01 -1.73220866e-01 -1.09864426e-01 1.55206126e+02] [ 1.72017427e-01 9.84882413e-01 -2.04116964e-02 2.20540449e+01] [ 1.11739273e-01 1.07906815e-03 9.93736973e-01 1.61589955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.10509989299996 meters 0.052844745756864195 Centerline is valid? [True, True] Translation: X:155.27, Y:22.06, Z:16.17 [[ 9.77211128e-01 -1.81740107e-01 -1.09676548e-01 1.55265255e+02] [ 1.80593416e-01 9.83346592e-01 -2.03837497e-02 2.20576243e+01] [ 1.11554605e-01 1.12364613e-04 9.93758299e-01 1.61662228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.16509989299996 meters 0.05222937533891982 Centerline is valid? [True, True] Translation: X:155.32, Y:22.06, Z:16.17 [[ 9.75846058e-01 -1.88947065e-01 -1.09651617e-01 1.55323334e+02] [ 1.87844877e-01 9.81987025e-01 -2.03907856e-02 2.20629095e+01] [ 1.11529244e-01 -6.99226696e-04 9.93760906e-01 1.61712791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.22509989299996 meters 0.05227612939152109 Centerline is valid? [True, True] Translation: X:155.38, Y:22.06, Z:16.18 [[ 9.73976521e-01 -1.99612115e-01 -1.07353340e-01 1.55383780e+02] [ 1.98619942e-01 9.79873198e-01 -1.99658514e-02 2.20625886e+01] [ 1.09178086e-01 -1.87624366e-03 9.94020435e-01 1.61765545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.28509989299997 meters 0.0528678154985358 Centerline is valid? [True, True] Translation: X:155.44, Y:22.07, Z:16.18 [[ 9.72934256e-01 -2.05139891e-01 -1.06379318e-01 1.55443317e+02] [ 2.04198545e-01 9.78729538e-01 -1.97849649e-02 2.20668602e+01] [ 1.08175267e-01 -2.47303193e-03 9.94128762e-01 1.61838362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.34509989299997 meters 0.053459343843718726 Centerline is valid? [True, True] Translation: X:155.50, Y:22.07, Z:16.19 [[ 9.72167461e-01 -2.09111983e-01 -1.05653240e-01 1.55503920e+02] [ 2.08206817e-01 9.77887417e-01 -1.96499824e-02 2.20708193e+01] [ 1.07426021e-01 -2.89465138e-03 9.94208867e-01 1.61898557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.40509989299997 meters 0.053585055499127614 Centerline is valid? [True, True] Translation: X:155.56, Y:22.08, Z:16.20 [[ 9.71656449e-01 -2.11722131e-01 -1.05154576e-01 1.55563410e+02] [ 2.10840724e-01 9.77324769e-01 -1.95572512e-02 2.20780726e+01] [ 1.06910875e-01 -3.16793769e-03 9.94263561e-01 1.61960001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.46509989299997 meters 0.05385710018079428 Centerline is valid? [True, True] Translation: X:155.62, Y:22.09, Z:16.20 [[ 9.71674533e-01 -2.12170391e-01 -1.04078464e-01 1.55621906e+02] [ 2.11309419e-01 9.77227504e-01 -1.93580895e-02 2.20854236e+01] [ 1.05815551e-01 -3.18299717e-03 9.94380680e-01 1.62024895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52509989299998 meters 0.05174840201760244 Centerline is valid? [True, True] Translation: X:155.68, Y:22.11, Z:16.21 [[ 9.72423983e-01 -2.09298599e-01 -1.02886798e-01 1.55679194e+02] [ 2.08440087e-01 9.77847692e-01 -1.91473795e-02 2.21053009e+01] [ 1.04615138e-01 -2.82636220e-03 9.94508765e-01 1.62094186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58509989299998 meters 0.052324461804159554 Centerline is valid? [True, True] Translation: X:155.74, Y:22.11, Z:16.21 [[ 9.73305640e-01 -2.05140560e-01 -1.02924644e-01 1.55737854e+02] [ 2.04258224e-01 9.78729628e-01 -1.91544261e-02 2.21109441e+01] [ 1.04664748e-01 -2.38009401e-03 9.94504714e-01 1.62149604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64509989299998 meters 0.05283892922622082 Centerline is valid? [True, True] Translation: X:155.80, Y:22.12, Z:16.22 [[ 9.73817598e-01 -2.01951193e-01 -1.04379124e-01 1.55797077e+02] [ 2.01025358e-01 9.79393408e-01 -1.94256877e-02 2.21195081e+01] [ 1.06151267e-01 -2.06577420e-03 9.94347847e-01 1.62188622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70509989299998 meters 0.05240512146270333 Centerline is valid? [True, True] Translation: X:155.85, Y:22.14, Z:16.22 [[ 9.74064079e-01 -1.99574156e-01 -1.06627041e-01 1.55854349e+02] [ 1.98593581e-01 9.79880989e-01 -1.98453233e-02 2.21350379e+01] [ 1.08442424e-01 -1.84482923e-03 9.94101020e-01 1.62230204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76509989299996 meters 0.05147749538881177 Centerline is valid? [True, True] Translation: X:155.91, Y:22.15, Z:16.23 [[ 9.74310449e-01 -1.98260891e-01 -1.06825880e-01 1.55911238e+02] [ 1.97267525e-01 9.80147826e-01 -1.98937777e-02 2.21484981e+01] [ 1.08649312e-01 -1.69056147e-03 9.94078704e-01 1.62297758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.82509989299996 meters 0.05190307618852527 Centerline is valid? [True, True] Translation: X:155.97, Y:22.16, Z:16.24 [[ 9.74654025e-01 -1.96672096e-01 -1.06628410e-01 1.55969495e+02] [ 1.95671638e-01 9.80468174e-01 -1.98688286e-02 2.21580303e+01] [ 1.08453407e-01 -1.49892183e-03 9.94100403e-01 1.62362049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.88509989299996 meters 0.05169601128616944 Centerline is valid? [True, True] Translation: X:156.03, Y:22.17, Z:16.24 [[ 9.74959758e-01 -1.95639545e-01 -1.05729081e-01 1.56027454e+02] [ 1.94649654e-01 9.80674916e-01 -1.97033317e-02 2.21688135e+01] [ 1.07540609e-01 -1.37017366e-03 9.94199749e-01 1.62427175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.94509989299996 meters 0.052425269631391276 Centerline is valid? [True, True] Translation: X:156.08, Y:22.18, Z:16.25 [[ 9.75708301e-01 -1.93139278e-01 -1.03395023e-01 1.56084572e+02] [ 1.92177531e-01 9.81170779e-01 -1.92794925e-02 2.21777933e+01] [ 1.05171803e-01 -1.05903950e-03 9.94453503e-01 1.62507465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.00509989299997 meters 0.05242866683196596 Centerline is valid? [True, True] Translation: X:156.14, Y:22.19, Z:16.26 [[ 9.76329257e-01 -1.90387706e-01 -1.02633830e-01 1.56140977e+02] [ 1.89423767e-01 9.81708697e-01 -1.91486645e-02 2.21888625e+01] [ 1.04402194e-01 -7.45885325e-04 9.94534879e-01 1.62579239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.06509989299997 meters 0.05190567699225977 Centerline is valid? [True, True] Translation: X:156.20, Y:22.20, Z:16.26 [[ 9.76423941e-01 -1.89806194e-01 -1.02809998e-01 1.56197770e+02] [ 1.88835276e-01 9.81821341e-01 -1.91857552e-02 2.21996988e+01] [ 1.04582626e-01 -6.80723653e-04 9.94515968e-01 1.62643788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.12509989299997 meters 0.05334132703517988 Centerline is valid? [True, True] Translation: X:156.26, Y:22.21, Z:16.27 [[ 9.75847534e-01 -1.92211129e-01 -1.03809790e-01 1.56256083e+02] [ 1.91233334e-01 9.81353152e-01 -1.93856488e-02 2.22071147e+01] [ 1.05600202e-01 -9.34454669e-04 9.94408228e-01 1.62695206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.18509989299997 meters 0.05196331475762795 Centerline is valid? [True, True] Translation: X:156.31, Y:22.22, Z:16.27 [[ 9.74990273e-01 -1.95743567e-01 -1.05254089e-01 1.56314335e+02] [ 1.94758097e-01 9.80654215e-01 -1.96619834e-02 2.22172714e+01] [ 1.07066572e-01 -1.32884343e-03 9.94250966e-01 1.62749294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24509989299997 meters 0.05263290056961726 Centerline is valid? [True, True] Translation: X:156.37, Y:22.22, Z:16.28 [[ 9.73649623e-01 -2.01230254e-01 -1.07297701e-01 1.56374581e+02] [ 2.00239014e-01 9.79541991e-01 -2.00455700e-02 2.22188860e+01] [ 1.09136379e-01 -1.96782421e-03 9.94024838e-01 1.62783301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30509989299998 meters 0.05271826133120638 Centerline is valid? [True, True] Translation: X:156.43, Y:22.23, Z:16.28 [[ 9.72829533e-01 -2.04780443e-01 -1.08016986e-01 1.56433341e+02] [ 2.03797527e-01 9.78805037e-01 -2.01808687e-02 2.22287616e+01] [ 1.09860217e-01 -2.38104940e-03 9.93944195e-01 1.62843798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36509989299998 meters 0.05268440232214701 Centerline is valid? [True, True] Translation: X:156.49, Y:22.24, Z:16.29 [[ 9.71864922e-01 -2.10096006e-01 -1.06481176e-01 1.56492721e+02] [ 2.09172566e-01 9.77676346e-01 -1.98947469e-02 2.22369409e+01] [ 1.08283934e-01 -2.93793414e-03 9.94115666e-01 1.62922631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42509989299998 meters 0.05315431005253765 Centerline is valid? [True, True] Translation: X:156.55, Y:22.24, Z:16.30 [[ 9.70867157e-01 -2.14830780e-01 -1.06135288e-01 1.56552095e+02] [ 2.13941483e-01 9.76645178e-01 -1.98302179e-02 2.22420277e+01] [ 1.07916658e-01 -3.45423367e-03 9.94153943e-01 1.62985819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48509989299995 meters 0.05438200457640806 Centerline is valid? [True, True] Translation: X:156.61, Y:22.25, Z:16.31 [[ 9.70373647e-01 -2.17658143e-01 -1.04880490e-01 1.56611726e+02] [ 2.16806133e-01 9.76017968e-01 -1.95965968e-02 2.22494859e+01] [ 1.06630601e-01 -3.72271223e-03 9.94291736e-01 1.63061160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54509989299996 meters 0.05241041063682627 Centerline is valid? [True, True] Translation: X:156.67, Y:22.27, Z:16.31 [[ 9.69471758e-01 -2.21421140e-01 -1.05343201e-01 1.56668470e+02] [ 2.20583566e-01 9.75169434e-01 -1.96841355e-02 2.22701473e+01] [ 1.07085953e-01 -4.15376544e-03 9.94241090e-01 1.63134150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.60509989299996 meters 0.05379526943774642 Centerline is valid? [True, True] Translation: X:156.73, Y:22.28, Z:16.32 [[ 9.68961663e-01 -2.23089269e-01 -1.06510438e-01 1.56728482e+02] [ 2.22243026e-01 9.74788149e-01 -1.99023003e-02 2.22783190e+01] [ 1.08265102e-01 -4.38663599e-03 9.94112381e-01 1.63188658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.66509989299996 meters 0.05342919673860929 Centerline is valid? [True, True] Translation: X:156.79, Y:22.29, Z:16.33 [[ 9.68398950e-01 -2.25030773e-01 -1.07538948e-01 1.56786148e+02] [ 2.24180078e-01 9.74340564e-01 -2.00937268e-02 2.22889553e+01] [ 1.09301266e-01 -4.64934590e-03 9.93997795e-01 1.63250642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.72509989299996 meters 0.05497991356749188 Centerline is valid? [True, True] Translation: X:156.84, Y:22.30, Z:16.33 [[ 9.68437743e-01 -2.24474565e-01 -1.08349007e-01 1.56844068e+02] [ 2.23607265e-01 9.74469000e-01 -2.02474413e-02 2.22950489e+01] [ 1.10127784e-01 -4.61923879e-03 9.93906703e-01 1.63300544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.78509989299997 meters 0.05224830621221166 Centerline is valid? [True, True] Translation: X:156.90, Y:22.32, Z:16.34 [[ 9.69431972e-01 -2.20255509e-01 -1.08116433e-01 1.56899418e+02] [ 2.19364547e-01 9.75433514e-01 -2.02152406e-02 2.23224757e+01] [ 1.09912910e-01 -4.11961185e-03 9.93932684e-01 1.63375425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.84509989299997 meters 0.052060168476969364 Centerline is valid? [True, True] Translation: X:156.96, Y:22.34, Z:16.34 [[ 9.69910891e-01 -2.18114060e-01 -1.08162470e-01 1.56957776e+02] [ 2.17208862e-01 9.75915585e-01 -2.02257682e-02 2.23392182e+01] [ 1.09968964e-01 -3.87665421e-03 9.93927461e-01 1.63439311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.90509989299997 meters 0.05224279294317811 Centerline is valid? [True, True] Translation: X:157.02, Y:22.35, Z:16.35 [[ 9.71687990e-01 -2.09469279e-01 -1.09293507e-01 1.57015808e+02] [ 2.08490510e-01 9.77810843e-01 -2.04367813e-02 2.23532260e+01] [ 1.11149254e-01 -2.92848401e-03 9.93799410e-01 1.63477915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.96509989299997 meters 0.052204228661463514 Centerline is valid? [True, True] Translation: X:157.07, Y:22.37, Z:16.35 [[ 9.72866225e-01 -2.04217321e-01 -1.08750144e-01 1.57073643e+02] [ 2.03215530e-01 9.78922837e-01 -2.03353579e-02 2.23692824e+01] [ 1.10610831e-01 -2.31613519e-03 9.93861097e-01 1.63544393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02509989299998 meters 0.052165718432795743 Centerline is valid? [True, True] Translation: X:157.13, Y:22.38, Z:16.36 [[ 9.74123891e-01 -1.98376026e-01 -1.08303265e-01 1.57131231e+02] [ 1.97346424e-01 9.80124607e-01 -2.02519984e-02 2.23843832e+01] [ 1.10168206e-01 -1.64530652e-03 9.93911595e-01 1.63599825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08509989299998 meters 0.05278471002491446 Centerline is valid? [True, True] Translation: X:157.19, Y:22.40, Z:16.37 [[ 9.74745089e-01 -1.94913842e-01 -1.08998193e-01 1.57187473e+02] [ 1.93849234e-01 9.80819558e-01 -2.03830825e-02 2.24041603e+01] [ 1.10880504e-01 -1.26090657e-03 9.93832946e-01 1.63670257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14509989299998 meters 0.05241652429158472 Centerline is valid? [True, True] Translation: X:157.24, Y:22.42, Z:16.37 [[ 9.75295973e-01 -1.91822316e-01 -1.09553479e-01 1.57243901e+02] [ 1.90727061e-01 9.81429248e-01 -2.04895093e-02 2.24201085e+01] [ 1.11449334e-01 -9.11477163e-04 9.93769699e-01 1.63737448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.20509989299998 meters 0.052057799946142264 Centerline is valid? [True, True] Translation: X:157.30, Y:22.43, Z:16.38 [[ 9.75700238e-01 -1.90274205e-01 -1.08649770e-01 1.57300995e+02] [ 1.89186006e-01 9.81730724e-01 -2.03332464e-02 2.24334796e+01] [ 1.10533710e-01 -7.15862696e-04 9.93872118e-01 1.63807803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26509989299996 meters 0.05234511620657276 Centerline is valid? [True, True] Translation: X:157.36, Y:22.45, Z:16.39 [[ 9.76554989e-01 -1.87414722e-01 -1.05905974e-01 1.57357026e+02] [ 1.86362836e-01 9.82280808e-01 -1.98319985e-02 2.24479787e+01] [ 1.07746214e-01 -3.69900576e-04 9.94178363e-01 1.63890464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.32509989299996 meters 0.05217350443724914 Centerline is valid? [True, True] Translation: X:157.41, Y:22.46, Z:16.40 [[ 9.76601066e-01 -1.87393879e-01 -1.05517261e-01 1.57413631e+02] [ 1.86348260e-01 9.82284790e-01 -1.97716178e-02 2.24593217e+01] [ 1.07353080e-01 -3.53975006e-04 9.94220896e-01 1.63952800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.38509989299996 meters 0.05216757726275696 Centerline is valid? [True, True] Translation: X:157.47, Y:22.47, Z:16.40 [[ 9.76288216e-01 -1.89065162e-01 -1.05430940e-01 1.57472096e+02] [ 1.88029549e-01 9.81964403e-01 -1.97686396e-02 2.24677999e+01] [ 1.07266991e-01 -5.24242186e-04 9.94230113e-01 1.64001231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.44509989299996 meters 0.05199656607419812 Centerline is valid? [True, True] Translation: X:157.53, Y:22.47, Z:16.41 [[ 9.74777911e-01 -1.96478911e-01 -1.05849236e-01 1.57531780e+02] [ 1.95477850e-01 9.80507137e-01 -1.98535592e-02 2.24707421e+01] [ 1.07686737e-01 -1.33837019e-03 9.94183975e-01 1.64061714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.50509989299997 meters 0.05217411376844796 Centerline is valid? [True, True] Translation: X:157.59, Y:22.48, Z:16.41 [[ 9.73875729e-01 -2.00287463e-01 -1.07009332e-01 1.57589961e+02] [ 1.99286989e-01 9.79735563e-01 -2.00729086e-02 2.24788116e+01] [ 1.08861200e-01 -1.77704914e-03 9.94055371e-01 1.64122095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.56509989299997 meters 0.051895818196528165 Centerline is valid? [True, True] Translation: X:157.65, Y:22.49, Z:16.42 [[ 9.72604239e-01 -2.05638669e-01 -1.08414633e-01 1.57648955e+02] [ 2.04644497e-01 9.78625033e-01 -2.03389924e-02 2.24879602e+01] [ 1.10279757e-01 -2.40466765e-03 9.93897677e-01 1.64176799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.62509989299997 meters 0.05219189667783777 Centerline is valid? [True, True] Translation: X:157.71, Y:22.50, Z:16.42 [[ 9.71859892e-01 -2.08859394e-01 -1.08931649e-01 1.57707881e+02] [ 2.07875777e-01 9.77941721e-01 -2.04365299e-02 2.24972436e+01] [ 1.10797165e-01 -2.78280746e-03 9.93839144e-01 1.64235517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.68509989299997 meters 0.052343308065438916 Centerline is valid? [True, True] Translation: X:157.77, Y:22.50, Z:16.43 [[ 9.71135168e-01 -2.12374739e-01 -1.08597682e-01 1.57767360e+02] [ 2.11418936e-01 9.77183147e-01 -2.03747655e-02 2.25014236e+01] [ 1.10446910e-01 -3.17295507e-03 9.93876960e-01 1.64290448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74509989299997 meters 0.05383456787007493 Centerline is valid? [True, True] Translation: X:157.83, Y:22.50, Z:16.43 [[ 9.70699994e-01 -2.14537600e-01 -1.08236504e-01 1.57826254e+02] [ 2.13601434e-01 9.76709790e-01 -2.03079643e-02 2.25048983e+01] [ 1.10072475e-01 -3.40653172e-03 9.93917726e-01 1.64349853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80509989299998 meters 0.052687021797588274 Centerline is valid? [True, True] Translation: X:157.88, Y:22.52, Z:16.44 [[ 9.69690507e-01 -2.19583602e-01 -1.07160450e-01 1.57884672e+02] [ 2.18696374e-01 9.75585745e-01 -2.01084795e-02 2.25174712e+01] [ 1.08959700e-01 -3.93660035e-03 9.94038373e-01 1.64432773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.86509989299998 meters 0.05402875434404959 Centerline is valid? [True, True] Translation: X:157.94, Y:22.52, Z:16.45 [[ 9.68745083e-01 -2.23692469e-01 -1.07213074e-01 1.57944073e+02] [ 2.22829337e-01 9.74649844e-01 -2.01188683e-02 2.25238626e+01] [ 1.08995645e-01 -4.40016334e-03 9.94032488e-01 1.64493023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92509989299998 meters 0.05231509187906264 Centerline is valid? [True, True] Translation: X:158.00, Y:22.54, Z:16.46 [[ 9.67113071e-01 -2.30029821e-01 -1.08529210e-01 1.58002676e+02] [ 2.29184890e-01 9.73169814e-01 -2.03666317e-02 2.25362830e+01] [ 1.10302283e-01 -5.17641923e-03 9.93884606e-01 1.64558148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98509989299995 meters 0.052799341128772215 Centerline is valid? [True, True] Translation: X:158.06, Y:22.55, Z:16.46 [[ 9.65924224e-01 -2.34301995e-01 -1.09968036e-01 1.58061756e+02] [ 2.33461909e-01 9.72146921e-01 -2.06373603e-02 2.25456037e+01] [ 1.11740462e-01 -5.73922136e-03 9.93720851e-01 1.64615875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04509989299996 meters 0.05761509236480559 Centerline is valid? [True, True] Translation: X:158.12, Y:22.54, Z:16.46 [[ 9.64476749e-01 -2.39415449e-01 -1.11646068e-01 1.58123719e+02] [ 2.38583480e-01 9.70895934e-01 -2.09525202e-02 2.25389409e+01] [ 1.13413071e-01 -6.42868901e-03 9.93527125e-01 1.64637057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.10509989299996 meters 0.054294464365193036 Centerline is valid? [True, True] Translation: X:158.18, Y:22.56, Z:16.47 [[ 9.64085957e-01 -2.40715494e-01 -1.12224406e-01 1.58180053e+02] [ 2.39883633e-01 9.70573169e-01 -2.10609987e-02 2.25617103e+01] [ 1.13991707e-01 -6.61618528e-03 9.93459671e-01 1.64720439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.16509989299996 meters 0.05934018649966402 Centerline is valid? [True, True] Translation: X:158.24, Y:22.56, Z:16.48 [[ 9.64569010e-01 -2.39056772e-01 -1.11617581e-01 1.58240632e+02] [ 2.38222749e-01 9.70984605e-01 -2.09479895e-02 2.25610269e+01] [ 1.13386712e-01 -6.38406557e-03 9.93530421e-01 1.64767949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.22509989299996 meters 0.058132487747520285 Centerline is valid? [True, True] Translation: X:158.30, Y:22.58, Z:16.48 [[ 9.66000560e-01 -2.33971072e-01 -1.10002069e-01 1.58298045e+02] [ 2.33128109e-01 9.72226845e-01 -2.06457287e-02 2.25797295e+01] [ 1.11777467e-01 -5.70078880e-03 9.93716911e-01 1.64843270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.28509989299997 meters 0.05453131659011282 Centerline is valid? [True, True] Translation: X:158.35, Y:22.61, Z:16.49 [[ 9.67640745e-01 -2.27950286e-01 -1.08213011e-01 1.58353283e+02] [ 2.27097062e-01 9.73660330e-01 -2.03097641e-02 2.26078428e+01] [ 1.09992333e-01 -4.92230163e-03 9.93920247e-01 1.64932290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.34509989299997 meters 0.051578446486653155 Centerline is valid? [True, True] Translation: X:158.41, Y:22.64, Z:16.50 [[ 9.68666868e-01 -2.23427583e-01 -1.08464807e-01 1.58408959e+02] [ 2.22542100e-01 9.74710517e-01 -2.03573514e-02 2.26371935e+01] [ 1.10270182e-01 -4.41849401e-03 9.93891827e-01 1.65015723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.40509989299997 meters 0.05641083207005809 Centerline is valid? [True, True] Translation: X:158.47, Y:22.63, Z:16.50 [[ 9.69041580e-01 -2.21360158e-01 -1.09353083e-01 1.58472022e+02] [ 2.20446970e-01 9.75183004e-01 -2.05241882e-02 2.26283569e+01] [ 1.11182505e-01 -4.21776404e-03 9.93791055e-01 1.65033895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.46509989299997 meters 0.05484111951531825 Centerline is valid? [True, True] Translation: X:158.53, Y:22.65, Z:16.51 [[ 9.69096090e-01 -2.20354523e-01 -1.10890275e-01 1.58528805e+02] [ 2.19408789e-01 9.75410979e-01 -2.08135600e-02 2.26457782e+01] [ 1.12749954e-01 -4.15996134e-03 9.93614685e-01 1.65093213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52509989299998 meters 0.05361483675737298 Centerline is valid? [True, True] Translation: X:158.58, Y:22.66, Z:16.52 [[ 9.69232013e-01 -2.19838754e-01 -1.10725911e-01 1.58584975e+02] [ 2.18891223e-01 9.75527679e-01 -2.07937650e-02 2.26616728e+01] [ 1.12587466e-01 -4.08294726e-03 9.93633429e-01 1.65167875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58509989299998 meters 0.054085352817862024 Centerline is valid? [True, True] Translation: X:158.64, Y:22.67, Z:16.52 [[ 9.69529991e-01 -2.19111323e-01 -1.09552844e-01 1.58643391e+02] [ 2.18177874e-01 9.75691894e-01 -2.05850369e-02 2.26700559e+01] [ 1.11400236e-01 -3.94419580e-03 9.93767795e-01 1.65232832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64509989299998 meters 0.05637067634166329 Centerline is valid? [True, True] Translation: X:158.70, Y:22.68, Z:16.53 [[ 9.69777131e-01 -2.18637223e-01 -1.08305499e-01 1.58701645e+02] [ 2.17720807e-01 9.75798679e-01 -2.03614188e-02 2.26756928e+01] [ 1.10136126e-01 -3.83432228e-03 9.93909116e-01 1.65300155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.70509989299998 meters 0.05422093647506778 Centerline is valid? [True, True] Translation: X:158.76, Y:22.70, Z:16.54 [[ 9.69681365e-01 -2.19261544e-01 -1.07900074e-01 1.58758207e+02] [ 2.18354619e-01 9.75658405e-01 -2.02962194e-02 2.26958501e+01] [ 1.09723794e-01 -3.87961374e-03 9.93954545e-01 1.65380685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76509989299996 meters 0.05359088027661028 Centerline is valid? [True, True] Translation: X:158.82, Y:22.71, Z:16.54 [[ 9.69216234e-01 -2.21066792e-01 -1.08394489e-01 1.58816593e+02] [ 2.20162666e-01 9.75250043e-01 -2.03900466e-02 2.27095768e+01] [ 1.10219292e-01 -4.10205543e-03 9.93898828e-01 1.65439141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.82509989299996 meters 0.0549239346336067 Centerline is valid? [True, True] Translation: X:158.88, Y:22.71, Z:16.55 [[ 9.68106127e-01 -2.25521213e-01 -1.09136197e-01 1.58876922e+02] [ 2.24632698e-01 9.74227208e-01 -2.05304038e-02 2.27138740e+01] [ 1.10953494e-01 -4.63994867e-03 9.93814768e-01 1.65482178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.88509989299996 meters 0.051652774103149 Centerline is valid? [True, True] Translation: X:158.93, Y:22.74, Z:16.56 [[ 9.67413599e-01 -2.28788811e-01 -1.08474001e-01 1.58933279e+02] [ 2.27931404e-01 9.73463327e-01 -2.04065280e-02 2.27383610e+01] [ 1.10264247e-01 -4.98307853e-03 9.93889815e-01 1.65565126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.94509989299996 meters 0.053960574467568204 Centerline is valid? [True, True] Translation: X:159.00, Y:22.74, Z:16.56 [[ 9.67245801e-01 -2.29688292e-01 -1.08068727e-01 1.58995420e+02] [ 2.28842901e-01 9.73251056e-01 -2.03299997e-02 2.27398152e+01] [ 1.09847566e-01 -5.06665417e-03 9.93935532e-01 1.65614851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.00509989299997 meters 0.05726520577619205 Centerline is valid? [True, True] Translation: X:159.06, Y:22.74, Z:16.57 [[ 9.67279464e-01 -2.29869432e-01 -1.07380082e-01 1.59055243e+02] [ 2.29036159e-01 9.73208340e-01 -2.01981127e-02 2.27375629e+01] [ 1.09146120e-01 -5.05670192e-03 9.94012854e-01 1.65668604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.06509989299997 meters 0.055081765131728126 Centerline is valid? [True, True] Translation: X:159.11, Y:22.75, Z:16.57 [[ 9.67188118e-01 -2.30919907e-01 -1.05939331e-01 1.59113076e+02] [ 2.30114813e-01 9.72959385e-01 -1.99300673e-02 2.27543591e+01] [ 1.07676916e-01 -5.10208503e-03 9.94172847e-01 1.65743045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.12509989299997 meters 0.053778930403751465 Centerline is valid? [True, True] Translation: X:159.17, Y:22.77, Z:16.58 [[ 9.66700831e-01 -2.33219756e-01 -1.05347277e-01 1.59172152e+02] [ 2.32437222e-01 9.72409460e-01 -1.98186565e-02 2.27673818e+01] [ 1.07062791e-01 -5.32791677e-03 9.94237986e-01 1.65809852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.18509989299997 meters 0.053620859757648305 Centerline is valid? [True, True] Translation: X:159.23, Y:22.78, Z:16.59 [[ 9.66277493e-01 -2.34598932e-01 -1.06165665e-01 1.59231843e+02] [ 2.33812566e-01 9.72076550e-01 -1.99716150e-02 2.27752182e+01] [ 1.07886473e-01 -5.52474456e-03 9.94147869e-01 1.65863310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24509989299997 meters 0.05152812137789018 Centerline is valid? [True, True] Translation: X:159.29, Y:22.80, Z:16.59 [[ 9.65668134e-01 -2.36242148e-01 -1.08049537e-01 1.59289055e+02] [ 2.35437928e-01 9.71676835e-01 -2.03251005e-02 2.27970309e+01] [ 1.09790877e-01 -5.81165719e-03 9.93937718e-01 1.65918658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30509989299998 meters 0.05247596670412829 Centerline is valid? [True, True] Translation: X:159.35, Y:22.80, Z:16.60 [[ 9.65702252e-01 -2.35697902e-01 -1.08929607e-01 1.59350748e+02] [ 2.34877285e-01 9.71809071e-01 -2.04887906e-02 2.27996505e+01] [ 1.10687945e-01 -5.79901913e-03 9.93838292e-01 1.65974543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36509989299998 meters 0.057522579658892924 Centerline is valid? [True, True] Translation: X:159.41, Y:22.79, Z:16.60 [[ 9.65946529e-01 -2.34523385e-01 -1.09298146e-01 1.59412322e+02] [ 2.33690023e-01 9.72093847e-01 -2.05554487e-02 2.27931116e+01] [ 1.11068789e-01 -5.68642199e-03 9.93796452e-01 1.66016209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42509989299998 meters 0.05362317665874167 Centerline is valid? [True, True] Translation: X:159.47, Y:22.82, Z:16.61 [[ 9.66820791e-01 -2.31310544e-01 -1.08411213e-01 1.59468681e+02] [ 2.30470740e-01 9.72865667e-01 -2.03870439e-02 2.28176496e+01] [ 1.10185285e-01 -5.27499452e-03 9.93897066e-01 1.66097409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48509989299995 meters 0.054198234925525474 Centerline is valid? [True, True] Translation: X:159.53, Y:22.83, Z:16.62 [[ 9.67807110e-01 -2.27364864e-01 -1.07956548e-01 1.59527512e+02] [ 2.26507723e-01 9.73797784e-01 -2.03009026e-02 2.28255919e+01] [ 1.09743559e-01 -4.80563395e-03 9.93948317e-01 1.66155950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54509989299996 meters 0.054324056961879356 Centerline is valid? [True, True] Translation: X:159.59, Y:22.84, Z:16.62 [[ 9.68856091e-01 -2.22746273e-01 -1.08175656e-01 1.59585887e+02] [ 2.21856907e-01 9.74867012e-01 -2.03426284e-02 2.28386213e+01] [ 1.09988123e-01 -4.29043698e-03 9.93923641e-01 1.66215625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.60509989299996 meters 0.053822401532690106 Centerline is valid? [True, True] Translation: X:159.65, Y:22.85, Z:16.63 [[ 9.69478450e-01 -2.19745329e-01 -1.08736036e-01 1.59645215e+02] [ 2.18827832e-01 9.75549194e-01 -2.04487023e-02 2.28512065e+01] [ 1.10570860e-01 -3.96989496e-03 9.93860315e-01 1.66273980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.66509989299996 meters 0.05226899345481845 Centerline is valid? [True, True] Translation: X:159.70, Y:22.87, Z:16.63 [[ 9.70252049e-01 -2.15644079e-01 -1.10039049e-01 1.59702910e+02] [ 2.14678127e-01 9.76465599e-01 -2.06938541e-02 2.28680612e+01] [ 1.11911853e-01 -3.54472247e-03 9.93711815e-01 1.66342340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.72509989299996 meters 0.05350446723611333 Centerline is valid? [True, True] Translation: X:159.76, Y:22.87, Z:16.64 [[ 9.70747348e-01 -2.12840880e-01 -1.11123116e-01 1.59761748e+02] [ 2.11837527e-01 9.77081455e-01 -2.08971759e-02 2.28735161e+01] [ 1.13024109e-01 -3.25416793e-03 9.93586917e-01 1.66388738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.78509989299997 meters 0.052833541294982106 Centerline is valid? [True, True] Translation: X:159.82, Y:22.89, Z:16.65 [[ 9.71761517e-01 -2.07916515e-01 -1.11580809e-01 1.59820443e+02] [ 2.06872315e-01 9.78142874e-01 -2.09848208e-02 2.28877995e+01] [ 1.13505064e-01 -2.69073895e-03 9.93533774e-01 1.66458456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.84509989299997 meters 0.05302203169910952 Centerline is valid? [True, True] Translation: X:159.88, Y:22.90, Z:16.65 [[ 9.72915281e-01 -2.02981718e-01 -1.10608668e-01 1.59878971e+02] [ 2.01923947e-01 9.79180283e-01 -2.08012777e-02 2.29014981e+01] [ 1.12528106e-01 -2.09665790e-03 9.93646330e-01 1.66540365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.90509989299997 meters 0.05258632846982277 Centerline is valid? [True, True] Translation: X:159.94, Y:22.92, Z:16.66 [[ 9.73685676e-01 -1.99712738e-01 -1.09777170e-01 1.59936640e+02] [ 1.98650200e-01 9.79853005e-01 -2.06442915e-02 2.29161163e+01] [ 1.11688418e-01 -1.70620599e-03 9.93741811e-01 1.66625202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.96509989299997 meters 0.052628681334243844 Centerline is valid? [True, True] Translation: X:159.99, Y:22.92, Z:16.67 [[ 9.74461114e-01 -1.96406584e-01 -1.08857661e-01 1.59994385e+02] [ 1.95341120e-01 9.80521660e-01 -2.04724662e-02 2.29233545e+01] [ 1.10758222e-01 -1.31475511e-03 9.93846511e-01 1.66680425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02509989299998 meters 0.05255931415613396 Centerline is valid? [True, True] Translation: X:160.05, Y:22.93, Z:16.67 [[ 9.74666411e-01 -1.95561293e-01 -1.08541085e-01 1.60051886e+02] [ 1.94496394e-01 9.80690733e-01 -2.04166492e-02 2.29308127e+01] [ 1.10437943e-01 -1.21142750e-03 9.93882283e-01 1.66740263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08509989299998 meters 0.05241457512440643 Centerline is valid? [True, True] Translation: X:160.11, Y:22.94, Z:16.68 [[ 9.74520921e-01 -1.96679569e-01 -1.07824494e-01 1.60108630e+02] [ 1.95635031e-01 9.80466926e-01 -2.02865045e-02 2.29443275e+01] [ 1.09708291e-01 -1.32462513e-03 9.93962945e-01 1.66836830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14509989299998 meters 0.05297387597793169 Centerline is valid? [True, True] Translation: X:160.17, Y:22.94, Z:16.69 [[ 9.73834519e-01 -2.00395984e-01 -1.07181055e-01 1.60170030e+02] [ 1.99385108e-01 9.79713471e-01 -2.01765570e-02 2.29414681e+01] [ 1.09050024e-01 -1.72167856e-03 9.94034772e-01 1.66873854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.20509989299998 meters 0.05326381314232292 Centerline is valid? [True, True] Translation: X:160.23, Y:22.95, Z:16.69 [[ 9.73147354e-01 -2.03763470e-01 -1.07073226e-01 1.60229567e+02] [ 2.02774393e-01 9.79017912e-01 -2.01611812e-02 2.29457908e+01] [ 1.08934719e-01 -2.09190831e-03 9.94046705e-01 1.66933089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26509989299996 meters 0.05386482822980144 Centerline is valid? [True, True] Translation: X:160.29, Y:22.95, Z:16.70 [[ 9.71899750e-01 -2.09703781e-01 -1.06935496e-01 1.60290434e+02] [ 2.08752858e-01 9.77761091e-01 -2.01368741e-02 2.29475857e+01] [ 1.08780146e-01 -2.75206756e-03 9.94062023e-01 1.66994518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.32509989299996 meters 0.05518282810046259 Centerline is valid? [True, True] Translation: X:160.35, Y:22.95, Z:16.70 [[ 9.70329763e-01 -2.16268174e-01 -1.08112109e-01 1.60351482e+02] [ 2.15336687e-01 9.76327631e-01 -2.03584716e-02 2.29484397e+01] [ 1.09955729e-01 -3.52607245e-03 9.93930231e-01 1.67039736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.38509989299996 meters 0.05330265017020905 Centerline is valid? [True, True] Translation: X:160.41, Y:22.96, Z:16.71 [[ 9.69361446e-01 -2.20770316e-01 -1.07697980e-01 1.60409579e+02] [ 2.19873525e-01 9.75317541e-01 -2.02811905e-02 2.29641762e+01] [ 1.09517213e-01 -4.02013028e-03 9.93976770e-01 1.67118612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.44509989299996 meters 0.052507298365252586 Centerline is valid? [True, True] Translation: X:160.47, Y:22.97, Z:16.72 [[ 9.68002739e-01 -2.26445849e-01 -1.08134061e-01 1.60469015e+02] [ 2.25576970e-01 9.74012509e-01 -2.03632841e-02 2.29746507e+01] [ 1.09935109e-01 -4.68083907e-03 9.93927745e-01 1.67182987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.50509989299997 meters 0.05577214608655622 Centerline is valid? [True, True] Translation: X:160.53, Y:22.97, Z:16.72 [[ 9.67294218e-01 -2.29420884e-01 -1.08203299e-01 1.60530523e+02] [ 2.28569355e-01 9.73314359e-01 -2.03766885e-02 2.29677468e+01] [ 1.09990662e-01 -5.02170516e-03 9.93919935e-01 1.67232357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.56509989299997 meters 0.054261600010746154 Centerline is valid? [True, True] Translation: X:160.59, Y:22.98, Z:16.73 [[ 9.67277583e-01 -2.30018735e-01 -1.07076887e-01 1.60587661e+02] [ 2.29188353e-01 9.73173178e-01 -2.01659518e-02 2.29805285e+01] [ 1.08842901e-01 -5.03470224e-03 9.94046214e-01 1.67308533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.62509989299997 meters 0.059191841952836784 Centerline is valid? [True, True] Translation: X:160.65, Y:22.98, Z:16.74 [[ 9.67611068e-01 -2.28759411e-01 -1.06761197e-01 1.60648333e+02] [ 2.27925058e-01 9.73470822e-01 -2.01178214e-02 2.29761817e+01] [ 1.08531051e-01 -4.86732538e-03 9.94081144e-01 1.67359322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.68509989299997 meters 0.055435093210631746 Centerline is valid? [True, True] Translation: X:160.70, Y:23.00, Z:16.74 [[ 9.67827675e-01 -2.28111538e-01 -1.06182475e-01 1.60703666e+02] [ 2.27282149e-01 9.73623338e-01 -2.00104836e-02 2.29981684e+01] [ 1.07946358e-01 -4.76668126e-03 9.94145292e-01 1.67433033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74509989299997 meters 0.060343220988893914 Centerline is valid? [True, True] Translation: X:160.77, Y:22.99, Z:16.75 [[ 9.68301110e-01 -2.26494651e-01 -1.05323948e-01 1.60765017e+02] [ 2.25668773e-01 9.74001801e-01 -1.98518440e-02 2.29938898e+01] [ 1.07082051e-01 -4.54576348e-03 9.94239795e-01 1.67499059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80509989299998 meters 0.05625995976722114 Centerline is valid? [True, True] Translation: X:160.82, Y:23.01, Z:16.76 [[ 9.68178980e-01 -2.26701417e-01 -1.05999674e-01 1.60820641e+02] [ 2.25865999e-01 9.73953456e-01 -1.99804038e-02 2.30141633e+01] [ 1.07768335e-01 -4.59711531e-03 9.94165405e-01 1.67555728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86509989299998 meters 0.05596318079053259 Centerline is valid? [True, True] Translation: X:160.88, Y:23.03, Z:16.76 [[ 9.67602333e-01 -2.28858337e-01 -1.06628263e-01 1.60878638e+02] [ 2.28024781e-01 9.73447629e-01 -2.01100088e-02 2.30272881e+01] [ 1.08399373e-01 -4.85539498e-03 9.94095569e-01 1.67620038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92509989299998 meters 0.056480119153511206 Centerline is valid? [True, True] Translation: X:160.94, Y:23.04, Z:16.77 [[ 9.66693331e-01 -2.31890938e-01 -1.08307878e-01 1.60937887e+02] [ 2.31049713e-01 9.72727476e-01 -2.04276033e-02 2.30356754e+01] [ 1.10091025e-01 -5.27727616e-03 9.93907499e-01 1.67674262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98509989299995 meters 0.05320797463311017 Centerline is valid? [True, True] Translation: X:160.99, Y:23.06, Z:16.78 [[ 9.66188819e-01 -2.33960874e-01 -1.08358085e-01 1.60994316e+02] [ 2.33131730e-01 9.72230371e-01 -2.04377603e-02 2.30600462e+01] [ 1.10130658e-01 -5.51497243e-03 9.93901818e-01 1.67763433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04509989299996 meters 0.0532786837841506 Centerline is valid? [True, True] Translation: X:161.05, Y:23.07, Z:16.78 [[ 9.66147554e-01 -2.34590859e-01 -1.07359359e-01 1.61052190e+02] [ 2.33780894e-01 9.72078437e-01 -2.02485951e-02 2.30741861e+01] [ 1.09111853e-01 -5.53543628e-03 9.94014066e-01 1.67841380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.10509989299996 meters 0.055503788254818845 Centerline is valid? [True, True] Translation: X:161.11, Y:23.08, Z:16.79 [[ 9.66870957e-01 -2.32031631e-01 -1.06404297e-01 1.61112061e+02] [ 2.31220506e-01 9.72694350e-01 -2.00693517e-02 2.30759394e+01] [ 1.08155583e-01 -5.19838219e-03 9.94120388e-01 1.67902220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.16509989299996 meters 0.05313680239159745 Centerline is valid? [True, True] Translation: X:161.17, Y:23.10, Z:16.80 [[ 9.67400212e-01 -2.29866043e-01 -1.06294084e-01 1.61169236e+02] [ 2.29043479e-01 9.73209690e-01 -2.00495606e-02 2.30984669e+01] [ 1.08055146e-01 -4.95001766e-03 9.94132578e-01 1.67972390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.22509989299996 meters 0.056438046089435555 Centerline is valid? [True, True] Translation: X:161.23, Y:23.10, Z:16.80 [[ 9.67866678e-01 -2.27408369e-01 -1.07329060e-01 1.61229471e+02] [ 2.26554619e-01 9.73788038e-01 -2.02450577e-02 2.30998183e+01] [ 1.09119650e-01 -4.72137764e-03 9.94017410e-01 1.68021617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.28509989299997 meters 0.05392150149953833 Centerline is valid? [True, True] Translation: X:161.28, Y:23.12, Z:16.81 [[ 9.67888489e-01 -2.27000986e-01 -1.07992705e-01 1.61284731e+02] [ 2.26133958e-01 9.73883171e-01 -2.03716105e-02 2.31234082e+01] [ 1.09796654e-01 -4.70337046e-03 9.93942943e-01 1.68090228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.34509989299997 meters 0.05302170276220594 Centerline is valid? [True, True] Translation: X:161.34, Y:23.14, Z:16.81 [[ 9.67604712e-01 -2.27774975e-01 -1.08902170e-01 1.61342472e+02] [ 2.26897431e-01 9.73701840e-01 -2.05495357e-02 2.31358347e+01] [ 1.10718913e-01 -4.82579496e-03 9.93840044e-01 1.68146014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.40509989299997 meters 0.05469565021608883 Centerline is valid? [True, True] Translation: X:161.40, Y:23.14, Z:16.82 [[ 9.67380532e-01 -2.28279479e-01 -1.09833442e-01 1.61400067e+02] [ 2.27389764e-01 9.73583198e-01 -2.07280637e-02 2.31430808e+01] [ 1.11663785e-01 -4.92307513e-03 9.93733849e-01 1.68193887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.46509989299997 meters 0.05312329859810262 Centerline is valid? [True, True] Translation: X:161.46, Y:23.16, Z:16.83 [[ 9.67307375e-01 -2.28879866e-01 -1.09226593e-01 1.61456201e+02] [ 2.28003233e-01 9.73442042e-01 -2.06183801e-02 2.31605100e+01] [ 1.11044889e-01 -4.95970515e-03 9.93803016e-01 1.68264329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52509989299998 meters 0.05387359121041538 Centerline is valid? [True, True] Translation: X:161.51, Y:23.17, Z:16.83 [[ 9.67345598e-01 -2.28971229e-01 -1.08695311e-01 1.61511883e+02] [ 2.28102379e-01 9.73420685e-01 -2.05298491e-02 2.31701707e+01] [ 1.10507009e-01 -4.93419979e-03 9.93863097e-01 1.68322965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58509989299998 meters 0.06051495523212124 Centerline is valid? [True, True] Translation: X:161.57, Y:23.16, Z:16.84 [[ 9.67367021e-01 -2.29782594e-01 -1.06775497e-01 1.61571257e+02] [ 2.28948481e-01 9.73229491e-01 -2.01730425e-02 2.31642958e+01] [ 1.08552477e-01 -4.93135193e-03 9.94078489e-01 1.68382716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64509989299998 meters 0.055070915147181126 Centerline is valid? [True, True] Translation: X:161.63, Y:23.19, Z:16.85 [[ 9.66793506e-01 -2.32268303e-01 -1.06591521e-01 1.61626877e+02] [ 2.31451657e-01 9.72637868e-01 -2.01422037e-02 2.31932105e+01] [ 1.08353346e-01 -5.19743246e-03 9.94098858e-01 1.68459124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70509989299995 meters 0.05351848701789477 Centerline is valid? [True, True] Translation: X:161.68, Y:23.21, Z:16.85 [[ 9.65761140e-01 -2.36391978e-01 -1.06884294e-01 1.61684663e+02] [ 2.35596005e-01 9.71641196e-01 -2.01967749e-02 2.32133538e+01] [ 1.08627539e-01 -5.67625234e-03 9.94066315e-01 1.68520985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76509989299996 meters 0.05655525289682756 Centerline is valid? [True, True] Translation: X:161.74, Y:23.22, Z:16.86 [[ 9.64738182e-01 -2.39814486e-01 -1.08486188e-01 1.61744182e+02] [ 2.39015987e-01 9.70799230e-01 -2.04991063e-02 2.32171210e+01] [ 1.10234291e-01 -6.15366287e-03 9.93886580e-01 1.68555545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.82509989299996 meters 0.05494721834545674 Centerline is valid? [True, True] Translation: X:161.80, Y:23.24, Z:16.86 [[ 9.64459787e-01 -2.41022858e-01 -1.08283426e-01 1.61801941e+02] [ 2.40234829e-01 9.70499126e-01 -2.04614927e-02 2.32353686e+01] [ 1.10020658e-01 -6.27916355e-03 9.93909466e-01 1.68628409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.88509989299996 meters 0.06300366246281935 Centerline is valid? [True, True] Translation: X:161.86, Y:23.23, Z:16.87 [[ 9.64403904e-01 -2.41238012e-01 -1.08302034e-01 1.61863506e+02] [ 2.40450990e-01 9.70445505e-01 -2.04656472e-02 2.32261992e+01] [ 1.10038315e-01 -6.30418132e-03 9.93907353e-01 1.68666279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.94509989299996 meters 0.05569346396342018 Centerline is valid? [True, True] Translation: X:161.92, Y:23.26, Z:16.87 [[ 9.64606538e-01 -2.40821855e-01 -1.07420019e-01 1.61918400e+02] [ 2.40043872e-01 9.70549566e-01 -2.03095998e-02 2.32588597e+01] [ 1.09147448e-01 -6.19474445e-03 9.94006267e-01 1.68747980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.00509989299997 meters 0.055121251588083106 Centerline is valid? [True, True] Translation: X:161.98, Y:23.27, Z:16.88 [[ 9.64797611e-01 -2.40315522e-01 -1.06836416e-01 1.61977017e+02] [ 2.39542888e-01 9.70675638e-01 -2.01992597e-02 2.32725800e+01] [ 1.08557702e-01 -6.10370612e-03 9.94071411e-01 1.68816277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.06509989299997 meters 0.053934821162970534 Centerline is valid? [True, True] Translation: X:162.04, Y:23.29, Z:16.89 [[ 9.64729699e-01 -2.40665718e-01 -1.06661239e-01 1.62035781e+02] [ 2.39897751e-01 9.70588687e-01 -2.01660730e-02 2.32920611e+01] [ 1.08377474e-01 -6.13298175e-03 9.94090896e-01 1.68885050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.12509989299997 meters 0.0545651375184679 Centerline is valid? [True, True] Translation: X:162.10, Y:23.30, Z:16.89 [[ 9.64448701e-01 -2.41628849e-01 -1.07024308e-01 1.62095856e+02] [ 2.40861709e-01 9.70348524e-01 -2.02331138e-02 2.33015640e+01] [ 1.08739783e-01 -6.26425729e-03 9.94050511e-01 1.68945714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.18509989299997 meters 0.057242012633210104 Centerline is valid? [True, True] Translation: X:162.16, Y:23.31, Z:16.90 [[ 9.63756855e-01 -2.43567178e-01 -1.08847386e-01 1.62156714e+02] [ 2.42786117e-01 9.69861599e-01 -2.05762163e-02 2.33056367e+01] [ 1.10578591e-01 -6.59616470e-03 9.93845494e-01 1.68988951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24509989299997 meters 0.056557795551545 Centerline is valid? [True, True] Translation: X:162.21, Y:23.32, Z:16.90 [[ 9.63497409e-01 -2.44373206e-01 -1.09336536e-01 1.62214251e+02] [ 2.43590243e-01 9.69657977e-01 -2.06688536e-02 2.33182110e+01] [ 1.11069958e-01 -6.71892641e-03 9.93789877e-01 1.69044790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30509989299998 meters 0.05335060379537512 Centerline is valid? [True, True] Translation: X:162.27, Y:23.34, Z:16.91 [[ 9.63623591e-01 -2.43486440e-01 -1.10199492e-01 1.62271448e+02] [ 2.42685058e-01 9.69881384e-01 -2.08341991e-02 2.33417847e+01] [ 1.11953280e-01 -6.66744427e-03 9.93691103e-01 1.69120759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36509989299998 meters 0.05519235569458667 Centerline is valid? [True, True] Translation: X:162.33, Y:23.35, Z:16.92 [[ 9.64488924e-01 -2.40697027e-01 -1.08747679e-01 1.62331128e+02] [ 2.39899171e-01 9.70580110e-01 -2.05581689e-02 2.33477064e+01] [ 1.10496624e-01 -6.26035186e-03 9.93856782e-01 1.69182464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42509989299998 meters 0.05457137358292579 Centerline is valid? [True, True] Translation: X:162.39, Y:23.36, Z:16.93 [[ 9.65387894e-01 -2.37696877e-01 -1.07361119e-01 1.62389768e+02] [ 2.36900819e-01 9.71321822e-01 -2.02958076e-02 2.33611369e+01] [ 1.09106448e-01 -5.84061009e-03 9.94012913e-01 1.69251871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48509989299995 meters 0.05418500372020232 Centerline is valid? [True, True] Translation: X:162.45, Y:23.38, Z:16.93 [[ 9.66598702e-01 -2.32943047e-01 -1.06885389e-01 1.62448576e+02] [ 2.32125140e-01 9.72476044e-01 -2.02055147e-02 2.33765869e+01] [ 1.08650214e-01 -5.28016155e-03 9.94066019e-01 1.69312417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54509989299996 meters 0.05469384290064821 Centerline is valid? [True, True] Translation: X:162.51, Y:23.38, Z:16.94 [[ 9.66816127e-01 -2.31660571e-01 -1.07703093e-01 1.62507377e+02] [ 2.30822322e-01 9.72782903e-01 -2.03587431e-02 2.33849733e+01] [ 1.09488046e-01 -5.17711698e-03 9.93974630e-01 1.69365470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.60509989299996 meters 0.055529189663377644 Centerline is valid? [True, True] Translation: X:162.57, Y:23.40, Z:16.94 [[ 9.66804987e-01 -2.31502289e-01 -1.08142529e-01 1.62566905e+02] [ 2.30656022e-01 9.72820574e-01 -2.04433613e-02 2.33951081e+01] [ 1.09935962e-01 -5.17898202e-03 9.93925179e-01 1.69419816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.66509989299996 meters 0.055666187196750205 Centerline is valid? [True, True] Translation: X:162.63, Y:23.40, Z:16.95 [[ 9.66000218e-01 -2.34423465e-01 -1.09037693e-01 1.62626984e+02] [ 2.33581608e-01 9.72118693e-01 -2.06125805e-02 2.34035757e+01] [ 1.10829653e-01 -5.55744248e-03 9.93823879e-01 1.69476414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.72509989299996 meters 0.05306100570508839 Centerline is valid? [True, True] Translation: X:162.68, Y:23.42, Z:16.96 [[ 9.65261351e-01 -2.37319316e-01 -1.09316360e-01 1.62684174e+02] [ 2.36491611e-01 9.71413749e-01 -2.06651090e-02 2.34242800e+01] [ 1.11095645e-01 -5.90517109e-03 9.93792175e-01 1.69555720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.78509989299997 meters 0.05184171038139721 Centerline is valid? [True, True] Translation: X:162.74, Y:23.44, Z:16.96 [[ 9.64801197e-01 -2.39710476e-01 -1.08155154e-01 1.62742217e+02] [ 2.38915354e-01 9.70825159e-01 -2.04441581e-02 2.34406300e+01] [ 1.09900423e-01 -6.11537860e-03 9.93923789e-01 1.69639806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.84509989299997 meters 0.053382365317654924 Centerline is valid? [True, True] Translation: X:162.80, Y:23.44, Z:16.97 [[ 9.64436449e-01 -2.41913601e-01 -1.06490123e-01 1.62802744e+02] [ 2.41156134e-01 9.70277553e-01 -2.01292992e-02 2.34388125e+01] [ 1.08194527e-01 -6.26731646e-03 9.94109986e-01 1.69702714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.90509989299997 meters 0.06171471566506316 Centerline is valid? [True, True] Translation: X:162.86, Y:23.43, Z:16.97 [[ 9.64337372e-01 -2.42293661e-01 -1.06523307e-01 1.62864967e+02] [ 2.41537940e-01 9.70182432e-01 -2.01363569e-02 2.34267225e+01] [ 1.08225953e-01 -6.31117869e-03 9.94106288e-01 1.69748189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96509989299997 meters 0.05463806107410754 Centerline is valid? [True, True] Translation: X:162.92, Y:23.45, Z:16.98 [[ 9.64051037e-01 -2.43612341e-01 -1.06106671e-01 1.62920673e+02] [ 2.42870196e-01 9.69851363e-01 -2.00599715e-02 2.34526032e+01] [ 1.07794557e-01 -6.43131177e-03 9.94152389e-01 1.69818298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02509989299998 meters 0.05329638584352144 Centerline is valid? [True, True] Translation: X:162.98, Y:23.47, Z:16.99 [[ 9.63664220e-01 -2.44888201e-01 -1.06681954e-01 1.62980558e+02] [ 2.44145755e-01 9.69528790e-01 -2.01686623e-02 2.34658157e+01] [ 1.08370293e-01 -6.61012808e-03 9.94088621e-01 1.69872366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08509989299998 meters 0.05163195723396601 Centerline is valid? [True, True] Translation: X:163.04, Y:23.48, Z:16.99 [[ 9.63237936e-01 -2.46234929e-01 -1.07429226e-01 1.63038614e+02] [ 2.45490538e-01 9.69186240e-01 -2.03083035e-02 2.34836185e+01] [ 1.09119541e-01 -6.81113015e-03 9.94005299e-01 1.69930829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14509989299998 meters 0.0556738348657558 Centerline is valid? [True, True] Translation: X:163.10, Y:23.47, Z:17.00 [[ 9.62565549e-01 -2.48457002e-01 -1.08335968e-01 1.63100992e+02] [ 2.47714044e-01 9.68616728e-01 -2.04789199e-02 2.34734410e+01] [ 1.10024162e-01 -7.12403810e-03 9.93903382e-01 1.69967092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20509989299995 meters 0.05172020310615296 Centerline is valid? [True, True] Translation: X:163.16, Y:23.50, Z:17.00 [[ 9.62242926e-01 -2.49709370e-01 -1.08322583e-01 1.63158206e+02] [ 2.48974407e-01 9.68293571e-01 -2.04769411e-02 2.34983614e+01] [ 1.10001345e-01 -7.26575917e-03 9.93904881e-01 1.70049376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26509989299996 meters 0.05440887905558313 Centerline is valid? [True, True] Translation: X:163.22, Y:23.50, Z:17.01 [[ 9.62763144e-01 -2.47630737e-01 -1.08471872e-01 1.63219113e+02] [ 2.46880921e-01 9.68828907e-01 -2.05026792e-02 2.34975195e+01] [ 1.10167779e-01 -7.04041182e-03 9.93888069e-01 1.70103604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.32509989299996 meters 0.054742685831278504 Centerline is valid? [True, True] Translation: X:163.28, Y:23.51, Z:17.02 [[ 9.63525142e-01 -2.44995363e-01 -1.07687383e-01 1.63277341e+02] [ 2.44239986e-01 9.69501172e-01 -2.03545149e-02 2.35050870e+01] [ 1.09389806e-01 -6.68947803e-03 9.93976419e-01 1.70162255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.38509989299996 meters 0.052745109500756934 Centerline is valid? [True, True] Translation: X:163.34, Y:23.52, Z:17.02 [[ 9.64877075e-01 -2.40824137e-01 -1.04956971e-01 1.63335242e+02] [ 2.40081816e-01 9.70549884e-01 -1.98404900e-02 2.35225956e+01] [ 1.06644044e-01 -6.05462610e-03 9.94278829e-01 1.70242856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.44509989299996 meters 0.05523476348696808 Centerline is valid? [True, True] Translation: X:163.40, Y:23.52, Z:17.03 [[ 9.66107120e-01 -2.36091755e-01 -1.04392130e-01 1.63395188e+02] [ 2.35329925e-01 9.71715191e-01 -1.97335658e-02 2.35223882e+01] [ 1.06098351e-01 -5.50185363e-03 9.94340419e-01 1.70299906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.50509989299997 meters 0.05524236686020431 Centerline is valid? [True, True] Translation: X:163.46, Y:23.53, Z:17.03 [[ 9.66539172e-01 -2.34066929e-01 -1.04950945e-01 1.63455012e+02] [ 2.33284944e-01 9.72206000e-01 -1.98400910e-02 2.35306344e+01] [ 1.06677848e-01 -5.30725026e-03 9.94279473e-01 1.70346521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.56509989299997 meters 0.05826759706565874 Centerline is valid? [True, True] Translation: X:163.52, Y:23.53, Z:17.04 [[ 9.67020928e-01 -2.31310537e-01 -1.06611263e-01 1.63517150e+02] [ 2.30486907e-01 9.72866691e-01 -2.01540967e-02 2.35296017e+01] [ 1.08380401e-01 -5.08306696e-03 9.94096500e-01 1.70381712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.62509989299997 meters 0.053588772518434545 Centerline is valid? [True, True] Translation: X:163.57, Y:23.56, Z:17.05 [[ 9.67761911e-01 -2.28220304e-01 -1.06547529e-01 1.63573236e+02] [ 2.27379084e-01 9.73598005e-01 -2.01414027e-02 2.35556602e+01] [ 1.08331139e-01 -4.73459713e-03 9.94103590e-01 1.70457549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.68509989299997 meters 0.052941417641252556 Centerline is valid? [True, True] Translation: X:163.63, Y:23.57, Z:17.05 [[ 9.70104480e-01 -2.18329213e-01 -1.05970054e-01 1.63632073e+02] [ 2.17438190e-01 9.75868503e-01 -2.00324524e-02 2.35699064e+01] [ 1.07786507e-01 -3.60836486e-03 9.94167515e-01 1.70520954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74509989299997 meters 0.05403135123599609 Centerline is valid? [True, True] Translation: X:163.69, Y:23.58, Z:17.06 [[ 9.73463863e-01 -2.03310146e-01 -1.05038528e-01 1.63690198e+02] [ 2.02347086e-01 9.79112500e-01 -1.98587028e-02 2.35815926e+01] [ 1.06882012e-01 -1.92251059e-03 9.94269852e-01 1.70587637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80509989299998 meters 0.05273599066947556 Centerline is valid? [True, True] Translation: X:163.75, Y:23.60, Z:17.07 [[ 9.74577439e-01 -1.98066218e-01 -1.04731031e-01 1.63747794e+02] [ 1.97078580e-01 9.80187722e-01 -1.98005921e-02 2.35976803e+01] [ 1.06577899e-01 -1.34303259e-03 9.94303448e-01 1.70657473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86509989299998 meters 0.05365614508466952 Centerline is valid? [True, True] Translation: X:163.80, Y:23.62, Z:17.07 [[ 9.77517477e-01 -1.83087934e-01 -1.04586759e-01 1.63804820e+02] [ 1.82017285e-01 9.83096497e-01 -1.97733349e-02 2.36179687e+01] [ 1.06439136e-01 2.92182492e-04 9.94319177e-01 1.70720455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92509989299998 meters 0.05436957753726274 Centerline is valid? [True, True] Translation: X:163.86, Y:23.63, Z:17.08 [[ 9.79889268e-01 -1.70496966e-01 -1.03671630e-01 1.63863211e+02] [ 1.69374513e-01 9.85356824e-01 -1.96011230e-02 2.36345955e+01] [ 1.05495480e-01 1.64759816e-03 9.94418418e-01 1.70786942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98509989299995 meters 0.054403868798811386 Centerline is valid? [True, True] Translation: X:163.92, Y:23.64, Z:17.09 [[ 9.81005170e-01 -1.63714672e-01 -1.04049809e-01 1.63923785e+02] [ 1.62545984e-01 9.86504848e-01 -1.96719898e-02 2.36388852e+01] [ 1.05866235e-01 2.38544499e-03 9.94377519e-01 1.70855413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04509989299996 meters 0.05442805682746591 Centerline is valid? [True, True] Translation: X:163.98, Y:23.65, Z:17.09 [[ 9.80864153e-01 -1.63768691e-01 -1.05286895e-01 1.63982240e+02] [ 1.62572224e-01 9.86495826e-01 -1.99062061e-02 2.36462878e+01] [ 1.07125096e-01 2.40855923e-03 9.94242633e-01 1.70904173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.10509989299996 meters 0.05451502086171211 Centerline is valid? [True, True] Translation: X:164.04, Y:23.64, Z:17.10 [[ 9.79732426e-01 -1.70353249e-01 -1.05376201e-01 1.64044445e+02] [ 1.69191596e-01 9.85381591e-01 -1.99329921e-02 2.36427093e+01] [ 1.07231418e-01 1.70023113e-03 9.94232635e-01 1.70970110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.16509989299996 meters 0.05396028653081458 Centerline is valid? [True, True] Translation: X:164.10, Y:23.65, Z:17.10 [[ 9.78306724e-01 -1.78216039e-01 -1.05617223e-01 1.64103161e+02] [ 1.77094642e-01 9.83991024e-01 -1.99787815e-02 2.36500851e+01] [ 1.07486939e-01 8.41131910e-04 9.94206141e-01 1.71025913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.22509989299996 meters 0.05358928157614523 Centerline is valid? [True, True] Translation: X:164.16, Y:23.64, Z:17.11 [[ 9.75819696e-01 -1.91883852e-01 -1.04673344e-01 1.64162694e+02] [ 1.90860477e-01 9.81417423e-01 -1.98020145e-02 2.36443490e+01] [ 1.06527930e-01 -6.54808616e-04 9.94309495e-01 1.71102126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.28509989299997 meters 0.05450731350891678 Centerline is valid? [True, True] Translation: X:164.23, Y:23.64, Z:17.12 [[ 9.73151103e-01 -2.05470647e-01 -1.03724366e-01 1.64225323e+02] [ 2.04542084e-01 9.78660990e-01 -1.96265640e-02 2.36363316e+01] [ 1.05543674e-01 -2.11638555e-03 9.94412416e-01 1.71173336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.34509989299997 meters 0.054781652906322746 Centerline is valid? [True, True] Translation: X:164.28, Y:23.64, Z:17.12 [[ 9.71393293e-01 -2.13815028e-01 -1.03335397e-01 1.64284828e+02] [ 2.12940488e-01 9.76869523e-01 -1.95520873e-02 2.36427281e+01] [ 1.05125730e-01 -3.01152342e-03 9.94454379e-01 1.71240514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.40509989299997 meters 0.05633093072866008 Centerline is valid? [True, True] Translation: X:164.35, Y:23.64, Z:17.13 [[ 9.69752901e-01 -2.20895401e-01 -1.03848606e-01 1.64345728e+02] [ 2.20052412e-01 9.75290116e-01 -1.96501071e-02 2.36380280e+01] [ 1.05623138e-01 -3.79638787e-03 9.94398984e-01 1.71299362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46509989299997 meters 0.058560627849944875 Centerline is valid? [True, True] Translation: X:164.41, Y:23.64, Z:17.14 [[ 9.68476451e-01 -2.26362522e-01 -1.03987368e-01 1.64407625e+02] [ 2.25548513e-01 9.74033199e-01 -1.96772812e-02 2.36359710e+01] [ 1.05741347e-01 -4.39721267e-03 9.94383946e-01 1.71354770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52509989299998 meters 0.0597315271929739 Centerline is valid? [True, True] Translation: X:164.47, Y:23.64, Z:17.14 [[ 9.67438780e-01 -2.30658743e-01 -1.04205330e-01 1.64467774e+02] [ 2.29866126e-01 9.73022486e-01 -1.97181783e-02 2.36394191e+01] [ 1.05942299e-01 -4.87714511e-03 9.94360318e-01 1.71414050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58509989299998 meters 0.05761678149066712 Centerline is valid? [True, True] Translation: X:164.53, Y:23.65, Z:17.14 [[ 9.66962501e-01 -2.31238786e-01 -1.07294671e-01 1.64525510e+02] [ 2.30401882e-01 9.72883722e-01 -2.03036277e-02 2.36526096e+01] [ 1.09080225e-01 -5.08804742e-03 9.94019928e-01 1.71444114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64509989299998 meters 0.057175956463999845 Centerline is valid? [True, True] Translation: X:164.58, Y:23.67, Z:17.15 [[ 9.68161252e-01 -2.25790326e-01 -1.08085702e-01 1.64582980e+02] [ 2.24906919e-01 9.74165508e-01 -2.04558345e-02 2.36655374e+01] [ 1.09912092e-01 -4.50467580e-03 9.93931104e-01 1.71500104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70509989299995 meters 0.05502002398953908 Centerline is valid? [True, True] Translation: X:164.64, Y:23.69, Z:17.16 [[ 9.69693470e-01 -2.19077782e-01 -1.08164226e-01 1.64640422e+02] [ 2.18151383e-01 9.75700209e-01 -2.04713301e-02 2.36867903e+01] [ 1.10020671e-01 -3.74526038e-03 9.93922243e-01 1.71572423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76509989299996 meters 0.05494312502190128 Centerline is valid? [True, True] Translation: X:164.70, Y:23.70, Z:17.17 [[ 9.70880530e-01 -2.13978900e-01 -1.07721992e-01 1.64697807e+02] [ 2.13028838e-01 9.76833189e-01 -2.03871110e-02 2.37032015e+01] [ 1.09588829e-01 -3.15444168e-03 9.93972001e-01 1.71650014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.82509989299996 meters 0.056342191054430626 Centerline is valid? [True, True] Translation: X:164.76, Y:23.71, Z:17.17 [[ 9.71080005e-01 -2.12878587e-01 -1.08103338e-01 1.64755601e+02] [ 2.11914754e-01 9.77073933e-01 -2.04613271e-02 2.37057872e+01] [ 1.09980732e-01 -3.03910670e-03 9.93929073e-01 1.71694647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.88509989299996 meters 0.05575737898198603 Centerline is valid? [True, True] Translation: X:164.81, Y:23.72, Z:17.18 [[ 9.71358072e-01 -2.11242685e-01 -1.08811871e-01 1.64812095e+02] [ 2.10254540e-01 9.77429458e-01 -2.06078469e-02 2.37230488e+01] [ 1.10709185e-01 -2.86059144e-03 9.93848728e-01 1.71758778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.94509989299996 meters 0.05535449439076594 Centerline is valid? [True, True] Translation: X:164.87, Y:23.74, Z:17.18 [[ 9.71315591e-01 -2.11432637e-01 -1.08822157e-01 1.64867830e+02] [ 2.10445033e-01 9.77388334e-01 -2.06139200e-02 2.37373998e+01] [ 1.10719962e-01 -2.87846051e-03 9.93847475e-01 1.71823401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.00509989299997 meters 0.05533106764260434 Centerline is valid? [True, True] Translation: X:164.92, Y:23.75, Z:17.19 [[ 9.71100715e-01 -2.12377717e-01 -1.08899526e-01 1.64924929e+02] [ 2.11393075e-01 9.77183123e-01 -2.06424622e-02 2.37502156e+01] [ 1.10798778e-01 -2.97469594e-03 9.93838408e-01 1.71893880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.06509989299997 meters 0.056074889117667455 Centerline is valid? [True, True] Translation: X:164.98, Y:23.76, Z:17.19 [[ 9.70565771e-01 -2.14369084e-01 -1.09763291e-01 1.64982941e+02] [ 2.13379991e-01 9.76747438e-01 -2.08187867e-02 2.37572293e+01] [ 1.11673918e-01 -3.21528835e-03 9.93739703e-01 1.71940437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.12509989299997 meters 0.05544826832624988 Centerline is valid? [True, True] Translation: X:165.04, Y:23.77, Z:17.20 [[ 9.70197998e-01 -2.16423633e-01 -1.08980072e-01 1.65039363e+02] [ 2.15461226e-01 9.76293545e-01 -2.06730093e-02 2.37741919e+01] [ 1.10870668e-01 -3.42406765e-03 9.93828944e-01 1.72022812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.18509989299997 meters 0.055146343830960724 Centerline is valid? [True, True] Translation: X:165.10, Y:23.79, Z:17.21 [[ 9.70238680e-01 -2.16906204e-01 -1.07650370e-01 1.65095420e+02] [ 2.15969777e-01 9.76186413e-01 -2.04240552e-02 2.37860813e+01] [ 1.09516933e-01 -3.43301814e-03 9.93979002e-01 1.72094761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24509989299997 meters 0.05635182089056619 Centerline is valid? [True, True] Translation: X:165.15, Y:23.79, Z:17.22 [[ 9.70877548e-01 -2.14561618e-01 -1.06583764e-01 1.65154483e+02] [ 2.13628171e-01 9.76705460e-01 -2.02348643e-02 2.37915726e+01] [ 1.08442570e-01 -3.12371921e-03 9.94097808e-01 1.72160689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30509989299998 meters 0.055295670357035795 Centerline is valid? [True, True] Translation: X:165.21, Y:23.81, Z:17.22 [[ 9.72133226e-01 -2.08916940e-01 -1.06351786e-01 1.65210880e+02] [ 2.07953671e-01 9.77930228e-01 -2.01925790e-02 2.38139140e+01] [ 1.08223198e-01 -2.48636735e-03 9.94123512e-01 1.72239731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36509989299998 meters 0.05586482917161668 Centerline is valid? [True, True] Translation: X:165.27, Y:23.83, Z:17.23 [[ 9.72762659e-01 -2.05505696e-01 -1.07239074e-01 1.65268143e+02] [ 2.04505573e-01 9.78653614e-01 -2.03611100e-02 2.38250759e+01] [ 1.09134232e-01 -2.12446092e-03 9.94024751e-01 1.72292297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42509989299998 meters 0.054546596860773115 Centerline is valid? [True, True] Translation: X:165.32, Y:23.85, Z:17.24 [[ 9.73068750e-01 -2.03526474e-01 -1.08232079e-01 1.65323444e+02] [ 2.02495137e-01 9.79067566e-01 -2.05528727e-02 2.38454677e+01] [ 1.10149572e-01 -1.91711152e-03 9.93913174e-01 1.72376366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48509989299995 meters 0.0552251539777838 Centerline is valid? [True, True] Translation: X:165.38, Y:23.85, Z:17.24 [[ 9.72869417e-01 -2.04327886e-01 -1.08513650e-01 1.65381572e+02] [ 2.03294741e-01 9.78900461e-01 -2.06188321e-02 2.38530960e+01] [ 1.10437065e-01 -2.00082334e-03 9.93881105e-01 1.72426568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54509989299996 meters 0.05557173627657779 Centerline is valid? [True, True] Translation: X:165.44, Y:23.86, Z:17.25 [[ 9.72417314e-01 -2.06171077e-01 -1.09078201e-01 1.65439565e+02] [ 2.05137447e-01 9.78513464e-01 -2.07371364e-02 2.38616414e+01] [ 1.11009886e-01 -2.21087325e-03 9.93816843e-01 1.72491461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.60509989299996 meters 0.055395382151224554 Centerline is valid? [True, True] Translation: X:165.50, Y:23.87, Z:17.26 [[ 9.72207378e-01 -2.07077792e-01 -1.09231876e-01 1.65495933e+02] [ 2.06046573e-01 9.78321742e-01 -2.07696500e-02 2.38748334e+01] [ 1.11164852e-01 -2.31444661e-03 9.93799285e-01 1.72564886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.66509989299996 meters 0.054947044912765565 Centerline is valid? [True, True] Translation: X:165.55, Y:23.89, Z:17.26 [[ 9.71696335e-01 -2.09529782e-01 -1.09103179e-01 1.65552272e+02] [ 2.08515062e-01 9.77798861e-01 -2.07570569e-02 2.38865577e+01] [ 1.11030186e-01 -2.58010000e-03 9.93813685e-01 1.72637072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.72509989299996 meters 0.05667567197664484 Centerline is valid? [True, True] Translation: X:165.61, Y:23.89, Z:17.27 [[ 9.70625890e-01 -2.15289719e-01 -1.07404467e-01 1.65612098e+02] [ 2.14341086e-01 9.76545032e-01 -2.04376819e-02 2.38908845e+01] [ 1.09285321e-01 -3.18384689e-03 9.94005323e-01 1.72709431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.78509989299997 meters 0.05730093482663209 Centerline is valid? [True, True] Translation: X:165.67, Y:23.90, Z:17.28 [[ 9.69687165e-01 -2.19710156e-01 -1.06931046e-01 1.65671740e+02] [ 2.18796624e-01 9.75558308e-01 -2.03476006e-02 2.39001711e+01] [ 1.08788045e-01 -3.66534479e-03 9.94058211e-01 1.72780345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.84509989299997 meters 0.057598860594927095 Centerline is valid? [True, True] Translation: X:165.73, Y:23.91, Z:17.28 [[ 9.68162399e-01 -2.26221115e-01 -1.07170786e-01 1.65731212e+02] [ 2.25343121e-01 9.74066010e-01 -2.03932664e-02 2.39094987e+01] [ 1.09004807e-01 -4.40620557e-03 9.94031457e-01 1.72842729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.90509989299997 meters 0.06432376831632952 Centerline is valid? [True, True] Translation: X:165.79, Y:23.90, Z:17.29 [[ 9.66800906e-01 -2.31415495e-01 -1.08364555e-01 1.65794309e+02] [ 2.30550188e-01 9.72841916e-01 -2.06207861e-02 2.39029776e+01] [ 1.10193551e-01 -5.04727379e-03 9.93897332e-01 1.72878111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96509989299997 meters 0.05721167563226353 Centerline is valid? [True, True] Translation: X:165.85, Y:23.94, Z:17.30 [[ 9.65927393e-01 -2.34326976e-01 -1.09886942e-01 1.65849056e+02] [ 2.33455858e-01 9.72142534e-01 -2.09106925e-02 2.39351764e+01] [ 1.11725710e-01 -5.45553971e-03 9.93724108e-01 1.72958773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02509989299998 meters 0.05897087589977966 Centerline is valid? [True, True] Translation: X:165.91, Y:23.94, Z:17.30 [[ 9.65245864e-01 -2.37007311e-01 -1.10126998e-01 1.65908691e+02] [ 2.36149709e-01 9.71490682e-01 -2.09563914e-02 2.39406724e+01] [ 1.11954170e-01 -5.77838838e-03 9.93696570e-01 1.73007125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08509989299998 meters 0.057727041690475885 Centerline is valid? [True, True] Translation: X:165.97, Y:23.96, Z:17.31 [[ 9.64273949e-01 -2.40802050e-01 -1.10408898e-01 1.65966019e+02] [ 2.39964647e-01 9.70554228e-01 -2.10108984e-02 2.39593079e+01] [ 1.12217290e-01 -6.23397028e-03 9.93664137e-01 1.73075571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14509989299998 meters 0.05420397099384347 Centerline is valid? [True, True] Translation: X:166.02, Y:23.99, Z:17.32 [[ 9.63597332e-01 -2.43064074e-01 -1.11355461e-01 1.66021111e+02] [ 2.42227153e-01 9.69988100e-01 -2.11917853e-02 2.39883862e+01] [ 1.13164434e-01 -6.55296845e-03 9.93554664e-01 1.73158938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20509989299995 meters 0.05593698380394442 Centerline is valid? [True, True] Translation: X:166.08, Y:23.99, Z:17.32 [[ 9.63001063e-01 -2.45169954e-01 -1.11895695e-01 1.66080907e+02] [ 2.44338948e-01 9.69456033e-01 -2.12950504e-02 2.39926266e+01] [ 1.13698863e-01 -6.83332040e-03 9.93491758e-01 1.73207052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26509989299996 meters 0.05889060688542358 Centerline is valid? [True, True] Translation: X:166.14, Y:23.99, Z:17.33 [[ 9.62895709e-01 -2.45858413e-01 -1.11290133e-01 1.66139600e+02] [ 2.45040790e-01 9.69281368e-01 -2.11811527e-02 2.39941633e+01] [ 1.13079017e-01 -6.87538097e-03 9.93562210e-01 1.73255608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.32509989299996 meters 0.0604394090161149 Centerline is valid? [True, True] Translation: X:166.20, Y:24.01, Z:17.33 [[ 9.62913084e-01 -2.45807307e-01 -1.11252690e-01 1.66196493e+02] [ 2.44989299e-01 9.69294425e-01 -2.11792667e-02 2.40081710e+01] [ 1.13042630e-01 -6.86192546e-03 9.93566444e-01 1.73317867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.38509989299996 meters 0.06050990293983616 Centerline is valid? [True, True] Translation: X:166.25, Y:24.02, Z:17.34 [[ 9.63128671e-01 -2.45229788e-01 -1.10659448e-01 1.66254101e+02] [ 2.44415442e-01 9.69441506e-01 -2.10774176e-02 2.40199439e+01] [ 1.12446673e-01 -6.74661263e-03 9.93634857e-01 1.73382952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.44509989299996 meters 0.05818736660673302 Centerline is valid? [True, True] Translation: X:166.31, Y:24.04, Z:17.35 [[ 9.64000474e-01 -2.42404487e-01 -1.09284720e-01 1.66310987e+02] [ 2.41592039e-01 9.70154594e-01 -2.08170619e-02 2.40432101e+01] [ 1.11069223e-01 -6.33466087e-03 9.93792483e-01 1.73461277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.50509989299997 meters 0.05654025365673993 Centerline is valid? [True, True] Translation: X:166.37, Y:24.06, Z:17.35 [[ 9.64770190e-01 -2.39367930e-01 -1.09185503e-01 1.66367907e+02] [ 2.38537681e-01 9.70910518e-01 -2.07976049e-02 2.40642770e+01] [ 1.10987633e-01 -5.97994754e-03 9.93803796e-01 1.73529372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.56509989299997 meters 0.06044447737788012 Centerline is valid? [True, True] Translation: X:166.43, Y:24.07, Z:17.36 [[ 9.65116656e-01 -2.37863710e-01 -1.09410679e-01 1.66427864e+02] [ 2.37020353e-01 9.71281113e-01 -2.08410991e-02 2.40686576e+01] [ 1.11225868e-01 -5.81846592e-03 9.93778120e-01 1.73574445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.62509989299997 meters 0.06000312907709364 Centerline is valid? [True, True] Translation: X:166.49, Y:24.08, Z:17.36 [[ 9.65356300e-01 -2.36821150e-01 -1.09558004e-01 1.66485790e+02] [ 2.35968738e-01 9.71536512e-01 -2.08700991e-02 2.40836729e+01] [ 1.11382082e-01 -5.70518229e-03 9.93761281e-01 1.73637062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.68509989299997 meters 0.05340388007135096 Centerline is valid? [True, True] Translation: X:166.54, Y:24.12, Z:17.37 [[ 9.65373250e-01 -2.36387431e-01 -1.10342510e-01 1.66540672e+02] [ 2.35519717e-01 9.71642197e-01 -2.10215268e-02 2.41214930e+01] [ 1.12182664e-01 -5.69421711e-03 9.93671287e-01 1.73730750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74509989299997 meters 0.06315587456541781 Centerline is valid? [True, True] Translation: X:166.60, Y:24.10, Z:17.37 [[ 9.65379321e-01 -2.36429038e-01 -1.10200165e-01 1.66602182e+02] [ 2.35564065e-01 9.71632077e-01 -2.09923487e-02 2.41044056e+01] [ 1.12037216e-01 -5.69361954e-03 9.93687700e-01 1.73741236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80509989299998 meters 0.055571467867528125 Centerline is valid? [True, True] Translation: X:166.66, Y:24.14, Z:17.38 [[ 9.65012707e-01 -2.37880858e-01 -1.10286773e-01 1.66656685e+02] [ 2.37023286e-01 9.71276657e-01 -2.10146846e-02 2.41376273e+01] [ 1.12117960e-01 -5.86109571e-03 9.93677619e-01 1.73840022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86509989299998 meters 0.053927146578153014 Centerline is valid? [True, True] Translation: X:166.71, Y:24.16, Z:17.39 [[ 9.64679761e-01 -2.38902165e-01 -1.10989704e-01 1.66713466e+02] [ 2.38040426e-01 9.71024987e-01 -2.11478196e-02 2.41609472e+01] [ 1.12826036e-01 -6.01916282e-03 9.93596525e-01 1.73915119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92509989299998 meters 0.05721904381833378 Centerline is valid? [True, True] Translation: X:166.77, Y:24.16, Z:17.40 [[ 9.64529715e-01 -2.39371822e-01 -1.11281445e-01 1.66773140e+02] [ 2.38508661e-01 9.70908872e-01 -2.12033059e-02 2.41619854e+01] [ 1.13119616e-01 -6.09036982e-03 9.93562711e-01 1.73959314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98509989299995 meters 0.053498708781900134 Centerline is valid? [True, True] Translation: X:166.83, Y:24.19, Z:17.41 [[ 9.64408524e-01 -2.40667258e-01 -1.09523829e-01 1.66830018e+02] [ 2.39839602e-01 9.70588237e-01 -2.08671736e-02 2.41868525e+01] [ 1.11324585e-01 -6.14367143e-03 9.93765109e-01 1.74056721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04509989299996 meters 0.056052155378864155 Centerline is valid? [True, True] Translation: X:166.89, Y:24.19, Z:17.41 [[ 9.64269557e-01 -2.41608007e-01 -1.08672870e-01 1.66889349e+02] [ 2.40799279e-01 9.70354097e-01 -2.07034722e-02 2.41908706e+01] [ 1.10453289e-01 -6.20462067e-03 9.93861949e-01 1.74110312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.10509989299996 meters 0.059221421956201246 Centerline is valid? [True, True] Translation: X:166.95, Y:24.19, Z:17.42 [[ 9.63613459e-01 -2.44236791e-01 -1.08616256e-01 1.66949894e+02] [ 2.43445391e-01 9.69693828e-01 -2.06935278e-02 2.41930888e+01] [ 1.10378633e-01 -6.50156488e-03 9.93868345e-01 1.74161008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.16509989299996 meters 0.06330714748621706 Centerline is valid? [True, True] Translation: X:167.01, Y:24.20, Z:17.42 [[ 9.63014486e-01 -2.46451747e-01 -1.08924912e-01 1.67011018e+02] [ 2.45669863e-01 9.69131386e-01 -2.07527054e-02 2.41964401e+01] [ 1.10677091e-01 -6.77441211e-03 9.93833331e-01 1.74210739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.22509989299996 meters 0.05879362451168921 Centerline is valid? [True, True] Translation: X:167.07, Y:24.22, Z:17.43 [[ 9.62864920e-01 -2.47052008e-01 -1.08887332e-01 1.67067036e+02] [ 2.46274472e-01 9.68978073e-01 -2.07455643e-02 2.42194735e+01] [ 1.10634670e-01 -6.84099394e-03 9.93837598e-01 1.74286229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.28509989299997 meters 0.05463369665390888 Centerline is valid? [True, True] Translation: X:167.12, Y:24.25, Z:17.44 [[ 9.63005168e-01 -2.46309411e-01 -1.09328496e-01 1.67124437e+02] [ 2.45520741e-01 9.69167513e-01 -2.08302233e-02 2.42457184e+01] [ 1.11088307e-01 -6.78280069e-03 9.93787393e-01 1.74362190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.34509989299997 meters 0.055152069393805105 Centerline is valid? [True, True] Translation: X:167.18, Y:24.26, Z:17.44 [[ 9.63321105e-01 -2.44679764e-01 -1.10201004e-01 1.67183053e+02] [ 2.43868132e-01 9.69581138e-01 -2.09940555e-02 2.42592351e+01] [ 1.11985635e-01 -6.65049618e-03 9.93687571e-01 1.74422033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.40509989299997 meters 0.05483678087363849 Centerline is valid? [True, True] Translation: X:167.24, Y:24.27, Z:17.45 [[ 9.64426728e-01 -2.39865031e-01 -1.11111897e-01 1.67240528e+02] [ 2.39008131e-01 9.70786816e-01 -2.11676707e-02 2.42724661e+01] [ 1.12943349e-01 -6.14197942e-03 9.93582446e-01 1.74471115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46509989299997 meters 0.05607023332616116 Centerline is valid? [True, True] Translation: X:167.30, Y:24.28, Z:17.45 [[ 9.65443212e-01 -2.36072156e-01 -1.10405353e-01 1.67300535e+02] [ 2.35201336e-01 9.71719043e-01 -2.10340938e-02 2.42810352e+01] [ 1.12248548e-01 -5.66026352e-03 9.93664040e-01 1.74528027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52509989299998 meters 0.055358672798402266 Centerline is valid? [True, True] Translation: X:167.36, Y:24.30, Z:17.46 [[ 9.66810739e-01 -2.30645400e-01 -1.09907667e-01 1.67357717e+02] [ 2.29747398e-01 9.73024995e-01 -2.09401911e-02 2.43003105e+01] [ 1.11772666e-01 -5.00579896e-03 9.93721195e-01 1.74605309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58509989299998 meters 0.054693730766114085 Centerline is valid? [True, True] Translation: X:167.42, Y:24.32, Z:17.47 [[ 9.67435074e-01 -2.27956207e-01 -1.10024297e-01 1.67415902e+02] [ 2.27038959e-01 9.73660043e-01 -2.09626244e-02 2.43171312e+01] [ 1.11904822e-01 -4.69982384e-03 9.93707815e-01 1.74674864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64509989299998 meters 0.05552576221920786 Centerline is valid? [True, True] Translation: X:167.47, Y:24.33, Z:17.47 [[ 9.68085640e-01 -2.24920127e-01 -1.10549222e-01 1.67474693e+02] [ 2.23974364e-01 9.74367407e-01 -2.10627891e-02 2.43279699e+01] [ 1.12453004e-01 -4.36960798e-03 9.93647437e-01 1.74728059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70509989299995 meters 0.05589759699616892 Centerline is valid? [True, True] Translation: X:167.53, Y:24.34, Z:17.48 [[ 9.68466791e-01 -2.23385729e-01 -1.10321760e-01 1.67532564e+02] [ 2.22433918e-01 9.74721152e-01 -2.10197183e-02 2.43404055e+01] [ 1.12228458e-01 -4.18240225e-03 9.93673629e-01 1.74791097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76509989299996 meters 0.05629134815198751 Centerline is valid? [True, True] Translation: X:167.59, Y:24.35, Z:17.48 [[ 9.68319907e-01 -2.24020626e-01 -1.10323694e-01 1.67590250e+02] [ 2.23072606e-01 9.74575121e-01 -2.10225335e-02 2.43516687e+01] [ 1.12228208e-01 -4.25365615e-03 9.93673355e-01 1.74848242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.82509989299996 meters 0.058492643646592235 Centerline is valid? [True, True] Translation: X:167.65, Y:24.36, Z:17.49 [[ 9.67919841e-01 -2.25491895e-01 -1.10835850e-01 1.67649280e+02] [ 2.24543353e-01 9.74234954e-01 -2.11314250e-02 2.43562321e+01] [ 1.12745124e-01 -4.43392790e-03 9.93614048e-01 1.74894541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.88509989299996 meters 0.05531363399569838 Centerline is valid? [True, True] Translation: X:167.71, Y:24.38, Z:17.50 [[ 9.66914409e-01 -2.29608349e-01 -1.11159940e-01 1.67706084e+02] [ 2.28681010e-01 9.73270642e-01 -2.11955959e-02 2.43790551e+01] [ 1.13055392e-01 -4.92584035e-03 9.93576476e-01 1.74978572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.94509989299996 meters 0.05368346199353694 Centerline is valid? [True, True] Translation: X:167.76, Y:24.40, Z:17.51 [[ 9.65557949e-01 -2.35258989e-01 -1.11135303e-01 1.67764055e+02] [ 2.34369243e-01 9.71916667e-01 -2.11908030e-02 2.43962173e+01] [ 1.12999580e-01 -5.58574859e-03 9.93579335e-01 1.75058309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.00509989299997 meters 0.05485288230895434 Centerline is valid? [True, True] Translation: X:167.82, Y:24.40, Z:17.51 [[ 9.64485316e-01 -2.39942909e-01 -1.10433123e-01 1.67823896e+02] [ 2.39094891e-01 9.70767866e-01 -2.10566786e-02 2.44013229e+01] [ 1.12257328e-01 -6.09513821e-03 9.93660476e-01 1.75114504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.06509989299997 meters 0.05903034487495537 Centerline is valid? [True, True] Translation: X:167.89, Y:24.40, Z:17.52 [[ 9.64167906e-01 -2.41311318e-01 -1.10222937e-01 1.67886055e+02] [ 2.40475452e-01 9.70427677e-01 -2.10162145e-02 2.43987073e+01] [ 1.12034839e-01 -6.24275117e-03 9.93684670e-01 1.75156468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.12509989299997 meters 0.056359012570946145 Centerline is valid? [True, True] Translation: X:167.95, Y:24.42, Z:17.52 [[ 9.64347865e-01 -2.40947307e-01 -1.09442176e-01 1.67945072e+02] [ 2.40120935e-01 9.70518674e-01 -2.08671836e-02 2.44176539e+01] [ 1.11243567e-01 -6.15613367e-03 9.93774104e-01 1.75227068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.18509989299997 meters 0.05302219553907057 Centerline is valid? [True, True] Translation: X:168.00, Y:24.44, Z:17.53 [[ 9.64819232e-01 -2.39481808e-01 -1.08500290e-01 1.68001238e+02] [ 2.38660657e-01 9.70882698e-01 -2.06852208e-02 2.44437178e+01] [ 1.10294788e-01 -5.93725162e-03 9.93881184e-01 1.75316242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24509989299997 meters 0.05756753145087878 Centerline is valid? [True, True] Translation: X:168.06, Y:24.44, Z:17.54 [[ 9.65677828e-01 -2.36099548e-01 -1.08274353e-01 1.68063448e+02] [ 2.35260845e-01 9.71713077e-01 -2.06405022e-02 2.44375925e+01] [ 1.10084818e-01 -5.54064042e-03 9.93906753e-01 1.75362957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30509989299998 meters 0.05508616394729925 Centerline is valid? [True, True] Translation: X:168.12, Y:24.46, Z:17.54 [[ 9.65932923e-01 -2.35115849e-01 -1.08139380e-01 1.68120993e+02] [ 2.34273156e-01 9.71952231e-01 -2.06143144e-02 2.44578497e+01] [ 1.09953064e-01 -5.42210897e-03 9.93921991e-01 1.75436340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36509989299998 meters 0.05524468485181311 Centerline is valid? [True, True] Translation: X:168.18, Y:24.47, Z:17.55 [[ 9.66564415e-01 -2.32200294e-01 -1.08794559e-01 1.68180083e+02] [ 2.31328819e-01 9.72654516e-01 -2.07405572e-02 2.44691145e+01] [ 1.10635482e-01 -5.12023229e-03 9.93847862e-01 1.75481890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42509989299998 meters 0.0538517757634676 Centerline is valid? [True, True] Translation: X:168.24, Y:24.49, Z:17.55 [[ 9.67066444e-01 -2.29801235e-01 -1.09425252e-01 1.68237235e+02] [ 2.28904320e-01 9.73225378e-01 -2.08608773e-02 2.44893938e+01] [ 1.11289287e-01 -4.87405840e-03 9.93776101e-01 1.75544028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48509989299995 meters 0.05472349354779485 Centerline is valid? [True, True] Translation: X:168.30, Y:24.50, Z:17.56 [[ 9.68035141e-01 -2.25429229e-01 -1.09952848e-01 1.68295638e+02] [ 2.24495599e-01 9.74249642e-01 -2.09609519e-02 2.44993207e+01] [ 1.11846734e-01 -4.39299252e-03 9.93715759e-01 1.75595665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54509989299996 meters 0.05482485463747579 Centerline is valid? [True, True] Translation: X:168.35, Y:24.51, Z:17.57 [[ 9.69163659e-01 -2.21274069e-01 -1.08441638e-01 1.68353482e+02] [ 2.20339938e-01 9.75204032e-01 -2.06738240e-02 2.45081801e+01] [ 1.10327304e-01 -3.85770506e-03 9.93887823e-01 1.75659779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.60509989299996 meters 0.053023917902250965 Centerline is valid? [True, True] Translation: X:168.41, Y:24.53, Z:17.57 [[ 9.69984172e-01 -2.18447522e-01 -1.06824088e-01 1.68410573e+02] [ 2.17523877e-01 9.75842487e-01 -2.03667170e-02 2.45307385e+01] [ 1.08692542e-01 -3.48139649e-03 9.94069319e-01 1.75746851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.66509989299996 meters 0.05572671856749381 Centerline is valid? [True, True] Translation: X:168.47, Y:24.53, Z:17.58 [[ 9.70689084e-01 -2.15376324e-01 -1.06657119e-01 1.68472519e+02] [ 2.14437180e-01 9.76526099e-01 -2.03340528e-02 2.45272017e+01] [ 1.08532934e-01 -3.13320883e-03 9.94087916e-01 1.75792051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.72509989299996 meters 0.05419733892025529 Centerline is valid? [True, True] Translation: X:168.53, Y:24.54, Z:17.59 [[ 9.70886239e-01 -2.14793752e-01 -1.06035629e-01 1.68529420e+02] [ 2.13862057e-01 9.76654669e-01 -2.02157761e-02 2.45427746e+01] [ 1.07902415e-01 -3.04977891e-03 9.94156812e-01 1.75867423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.78509989299997 meters 0.053457023764727114 Centerline is valid? [True, True] Translation: X:168.59, Y:24.55, Z:17.59 [[ 9.70650748e-01 -2.16201292e-01 -1.05328665e-01 1.68588102e+02] [ 2.15289660e-01 9.76343635e-01 -2.00865140e-02 2.45542369e+01] [ 1.07179702e-01 -3.17918268e-03 9.94234582e-01 1.75942053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.84509989299997 meters 0.057980348199799574 Centerline is valid? [True, True] Translation: X:168.65, Y:24.55, Z:17.60 [[ 9.69704333e-01 -2.19746830e-01 -1.06699756e-01 1.68650206e+02] [ 2.18832625e-01 9.75550225e-01 -2.03479822e-02 2.45467870e+01] [ 1.08562376e-01 -3.61786128e-03 9.94083056e-01 1.75973914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.90509989299997 meters 0.05662917914338777 Centerline is valid? [True, True] Translation: X:168.71, Y:24.56, Z:17.60 [[ 9.68979860e-01 -2.22513521e-01 -1.07544242e-01 1.68709095e+02] [ 2.21601724e-01 9.74921565e-01 -2.05089760e-02 2.45589776e+01] [ 1.09410725e-01 -3.95920466e-03 9.93988741e-01 1.76028437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96509989299997 meters 0.05527743255027853 Centerline is valid? [True, True] Translation: X:168.77, Y:24.58, Z:17.61 [[ 9.68250273e-01 -2.26074669e-01 -1.06684834e-01 1.68766929e+02] [ 2.25198863e-01 9.74100371e-01 -2.03455180e-02 2.45755012e+01] [ 1.08521343e-01 -4.32574994e-03 9.94084708e-01 1.76098364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02509989299998 meters 0.05368629911226504 Centerline is valid? [True, True] Translation: X:168.83, Y:24.59, Z:17.62 [[ 9.67888859e-01 -2.28229898e-01 -1.05367314e-01 1.68825037e+02] [ 2.27388326e-01 9.73596822e-01 -2.00942337e-02 2.45914584e+01] [ 1.07171387e-01 -4.51031236e-03 9.94230331e-01 1.76179208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08509989299998 meters 0.05618228392253717 Centerline is valid? [True, True] Translation: X:168.89, Y:24.59, Z:17.62 [[ 9.67790217e-01 -2.28864935e-01 -1.04894883e-01 1.68885506e+02] [ 2.28034703e-01 9.73447503e-01 -2.00033131e-02 2.45920086e+01] [ 1.06687719e-01 -4.56066274e-03 9.94282118e-01 1.76239924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14509989299998 meters 0.054652073683306636 Centerline is valid? [True, True] Translation: X:168.94, Y:24.61, Z:17.63 [[ 9.67383002e-01 -2.30640841e-01 -1.04761300e-01 1.68943200e+02] [ 2.29823166e-01 9.73027353e-01 -1.99770605e-02 2.46073951e+01] [ 1.06543137e-01 -4.75110491e-03 9.94296730e-01 1.76308871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20509989299995 meters 0.0596420254481474 Centerline is valid? [True, True] Translation: X:169.00, Y:24.60, Z:17.64 [[ 9.66781930e-01 -2.32691989e-01 -1.05769268e-01 1.69004969e+02] [ 2.31870602e-01 9.72537501e-01 -2.01701100e-02 2.46036440e+01] [ 1.07558002e-01 -5.02468586e-03 9.94186114e-01 1.76353434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26509989299996 meters 0.05806946318028377 Centerline is valid? [True, True] Translation: X:169.06, Y:24.62, Z:17.64 [[ 9.65379943e-01 -2.37940655e-01 -1.06891578e-01 1.69063158e+02] [ 2.37133554e-01 9.71263156e-01 -2.03852796e-02 2.46167237e+01] [ 1.08670339e-01 -5.66803984e-03 9.94061684e-01 1.76411989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.32509989299996 meters 0.05300037101987941 Centerline is valid? [True, True] Translation: X:169.12, Y:24.64, Z:17.65 [[ 9.64395234e-01 -2.41835530e-01 -1.07039288e-01 1.69118812e+02] [ 2.41049965e-01 9.70297988e-01 -2.04139150e-02 2.46440598e+01] [ 1.08796816e-01 -6.11473431e-03 9.94045202e-01 1.76488241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.38509989299996 meters 0.05279097264496771 Centerline is valid? [True, True] Translation: X:169.18, Y:24.65, Z:17.65 [[ 9.63607744e-01 -2.44504306e-01 -1.08063688e-01 1.69179092e+02] [ 2.43720350e-01 9.69626563e-01 -2.06087152e-02 2.46544079e+01] [ 1.09820342e-01 -6.47860231e-03 9.93930340e-01 1.76545053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.44509989299996 meters 0.05489888017646284 Centerline is valid? [True, True] Translation: X:169.24, Y:24.66, Z:17.66 [[ 9.63041767e-01 -2.45916639e-01 -1.09888857e-01 1.69238728e+02] [ 2.45115260e-01 9.69267446e-01 -2.09553562e-02 2.46597985e+01] [ 1.11664962e-01 -6.75455234e-03 9.93722955e-01 1.76587817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.50509989299997 meters 0.05439045988714847 Centerline is valid? [True, True] Translation: X:169.30, Y:24.67, Z:17.67 [[ 9.63041563e-01 -2.45651951e-01 -1.10481068e-01 1.69298827e+02] [ 2.44840369e-01 9.69334510e-01 -2.10666127e-02 2.46740307e+01] [ 1.12268166e-01 -6.76220180e-03 9.93654936e-01 1.76652756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.56509989299997 meters 0.053307325203387636 Centerline is valid? [True, True] Translation: X:169.36, Y:24.69, Z:17.67 [[ 9.63824595e-01 -2.42951278e-01 -1.09621286e-01 1.69357984e+02] [ 2.42135264e-01 9.70017382e-01 -2.08995815e-02 2.46884235e+01] [ 1.11412133e-01 -6.39964836e-03 9.93753682e-01 1.76715009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.62509989299997 meters 0.054873701461081864 Centerline is valid? [True, True] Translation: X:169.42, Y:24.70, Z:17.68 [[ 9.64763368e-01 -2.40198593e-01 -1.07407075e-01 1.69416550e+02] [ 2.39398207e-01 9.70705493e-01 -2.04779113e-02 2.46969633e+01] [ 1.09179403e-01 -5.95672254e-03 9.94004213e-01 1.76783309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.68509989299997 meters 0.055242669848172395 Centerline is valid? [True, True] Translation: X:169.48, Y:24.71, Z:17.68 [[ 9.65100325e-01 -2.38881567e-01 -1.07317095e-01 1.69475778e+02] [ 2.38074334e-01 9.71031377e-01 -2.04615999e-02 2.47098649e+01] [ 1.09096165e-01 -5.80194918e-03 9.94014268e-01 1.76849940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74509989299997 meters 0.05453543450031711 Centerline is valid? [True, True] Translation: X:169.54, Y:24.72, Z:17.69 [[ 9.65233437e-01 -2.38170579e-01 -1.07699523e-01 1.69535537e+02] [ 2.37353277e-01 9.71206359e-01 -2.05336234e-02 2.47235129e+01] [ 1.09488966e-01 -5.74309473e-03 9.93971420e-01 1.76920677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80509989299998 meters 0.054602649322281746 Centerline is valid? [True, True] Translation: X:169.60, Y:24.74, Z:17.70 [[ 9.65362035e-01 -2.37769713e-01 -1.07432327e-01 1.69595345e+02] [ 2.36954182e-01 9.71304919e-01 -2.04809846e-02 2.47352483e+01] [ 1.09219305e-01 -5.68497415e-03 9.94001421e-01 1.76984792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86509989299998 meters 0.05578081082625825 Centerline is valid? [True, True] Translation: X:169.65, Y:24.74, Z:17.70 [[ 9.65824195e-01 -2.35923935e-01 -1.07347663e-01 1.69654335e+02] [ 2.35098526e-01 9.71756111e-01 -2.04632387e-02 2.47443982e+01] [ 1.09143516e-01 -5.47338631e-03 9.94010933e-01 1.77048123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92509989299995 meters 0.055606572208138014 Centerline is valid? [True, True] Translation: X:169.71, Y:24.76, Z:17.71 [[ 9.65890778e-01 -2.35358807e-01 -1.07987204e-01 1.69712307e+02] [ 2.34519996e-01 9.71893315e-01 -2.05853086e-02 2.47592535e+01] [ 1.09796975e-01 -5.44199881e-03 9.93939137e-01 1.77118478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98509989299995 meters 0.05293651857226322 Centerline is valid? [True, True] Translation: X:169.77, Y:24.78, Z:17.72 [[ 9.66563046e-01 -2.32116001e-01 -1.08986421e-01 1.69769113e+02] [ 2.31241046e-01 9.72674632e-01 -2.07759479e-02 2.47809765e+01] [ 1.10830757e-01 -5.12087054e-03 9.93826101e-01 1.77179404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04509989299996 meters 0.05601032844677084 Centerline is valid? [True, True] Translation: X:169.83, Y:24.78, Z:17.72 [[ 9.68574976e-01 -2.23694074e-01 -1.08735818e-01 1.69829834e+02] [ 2.22770226e-01 9.74650588e-01 -2.07281680e-02 2.47825600e+01] [ 1.10616197e-01 -4.14631781e-03 9.93854549e-01 1.77215231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.10509989299996 meters 0.055069883545277 Centerline is valid? [True, True] Translation: X:169.89, Y:24.80, Z:17.73 [[ 9.69862672e-01 -2.18174218e-01 -1.08473074e-01 1.69887841e+02] [ 2.17220515e-01 9.75903531e-01 -2.06772149e-02 2.47993926e+01] [ 1.10370491e-01 -3.50851805e-03 9.93884322e-01 1.77291811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.16509989299996 meters 0.05345829541118426 Centerline is valid? [True, True] Translation: X:169.95, Y:24.82, Z:17.74 [[ 9.71907727e-01 -2.09480615e-01 -1.07299776e-01 1.69945312e+02] [ 2.08494596e-01 9.77809623e-01 -2.04534739e-02 2.48192765e+01] [ 1.09203360e-01 -2.49253400e-03 9.94016304e-01 1.77374572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.22509989299996 meters 0.054224001828740764 Centerline is valid? [True, True] Translation: X:170.00, Y:24.83, Z:17.74 [[ 9.72456606e-01 -2.06970647e-01 -1.07197481e-01 1.70003705e+02] [ 2.05971241e-01 9.78344661e-01 -2.04345620e-02 2.48282502e+01] [ 1.09105438e-01 -2.20787337e-03 9.94027730e-01 1.77430891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.28509989299997 meters 0.05379770750773094 Centerline is valid? [True, True] Translation: X:170.06, Y:24.84, Z:17.75 [[ 9.74018761e-01 -2.00366680e-01 -1.05549264e-01 1.70061622e+02] [ 1.99358961e-01 9.79719915e-01 -2.01219626e-02 2.48432362e+01] [ 1.07440487e-01 -1.44302249e-03 9.94210470e-01 1.77515043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.34509989299997 meters 0.05427055514333661 Centerline is valid? [True, True] Translation: X:170.12, Y:24.86, Z:17.76 [[ 9.75378242e-01 -1.94366373e-01 -1.04206516e-01 1.70119538e+02] [ 1.93350075e-01 9.80928701e-01 -1.98653402e-02 2.48585713e+01] [ 1.06080316e-01 -7.72117013e-04 9.94357265e-01 1.77584205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.40509989299997 meters 0.05358703231564543 Centerline is valid? [True, True] Translation: X:170.18, Y:24.87, Z:17.76 [[ 9.75668359e-01 -1.92903799e-01 -1.04208334e-01 1.70176806e+02] [ 1.91879031e-01 9.81217483e-01 -1.98667435e-02 2.48674880e+01] [ 1.06083410e-01 -6.12041173e-04 9.94357046e-01 1.77644938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46509989299997 meters 0.05411671594361321 Centerline is valid? [True, True] Translation: X:170.23, Y:24.88, Z:17.77 [[ 9.75366908e-01 -1.94306653e-01 -1.04423749e-01 1.70234861e+02] [ 1.93284382e-01 9.80940546e-01 -1.99196540e-02 2.48755811e+01] [ 1.06304011e-01 -7.54508465e-04 9.94333389e-01 1.77700499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52509989299998 meters 0.05393887565516911 Centerline is valid? [True, True] Translation: X:170.30, Y:24.88, Z:17.77 [[ 9.74320008e-01 -1.98536628e-01 -1.06224902e-01 1.70295025e+02] [ 1.97502459e-01 9.80092703e-01 -2.02749385e-02 2.48782865e+01] [ 1.08135569e-01 -1.22540101e-03 9.94135402e-01 1.77734137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58509989299998 meters 0.053563740424343934 Centerline is valid? [True, True] Translation: X:170.36, Y:24.88, Z:17.78 [[ 9.73217992e-01 -2.03908014e-01 -1.06152068e-01 1.70355344e+02] [ 2.02906901e-01 9.78988362e-01 -2.02626843e-02 2.48810004e+01] [ 1.08053363e-01 -1.81897832e-03 9.94143431e-01 1.77789192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64509989299998 meters 0.05407949718480871 Centerline is valid? [True, True] Translation: X:170.41, Y:24.89, Z:17.79 [[ 9.72551960e-01 -2.07291894e-01 -1.05701259e-01 1.70413632e+02] [ 2.06319098e-01 9.78276698e-01 -2.01774932e-02 2.48887373e+01] [ 1.07587710e-01 -2.18452784e-03 9.94193197e-01 1.77854140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70509989299995 meters 0.053668853328894366 Centerline is valid? [True, True] Translation: X:170.47, Y:24.89, Z:17.79 [[ 9.71981695e-01 -2.10740903e-01 -1.04114629e-01 1.70473273e+02] [ 2.09816684e-01 9.77538691e-01 -1.98762630e-02 2.48939592e+01] [ 1.05964820e-01 -2.52562256e-03 9.94366672e-01 1.77927473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76509989299996 meters 0.05366182270941155 Centerline is valid? [True, True] Translation: X:170.53, Y:24.90, Z:17.80 [[ 9.71728710e-01 -2.12578220e-01 -1.02731762e-01 1.70532712e+02] [ 2.11688580e-01 9.77140354e-01 -1.96130871e-02 2.49024572e+01] [ 1.04552666e-01 -2.68854109e-03 9.94515717e-01 1.77998539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.82509989299996 meters 0.0542606407249849 Centerline is valid? [True, True] Translation: X:170.59, Y:24.90, Z:17.81 [[ 9.71577894e-01 -2.12842809e-01 -1.03606634e-01 1.70591301e+02] [ 2.11939404e-01 9.77082612e-01 -1.97802795e-02 2.49037246e+01] [ 1.05442331e-01 -2.74024597e-03 9.94421644e-01 1.78053518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.88509989299996 meters 0.054337806241052264 Centerline is valid? [True, True] Translation: X:170.65, Y:24.91, Z:17.81 [[ 9.71220677e-01 -2.13097093e-01 -1.06395607e-01 1.70649871e+02] [ 2.12144440e-01 9.77026927e-01 -2.03253873e-02 2.49078629e+01] [ 1.08282654e-01 -2.83080000e-03 9.94116117e-01 1.78100920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.94509989299996 meters 0.05556260424132806 Centerline is valid? [True, True] Translation: X:170.71, Y:24.91, Z:17.81 [[ 9.71205067e-01 -2.12021329e-01 -1.08663116e-01 1.70708729e+02] [ 2.11019467e-01 9.77261149e-01 -2.07709152e-02 2.49117029e+01] [ 1.10596119e-01 -2.75721471e-03 9.93861608e-01 1.78139235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.00509989299997 meters 0.054432052377229014 Centerline is valid? [True, True] Translation: X:170.76, Y:24.93, Z:17.82 [[ 9.71361232e-01 -2.10764116e-01 -1.09707994e-01 1.70764772e+02] [ 2.09733531e-01 9.77533417e-01 -2.09824828e-02 2.49301639e+01] [ 1.11665585e-01 -2.62787461e-03 9.93742367e-01 1.78216941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.06509989299997 meters 0.054187755971219456 Centerline is valid? [True, True] Translation: X:170.82, Y:24.94, Z:17.83 [[ 9.71562000e-01 -2.09680248e-01 -1.10006699e-01 1.70822365e+02] [ 2.08636307e-01 9.77766806e-01 -2.10467026e-02 2.49380320e+01] [ 1.11973977e-01 -2.50321506e-03 9.93707986e-01 1.78266433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.12509989299997 meters 0.055126458081601826 Centerline is valid? [True, True] Translation: X:170.88, Y:24.95, Z:17.83 [[ 9.71859335e-01 -2.08051937e-01 -1.10470919e-01 1.70880497e+02] [ 2.06987229e-01 9.78115045e-01 -2.11481777e-02 2.49485296e+01] [ 1.12453187e-01 -2.31301555e-03 9.93654332e-01 1.78325984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.18509989299997 meters 0.05468347765598605 Centerline is valid? [True, True] Translation: X:170.94, Y:24.96, Z:17.84 [[ 9.72315259e-01 -2.06737624e-01 -1.08915529e-01 1.70937363e+02] [ 2.05693328e-01 9.78394124e-01 -2.08612629e-02 2.49565575e+01] [ 1.10875122e-01 -2.11947345e-03 9.93832086e-01 1.78407742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24509989299997 meters 0.05493754869965192 Centerline is valid? [True, True] Translation: X:171.00, Y:24.96, Z:17.85 [[ 9.72511898e-01 -2.06777648e-01 -1.07068259e-01 1.70995358e+02] [ 2.05768298e-01 9.78385744e-01 -2.05120148e-02 2.49647442e+01] [ 1.08995484e-01 -2.08307495e-03 9.94040062e-01 1.78490292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30509989299998 meters 0.055217871356052904 Centerline is valid? [True, True] Translation: X:171.05, Y:24.97, Z:17.86 [[ 9.72422617e-01 -2.08214301e-01 -1.05076439e-01 1.71053087e+02] [ 2.07249365e-01 9.78080777e-01 -2.01418607e-02 2.49729004e+01] [ 1.06967069e-01 -2.19062446e-03 9.94260151e-01 1.78573717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36509989299998 meters 0.05560242587046791 Centerline is valid? [True, True] Translation: X:171.11, Y:24.98, Z:17.86 [[ 9.71958175e-01 -2.10799728e-01 -1.04215067e-01 1.71111504e+02] [ 2.09864171e-01 9.77526217e-01 -1.99881236e-02 2.49776296e+01] [ 1.06086451e-01 -2.44338843e-03 9.94353908e-01 1.78641342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42509989299995 meters 0.055198453162921844 Centerline is valid? [True, True] Translation: X:171.17, Y:24.99, Z:17.87 [[ 9.70586678e-01 -2.16356058e-01 -1.05600934e-01 1.71171053e+02] [ 2.15427860e-01 9.76309641e-01 -2.02563971e-02 2.49865722e+01] [ 1.07481804e-01 -3.08879402e-03 9.94202254e-01 1.78700134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48509989299995 meters 0.059213821833018106 Centerline is valid? [True, True] Translation: X:171.23, Y:24.98, Z:17.87 [[ 9.69498162e-01 -2.20676617e-01 -1.06654320e-01 1.71232745e+02] [ 2.19755789e-01 9.75340374e-01 -2.04584384e-02 2.49793188e+01] [ 1.08538964e-01 -3.60348587e-03 9.94085664e-01 1.78735606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54509989299996 meters 0.057712993365379994 Centerline is valid? [True, True] Translation: X:171.29, Y:24.99, Z:17.88 [[ 9.67831181e-01 -2.27362009e-01 -1.07746558e-01 1.71291552e+02] [ 2.26463361e-01 9.73800379e-01 -2.06680269e-02 2.49902330e+01] [ 1.09622764e-01 -4.39748683e-03 9.93963536e-01 1.78801594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.60509989299996 meters 0.05582418455686081 Centerline is valid? [True, True] Translation: X:171.35, Y:25.01, Z:17.89 [[ 9.66865612e-01 -2.30466523e-01 -1.09800134e-01 1.71349606e+02] [ 2.29553148e-01 9.73068213e-01 -2.10619319e-02 2.50074912e+01] [ 1.11697090e-01 -4.84090865e-03 9.93730510e-01 1.78860180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.66509989299996 meters 0.06178909367600991 Centerline is valid? [True, True] Translation: X:171.41, Y:25.00, Z:17.89 [[ 9.65954799e-01 -2.33554106e-01 -1.11282546e-01 1.71412787e+02] [ 2.32636189e-01 9.72329534e-01 -2.13466748e-02 2.49967094e+01] [ 1.13188910e-01 -5.26842454e-03 9.93559517e-01 1.78872069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.72509989299996 meters 0.054385384506485966 Centerline is valid? [True, True] Translation: X:171.46, Y:25.03, Z:17.90 [[ 9.65869618e-01 -2.34769821e-01 -1.09448675e-01 1.71464893e+02] [ 2.33889522e-01 9.72036439e-01 -2.09964890e-02 2.50337957e+01] [ 1.11317442e-01 -5.31902746e-03 9.93770665e-01 1.78992918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.78509989299997 meters 0.05640650278915156 Centerline is valid? [True, True] Translation: X:171.52, Y:25.03, Z:17.90 [[ 9.65891257e-01 -2.34972774e-01 -1.08820382e-01 1.71523067e+02] [ 2.34102425e-01 9.71987509e-01 -2.08886981e-02 2.50341632e+01] [ 1.10680328e-01 -5.29890454e-03 9.93841932e-01 1.79046653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.84509989299997 meters 0.05717661345665246 Centerline is valid? [True, True] Translation: X:171.58, Y:25.04, Z:17.91 [[ 9.65991671e-01 -2.35521096e-01 -1.06723502e-01 1.71580394e+02] [ 2.34685864e-01 9.71855089e-01 -2.04995635e-02 2.50424208e+01] [ 1.08547858e-01 -5.24408958e-03 9.94077392e-01 1.79116661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.90509989299997 meters 0.0606310533807523 Centerline is valid? [True, True] Translation: X:171.64, Y:25.04, Z:17.92 [[ 9.65855576e-01 -2.36402607e-01 -1.06003839e-01 1.71639536e+02] [ 2.35583412e-01 9.71640722e-01 -2.03657499e-02 2.50436315e+01] [ 1.07812163e-01 -5.30237295e-03 9.94157142e-01 1.79178761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96509989299997 meters 0.05745004987567682 Centerline is valid? [True, True] Translation: X:171.70, Y:25.07, Z:17.93 [[ 9.65568580e-01 -2.38030087e-01 -1.04971399e-01 1.71696318e+02] [ 2.37235169e-01 9.71242662e-01 -2.01783541e-02 2.50657596e+01] [ 1.06755756e-01 -5.41932275e-03 9.94270506e-01 1.79253708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02509989299998 meters 0.05948028093426847 Centerline is valid? [True, True] Translation: X:171.75, Y:25.07, Z:17.93 [[ 9.65471564e-01 -2.38448962e-01 -1.04913070e-01 1.71753633e+02] [ 2.37657247e-01 9.71139674e-01 -2.01684490e-02 2.50711563e+01] [ 1.06694391e-01 -5.46128744e-03 9.94276864e-01 1.79312068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08509989299998 meters 0.057388670573511595 Centerline is valid? [True, True] Translation: X:171.81, Y:25.09, Z:17.94 [[ 9.65453170e-01 -2.38291777e-01 -1.05438165e-01 1.71809959e+02] [ 2.37489939e-01 9.71178261e-01 -2.02808808e-02 2.50899470e+01] [ 1.07232021e-01 -5.46026264e-03 9.94219030e-01 1.79373348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14509989299998 meters 0.061391987567095935 Centerline is valid? [True, True] Translation: X:171.87, Y:25.09, Z:17.94 [[ 9.65730121e-01 -2.36012416e-01 -1.07997558e-01 1.71871333e+02] [ 2.35155692e-01 9.71735456e-01 -2.07847082e-02 2.50913579e+01] [ 1.09850505e-01 -5.32382167e-03 9.93933863e-01 1.79401891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20509989299995 meters 0.05765193449177657 Centerline is valid? [True, True] Translation: X:171.93, Y:25.12, Z:17.95 [[ 9.66765232e-01 -2.31729817e-01 -1.08010545e-01 1.71928154e+02] [ 2.30846137e-01 9.72768165e-01 -2.07884287e-02 2.51154964e+01] [ 1.09886518e-01 -4.83628706e-03 9.93932374e-01 1.79471830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26509989299996 meters 0.056851108927647345 Centerline is valid? [True, True] Translation: X:171.99, Y:25.14, Z:17.95 [[ 9.68055383e-01 -2.26712081e-01 -1.07099985e-01 1.71985549e+02] [ 2.25812590e-01 9.73952640e-01 -2.06137885e-02 2.51357287e+01] [ 1.08983708e-01 -4.22923617e-03 9.94034539e-01 1.79548040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.32509989299996 meters 0.054681961597204176 Centerline is valid? [True, True] Translation: X:172.04, Y:25.16, Z:17.96 [[ 9.68953968e-01 -2.22787044e-01 -1.07210727e-01 1.72040997e+02] [ 2.21861630e-01 9.74859767e-01 -2.06361757e-02 2.51630306e+01] [ 1.09112897e-01 -3.79044224e-03 9.94022137e-01 1.79623387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.38509989299996 meters 0.058965293989070786 Centerline is valid? [True, True] Translation: X:172.10, Y:25.15, Z:17.96 [[ 9.69155331e-01 -2.21676361e-01 -1.07691851e-01 1.72101875e+02] [ 2.20735736e-01 9.75113345e-01 -2.07291716e-02 2.51538937e+01] [ 1.09606928e-01 -3.68165280e-03 9.93968192e-01 1.79646617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.44509989299996 meters 0.05549050227970451 Centerline is valid? [True, True] Translation: X:172.16, Y:25.18, Z:17.97 [[ 9.69441848e-01 -2.20282584e-01 -1.07972623e-01 1.72156405e+02] [ 2.19327887e-01 9.75429717e-01 -2.07881071e-02 2.51783065e+01] [ 1.09898963e-01 -3.52854622e-03 9.93936501e-01 1.79721985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.50509989299997 meters 0.055798138446800226 Centerline is valid? [True, True] Translation: X:172.21, Y:25.19, Z:17.98 [[ 9.69658807e-01 -2.19636067e-01 -1.07339627e-01 1.72213312e+02] [ 2.18687441e-01 9.75575867e-01 -2.06768328e-02 2.51939460e+01] [ 1.09259328e-01 -3.42435537e-03 9.94007381e-01 1.79790347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.56509989299997 meters 0.055853199187018455 Centerline is valid? [True, True] Translation: X:172.27, Y:25.20, Z:17.99 [[ 9.69751464e-01 -2.19201099e-01 -1.07391697e-01 1.72269483e+02] [ 2.18248230e-01 9.75673877e-01 -2.06929014e-02 2.52042634e+01] [ 1.09315180e-01 -3.37107645e-03 9.94001422e-01 1.79850230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.62509989299997 meters 0.056253699358763135 Centerline is valid? [True, True] Translation: X:172.33, Y:25.22, Z:17.99 [[ 9.70271698e-01 -2.17155872e-01 -1.06846430e-01 1.72327686e+02] [ 2.16199857e-01 9.76131954e-01 -2.05920134e-02 2.52165122e+01] [ 1.08767891e-01 -3.12033509e-03 9.94062276e-01 1.79918457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.68509989299997 meters 0.05538893943961806 Centerline is valid? [True, True] Translation: X:172.38, Y:25.23, Z:18.00 [[ 9.70796367e-01 -2.14835673e-01 -1.06771002e-01 1.72384824e+02] [ 2.13866927e-01 9.76646031e-01 -2.05783561e-02 2.52325300e+01] [ 1.08698441e-01 -2.85739283e-03 9.94070664e-01 1.79993232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74509989299997 meters 0.055173362040205565 Centerline is valid? [True, True] Translation: X:172.44, Y:25.25, Z:18.01 [[ 9.71606289e-01 -2.11052388e-01 -1.06949097e-01 1.72441969e+02] [ 2.10057364e-01 9.77471715e-01 -2.06143290e-02 2.52490558e+01] [ 1.08890421e-01 -2.43643376e-03 9.94050773e-01 1.80063470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80509989299998 meters 0.05589459192086473 Centerline is valid? [True, True] Translation: X:172.50, Y:25.26, Z:18.01 [[ 9.71963756e-01 -2.09215360e-01 -1.07309787e-01 1.72499788e+02] [ 2.08202291e-01 9.77867031e-01 -2.06851759e-02 2.52601871e+01] [ 1.09262359e-01 -2.23690217e-03 9.94010429e-01 1.80119223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86509989299998 meters 0.05490129122128729 Centerline is valid? [True, True] Translation: X:172.56, Y:25.28, Z:18.02 [[ 9.71947288e-01 -2.08603883e-01 -1.08641105e-01 1.72555602e+02] [ 2.07560391e-01 9.77997776e-01 -2.09531617e-02 2.52800632e+01] [ 1.10621669e-01 -2.18422143e-03 9.93860189e-01 1.80205126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92509989299995 meters 0.05521172475244704 Centerline is valid? [True, True] Translation: X:172.61, Y:25.29, Z:18.03 [[ 9.71640744e-01 -2.09482244e-01 -1.09687984e-01 1.72613176e+02] [ 2.08422693e-01 9.77809759e-01 -2.11673260e-02 2.52905907e+01] [ 1.11688160e-01 -2.29442867e-03 9.93740656e-01 1.80257152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98509989299995 meters 0.055031176424618 Centerline is valid? [True, True] Translation: X:172.67, Y:25.30, Z:18.03 [[ 9.71350674e-01 -2.10788737e-01 -1.09754167e-01 1.72671562e+02] [ 2.09734910e-01 9.77528608e-01 -2.11916799e-02 2.52978930e+01] [ 1.11754806e-01 -2.43472778e-03 9.93732829e-01 1.80306226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04509989299996 meters 0.05489761827456535 Centerline is valid? [True, True] Translation: X:172.73, Y:25.31, Z:18.04 [[ 9.71116689e-01 -2.12029094e-01 -1.09435095e-01 1.72727872e+02] [ 2.10987987e-01 9.77260004e-01 -2.11412811e-02 2.53125368e+01] [ 1.11429109e-01 -2.55883967e-03 9.93769091e-01 1.80383048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.10509989299996 meters 0.055415202306246955 Centerline is valid? [True, True] Translation: X:172.79, Y:25.32, Z:18.04 [[ 9.71091826e-01 -2.12103148e-01 -1.09512190e-01 1.72785469e+02] [ 2.11059705e-01 9.77243938e-01 -2.11680661e-02 2.53191433e+01] [ 1.11509937e-01 -2.55747450e-03 9.93760028e-01 1.80432850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.16509989299996 meters 0.05529765493089766 Centerline is valid? [True, True] Translation: X:172.84, Y:25.34, Z:18.05 [[ 9.70935528e-01 -2.12826902e-01 -1.09493884e-01 1.72841989e+02] [ 2.11787877e-01 9.77086364e-01 -2.11691230e-02 2.53351662e+01] [ 1.11490339e-01 -2.63562353e-03 9.93762023e-01 1.80507956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.22509989299996 meters 0.055009943754503375 Centerline is valid? [True, True] Translation: X:172.90, Y:25.34, Z:18.06 [[ 9.70533955e-01 -2.14460010e-01 -1.09866950e-01 1.72900213e+02] [ 2.13423499e-01 9.76728682e-01 -2.12483384e-02 2.53434243e+01] [ 1.11867120e-01 -2.82595501e-03 9.93719156e-01 1.80558528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.28509989299997 meters 0.056057266981819925 Centerline is valid? [True, True] Translation: X:172.96, Y:25.35, Z:18.06 [[ 9.70244459e-01 -2.15884604e-01 -1.09633610e-01 1.72957760e+02] [ 2.14861135e-01 9.76414337e-01 -2.12069725e-02 2.53481171e+01] [ 1.11626087e-01 -2.98005424e-03 9.93745811e-01 1.80604862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.34509989299997 meters 0.055942262699797934 Centerline is valid? [True, True] Translation: X:173.02, Y:25.36, Z:18.07 [[ 9.69830166e-01 -2.18381187e-01 -1.08347158e-01 1.73015105e+02] [ 2.17396684e-01 9.75858217e-01 -2.09623755e-02 2.53601073e+01] [ 1.10309253e-01 -3.22436888e-03 9.93892083e-01 1.80684211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.40509989299997 meters 0.05595227217356817 Centerline is valid? [True, True] Translation: X:173.07, Y:25.37, Z:18.08 [[ 9.69413473e-01 -2.20497561e-01 -1.07788423e-01 1.73073895e+02] [ 2.19535835e-01 9.75381447e-01 -2.08578439e-02 2.53674532e+01] [ 1.09733931e-01 -3.44354648e-03 9.93955032e-01 1.80751438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46509989299997 meters 0.05693351758195762 Centerline is valid? [True, True] Translation: X:173.13, Y:25.38, Z:18.08 [[ 9.68765582e-01 -2.23532070e-01 -1.07362289e-01 1.73133280e+02] [ 2.22596311e-01 9.74689283e-01 -2.07770212e-02 2.53754193e+01] [ 1.09289203e-01 -3.77038644e-03 9.94002844e-01 1.80820966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52509989299998 meters 0.057255890515368835 Centerline is valid? [True, True] Translation: X:173.19, Y:25.38, Z:18.09 [[ 9.68071076e-01 -2.25778904e-01 -1.08914085e-01 1.73192357e+02] [ 2.24829907e-01 9.74170018e-01 -2.10781678e-02 2.53846009e+01] [ 1.10859842e-01 -4.08197900e-03 9.93827668e-01 1.80871056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58509989299998 meters 0.06016664988458082 Centerline is valid? [True, True] Translation: X:173.25, Y:25.39, Z:18.09 [[ 9.67838119e-01 -2.26243380e-01 -1.10015037e-01 1.73251138e+02] [ 2.25277929e-01 9.74061851e-01 -2.12923499e-02 2.53873100e+01] [ 1.11978703e-01 -4.17641178e-03 9.93701830e-01 1.80908079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64509989299998 meters 0.05661698977173715 Centerline is valid? [True, True] Translation: X:173.31, Y:25.41, Z:18.10 [[ 9.67682614e-01 -2.26477685e-01 -1.10897322e-01 1.73305572e+02] [ 2.25497676e-01 9.74007155e-01 -2.14676488e-02 2.54124812e+01] [ 1.12876728e-01 -4.23321783e-03 9.93599982e-01 1.81001573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70509989299995 meters 0.05625284283689231 Centerline is valid? [True, True] Translation: X:173.36, Y:25.42, Z:18.11 [[ 9.67623982e-01 -2.26543802e-01 -1.11273248e-01 1.73361541e+02] [ 2.25556741e-01 9.73991713e-01 -2.15476193e-02 2.54240562e+01] [ 1.13260701e-01 -4.24843814e-03 9.93556221e-01 1.81061894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76509989299996 meters 0.05591668733388688 Centerline is valid? [True, True] Translation: X:173.42, Y:25.44, Z:18.11 [[ 9.67635981e-01 -2.26660769e-01 -1.10930174e-01 1.73416873e+02] [ 2.25679090e-01 9.73964553e-01 -2.14941247e-02 2.54411076e+01] [ 1.12913933e-01 -4.23613230e-03 9.93595742e-01 1.81142101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.82509989299996 meters 0.05650743720917823 Centerline is valid? [True, True] Translation: X:173.47, Y:25.45, Z:18.12 [[ 9.67678837e-01 -2.26627358e-01 -1.10624177e-01 1.73473935e+02] [ 2.25649871e-01 9.73972434e-01 -2.14437239e-02 2.54479159e+01] [ 1.12604633e-01 -4.21169337e-03 9.93630947e-01 1.81193955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.88509989299996 meters 0.05726921866266787 Centerline is valid? [True, True] Translation: X:173.53, Y:25.46, Z:18.13 [[ 9.67566106e-01 -2.27490905e-01 -1.09834961e-01 1.73531054e+02] [ 2.26532094e-01 9.73770825e-01 -2.12976750e-02 2.54586326e+01] [ 1.11799108e-01 -4.27423529e-03 9.93721636e-01 1.81263547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.94509989299996 meters 0.057559768430862565 Centerline is valid? [True, True] Translation: X:173.59, Y:25.47, Z:18.13 [[ 9.67322283e-01 -2.28677992e-01 -1.09517020e-01 1.73588696e+02] [ 2.27731043e-01 9.73492232e-01 -2.12472520e-02 2.54703294e+01] [ 1.11472747e-01 -4.38748490e-03 9.93757806e-01 1.81332538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.00509989299997 meters 0.05497177876517076 Centerline is valid? [True, True] Translation: X:173.65, Y:25.49, Z:18.14 [[ 9.66866591e-01 -2.30422604e-01 -1.09883657e-01 1.73645425e+02] [ 2.29480230e-01 9.73079774e-01 -2.13208098e-02 2.54905130e+01] [ 1.11838361e-01 -4.60174817e-03 9.93715757e-01 1.81415218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.06509989299997 meters 0.05507026819710288 Centerline is valid? [True, True] Translation: X:173.70, Y:25.50, Z:18.15 [[ 9.66228950e-01 -2.32430442e-01 -1.11255137e-01 1.73703995e+02] [ 2.31477510e-01 9.72600706e-01 -2.15876886e-02 2.55048884e+01] [ 1.13224461e-01 -4.89441243e-03 9.93557379e-01 1.81477757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.12509989299997 meters 0.0573598750716149 Centerline is valid? [True, True] Translation: X:173.76, Y:25.51, Z:18.15 [[ 9.65451378e-01 -2.34794817e-01 -1.13026678e-01 1.73764002e+02] [ 2.33827411e-01 9.72030748e-01 -2.19309787e-02 2.55076068e+01] [ 1.15014687e-01 -5.25544193e-03 9.93349889e-01 1.81513995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.18509989299997 meters 0.060523252213432945 Centerline is valid? [True, True] Translation: X:173.82, Y:25.51, Z:18.16 [[ 9.65409619e-01 -2.34955837e-01 -1.13048759e-01 1.73823083e+02] [ 2.33988973e-01 9.71991737e-01 -2.19367914e-02 2.55098972e+01] [ 1.15036637e-01 -5.27417355e-03 9.93347248e-01 1.81557505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24509989299997 meters 0.05756826153134109 Centerline is valid? [True, True] Translation: X:173.88, Y:25.53, Z:18.16 [[ 9.65874860e-01 -2.33171393e-01 -1.12769036e-01 1.73879783e+02] [ 2.32196486e-01 9.72422579e-01 -2.18888012e-02 2.55305556e+01] [ 1.14762999e-01 -5.04273101e-03 9.93380101e-01 1.81645049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30509989299998 meters 0.058730521033123616 Centerline is valid? [True, True] Translation: X:173.94, Y:25.54, Z:18.17 [[ 9.67510653e-01 -2.26915355e-01 -1.11501384e-01 1.73938634e+02] [ 2.25920695e-01 9.73905213e-01 -2.16442892e-02 2.55448330e+01] [ 1.13503201e-01 -4.24938971e-03 9.93528543e-01 1.81720364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36509989299998 meters 0.0568202012375486 Centerline is valid? [True, True] Translation: X:174.00, Y:25.57, Z:18.18 [[ 9.68768964e-01 -2.21863038e-01 -1.10740628e-01 1.73995191e+02] [ 2.20849082e-01 9.75071074e-01 -2.14961237e-02 2.55676174e+01] [ 1.12749178e-01 -3.63218861e-03 9.93616843e-01 1.81809254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42509989299995 meters 0.055489488033908886 Centerline is valid? [True, True] Translation: X:174.05, Y:25.59, Z:18.19 [[ 9.70365566e-01 -2.14979211e-01 -1.10338600e-01 1.74051385e+02] [ 2.13928217e-01 9.76614551e-01 -2.14181590e-02 2.55907095e+01] [ 1.12362742e-01 -2.82109605e-03 9.93663251e-01 1.81896368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48509989299995 meters 0.05500716279869205 Centerline is valid? [True, True] Translation: X:174.11, Y:25.61, Z:18.20 [[ 9.71878495e-01 -2.07958624e-01 -1.10478063e-01 1.74107866e+02] [ 2.06859549e-01 9.78135558e-01 -2.14465912e-02 2.56066038e+01] [ 1.12522525e-01 -2.00996151e-03 9.93647141e-01 1.81953865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54509989299996 meters 0.05586570879378775 Centerline is valid? [True, True] Translation: X:174.17, Y:25.62, Z:18.20 [[ 9.72949802e-01 -2.02654186e-01 -1.10905204e-01 1.74165332e+02] [ 2.01511941e-01 9.79249367e-01 -2.15317251e-02 2.56242429e+01] [ 1.12967345e-01 -1.39943525e-03 9.93597716e-01 1.82018646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.60509989299996 meters 0.054898763366319006 Centerline is valid? [True, True] Translation: X:174.22, Y:25.64, Z:18.20 [[ 9.74470733e-01 -1.94629008e-01 -1.11921134e-01 1.74222793e+02] [ 1.93412624e-01 9.80876816e-01 -2.17308453e-02 2.56404592e+01] [ 1.14010299e-01 -4.70887525e-04 9.93479456e-01 1.82047991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.66509989299996 meters 0.05507198760452426 Centerline is valid? [True, True] Translation: X:174.28, Y:25.66, Z:18.21 [[ 9.75266338e-01 -1.90680815e-01 -1.11787279e-01 1.74279804e+02] [ 1.89441259e-01 9.81652090e-01 -2.17067465e-02 2.56552483e+01] [ 1.13875276e-01 -7.26367726e-06 9.93495054e-01 1.82118540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.72509989299996 meters 0.05559686351421141 Centerline is valid? [True, True] Translation: X:174.34, Y:25.67, Z:18.22 [[ 9.75870506e-01 -1.88061584e-01 -1.10948619e-01 1.74335868e+02] [ 1.86822328e-01 9.82157190e-01 -2.15562602e-02 2.56671375e+01] [ 1.13022888e-01 3.08439272e-04 9.93592337e-01 1.82203181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.78509989299997 meters 0.05562142763919753 Centerline is valid? [True, True] Translation: X:174.39, Y:25.67, Z:18.23 [[ 9.75491218e-01 -1.90857826e-01 -1.09499651e-01 1.74394684e+02] [ 1.89667053e-01 9.81617691e-01 -2.12865822e-02 2.56736016e+01] [ 1.11549506e-01 -3.60214589e-06 9.93758878e-01 1.82262275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.84509989299997 meters 0.05517489599869239 Centerline is valid? [True, True] Translation: X:174.45, Y:25.68, Z:18.23 [[ 9.74551464e-01 -1.96365087e-01 -1.08121210e-01 1.74452718e+02] [ 1.95237692e-01 9.80530654e-01 -2.10209251e-02 2.56783437e+01] [ 1.10143936e-01 -6.23362115e-04 9.93915451e-01 1.82340940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.90509989299997 meters 0.05480218161421044 Centerline is valid? [True, True] Translation: X:174.51, Y:25.68, Z:18.24 [[ 9.72999616e-01 -2.03980099e-01 -1.07999385e-01 1.74513058e+02] [ 2.02900650e-01 9.78973929e-01 -2.10088658e-02 2.56833223e+01] [ 1.10013973e-01 -1.47152714e-03 9.93928951e-01 1.82416115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96509989299997 meters 0.057034135768950514 Centerline is valid? [True, True] Translation: X:174.58, Y:25.67, Z:18.25 [[ 9.70001521e-01 -2.17452638e-01 -1.08680264e-01 1.74575585e+02] [ 2.16443500e-01 9.76066214e-01 -2.11413636e-02 2.56747176e+01] [ 1.10676379e-01 -3.01598190e-03 9.93851922e-01 1.82454348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02509989299998 meters 0.05543693974763089 Centerline is valid? [True, True] Translation: X:174.63, Y:25.69, Z:18.25 [[ 9.68039083e-01 -2.26499239e-01 -1.07696002e-01 1.74633720e+02] [ 2.25563881e-01 9.74003082e-01 -2.09506757e-02 2.56880063e+01] [ 1.09641550e-01 -4.01125528e-03 9.93963098e-01 1.82543172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08509989299998 meters 0.0577741305229276 Centerline is valid? [True, True] Translation: X:174.70, Y:25.68, Z:18.26 [[ 9.65473117e-01 -2.37356338e-01 -1.07348171e-01 1.74695225e+02] [ 2.36493543e-01 9.71408603e-01 -2.08837294e-02 2.56821011e+01] [ 1.09235822e-01 -5.22446999e-03 9.94002133e-01 1.82596450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14509989299998 meters 0.057906366223947035 Centerline is valid? [True, True] Translation: X:174.75, Y:25.69, Z:18.27 [[ 9.64354295e-01 -2.42147816e-01 -1.06701586e-01 1.74754818e+02] [ 2.41324525e-01 9.70222440e-01 -2.07579079e-02 2.56899580e+01] [ 1.08550755e-01 -5.73173187e-03 9.94074384e-01 1.82663086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20509989299995 meters 0.054888929201237655 Centerline is valid? [True, True] Translation: X:174.81, Y:25.71, Z:18.27 [[ 9.63424922e-01 -2.46473219e-01 -1.05182565e-01 1.74812134e+02] [ 2.45698788e-01 9.69130222e-01 -2.04626021e-02 2.57090993e+01] [ 1.06979086e-01 -6.12904807e-03 9.94242380e-01 1.82735091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26509989299996 meters 0.0584430625074734 Centerline is valid? [True, True] Translation: X:174.87, Y:25.71, Z:18.28 [[ 9.63284255e-01 -2.47252031e-01 -1.04641662e-01 1.74873574e+02] [ 2.46490225e-01 9.68931468e-01 -2.03563297e-02 2.57067947e+01] [ 1.06423743e-01 -6.18421481e-03 9.94301636e-01 1.82792937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.32509989299996 meters 0.06255548792472011 Centerline is valid? [True, True] Translation: X:174.93, Y:25.71, Z:18.28 [[ 9.63398230e-01 -2.46662120e-01 -1.04984046e-01 1.74933878e+02] [ 2.45892017e-01 9.69082085e-01 -2.04212689e-02 2.57050992e+01] [ 1.06775312e-01 -6.14092460e-03 9.94264211e-01 1.82833435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.38509989299996 meters 0.05770170096638268 Centerline is valid? [True, True] Translation: X:174.99, Y:25.73, Z:18.29 [[ 9.63424224e-01 -2.46223081e-01 -1.05773153e-01 1.74989150e+02] [ 2.45437578e-01 9.69193809e-01 -2.05853475e-02 2.57278983e+01] [ 1.07583272e-01 -6.12828398e-03 9.94177189e-01 1.82890318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.44509989299996 meters 0.05994933765327037 Centerline is valid? [True, True] Translation: X:175.05, Y:25.73, Z:18.29 [[ 9.63232065e-01 -2.45899448e-01 -1.08247176e-01 1.75048150e+02] [ 2.45073399e-01 9.69275355e-01 -2.10787827e-02 2.57330095e+01] [ 1.10104581e-01 -6.22474402e-03 9.93900515e-01 1.82916777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.50509989299997 meters 0.0583929334470367 Centerline is valid? [True, True] Translation: X:175.10, Y:25.75, Z:18.30 [[ 9.63179921e-01 -2.45626277e-01 -1.09325987e-01 1.75104838e+02] [ 2.44780598e-01 9.69344489e-01 -2.13007106e-02 2.57486982e+01] [ 1.11206557e-01 -6.24446368e-03 9.93777696e-01 1.82976567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.56509989299997 meters 0.0566568544126007 Centerline is valid? [True, True] Translation: X:175.16, Y:25.77, Z:18.31 [[ 9.63617444e-01 -2.44594095e-01 -1.07773608e-01 1.75161067e+02] [ 2.43764655e-01 9.69606832e-01 -2.10091533e-02 2.57699313e+01] [ 1.09636741e-01 -6.02660973e-03 9.93953452e-01 1.83054290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.62509989299997 meters 0.059294131196064304 Centerline is valid? [True, True] Translation: X:175.22, Y:25.78, Z:18.31 [[ 9.64493301e-01 -2.42220686e-01 -1.05270179e-01 1.75220482e+02] [ 2.41415124e-01 9.70204905e-01 -2.05226973e-02 2.57764914e+01] [ 1.07104666e-01 -5.61980927e-03 9.94231868e-01 1.83129538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.68509989299997 meters 0.054574892788350114 Centerline is valid? [True, True] Translation: X:175.28, Y:25.81, Z:18.32 [[ 9.65282295e-01 -2.40230166e-01 -1.02564901e-01 1.75275841e+02] [ 2.39454310e-01 9.70701714e-01 -1.99954174e-02 2.58074739e+01] [ 1.04363427e-01 -5.25838515e-03 9.94525326e-01 1.83205841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74509989299997 meters 0.05604713632763082 Centerline is valid? [True, True] Translation: X:175.33, Y:25.82, Z:18.33 [[ 9.66088495e-01 -2.37973541e-01 -1.00207855e-01 1.75333907e+02] [ 2.37220916e-01 9.71259286e-01 -1.95355351e-02 2.58185646e+01] [ 1.01976751e-01 -4.89834351e-03 9.94774723e-01 1.83273714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80509989299998 meters 0.05533532224724081 Centerline is valid? [True, True] Translation: X:175.39, Y:25.83, Z:18.33 [[ 9.66254199e-01 -2.36663526e-01 -1.01701517e-01 1.75394132e+02] [ 2.35880990e-01 9.71579660e-01 -1.98273423e-02 2.58324045e+01] [ 1.03503534e-01 -4.83120164e-03 9.94617353e-01 1.83319031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86509989299998 meters 0.05906708875187776 Centerline is valid? [True, True] Translation: X:175.45, Y:25.83, Z:18.34 [[ 9.66410520e-01 -2.35303224e-01 -1.03359080e-01 1.75454494e+02] [ 2.34487469e-01 9.71910328e-01 -2.01479818e-02 2.58323501e+01] [ 1.05196642e-01 -4.76518740e-03 9.94440023e-01 1.83363844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92509989299995 meters 0.056248735197987225 Centerline is valid? [True, True] Translation: X:175.51, Y:25.85, Z:18.34 [[ 9.66625130e-01 -2.34403590e-01 -1.03396398e-01 1.75510731e+02] [ 2.33582299e-01 9.72128151e-01 -2.01535931e-02 2.58549946e+01] [ 1.05238623e-01 -4.67059868e-03 9.94436030e-01 1.83423548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98509989299995 meters 0.05418555240519726 Centerline is valid? [True, True] Translation: X:175.57, Y:25.88, Z:18.35 [[ 9.68099063e-01 -2.28376322e-01 -1.03094420e-01 1.75568110e+02] [ 2.27525591e-01 9.73564710e-01 -2.00963015e-02 2.58775804e+01] [ 1.04958609e-01 -4.00140823e-03 9.94468541e-01 1.83468727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04509989299996 meters 0.05614250436877972 Centerline is valid? [True, True] Translation: X:175.63, Y:25.88, Z:18.35 [[ 9.69516266e-01 -2.22161046e-01 -1.03357046e-01 1.75627218e+02] [ 2.21270741e-01 9.75004275e-01 -2.01475043e-02 2.58829085e+01] [ 1.05249552e-01 -3.33655698e-03 9.94440244e-01 1.83513426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.10509989299996 meters 0.05511805286328471 Centerline is valid? [True, True] Translation: X:175.68, Y:25.90, Z:18.36 [[ 9.71061892e-01 -2.15816451e-01 -1.02284222e-01 1.75684078e+02] [ 2.14909311e-01 9.76430438e-01 -1.99396238e-02 2.59032043e+01] [ 1.04176727e-01 -2.61922297e-03 9.94555353e-01 1.83574848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.16509989299996 meters 0.05470828981723388 Centerline is valid? [True, True] Translation: X:175.74, Y:25.93, Z:18.36 [[ 9.73176132e-01 -2.07158414e-01 -1.00068019e-01 1.75741141e+02] [ 2.06244468e-01 9.78306014e-01 -1.95080177e-02 2.59266282e+01] [ 1.01938395e-01 -1.65373813e-03 9.94789339e-01 1.83643552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.22509989299996 meters 0.05447442832807616 Centerline is valid? [True, True] Translation: X:175.80, Y:25.94, Z:18.37 [[ 9.74389161e-01 -2.02011444e-01 -9.87782311e-02 1.75797537e+02] [ 2.01094625e-01 9.79382542e-01 -1.92558465e-02 2.59423558e+01] [ 1.00631576e-01 -1.10108320e-03 9.94923150e-01 1.83714424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.28509989299997 meters 0.054192569264004425 Centerline is valid? [True, True] Translation: X:175.86, Y:25.95, Z:18.38 [[ 9.74477614e-01 -2.01958139e-01 -9.80116842e-02 1.75855028e+02] [ 2.01055139e-01 9.79393553e-01 -1.91075947e-02 2.59547898e+01] [ 9.98509459e-02 -1.08582950e-03 9.95001814e-01 1.83771078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.34509989299997 meters 0.05369652158325241 Centerline is valid? [True, True] Translation: X:175.91, Y:25.97, Z:18.38 [[ 9.73999994e-01 -2.04567847e-01 -9.73447871e-02 1.75914943e+02] [ 2.03688966e-01 9.78851480e-01 -1.89890764e-02 2.59660847e+01] [ 9.91706434e-02 -1.33269872e-03 9.95069549e-01 1.83818608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.40509989299997 meters 0.05377809249118083 Centerline is valid? [True, True] Translation: X:175.97, Y:25.97, Z:18.39 [[ 9.72665381e-01 -2.10559017e-01 -9.79130088e-02 1.75973759e+02] [ 2.09700230e-01 9.77579190e-01 -1.90981691e-02 2.59718924e+01] [ 9.97390116e-02 -1.95625263e-03 9.95011710e-01 1.83864841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46509989299997 meters 0.05409139127766309 Centerline is valid? [True, True] Translation: X:176.03, Y:25.98, Z:18.39 [[ 9.70978950e-01 -2.18402069e-01 -9.74700686e-02 1.76033516e+02] [ 2.17590211e-01 9.75855005e-01 -1.90133926e-02 2.59769748e+01] [ 9.92692186e-02 -2.74692889e-03 9.95056821e-01 1.83909134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52509989299998 meters 0.05617201903458688 Centerline is valid? [True, True] Translation: X:176.09, Y:25.98, Z:18.40 [[ 9.69741919e-01 -2.23830951e-01 -9.74695684e-02 1.76092904e+02] [ 2.23046319e-01 9.74622391e-01 -1.90140505e-02 2.59786826e+01] [ 9.92519568e-02 -3.30150658e-03 9.95056857e-01 1.83975726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58509989299998 meters 0.0548558361672741 Centerline is valid? [True, True] Translation: X:176.15, Y:25.99, Z:18.40 [[ 9.68680339e-01 -2.29019612e-01 -9.59605031e-02 1.76151567e+02] [ 2.28284506e-01 9.73414495e-01 -1.87191344e-02 2.59913206e+01] [ 9.76963936e-02 -3.77343864e-03 9.95209112e-01 1.84030186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64509989299995 meters 0.05573618049193307 Centerline is valid? [True, True] Translation: X:176.21, Y:26.00, Z:18.41 [[ 9.67371271e-01 -2.34276463e-01 -9.64746729e-02 1.76212322e+02] [ 2.33559418e-01 9.72160386e-01 -1.88197166e-02 2.59975010e+01] [ 9.81978719e-02 -4.32691530e-03 9.95157503e-01 1.84075644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70509989299995 meters 0.05471598281193362 Centerline is valid? [True, True] Translation: X:176.27, Y:26.01, Z:18.41 [[ 9.67301255e-01 -2.34656281e-01 -9.62533776e-02 1.76272130e+02] [ 2.33944397e-01 9.72068650e-01 -1.87765411e-02 2.60096285e+01] [ 9.79709241e-02 -4.35536665e-03 9.95179747e-01 1.84117614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76509989299996 meters 0.05724668120654383 Centerline is valid? [True, True] Translation: X:176.33, Y:26.01, Z:18.42 [[ 9.67795466e-01 -2.32199544e-01 -9.72384078e-02 1.76330978e+02] [ 2.31460891e-01 9.72659312e-01 -1.89662531e-02 2.60139702e+01] [ 9.89837982e-02 -4.15143473e-03 9.95080385e-01 1.84184189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.82509989299996 meters 0.05569443664763766 Centerline is valid? [True, True] Translation: X:176.39, Y:26.03, Z:18.42 [[ 9.68626337e-01 -2.28538738e-01 -9.76374089e-02 1.76388827e+02] [ 2.27775372e-01 9.73527435e-01 -1.90450305e-02 2.60301237e+01] [ 9.94052235e-02 -3.79187903e-03 9.95039810e-01 1.84245185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.88509989299996 meters 0.054487042729816984 Centerline is valid? [True, True] Translation: X:176.45, Y:26.05, Z:18.43 [[ 9.70668024e-01 -2.19965682e-01 -9.70499169e-02 1.76446051e+02] [ 2.19168696e-01 9.75503315e-01 -1.89305325e-02 2.60520948e+01] [ 9.88365832e-02 -2.89504122e-03 9.95099467e-01 1.84308632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.94509989299996 meters 0.053395950969827466 Centerline is valid? [True, True] Translation: X:176.50, Y:26.07, Z:18.44 [[ 9.72221834e-01 -2.13312968e-01 -9.63446033e-02 1.76502988e+02] [ 2.12494868e-01 9.76981439e-01 -1.87935785e-02 2.60699900e+01] [ 9.81358031e-02 -2.20120637e-03 9.95170598e-01 1.84368039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.00509989299997 meters 0.053486329819019615 Centerline is valid? [True, True] Translation: X:176.56, Y:26.09, Z:18.44 [[ 9.74236010e-01 -2.04349962e-01 -9.54216443e-02 1.76560318e+02] [ 2.03504364e-01 9.78897056e-01 -1.86152394e-02 2.60875969e+01] [ 9.72119902e-02 -1.28308446e-03 9.95262871e-01 1.84430404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.06509989299997 meters 0.05341726393453885 Centerline is valid? [True, True] Translation: X:176.62, Y:26.10, Z:18.45 [[ 9.75273280e-01 -1.98938368e-01 -9.62577488e-02 1.76618078e+02] [ 1.98051500e-01 9.80011716e-01 -1.87787014e-02 2.61020583e+01] [ 9.80695258e-02 -7.49625752e-04 9.95179283e-01 1.84482476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.12509989299997 meters 0.05315173051850013 Centerline is valid? [True, True] Translation: X:176.68, Y:26.11, Z:18.45 [[ 9.75165237e-01 -1.98757908e-01 -9.77141494e-02 1.76678112e+02] [ 1.97842861e-01 9.80048338e-01 -1.90645561e-02 2.61135164e+01] [ 9.95538210e-02 -7.40954492e-04 9.95031903e-01 1.84518720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.18509989299997 meters 0.05319041233851143 Centerline is valid? [True, True] Translation: X:176.74, Y:26.12, Z:18.46 [[ 9.74065219e-01 -2.03321874e-01 -9.92832585e-02 1.76736995e+02] [ 2.02400937e-01 9.79111182e-01 -1.93689018e-02 2.61174162e+01] [ 1.01147470e-01 -1.22845103e-03 9.94870685e-01 1.84582391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24509989299997 meters 0.05387554505837834 Centerline is valid? [True, True] Translation: X:176.80, Y:26.12, Z:18.46 [[ 9.73098472e-01 -2.07792780e-01 -9.95064056e-02 1.76796202e+02] [ 2.06890808e-01 9.78171400e-01 -1.94140848e-02 2.61226208e+01] [ 1.01368427e-01 -1.69514440e-03 9.94847510e-01 1.84648227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30509989299998 meters 0.05425636714933651 Centerline is valid? [True, True] Translation: X:176.86, Y:26.13, Z:18.47 [[ 9.71593851e-01 -2.15085292e-01 -9.87102146e-02 1.76857069e+02] [ 2.14234943e-01 9.76592237e-01 -1.92611625e-02 2.61256308e+01] [ 1.00542422e-01 -2.43315010e-03 9.94929797e-01 1.84720884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36509989299998 meters 0.055524830215385394 Centerline is valid? [True, True] Translation: X:176.92, Y:26.13, Z:18.48 [[ 9.70464970e-01 -2.20171269e-01 -9.86019991e-02 1.76917787e+02] [ 2.19348926e-01 9.75456750e-01 -1.92399953e-02 2.61288235e+01] [ 1.00418080e-01 -2.95650112e-03 9.94940937e-01 1.84789853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42509989299995 meters 0.05577557961562853 Centerline is valid? [True, True] Translation: X:176.98, Y:26.14, Z:18.48 [[ 9.68568078e-01 -2.28099267e-01 -9.92300512e-02 1.76977507e+02] [ 2.27307770e-01 9.73630459e-01 -1.93625205e-02 2.61358214e+01] [ 1.01029977e-01 -3.80184238e-03 9.94876118e-01 1.84844332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48509989299995 meters 0.05527287152564077 Centerline is valid? [True, True] Translation: X:177.04, Y:26.14, Z:18.49 [[ 9.67244153e-01 -2.33449980e-01 -9.96988219e-02 1.77037525e+02] [ 2.32679210e-01 9.72358944e-01 -1.94543013e-02 2.61442964e+01] [ 1.01484647e-01 -4.38078394e-03 9.94827460e-01 1.84905558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54509989299996 meters 0.05593159694407961 Centerline is valid? [True, True] Translation: X:177.10, Y:26.15, Z:18.50 [[ 9.65646224e-01 -2.40257545e-01 -9.90135489e-02 1.77097532e+02] [ 2.39532865e-01 9.70695993e-01 -1.93208858e-02 2.61509589e+01] [ 1.00754044e-01 -5.05985856e-03 9.94898498e-01 1.84982683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.60509989299996 meters 0.05862584581382736 Centerline is valid? [True, True] Translation: X:177.16, Y:26.15, Z:18.50 [[ 9.64914498e-01 -2.42917753e-01 -9.96542815e-02 1.77158630e+02] [ 2.42197735e-01 9.70032012e-01 -1.94461355e-02 2.61528482e+01] [ 1.01391655e-01 -5.37218324e-03 9.94832082e-01 1.85044137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.66509989299996 meters 0.05418657068283426 Centerline is valid? [True, True] Translation: X:177.22, Y:26.18, Z:18.51 [[ 9.64646087e-01 -2.43633200e-01 -1.00502691e-01 1.77216278e+02] [ 2.42904723e-01 9.69851884e-01 -1.96116931e-02 2.61771446e+01] [ 1.02250783e-01 -5.49423525e-03 9.94743480e-01 1.85103064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.72509989299996 meters 0.0561240728440108 Centerline is valid? [True, True] Translation: X:177.28, Y:26.18, Z:18.52 [[ 9.64931936e-01 -2.42179084e-01 -1.01270186e-01 1.77275449e+02] [ 2.41431636e-01 9.70216633e-01 -1.97598139e-02 2.61820691e+01] [ 1.03039432e-01 -5.38295112e-03 9.94662706e-01 1.85163904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.78509989299997 meters 0.060974022110566746 Centerline is valid? [True, True] Translation: X:177.34, Y:26.18, Z:18.52 [[ 9.66018508e-01 -2.37360053e-01 -1.02315428e-01 1.77336986e+02] [ 2.36569995e-01 9.71409296e-01 -1.99653964e-02 2.61825021e+01] [ 1.04129146e-01 -4.91781800e-03 9.94551626e-01 1.85226148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.84509989299997 meters 0.055967724769202434 Centerline is valid? [True, True] Translation: X:177.39, Y:26.21, Z:18.53 [[ 9.66499090e-01 -2.35249312e-01 -1.02651212e-01 1.77393379e+02] [ 2.34442265e-01 9.71923665e-01 -2.00303304e-02 2.62073842e+01] [ 1.04481263e-01 -4.70648643e-03 9.94515719e-01 1.85291743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.90509989299997 meters 0.059244155550350355 Centerline is valid? [True, True] Translation: X:177.45, Y:26.21, Z:18.53 [[ 9.67721203e-01 -2.29799158e-01 -1.03479568e-01 1.77454109e+02] [ 2.28947912e-01 9.73229222e-01 -2.01924568e-02 2.62120529e+01] [ 1.05349549e-01 -4.15076232e-03 9.94426590e-01 1.85349267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96509989299997 meters 0.05413597578793461 Centerline is valid? [True, True] Translation: X:177.51, Y:26.24, Z:18.54 [[ 9.70131077e-01 -2.19266192e-01 -1.03769116e-01 1.77509527e+02] [ 2.18349986e-01 9.75660420e-01 -2.02491616e-02 2.62435595e+01] [ 1.05683376e-01 -3.01364418e-03 9.94395264e-01 1.85418622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02509989299998 meters 0.05392376113567365 Centerline is valid? [True, True] Translation: X:177.57, Y:26.26, Z:18.55 [[ 9.71867251e-01 -2.11306898e-01 -1.04035765e-01 1.77567492e+02] [ 2.10340170e-01 9.77417398e-01 -2.03037494e-02 2.62622410e+01] [ 1.05976689e-01 -2.15035136e-03 9.94366289e-01 1.85482863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08509989299998 meters 0.05345967815881652 Centerline is valid? [True, True] Translation: X:177.62, Y:26.29, Z:18.56 [[ 9.74400071e-01 -1.99547496e-01 -1.03563013e-01 1.77623206e+02] [ 1.98523249e-01 9.79887772e-01 -2.02107250e-02 2.62869933e+01] [ 1.05513130e-01 -8.66333904e-04 9.94417532e-01 1.85557390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14509989299995 meters 0.053760628457315864 Centerline is valid? [True, True] Translation: X:177.68, Y:26.30, Z:18.56 [[ 9.75802647e-01 -1.92566851e-01 -1.03572209e-01 1.77679012e+02] [ 1.91503083e-01 9.81283851e-01 -2.02132005e-02 2.63036342e+01] [ 1.05526129e-01 -1.10302915e-04 9.94416524e-01 1.85616232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20509989299995 meters 0.05388586519386106 Centerline is valid? [True, True] Translation: X:177.74, Y:26.32, Z:18.57 [[ 9.76811160e-01 -1.87004970e-01 -1.04254972e-01 1.77735448e+02] [ 1.85894266e-01 9.82358838e-01 -2.03576964e-02 2.63191854e+01] [ 1.06222784e-01 5.05223478e-04 9.94342227e-01 1.85674191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26509989299996 meters 0.054179613185115806 Centerline is valid? [True, True] Translation: X:177.79, Y:26.33, Z:18.57 [[ 9.77841787e-01 -1.81045278e-01 -1.05109693e-01 1.77791929e+02] [ 1.79880590e-01 9.83474061e-01 -2.05364209e-02 2.63322929e+01] [ 1.07090678e-01 1.17417697e-03 9.94248564e-01 1.85745538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.32509989299996 meters 0.05463869920376945 Centerline is valid? [True, True] Translation: X:177.85, Y:26.34, Z:18.58 [[ 9.78625173e-01 -1.77530670e-01 -1.03805736e-01 1.77849685e+02] [ 1.76374716e-01 9.84114059e-01 -2.02849226e-02 2.63438887e+01] [ 1.05757880e-01 1.54262864e-03 9.94390713e-01 1.85825367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.38509989299996 meters 0.054272013583753755 Centerline is valid? [True, True] Translation: X:177.91, Y:26.36, Z:18.59 [[ 9.78724137e-01 -1.77167596e-01 -1.03492544e-01 1.77905512e+02] [ 1.76016058e-01 9.84179425e-01 -2.02288802e-02 2.63558616e+01] [ 1.05439135e-01 1.58214363e-03 9.94424500e-01 1.85885514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.44509989299996 meters 0.05420270545095265 Centerline is valid? [True, True] Translation: X:177.96, Y:26.36, Z:18.59 [[ 9.78267919e-01 -1.79462989e-01 -1.03850438e-01 1.77964671e+02] [ 1.78315633e-01 9.83763805e-01 -2.03054473e-02 2.63609315e+01] [ 1.05808378e-01 1.34601109e-03 9.94385627e-01 1.85936248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.50509989299997 meters 0.05392544407766117 Centerline is valid? [True, True] Translation: X:178.02, Y:26.37, Z:18.60 [[ 9.77552622e-01 -1.82416856e-01 -1.05427517e-01 1.78023509e+02] [ 1.81250711e-01 9.83220724e-01 -2.06200928e-02 2.63653495e+01] [ 1.07419972e-01 1.04841340e-03 9.94213182e-01 1.85980121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.56509989299997 meters 0.05367259631725215 Centerline is valid? [True, True] Translation: X:178.08, Y:26.37, Z:18.60 [[ 9.76409813e-01 -1.87649419e-01 -1.06824961e-01 1.78083326e+02] [ 1.86481948e-01 9.82235946e-01 -2.09052370e-02 2.63679863e+01] [ 1.08850172e-01 4.91151805e-04 9.94058046e-01 1.86026185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.62509989299997 meters 0.05361691889418839 Centerline is valid? [True, True] Translation: X:178.14, Y:26.37, Z:18.61 [[ 9.75691035e-01 -1.91534977e-01 -1.06495802e-01 1.78141849e+02] [ 1.90397084e-01 9.81485786e-01 -2.08471066e-02 2.63718491e+01] [ 1.08517066e-01 6.38447726e-05 9.94094584e-01 1.86101377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.68509989299997 meters 0.053863307299342696 Centerline is valid? [True, True] Translation: X:178.20, Y:26.37, Z:18.62 [[ 9.74614478e-01 -1.97309915e-01 -1.05808395e-01 1.78200848e+02] [ 1.96219260e-01 9.80341002e-01 -2.07249037e-02 2.63713878e+01] [ 1.07817537e-01 -5.62853760e-04 9.94170540e-01 1.86154027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74509989299997 meters 0.05338500793427255 Centerline is valid? [True, True] Translation: X:178.26, Y:26.38, Z:18.62 [[ 9.73730446e-01 -2.01477249e-01 -1.06094004e-01 1.78257931e+02] [ 2.00404008e-01 9.79492669e-01 -2.07929205e-02 2.63767596e+01] [ 1.08107599e-01 -1.01496385e-03 9.94138681e-01 1.86215016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80509989299998 meters 0.053839891598139226 Centerline is valid? [True, True] Translation: X:178.32, Y:26.38, Z:18.63 [[ 9.72629739e-01 -2.06310502e-01 -1.06898864e-01 1.78317656e+02] [ 2.05249382e-01 9.78485333e-01 -2.09557694e-02 2.63791256e+01] [ 1.08922366e-01 -1.55872127e-03 9.94049037e-01 1.86259687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86509989299998 meters 0.054527902128898034 Centerline is valid? [True, True] Translation: X:178.38, Y:26.38, Z:18.63 [[ 9.71123835e-01 -2.13526416e-01 -1.06418831e-01 1.78378344e+02] [ 2.12517753e-01 9.76934452e-01 -2.08633866e-02 2.63789146e+01] [ 1.08419107e-01 -2.35495881e-03 9.94102485e-01 1.86321132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92509989299995 meters 0.05593884235065263 Centerline is valid? [True, True] Translation: X:178.44, Y:26.38, Z:18.64 [[ 9.69325813e-01 -2.21383279e-01 -1.06756322e-01 1.78439173e+02] [ 2.20415477e-01 9.75181486e-01 -2.09305019e-02 2.63792849e+01] [ 1.08740452e-01 -3.24226985e-03 9.94064888e-01 1.86381004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98509989299995 meters 0.05444782134942743 Centerline is valid? [True, True] Translation: X:178.50, Y:26.39, Z:18.65 [[ 9.68205458e-01 -2.25913465e-01 -1.07430430e-01 1.78498062e+02] [ 2.24961067e-01 9.74140063e-01 -2.10631584e-02 2.63919025e+01] [ 1.09410737e-01 -3.77419910e-03 9.93989460e-01 1.86451821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04509989299996 meters 0.05692893333048359 Centerline is valid? [True, True] Translation: X:178.56, Y:26.39, Z:18.65 [[ 9.67136488e-01 -2.30087551e-01 -1.08197654e-01 1.78558700e+02] [ 2.29147455e-01 9.73160535e-01 -2.12135860e-02 2.63908739e+01] [ 1.10174669e-01 -4.27678395e-03 9.93903039e-01 1.86488744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.10509989299996 meters 0.055444090510190766 Centerline is valid? [True, True] Translation: X:178.62, Y:26.41, Z:18.66 [[ 9.66851637e-01 -2.30928261e-01 -1.08949766e-01 1.78615364e+02] [ 2.29980229e-01 9.72960820e-01 -2.13620405e-02 2.64082242e+01] [ 1.10936952e-01 -4.40236824e-03 9.93817695e-01 1.86555168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.16509989299996 meters 0.054671634917352614 Centerline is valid? [True, True] Translation: X:178.67, Y:26.42, Z:18.66 [[ 9.67014743e-01 -2.29866038e-01 -1.09745579e-01 1.78672595e+02] [ 2.28896862e-01 9.73212742e-01 -2.15217535e-02 2.64214789e+01] [ 1.11752916e-01 -4.30856565e-03 9.93726684e-01 1.86608237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.22509989299996 meters 0.056031708298480365 Centerline is valid? [True, True] Translation: X:178.73, Y:26.43, Z:18.66 [[ 9.67464921e-01 -2.27493929e-01 -1.10716484e-01 1.78730296e+02] [ 2.26491641e-01 9.73771005e-01 -2.17155964e-02 2.64322890e+01] [ 1.12752668e-01 -4.06728031e-03 9.93614761e-01 1.86647665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.28509989299997 meters 0.05406838688855779 Centerline is valid? [True, True] Translation: X:178.79, Y:26.45, Z:18.67 [[ 9.67602667e-01 -2.26612172e-01 -1.11319368e-01 1.78785889e+02] [ 2.25592803e-01 9.73976926e-01 -2.18365284e-02 2.64522826e+01] [ 1.13370919e-01 -3.98376509e-03 9.93544747e-01 1.86721148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.34509989299997 meters 0.05466971459507376 Centerline is valid? [True, True] Translation: X:178.84, Y:26.46, Z:18.68 [[ 9.67892041e-01 -2.25517864e-01 -1.11025627e-01 1.78842688e+02] [ 2.24495337e-01 9.74231491e-01 -2.17909607e-02 2.64631244e+01] [ 1.13078913e-01 -3.83343812e-03 9.93578615e-01 1.86774802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.40509989299997 meters 0.0550290189093588 Centerline is valid? [True, True] Translation: X:178.90, Y:26.47, Z:18.68 [[ 9.68213707e-01 -2.24441669e-01 -1.10399978e-01 1.78899085e+02] [ 2.23423165e-01 9.74480569e-01 -2.16727796e-02 2.64729025e+01] [ 1.12446909e-01 -3.68203034e-03 9.93650912e-01 1.86828297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46509989299997 meters 0.05481823971487941 Centerline is valid? [True, True] Translation: X:178.96, Y:26.49, Z:18.69 [[ 9.68627836e-01 -2.22532935e-01 -1.10630959e-01 1.78955593e+02] [ 2.21497061e-01 9.74919027e-01 -2.17242339e-02 2.64937558e+01] [ 1.12690584e-01 -3.46173459e-03 9.93624098e-01 1.86905152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52509989299998 meters 0.05334007550224754 Centerline is valid? [True, True] Translation: X:179.01, Y:26.51, Z:18.70 [[ 9.69035977e-01 -2.21066295e-01 -1.09995316e-01 1.79012016e+02] [ 2.20032365e-01 9.75253310e-01 -2.16041780e-02 2.65119406e+01] [ 1.12049252e-01 -3.26730372e-03 9.93697283e-01 1.86981799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58509989299998 meters 0.05468926386063472 Centerline is valid? [True, True] Translation: X:179.07, Y:26.52, Z:18.70 [[ 9.69733492e-01 -2.18443757e-01 -1.09083818e-01 1.79069589e+02] [ 2.17409169e-01 9.75845146e-01 -2.14360658e-02 2.65241144e+01] [ 1.11131489e-01 -2.92855131e-03 9.93801396e-01 1.87042526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64509989299995 meters 0.05346333735492314 Centerline is valid? [True, True] Translation: X:179.13, Y:26.55, Z:18.71 [[ 9.70460391e-01 -2.15628761e-01 -1.08216764e-01 1.79126088e+02] [ 2.14592952e-01 9.76471998e-01 -2.12673823e-02 2.65458210e+01] [ 1.10256499e-01 -2.58340261e-03 9.93899809e-01 1.87126422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70509989299995 meters 0.05383694875004249 Centerline is valid? [True, True] Translation: X:179.18, Y:26.56, Z:18.72 [[ 9.70917341e-01 -2.13914279e-01 -1.07518359e-01 1.79183212e+02] [ 2.12881234e-01 9.76849556e-01 -2.11311488e-02 2.65597751e+01] [ 1.09549516e-01 -2.37204209e-03 9.93978509e-01 1.87187017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76509989299996 meters 0.05324715038011851 Centerline is valid? [True, True] Translation: X:179.24, Y:26.58, Z:18.72 [[ 9.71886146e-01 -2.09857170e-01 -1.06758077e-01 1.79240159e+02] [ 2.08813922e-01 9.77730212e-01 -2.09851793e-02 2.65771191e+01] [ 1.08784488e-01 -1.89736780e-03 9.94063547e-01 1.87244699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.82509989299996 meters 0.053394254389944336 Centerline is valid? [True, True] Translation: X:179.30, Y:26.59, Z:18.73 [[ 9.72409587e-01 -2.07527165e-01 -1.06546101e-01 1.79296516e+02] [ 2.06473903e-01 9.78227895e-01 -2.09454841e-02 2.65904463e+01] [ 1.08573125e-01 -1.63139984e-03 9.94087126e-01 1.87291835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.88509989299996 meters 0.053273934225968385 Centerline is valid? [True, True] Translation: X:179.35, Y:26.60, Z:18.73 [[ 9.72864488e-01 -2.05030534e-01 -1.07224848e-01 1.79352741e+02] [ 2.03947933e-01 9.78754639e-01 -2.10854513e-02 2.66044438e+01] [ 1.09269979e-01 -1.35499944e-03 9.94011185e-01 1.87329493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.94509989299996 meters 0.05330973927797034 Centerline is valid? [True, True] Translation: X:179.41, Y:26.62, Z:18.74 [[ 9.73149739e-01 -2.04761872e-01 -1.05129255e-01 1.79409569e+02] [ 2.03719249e-01 9.78810962e-01 -2.06777025e-02 2.66198578e+01] [ 1.07135672e-01 -1.29435202e-03 9.94243568e-01 1.87401945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.00509989299997 meters 0.05283892960015764 Centerline is valid? [True, True] Translation: X:179.47, Y:26.63, Z:18.75 [[ 9.73445136e-01 -2.03701836e-01 -1.04451568e-01 1.79465892e+02] [ 2.02665386e-01 9.79032287e-01 -2.05553703e-02 2.66349785e+01] [ 1.06448624e-01 -1.15919218e-03 9.94317528e-01 1.87458932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.06509989299997 meters 0.05316489143993387 Centerline is valid? [True, True] Translation: X:179.52, Y:26.64, Z:18.75 [[ 9.73591650e-01 -2.03477673e-01 -1.03518774e-01 1.79522657e+02] [ 2.02457172e-01 9.79078954e-01 -2.03836936e-02 2.66445703e+01] [ 1.05500680e-01 -1.11272436e-03 9.94418608e-01 1.87528650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.12509989299997 meters 0.05385987615583971 Centerline is valid? [True, True] Translation: X:179.58, Y:26.65, Z:18.76 [[ 9.72884766e-01 -2.07078643e-01 -1.03022659e-01 1.79580899e+02] [ 2.06087592e-01 9.78323163e-01 -2.02902394e-02 2.66537759e+01] [ 1.04991129e-01 -1.49162694e-03 9.94472040e-01 1.87587104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.18509989299997 meters 0.05385137005502549 Centerline is valid? [True, True] Translation: X:179.64, Y:26.66, Z:18.77 [[ 9.72209389e-01 -2.10435445e-01 -1.02595458e-01 1.79639035e+02] [ 2.09470980e-01 9.77606017e-01 -2.02085396e-02 2.66630963e+01] [ 1.04550530e-01 -1.84383921e-03 9.94517867e-01 1.87651459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24509989299997 meters 0.05432364382465129 Centerline is valid? [True, True] Translation: X:179.70, Y:26.67, Z:18.77 [[ 9.71628978e-01 -2.13396548e-01 -1.01975699e-01 1.79698453e+02] [ 2.12459719e-01 9.76963308e-01 -2.00888812e-02 2.66694254e+01] [ 1.03913414e-01 -2.14678922e-03 9.94584030e-01 1.87721845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30509989299998 meters 0.05403497435114444 Centerline is valid? [True, True] Translation: X:179.76, Y:26.68, Z:18.78 [[ 9.71530147e-01 -2.13797253e-01 -1.02077947e-01 1.79755975e+02] [ 2.12860576e-01 9.76875600e-01 -2.01106446e-02 2.66803171e+01] [ 1.04017057e-01 -2.19027316e-03 9.94573102e-01 1.87784775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36509989299998 meters 0.053179067759427906 Centerline is valid? [True, True] Translation: X:179.81, Y:26.69, Z:18.78 [[ 9.72045512e-01 -2.11730989e-01 -1.01476657e-01 1.79813711e+02] [ 2.10792946e-01 9.77326046e-01 -2.00033498e-02 2.66927250e+01] [ 1.03411109e-01 -1.94639713e-03 9.94636795e-01 1.87837830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42509989299995 meters 0.052920214743860744 Centerline is valid? [True, True] Translation: X:179.87, Y:26.70, Z:18.79 [[ 9.72498932e-01 -2.10153644e-01 -1.00405548e-01 1.79871148e+02] [ 2.09225901e-01 9.77666807e-01 -1.98024592e-02 2.67027335e+01] [ 1.02324730e-01 -1.74957087e-03 9.94749510e-01 1.87897008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48509989299995 meters 0.05325698810090584 Centerline is valid? [True, True] Translation: X:179.93, Y:26.71, Z:18.79 [[ 9.72942009e-01 -2.07485204e-01 -1.01654992e-01 1.79928913e+02] [ 2.06518481e-01 9.78237042e-01 -2.00600683e-02 2.67094960e+01] [ 1.03604846e-01 -1.47635147e-03 9.94617442e-01 1.87940167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54509989299996 meters 0.05362761609417932 Centerline is valid? [True, True] Translation: X:179.99, Y:26.72, Z:18.80 [[ 9.72942364e-01 -2.07163785e-01 -1.02305051e-01 1.79986748e+02] [ 2.06182497e-01 9.78305203e-01 -2.01917998e-02 2.67179884e+01] [ 1.04268573e-01 -1.44805334e-03 9.94548122e-01 1.87993387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.60509989299996 meters 0.05374572144213315 Centerline is valid? [True, True] Translation: X:180.04, Y:26.73, Z:18.80 [[ 9.72341126e-01 -2.10097974e-01 -1.02037128e-01 1.80044314e+02] [ 2.09136734e-01 9.77678777e-01 -2.01503365e-02 2.67300230e+01] [ 1.03993079e-01 -1.74671077e-03 9.94576487e-01 1.88046904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.66509989299996 meters 0.054270347987214626 Centerline is valid? [True, True] Translation: X:180.10, Y:26.73, Z:18.81 [[ 9.71585540e-01 -2.13344273e-01 -1.02497609e-01 1.80103049e+02] [ 2.12392040e-01 9.76974824e-01 -2.02438784e-02 2.67336398e+01] [ 1.04456500e-01 -2.10101680e-03 9.94527237e-01 1.88100780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.72509989299996 meters 0.05499280860125931 Centerline is valid? [True, True] Translation: X:180.16, Y:26.74, Z:18.82 [[ 9.69950274e-01 -2.20617144e-01 -1.02589186e-01 1.80163160e+02] [ 2.19703411e-01 9.75356222e-01 -2.02645230e-02 2.67369756e+01] [ 1.04531702e-01 -2.88361437e-03 9.94517374e-01 1.88155719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.78509989299997 meters 0.055574923890125666 Centerline is valid? [True, True] Translation: X:180.22, Y:26.74, Z:18.82 [[ 9.68857267e-01 -2.25476580e-01 -1.02351886e-01 1.80223213e+02] [ 2.24594002e-01 9.74242659e-01 -2.02182130e-02 2.67414520e+01] [ 1.04274307e-01 -3.39905701e-03 9.94542767e-01 1.88218794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.84509989299997 meters 0.05785503596002285 Centerline is valid? [True, True] Translation: X:180.28, Y:26.74, Z:18.83 [[ 9.67545450e-01 -2.31556907e-01 -1.01179055e-01 1.80284108e+02] [ 2.30727454e-01 9.72813111e-01 -1.99873109e-02 2.67419768e+01] [ 1.03056512e-01 -4.00615412e-03 9.94667435e-01 1.88289414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.90509989299997 meters 0.05596373517057981 Centerline is valid? [True, True] Translation: X:180.34, Y:26.75, Z:18.84 [[ 9.66454204e-01 -2.36521861e-01 -1.00118337e-01 1.80343136e+02] [ 2.35736180e-01 9.71615808e-01 -1.97781635e-02 2.67548823e+01] [ 1.01954527e-01 -4.48682508e-03 9.94778942e-01 1.88358873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96509989299997 meters 0.05408107335742344 Centerline is valid? [True, True] Translation: X:180.40, Y:26.77, Z:18.84 [[ 9.65582160e-01 -2.40120138e-01 -9.99670563e-02 1.80401837e+02] [ 2.39356123e-01 9.70731012e-01 -1.97471255e-02 2.67695805e+01] [ 1.01782804e-01 -4.86025499e-03 9.94794772e-01 1.88417184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02509989299998 meters 0.05237740135889584 Centerline is valid? [True, True] Translation: X:180.46, Y:26.78, Z:18.85 [[ 9.64884149e-01 -2.42680746e-01 -1.00521814e-01 1.80460737e+02] [ 2.41921991e-01 9.70092493e-01 -1.98571349e-02 2.67836129e+01] [ 1.02334401e-01 -5.15860250e-03 9.94736678e-01 1.88468964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08509989299998 meters 0.054293038104318465 Centerline is valid? [True, True] Translation: X:180.52, Y:26.79, Z:18.85 [[ 9.64614068e-01 -2.43210111e-01 -1.01826032e-01 1.80518640e+02] [ 2.42434540e-01 9.69959237e-01 -2.01139775e-02 2.67876384e+01] [ 1.03659023e-01 -5.28392149e-03 9.94598857e-01 1.88523822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14509989299995 meters 0.056102864904663666 Centerline is valid? [True, True] Translation: X:180.58, Y:26.79, Z:18.86 [[ 9.64850484e-01 -2.41635891e-01 -1.03322992e-01 1.80577462e+02] [ 2.40827884e-01 9.70353130e-01 -2.04140662e-02 2.67925794e+01] [ 1.05192560e-01 -5.18653589e-03 9.94438347e-01 1.88572934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20509989299995 meters 0.05447475447765207 Centerline is valid? [True, True] Translation: X:180.63, Y:26.81, Z:18.86 [[ 9.65026761e-01 -2.41046172e-01 -1.03053837e-01 1.80632892e+02] [ 2.40238849e-01 9.70500212e-01 -2.03625897e-02 2.68120662e+01] [ 1.04922095e-01 -5.10709115e-03 9.94467331e-01 1.88636862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26509989299996 meters 0.053673229156337474 Centerline is valid? [True, True] Translation: X:180.69, Y:26.83, Z:18.87 [[ 9.66399657e-01 -2.36239524e-01 -1.01304445e-01 1.80691299e+02] [ 2.35431991e-01 9.71684453e-01 -2.00275254e-02 2.68254634e+01] [ 1.03167248e-01 -4.49571364e-03 9.94653863e-01 1.88714970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32509989299996 meters 0.058050963835479405 Centerline is valid? [True, True] Translation: X:180.75, Y:26.82, Z:18.88 [[ 9.67709910e-01 -2.31179222e-01 -1.00467397e-01 1.80751109e+02] [ 2.30357774e-01 9.72903275e-01 -1.98623792e-02 2.68245510e+01] [ 1.02336829e-01 -3.92242492e-03 9.94742071e-01 1.88798289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38509989299996 meters 0.05466183129404907 Centerline is valid? [True, True] Translation: X:180.81, Y:26.85, Z:18.89 [[ 9.70111068e-01 -2.21361252e-01 -9.94168576e-02 1.80808129e+02] [ 2.20505257e-01 9.75187703e-01 -1.96564283e-02 2.68477249e+01] [ 1.01301269e-01 -2.85302107e-03 9.94851704e-01 1.88869417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.44509989299996 meters 0.05344503271713764 Centerline is valid? [True, True] Translation: X:180.87, Y:26.87, Z:18.89 [[ 9.71841214e-01 -2.13940958e-01 -9.87619428e-02 1.80865113e+02] [ 2.13057865e-01 9.76844413e-01 -1.95279249e-02 2.68691213e+01] [ 1.00652875e-01 -2.06396647e-03 9.94919463e-01 1.88930257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.50509989299997 meters 0.05364654212712062 Centerline is valid? [True, True] Translation: X:180.92, Y:26.89, Z:18.90 [[ 9.73909652e-01 -2.03733419e-01 -9.99634107e-02 1.80921800e+02] [ 2.02774754e-01 9.79025871e-01 -1.97672063e-02 2.68860489e+01] [ 1.01894006e-01 -1.01858299e-03 9.94794740e-01 1.88988083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.56509989299997 meters 0.053815717068282885 Centerline is valid? [True, True] Translation: X:180.98, Y:26.90, Z:18.90 [[ 9.74604237e-01 -1.99952442e-01 -1.00824613e-01 1.80979159e+02] [ 1.98956834e-01 9.79805403e-01 -1.99386746e-02 2.68993529e+01] [ 1.02775287e-01 -6.27429027e-04 9.94704402e-01 1.89039736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.62509989299997 meters 0.054207652823394764 Centerline is valid? [True, True] Translation: X:181.04, Y:26.91, Z:18.91 [[ 9.74725947e-01 -1.99089285e-01 -1.01354751e-01 1.81035877e+02] [ 1.98077349e-01 9.79981213e-01 -2.00545841e-02 2.69107937e+01] [ 1.03318404e-01 -5.28356810e-04 9.94648193e-01 1.89096828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.68509989299997 meters 0.053549842207629414 Centerline is valid? [True, True] Translation: X:181.09, Y:26.92, Z:18.91 [[ 9.74298070e-01 -2.00426563e-01 -1.02822484e-01 1.81094120e+02] [ 1.99391990e-01 9.79708496e-01 -2.03493903e-02 2.69189920e+01] [ 1.04814619e-01 -6.75607957e-04 9.94491548e-01 1.89139356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74509989299997 meters 0.05307065640372641 Centerline is valid? [True, True] Translation: X:181.15, Y:26.93, Z:18.92 [[ 9.73553441e-01 -2.03314410e-01 -1.04196679e-01 1.81151619e+02] [ 2.02267175e-01 9.79113004e-01 -2.06328870e-02 2.69265114e+01] [ 1.06215286e-01 -9.88349741e-04 9.94342665e-01 1.89190679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80509989299998 meters 0.0543015976554004 Centerline is valid? [True, True] Translation: X:181.21, Y:26.93, Z:18.92 [[ 9.71934039e-01 -2.11067048e-01 -1.03898631e-01 1.81212165e+02] [ 2.10069436e-01 9.77469882e-01 -2.05781958e-02 2.69309855e+01] [ 1.05901162e-01 -1.82527796e-03 9.94374986e-01 1.89243433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86509989299998 meters 0.0539663838181205 Centerline is valid? [True, True] Translation: X:181.27, Y:26.94, Z:18.93 [[ 9.70604592e-01 -2.16927625e-01 -1.04255131e-01 1.81271421e+02] [ 2.15956790e-01 9.76184558e-01 -2.06488204e-02 2.69356449e+01] [ 1.06251548e-01 -2.47276359e-03 9.94336208e-01 1.89299101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92509989299995 meters 0.05717283359759503 Centerline is valid? [True, True] Translation: X:181.33, Y:26.93, Z:18.94 [[ 9.68374793e-01 -2.26520958e-01 -1.04587365e-01 1.81333154e+02] [ 2.25599419e-01 9.73999879e-01 -2.07156440e-02 2.69345458e+01] [ 1.06560608e-01 -3.53434127e-03 9.94299927e-01 1.89354052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98509989299995 meters 0.05996419703732506 Centerline is valid? [True, True] Translation: X:181.39, Y:26.94, Z:18.94 [[ 9.66862651e-01 -2.32932540e-01 -1.04494241e-01 1.81393602e+02] [ 2.32049877e-01 9.72483667e-01 -2.06971374e-02 2.69369019e+01] [ 1.06439980e-01 -4.23658671e-03 9.94310104e-01 1.89413117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04509989299996 meters 0.05595775920678563 Centerline is valid? [True, True] Translation: X:181.45, Y:26.96, Z:18.95 [[ 9.65028539e-01 -2.41080959e-01 -1.02955770e-01 1.81450349e+02] [ 2.40270148e-01 9.70491830e-01 -2.03927499e-02 2.69588922e+01] [ 1.04834038e-01 -5.05761256e-03 9.94476870e-01 1.89495104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.10509989299996 meters 0.05368479422343313 Centerline is valid? [True, True] Translation: X:181.51, Y:26.98, Z:18.96 [[ 9.64293377e-01 -2.44451841e-01 -1.01890040e-01 1.81508038e+02] [ 2.43676527e-01 9.69646576e-01 -2.01808702e-02 2.69781408e+01] [ 1.03730579e-01 -5.36793157e-03 9.94590947e-01 1.89570112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.16509989299996 meters 0.06050184503471057 Centerline is valid? [True, True] Translation: X:181.57, Y:26.97, Z:18.96 [[ 9.64136359e-01 -2.44315406e-01 -1.03687334e-01 1.81568402e+02] [ 2.43511688e-01 9.69680511e-01 -2.05368949e-02 2.69690740e+01] [ 1.05561067e-01 -5.44871050e-03 9.94397895e-01 1.89608631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.22509989299996 meters 0.05646250529465266 Centerline is valid? [True, True] Translation: X:181.62, Y:26.99, Z:18.97 [[ 9.64545798e-01 -2.42934387e-01 -1.03122685e-01 1.81623660e+02] [ 2.42130902e-01 9.70028449e-01 -2.04312242e-02 2.69947108e+01] [ 1.04995385e-01 -5.26233715e-03 9.94458786e-01 1.89681593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.28509989299997 meters 0.06011900084104416 Centerline is valid? [True, True] Translation: X:181.68, Y:27.00, Z:18.97 [[ 9.64751343e-01 -2.41844489e-01 -1.03759771e-01 1.81684312e+02] [ 2.41024595e-01 9.70301226e-01 -2.05590529e-02 2.69976936e+01] [ 1.05650327e-01 -5.17428296e-03 9.94389881e-01 1.89738799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.34509989299997 meters 0.05746153355619205 Centerline is valid? [True, True] Translation: X:181.74, Y:27.02, Z:18.98 [[ 9.64625477e-01 -2.41360302e-01 -1.06032511e-01 1.81739702e+02] [ 2.40501017e-01 9.70421462e-01 -2.10106177e-02 2.70200874e+01] [ 1.07967353e-01 -5.23354953e-03 9.94140664e-01 1.89788068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.40509989299997 meters 0.055484116185375916 Centerline is valid? [True, True] Translation: X:181.80, Y:27.04, Z:18.98 [[ 9.64790763e-01 -2.39634849e-01 -1.08415510e-01 1.81796510e+02] [ 2.38724368e-01 9.70849462e-01 -2.14941424e-02 2.70402346e+01] [ 1.10405885e-01 -5.14407411e-03 9.93873271e-01 1.89838059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46509989299997 meters 0.055951621894291606 Centerline is valid? [True, True] Translation: X:181.85, Y:27.06, Z:18.99 [[ 9.66108068e-01 -2.33443134e-01 -1.10179421e-01 1.81853254e+02] [ 2.32462620e-01 9.72360001e-01 -2.18439421e-02 2.70565019e+01] [ 1.12233380e-01 -4.50898823e-03 9.93671645e-01 1.89883946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52509989299998 meters 0.05400038792469786 Centerline is valid? [True, True] Translation: X:181.91, Y:27.08, Z:19.00 [[ 9.67669613e-01 -2.27480052e-01 -1.08941937e-01 1.81908919e+02] [ 2.26483673e-01 9.73775434e-01 -2.15997519e-02 2.70810451e+01] [ 1.10998495e-01 -3.77214647e-03 9.93813416e-01 1.89976739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58509989299998 meters 0.05378573570281925 Centerline is valid? [True, True] Translation: X:181.96, Y:27.10, Z:19.01 [[ 9.70320888e-01 -2.17880661e-01 -1.04906582e-01 1.81964819e+02] [ 2.16900811e-01 9.75972030e-01 -2.07998685e-02 2.71003714e+01] [ 1.06917779e-01 -2.57177596e-03 9.94264539e-01 1.90073967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64509989299995 meters 0.05358040249248221 Centerline is valid? [True, True] Translation: X:182.02, Y:27.12, Z:19.02 [[ 9.71748873e-01 -2.11991163e-01 -1.03749091e-01 1.82022294e+02] [ 2.10999297e-01 9.77269734e-01 -2.05709571e-02 2.71210908e+01] [ 1.05751708e-01 -1.90118090e-03 9.94390749e-01 1.90153996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70509989299995 meters 0.05348785729563181 Centerline is valid? [True, True] Translation: X:182.08, Y:27.14, Z:19.02 [[ 9.73058670e-01 -2.05106255e-01 -1.05300753e-01 1.82078826e+02] [ 2.04043878e-01 9.78739016e-01 -2.08814155e-02 2.71433914e+01] [ 1.07344864e-01 -1.16713161e-03 9.94221161e-01 1.90206412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76509989299996 meters 0.052863268571851224 Centerline is valid? [True, True] Translation: X:182.13, Y:27.16, Z:19.02 [[ 9.73566400e-01 -2.01901732e-01 -1.06790241e-01 1.82134493e+02] [ 2.00789398e-01 9.79405440e-01 -2.11802474e-02 2.71575651e+01] [ 1.08867272e-01 -8.21970944e-04 9.94055955e-01 1.90249390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.82509989299996 meters 0.05320421139756778 Centerline is valid? [True, True] Translation: X:182.19, Y:27.17, Z:19.03 [[ 9.74066182e-01 -1.99272218e-01 -1.07171150e-01 1.82190655e+02] [ 1.98135514e-01 9.79944033e-01 -2.12605485e-02 2.71717150e+01] [ 1.09258365e-01 -5.25229483e-04 9.94013246e-01 1.90298936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.88509989299996 meters 0.05363503474831304 Centerline is valid? [True, True] Translation: X:182.25, Y:27.19, Z:19.04 [[ 9.74354297e-01 -1.97919740e-01 -1.07058304e-01 1.82247340e+02] [ 1.96776531e-01 9.80218161e-01 -2.12451031e-02 2.71877881e+01] [ 1.09145319e-01 -3.66304201e-04 9.94025737e-01 1.90384186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.94509989299996 meters 0.0536239743594928 Centerline is valid? [True, True] Translation: X:182.30, Y:27.20, Z:19.04 [[ 9.74614571e-01 -1.97267482e-01 -1.05886628e-01 1.82303168e+02] [ 1.96144109e-01 9.80349664e-01 -2.10243962e-02 2.71998859e+01] [ 1.07953350e-01 -2.78355535e-04 9.94155922e-01 1.90437632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.00509989299997 meters 0.05375761252468243 Centerline is valid? [True, True] Translation: X:182.36, Y:27.21, Z:19.05 [[ 9.74600708e-01 -1.97201422e-01 -1.06136978e-01 1.82359109e+02] [ 1.96070936e-01 9.80362959e-01 -2.10868731e-02 2.72122409e+01] [ 1.08211123e-01 -2.59095081e-04 9.94127902e-01 1.90493605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.06509989299997 meters 0.05272277163527533 Centerline is valid? [True, True] Translation: X:182.42, Y:27.22, Z:19.05 [[ 9.74296413e-01 -1.98581022e-01 -1.06358253e-01 1.82416034e+02] [ 1.97452463e-01 9.80084393e-01 -2.11448925e-02 2.72224730e+01] [ 1.08439038e-01 -3.99306129e-04 9.94103021e-01 1.90545318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.12509989299997 meters 0.05279723717358863 Centerline is valid? [True, True] Translation: X:182.47, Y:27.23, Z:19.06 [[ 9.72999079e-01 -2.03711887e-01 -1.08509255e-01 1.82474715e+02] [ 2.02568377e-01 9.79030385e-01 -2.15768048e-02 2.72322236e+01] [ 1.10629309e-01 -9.86332380e-04 9.93861249e-01 1.90608834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.18509989299997 meters 0.053027096368311336 Centerline is valid? [True, True] Translation: X:182.53, Y:27.24, Z:19.07 [[ 9.71622600e-01 -2.09510042e-01 -1.09795557e-01 1.82533955e+02] [ 2.08375928e-01 9.77805078e-01 -2.18335110e-02 2.72388350e+01] [ 1.11932993e-01 -1.66481843e-03 9.93714362e-01 1.90656855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24509989299997 meters 0.05378228212109181 Centerline is valid? [True, True] Translation: X:182.59, Y:27.24, Z:19.07 [[ 9.70244044e-01 -2.15886748e-01 -1.09633055e-01 1.82593445e+02] [ 2.14796399e-01 9.76415472e-01 -2.18021282e-02 2.72440579e+01] [ 1.11754202e-01 -2.39540045e-03 9.93732993e-01 1.90708522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30509989299998 meters 0.054369475378785344 Centerline is valid? [True, True] Translation: X:182.65, Y:27.25, Z:19.08 [[ 9.69126794e-01 -2.21023996e-01 -1.09277854e-01 1.82652431e+02] [ 2.19973115e-01 9.75263827e-01 -2.17323870e-02 2.72486195e+01] [ 1.11378117e-01 -2.97675140e-03 9.93773643e-01 1.90761690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36509989299998 meters 0.05314687981089883 Centerline is valid? [True, True] Translation: X:182.71, Y:27.26, Z:19.08 [[ 9.68348665e-01 -2.24944685e-01 -1.08170009e-01 1.82709992e+02] [ 2.23939650e-01 9.74365622e-01 -2.15097204e-02 2.72635776e+01] [ 1.10235635e-01 -3.39464491e-03 9.93899684e-01 1.90845977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42509989299995 meters 0.05402991077334407 Centerline is valid? [True, True] Translation: X:182.77, Y:27.27, Z:19.09 [[ 9.68478215e-01 -2.24576929e-01 -1.07773607e-01 1.82768113e+02] [ 2.23576850e-01 9.74450642e-01 -2.14321875e-02 2.72686412e+01] [ 1.09833235e-01 -3.33907685e-03 9.93944420e-01 1.90900044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48509989299995 meters 0.05426238158877718 Centerline is valid? [True, True] Translation: X:182.83, Y:27.28, Z:19.10 [[ 9.69094675e-01 -2.22140592e-01 -1.07280326e-01 1.82826175e+02] [ 2.21133512e-01 9.75009914e-01 -2.13456714e-02 2.72819083e+01] [ 1.09341121e-01 -3.03729878e-03 9.93999645e-01 1.90972484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54509989299996 meters 0.05466650004749243 Centerline is valid? [True, True] Translation: X:182.88, Y:27.29, Z:19.10 [[ 9.69214720e-01 -2.21655832e-01 -1.07198501e-01 1.82883788e+02] [ 2.20647186e-01 9.75120412e-01 -2.13307584e-02 2.72908855e+01] [ 1.09259534e-01 -2.97896265e-03 9.94008793e-01 1.91029699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.60509989299996 meters 0.05403441721836373 Centerline is valid? [True, True] Translation: X:182.94, Y:27.31, Z:19.11 [[ 9.69119256e-01 -2.21507682e-01 -1.08361503e-01 1.82939070e+02] [ 2.20474713e-01 9.75154064e-01 -2.15743355e-02 2.73062039e+01] [ 1.10448041e-01 -2.98286728e-03 9.93877423e-01 1.91094414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.66509989299996 meters 0.05433268340840391 Centerline is valid? [True, True] Translation: X:183.00, Y:27.32, Z:19.11 [[ 9.68964746e-01 -2.21611505e-01 -1.09524707e-01 1.82996466e+02] [ 2.20555278e-01 9.75130381e-01 -2.18199399e-02 2.73160720e+01] [ 1.11636419e-01 -3.01349966e-03 9.93744549e-01 1.91146369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.72509989299996 meters 0.053272207359674535 Centerline is valid? [True, True] Translation: X:183.05, Y:27.33, Z:19.12 [[ 9.68897932e-01 -2.20943100e-01 -1.11449293e-01 1.83052666e+02] [ 2.19843471e-01 9.75282159e-01 -2.22161891e-02 2.73301208e+01] [ 1.13603021e-01 -2.97617984e-03 9.93521764e-01 1.91211527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.78509989299997 meters 0.05366646777833409 Centerline is valid? [True, True] Translation: X:183.11, Y:27.34, Z:19.13 [[ 9.69060415e-01 -2.19503094e-01 -1.12872954e-01 1.83109397e+02] [ 2.18363680e-01 9.75607702e-01 -2.25147885e-02 2.73449845e+01] [ 1.15061789e-01 -2.82916336e-03 9.93354308e-01 1.91281866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.84509989299997 meters 0.053482630752809825 Centerline is valid? [True, True] Translation: X:183.17, Y:27.36, Z:19.13 [[ 9.69682416e-01 -2.16895911e-01 -1.12570755e-01 1.83167379e+02] [ 2.15743696e-01 9.76191533e-01 -2.24666150e-02 2.73557674e+01] [ 1.14763535e-01 -2.50094932e-03 9.93389690e-01 1.91343868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.90509989299997 meters 0.053840213299199184 Centerline is valid? [True, True] Translation: X:183.22, Y:27.37, Z:19.14 [[ 9.70018900e-01 -2.16150096e-01 -1.11096666e-01 1.83224123e+02] [ 2.15022804e-01 9.76357250e-01 -2.21746460e-02 2.73651396e+01] [ 1.13263087e-01 -2.37849087e-03 9.93562185e-01 1.91407376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96509989299997 meters 0.053509886709738316 Centerline is valid? [True, True] Translation: X:183.28, Y:27.38, Z:19.15 [[ 9.70190321e-01 -2.16579410e-01 -1.08738678e-01 1.83279933e+02] [ 2.15501500e-01 9.76262129e-01 -2.17108236e-02 2.73802926e+01] [ 1.10859570e-01 -2.36971725e-03 9.93833256e-01 1.91501543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02509989299998 meters 0.05340559789552048 Centerline is valid? [True, True] Translation: X:183.34, Y:27.40, Z:19.16 [[ 9.70174398e-01 -2.16999838e-01 -1.08040303e-01 1.83335172e+02] [ 2.15936993e-01 9.76168714e-01 -2.15837039e-02 2.73980499e+01] [ 1.10149224e-01 -2.38994127e-03 9.93912188e-01 1.91589341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08509989299998 meters 0.05450002021963915 Centerline is valid? [True, True] Translation: X:183.40, Y:27.39, Z:19.16 [[ 9.69741234e-01 -2.18888484e-01 -1.08119240e-01 1.83396999e+02] [ 2.17835290e-01 9.75746412e-01 -2.16038297e-02 2.73944388e+01] [ 1.10225790e-01 -2.60206167e-03 9.93903167e-01 1.91615069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14509989299995 meters 0.05387793528308313 Centerline is valid? [True, True] Translation: X:183.45, Y:27.41, Z:19.17 [[ 9.69136028e-01 -2.21334194e-01 -1.08565800e-01 1.83454512e+02] [ 2.20287449e-01 9.75193732e-01 -2.16939021e-02 2.74090818e+01] [ 1.10674290e-01 -2.89134099e-03 9.93852525e-01 1.91692218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20509989299995 meters 0.05446983903957363 Centerline is valid? [True, True] Translation: X:183.52, Y:27.41, Z:19.17 [[ 9.68004694e-01 -2.26018375e-01 -1.09007372e-01 1.83515118e+02] [ 2.24992533e-01 9.74116965e-01 -2.17829832e-02 2.74101623e+01] [ 1.11109285e-01 -3.43981470e-03 9.93802241e-01 1.91744811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26509989299996 meters 0.055087706099941 Centerline is valid? [True, True] Translation: X:183.57, Y:27.42, Z:19.18 [[ 9.67348233e-01 -2.29189388e-01 -1.08211002e-01 1.83574334e+02] [ 2.28198238e-01 9.73374526e-01 -2.16239573e-02 2.74180152e+01] [ 1.10285814e-01 -3.77566308e-03 9.93892742e-01 1.91809906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.32509989299996 meters 0.054235185705403574 Centerline is valid? [True, True] Translation: X:183.63, Y:27.43, Z:19.19 [[ 9.67284804e-01 -2.29626328e-01 -1.07851089e-01 1.83632140e+02] [ 2.28644323e-01 9.73271403e-01 -2.15534190e-02 2.74292456e+01] [ 1.09917613e-01 -3.81124444e-03 9.93933395e-01 1.91874443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.38509989299996 meters 0.05590224760713742 Centerline is valid? [True, True] Translation: X:183.69, Y:27.44, Z:19.19 [[ 9.68001344e-01 -2.26540739e-01 -1.07947631e-01 1.83690804e+02] [ 2.25536664e-01 9.73995569e-01 -2.15834442e-02 2.74351837e+01] [ 1.10030043e-01 -3.45334555e-03 9.93922263e-01 1.91920081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.44509989299996 meters 0.05481386471183277 Centerline is valid? [True, True] Translation: X:183.75, Y:27.45, Z:19.20 [[ 9.68870311e-01 -2.22965717e-01 -1.07594654e-01 1.83748736e+02] [ 2.21946021e-01 9.74821562e-01 -2.15148125e-02 2.74505098e+01] [ 1.09682654e-01 -3.03514220e-03 9.93962023e-01 1.91992720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.50509989299997 meters 0.053765378351080195 Centerline is valid? [True, True] Translation: X:183.81, Y:27.47, Z:19.21 [[ 9.69218980e-01 -2.22220369e-01 -1.05984324e-01 1.83805401e+02] [ 2.21226516e-01 9.74992136e-01 -2.11934574e-02 2.74670734e+01] [ 1.08043501e-01 -2.90544159e-03 9.94141922e-01 1.92073237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.56509989299997 meters 0.05482090705801553 Centerline is valid? [True, True] Translation: X:183.86, Y:27.47, Z:19.21 [[ 9.69421396e-01 -2.21542327e-01 -1.05551668e-01 1.83863761e+02] [ 2.20551346e-01 9.75146716e-01 -2.11183669e-02 2.74712678e+01] [ 1.07606974e-01 -2.80696558e-03 9.94189549e-01 1.92127819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.62509989299997 meters 0.05493294394551761 Centerline is valid? [True, True] Translation: X:183.92, Y:27.48, Z:19.22 [[ 9.69930771e-01 -2.19095208e-01 -1.05979189e-01 1.83921969e+02] [ 2.18080306e-01 9.75700194e-01 -2.12158441e-02 2.74835007e+01] [ 1.08052205e-01 -2.53407394e-03 9.94141992e-01 1.92184979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.68509989299997 meters 0.05486668874017556 Centerline is valid? [True, True] Translation: X:183.98, Y:27.50, Z:19.23 [[ 9.71241345e-01 -2.13251892e-01 -1.05895614e-01 1.83980287e+02] [ 2.12203759e-01 9.76995442e-01 -2.12007113e-02 2.74964384e+01] [ 1.07980624e-01 -1.88044003e-03 9.94151220e-01 1.92251852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74509989299997 meters 0.0542137187064797 Centerline is valid? [True, True] Translation: X:184.04, Y:27.51, Z:19.23 [[ 9.72394346e-01 -2.07940548e-01 -1.05877118e-01 1.84037641e+02] [ 2.06861424e-01 9.78140615e-01 -2.11964258e-02 2.75105681e+01] [ 1.07970306e-01 -1.29060677e-03 9.94153282e-01 1.92316973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80509989299998 meters 0.05442191751196017 Centerline is valid? [True, True] Translation: X:184.10, Y:27.52, Z:19.24 [[ 9.73797890e-01 -2.01585224e-01 -1.05266645e-01 1.84095356e+02] [ 2.00481287e-01 9.79470806e-01 -2.10758918e-02 2.75237931e+01] [ 1.07354194e-01 -5.80333514e-04 9.94220670e-01 1.92383860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86509989299995 meters 0.053914486737479096 Centerline is valid? [True, True] Translation: X:184.15, Y:27.53, Z:19.24 [[ 9.74232328e-01 -1.99443894e-01 -1.05325704e-01 1.84152756e+02] [ 1.98326107e-01 9.79909187e-01 -2.10888615e-02 2.75332364e+01] [ 1.07415669e-01 -3.43386151e-04 9.94214140e-01 1.92436779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92509989299995 meters 0.053936635361805735 Centerline is valid? [True, True] Translation: X:184.21, Y:27.54, Z:19.25 [[ 9.73949774e-01 -2.00072370e-01 -1.06737456e-01 1.84211482e+02] [ 1.98926860e-01 9.79781037e-01 -2.13827823e-02 2.75397324e+01] [ 1.08857440e-01 -4.07190960e-04 9.94057288e-01 1.92482755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98509989299995 meters 0.05417825083161131 Centerline is valid? [True, True] Translation: X:184.27, Y:27.55, Z:19.25 [[ 9.73252669e-01 -2.03129646e-01 -1.07320032e-01 1.84269636e+02] [ 2.01988741e-01 9.79151570e-01 -2.15116458e-02 2.75463644e+01] [ 1.09452231e-01 -7.41171423e-04 9.93991781e-01 1.92540470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04509989299996 meters 0.054603198397039816 Centerline is valid? [True, True] Translation: X:184.33, Y:27.55, Z:19.26 [[ 9.71603575e-01 -2.10900164e-01 -1.07273550e-01 1.84329173e+02] [ 2.09806100e-01 9.77506291e-01 -2.15139760e-02 2.75479070e+01] [ 1.09397871e-01 -1.60358922e-03 9.93996748e-01 1.92600493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.10509989299996 meters 0.05541458192477829 Centerline is valid? [True, True] Translation: X:184.39, Y:27.55, Z:19.27 [[ 9.69169563e-01 -2.21745100e-01 -1.07421922e-01 1.84391243e+02] [ 2.20714036e-01 9.75100564e-01 -2.15453868e-02 2.75451956e+01] [ 1.09524760e-01 -2.82839269e-03 9.93980044e-01 1.92660559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.16509989299996 meters 0.054916941218621895 Centerline is valid? [True, True] Translation: X:184.45, Y:27.56, Z:19.27 [[ 9.67350809e-01 -2.29153199e-01 -1.08264601e-01 1.84449882e+02] [ 2.28151956e-01 9.73383356e-01 -2.17146782e-02 2.75555206e+01] [ 1.10358948e-01 -3.69506891e-03 9.93884927e-01 1.92729772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.22509989299996 meters 0.05504272615884977 Centerline is valid? [True, True] Translation: X:184.51, Y:27.56, Z:19.28 [[ 9.64903479e-01 -2.39231031e-01 -1.08304156e-01 1.84510513e+02] [ 2.38292022e-01 9.70950574e-01 -2.17231360e-02 2.75607752e+01] [ 1.10354831e-01 -4.84728690e-03 9.93880433e-01 1.92800396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.28509989299997 meters 0.06792217460516473 Centerline is valid? [True, True] Translation: X:184.58, Y:27.54, Z:19.28 [[ 9.63459249e-01 -2.44813125e-01 -1.08686746e-01 1.84576197e+02] [ 2.43902696e-01 9.69554653e-01 -2.18002302e-02 2.75352588e+01] [ 1.10714723e-01 -5.50535703e-03 9.93836979e-01 1.92819568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.34509989299997 meters 0.058678243925617546 Centerline is valid? [True, True] Translation: X:184.63, Y:27.57, Z:19.29 [[ 9.61252056e-01 -2.53542831e-01 -1.08215147e-01 1.84630820e+02] [ 2.52695046e-01 9.67302456e-01 -2.17064868e-02 2.75650383e+01] [ 1.10180302e-01 -6.48002652e-03 9.93890492e-01 1.92926602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.40509989299997 meters 0.054779978072052614 Centerline is valid? [True, True] Translation: X:184.69, Y:27.59, Z:19.30 [[ 9.60027586e-01 -2.58201329e-01 -1.08069926e-01 1.84686286e+02] [ 2.57385057e-01 9.66065739e-01 -2.16776568e-02 2.75903192e+01] [ 1.09999852e-01 -7.00443544e-03 9.93906922e-01 1.93009439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46509989299997 meters 0.05411913225768303 Centerline is valid? [True, True] Translation: X:184.75, Y:27.60, Z:19.31 [[ 9.59180942e-01 -2.61256375e-01 -1.08245215e-01 1.84745765e+02] [ 2.60456704e-01 9.65241340e-01 -2.17131675e-02 2.76011242e+01] [ 1.10155460e-01 -7.36633548e-03 9.93887072e-01 1.93070821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52509989299998 meters 0.056069152050468286 Centerline is valid? [True, True] Translation: X:184.81, Y:27.60, Z:19.31 [[ 9.58614490e-01 -2.62888854e-01 -1.09305581e-01 1.84806094e+02] [ 2.62083967e-01 9.64795964e-01 -2.19258468e-02 2.76036939e+01] [ 1.11221645e-01 -7.62880597e-03 9.93766344e-01 1.93112477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58509989299998 meters 0.05645323079219854 Centerline is valid? [True, True] Translation: X:184.87, Y:27.62, Z:19.32 [[ 9.58101845e-01 -2.63989009e-01 -1.11133514e-01 1.84865316e+02] [ 2.63164204e-01 9.64493442e-01 -2.22935351e-02 2.76154626e+01] [ 1.13072794e-01 -7.88688566e-03 9.93555404e-01 1.93154873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64509989299995 meters 0.055000796391226514 Centerline is valid? [True, True] Translation: X:184.92, Y:27.64, Z:19.32 [[ 9.58145518e-01 -2.63422743e-01 -1.12096497e-01 1.84920959e+02] [ 2.62579618e-01 9.64648248e-01 -2.24878003e-02 2.76372040e+01] [ 1.14057488e-01 -7.88767047e-03 9.93442839e-01 1.93222029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70509989299995 meters 0.05731678784424471 Centerline is valid? [True, True] Translation: X:184.98, Y:27.64, Z:19.33 [[ 9.59147163e-01 -2.59479155e-01 -1.12726603e-01 1.84980261e+02] [ 2.58598200e-01 9.65719973e-01 -2.26252953e-02 2.76430687e+01] [ 1.14733125e-01 -7.44990901e-03 9.93368415e-01 1.93267049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76509989299996 meters 0.054097195706374474 Centerline is valid? [True, True] Translation: X:185.04, Y:27.67, Z:19.34 [[ 9.60299795e-01 -2.55654034e-01 -1.11648188e-01 1.85035987e+02] [ 2.54764132e-01 9.66743537e-01 -2.24091494e-02 2.76704206e+01] [ 1.13664154e-01 -6.92445213e-03 9.93495099e-01 1.93357987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.82509989299996 meters 0.05929970333589793 Centerline is valid? [True, True] Translation: X:185.10, Y:27.67, Z:19.34 [[ 9.62301819e-01 -2.48884350e-01 -1.09689515e-01 1.85096975e+02] [ 2.47981707e-01 9.68514529e-01 -2.20154291e-02 2.76701744e+01] [ 1.11715185e-01 -6.01550579e-03 9.93722059e-01 1.93405694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.88509989299996 meters 0.0576858689003848 Centerline is valid? [True, True] Translation: X:185.15, Y:27.69, Z:19.35 [[ 9.64195490e-01 -2.42345073e-01 -1.07684364e-01 1.85153993e+02] [ 2.41434494e-01 9.70176401e-01 -2.16133464e-02 2.76920930e+01] [ 1.09710716e-01 -5.15922878e-03 9.93950170e-01 1.93489630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.94509989299996 meters 0.05638429422081163 Centerline is valid? [True, True] Translation: X:185.21, Y:27.71, Z:19.36 [[ 9.65087083e-01 -2.38718501e-01 -1.07797953e-01 1.85211062e+02] [ 2.37783374e-01 9.71077188e-01 -2.16370355e-02 2.77107429e+01] [ 1.09845294e-01 -4.75093750e-03 9.93937342e-01 1.93551423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.00509989299997 meters 0.054330440803490455 Centerline is valid? [True, True] Translation: X:185.27, Y:27.74, Z:19.36 [[ 9.65614652e-01 -2.36551561e-01 -1.07850369e-01 1.85265482e+02] [ 2.35601896e-01 9.71608493e-01 -2.16490866e-02 2.77412894e+01] [ 1.09909460e-01 -4.50507631e-03 9.93931393e-01 1.93635641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.06509989299997 meters 0.054980964460795985 Centerline is valid? [True, True] Translation: X:185.32, Y:27.75, Z:19.37 [[ 9.64303407e-01 -2.39583704e-01 -1.12776720e-01 1.85324660e+02] [ 2.38565657e-01 9.70862454e-01 -2.26389578e-02 2.77498618e+01] [ 1.14914608e-01 -5.07382814e-03 9.93362416e-01 1.93659398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.12509989299997 meters 0.057350294373548494 Centerline is valid? [True, True] Translation: X:185.39, Y:27.75, Z:19.37 [[ 9.63477547e-01 -2.41123290e-01 -1.16492817e-01 1.85385211e+02] [ 2.40048030e-01 9.70479289e-01 -2.33857474e-02 2.77538959e+01] [ 1.18692714e-01 -5.43222867e-03 9.92916175e-01 1.93656462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.18509989299997 meters 0.056087128378405376 Centerline is valid? [True, True] Translation: X:185.44, Y:27.78, Z:19.37 [[ 9.63945529e-01 -2.39690766e-01 -1.15574022e-01 1.85441314e+02] [ 2.38622177e-01 9.70835287e-01 -2.32013522e-02 2.77760120e+01] [ 1.17764488e-01 -5.21368492e-03 9.93027866e-01 1.93743728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24509989299997 meters 0.057568742141613685 Centerline is valid? [True, True] Translation: X:185.50, Y:27.78, Z:19.38 [[ 9.65150554e-01 -2.35660928e-01 -1.13790756e-01 1.85499481e+02] [ 2.34597116e-01 9.71824230e-01 -2.28442425e-02 2.77849910e+01] [ 1.15968110e-01 -4.64684993e-03 9.93242067e-01 1.93804776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30509989299998 meters 0.05512893942928921 Centerline is valid? [True, True] Translation: X:185.56, Y:27.81, Z:19.39 [[ 9.67053689e-01 -2.28550727e-01 -1.12123717e-01 1.85555005e+02] [ 2.27470160e-01 9.73524837e-01 -2.25104167e-02 2.78096812e+01] [ 1.14299996e-01 -3.73601832e-03 9.93439255e-01 1.93905977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36509989299995 meters 0.05370735473021886 Centerline is valid? [True, True] Translation: X:185.61, Y:27.83, Z:19.40 [[ 9.68084439e-01 -2.24812620e-01 -1.10778175e-01 1.85611099e+02] [ 2.23733409e-01 9.74396582e-01 -2.22409880e-02 2.78323088e+01] [ 1.12941930e-01 -3.25362437e-03 9.93596263e-01 1.94006216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42509989299995 meters 0.05389677336994362 Centerline is valid? [True, True] Translation: X:185.67, Y:27.84, Z:19.41 [[ 9.68636173e-01 -2.23318886e-01 -1.08961642e-01 1.85668939e+02] [ 2.22265407e-01 9.74740738e-01 -2.18765352e-02 2.78412781e+01] [ 1.11094795e-01 -3.02800040e-03 9.93805201e-01 1.94082999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48509989299995 meters 0.055156873368449946 Centerline is valid? [True, True] Translation: X:185.73, Y:27.85, Z:19.41 [[ 9.68506744e-01 -2.24105322e-01 -1.08496505e-01 1.85727134e+02] [ 2.23065485e-01 9.74559993e-01 -2.17855348e-02 2.78485097e+01] [ 1.10618607e-01 -3.10238816e-03 9.93858088e-01 1.94145151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54509989299996 meters 0.05399029425275937 Centerline is valid? [True, True] Translation: X:185.78, Y:27.87, Z:19.42 [[ 9.67849323e-01 -2.26939910e-01 -1.08471037e-01 1.85784172e+02] [ 2.25917021e-01 9.73902777e-01 -2.17917463e-02 2.78653041e+01] [ 1.10585661e-01 -3.41432666e-03 9.93860732e-01 1.94224084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.60509989299996 meters 0.05522475352166861 Centerline is valid? [True, True] Translation: X:185.85, Y:27.87, Z:19.43 [[ 9.66929612e-01 -2.30399495e-01 -1.09376405e-01 1.85845240e+02] [ 2.29381360e-01 9.73088546e-01 -2.19743946e-02 2.78688772e+01] [ 1.11495817e-01 -3.84121585e-03 9.93757479e-01 1.94268567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.66509989299996 meters 0.05967762033961901 Centerline is valid? [True, True] Translation: X:185.91, Y:27.86, Z:19.43 [[ 9.65957109e-01 -2.34039229e-01 -1.10238394e-01 1.85907859e+02] [ 2.33028611e-01 9.72217663e-01 -2.21468190e-02 2.78647620e+01] [ 1.12358939e-01 -4.29582266e-03 9.93658399e-01 1.94293525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.72509989299996 meters 0.05652873708038044 Centerline is valid? [True, True] Translation: X:185.96, Y:27.88, Z:19.44 [[ 9.65282929e-01 -2.37140523e-01 -1.09513648e-01 1.85964615e+02] [ 2.36163019e-01 9.71464346e-01 -2.20012052e-02 2.78842498e+01] [ 1.11605982e-01 -4.62568603e-03 9.93741771e-01 1.94379465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.78509989299997 meters 0.05741118382455114 Centerline is valid? [True, True] Translation: X:186.02, Y:27.89, Z:19.45 [[ 9.64714230e-01 -2.39790824e-01 -1.08751159e-01 1.86024015e+02] [ 2.38843624e-01 9.70812226e-01 -2.18482356e-02 2.78933592e+01] [ 1.10815961e-01 -4.89721720e-03 9.93828879e-01 1.94450299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.84509989299997 meters 0.05843620274427377 Centerline is valid? [True, True] Translation: X:186.08, Y:27.91, Z:19.45 [[ 9.65131281e-01 -2.36071275e-01 -1.13101565e-01 1.86083043e+02] [ 2.35021210e-01 9.71724611e-01 -2.27224655e-02 2.79056952e+01] [ 1.15267695e-01 -4.65110446e-03 9.93323575e-01 1.94487042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.90509989299997 meters 0.05469984614099411 Centerline is valid? [True, True] Translation: X:186.14, Y:27.93, Z:19.46 [[ 9.65551233e-01 -2.34393570e-01 -1.13006505e-01 1.86137197e+02] [ 2.33333789e-01 9.72131618e-01 -2.27037652e-02 2.79348365e+01] [ 1.15178813e-01 -4.44658753e-03 9.93334822e-01 1.94590466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96509989299997 meters 0.05469984614099411 Centerline is valid? [True, True] Translation: X:186.19, Y:27.95, Z:19.47 [[ 9.65521872e-01 -2.34514818e-01 -1.13005816e-01 1.86193265e+02] [ 2.33455462e-01 9.72102325e-01 -2.27071946e-02 2.79460740e+01] [ 1.15178390e-01 -4.45753186e-03 9.93334822e-01 1.94650279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02509989299998 meters 0.05431585354522123 Centerline is valid? [True, True] Translation: X:186.25, Y:27.96, Z:19.47 [[ 9.65974058e-01 -2.32505609e-01 -1.13292812e-01 1.86251363e+02] [ 2.31425530e-01 9.72585920e-01 -2.27783451e-02 2.79594651e+01] [ 1.15483087e-01 -4.21555863e-03 9.93300501e-01 1.94710514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08509989299998 meters 0.054265687549326674 Centerline is valid? [True, True] Translation: X:186.31, Y:27.97, Z:19.48 [[ 9.66464225e-01 -2.30398528e-01 -1.13417018e-01 1.86309326e+02] [ 2.29301509e-01 9.73088270e-01 -2.28043381e-02 2.79726135e+01] [ 1.15618856e-01 -3.96711637e-03 9.93285730e-01 1.94771466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14509989299995 meters 0.055418448565346834 Centerline is valid? [True, True] Translation: X:186.37, Y:27.98, Z:19.48 [[ 9.66962333e-01 -2.28109296e-01 -1.13798050e-01 1.86368485e+02] [ 2.26988871e-01 9.73628486e-01 -2.28828140e-02 2.79771627e+01] [ 1.16016805e-01 -3.70407158e-03 9.93240344e-01 1.94796010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20509989299995 meters 0.05420287170901581 Centerline is valid? [True, True] Translation: X:186.42, Y:28.00, Z:19.49 [[ 9.67439720e-01 -2.26064041e-01 -1.13821952e-01 1.86423342e+02] [ 2.24928851e-01 9.74106305e-01 -2.28892815e-02 2.80041320e+01] [ 1.16049124e-01 -3.45784073e-03 9.93237456e-01 1.94909180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26509989299996 meters 0.054599244397105784 Centerline is valid? [True, True] Translation: X:186.48, Y:28.01, Z:19.50 [[ 9.68438143e-01 -2.21823677e-01 -1.13674180e-01 1.86481684e+02] [ 2.20662307e-01 9.75082346e-01 -2.28596856e-02 2.80142171e+01] [ 1.15912506e-01 -2.94541537e-03 9.93255061e-01 1.94954114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.32509989299996 meters 0.054317715936943296 Centerline is valid? [True, True] Translation: X:186.54, Y:28.03, Z:19.50 [[ 9.69265867e-01 -2.18883996e-01 -1.12309725e-01 1.86539243e+02] [ 2.17730605e-01 9.75747527e-01 -2.25864164e-02 2.80260155e+01] [ 1.14529741e-01 -2.56102190e-03 9.93416519e-01 1.95011095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.38509989299996 meters 0.0544213241565943 Centerline is valid? [True, True] Translation: X:186.60, Y:28.04, Z:19.51 [[ 9.69735664e-01 -2.17572614e-01 -1.10792148e-01 1.86595706e+02] [ 2.16441605e-01 9.76041255e-01 -2.22822997e-02 2.80411460e+01] [ 1.12985726e-01 -2.37208967e-03 9.93593780e-01 1.95094220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.44509989299996 meters 0.05460616793866459 Centerline is valid? [True, True] Translation: X:186.65, Y:28.05, Z:19.52 [[ 9.69214015e-01 -2.19764321e-01 -1.11030790e-01 1.86653911e+02] [ 2.18642355e-01 9.75549449e-01 -2.23336884e-02 2.80538348e+01] [ 1.13224174e-01 -2.62990970e-03 9.93565987e-01 1.95160981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.50509989299997 meters 0.054346718426954314 Centerline is valid? [True, True] Translation: X:186.71, Y:28.07, Z:19.52 [[ 9.66530303e-01 -2.30314339e-01 -1.13024238e-01 1.86712949e+02] [ 2.29223074e-01 9.73108340e-01 -2.27363333e-02 2.80657201e+01] [ 1.15221332e-01 -3.93240824e-03 9.93332060e-01 1.95224413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.56509989299997 meters 0.054840424797257196 Centerline is valid? [True, True] Translation: X:186.77, Y:28.07, Z:19.53 [[ 9.64838448e-01 -2.36528924e-01 -1.14633495e-01 1.86773029e+02] [ 2.35449895e-01 9.71612880e-01 -2.30599046e-02 2.80699624e+01] [ 1.16833714e-01 -4.74136167e-03 9.93140173e-01 1.95265063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.62509989299997 meters 0.054084716444870645 Centerline is valid? [True, True] Translation: X:186.83, Y:28.09, Z:19.53 [[ 9.63506742e-01 -2.41808395e-01 -1.14819245e-01 1.86830614e+02] [ 2.40763087e-01 9.70309049e-01 -2.30973134e-02 2.80874066e+01] [ 1.16995276e-01 -5.38981862e-03 9.93117846e-01 1.95348649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.68509989299997 meters 0.060260454531038274 Centerline is valid? [True, True] Translation: X:186.89, Y:28.08, Z:19.54 [[ 9.62508172e-01 -2.46009175e-01 -1.14269438e-01 1.86893449e+02] [ 2.45003222e-01 9.69249718e-01 -2.29870742e-02 2.80780231e+01] [ 1.16410651e-01 -5.87113372e-03 9.93183815e-01 1.95362478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74509989299997 meters 0.05641919960003359 Centerline is valid? [True, True] Translation: X:186.95, Y:28.10, Z:19.55 [[ 9.62396120e-01 -2.47071312e-01 -1.12913570e-01 1.86948403e+02] [ 2.46096142e-01 9.68979182e-01 -2.27163575e-02 2.81009069e+01] [ 1.15023459e-01 -5.92545956e-03 9.93345103e-01 1.95464984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80509989299998 meters 0.057943034800864913 Centerline is valid? [True, True] Translation: X:187.01, Y:28.11, Z:19.55 [[ 9.62364934e-01 -2.47576757e-01 -1.12069102e-01 1.87005960e+02] [ 2.46618164e-01 9.68850142e-01 -2.25584337e-02 2.81102217e+01] [ 1.14163109e-01 -5.92883067e-03 9.93444328e-01 1.95526436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86509989299995 meters 0.06116026742399958 Centerline is valid? [True, True] Translation: X:187.06, Y:28.11, Z:19.56 [[ 9.62241873e-01 -2.48294245e-01 -1.11537199e-01 1.87064473e+02] [ 2.47348162e-01 9.68666241e-01 -2.24633020e-02 2.81146013e+01] [ 1.13619828e-01 -5.97339155e-03 9.93506343e-01 1.95580537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92509989299995 meters 0.05744236519729921 Centerline is valid? [True, True] Translation: X:187.12, Y:28.14, Z:19.57 [[ 9.61903610e-01 -2.49696642e-01 -1.11323997e-01 1.87120996e+02] [ 2.48762346e-01 9.68304790e-01 -2.24305268e-02 2.81374347e+01] [ 1.13396387e-01 -6.11721407e-03 9.93530996e-01 1.95668634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98509989299995 meters 0.0595016288391634 Centerline is valid? [True, True] Translation: X:187.18, Y:28.15, Z:19.57 [[ 9.61723630e-01 -2.50320153e-01 -1.11478609e-01 1.87179260e+02] [ 2.49387394e-01 9.68143270e-01 -2.24618988e-02 2.81466347e+01] [ 1.13549931e-01 -6.19922091e-03 9.93512951e-01 1.95727980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04509989299996 meters 0.058167110896677095 Centerline is valid? [True, True] Translation: X:187.24, Y:28.16, Z:19.58 [[ 9.61857336e-01 -2.49932106e-01 -1.11195357e-01 1.87235659e+02] [ 2.49001135e-01 9.68243932e-01 -2.24081038e-02 2.81647522e+01] [ 1.13264734e-01 -6.13437102e-03 9.93545907e-01 1.95796734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.10509989299996 meters 0.062456315343665164 Centerline is valid? [True, True] Translation: X:187.30, Y:28.17, Z:19.58 [[ 9.62394322e-01 -2.47382762e-01 -1.12244986e-01 1.87296925e+02] [ 2.46415680e-01 9.68899992e-01 -2.26300089e-02 2.81683404e+01] [ 1.14352440e-01 -5.87993255e-03 9.93422843e-01 1.95821695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.16509989299996 meters 0.05520336629304747 Centerline is valid? [True, True] Translation: X:187.35, Y:28.21, Z:19.59 [[ 9.64078853e-01 -2.40312660e-01 -1.13144994e-01 1.87349227e+02] [ 2.39281468e-01 9.70682238e-01 -2.28116776e-02 2.82100763e+01] [ 1.15309771e-01 -5.08124437e-03 9.93316585e-01 1.95912856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.22509989299996 meters 0.05562343696384329 Centerline is valid? [True, True] Translation: X:187.41, Y:28.22, Z:19.60 [[ 9.66421075e-01 -2.30696983e-01 -1.13177773e-01 1.87407032e+02] [ 2.29599324e-01 9.73017696e-01 -2.28191532e-02 2.82245579e+01] [ 1.15388285e-01 -3.93262952e-03 9.93312679e-01 1.95958295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.28509989299997 meters 0.053207746200459496 Centerline is valid? [True, True] Translation: X:187.46, Y:28.25, Z:19.61 [[ 9.68296984e-01 -2.23627839e-01 -1.11317291e-01 1.87462715e+02] [ 2.22519388e-01 9.74669875e-01 -2.24445417e-02 2.82526707e+01] [ 1.13516835e-01 -3.03727351e-03 9.93531430e-01 1.96060001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.34509989299997 meters 0.05420605454634999 Centerline is valid? [True, True] Translation: X:187.52, Y:28.26, Z:19.61 [[ 9.69011844e-01 -2.20908055e-01 -1.10524557e-01 1.87520919e+02] [ 2.19797416e-01 9.75290912e-01 -2.22875250e-02 2.82605747e+01] [ 1.12717090e-01 -2.69613631e-03 9.93623464e-01 1.96108713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.40509989299997 meters 0.05457298958526937 Centerline is valid? [True, True] Translation: X:187.58, Y:28.27, Z:19.62 [[ 9.69279435e-01 -2.19854353e-01 -1.10278922e-01 1.87577701e+02] [ 2.18741569e-01 9.75529335e-01 -2.22405693e-02 2.82739808e+01] [ 1.12470009e-01 -2.56525807e-03 9.93651808e-01 1.96169914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46509989299997 meters 0.054230470233861794 Centerline is valid? [True, True] Translation: X:187.63, Y:28.29, Z:19.62 [[ 9.68933777e-01 -2.20573708e-01 -1.11868559e-01 1.87634324e+02] [ 2.19431878e-01 9.75366640e-01 -2.25736167e-02 2.82888147e+01] [ 1.14092007e-01 -2.67518839e-03 9.93466586e-01 1.96231610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52509989299998 meters 0.05405021536094289 Centerline is valid? [True, True] Translation: X:187.69, Y:28.30, Z:19.63 [[ 9.68401929e-01 -2.22650114e-01 -1.12359383e-01 1.87691994e+02] [ 2.21510808e-01 9.74894041e-01 -2.26841363e-02 2.83025961e+01] [ 1.14589119e-01 -2.92145647e-03 9.93408677e-01 1.96303421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58509989299998 meters 0.05408659848856162 Centerline is valid? [True, True] Translation: X:187.75, Y:28.32, Z:19.64 [[ 9.67459628e-01 -2.27216788e-01 -1.11330135e-01 1.87751081e+02] [ 2.26128204e-01 9.73838168e-01 -2.24779418e-02 2.83160922e+01] [ 1.13524900e-01 -3.42838221e-03 9.93529236e-01 1.96380063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64509989299995 meters 0.053362672449888286 Centerline is valid? [True, True] Translation: X:187.81, Y:28.33, Z:19.65 [[ 9.66443329e-01 -2.31792972e-01 -1.10721771e-01 1.87808851e+02] [ 2.30746164e-01 9.72757146e-01 -2.23549413e-02 2.83315629e+01] [ 1.12887112e-01 -3.94384008e-03 9.93599993e-01 1.96462583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70509989299995 meters 0.05347641784274479 Centerline is valid? [True, True] Translation: X:187.87, Y:28.34, Z:19.65 [[ 9.65648164e-01 -2.35381183e-01 -1.10087792e-01 1.87869014e+02] [ 2.34369556e-01 9.71893451e-01 -2.22267935e-02 2.83402754e+01] [ 1.12225373e-01 -4.33796457e-03 9.93673310e-01 1.96514884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76509989299996 meters 0.054993202935945375 Centerline is valid? [True, True] Translation: X:187.93, Y:28.34, Z:19.66 [[ 9.65211053e-01 -2.37313677e-01 -1.09771776e-01 1.87929613e+02] [ 2.36320306e-01 9.71422422e-01 -2.21628517e-02 2.83415221e+01] [ 1.11894312e-01 -4.54947019e-03 9.93709699e-01 1.96557660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.82509989299996 meters 0.05535742390647199 Centerline is valid? [True, True] Translation: X:187.99, Y:28.35, Z:19.66 [[ 9.64367020e-01 -2.40452254e-01 -1.10358340e-01 1.87989221e+02] [ 2.39468649e-01 9.70648397e-01 -2.22813034e-02 2.83516492e+01] [ 1.12476736e-01 -4.94000846e-03 9.93642079e-01 1.96623776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.88509989299996 meters 0.0524204502983109 Centerline is valid? [True, True] Translation: X:188.05, Y:28.37, Z:19.67 [[ 9.63239210e-01 -2.44493859e-01 -1.11323747e-01 1.88046329e+02] [ 2.43519733e-01 9.69635472e-01 -2.24764595e-02 2.83732409e+01] [ 1.13438810e-01 -5.45932203e-03 9.93529986e-01 1.96694137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.94509989299996 meters 0.05292927647358604 Centerline is valid? [True, True] Translation: X:188.11, Y:28.38, Z:19.68 [[ 9.62483829e-01 -2.47272721e-01 -1.11718753e-01 1.88105081e+02] [ 2.46310327e-01 9.68928515e-01 -2.25556061e-02 2.83829049e+01] [ 1.13824872e-01 -5.80807642e-03 9.93483852e-01 1.96751729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.00509989299997 meters 0.054146598985888625 Centerline is valid? [True, True] Translation: X:188.17, Y:28.39, Z:19.68 [[ 9.61808034e-01 -2.49936611e-01 -1.11610918e-01 1.88165313e+02] [ 2.48993818e-01 9.68242882e-01 -2.25344407e-02 2.83905203e+01] [ 1.13698659e-01 -6.11662247e-03 9.93496453e-01 1.96812341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.06509989299997 meters 0.05402099326514654 Centerline is valid? [True, True] Translation: X:188.22, Y:28.40, Z:19.69 [[ 9.60939514e-01 -2.52976723e-01 -1.12240940e-01 1.88224319e+02] [ 2.52043963e-01 9.67450434e-01 -2.26605169e-02 2.84039036e+01] [ 1.14320129e-01 -6.51426523e-03 9.93422605e-01 1.96883296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.12509989299997 meters 0.05929800779952456 Centerline is valid? [True, True] Translation: X:188.29, Y:28.40, Z:19.69 [[ 9.60511650e-01 -2.54737732e-01 -1.11919869e-01 1.88286931e+02] [ 2.53822375e-01 9.66986927e-01 -2.25939179e-02 2.83964477e+01] [ 1.13980574e-01 -6.70604574e-03 9.93460345e-01 1.96925224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.18509989299997 meters 0.055650915388074276 Centerline is valid? [True, True] Translation: X:188.35, Y:28.42, Z:19.70 [[ 9.60473389e-01 -2.55105299e-01 -1.11409858e-01 1.88345107e+02] [ 2.54200912e-01 9.66889925e-01 -2.24893179e-02 2.84206257e+01] [ 1.13458214e-01 -6.72009620e-03 9.93520042e-01 1.97021686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24509989299997 meters 0.06354340398517623 Centerline is valid? [True, True] Translation: X:188.41, Y:28.41, Z:19.71 [[ 9.60559903e-01 -2.54679380e-01 -1.11638191e-01 1.88407651e+02] [ 2.53768846e-01 9.67002427e-01 -2.25317206e-02 2.84121207e+01] [ 1.13692766e-01 -6.68722740e-03 9.93493450e-01 1.97053946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30509989299998 meters 0.05261015969675839 Centerline is valid? [True, True] Translation: X:188.46, Y:28.46, Z:19.72 [[ 9.60894605e-01 -2.53937883e-01 -1.10440524e-01 1.88458739e+02] [ 2.53041776e-01 9.67198510e-01 -2.22913142e-02 2.84637038e+01] [ 1.12478519e-01 -6.52646284e-03 9.93632723e-01 1.97183321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36509989299995 meters 0.052831936172393054 Centerline is valid? [True, True] Translation: X:188.52, Y:28.47, Z:19.72 [[ 9.61184307e-01 -2.52694288e-01 -1.10771495e-01 1.88518808e+02] [ 2.51784910e-01 9.67524986e-01 -2.23553314e-02 2.84734423e+01] [ 1.12823254e-01 -6.40299726e-03 9.93594442e-01 1.97246330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42509989299995 meters 0.053710430964215655 Centerline is valid? [True, True] Translation: X:188.58, Y:28.48, Z:19.73 [[ 9.61234681e-01 -2.52330684e-01 -1.11162553e-01 1.88579207e+02] [ 2.51412939e-01 9.67619982e-01 -2.24299930e-02 2.84803167e+01] [ 1.13222883e-01 -6.38721691e-03 9.93549084e-01 1.97302882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48509989299995 meters 0.057205689946603404 Centerline is valid? [True, True] Translation: X:188.64, Y:28.48, Z:19.73 [[ 9.60921944e-01 -2.53322137e-01 -1.11610540e-01 1.88640175e+02] [ 2.52404383e-01 9.67359892e-01 -2.25136889e-02 2.84813769e+01] [ 1.13670776e-01 -6.53709182e-03 9.93496966e-01 1.97343341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54509989299996 meters 0.053451267523251134 Centerline is valid? [True, True] Translation: X:188.70, Y:28.51, Z:19.74 [[ 9.60559863e-01 -2.54684945e-01 -1.11625839e-01 1.88696073e+02] [ 2.53776092e-01 9.67000877e-01 -2.25166237e-02 2.85086458e+01] [ 1.13676929e-01 -6.69940405e-03 9.93495181e-01 1.97433723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.60509989299996 meters 0.056504870151056236 Centerline is valid? [True, True] Translation: X:188.76, Y:28.51, Z:19.75 [[ 9.60147590e-01 -2.56192512e-01 -1.11722882e-01 1.88757663e+02] [ 2.55292418e-01 9.66601254e-01 -2.25343526e-02 2.85072401e+01] [ 1.13764610e-01 -6.88570025e-03 9.93483870e-01 1.97477996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.66509989299996 meters 0.05812924466143391 Centerline is valid? [True, True] Translation: X:188.82, Y:28.52, Z:19.75 [[ 9.60117007e-01 -2.56552260e-01 -1.11158760e-01 1.88818929e+02] [ 2.55663958e-01 9.66505762e-01 -2.24176912e-02 2.85151214e+01] [ 1.13186891e-01 -6.89568188e-03 9.93549786e-01 1.97535842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.72509989299996 meters 0.056527996973397235 Centerline is valid? [True, True] Translation: X:188.88, Y:28.53, Z:19.76 [[ 9.60741679e-01 -2.54849870e-01 -1.09667543e-01 1.88876355e+02] [ 2.53974575e-01 9.66958061e-01 -2.21138967e-02 2.85334277e+01] [ 1.11679639e-01 -6.60702544e-03 9.93722298e-01 1.97615486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.78509989299997 meters 0.05394223101634391 Centerline is valid? [True, True] Translation: X:188.93, Y:28.56, Z:19.77 [[ 9.61677007e-01 -2.51999938e-01 -1.08043347e-01 1.88932404e+02] [ 2.51132516e-01 9.67707506e-01 -2.17863025e-02 2.85583682e+01] [ 1.10044505e-01 -6.18181146e-03 9.93907436e-01 1.97703760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.84509989299997 meters 0.06196046961316524 Centerline is valid? [True, True] Translation: X:189.00, Y:28.54, Z:19.77 [[ 9.62319095e-01 -2.49652837e-01 -1.07774859e-01 1.88996610e+02] [ 2.48775158e-01 9.68317439e-01 -2.17315209e-02 2.85431991e+01] [ 1.09785612e-01 -5.89905011e-03 9.93937785e-01 1.97737058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.90509989299997 meters 0.0562500349714419 Centerline is valid? [True, True] Translation: X:189.05, Y:28.57, Z:19.78 [[ 9.63025174e-01 -2.47458068e-01 -1.06522391e-01 1.89052038e+02] [ 2.46587328e-01 9.68882523e-01 -2.14789807e-02 2.85704057e+01] [ 1.08522830e-01 -5.58227266e-03 9.94078283e-01 1.97820681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96509989299997 meters 0.055477117129588444 Centerline is valid? [True, True] Translation: X:189.11, Y:28.59, Z:19.79 [[ 9.63186523e-01 -2.47088161e-01 -1.05920550e-01 1.89111376e+02] [ 2.46225032e-01 9.68977343e-01 -2.13574969e-02 2.85867280e+01] [ 1.07911798e-01 -5.50903767e-03 9.94145208e-01 1.97888496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02509989299998 meters 0.0549011455108092 Centerline is valid? [True, True] Translation: X:189.17, Y:28.60, Z:19.80 [[ 9.63019560e-01 -2.47990526e-01 -1.05328182e-01 1.89172658e+02] [ 2.47142740e-01 9.68746379e-01 -2.12348788e-02 2.85965585e+01] [ 1.07302343e-01 -5.58149186e-03 9.94210769e-01 1.97951248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08509989299998 meters 0.05526188105900046 Centerline is valid? [True, True] Translation: X:189.23, Y:28.61, Z:19.80 [[ 9.62518009e-01 -2.49824658e-01 -1.05578038e-01 1.89232868e+02] [ 2.48984141e-01 9.68273705e-01 -2.12821501e-02 2.86050510e+01] [ 1.07545244e-01 -5.80280425e-03 9.94183257e-01 1.98003944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14509989299995 meters 0.05980697184258022 Centerline is valid? [True, True] Translation: X:189.30, Y:28.60, Z:19.81 [[ 9.62309838e-01 -2.50541888e-01 -1.05775889e-01 1.89295128e+02] [ 2.49702545e-01 9.68087816e-01 -2.13218147e-02 2.86035082e+01] [ 1.07742357e-01 -5.89431655e-03 9.94161376e-01 1.98053595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20509989299995 meters 0.05223699524370298 Centerline is valid? [True, True] Translation: X:189.35, Y:28.65, Z:19.81 [[ 9.62083506e-01 -2.51767831e-01 -1.04920380e-01 1.89348894e+02] [ 2.50949353e-01 9.67769168e-01 -2.11485268e-02 2.86455708e+01] [ 1.06863228e-01 -5.98305268e-03 9.94255728e-01 1.98136910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26509989299996 meters 0.055815261603384694 Centerline is valid? [True, True] Translation: X:189.41, Y:28.64, Z:19.82 [[ 9.62009370e-01 -2.51555367e-01 -1.06103104e-01 1.89413571e+02] [ 2.50717380e-01 9.67824122e-01 -2.13837579e-02 2.86373213e+01] [ 1.08068342e-01 -6.03051661e-03 9.94125176e-01 1.98185769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.32509989299996 meters 0.05700688928330467 Centerline is valid? [True, True] Translation: X:189.47, Y:28.64, Z:19.82 [[ 9.62424163e-01 -2.50002589e-01 -1.06011490e-01 1.89473922e+02] [ 2.49158104e-01 9.68227412e-01 -2.13522160e-02 2.86431341e+01] [ 1.07981340e-01 -5.86373335e-03 9.94135628e-01 1.98246282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.38509989299996 meters 0.05762400251646254 Centerline is valid? [True, True] Translation: X:189.53, Y:28.65, Z:19.83 [[ 9.63658121e-01 -2.46052024e-01 -1.04026092e-01 1.89533519e+02] [ 2.45216065e-01 9.69242030e-01 -2.09515817e-02 2.86530812e+01] [ 1.05981640e-01 -5.31870710e-03 9.94353862e-01 1.98321728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.44509989299996 meters 0.055397667621748664 Centerline is valid? [True, True] Translation: X:189.59, Y:28.67, Z:19.84 [[ 9.65379281e-01 -2.40157093e-01 -1.01820501e-01 1.89591637e+02] [ 2.39323546e-01 9.70723277e-01 -2.05075345e-02 2.86712280e+01] [ 1.03764560e-01 -4.57049451e-03 9.94591387e-01 1.98395190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.50509989299997 meters 0.05433679578399537 Centerline is valid? [True, True] Translation: X:189.65, Y:28.69, Z:19.85 [[ 9.66555328e-01 -2.35744956e-01 -1.00970853e-01 1.89649391e+02] [ 2.34901340e-01 9.71806469e-01 -2.03358756e-02 2.86885597e+01] [ 1.02918208e-01 -4.06243971e-03 9.94681526e-01 1.98452404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.56509989299997 meters 0.05441278407023118 Centerline is valid? [True, True] Translation: X:189.71, Y:28.70, Z:19.85 [[ 9.67577708e-01 -2.31799200e-01 -1.00312062e-01 1.89707993e+02] [ 2.30945511e-01 9.72756923e-01 -2.02024389e-02 2.86969722e+01] [ 1.02262162e-01 -3.61919102e-03 9.94750899e-01 1.98527630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.62509989299997 meters 0.05526599047576182 Centerline is valid? [True, True] Translation: X:189.77, Y:28.71, Z:19.86 [[ 9.67291328e-01 -2.31233957e-01 -1.04299301e-01 1.89768333e+02] [ 2.30307578e-01 9.72891132e-01 -2.10063043e-02 2.87067457e+01] [ 1.06329236e-01 -3.70170334e-03 9.94324088e-01 1.98559314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.68509989299997 meters 0.053970563882111536 Centerline is valid? [True, True] Translation: X:189.83, Y:28.72, Z:19.86 [[ 9.66393529e-01 -2.32953787e-01 -1.08701796e-01 1.89827501e+02] [ 2.31958518e-01 9.72479333e-01 -2.18904576e-02 2.87214691e+01] [ 1.10809715e-01 -4.05951088e-03 9.93833350e-01 1.98580692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74509989299997 meters 0.05415134908558315 Centerline is valid? [True, True] Translation: X:189.89, Y:28.73, Z:19.86 [[ 9.66361175e-01 -2.33651561e-01 -1.07485015e-01 1.89888597e+02] [ 2.32682892e-01 9.72311776e-01 -2.16444253e-02 2.87291245e+01] [ 1.09566199e-01 -4.09359182e-03 9.93971071e-01 1.98646643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80509989299998 meters 0.056571322986238765 Centerline is valid? [True, True] Translation: X:189.95, Y:28.73, Z:19.87 [[ 9.67038546e-01 -2.31513935e-01 -1.06008249e-01 1.89947788e+02] [ 2.30559295e-01 9.72824163e-01 -2.13438544e-02 2.87314786e+01] [ 1.08068785e-01 -3.80085721e-03 9.94136153e-01 1.98721213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86509989299995 meters 0.05632150226200634 Centerline is valid? [True, True] Translation: X:190.01, Y:28.74, Z:19.88 [[ 9.67624472e-01 -2.29668481e-01 -1.04667428e-01 1.90005332e+02] [ 2.28726940e-01 9.73262456e-01 -2.10755620e-02 2.87445411e+01] [ 1.06709270e-01 -3.54703099e-03 9.94283938e-01 1.98801586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92509989299995 meters 0.05552646738559656 Centerline is valid? [True, True] Translation: X:190.06, Y:28.76, Z:19.89 [[ 9.67770217e-01 -2.30347776e-01 -1.01787570e-01 1.90062120e+02] [ 2.29461000e-01 9.73102006e-01 -2.04972072e-02 2.87556944e+01] [ 1.03771174e-01 -3.51969090e-03 9.94594970e-01 1.98895001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98509989299995 meters 0.05698034000474579 Centerline is valid? [True, True] Translation: X:190.12, Y:28.76, Z:19.90 [[ 9.66831140e-01 -2.34118670e-01 -1.02107759e-01 1.90122299e+02] [ 2.33246050e-01 9.72200101e-01 -2.05728797e-02 2.87615450e+01] [ 1.04085669e-01 -3.92573077e-03 9.94560587e-01 1.98959379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04509989299996 meters 0.05649705035753547 Centerline is valid? [True, True] Translation: X:190.18, Y:28.77, Z:19.90 [[ 9.65934894e-01 -2.37180855e-01 -1.03513396e-01 1.90181796e+02] [ 2.36301501e-01 9.71455930e-01 -2.08560754e-02 2.87718639e+01] [ 1.05505365e-01 -4.31475999e-03 9.94409373e-01 1.99011375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.10509989299996 meters 0.06101024434496467 Centerline is valid? [True, True] Translation: X:190.24, Y:28.77, Z:19.91 [[ 9.65126560e-01 -2.40315798e-01 -1.03822156e-01 1.90243549e+02] [ 2.39449217e-01 9.70683520e-01 -2.09183204e-02 2.87679179e+01] [ 1.05805458e-01 -4.67130728e-03 9.94375877e-01 1.99057750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.16509989299996 meters 0.05615749609091473 Centerline is valid? [True, True] Translation: X:190.30, Y:28.79, Z:19.91 [[ 9.65186320e-01 -2.40503883e-01 -1.02826312e-01 1.90298691e+02] [ 2.39654915e-01 9.70637056e-01 -2.07178049e-02 2.87930268e+01] [ 1.04789741e-01 -4.64628921e-03 9.94483545e-01 1.99123595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.22509989299996 meters 0.05632076233978947 Centerline is valid? [True, True] Translation: X:190.36, Y:28.81, Z:19.92 [[ 9.65394117e-01 -2.40025723e-01 -1.01989464e-01 1.90355929e+02] [ 2.39187714e-01 9.70755842e-01 -2.05507585e-02 2.88053758e+01] [ 1.03939579e-01 -4.55504529e-03 9.94573183e-01 1.99188407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.28509989299997 meters 0.05489613144563475 Centerline is valid? [True, True] Translation: X:190.41, Y:28.82, Z:19.93 [[ 9.66919750e-01 -2.34566402e-01 -1.00223747e-01 1.90413774e+02] [ 2.33726830e-01 9.72092326e-01 -2.02059008e-02 2.88222407e+01] [ 1.02166360e-01 -3.88749399e-03 9.94759731e-01 1.99257860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.34509989299997 meters 0.055222958322875194 Centerline is valid? [True, True] Translation: X:190.47, Y:28.83, Z:19.93 [[ 9.68049639e-01 -2.30401492e-01 -9.89699360e-02 1.90472183e+02] [ 2.29561111e-01 9.73089701e-01 -1.99532116e-02 2.88326346e+01] [ 1.00903875e-01 -3.40394918e-03 9.94890356e-01 1.99320826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.40509989299997 meters 0.05462005644834145 Centerline is valid? [True, True] Translation: X:190.53, Y:28.85, Z:19.93 [[ 9.69785134e-01 -2.19884362e-01 -1.05677154e-01 1.90530694e+02] [ 2.18863422e-01 9.75522829e-01 -2.13075516e-02 2.88488945e+01] [ 1.07775673e-01 -2.46511678e-03 9.94172182e-01 1.99340884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46509989299997 meters 0.054800998196052206 Centerline is valid? [True, True] Translation: X:190.59, Y:28.86, Z:19.94 [[ 9.70195046e-01 -2.18324007e-01 -1.05148472e-01 1.90588680e+02] [ 2.17304169e-01 9.75873674e-01 -2.12007160e-02 2.88642798e+01] [ 1.07240251e-01 -2.28037177e-03 9.94230521e-01 1.99406164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52509989299998 meters 0.054312421101681094 Centerline is valid? [True, True] Translation: X:190.65, Y:28.87, Z:19.95 [[ 9.70581953e-01 -2.16656964e-01 -1.05025861e-01 1.90645971e+02] [ 2.15629672e-01 9.76245553e-01 -2.11769730e-02 2.88718365e+01] [ 1.07119169e-01 -2.09270421e-03 9.94243986e-01 1.99460449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58509989299995 meters 0.05454443249815567 Centerline is valid? [True, True] Translation: X:190.70, Y:28.88, Z:19.95 [[ 9.71012413e-01 -2.14900737e-01 -1.04654516e-01 1.90703363e+02] [ 2.13870079e-01 9.76634071e-01 -2.11063980e-02 2.88832374e+01] [ 1.06744947e-01 -1.88789525e-03 9.94284643e-01 1.99521103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64509989299995 meters 0.05481221033301704 Centerline is valid? [True, True] Translation: X:190.76, Y:28.90, Z:19.96 [[ 9.71343205e-01 -2.13578099e-01 -1.04291769e-01 1.90761013e+02] [ 2.12546645e-01 9.76924455e-01 -2.10364425e-02 2.88955913e+01] [ 1.06378103e-01 -1.73326007e-03 9.94324240e-01 1.99581736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70509989299995 meters 0.05481221033301704 Centerline is valid? [True, True] Translation: X:190.82, Y:28.91, Z:19.96 [[ 9.71317274e-01 -2.13696180e-01 -1.04291400e-01 1.90817027e+02] [ 2.12665210e-01 9.76898613e-01 -2.10382687e-02 2.89068901e+01] [ 1.06377922e-01 -1.74431865e-03 9.94324240e-01 1.99641505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76509989299996 meters 0.054990682770208126 Centerline is valid? [True, True] Translation: X:190.87, Y:28.92, Z:19.97 [[ 9.71584259e-01 -2.12547382e-01 -1.04151993e-01 1.90873796e+02] [ 2.11511182e-01 9.77149446e-01 -2.10233224e-02 2.89192107e+01] [ 1.06240514e-01 -1.60338199e-03 9.94339169e-01 1.99704675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.82509989299996 meters 0.05441712508106305 Centerline is valid? [True, True] Translation: X:190.93, Y:28.93, Z:19.98 [[ 9.71825226e-01 -2.11643380e-01 -1.03743965e-01 1.90931491e+02] [ 2.10608946e-01 9.77345828e-01 -2.09524281e-02 2.89312526e+01] [ 1.05828174e-01 -1.48730882e-03 9.94383319e-01 1.99772989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.88509989299996 meters 0.05498321644978065 Centerline is valid? [True, True] Translation: X:190.99, Y:28.94, Z:19.98 [[ 9.71417179e-01 -2.13545833e-01 -1.03666975e-01 1.90988340e+02] [ 2.12522609e-01 9.76931597e-01 -2.09474457e-02 2.89425193e+01] [ 1.05748783e-01 -1.68286742e-03 9.94391453e-01 1.99841808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.94509989299996 meters 0.05552420214066941 Centerline is valid? [True, True] Translation: X:191.05, Y:28.94, Z:19.99 [[ 9.68960099e-01 -2.24040157e-01 -1.04509975e-01 1.91049505e+02] [ 2.23060433e-01 9.74575759e-01 -2.11218756e-02 2.89421321e+01] [ 1.06585036e-01 -2.84578545e-03 9.94299518e-01 1.99899413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.00509989299997 meters 0.05681382721761084 Centerline is valid? [True, True] Translation: X:191.11, Y:28.95, Z:20.00 [[ 9.66842619e-01 -2.32525397e-01 -1.05580724e-01 1.91110024e+02] [ 2.31575724e-01 9.72582827e-01 -2.13384398e-02 2.89462961e+01] [ 1.07647728e-01 -3.81901959e-03 9.94181765e-01 1.99953529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.06509989299997 meters 0.0567517885606528 Centerline is valid? [True, True] Translation: X:191.17, Y:28.96, Z:20.00 [[ 9.65610627e-01 -2.37863284e-01 -1.04962729e-01 1.91168792e+02] [ 2.36956028e-01 9.71288737e-01 -2.12139138e-02 2.89550596e+01] [ 1.06995128e-01 -4.38717074e-03 9.94249866e-01 2.00029709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.12509989299997 meters 0.05609181253308398 Centerline is valid? [True, True] Translation: X:191.23, Y:28.97, Z:20.01 [[ 9.65246993e-01 -2.39803847e-01 -1.03886269e-01 1.91226772e+02] [ 2.38926249e-01 9.70810680e-01 -2.09969272e-02 2.89679795e+01] [ 1.05889044e-01 -4.55393581e-03 9.94367524e-01 2.00106099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.18509989299997 meters 0.05705767353932353 Centerline is valid? [True, True] Translation: X:191.28, Y:28.97, Z:20.02 [[ 9.64954790e-01 -2.40966719e-01 -1.03910021e-01 1.91284399e+02] [ 2.40095336e-01 9.70522087e-01 -2.10025813e-02 2.89749032e+01] [ 1.05907894e-01 -4.68177005e-03 9.94364922e-01 2.00167621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24509989299997 meters 0.0640123194008359 Centerline is valid? [True, True] Translation: X:191.35, Y:28.97, Z:20.02 [[ 9.64648015e-01 -2.42049131e-01 -1.04242150e-01 1.91345963e+02] [ 2.41178101e-01 9.70252057e-01 -2.10729650e-02 2.89684333e+01] [ 1.06241853e-01 -4.81292993e-03 9.94328670e-01 2.00219072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30509989299998 meters 0.05980865320292838 Centerline is valid? [True, True] Translation: X:191.40, Y:28.99, Z:20.03 [[ 9.64314741e-01 -2.42954307e-01 -1.05215420e-01 1.91402440e+02] [ 2.42071904e-01 9.70025075e-01 -2.12731592e-02 2.89892981e+01] [ 1.07230002e-01 -4.95567613e-03 9.94221891e-01 2.00270308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36509989299995 meters 0.055209418601780386 Centerline is valid? [True, True] Translation: X:191.46, Y:29.02, Z:20.03 [[ 9.64478948e-01 -2.42150820e-01 -1.05562014e-01 1.91458147e+02] [ 2.41257717e-01 9.70226339e-01 -2.13439894e-02 2.90171910e+01] [ 1.07587511e-01 -4.88182209e-03 9.94183633e-01 2.00335504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42509989299995 meters 0.05596164233697866 Centerline is valid? [True, True] Translation: X:191.52, Y:29.03, Z:20.04 [[ 9.64941438e-01 -2.39956608e-01 -1.06343066e-01 1.91516019e+02] [ 2.39037043e-01 9.70772369e-01 -2.15011399e-02 2.90263978e+01] [ 1.08394251e-01 -4.67259116e-03 9.94097004e-01 2.00393052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48509989299995 meters 0.05466714187709983 Centerline is valid? [True, True] Translation: X:191.57, Y:29.05, Z:20.05 [[ 9.66149468e-01 -2.34531276e-01 -1.07472254e-01 1.91573919e+02] [ 2.33558418e-01 9.72099905e-01 -2.17310955e-02 2.90452287e+01] [ 1.09570389e-01 -4.10556313e-03 9.93970560e-01 2.00452529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54509989299996 meters 0.05555587770889293 Centerline is valid? [True, True] Translation: X:191.63, Y:29.06, Z:20.05 [[ 9.67554943e-01 -2.28711919e-01 -1.07369880e-01 1.91632222e+02] [ 2.27705266e-01 9.73488059e-01 -2.17096904e-02 2.90555044e+01] [ 1.09488561e-01 -3.44336872e-03 9.93982092e-01 2.00505553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.60509989299996 meters 0.05579593970817579 Centerline is valid? [True, True] Translation: X:191.69, Y:29.07, Z:20.06 [[ 9.68604548e-01 -2.24225857e-01 -1.07368500e-01 1.91690691e+02] [ 2.23191709e-01 9.74532784e-01 -2.17097603e-02 2.90691755e+01] [ 1.09502013e-01 -2.93558636e-03 9.93982239e-01 2.00569415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.66509989299996 meters 0.05582946494718742 Centerline is valid? [True, True] Translation: X:191.75, Y:29.08, Z:20.06 [[ 9.69063751e-01 -2.22116060e-01 -1.07609956e-01 1.91748467e+02] [ 2.21064265e-01 9.75016486e-01 -2.17587233e-02 2.90824525e+01] [ 1.09754443e-01 -2.70312588e-03 9.93955057e-01 2.00630945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.72509989299996 meters 0.05497301076743589 Centerline is valid? [True, True] Translation: X:191.80, Y:29.10, Z:20.07 [[ 9.69241496e-01 -2.21248376e-01 -1.07796469e-01 1.91804248e+02] [ 2.20187327e-01 9.75214006e-01 -2.17986859e-02 2.90989920e+01] [ 1.09947550e-01 -2.60722540e-03 9.93933971e-01 2.00705924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.78509989299997 meters 0.05597475346936192 Centerline is valid? [True, True] Translation: X:191.86, Y:29.10, Z:20.08 [[ 9.69122135e-01 -2.21729384e-01 -1.07881270e-01 1.91863255e+02] [ 2.20668314e-01 9.75104633e-01 -2.18277211e-02 2.91026687e+01] [ 1.10035373e-01 -2.65225028e-03 9.93924133e-01 2.00752756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.84509989299997 meters 0.05504284048122153 Centerline is valid? [True, True] Translation: X:191.92, Y:29.12, Z:20.08 [[ 9.68775990e-01 -2.23628245e-01 -1.07067689e-01 1.91919972e+02] [ 2.22593561e-01 9.74670389e-01 -2.16734940e-02 2.91194145e+01] [ 1.09202512e-01 -2.83581770e-03 9.94015478e-01 2.00839290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.90509989299997 meters 0.055104287335570684 Centerline is valid? [True, True] Translation: X:191.98, Y:29.13, Z:20.09 [[ 9.68464746e-01 -2.24852447e-01 -1.07319205e-01 1.91977325e+02] [ 2.23820129e-01 9.74388272e-01 -2.17266151e-02 2.91319640e+01] [ 1.09455858e-01 -2.97873760e-03 9.93987194e-01 2.00901830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96509989299997 meters 0.056873292015614495 Centerline is valid? [True, True] Translation: X:192.04, Y:29.14, Z:20.09 [[ 9.68160059e-01 -2.26267874e-01 -1.07093184e-01 1.92037175e+02] [ 2.25247296e-01 9.74060115e-01 -2.16921022e-02 2.91357048e+01] [ 1.09223425e-01 -3.12102321e-03 9.94012325e-01 2.00939395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02509989299998 meters 0.05592245750595372 Centerline is valid? [True, True] Translation: X:192.09, Y:29.15, Z:20.10 [[ 9.67975348e-01 -2.26810376e-01 -1.07614027e-01 1.92092981e+02] [ 2.25783009e-01 9.73933692e-01 -2.17990192e-02 2.91538817e+01] [ 1.09753170e-01 -3.19650560e-03 9.93953733e-01 2.01004586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08509989299995 meters 0.055253188234799966 Centerline is valid? [True, True] Translation: X:192.15, Y:29.17, Z:20.11 [[ 9.67899730e-01 -2.27145297e-01 -1.07587767e-01 1.92149679e+02] [ 2.26119195e-01 9.73855550e-01 -2.18054608e-02 2.91663741e+01] [ 1.09727952e-01 -3.22215955e-03 9.93956435e-01 2.01065828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14509989299995 meters 0.055815719554739324 Centerline is valid? [True, True] Translation: X:192.21, Y:29.18, Z:20.11 [[ 9.67955812e-01 -2.27278578e-01 -1.06798849e-01 1.92205731e+02] [ 2.26267108e-01 9.73824518e-01 -2.16564933e-02 2.91783591e+01] [ 1.08925395e-01 -3.20253819e-03 9.94044769e-01 2.01124634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20509989299995 meters 0.05513092867046345 Centerline is valid? [True, True] Translation: X:192.26, Y:29.19, Z:20.12 [[ 9.68044075e-01 -2.27087805e-01 -1.06403933e-01 1.92262557e+02] [ 2.26081214e-01 9.73869174e-01 -2.15897381e-02 2.91908284e+01] [ 1.08526277e-01 -3.15611245e-03 9.94088571e-01 2.01188131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26509989299996 meters 0.05693164418190243 Centerline is valid? [True, True] Translation: X:192.32, Y:29.20, Z:20.12 [[ 9.68286974e-01 -2.25987798e-01 -1.06535683e-01 1.92321122e+02] [ 2.24970813e-01 9.74125435e-01 -2.16280044e-02 2.91992129e+01] [ 1.08666784e-01 -3.02530424e-03 9.94073628e-01 2.01235092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.32509989299996 meters 0.055995807416378024 Centerline is valid? [True, True] Translation: X:192.38, Y:29.22, Z:20.13 [[ 9.68176889e-01 -2.25703651e-01 -1.08126657e-01 1.92376659e+02] [ 2.24653537e-01 9.74191288e-01 -2.19572912e-02 2.92156945e+01] [ 1.10291888e-01 -3.03249407e-03 9.93894614e-01 2.01287772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.38509989299996 meters 0.05610873767832031 Centerline is valid? [True, True] Translation: X:192.43, Y:29.23, Z:20.13 [[ 9.68257500e-01 -2.25399440e-01 -1.08039370e-01 1.92434036e+02] [ 2.24347645e-01 9.74261874e-01 -2.19530291e-02 2.92289705e+01] [ 1.10206839e-01 -2.98219309e-03 9.93904200e-01 2.01346992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.44509989299996 meters 0.05510482485167366 Centerline is valid? [True, True] Translation: X:192.49, Y:29.25, Z:20.14 [[ 9.68232032e-01 -2.25622661e-01 -1.07801425e-01 1.92489077e+02] [ 2.24575562e-01 9.74210182e-01 -2.19165981e-02 2.92451708e+01] [ 1.09966127e-01 -2.98921316e-03 9.93930840e-01 2.01421120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.50509989299997 meters 0.05406509575223782 Centerline is valid? [True, True] Translation: X:192.55, Y:29.26, Z:20.15 [[ 9.68268056e-01 -2.25424485e-01 -1.07892419e-01 1.92546432e+02] [ 2.24372966e-01 9.74256157e-01 -2.19479463e-02 2.92647984e+01] [ 1.10062458e-01 -2.95664675e-03 9.93920275e-01 2.01491017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.56509989299997 meters 0.05536409188038839 Centerline is valid? [True, True] Translation: X:192.60, Y:29.27, Z:20.15 [[ 9.68247164e-01 -2.25379040e-01 -1.08174480e-01 1.92604196e+02] [ 2.24321693e-01 9.74266664e-01 -2.20055801e-02 2.92694068e+01] [ 1.10350387e-01 -2.95904205e-03 9.93888342e-01 2.01524259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.62509989299997 meters 0.05401198106577283 Centerline is valid? [True, True] Translation: X:192.66, Y:29.29, Z:20.16 [[ 9.68070659e-01 -2.26771292e-01 -1.06836232e-01 1.92661980e+02] [ 2.25747998e-01 9.73943185e-01 -2.17373876e-02 2.92905739e+01] [ 1.08981836e-01 -3.07473844e-03 9.94038986e-01 2.01602127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.68509989299997 meters 0.054124160354890025 Centerline is valid? [True, True] Translation: X:192.72, Y:29.30, Z:20.17 [[ 9.67369092e-01 -2.30349174e-01 -1.05528656e-01 1.92721139e+02] [ 2.29372192e-01 9.73101973e-01 -2.14696821e-02 2.93020954e+01] [ 1.07635667e-01 -3.43623235e-03 9.94184468e-01 2.01665643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74509989299997 meters 0.0568049196521613 Centerline is valid? [True, True] Translation: X:192.78, Y:29.30, Z:20.17 [[ 9.66700943e-01 -2.32793096e-01 -1.06285751e-01 1.92782008e+02] [ 2.31816746e-01 9.72519111e-01 -2.16234834e-02 2.93019117e+01] [ 1.08398722e-01 -3.73537517e-03 9.94100480e-01 2.01704710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80509989299998 meters 0.053933328199545605 Centerline is valid? [True, True] Translation: X:192.84, Y:29.33, Z:20.18 [[ 9.65670033e-01 -2.37021768e-01 -1.06311187e-01 1.92838528e+02] [ 2.36070350e-01 9.71495217e-01 -2.16294427e-02 2.93266905e+01] [ 1.08407459e-01 -4.21001451e-03 9.94097630e-01 2.01776266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86509989299995 meters 0.055560152826692764 Centerline is valid? [True, True] Translation: X:192.90, Y:29.33, Z:20.18 [[ 9.65076477e-01 -2.39851095e-01 -1.05351058e-01 1.92897292e+02] [ 2.38933712e-01 9.70799317e-01 -2.14328552e-02 2.93334462e+01] [ 1.07415429e-01 -4.48757503e-03 9.94204097e-01 2.01831762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92509989299995 meters 0.057326415529497285 Centerline is valid? [True, True] Translation: X:192.96, Y:29.34, Z:20.19 [[ 9.64667933e-01 -2.41209886e-01 -1.05988539e-01 1.92957003e+02] [ 2.40289425e-01 9.70461753e-01 -2.15633295e-02 2.93371613e+01] [ 1.08059112e-01 -4.66647275e-03 9.94133518e-01 2.01883141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98509989299995 meters 0.05509848467008694 Centerline is valid? [True, True] Translation: X:193.01, Y:29.36, Z:20.20 [[ 9.64027793e-01 -2.43527487e-01 -1.06511861e-01 1.93014063e+02] [ 2.42611708e-01 9.69881372e-01 -2.16721713e-02 2.93598245e+01] [ 1.08581640e-01 -4.94844913e-03 9.94075219e-01 2.01952314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04509989299996 meters 0.05407759471090594 Centerline is valid? [True, True] Translation: X:193.07, Y:29.38, Z:20.20 [[ 9.63524792e-01 -2.45022326e-01 -1.07629155e-01 1.93072121e+02] [ 2.44096491e-01 9.69503645e-01 -2.18994358e-02 2.93787135e+01] [ 1.09712708e-01 -5.17124967e-03 9.93949888e-01 2.02011814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.10509989299996 meters 0.05517629857660819 Centerline is valid? [True, True] Translation: X:193.13, Y:29.39, Z:20.21 [[ 9.63373439e-01 -2.45924304e-01 -1.06924522e-01 1.93131733e+02] [ 2.45016283e-01 9.69274869e-01 -2.17543030e-02 2.93912268e+01] [ 1.08989164e-01 -5.24073115e-03 9.94029123e-01 2.02087313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.16509989299996 meters 0.053293538927283446 Centerline is valid? [True, True] Translation: X:193.19, Y:29.41, Z:20.22 [[ 9.63729368e-01 -2.45030707e-01 -1.05762268e-01 1.93189830e+02] [ 2.44137262e-01 9.69501980e-01 -2.15152909e-02 2.94121927e+01] [ 1.07808635e-01 -5.08559274e-03 9.94158657e-01 2.02168543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.22509989299996 meters 0.05593672687359066 Centerline is valid? [True, True] Translation: X:193.25, Y:29.42, Z:20.22 [[ 9.64867780e-01 -2.40955697e-01 -1.04740247e-01 1.93249531e+02] [ 2.40055804e-01 9.70525276e-01 -2.13049331e-02 2.94183019e+01] [ 1.06786602e-01 -4.58706076e-03 9.94271382e-01 2.02220681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.28509989299997 meters 0.054094594467293595 Centerline is valid? [True, True] Translation: X:193.31, Y:29.44, Z:20.23 [[ 9.65609092e-01 -2.38426858e-01 -1.03690478e-01 1.93306184e+02] [ 2.37530406e-01 9.71151098e-01 -2.10914715e-02 2.94424102e+01] [ 1.05727895e-01 -4.26352481e-03 9.94385959e-01 2.02302268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.34509989299997 meters 0.05477792394557108 Centerline is valid? [True, True] Translation: X:193.36, Y:29.45, Z:20.24 [[ 9.66131086e-01 -2.35433487e-01 -1.05649413e-01 1.93364583e+02] [ 2.34484998e-01 9.71882185e-01 -2.14896201e-02 2.94538851e+01] [ 1.07738158e-01 -4.01141233e-03 9.94171212e-01 2.02355534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.40509989299997 meters 0.05479679778941479 Centerline is valid? [True, True] Translation: X:193.42, Y:29.47, Z:20.24 [[ 9.66271549e-01 -2.34271643e-01 -1.06939657e-01 1.93423881e+02] [ 2.33292661e-01 9.72163236e-01 -2.17526151e-02 2.94706584e+01] [ 1.09058824e-01 -3.92930410e-03 9.94027532e-01 2.02420009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46509989299997 meters 0.054849953352522914 Centerline is valid? [True, True] Translation: X:193.48, Y:29.49, Z:20.25 [[ 9.66428440e-01 -2.33755372e-01 -1.06651289e-01 1.93483467e+02] [ 2.32778815e-01 9.72287768e-01 -2.16914539e-02 2.94863622e+01] [ 1.08766238e-01 -3.86292278e-03 9.94059849e-01 2.02501271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52509989299998 meters 0.055005865390492556 Centerline is valid? [True, True] Translation: X:193.54, Y:29.50, Z:20.26 [[ 9.66870410e-01 -2.32453125e-01 -1.05485335e-01 1.93542900e+02] [ 2.31490463e-01 9.72600645e-01 -2.14511390e-02 2.95027889e+01] [ 1.07581489e-01 -3.67837742e-03 9.94189465e-01 2.02578524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58509989299995 meters 0.055133535857621194 Centerline is valid? [True, True] Translation: X:193.60, Y:29.52, Z:20.26 [[ 9.67719155e-01 -2.29038424e-01 -1.05171466e-01 1.93601965e+02] [ 2.28061649e-01 9.73411819e-01 -2.13849129e-02 2.95164087e+01] [ 1.07273115e-01 -3.29098812e-03 9.94224144e-01 2.02644022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64509989299995 meters 0.05467938880369479 Centerline is valid? [True, True] Translation: X:193.66, Y:29.53, Z:20.27 [[ 9.68470220e-01 -2.26006522e-01 -1.04816431e-01 1.93660447e+02] [ 2.25018738e-01 9.74121334e-01 -2.13118154e-02 2.95300564e+01] [ 1.06920531e-01 -2.94580242e-03 9.94263206e-01 2.02718227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70509989299995 meters 0.05471909455235262 Centerline is valid? [True, True] Translation: X:193.72, Y:29.55, Z:20.28 [[ 9.68832455e-01 -2.23928594e-01 -1.05922893e-01 1.93719231e+02] [ 2.22907431e-01 9.74601686e-01 -2.15367244e-02 2.95471585e+01] [ 1.08055318e-01 -2.74552230e-03 9.94141092e-01 2.02785041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76509989299996 meters 0.05434775434752152 Centerline is valid? [True, True] Translation: X:193.78, Y:29.56, Z:20.28 [[ 9.69145469e-01 -2.22914450e-01 -1.05196042e-01 1.93779354e+02] [ 2.21901504e-01 9.74834502e-01 -2.13873004e-02 2.95581647e+01] [ 1.07316270e-01 -2.61575477e-03 9.94221492e-01 2.02844237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.82509989299996 meters 0.05485302636948518 Centerline is valid? [True, True] Translation: X:193.84, Y:29.57, Z:20.29 [[ 9.69662333e-01 -2.20821762e-01 -1.04846123e-01 1.93839254e+02] [ 2.19803539e-01 9.75311282e-01 -2.13145093e-02 2.95718226e+01] [ 1.06964314e-01 -2.37767196e-03 9.94260017e-01 2.02909108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.88509989299996 meters 0.05421962484396241 Centerline is valid? [True, True] Translation: X:193.90, Y:29.59, Z:20.30 [[ 9.70942216e-01 -2.14722736e-01 -1.05666264e-01 1.93897390e+02] [ 2.13652715e-01 9.76673530e-01 -2.14786766e-02 2.95879968e+01] [ 1.07813404e-01 -1.72133045e-03 9.94169657e-01 2.02972359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.94509989299996 meters 0.05438052104435013 Centerline is valid? [True, True] Translation: X:193.96, Y:29.60, Z:20.30 [[ 9.71422321e-01 -2.12259915e-01 -1.06228070e-01 1.93957348e+02] [ 2.11163883e-01 9.77212160e-01 -2.15918550e-02 2.96018157e+01] [ 1.08390447e-01 -1.45672186e-03 9.94107333e-01 2.03029019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.00509989299997 meters 0.05392706481571311 Centerline is valid? [True, True] Translation: X:194.02, Y:29.62, Z:20.31 [[ 9.72304918e-01 -2.08030946e-01 -1.06518884e-01 1.94015973e+02] [ 2.06903834e-01 9.78121744e-01 -2.16485213e-02 2.96183865e+01] [ 1.08691999e-01 -9.90201727e-04 9.94074981e-01 2.03092635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.06509989299997 meters 0.05409116959927023 Centerline is valid? [True, True] Translation: X:194.07, Y:29.63, Z:20.31 [[ 9.73242919e-01 -2.03530557e-01 -1.06646769e-01 1.94074375e+02] [ 2.02373854e-01 9.79068472e-01 -2.16737041e-02 2.96320705e+01] [ 1.08825750e-01 -4.88738693e-04 9.94060721e-01 2.03149867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.12509989299997 meters 0.05387603290637085 Centerline is valid? [True, True] Translation: X:194.14, Y:29.64, Z:20.32 [[ 9.73094956e-01 -2.04272304e-01 -1.06578759e-01 1.94135271e+02] [ 2.03121531e-01 9.78913939e-01 -2.16597408e-02 2.96428272e+01] [ 1.08755918e-01 -5.71456154e-04 9.94068319e-01 2.03215704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18509989299997 meters 0.05368203400992077 Centerline is valid? [True, True] Translation: X:194.20, Y:29.65, Z:20.33 [[ 9.72373997e-01 -2.07792278e-01 -1.06354030e-01 1.94196364e+02] [ 2.06667701e-01 9.78172498e-01 -2.16107772e-02 2.96537406e+01] [ 1.08523140e-01 -9.66185084e-04 9.94093454e-01 2.03293384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24509989299997 meters 0.05383126372077241 Centerline is valid? [True, True] Translation: X:194.26, Y:29.66, Z:20.33 [[ 9.72141649e-01 -2.08882526e-01 -1.06342388e-01 1.94257063e+02] [ 2.07765184e-01 9.77940130e-01 -2.16039557e-02 2.96624571e+01] [ 1.08509178e-01 -1.09214078e-03 9.94094847e-01 2.03347160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30509989299998 meters 0.054269068551570356 Centerline is valid? [True, True] Translation: X:194.32, Y:29.67, Z:20.34 [[ 9.71262989e-01 -2.13374495e-01 -1.05449188e-01 1.94317436e+02] [ 2.12302541e-01 9.76969201e-01 -2.14198819e-02 2.96661690e+01] [ 1.07591066e-01 -1.58279216e-03 9.94193974e-01 2.03402679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36509989299995 meters 0.05382085085952768 Centerline is valid? [True, True] Translation: X:194.38, Y:29.67, Z:20.35 [[ 9.70143922e-01 -2.18408383e-01 -1.05444535e-01 1.94377072e+02] [ 2.17366216e-01 9.75855108e-01 -2.14181131e-02 2.96748634e+01] [ 1.07576484e-01 -2.14142733e-03 9.94194505e-01 2.03479273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42509989299995 meters 0.054472150387866576 Centerline is valid? [True, True] Translation: X:194.44, Y:29.68, Z:20.35 [[ 9.69445199e-01 -2.21817987e-01 -1.04751072e-01 1.94435883e+02] [ 2.20809332e-01 9.75084876e-01 -2.12772778e-02 2.96840974e+01] [ 1.06860869e-01 -2.50285950e-03 9.94270833e-01 2.03545643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48509989299995 meters 0.05714274051557202 Centerline is valid? [True, True] Translation: X:194.50, Y:29.68, Z:20.36 [[ 9.68056725e-01 -2.27994983e-01 -1.04328636e-01 1.94497279e+02] [ 2.27030064e-01 9.73657145e-01 -2.11922952e-02 2.96803034e+01] [ 1.06412059e-01 -3.17039319e-03 9.94317063e-01 2.03606518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54509989299996 meters 0.054024345933394544 Centerline is valid? [True, True] Translation: X:194.55, Y:29.70, Z:20.37 [[ 9.67128821e-01 -2.32141927e-01 -1.03788096e-01 1.94554128e+02] [ 2.31210683e-01 9.72675237e-01 -2.10832390e-02 2.97035778e+01] [ 1.05846414e-01 -3.60670835e-03 9.94375949e-01 2.03683789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.60509989299996 meters 0.05459289527293366 Centerline is valid? [True, True] Translation: X:194.61, Y:29.71, Z:20.37 [[ 9.65738685e-01 -2.37653248e-01 -1.04257978e-01 1.94613792e+02] [ 2.36745490e-01 9.71340848e-01 -2.11785109e-02 2.97066204e+01] [ 1.06303175e-01 -4.22969884e-03 9.94324768e-01 2.03738199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.66509989299996 meters 0.05380940399902832 Centerline is valid? [True, True] Translation: X:194.67, Y:29.72, Z:20.38 [[ 9.63930579e-01 -2.44699951e-01 -1.04688930e-01 1.94673160e+02] [ 2.43826071e-01 9.69585815e-01 -2.12648635e-02 2.97188666e+01] [ 1.06708412e-01 -5.02803826e-03 9.94277644e-01 2.03795420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.72509989299996 meters 0.05280767930951583 Centerline is valid? [True, True] Translation: X:194.73, Y:29.73, Z:20.38 [[ 9.62742496e-01 -2.49018060e-01 -1.05436669e-01 1.94731705e+02] [ 2.48157448e-01 9.68482957e-01 -2.14159532e-02 2.97346570e+01] [ 1.07446576e-01 -5.54684648e-03 9.94195386e-01 2.03848099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.78509989299997 meters 0.05365631740478645 Centerline is valid? [True, True] Translation: X:194.79, Y:29.74, Z:20.39 [[ 9.61600799e-01 -2.52687662e-01 -1.07111380e-01 1.94791020e+02] [ 2.51822201e-01 9.67528967e-01 -2.17549551e-02 2.97403688e+01] [ 1.09130572e-01 -6.05344133e-03 9.94008991e-01 2.03889889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.84509989299997 meters 0.05541132316922413 Centerline is valid? [True, True] Translation: X:194.85, Y:29.74, Z:20.39 [[ 9.61752863e-01 -2.51805295e-01 -1.07821719e-01 1.94851630e+02] [ 2.50923012e-01 9.67759346e-01 -2.18972818e-02 2.97430198e+01] [ 1.09859327e-01 -5.99517691e-03 9.93929065e-01 2.03944805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.90509989299997 meters 0.05381933384660765 Centerline is valid? [True, True] Translation: X:194.91, Y:29.77, Z:20.40 [[ 9.63222113e-01 -2.46787227e-01 -1.06297815e-01 1.94908140e+02] [ 2.45899829e-01 9.69054925e-01 -2.15829893e-02 2.97653545e+01] [ 1.08334827e-01 -5.34940194e-03 9.94100070e-01 2.04025113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96509989299997 meters 0.05608293116345627 Centerline is valid? [True, True] Translation: X:194.97, Y:29.77, Z:20.41 [[ 9.64644114e-01 -2.41675155e-01 -1.05142056e-01 1.94968030e+02] [ 2.40776796e-01 9.70345719e-01 -2.13476205e-02 2.97680099e+01] [ 1.07183334e-01 -4.72291099e-03 9.94228056e-01 2.04091501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02509989299998 meters 0.05413404103609817 Centerline is valid? [True, True] Translation: X:195.02, Y:29.79, Z:20.42 [[ 9.66428309e-01 -2.34586564e-01 -1.04811585e-01 1.95024054e+02] [ 2.33652194e-01 9.72087320e-01 -2.12813241e-02 2.97943536e+01] [ 1.06878326e-01 -3.92258286e-03 9.94264370e-01 2.04175951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08509989299995 meters 0.05519397349622829 Centerline is valid? [True, True] Translation: X:195.08, Y:29.81, Z:20.42 [[ 9.67405917e-01 -2.29109381e-01 -1.07864190e-01 1.95082434e+02] [ 2.28085825e-01 9.73394691e-01 -2.19004836e-02 2.98055548e+01] [ 1.10012036e-01 -3.41563530e-03 9.93924386e-01 2.04203377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14509989299995 meters 0.0539471337110022 Centerline is valid? [True, True] Translation: X:195.14, Y:29.83, Z:20.43 [[ 9.69262470e-01 -2.20839184e-01 -1.08445005e-01 1.95139482e+02] [ 2.19752792e-01 9.75307060e-01 -2.20192756e-02 2.98294685e+01] [ 1.10629898e-01 -2.48863524e-03 9.93858558e-01 2.04282915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20509989299995 meters 0.053994044465656636 Centerline is valid? [True, True] Translation: X:195.20, Y:29.84, Z:20.44 [[ 9.70400466e-01 -2.15945087e-01 -1.08123333e-01 1.95197645e+02] [ 2.14834884e-01 9.76403612e-01 -2.19535551e-02 2.98431311e+01] [ 1.10312775e-01 -1.92492356e-03 9.93895058e-01 2.04350414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26509989299996 meters 0.05444336562970482 Centerline is valid? [True, True] Translation: X:195.26, Y:29.86, Z:20.44 [[ 9.71223301e-01 -2.11548139e-01 -1.09419765e-01 1.95257708e+02] [ 2.10383268e-01 9.77366514e-01 -2.22165993e-02 2.98575451e+01] [ 1.11643094e-01 -1.44280888e-03 9.93747321e-01 2.04412323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.32509989299996 meters 0.054564236231445976 Centerline is valid? [True, True] Translation: X:195.32, Y:29.87, Z:20.45 [[ 9.71285022e-01 -2.11309729e-01 -1.09332541e-01 1.95318304e+02] [ 2.10145525e-01 9.77418125e-01 -2.21961141e-02 2.98699795e+01] [ 1.11553862e-01 -1.41699110e-03 9.93757379e-01 2.04481230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.38509989299996 meters 0.05442033224549872 Centerline is valid? [True, True] Translation: X:195.38, Y:29.88, Z:20.45 [[ 9.71000528e-01 -2.13063967e-01 -1.08451470e-01 1.95378131e+02] [ 2.11929786e-01 9.77036928e-01 -2.20138136e-02 2.98789567e+01] [ 1.10651441e-01 -1.60867214e-03 9.93857973e-01 2.04544658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.44509989299996 meters 0.05482982024634207 Centerline is valid? [True, True] Translation: X:195.44, Y:29.88, Z:20.46 [[ 9.70001811e-01 -2.18203812e-01 -1.07161480e-01 1.95436575e+02] [ 2.17127826e-01 9.75900810e-01 -2.17512195e-02 2.98842219e+01] [ 1.09325174e-01 -2.16901692e-03 9.94003673e-01 2.04619655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.50509989299997 meters 0.054995853549518074 Centerline is valid? [True, True] Translation: X:195.50, Y:29.89, Z:20.47 [[ 9.69086159e-01 -2.23109717e-01 -1.05328397e-01 1.95496483e+02] [ 2.22098976e-01 9.74789673e-01 -2.13807879e-02 2.98904504e+01] [ 1.07443295e-01 -2.67350349e-03 9.94207620e-01 2.04701375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.56509989299997 meters 0.055614413449128305 Centerline is valid? [True, True] Translation: X:195.56, Y:29.89, Z:20.48 [[ 9.66932724e-01 -2.32636346e-01 -1.04505679e-01 1.95556772e+02] [ 2.31696604e-01 9.72556751e-01 -2.12143540e-02 2.98921577e+01] [ 1.06572933e-01 -3.70075775e-03 9.94298001e-01 2.04782749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.62509989299997 meters 0.05394826029484635 Centerline is valid? [True, True] Translation: X:195.61, Y:29.91, Z:20.48 [[ 9.65908030e-01 -2.34694134e-01 -1.09271870e-01 1.95614799e+02] [ 2.33679609e-01 9.72060586e-01 -2.21823508e-02 2.99112068e+01] [ 1.11424946e-01 -4.10849723e-03 9.93764359e-01 2.04813192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68509989299997 meters 0.05519016511206424 Centerline is valid? [True, True] Translation: X:195.68, Y:29.91, Z:20.48 [[ 9.67160200e-01 -2.28939931e-01 -1.10397718e-01 1.95675434e+02] [ 2.27867035e-01 9.73434326e-01 -2.24104331e-02 2.99143184e+01] [ 1.12595571e-01 -3.48152161e-03 9.93634800e-01 2.04832302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74509989299997 meters 0.053831415352865536 Centerline is valid? [True, True] Translation: X:195.73, Y:29.94, Z:20.50 [[ 9.70765739e-01 -2.15206499e-01 -1.06301660e-01 1.95731141e+02] [ 2.14129660e-01 9.76566879e-01 -2.15782305e-02 2.99380116e+01] [ 1.08454455e-01 -1.81493136e-03 9.94099762e-01 2.04951719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80509989299998 meters 0.0538467128187223 Centerline is valid? [True, True] Translation: X:195.79, Y:29.95, Z:20.50 [[ 9.73529640e-01 -2.01702535e-01 -1.07499431e-01 1.95788363e+02] [ 2.00518908e-01 9.79446778e-01 -2.18214834e-02 2.99544225e+01] [ 1.09691419e-01 -3.11807549e-04 9.93965641e-01 2.04995919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86509989299995 meters 0.05433145224833495 Centerline is valid? [True, True] Translation: X:195.84, Y:29.97, Z:20.51 [[ 9.74694760e-01 -1.95804583e-01 -1.07845675e-01 1.95844921e+02] [ 1.94577199e-01 9.80642871e-01 -2.18923150e-02 2.99701800e+01] [ 1.10044708e-01 3.54015304e-04 9.93926575e-01 2.05053968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92509989299995 meters 0.05534765504600192 Centerline is valid? [True, True] Translation: X:195.90, Y:29.98, Z:20.51 [[ 9.74943237e-01 -1.95205599e-01 -1.06679235e-01 1.95902343e+02] [ 1.93999902e-01 9.80762250e-01 -2.16667258e-02 2.99758779e+01] [ 1.08856433e-01 4.28066629e-04 9.94057390e-01 2.05140488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98509989299995 meters 0.054725997376903486 Centerline is valid? [True, True] Translation: X:195.96, Y:29.97, Z:20.52 [[ 9.72355005e-01 -2.07620054e-01 -1.06862801e-01 1.95962782e+02] [ 2.06483219e-01 9.78209085e-01 -2.17178638e-02 2.99700909e+01] [ 1.09043227e-01 -9.47901667e-04 9.94036557e-01 2.05197936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04509989299996 meters 0.05511247493694442 Centerline is valid? [True, True] Translation: X:196.02, Y:29.97, Z:20.52 [[ 9.70866136e-01 -2.14576663e-01 -1.06657405e-01 1.96023224e+02] [ 2.13485514e-01 9.76705633e-01 -2.16804464e-02 2.99685429e+01] [ 1.08825006e-01 -1.72099960e-03 9.94059433e-01 2.05243654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.10509989299996 meters 0.05536557406231726 Centerline is valid? [True, True] Translation: X:196.08, Y:29.98, Z:20.53 [[ 9.70045465e-01 -2.18289997e-01 -1.06589269e-01 1.96081252e+02] [ 2.17222367e-01 9.75881613e-01 -2.16684284e-02 2.99787949e+01] [ 1.08748509e-01 -2.13421255e-03 9.94067003e-01 2.05313557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.16509989299996 meters 0.0556001985834924 Centerline is valid? [True, True] Translation: X:196.14, Y:29.98, Z:20.54 [[ 9.69173172e-01 -2.22107971e-01 -1.06636826e-01 1.96141998e+02] [ 2.21062002e-01 9.75018716e-01 -2.16816894e-02 2.99821807e+01] [ 1.08788577e-01 -2.56003856e-03 9.94061614e-01 2.05364117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.22509989299996 meters 0.05648045791066144 Centerline is valid? [True, True] Translation: X:196.20, Y:29.98, Z:20.54 [[ 9.66906028e-01 -2.32756479e-01 -1.04485185e-01 1.96203328e+02] [ 2.31814077e-01 9.72528089e-01 -2.12449799e-02 2.99815428e+01] [ 1.06559684e-01 -3.67923768e-03 9.94299501e-01 2.05438529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.28509989299997 meters 0.05769508248869166 Centerline is valid? [True, True] Translation: X:196.26, Y:29.98, Z:20.55 [[ 9.64929779e-01 -2.41745257e-01 -1.02321808e-01 1.96264871e+02] [ 2.40891754e-01 9.70328973e-01 -2.08049527e-02 2.99823218e+01] [ 1.04315313e-01 -4.57316138e-03 9.94533761e-01 2.05510152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.34509989299997 meters 0.056032578363542786 Centerline is valid? [True, True] Translation: X:196.33, Y:29.98, Z:20.55 [[ 9.61607100e-01 -2.52959267e-01 -1.06411442e-01 1.96326071e+02] [ 2.52104125e-01 9.67458196e-01 -2.16367620e-02 2.99846230e+01] [ 1.08421841e-01 -6.02069944e-03 9.94086745e-01 2.05516352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.40509989299997 meters 0.05912653197334684 Centerline is valid? [True, True] Translation: X:196.39, Y:29.98, Z:20.56 [[ 9.61857699e-01 -2.51617116e-01 -1.07324713e-01 1.96386364e+02] [ 2.50738881e-01 9.67808752e-01 -2.18227835e-02 2.99841681e+01] [ 1.09360782e-01 -5.92006605e-03 9.93984493e-01 2.05559256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46509989299997 meters 0.05840262392390721 Centerline is valid? [True, True] Translation: X:196.44, Y:30.00, Z:20.56 [[ 9.62289030e-01 -2.49936831e-01 -1.07384372e-01 1.96443809e+02] [ 2.49047121e-01 9.68245181e-01 -2.18357566e-02 3.00027015e+01] [ 1.09431961e-01 -5.73145975e-03 9.93977765e-01 2.05625640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52509989299998 meters 0.05840262392390721 Centerline is valid? [True, True] Translation: X:196.50, Y:30.01, Z:20.57 [[ 9.62259393e-01 -2.50051029e-01 -1.07384090e-01 1.96499885e+02] [ 2.49161872e-01 9.68215627e-01 -2.18371469e-02 3.00140886e+01] [ 1.09431355e-01 -5.74302105e-03 9.93977765e-01 2.05685488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58509989299995 meters 0.05673800457630088 Centerline is valid? [True, True] Translation: X:196.56, Y:30.03, Z:20.58 [[ 9.62690507e-01 -2.48395598e-01 -1.07362069e-01 1.96557133e+02] [ 2.47495157e-01 9.68642825e-01 -2.18454746e-02 3.00303794e+01] [ 1.09421818e-01 -5.54116118e-03 9.93979960e-01 2.05754789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64509989299995 meters 0.05595285426000155 Centerline is valid? [True, True] Translation: X:196.61, Y:30.05, Z:20.58 [[ 9.63193041e-01 -2.46580908e-01 -1.07037477e-01 1.96614306e+02] [ 2.45674427e-01 9.69107631e-01 -2.17824698e-02 3.00486811e+01] [ 1.09101976e-01 -5.31564737e-03 9.94016349e-01 2.05827012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70509989299995 meters 0.05701180194654541 Centerline is valid? [True, True] Translation: X:196.67, Y:30.06, Z:20.59 [[ 9.63720211e-01 -2.44656413e-01 -1.06707989e-01 1.96672622e+02] [ 2.43743575e-01 9.69596531e-01 -2.17172038e-02 3.00560688e+01] [ 1.08776949e-01 -5.08007855e-03 9.94053202e-01 2.05888798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76509989299996 meters 0.05528310371497271 Centerline is valid? [True, True] Translation: X:196.73, Y:30.08, Z:20.60 [[ 9.65539975e-01 -2.38085982e-01 -1.05107666e-01 1.96729591e+02] [ 2.37161362e-01 9.71234688e-01 -2.13931999e-02 3.00772056e+01] [ 1.07177632e-01 -4.27148753e-03 9.94230712e-01 2.05967808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.82509989299996 meters 0.0559993729385946 Centerline is valid? [True, True] Translation: X:196.79, Y:30.09, Z:20.60 [[ 9.66681432e-01 -2.33464528e-01 -1.04982485e-01 1.96787439e+02] [ 2.32514780e-01 9.72358078e-01 -2.13692739e-02 3.00881447e+01] [ 1.07069535e-01 -3.75269919e-03 9.94244453e-01 2.06024086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.88509989299996 meters 0.05597529837788776 Centerline is valid? [True, True] Translation: X:196.85, Y:30.10, Z:20.61 [[ 9.67778456e-01 -2.28875554e-01 -1.04980193e-01 1.96845201e+02] [ 2.27898774e-01 9.73450288e-01 -2.13702225e-02 3.01041280e+01] [ 1.07084121e-01 -3.24321647e-03 9.94244674e-01 2.06085999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.94509989299996 meters 0.0551774044409244 Centerline is valid? [True, True] Translation: X:196.90, Y:30.12, Z:20.61 [[ 9.69211784e-01 -2.22636221e-01 -1.05174284e-01 1.96902817e+02] [ 2.21619115e-01 9.74898237e-01 -2.14101913e-02 3.01228908e+01] [ 1.07300908e-01 -2.55762194e-03 9.94223302e-01 2.06142476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.00509989299997 meters 0.054800413031166006 Centerline is valid? [True, True] Translation: X:196.96, Y:30.14, Z:20.62 [[ 9.70721146e-01 -2.15340258e-01 -1.06437911e-01 1.96960275e+02] [ 2.14254668e-01 9.76537473e-01 -2.16679866e-02 3.01443420e+01] [ 1.08606599e-01 -1.77124659e-03 9.94083231e-01 2.06197454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.06509989299997 meters 0.05479311084521923 Centerline is valid? [True, True] Translation: X:197.02, Y:30.17, Z:20.63 [[ 9.72773777e-01 -2.05937835e-01 -1.06305160e-01 1.97017338e+02] [ 2.04798817e-01 9.78564812e-01 -2.16414770e-02 3.01650386e+01] [ 1.08483288e-01 -7.18909762e-04 9.94098013e-01 2.06264981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.12509989299997 meters 0.05478727296206242 Centerline is valid? [True, True] Translation: X:197.07, Y:30.18, Z:20.63 [[ 9.73433867e-01 -2.02277347e-01 -1.07286446e-01 1.97073074e+02] [ 2.01094746e-01 9.79328228e-01 -2.18432028e-02 3.01787300e+01] [ 1.09487030e-01 -3.11827158e-04 9.93988176e-01 2.06322789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18509989299997 meters 0.05509298627316161 Centerline is valid? [True, True] Translation: X:197.13, Y:30.20, Z:20.64 [[ 9.75530206e-01 -1.92211096e-01 -1.06750698e-01 1.97130331e+02] [ 1.90979356e-01 9.81353259e-01 -2.17408942e-02 3.01966296e+01] [ 1.08938987e-01 8.21719493e-04 9.94048098e-01 2.06402553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24509989299997 meters 0.05556330377073788 Centerline is valid? [True, True] Translation: X:197.19, Y:30.22, Z:20.65 [[ 9.76571915e-01 -1.87633298e-01 -1.05361478e-01 1.97187019e+02] [ 1.86406996e-01 9.82238269e-01 -2.14572632e-02 3.02158992e+01] [ 1.07516173e-01 1.31444411e-03 9.94202467e-01 2.06455978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30509989299998 meters 0.05506572461787268 Centerline is valid? [True, True] Translation: X:197.25, Y:30.22, Z:20.65 [[ 9.75433349e-01 -1.93528882e-01 -1.05244259e-01 1.97247521e+02] [ 1.92339396e-01 9.81094353e-01 -2.14342475e-02 3.02164192e+01] [ 1.07402694e-01 6.65062692e-04 9.94215379e-01 2.06527665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36509989299995 meters 0.05523250762523279 Centerline is valid? [True, True] Translation: X:197.31, Y:30.22, Z:20.66 [[ 9.73937849e-01 -2.01092312e-01 -1.04914003e-01 1.97306191e+02] [ 1.99953783e-01 9.79572281e-01 -2.13689027e-02 3.02212798e+01] [ 1.07067972e-01 -1.65968759e-04 9.94251689e-01 2.06583583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42509989299995 meters 0.05417309965097897 Centerline is valid? [True, True] Translation: X:197.37, Y:30.22, Z:20.67 [[ 9.72304403e-01 -2.09636483e-01 -1.03328086e-01 1.97366266e+02] [ 2.08579157e-01 9.77778799e-01 -2.10559952e-02 3.02240242e+01] [ 1.05446117e-01 -1.07924832e-03 9.94424432e-01 2.06654220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48509989299995 meters 0.05406840719962054 Centerline is valid? [True, True] Translation: X:197.43, Y:30.22, Z:20.67 [[ 9.70186102e-01 -2.19490468e-01 -1.02775782e-01 1.97426938e+02] [ 2.18499352e-01 9.75612305e-01 -2.09442978e-02 3.02233738e+01] [ 1.04866391e-01 -2.13657507e-03 9.94484025e-01 2.06707947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54509989299996 meters 0.05505217119020615 Centerline is valid? [True, True] Translation: X:197.49, Y:30.23, Z:20.68 [[ 9.69488840e-01 -2.22812903e-01 -1.02204692e-01 1.97486830e+02] [ 2.21851096e-01 9.74858069e-01 -2.08287327e-02 3.02307983e+01] [ 1.04275979e-01 -2.48099891e-03 9.94545306e-01 2.06763306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.60509989299996 meters 0.0547197954312437 Centerline is valid? [True, True] Translation: X:197.55, Y:30.24, Z:20.68 [[ 9.69807427e-01 -2.21148793e-01 -1.02794776e-01 1.97545068e+02] [ 2.20166496e-01 9.75237330e-01 -2.09490808e-02 3.02398109e+01] [ 1.04882166e-01 -2.31539140e-03 9.94481961e-01 2.06815532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.66509989299996 meters 0.055176178480434504 Centerline is valid? [True, True] Translation: X:197.60, Y:30.25, Z:20.69 [[ 9.70601639e-01 -2.17361048e-01 -1.03376173e-01 1.97603087e+02] [ 2.16344992e-01 9.76089413e-01 -2.10784978e-02 3.02506396e+01] [ 1.05486033e-01 -1.90609284e-03 9.94418958e-01 2.06864447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.72509989299996 meters 0.05491377320701943 Centerline is valid? [True, True] Translation: X:197.66, Y:30.27, Z:20.69 [[ 9.72325863e-01 -2.09867586e-01 -1.02654825e-01 1.97660372e+02] [ 2.08823809e-01 9.77729218e-01 -2.09330657e-02 3.02676513e+01] [ 1.04761794e-01 -1.08301041e-03 9.94496754e-01 2.06939768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.78509989299997 meters 0.054038082690071355 Centerline is valid? [True, True] Translation: X:197.72, Y:30.28, Z:20.70 [[ 9.72901991e-01 -2.07709935e-01 -1.01579022e-01 1.97717083e+02] [ 2.06676311e-01 9.78190101e-01 -2.07130141e-02 3.02844045e+01] [ 1.03665893e-01 -8.42244988e-04 9.94611820e-01 2.07008215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.84509989299997 meters 0.05492292796973226 Centerline is valid? [True, True] Translation: X:197.77, Y:30.29, Z:20.70 [[ 9.73773104e-01 -2.01535022e-01 -1.05591558e-01 1.97774147e+02] [ 2.00380437e-01 9.79481292e-01 -2.15424751e-02 3.02947038e+01] [ 1.07766519e-01 -1.80999785e-04 9.94176214e-01 2.07037060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.90509989299997 meters 0.054894679992892284 Centerline is valid? [True, True] Translation: X:197.83, Y:30.31, Z:20.71 [[ 9.74443780e-01 -1.97161944e-01 -1.07640551e-01 1.97831211e+02] [ 1.95934834e-01 9.80370884e-01 -2.19652246e-02 3.03070560e+01] [ 1.09858368e-01 3.13342974e-04 9.93947202e-01 2.07085532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96509989299997 meters 0.05468756407702742 Centerline is valid? [True, True] Translation: X:197.89, Y:30.32, Z:20.72 [[ 9.75669669e-01 -1.91756855e-01 -1.06292076e-01 1.97886668e+02] [ 1.90527141e-01 9.81442030e-01 -2.17013736e-02 3.03195491e+01] [ 1.08480898e-01 9.21846517e-04 9.94098106e-01 2.07158884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02509989299998 meters 0.05554292986499565 Centerline is valid? [True, True] Translation: X:197.94, Y:30.33, Z:20.72 [[ 9.76003033e-01 -1.89288764e-01 -1.07646847e-01 1.97944421e+02] [ 1.88011528e-01 9.81920708e-01 -2.19861146e-02 3.03279888e+01] [ 1.09862392e-01 1.21966636e-03 9.93946058e-01 2.07235369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08509989299995 meters 0.05511477670688634 Centerline is valid? [True, True] Translation: X:198.00, Y:30.34, Z:20.73 [[ 9.76011472e-01 -1.90001387e-01 -1.06306535e-01 1.98000684e+02] [ 1.88758915e-01 9.81783165e-01 -2.17229966e-02 3.03405959e+01] [ 1.08497366e-01 1.13558769e-03 9.94096088e-01 2.07277178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14509989299995 meters 0.055913101291800014 Centerline is valid? [True, True] Translation: X:198.06, Y:30.34, Z:20.74 [[ 9.75441137e-01 -1.94034050e-01 -1.04237117e-01 1.98059625e+02] [ 1.92861318e-01 9.80994556e-01 -2.13118248e-02 3.03432261e+01] [ 1.06391264e-01 6.85122932e-04 9.94324107e-01 2.07371004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.20509989299995 meters 0.055545955920181765 Centerline is valid? [True, True] Translation: X:198.12, Y:30.35, Z:20.74 [[ 9.73877207e-01 -2.00921750e-01 -1.05799982e-01 1.98118236e+02] [ 1.99753527e-01 9.79607292e-01 -2.16352094e-02 3.03484655e+01] [ 1.07989418e-01 -6.38822606e-05 9.94152041e-01 2.07416228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.26509989299996 meters 0.05526161758602935 Centerline is valid? [True, True] Translation: X:198.18, Y:30.35, Z:20.75 [[ 9.72401684e-01 -2.09555913e-01 -1.02573309e-01 1.98176208e+02] [ 2.08504734e-01 9.77796174e-01 -2.09861113e-02 3.03497585e+01] [ 1.04693553e-01 -9.80090710e-04 9.94504047e-01 2.07499501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.32509989299996 meters 0.05528283768090673 Centerline is valid? [True, True] Translation: X:198.24, Y:30.36, Z:20.76 [[ 9.71174648e-01 -2.15549096e-01 -1.01776178e-01 1.98236555e+02] [ 2.14546563e-01 9.76491679e-01 -2.08272338e-02 3.03553648e+01] [ 1.03872882e-01 -1.60884764e-03 9.94589280e-01 2.07572452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.38509989299996 meters 0.0555815948420591 Centerline is valid? [True, True] Translation: X:198.30, Y:30.36, Z:20.76 [[ 9.70076997e-01 -2.19903375e-01 -1.02922906e-01 1.98296180e+02] [ 2.18902569e-01 9.75519399e-01 -2.10610194e-02 3.03607070e+01] [ 1.05034681e-01 -2.09927807e-03 9.94466344e-01 2.07623111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.44509989299996 meters 0.05605785944032952 Centerline is valid? [True, True] Translation: X:198.36, Y:30.36, Z:20.77 [[ 9.69608820e-01 -2.21930784e-01 -1.02982833e-01 1.98355753e+02] [ 2.20940108e-01 9.75059664e-01 -2.10741771e-02 3.03628041e+01] [ 1.05091415e-01 -2.31933017e-03 9.94459861e-01 2.07672804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.50509989299997 meters 0.0552907560251221 Centerline is valid? [True, True] Translation: X:198.41, Y:30.38, Z:20.77 [[ 9.69794671e-01 -2.21200952e-01 -1.02802890e-01 1.98412680e+02] [ 2.20209477e-01 9.75225689e-01 -2.10390321e-02 3.03783513e+01] [ 1.04909874e-01 -2.23462950e-03 9.94479223e-01 2.07737871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.56509989299997 meters 0.05620866474279154 Centerline is valid? [True, True] Translation: X:198.47, Y:30.39, Z:20.78 [[ 9.70305704e-01 -2.18602902e-01 -1.03535560e-01 1.98469565e+02] [ 2.17581802e-01 9.75811930e-01 -2.11951972e-02 3.03873969e+01] [ 1.05664566e-01 -1.96163290e-03 9.94399895e-01 2.07789721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.62509989299997 meters 0.05586978493287907 Centerline is valid? [True, True] Translation: X:198.53, Y:30.40, Z:20.78 [[ 9.70308441e-01 -2.18519092e-01 -1.03686717e-01 1.98525519e+02] [ 2.17494050e-01 9.75830723e-01 -2.12305974e-02 3.03988459e+01] [ 1.05819975e-01 -1.95101606e-03 9.94383390e-01 2.07847689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68509989299997 meters 0.056055054458581076 Centerline is valid? [True, True] Translation: X:198.59, Y:30.41, Z:20.79 [[ 9.69356900e-01 -2.21855869e-01 -1.05485424e-01 1.98585044e+02] [ 2.20813885e-01 9.75076639e-01 -2.16049990e-02 3.04068425e+01] [ 1.07649568e-01 -2.34969132e-03 9.94186124e-01 2.07895907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74509989299997 meters 0.05770482450923287 Centerline is valid? [True, True] Translation: X:198.65, Y:30.41, Z:20.79 [[ 9.67721890e-01 -2.28603058e-01 -1.06089512e-01 1.98646195e+02] [ 2.27589322e-01 9.73514729e-01 -2.17295295e-02 3.04076514e+01] [ 1.08247140e-01 -3.11669886e-03 9.94119129e-01 2.07947534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80509989299995 meters 0.057838396338551264 Centerline is valid? [True, True] Translation: X:198.70, Y:30.42, Z:20.80 [[ 9.67709011e-01 -2.28634070e-01 -1.06140152e-01 1.98702722e+02] [ 2.27619503e-01 9.73507432e-01 -2.17403364e-02 3.04185043e+01] [ 1.08298809e-01 -3.12124916e-03 9.94113487e-01 2.08006849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86509989299995 meters 0.05628793307090176 Centerline is valid? [True, True] Translation: X:198.76, Y:30.44, Z:20.81 [[ 9.67757093e-01 -2.28413777e-01 -1.06176061e-01 1.98759203e+02] [ 2.27395810e-01 9.73559258e-01 -2.17604581e-02 3.04360668e+01] [ 1.08339076e-01 -3.08515373e-03 9.94109213e-01 2.08075689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92509989299995 meters 0.05759739326658646 Centerline is valid? [True, True] Translation: X:198.82, Y:30.45, Z:20.81 [[ 9.67879503e-01 -2.27853827e-01 -1.06263355e-01 1.98816821e+02] [ 2.26829598e-01 9.73690685e-01 -2.17895515e-02 3.04451498e+01] [ 1.08432472e-01 -3.01401374e-03 9.94099248e-01 2.08131065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98509989299995 meters 0.056489169275892634 Centerline is valid? [True, True] Translation: X:198.87, Y:30.46, Z:20.82 [[ 9.69028054e-01 -2.24090570e-01 -1.03769204e-01 1.98873388e+02] [ 2.23091330e-01 9.74565063e-01 -2.12884254e-02 3.04637264e+01] [ 1.05900376e-01 -2.52092838e-03 9.94373549e-01 2.08221963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04509989299996 meters 0.05590448821686152 Centerline is valid? [True, True] Translation: X:198.93, Y:30.48, Z:20.83 [[ 9.70191442e-01 -2.18629875e-01 -1.04544454e-01 1.98931012e+02] [ 2.17583933e-01 9.75805933e-01 -2.14479012e-02 3.04831184e+01] [ 1.06704251e-01 -1.93862336e-03 9.94288914e-01 2.08280831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.10509989299996 meters 0.05544070319082369 Centerline is valid? [True, True] Translation: X:198.99, Y:30.50, Z:20.83 [[ 9.71124326e-01 -2.13958440e-01 -1.05543018e-01 1.98988624e+02] [ 2.12864786e-01 9.76841705e-01 -2.16533128e-02 3.05002576e+01] [ 1.07731731e-01 -1.43833304e-03 9.94178960e-01 2.08337775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.16509989299996 meters 0.055192220744501135 Centerline is valid? [True, True] Translation: X:199.04, Y:30.51, Z:20.84 [[ 9.71661322e-01 -2.10794753e-01 -1.06957221e-01 1.99044565e+02] [ 2.09652373e-01 9.77529722e-01 -2.19436700e-02 3.05129719e+01] [ 1.09179473e-01 -1.10201965e-03 9.94021443e-01 2.08376805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.22509989299996 meters 0.055389266791595095 Centerline is valid? [True, True] Translation: X:199.10, Y:30.53, Z:20.84 [[ 9.71929985e-01 -2.09293175e-01 -1.07463816e-01 1.99102251e+02] [ 2.08130210e-01 9.77852492e-01 -2.20526406e-02 3.05251068e+01] [ 1.09699227e-01 -9.32843900e-04 9.93964390e-01 2.08423835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.28509989299997 meters 0.05538164360504289 Centerline is valid? [True, True] Translation: X:199.16, Y:30.54, Z:20.85 [[ 9.72152409e-01 -2.08409300e-01 -1.07169293e-01 1.99158916e+02] [ 2.07246049e-01 9.78041355e-01 -2.20041391e-02 3.05400800e+01] [ 1.09401867e-01 -8.19035639e-04 9.93997264e-01 2.08503701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.34509989299997 meters 0.055468853937847694 Centerline is valid? [True, True] Translation: X:199.22, Y:30.55, Z:20.86 [[ 9.72312642e-01 -2.08004865e-01 -1.06499308e-01 1.99215966e+02] [ 2.06852550e-01 9.78127498e-01 -2.18774090e-02 3.05517909e+01] [ 1.08720509e-01 -7.57971969e-04 9.94072068e-01 2.08563897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.40509989299997 meters 0.055052003795512956 Centerline is valid? [True, True] Translation: X:199.27, Y:30.56, Z:20.86 [[ 9.72116981e-01 -2.09075943e-01 -1.06187695e-01 1.99272788e+02] [ 2.07935515e-01 9.77899025e-01 -2.18247086e-02 3.05639922e+01] [ 1.08403865e-01 -8.64023123e-04 9.94106561e-01 2.08635269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46509989299997 meters 0.05561435473012006 Centerline is valid? [True, True] Translation: X:199.33, Y:30.57, Z:20.87 [[ 9.71539442e-01 -2.12180498e-01 -1.05311678e-01 1.99330182e+02] [ 2.11075731e-01 9.77229770e-01 -2.16566814e-02 3.05723578e+01] [ 1.07508832e-01 -1.18841924e-03 9.94203419e-01 2.08698556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52509989299998 meters 0.055862605515297384 Centerline is valid? [True, True] Translation: X:199.39, Y:30.58, Z:20.88 [[ 9.70568206e-01 -2.17228831e-01 -1.03966306e-01 1.99389111e+02] [ 2.16179812e-01 9.76119203e-01 -2.13913623e-02 3.05804569e+01] [ 1.06130329e-01 -1.71364050e-03 9.94350751e-01 2.08768252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58509989299995 meters 0.05612161374900034 Centerline is valid? [True, True] Translation: X:199.45, Y:30.59, Z:20.88 [[ 9.68912457e-01 -2.24351388e-01 -1.04283770e-01 1.99448293e+02] [ 2.23336894e-01 9.74505108e-01 -2.14575570e-02 3.05863063e+01] [ 1.06439100e-01 -2.49991901e-03 9.94316081e-01 2.08820734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64509989299995 meters 0.05688285224357098 Centerline is valid? [True, True] Translation: X:199.51, Y:30.59, Z:20.89 [[ 9.67761174e-01 -2.29289092e-01 -1.04234459e-01 1.99508093e+02] [ 2.28303971e-01 9.73353619e-01 -2.14482703e-02 3.05924733e+01] [ 1.06374843e-01 -3.04033773e-03 9.94321452e-01 2.08874706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70509989299995 meters 0.056238659190283355 Centerline is valid? [True, True] Translation: X:199.57, Y:30.61, Z:20.89 [[ 9.66755152e-01 -2.33666777e-01 -1.03847552e-01 1.99566013e+02] [ 2.32714179e-01 9.72310404e-01 -2.13679279e-02 3.06070800e+01] [ 1.05965030e-01 -3.50924339e-03 9.94363665e-01 2.08935238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76509989299996 meters 0.05823712277844339 Centerline is valid? [True, True] Translation: X:199.63, Y:30.61, Z:20.90 [[ 9.65827288e-01 -2.37175618e-01 -1.04524528e-01 1.99626450e+02] [ 2.36230880e-01 9.71458887e-01 -2.15081797e-02 3.06064860e+01] [ 1.06642498e-01 -3.91873432e-03 9.94289707e-01 2.08982166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.82509989299996 meters 0.056832638524427645 Centerline is valid? [True, True] Translation: X:199.68, Y:30.62, Z:20.90 [[ 9.64517862e-01 -2.42613177e-01 -1.04135203e-01 1.99683895e+02] [ 2.41706874e-01 9.70112665e-01 -2.14290522e-02 3.06225790e+01] [ 1.06221850e-01 -4.50149069e-03 9.94332266e-01 2.09048518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.88509989299996 meters 0.05868618194420579 Centerline is valid? [True, True] Translation: X:199.74, Y:30.63, Z:20.91 [[ 9.63506291e-01 -2.46183249e-01 -1.05116295e-01 1.99743007e+02] [ 2.45280819e-01 9.69210708e-01 -2.16315543e-02 3.06264831e+01] [ 1.07205165e-01 -4.94087223e-03 9.94224643e-01 2.09100350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.94509989299996 meters 0.055387912714182454 Centerline is valid? [True, True] Translation: X:199.80, Y:30.65, Z:20.92 [[ 9.62334520e-01 -2.50476803e-01 -1.05705449e-01 1.99798882e+02] [ 2.49590048e-01 9.68107258e-01 -2.17518804e-02 3.06523690e+01] [ 1.07782554e-01 -5.45044265e-03 9.94159551e-01 2.09165451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.00509989299997 meters 0.05659551525119499 Centerline is valid? [True, True] Translation: X:199.86, Y:30.66, Z:20.92 [[ 9.61762446e-01 -2.52544260e-01 -1.05992421e-01 1.99857949e+02] [ 2.51665178e-01 9.67568567e-01 -2.18107152e-02 3.06608971e+01] [ 1.08063106e-01 -5.69787468e-03 9.94127708e-01 2.09221982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.06509989299997 meters 0.05713783895112677 Centerline is valid? [True, True] Translation: X:199.92, Y:30.67, Z:20.93 [[ 9.61019831e-01 -2.55090994e-01 -1.06627712e-01 1.99916103e+02] [ 2.54216851e-01 9.66898312e-01 -2.19419155e-02 3.06729412e+01] [ 1.08695340e-01 -6.01994532e-03 9.94056881e-01 2.09275983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.12509989299997 meters 0.05639462334444694 Centerline is valid? [True, True] Translation: X:199.97, Y:30.69, Z:20.93 [[ 9.60814159e-01 -2.55834005e-01 -1.06701045e-01 1.99971816e+02] [ 2.54963139e-01 9.66701432e-01 -2.19576553e-02 3.06913795e+01] [ 1.08765568e-01 -6.10760744e-03 9.94048665e-01 2.09337100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18509989299997 meters 0.056243865471580466 Centerline is valid? [True, True] Translation: X:200.03, Y:30.71, Z:20.94 [[ 9.60928992e-01 -2.55787228e-01 -1.05775069e-01 2.00028810e+02] [ 2.54929933e-01 9.66714248e-01 -2.17782379e-02 3.07062755e+01] [ 1.07824862e-01 -6.03789116e-03 9.94151569e-01 2.09404751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24509989299997 meters 0.05656878797868819 Centerline is valid? [True, True] Translation: X:200.09, Y:30.72, Z:20.95 [[ 9.61542396e-01 -2.54023040e-01 -1.04443838e-01 2.00085848e+02] [ 2.53175676e-01 9.67181046e-01 -2.15151372e-02 3.07216079e+01] [ 1.06481441e-01 -5.75492280e-03 9.94298036e-01 2.09470894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30509989299995 meters 0.05751439788119313 Centerline is valid? [True, True] Translation: X:200.14, Y:30.73, Z:20.95 [[ 9.62268043e-01 -2.51564305e-01 -1.03709281e-01 2.00144060e+02] [ 2.50714493e-01 9.67825283e-01 -2.13650112e-02 3.07334025e+01] [ 1.05747138e-01 -5.44255226e-03 9.94378158e-01 2.09536419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36509989299995 meters 0.05651314876460189 Centerline is valid? [True, True] Translation: X:200.20, Y:30.76, Z:20.96 [[ 9.63372493e-01 -2.47625418e-01 -1.02932461e-01 2.00200793e+02] [ 2.46765811e-01 9.68843095e-01 -2.12059597e-02 3.07561653e+01] [ 1.04976538e-01 -4.97097389e-03 9.94462275e-01 2.09605135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42509989299995 meters 0.05777793698874343 Centerline is valid? [True, True] Translation: X:200.26, Y:30.77, Z:20.97 [[ 9.63913930e-01 -2.45432334e-01 -1.03115982e-01 2.00258290e+02] [ 2.44557242e-01 9.69402130e-01 -2.12430223e-02 3.07676334e+01] [ 1.05174577e-01 -4.74131509e-03 9.94442471e-01 2.09665842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48509989299995 meters 0.05582256018600338 Centerline is valid? [True, True] Translation: X:200.32, Y:30.79, Z:20.97 [[ 9.64380502e-01 -2.43334338e-01 -1.03723901e-01 2.00315032e+02] [ 2.42436679e-01 9.69931856e-01 -2.13694202e-02 3.07901780e+01] [ 1.05805029e-01 -4.53822590e-03 9.94376539e-01 2.09720626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54509989299996 meters 0.05614023726583678 Centerline is valid? [True, True] Translation: X:200.37, Y:30.81, Z:20.98 [[ 9.64351046e-01 -2.43174764e-01 -1.04369988e-01 2.00371746e+02] [ 2.42264829e-01 9.69971829e-01 -2.15035842e-02 3.08053388e+01] [ 1.06465077e-01 -4.54817342e-03 9.94306040e-01 2.09772974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.60509989299996 meters 0.060740645235016925 Centerline is valid? [True, True] Translation: X:200.43, Y:30.81, Z:20.98 [[ 9.64281464e-01 -2.42963021e-01 -1.05499896e-01 2.00431540e+02] [ 2.42030721e-01 9.70024819e-01 -2.17481022e-02 3.08081514e+01] [ 1.07621502e-01 -4.56292402e-03 9.94181468e-01 2.09811894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.66509989299996 meters 0.056134727361293754 Centerline is valid? [True, True] Translation: X:200.49, Y:30.84, Z:20.99 [[ 9.64396409e-01 -2.42589485e-01 -1.05308632e-01 2.00485076e+02] [ 2.41657105e-01 9.70118589e-01 -2.17202033e-02 3.08391224e+01] [ 1.07430954e-01 -4.50169311e-03 9.94202356e-01 2.09881764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.72509989299996 meters 0.05564602876540164 Centerline is valid? [True, True] Translation: X:200.54, Y:30.86, Z:20.99 [[ 9.64940442e-01 -2.40737059e-01 -1.04573476e-01 2.00541770e+02] [ 2.39805656e-01 9.70581047e-01 -2.15795762e-02 3.08584777e+01] [ 1.06692038e-01 -4.25430526e-03 9.94283013e-01 2.09947273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.78509989299997 meters 0.05401348099199747 Centerline is valid? [True, True] Translation: X:200.60, Y:30.88, Z:21.00 [[ 9.65770995e-01 -2.37676285e-01 -1.03905572e-01 2.00598259e+02] [ 2.36739024e-01 9.71336632e-01 -2.14425418e-02 3.08795528e+01] [ 1.06023672e-01 -3.88991884e-03 9.94355997e-01 2.10014270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.84509989299997 meters 0.05577961223544291 Centerline is valid? [True, True] Translation: X:200.66, Y:30.89, Z:21.01 [[ 9.67279087e-01 -2.31484308e-01 -1.03856551e-01 2.00656581e+02] [ 2.30512313e-01 9.72833346e-01 -2.14325835e-02 3.08909622e+01] [ 1.05996423e-01 -3.20892403e-03 9.94361333e-01 2.10068494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.90509989299997 meters 0.054296178339554864 Centerline is valid? [True, True] Translation: X:200.71, Y:30.92, Z:21.01 [[ 9.69504153e-01 -2.22517042e-01 -1.02702788e-01 2.00712317e+02] [ 2.21516307e-01 9.74926314e-01 -2.11945460e-02 3.09172355e+01] [ 1.04843798e-01 -2.20214192e-03 9.94486264e-01 2.10142748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96509989299997 meters 0.05372395829188047 Centerline is valid? [True, True] Translation: X:200.77, Y:30.94, Z:21.02 [[ 9.70942314e-01 -2.16416815e-01 -1.02150795e-01 2.00768734e+02] [ 2.15393103e-01 9.76299856e-01 -2.10808630e-02 3.09386386e+01] [ 1.04292060e-01 -1.53427478e-03 9.94545531e-01 2.10202380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02509989299998 meters 0.05362384405900692 Centerline is valid? [True, True] Translation: X:200.83, Y:30.95, Z:21.03 [[ 9.72070616e-01 -2.11257074e-01 -1.02221165e-01 2.00826193e+02] [ 2.10203355e-01 9.77430043e-01 -2.10964733e-02 3.09522138e+01] [ 1.04370817e-01 -9.79970012e-04 9.94537969e-01 2.10264858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08509989299995 meters 0.05389871104687102 Centerline is valid? [True, True] Translation: X:200.88, Y:30.97, Z:21.03 [[ 9.72788541e-01 -2.07983954e-01 -1.02103521e-01 2.00882464e+02] [ 2.06914580e-01 9.78132037e-01 -2.10730802e-02 3.09684561e+01] [ 1.04253587e-01 -6.27056220e-04 9.94550550e-01 2.10325766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14509989299995 meters 0.0537905939573542 Centerline is valid? [True, True] Translation: X:200.94, Y:30.98, Z:21.04 [[ 9.72431417e-01 -2.09444700e-01 -1.02518572e-01 2.00939740e+02] [ 2.08373452e-01 9.77820186e-01 -2.11704429e-02 3.09811062e+01] [ 1.04678766e-01 -7.75345033e-04 9.94505784e-01 2.10386576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20509989299995 meters 0.053679030251359526 Centerline is valid? [True, True] Translation: X:201.00, Y:30.99, Z:21.04 [[ 9.71005182e-01 -2.15782123e-01 -1.02893210e-01 2.00998009e+02] [ 2.14737142e-01 9.76440459e-01 -2.12600746e-02 3.09865029e+01] [ 1.05056637e-01 -1.45135116e-03 9.94465181e-01 2.10442268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26509989299996 meters 0.05374365587725462 Centerline is valid? [True, True] Translation: X:201.06, Y:30.99, Z:21.05 [[ 9.68995233e-01 -2.24772253e-01 -1.02594702e-01 2.01057448e+02] [ 2.23783046e-01 9.74408337e-01 -2.12023767e-02 3.09895892e+01] [ 1.04734839e-01 -2.41395291e-03 9.94497253e-01 2.10505888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.32509989299996 meters 0.054663502616127985 Centerline is valid? [True, True] Translation: X:201.12, Y:31.00, Z:21.06 [[ 9.67461192e-01 -2.30940784e-01 -1.03369221e-01 2.01117308e+02] [ 2.29971675e-01 9.72962851e-01 -2.13616104e-02 3.09960761e+01] [ 1.05507679e-01 -3.10546375e-03 9.94413639e-01 2.10557696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.38509989299996 meters 0.05528062419484172 Centerline is valid? [True, True] Translation: X:201.18, Y:31.00, Z:21.06 [[ 9.65213138e-01 -2.39932161e-01 -1.03904552e-01 2.01177506e+02] [ 2.39004655e-01 9.70780967e-01 -2.14730005e-02 3.10017175e+01] [ 1.06020625e-01 -4.10764954e-03 9.94355447e-01 2.10610545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.44509989299996 meters 0.05440453520981524 Centerline is valid? [True, True] Translation: X:201.24, Y:31.01, Z:21.07 [[ 9.63145600e-01 -2.47987020e-01 -1.04177689e-01 2.01236807e+02] [ 2.47101337e-01 9.68750422e-01 -2.15301811e-02 3.10129623e+01] [ 1.06261386e-01 -5.00574709e-03 9.94325631e-01 2.10671129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.50509989299997 meters 0.056012378244394145 Centerline is valid? [True, True] Translation: X:201.30, Y:31.02, Z:21.07 [[ 9.62002736e-01 -2.52295150e-01 -1.04392969e-01 2.01296711e+02] [ 2.51430972e-01 9.67634740e-01 -2.15749106e-02 3.10173686e+01] [ 1.06457509e-01 -5.49250270e-03 9.94302082e-01 2.10730654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.56509989299997 meters 0.05252726907887182 Centerline is valid? [True, True] Translation: X:201.35, Y:31.05, Z:21.08 [[ 9.61128691e-01 -2.55917557e-01 -1.03623569e-01 2.01351196e+02] [ 2.55086954e-01 9.66680914e-01 -2.14162545e-02 3.10519490e+01] [ 1.05651722e-01 -5.84924393e-03 9.94385991e-01 2.10800000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.62509989299997 meters 0.05785749197020486 Centerline is valid? [True, True] Translation: X:201.42, Y:31.04, Z:21.09 [[ 9.60448368e-01 -2.58329302e-01 -1.03946640e-01 2.01415450e+02] [ 2.57507564e-01 9.66037446e-01 -2.14827500e-02 3.10361169e+01] [ 1.05965971e-01 -6.13397391e-03 9.94350837e-01 2.10852782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68509989299997 meters 0.05324977634383152 Centerline is valid? [True, True] Translation: X:201.47, Y:31.06, Z:21.09 [[ 9.60152239e-01 -2.59778554e-01 -1.03066872e-01 2.01471459e+02] [ 2.58979016e-01 9.65648052e-01 -2.13004673e-02 3.10626831e+01] [ 1.05059729e-01 -6.24046565e-03 9.94446333e-01 2.10923090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74509989299997 meters 0.05386177404118085 Centerline is valid? [True, True] Translation: X:201.53, Y:31.07, Z:21.10 [[ 9.59917154e-01 -2.60476384e-01 -1.03494493e-01 2.01532242e+02] [ 2.59674313e-01 9.65459375e-01 -2.13879905e-02 3.10739749e+01] [ 1.05490795e-01 -6.34416253e-03 9.94400042e-01 2.10974943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80509989299995 meters 0.053487062858512756 Centerline is valid? [True, True] Translation: X:201.59, Y:31.09, Z:21.10 [[ 9.59735539e-01 -2.60774193e-01 -1.04424684e-01 2.01592231e+02] [ 2.59959736e-01 9.65378357e-01 -2.15769307e-02 3.10879574e+01] [ 1.06436036e-01 -6.43806596e-03 9.94298708e-01 2.11032944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86509989299995 meters 0.0517459236432321 Centerline is valid? [True, True] Translation: X:201.65, Y:31.11, Z:21.11 [[ 9.59644077e-01 -2.60519204e-01 -1.05891403e-01 2.01650454e+02] [ 2.59680623e-01 9.65446751e-01 -2.18756836e-02 3.11126959e+01] [ 1.07931546e-01 -6.50507525e-03 9.94137046e-01 2.11093553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92509989299995 meters 0.0529553251457331 Centerline is valid? [True, True] Translation: X:201.71, Y:31.12, Z:21.12 [[ 9.59910529e-01 -2.59482014e-01 -1.06022927e-01 2.01710360e+02] [ 2.58635543e-01 9.65726729e-01 -2.18984321e-02 3.11191783e+01] [ 1.08071424e-01 -6.40076179e-03 9.94122526e-01 2.11152808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98509989299995 meters 0.05314627054364062 Centerline is valid? [True, True] Translation: X:201.77, Y:31.13, Z:21.12 [[ 9.61015169e-01 -2.55497573e-01 -1.05692173e-01 2.01768761e+02] [ 2.54632506e-01 9.66791483e-01 -2.18292046e-02 3.11329090e+01] [ 1.07759602e-01 -5.93446627e-03 9.94159268e-01 2.11220035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04509989299996 meters 0.05414534722465655 Centerline is valid? [True, True] Translation: X:201.83, Y:31.15, Z:21.13 [[ 9.62357827e-01 -2.50649151e-01 -1.05082901e-01 2.01827246e+02] [ 2.49765359e-01 9.68063153e-01 -2.17024755e-02 3.11465937e+01] [ 1.07166591e-01 -5.36052127e-03 9.94226627e-01 2.11283251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.10509989299996 meters 0.0558382533104327 Centerline is valid? [True, True] Translation: X:201.89, Y:31.16, Z:21.13 [[ 9.64898848e-01 -2.40672227e-01 -1.05105148e-01 2.01885923e+02] [ 2.39729010e-01 9.70597138e-01 -2.17071029e-02 3.11555810e+01] [ 1.07239052e-01 -4.25159443e-03 9.94224175e-01 2.11336334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.16509989299996 meters 0.053312029310331445 Centerline is valid? [True, True] Translation: X:201.94, Y:31.18, Z:21.14 [[ 9.66644199e-01 -2.33572531e-01 -1.05085041e-01 2.01941968e+02] [ 2.32587836e-01 9.72333216e-01 -2.17028760e-02 3.11812244e+01] [ 1.07246872e-01 -3.46254314e-03 9.94226392e-01 2.11406101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.22509989299996 meters 0.05335458017647761 Centerline is valid? [True, True] Translation: X:202.00, Y:31.20, Z:21.15 [[ 9.68793068e-01 -2.24721237e-01 -1.04596159e-01 2.01999927e+02] [ 2.23694179e-01 9.74419964e-01 -2.16020326e-02 3.11983953e+01] [ 1.06775021e-01 -2.46965255e-03 9.94280139e-01 2.11466788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.28509989299997 meters 0.0532282785101726 Centerline is valid? [True, True] Translation: X:202.06, Y:31.22, Z:21.15 [[ 9.69863474e-01 -2.19378145e-01 -1.06009768e-01 2.02058007e+02] [ 2.18291182e-01 9.75638045e-01 -2.18944029e-02 3.12187477e+01] [ 1.08230317e-01 -1.90641596e-03 9.94124018e-01 2.11525843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.34509989299997 meters 0.05261952299381546 Centerline is valid? [True, True] Translation: X:202.12, Y:31.23, Z:21.16 [[ 9.70087231e-01 -2.17800858e-01 -1.07207982e-01 2.02117696e+02] [ 2.16679625e-01 9.75991660e-01 -2.21409163e-02 3.12316763e+01] [ 1.09456407e-01 -1.75116534e-03 9.93990054e-01 2.11573362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.40509989299997 meters 0.053131738106659714 Centerline is valid? [True, True] Translation: X:202.18, Y:31.24, Z:21.16 [[ 9.69998149e-01 -2.17893184e-01 -1.07824634e-01 2.02176194e+02] [ 2.16759734e-01 9.75971011e-01 -2.22666279e-02 3.12432728e+01] [ 1.10085464e-01 -1.77345116e-03 9.93920543e-01 2.11623409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46509989299997 meters 0.05312933911662001 Centerline is valid? [True, True] Translation: X:202.23, Y:31.25, Z:21.17 [[ 9.69854642e-01 -2.18425033e-01 -1.08039241e-01 2.02234073e+02] [ 2.17290126e-01 9.75852005e-01 -2.23129015e-02 3.12519965e+01] [ 1.10304007e-01 -1.83558919e-03 9.93896200e-01 2.11674640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52509989299998 meters 0.053527380561458233 Centerline is valid? [True, True] Translation: X:202.29, Y:31.26, Z:21.18 [[ 9.69777868e-01 -2.19643586e-01 -1.06243030e-01 2.02291181e+02] [ 2.18553050e-01 9.75578261e-01 -2.19458856e-02 3.12636871e+01] [ 1.08468663e-01 -1.93710401e-03 9.94097981e-01 2.11756741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.58509989299995 meters 0.05407648905224289 Centerline is valid? [True, True] Translation: X:202.35, Y:31.27, Z:21.18 [[ 9.69339471e-01 -2.22512653e-01 -1.04255022e-01 2.02348563e+02] [ 2.21477948e-01 9.74927311e-01 -2.15466413e-02 3.12717395e+01] [ 1.06435469e-01 -2.20417850e-03 9.94317169e-01 2.11836793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64509989299995 meters 0.05427437356786165 Centerline is valid? [True, True] Translation: X:202.41, Y:31.28, Z:21.19 [[ 9.68664546e-01 -2.25506263e-01 -1.04095738e-01 2.02407536e+02] [ 2.24491583e-01 9.74238444e-01 -2.15170436e-02 3.12791351e+01] [ 1.06266298e-01 -2.52581991e-03 9.94334498e-01 2.11901128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.70509989299995 meters 0.05505922663768593 Centerline is valid? [True, True] Translation: X:202.47, Y:31.29, Z:21.20 [[ 9.67478216e-01 -2.30443615e-01 -1.04315109e-01 2.02467652e+02] [ 2.29453040e-01 9.73080828e-01 -2.15639508e-02 3.12853935e+01] [ 1.06476307e-01 -3.07276633e-03 9.94310492e-01 2.11961194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.76509989299996 meters 0.05431493107073888 Centerline is valid? [True, True] Translation: X:202.53, Y:31.30, Z:21.20 [[ 9.66694883e-01 -2.33397714e-01 -1.05007189e-01 2.02526011e+02] [ 2.32411360e-01 9.72375339e-01 -2.17062188e-02 3.12980214e+01] [ 1.07172583e-01 -3.42157305e-03 9.94234545e-01 2.12020234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.82509989299996 meters 0.05819060255083495 Centerline is valid? [True, True] Translation: X:202.59, Y:31.29, Z:21.21 [[ 9.65843668e-01 -2.36476886e-01 -1.05946641e-01 2.02588875e+02] [ 2.35491119e-01 9.71629698e-01 -2.19012055e-02 3.12942924e+01] [ 1.08120032e-01 -3.79635233e-03 9.94130598e-01 2.12061323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.88509989299996 meters 0.0562275200018878 Centerline is valid? [True, True] Translation: X:202.65, Y:31.31, Z:21.21 [[ 9.65597298e-01 -2.37229467e-01 -1.06508392e-01 2.02645057e+02] [ 2.36237769e-01 9.71445808e-01 -2.20172337e-02 3.13100423e+01] [ 1.08690268e-01 -3.90152365e-03 9.94068008e-01 2.12132754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.94509989299996 meters 0.05484846539359202 Centerline is valid? [True, True] Translation: X:202.70, Y:31.33, Z:21.22 [[ 9.65991959e-01 -2.35394220e-01 -1.07000447e-01 2.02702464e+02] [ 2.34380883e-01 9.71892927e-01 -2.21300876e-02 3.13265415e+01] [ 1.09202272e-01 -3.70137248e-03 9.94012658e-01 2.12204346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.00509989299997 meters 0.054571449428104137 Centerline is valid? [True, True] Translation: X:202.76, Y:31.34, Z:21.23 [[ 9.67208310e-01 -2.30052080e-01 -1.07629579e-01 2.02759644e+02] [ 2.28993694e-01 9.73173332e-01 -2.22610287e-02 3.13438081e+01] [ 1.09863432e-01 -3.11544307e-03 9.93941809e-01 2.12271332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.06509989299997 meters 0.05312423520341462 Centerline is valid? [True, True] Translation: X:202.82, Y:31.36, Z:21.24 [[ 9.68114502e-01 -2.25946380e-01 -1.08178299e-01 2.02815934e+02] [ 2.24851534e-01 9.74136102e-01 -2.23750543e-02 3.13648043e+01] [ 1.10435949e-01 -2.66244180e-03 9.93879677e-01 2.12357268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.12509989299997 meters 0.05383505214481748 Centerline is valid? [True, True] Translation: X:202.87, Y:31.38, Z:21.24 [[ 9.69068604e-01 -2.21213185e-01 -1.09411004e-01 2.02874978e+02] [ 2.20063074e-01 9.75223111e-01 -2.26302124e-02 3.13757995e+01] [ 1.11706241e-01 -2.14709359e-03 9.93738952e-01 2.12407715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18509989299997 meters 0.05385477289853393 Centerline is valid? [True, True] Translation: X:202.93, Y:31.39, Z:21.25 [[ 9.69259301e-01 -2.20061823e-01 -1.10041814e-01 2.02932276e+02] [ 2.18890970e-01 9.75483823e-01 -2.27608023e-02 3.13907031e+01] [ 1.12352793e-01 -2.02604001e-03 9.93666315e-01 2.12481398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24509989299997 meters 0.0541530446258573 Centerline is valid? [True, True] Translation: X:202.99, Y:31.40, Z:21.25 [[ 9.69338731e-01 -2.19775816e-01 -1.09913677e-01 2.02989015e+02] [ 2.18605611e-01 9.75548378e-01 -2.27365234e-02 3.13979158e+01] [ 1.12223047e-01 -1.98835377e-03 9.93681053e-01 2.12542949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30509989299995 meters 0.05380118726935863 Centerline is valid? [True, True] Translation: X:203.05, Y:31.41, Z:21.26 [[ 9.69238266e-01 -2.20954170e-01 -1.08427113e-01 2.03045205e+02] [ 2.19822103e-01 9.75281954e-01 -2.24355391e-02 3.14111433e+01] [ 1.10704232e-01 -2.08929295e-03 9.93851200e-01 2.12633560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36509989299995 meters 0.053796643238099115 Centerline is valid? [True, True] Translation: X:203.10, Y:31.42, Z:21.27 [[ 9.69054452e-01 -2.22066236e-01 -1.07796359e-01 2.03101548e+02] [ 2.20953691e-01 9.75029103e-01 -2.23095189e-02 3.14208699e+01] [ 1.10058778e-01 -2.19886473e-03 9.93922648e-01 2.12697457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42509989299995 meters 0.05426966217399562 Centerline is valid? [True, True] Translation: X:203.16, Y:31.43, Z:21.28 [[ 9.68202491e-01 -2.25884620e-01 -1.07517788e-01 2.03160230e+02] [ 2.24800799e-01 9.74150535e-01 -2.22561320e-02 3.14316519e+01] [ 1.09765829e-01 -2.62164213e-03 9.93954018e-01 2.12772025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48509989299995 meters 0.0548371611407352 Centerline is valid? [True, True] Translation: X:203.22, Y:31.44, Z:21.28 [[ 9.67307584e-01 -2.29812200e-01 -1.07249198e-01 2.03219782e+02] [ 2.28757742e-01 9.73230187e-01 -2.22012994e-02 3.14395827e+01] [ 1.09480286e-01 -3.05859914e-03 9.93984261e-01 2.12839166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54509989299996 meters 0.05559709638174308 Centerline is valid? [True, True] Translation: X:203.28, Y:31.45, Z:21.29 [[ 9.65950587e-01 -2.35444746e-01 -1.07262459e-01 2.03280174e+02] [ 2.34424597e-01 9.71880704e-01 -2.22037465e-02 3.14453986e+01] [ 1.09474070e-01 -3.69723683e-03 9.93982776e-01 2.12902482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.60509989299996 meters 0.05578391662793266 Centerline is valid? [True, True] Translation: X:203.34, Y:31.46, Z:21.30 [[ 9.64248565e-01 -2.42026513e-01 -1.07925310e-01 2.03338714e+02] [ 2.41034672e-01 9.70259332e-01 -2.23408792e-02 3.14576643e+01] [ 1.10122624e-01 -4.47158106e-03 9.93907950e-01 2.12969554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.66509989299996 meters 0.054742373687329315 Centerline is valid? [True, True] Translation: X:203.40, Y:31.47, Z:21.30 [[ 9.61608183e-01 -2.51859270e-01 -1.08979866e-01 2.03397435e+02] [ 2.50910564e-01 9.67747371e-01 -2.25591610e-02 3.14705418e+01] [ 1.11146713e-01 -5.65112592e-03 9.93787942e-01 2.13039115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.72509989299996 meters 0.053572455419358754 Centerline is valid? [True, True] Translation: X:203.45, Y:31.49, Z:21.31 [[ 9.60155395e-01 -2.57070484e-01 -1.09619264e-01 2.03454835e+02] [ 2.56144288e-01 9.66372181e-01 -2.26916711e-02 3.14888045e+01] [ 1.11766366e-01 -6.29081795e-03 9.93714599e-01 2.13104156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.78509989299997 meters 0.05785268966807293 Centerline is valid? [True, True] Translation: X:203.52, Y:31.49, Z:21.31 [[ 9.59115197e-01 -2.60570478e-01 -1.10458427e-01 2.03515584e+02] [ 2.59653009e-01 9.65431233e-01 -2.28658995e-02 3.14883069e+01] [ 1.12598194e-01 -6.74983112e-03 9.93617676e-01 2.13135488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.84509989299997 meters 0.055636700912351324 Centerline is valid? [True, True] Translation: X:203.57, Y:31.51, Z:21.32 [[ 9.59198824e-01 -2.60561380e-01 -1.09751460e-01 2.03573063e+02] [ 2.59655682e-01 9.65433994e-01 -2.27184949e-02 3.15072305e+01] [ 1.11877353e-01 -6.70603676e-03 9.93699395e-01 2.13208949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.90509989299997 meters 0.05363168184562598 Centerline is valid? [True, True] Translation: X:203.63, Y:31.53, Z:21.33 [[ 9.59529945e-01 -2.59603763e-01 -1.09124567e-01 2.03630833e+02] [ 2.58702256e-01 9.65692964e-01 -2.25885587e-02 3.15299172e+01] [ 1.11244902e-01 -6.55637323e-03 9.93771395e-01 2.13284754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96509989299997 meters 0.05291567044478437 Centerline is valid? [True, True] Translation: X:203.69, Y:31.55, Z:21.34 [[ 9.60079141e-01 -2.57679523e-01 -1.08854521e-01 2.03688145e+02] [ 2.56770446e-01 9.66209772e-01 -2.25302939e-02 3.15521392e+01] [ 1.10981898e-01 -6.31975887e-03 9.93802334e-01 2.13351376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02509989299998 meters 0.05677381811662116 Centerline is valid? [True, True] Translation: X:203.75, Y:31.55, Z:21.34 [[ 9.60535313e-01 -2.56155410e-01 -1.08426555e-01 2.03748912e+02] [ 2.55243808e-01 9.66616244e-01 -2.24418216e-02 3.15541571e+01] [ 1.10555464e-01 -6.11904480e-03 9.93851119e-01 2.13403012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08509989299995 meters 0.05829002726093829 Centerline is valid? [True, True] Translation: X:203.81, Y:31.57, Z:21.35 [[ 9.61328708e-01 -2.53037376e-01 -1.08716149e-01 2.03808278e+02] [ 2.52101066e-01 9.67439262e-01 -2.25017132e-02 3.15675556e+01] [ 1.10870045e-01 -5.77591419e-03 9.93818128e-01 2.13463609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14509989299995 meters 0.05418711416973234 Centerline is valid? [True, True] Translation: X:203.86, Y:31.60, Z:21.36 [[ 9.62827531e-01 -2.47390172e-01 -1.08449285e-01 2.03861446e+02] [ 2.46422868e-01 9.68902451e-01 -2.24457257e-02 3.16047877e+01] [ 1.10629630e-01 -5.11302108e-03 9.93848551e-01 2.13554579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20509989299995 meters 0.05422510003708324 Centerline is valid? [True, True] Translation: X:203.92, Y:31.62, Z:21.36 [[ 9.64238202e-01 -2.41760112e-01 -1.08612786e-01 2.03919490e+02] [ 2.40754380e-01 9.70325735e-01 -2.24788196e-02 3.16193123e+01] [ 1.10824263e-01 -4.47406738e-03 9.93829948e-01 2.13609751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26509989299996 meters 0.05413950576471485 Centerline is valid? [True, True] Translation: X:203.98, Y:31.64, Z:21.37 [[ 9.66835698e-01 -2.31481106e-01 -1.07913073e-01 2.03977127e+02] [ 2.30424427e-01 9.72833895e-01 -2.23337582e-02 3.16381687e+01] [ 1.10151338e-01 -3.27273338e-03 9.93909438e-01 2.13667121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.32509989299996 meters 0.05359164918302337 Centerline is valid? [True, True] Translation: X:204.03, Y:31.66, Z:21.37 [[ 9.68522629e-01 -2.24375669e-01 -1.07793670e-01 2.04034049e+02] [ 2.23277443e-01 9.74499616e-01 -2.23087938e-02 3.16601605e+01] [ 1.10050441e-01 -2.46132352e-03 9.93922956e-01 2.13732632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.38509989299996 meters 0.05261251759911284 Centerline is valid? [True, True] Translation: X:204.09, Y:31.69, Z:21.38 [[ 9.70405233e-01 -2.15885092e-01 -1.08200326e-01 2.04089440e+02] [ 2.14725923e-01 9.76417618e-01 -2.23922393e-02 3.16868920e+01] [ 1.10482856e-01 -1.50386876e-03 9.93876892e-01 2.13812549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.44509989299996 meters 0.05368525832564219 Centerline is valid? [True, True] Translation: X:204.15, Y:31.70, Z:21.39 [[ 9.70994033e-01 -2.12856032e-01 -1.08916928e-01 2.04149284e+02] [ 2.11662449e-01 9.77082876e-01 -2.25401899e-02 3.17018403e+01] [ 1.11218680e-01 -1.16723379e-03 9.93795272e-01 2.13860195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.50509989299997 meters 0.053053004764630075 Centerline is valid? [True, True] Translation: X:204.21, Y:31.72, Z:21.39 [[ 9.70980809e-01 -2.12960443e-01 -1.08830688e-01 2.04210035e+02] [ 2.11770051e-01 9.77060105e-01 -2.25166063e-02 3.17172632e+01] [ 1.11129270e-01 -1.18388772e-03 9.93805254e-01 2.13934574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.56509989299997 meters 0.05362186682155768 Centerline is valid? [True, True] Translation: X:204.27, Y:31.73, Z:21.40 [[ 9.70003971e-01 -2.17492634e-01 -1.08578317e-01 2.04269951e+02] [ 2.16336638e-01 9.76060475e-01 -2.24590475e-02 3.17261133e+01] [ 1.10863681e-01 -1.70410296e-03 9.93834161e-01 2.13994651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.62509989299997 meters 0.05406499762599431 Centerline is valid? [True, True] Translation: X:204.33, Y:31.73, Z:21.40 [[ 9.69235056e-01 -2.21095174e-01 -1.08168067e-01 2.04330463e+02] [ 2.19970454e-01 9.75249954e-01 -2.23724391e-02 3.17273620e+01] [ 1.10437341e-01 -2.10962656e-03 9.93880850e-01 2.14037207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68509989299997 meters 0.05404714491766993 Centerline is valid? [True, True] Translation: X:204.39, Y:31.74, Z:21.41 [[ 9.68440106e-01 -2.25079703e-01 -1.07064877e-01 2.04390459e+02] [ 2.24002108e-01 9.74337051e-01 -2.21442254e-02 3.17368624e+01] [ 1.09301492e-01 -2.53740208e-03 9.94005405e-01 2.14117012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74509989299997 meters 0.05432424390625949 Centerline is valid? [True, True] Translation: X:204.45, Y:31.75, Z:21.42 [[ 9.67559717e-01 -2.29292221e-01 -1.06081442e-01 2.04450352e+02] [ 2.28259665e-01 9.73353051e-01 -2.19399952e-02 3.17461105e+01] [ 1.08285366e-01 -2.98585893e-03 9.94115368e-01 2.14188946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80509989299995 meters 0.052795743991375904 Centerline is valid? [True, True] Translation: X:204.51, Y:31.76, Z:21.43 [[ 9.66988563e-01 -2.32876416e-01 -1.03448992e-01 2.04508892e+02] [ 2.31915086e-01 9.72500727e-01 -2.13945860e-02 3.17584627e+01] [ 1.05586515e-01 -3.30306188e-03 9.94404635e-01 2.14272101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86509989299995 meters 0.05345161941724518 Centerline is valid? [True, True] Translation: X:204.57, Y:31.77, Z:21.43 [[ 9.66627318e-01 -2.34241902e-01 -1.03741789e-01 2.04570394e+02] [ 2.33282995e-01 9.72172177e-01 -2.14546433e-02 3.17660463e+01] [ 1.05880457e-01 -3.46255092e-03 9.94372837e-01 2.14329034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92509989299995 meters 0.05309850717252531 Centerline is valid? [True, True] Translation: X:204.63, Y:31.78, Z:21.44 [[ 9.66444095e-01 -2.35221694e-01 -1.03230643e-01 2.04631401e+02] [ 2.34278338e-01 9.71935235e-01 -2.13438216e-02 3.17760456e+01] [ 1.05354029e-01 -3.55709301e-03 9.94428417e-01 2.14401910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98509989299995 meters 0.05435015489222084 Centerline is valid? [True, True] Translation: X:204.69, Y:31.78, Z:21.45 [[ 9.66333780e-01 -2.35424873e-01 -1.03798630e-01 2.04692116e+02] [ 2.34472614e-01 9.71885874e-01 -2.14579061e-02 3.17824808e+01] [ 1.05932147e-01 -3.60243663e-03 9.94366835e-01 2.14460096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04509989299996 meters 0.054413439751183845 Centerline is valid? [True, True] Translation: X:204.75, Y:31.79, Z:21.45 [[ 9.66206170e-01 -2.34811852e-01 -1.06343924e-01 2.04752568e+02] [ 2.33808818e-01 9.72034079e-01 -2.19815106e-02 3.17934895e+01] [ 1.08531438e-01 -3.62547607e-03 9.94086406e-01 2.14496066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.10509989299996 meters 0.05379690203995408 Centerline is valid? [True, True] Translation: X:204.81, Y:31.81, Z:21.46 [[ 9.66459848e-01 -2.33480676e-01 -1.06967919e-01 2.04811815e+02] [ 2.32457877e-01 9.72355149e-01 -2.21088038e-02 3.18081940e+01] [ 1.09172785e-01 -3.49826427e-03 9.94016632e-01 2.14558065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.16509989299996 meters 0.054364776790377295 Centerline is valid? [True, True] Translation: X:204.87, Y:31.82, Z:21.46 [[ 9.67407871e-01 -2.28714445e-01 -1.08681707e-01 2.04871007e+02] [ 2.27628738e-01 9.73488903e-01 -2.24613766e-02 3.18176035e+01] [ 1.10937677e-01 -3.00976718e-03 9.93822808e-01 2.14601420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.22509989299996 meters 0.05321903963752124 Centerline is valid? [True, True] Translation: X:204.93, Y:31.84, Z:21.47 [[ 9.69177855e-01 -2.21049852e-01 -1.08771538e-01 2.04927687e+02] [ 2.19914175e-01 9.75260176e-01 -2.24798577e-02 3.18383047e+01] [ 1.11049719e-01 -2.13342289e-03 9.93812562e-01 2.14681672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.28509989299997 meters 0.053137558481553424 Centerline is valid? [True, True] Translation: X:204.99, Y:31.85, Z:21.47 [[ 9.71137403e-01 -2.12721071e-01 -1.07897594e-01 2.04985432e+02] [ 2.11552363e-01 9.77112263e-01 -2.22985088e-02 3.18510395e+01] [ 1.10171425e-01 -1.17107509e-03 9.93911910e-01 2.14747731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.34509989299997 meters 0.053324452532429255 Centerline is valid? [True, True] Translation: X:205.04, Y:31.86, Z:21.48 [[ 9.72460737e-01 -2.07291254e-01 -1.06538499e-01 2.05042080e+02] [ 2.06119213e-01 9.78279120e-01 -2.20189354e-02 3.18640010e+01] [ 1.08788722e-01 -5.47081365e-04 9.94064744e-01 2.14818042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.40509989299997 meters 0.05367461110839249 Centerline is valid? [True, True] Translation: X:205.10, Y:31.87, Z:21.49 [[ 9.72723409e-01 -2.06561901e-01 -1.05552596e-01 2.05099683e+02] [ 2.05406049e-01 9.78433431e-01 -2.18260617e-02 3.18748787e+01] [ 1.07784621e-01 -4.50420556e-04 9.94174166e-01 2.14884729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46509989299997 meters 0.05347124449519896 Centerline is valid? [True, True] Translation: X:205.16, Y:31.88, Z:21.50 [[ 9.72415773e-01 -2.08232617e-01 -1.05103478e-01 2.05158655e+02] [ 2.07095097e-01 9.78079133e-01 -2.17446586e-02 3.18845415e+01] [ 1.07327465e-01 -6.21565782e-04 9.94223531e-01 2.14952640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52509989299995 meters 0.05396646860705058 Centerline is valid? [True, True] Translation: X:205.22, Y:31.89, Z:21.50 [[ 9.71347272e-01 -2.12752647e-01 -1.05928225e-01 2.05217940e+02] [ 2.11623732e-01 9.77105439e-01 -2.19170449e-02 3.18919872e+01] [ 1.08165954e-01 -1.12786459e-03 9.94132212e-01 2.15008691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.58509989299995 meters 0.05384468268620223 Centerline is valid? [True, True] Translation: X:205.28, Y:31.90, Z:21.51 [[ 9.69928376e-01 -2.19011671e-01 -1.06173603e-01 2.05277050e+02] [ 2.17914642e-01 9.75720527e-01 -2.19695636e-02 3.18971889e+01] [ 1.08407355e-01 -1.82787963e-03 9.94104876e-01 2.15060409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64509989299995 meters 0.05381613593048307 Centerline is valid? [True, True] Translation: X:205.34, Y:31.90, Z:21.51 [[ 9.67623497e-01 -2.28717640e-01 -1.06738038e-01 2.05336957e+02] [ 2.27667409e-01 9.73488402e-01 -2.20880490e-02 3.19044560e+01] [ 1.08960168e-01 -2.92785725e-03 9.94041805e-01 2.15119102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.70509989299995 meters 0.0536319153666923 Centerline is valid? [True, True] Translation: X:205.40, Y:31.92, Z:21.52 [[ 9.65770820e-01 -2.36840325e-01 -1.05798786e-01 2.05396207e+02] [ 2.35856925e-01 9.71541124e-01 -2.18941998e-02 3.19150639e+01] [ 1.07973301e-01 -3.80859696e-03 9.94146499e-01 2.15186311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76509989299996 meters 0.05492699185205529 Centerline is valid? [True, True] Translation: X:205.46, Y:31.92, Z:21.52 [[ 9.64427136e-01 -2.42622517e-01 -1.04950529e-01 2.05457178e+02] [ 2.41688901e-01 9.70110706e-01 -2.17184894e-02 3.19151000e+01] [ 1.07083027e-01 -4.41947757e-03 9.94240260e-01 2.15240503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.82509989299996 meters 0.05424292537533601 Centerline is valid? [True, True] Translation: X:205.52, Y:31.92, Z:21.53 [[ 9.63489488e-01 -2.46271546e-01 -1.05063464e-01 2.05517346e+02] [ 2.45357600e-01 9.69188829e-01 -2.17407872e-02 3.19240739e+01] [ 1.07180473e-01 -4.83109952e-03 9.94227844e-01 2.15299107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.88509989299996 meters 0.05783640137430112 Centerline is valid? [True, True] Translation: X:205.58, Y:31.92, Z:21.54 [[ 9.63208578e-01 -2.47470538e-01 -1.04821605e-01 2.05576775e+02] [ 2.46568078e-01 9.68882749e-01 -2.16887340e-02 3.19224691e+01] [ 1.06927168e-01 -4.95488707e-03 9.94254510e-01 2.15354831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.94509989299996 meters 0.056161858504766196 Centerline is valid? [True, True] Translation: X:205.63, Y:31.94, Z:21.54 [[ 9.63248799e-01 -2.47614689e-01 -1.04109160e-01 2.05634136e+02] [ 2.46724961e-01 9.68846028e-01 -2.15445562e-02 3.19387625e+01] [ 1.06200495e-01 -4.93356059e-03 9.94332497e-01 2.15425814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.00509989299997 meters 0.05621499978135564 Centerline is valid? [True, True] Translation: X:205.69, Y:31.95, Z:21.55 [[ 9.63505024e-01 -2.46570563e-01 -1.04216252e-01 2.05692377e+02] [ 2.45672751e-01 9.69112845e-01 -2.15683195e-02 3.19511860e+01] [ 1.06315422e-01 -4.82190923e-03 9.94320763e-01 2.15488453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.06509989299997 meters 0.053413421184985314 Centerline is valid? [True, True] Translation: X:205.75, Y:31.98, Z:21.56 [[ 9.64448539e-01 -2.42582418e-01 -1.04846492e-01 2.05748635e+02] [ 2.41650058e-01 9.70120789e-01 -2.17003081e-02 3.19757792e+01] [ 1.06977875e-01 -4.40733048e-03 9.94251633e-01 2.15557058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.12509989299997 meters 0.05425450317711895 Centerline is valid? [True, True] Translation: X:205.81, Y:31.99, Z:21.56 [[ 9.65818224e-01 -2.36210812e-01 -1.06768955e-01 2.05806735e+02] [ 2.35205163e-01 9.71694518e-01 -2.20974212e-02 3.19872519e+01] [ 1.08966458e-01 -3.77051733e-03 9.94038276e-01 2.15602775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18509989299997 meters 0.05370181098779401 Centerline is valid? [True, True] Translation: X:205.86, Y:32.01, Z:21.57 [[ 9.67364598e-01 -2.29618810e-01 -1.07149136e-01 2.05864255e+02] [ 2.28565639e-01 9.73275897e-01 -2.21760629e-02 3.20080270e+01] [ 1.09377713e-01 -3.03827261e-03 9.93995616e-01 2.15661510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24509989299997 meters 0.05439512515217952 Centerline is valid? [True, True] Translation: X:205.92, Y:32.02, Z:21.57 [[ 9.68363995e-01 -2.25076148e-01 -1.07758529e-01 2.05922501e+02] [ 2.23982985e-01 9.74337865e-01 -2.23013058e-02 3.20204136e+01] [ 1.10012707e-01 -2.54029537e-03 9.93926935e-01 2.15712593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30509989299995 meters 0.05318705813084455 Centerline is valid? [True, True] Translation: X:205.98, Y:32.04, Z:21.58 [[ 9.69873987e-01 -2.19459234e-01 -1.05745417e-01 2.05980234e+02] [ 2.18373325e-01 9.75619885e-01 -2.18844899e-02 3.20399496e+01] [ 1.07970085e-01 -1.86678086e-03 9.94152391e-01 2.15794036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36509989299995 meters 0.05357728758561139 Centerline is valid? [True, True] Translation: X:206.04, Y:32.05, Z:21.59 [[ 9.70603043e-01 -2.16275148e-01 -1.05616256e-01 2.06037902e+02] [ 2.15172815e-01 9.76331289e-01 -2.18603160e-02 3.20516879e+01] [ 1.07844298e-01 -1.50805792e-03 9.94166653e-01 2.15856148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42509989299995 meters 0.053417363201084 Centerline is valid? [True, True] Translation: X:206.10, Y:32.07, Z:21.59 [[ 9.71107294e-01 -2.14210194e-01 -1.05188479e-01 2.06095053e+02] [ 2.13104583e-01 9.76786760e-01 -2.17729734e-02 3.20663255e+01] [ 1.07410706e-01 -1.27225364e-03 9.94213921e-01 2.15923516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48509989299995 meters 0.05309666488743859 Centerline is valid? [True, True] Translation: X:206.15, Y:32.08, Z:21.60 [[ 9.71439931e-01 -2.12641459e-01 -1.05299910e-01 2.06150868e+02] [ 2.11523127e-01 9.77129686e-01 -2.18069562e-02 3.20800577e+01] [ 1.07528731e-01 -1.08921819e-03 9.94201381e-01 2.15988832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54509989299996 meters 0.052927839380125644 Centerline is valid? [True, True] Translation: X:206.21, Y:32.09, Z:21.60 [[ 9.71051797e-01 -2.14249739e-01 -1.05619400e-01 2.06208865e+02] [ 2.13133581e-01 9.76778094e-01 -2.18776531e-02 3.20894658e+01] [ 1.07853998e-01 -1.26670662e-03 9.94165937e-01 2.16037607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.60509989299996 meters 0.05337493711923125 Centerline is valid? [True, True] Translation: X:206.27, Y:32.10, Z:21.61 [[ 9.70165688e-01 -2.17751044e-01 -1.06597465e-01 2.06267689e+02] [ 2.16633916e-01 9.76002933e-01 -2.20911972e-02 3.20985850e+01] [ 1.08849820e-01 -1.66050471e-03 9.94056819e-01 2.16088069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.66509989299996 meters 0.053479594537689634 Centerline is valid? [True, True] Translation: X:206.33, Y:32.11, Z:21.61 [[ 9.69888548e-01 -2.19208751e-01 -1.06130710e-01 2.06325386e+02] [ 2.18109871e-01 9.75676295e-01 -2.19966102e-02 3.21096508e+01] [ 1.08371068e-01 -1.81389515e-03 9.94108858e-01 2.16149696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.72509989299996 meters 0.054049940893780256 Centerline is valid? [True, True] Translation: X:206.38, Y:32.12, Z:21.62 [[ 9.70132212e-01 -2.18685362e-01 -1.04977157e-01 2.06382321e+02] [ 2.17605968e-01 9.75793902e-01 -2.17693351e-02 3.21196482e+01] [ 1.07196705e-01 -1.72452277e-03 9.94236336e-01 2.16221534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.78509989299997 meters 0.05322806055032454 Centerline is valid? [True, True] Translation: X:206.44, Y:32.13, Z:21.63 [[ 9.70411916e-01 -2.18037572e-01 -1.03732011e-01 2.06439565e+02] [ 2.16978767e-01 9.75939028e-01 -2.15227167e-02 3.21315078e+01] [ 1.05928879e-01 -1.62174322e-03 9.94372386e-01 2.16291501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.84509989299997 meters 0.05348843754644319 Centerline is valid? [True, True] Translation: X:206.50, Y:32.14, Z:21.64 [[ 9.70579678e-01 -2.17491442e-01 -1.03308091e-01 2.06498236e+02] [ 2.16437001e-01 9.76061006e-01 -2.14461486e-02 3.21428007e+01] [ 1.05499353e-01 -1.54449726e-03 9.94418172e-01 2.16356861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.90509989299997 meters 0.053331466016529515 Centerline is valid? [True, True] Translation: X:206.56, Y:32.15, Z:21.64 [[ 9.70260635e-01 -2.18520564e-01 -1.04130036e-01 2.06555743e+02] [ 2.17455043e-01 9.75830917e-01 -2.16177158e-02 3.21511433e+01] [ 1.06337224e-01 -1.66878291e-03 9.94328723e-01 2.16407821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96509989299997 meters 0.053989024803598344 Centerline is valid? [True, True] Translation: X:206.61, Y:32.16, Z:21.65 [[ 9.69722186e-01 -2.20265836e-01 -1.05460155e-01 2.06613974e+02] [ 2.19182636e-01 9.75438070e-01 -2.18984879e-02 3.21577635e+01] [ 1.07693338e-01 -1.87958506e-03 9.94182384e-01 2.16452136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02509989299995 meters 0.05309442392779285 Centerline is valid? [True, True] Translation: X:206.67, Y:32.17, Z:21.65 [[ 9.68701878e-01 -2.24022402e-01 -1.06914151e-01 2.06673068e+02] [ 2.22930575e-01 9.74581239e-01 -2.22118766e-02 3.21692522e+01] [ 1.09172483e-01 -2.31774643e-03 9.94020119e-01 2.16514062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08509989299995 meters 0.05436412458261052 Centerline is valid? [True, True] Translation: X:206.73, Y:32.18, Z:21.66 [[ 9.68045726e-01 -2.26536458e-01 -1.07557920e-01 2.06732062e+02] [ 2.25446855e-01 9.73999171e-01 -2.23457120e-02 3.21750247e+01] [ 1.09823443e-01 -2.61692373e-03 9.93947666e-01 2.16560683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14509989299995 meters 0.05396448567528504 Centerline is valid? [True, True] Translation: X:206.79, Y:32.19, Z:21.66 [[ 9.67583996e-01 -2.28066893e-01 -1.08474435e-01 2.06789783e+02] [ 2.26967979e-01 9.73641402e-01 -2.25378925e-02 3.21874630e+01] [ 1.10755348e-01 -2.81291921e-03 9.93843720e-01 2.16614859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20509989299995 meters 0.054411824814090945 Centerline is valid? [True, True] Translation: X:206.85, Y:32.20, Z:21.67 [[ 9.67591430e-01 -2.27955801e-01 -1.08641504e-01 2.06846108e+02] [ 2.26852490e-01 9.73667449e-01 -2.25753312e-02 3.21971676e+01] [ 1.10926874e-01 -2.80189881e-03 9.93824621e-01 2.16667138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26509989299996 meters 0.05422515862806126 Centerline is valid? [True, True] Translation: X:206.90, Y:32.21, Z:21.67 [[ 9.68005133e-01 -2.27061972e-01 -1.06812562e-01 2.06902327e+02] [ 2.25989696e-01 9.73876708e-01 -2.21994440e-02 3.22121383e+01] [ 1.09062916e-01 -2.64936274e-03 9.94031318e-01 2.16747538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.32509989299996 meters 0.05361944749021817 Centerline is valid? [True, True] Translation: X:206.96, Y:32.23, Z:21.68 [[ 9.68143002e-01 -2.26795317e-01 -1.06127342e-01 2.06958460e+02] [ 2.25734785e-01 9.73938977e-01 -2.20607271e-02 3.22270102e+01] [ 1.08364825e-01 -2.59869423e-03 9.94107797e-01 2.16816855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.38509989299996 meters 0.05366242726643782 Centerline is valid? [True, True] Translation: X:207.01, Y:32.24, Z:21.69 [[ 9.68631130e-01 -2.24803802e-01 -1.05910271e-01 2.07013898e+02] [ 2.23734477e-01 9.74401192e-01 -2.20272691e-02 3.22441206e+01] [ 1.08150908e-01 -2.35948055e-03 9.94131688e-01 2.16882133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.44509989299996 meters 0.05331609388352841 Centerline is valid? [True, True] Translation: X:207.07, Y:32.26, Z:21.69 [[ 9.68965181e-01 -2.23474999e-01 -1.05666470e-01 2.07071943e+02] [ 2.22402346e-01 9.74707173e-01 -2.19800581e-02 3.22555239e+01] [ 1.07905860e-01 -2.20255987e-03 9.94158677e-01 2.16934299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.50509989299997 meters 0.05301376476781378 Centerline is valid? [True, True] Translation: X:207.13, Y:32.27, Z:21.70 [[ 9.69005307e-01 -2.23349307e-01 -1.05564205e-01 2.07128594e+02] [ 2.22277337e-01 9.74736032e-01 -2.19648161e-02 3.22699244e+01] [ 1.07803061e-01 -2.18050708e-03 9.94169878e-01 2.16997692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.56509989299997 meters 0.052553360886221374 Centerline is valid? [True, True] Translation: X:207.19, Y:32.29, Z:21.71 [[ 9.68722005e-01 -2.24621999e-01 -1.05463903e-01 2.07187393e+02] [ 2.23558370e-01 9.74443239e-01 -2.19551463e-02 3.22876831e+01] [ 1.07700196e-01 -2.30890492e-03 9.94180736e-01 2.17071505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.62509989299997 meters 0.053096486482050995 Centerline is valid? [True, True] Translation: X:207.25, Y:32.30, Z:21.71 [[ 9.68240664e-01 -2.26479462e-01 -1.05910670e-01 2.07247855e+02] [ 2.25418241e-01 9.74012656e-01 -2.20445667e-02 3.23021632e+01] [ 1.08150975e-01 -2.52975109e-03 9.94131262e-01 2.17135257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68509989299997 meters 0.0537238766716545 Centerline is valid? [True, True] Translation: X:207.31, Y:32.31, Z:21.72 [[ 9.68047671e-01 -2.26944751e-01 -1.06676087e-01 2.07308242e+02] [ 2.25871314e-01 9.73904153e-01 -2.22002502e-02 3.23114204e+01] [ 1.08930514e-01 -2.60416732e-03 9.94045955e-01 2.17190706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74509989299997 meters 0.05343930212079183 Centerline is valid? [True, True] Translation: X:207.37, Y:32.33, Z:21.73 [[ 9.68166261e-01 -2.26898888e-01 -1.05692889e-01 2.07366490e+02] [ 2.25845196e-01 9.73914910e-01 -2.19930700e-02 3.23264965e+01] [ 1.07926083e-01 -2.57728276e-03 9.94155580e-01 2.17257585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80509989299995 meters 0.05316519408627438 Centerline is valid? [True, True] Translation: X:207.42, Y:32.34, Z:21.73 [[ 9.68683562e-01 -2.25622198e-01 -1.03666679e-01 2.07423587e+02] [ 2.24601312e-01 9.74211949e-01 -2.15714615e-02 3.23409442e+01] [ 1.05860318e-01 -2.38775204e-03 9.94378143e-01 2.17343319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86509989299995 meters 0.0535361439431039 Centerline is valid? [True, True] Translation: X:207.48, Y:32.36, Z:21.74 [[ 9.69095782e-01 -2.24160736e-01 -1.02982178e-01 2.07481330e+02] [ 2.23145003e-01 9.74549675e-01 -2.14298366e-02 3.23571238e+01] [ 1.05164977e-01 -2.21239426e-03 9.94452328e-01 2.17413092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92509989299995 meters 0.05300765477012312 Centerline is valid? [True, True] Translation: X:207.54, Y:32.38, Z:21.75 [[ 9.69273301e-01 -2.23667323e-01 -1.02382601e-01 2.07540208e+02] [ 2.22660666e-01 9.74663184e-01 -2.13050462e-02 3.23762742e+01] [ 1.04553795e-01 -2.14616573e-03 9.94516917e-01 2.17480884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98509989299995 meters 0.05399247479247751 Centerline is valid? [True, True] Translation: X:207.60, Y:32.39, Z:21.75 [[ 9.69214828e-01 -2.23787938e-01 -1.02672174e-01 2.07600506e+02] [ 2.22776695e-01 9.74635446e-01 -2.13609984e-02 3.23853283e+01] [ 1.04848274e-01 -2.16957128e-03 9.94485863e-01 2.17545397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04509989299996 meters 0.05491427914626875 Centerline is valid? [True, True] Translation: X:207.66, Y:32.39, Z:21.76 [[ 9.68536355e-01 -2.26024901e-01 -1.04163681e-01 2.07660408e+02] [ 2.24997160e-01 9.74118444e-01 -2.16687395e-02 3.23907101e+01] [ 1.06365437e-01 -2.44957032e-03 9.94324089e-01 2.17578350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.10509989299996 meters 0.05343327216391337 Centerline is valid? [True, True] Translation: X:207.72, Y:32.41, Z:21.76 [[ 9.67753039e-01 -2.29384486e-01 -1.04100019e-01 2.07718286e+02] [ 2.28377187e-01 9.73331820e-01 -2.16570835e-02 3.24082827e+01] [ 1.06291660e-01 -2.81536115e-03 9.94331010e-01 2.17638005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.16509989299996 meters 0.05373372692936094 Centerline is valid? [True, True] Translation: X:207.78, Y:32.42, Z:21.77 [[ 9.66697996e-01 -2.33705233e-01 -1.04292128e-01 2.07777649e+02] [ 2.32719314e-01 9.72301905e-01 -2.16962518e-02 3.24172070e+01] [ 1.06473963e-01 -3.29706942e-03 9.94310024e-01 2.17692913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.22509989299996 meters 0.05404561725431225 Centerline is valid? [True, True] Translation: X:207.84, Y:32.43, Z:21.78 [[ 9.66402223e-01 -2.34860518e-01 -1.04437927e-01 2.07837315e+02] [ 2.33878562e-01 9.72023033e-01 -2.17264987e-02 3.24273964e+01] [ 1.06618767e-01 -3.42925563e-03 9.94294060e-01 2.17754123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.28509989299997 meters 0.05411053343782066 Centerline is valid? [True, True] Translation: X:207.90, Y:32.44, Z:21.78 [[ 9.66510360e-01 -2.34486289e-01 -1.04278017e-01 2.07896467e+02] [ 2.33505259e-01 9.72113539e-01 -2.16924396e-02 3.24384582e+01] [ 1.06456651e-01 -3.38349764e-03 9.94311588e-01 2.17813504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.34509989299997 meters 0.05309013653470386 Centerline is valid? [True, True] Translation: X:207.96, Y:32.46, Z:21.79 [[ 9.66858918e-01 -2.33510659e-01 -1.03230830e-01 2.07955945e+02] [ 2.32543735e-01 9.72348834e-01 -2.14745331e-02 3.24579442e+01] [ 1.05390909e-01 -3.24283880e-03 9.94425583e-01 2.17882218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.40509989299997 meters 0.05270564380712946 Centerline is valid? [True, True] Translation: X:208.02, Y:32.47, Z:21.79 [[ 9.67177967e-01 -2.32569403e-01 -1.02363341e-01 2.08016197e+02] [ 2.31613939e-01 9.72574804e-01 -2.12892978e-02 3.24729310e+01] [ 1.04507245e-01 -3.11823680e-03 9.94519237e-01 2.17949922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46509989299997 meters 0.053439347389599406 Centerline is valid? [True, True] Translation: X:208.08, Y:32.48, Z:21.80 [[ 9.67715931e-01 -2.30022652e-01 -1.03031341e-01 2.08075703e+02] [ 2.29040707e-01 9.73181055e-01 -2.14240231e-02 3.24809558e+01] [ 1.05196160e-01 -2.86600284e-03 9.94447361e-01 2.18012367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52509989299995 meters 0.05228176490846967 Centerline is valid? [True, True] Translation: X:208.13, Y:32.50, Z:21.81 [[ 9.68271940e-01 -2.27775304e-01 -1.02800105e-01 2.08134446e+02] [ 2.26785146e-01 9.73710208e-01 -2.13759088e-02 3.24991505e+01] [ 1.04966416e-01 -2.61584413e-03 9.94472327e-01 2.18080949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58509989299995 meters 0.053190937594772 Centerline is valid? [True, True] Translation: X:208.19, Y:32.51, Z:21.81 [[ 9.68982646e-01 -2.24734771e-01 -1.02795497e-01 2.08192856e+02] [ 2.23727993e-01 9.74417283e-01 -2.13715748e-02 3.25084699e+01] [ 1.04968645e-01 -2.28954523e-03 9.94472896e-01 2.18135784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64509989299995 meters 0.05284221574570687 Centerline is valid? [True, True] Translation: X:208.25, Y:32.52, Z:21.82 [[ 9.69068341e-01 -2.23863994e-01 -1.03881968e-01 2.08251154e+02] [ 2.22830694e-01 9.74617871e-01 -2.15983425e-02 3.25195208e+01] [ 1.06080314e-01 -2.21782110e-03 9.94355092e-01 2.18177645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.70509989299995 meters 0.05261794921502291 Centerline is valid? [True, True] Translation: X:208.31, Y:32.53, Z:21.82 [[ 9.69067162e-01 -2.23884919e-01 -1.03847866e-01 2.08311031e+02] [ 2.22852256e-01 9.74613064e-01 -2.15927762e-02 3.25341481e+01] [ 1.06045784e-01 -2.21788078e-03 9.94358775e-01 2.18237975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76509989299996 meters 0.05234525289514627 Centerline is valid? [True, True] Translation: X:208.37, Y:32.54, Z:21.83 [[ 9.69219705e-01 -2.23236047e-01 -1.03821146e-01 2.08371186e+02] [ 2.22200663e-01 9.74762044e-01 -2.15829323e-02 3.25446955e+01] [ 1.06019001e-01 -2.15052431e-03 9.94361779e-01 2.18303557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.82509989299996 meters 0.0524888264229831 Centerline is valid? [True, True] Translation: X:208.43, Y:32.56, Z:21.84 [[ 9.69796656e-01 -2.20773614e-01 -1.03698880e-01 2.08430620e+02] [ 2.19726910e-01 9.75323265e-01 -2.15549046e-02 3.25607022e+01] [ 1.05898684e-01 -1.88155992e-03 9.94375145e-01 2.18369860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.88509989299996 meters 0.05228492513929578 Centerline is valid? [True, True] Translation: X:208.49, Y:32.57, Z:21.84 [[ 9.70346719e-01 -2.18351079e-01 -1.03682455e-01 2.08490338e+02] [ 2.17291301e-01 9.75868936e-01 -2.15478516e-02 3.25687134e+01] [ 1.05885484e-01 -1.62040848e-03 9.94377010e-01 2.18428375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.94509989299996 meters 0.052445111136097226 Centerline is valid? [True, True] Translation: X:208.55, Y:32.58, Z:21.85 [[ 9.71162523e-01 -2.15129846e-01 -1.02774040e-01 2.08547232e+02] [ 2.14070691e-01 9.76584643e-01 -2.13582284e-02 3.25817311e+01] [ 1.04962341e-01 -1.25859870e-03 9.94475401e-01 2.18497020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.00509989299997 meters 0.05320745997963026 Centerline is valid? [True, True] Translation: X:208.60, Y:32.59, Z:21.86 [[ 9.71683545e-01 -2.12794433e-01 -1.02711326e-01 2.08604572e+02] [ 2.11723207e-01 9.77096476e-01 -2.13485230e-02 3.25947019e+01] [ 1.04901722e-01 -1.00236284e-03 9.94482088e-01 2.18555030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.06509989299997 meters 0.05275775103479127 Centerline is valid? [True, True] Translation: X:208.66, Y:32.61, Z:21.86 [[ 9.72763052e-01 -2.07713040e-01 -1.02894793e-01 2.08661096e+02] [ 2.06608387e-01 9.78189704e-01 -2.13980882e-02 3.26098591e+01] [ 1.05095289e-01 -4.43657620e-04 9.94462057e-01 2.18612321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.12509989299997 meters 0.05304006849035749 Centerline is valid? [True, True] Translation: X:208.72, Y:32.62, Z:21.87 [[ 9.73585657e-01 -2.04209662e-01 -1.02124352e-01 2.08717689e+02] [ 2.03101955e-01 9.78927173e-01 -2.12411314e-02 3.26243086e+01] [ 1.04309948e-01 -6.15947946e-05 9.94544836e-01 2.18676993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18509989299997 meters 0.05288272154093316 Centerline is valid? [True, True] Translation: X:208.77, Y:32.64, Z:21.87 [[ 9.74109284e-01 -2.01600443e-01 -1.02315020e-01 2.08773933e+02] [ 2.00473010e-01 9.79467819e-01 -2.12923416e-02 3.26368752e+01] [ 1.04506815e-01 2.29667635e-04 9.94524144e-01 2.18734466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24509989299997 meters 0.05282085922374305 Centerline is valid? [True, True] Translation: X:208.83, Y:32.65, Z:21.88 [[ 9.74486660e-01 -1.99988103e-01 -1.01884783e-01 2.08833911e+02] [ 1.98860001e-01 9.79798238e-01 -2.12158594e-02 3.26478989e+01] [ 1.04069450e-01 4.13763884e-04 9.94569946e-01 2.18798410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30509989299995 meters 0.053059022052219684 Centerline is valid? [True, True] Translation: X:208.89, Y:32.66, Z:21.89 [[ 9.74488890e-01 -1.99887034e-01 -1.02061631e-01 2.08893262e+02] [ 1.98754727e-01 9.79818858e-01 -2.12500328e-02 3.26586296e+01] [ 1.04249517e-01 4.22689293e-04 9.94551084e-01 2.18857071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36509989299995 meters 0.05266633156163326 Centerline is valid? [True, True] Translation: X:208.95, Y:32.67, Z:21.89 [[ 9.73911499e-01 -2.02567996e-01 -1.02286851e-01 2.08951165e+02] [ 2.01445500e-01 9.79268190e-01 -2.12960484e-02 3.26657675e+01] [ 1.04480157e-01 1.35240699e-04 9.94526962e-01 2.18915365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42509989299995 meters 0.05255251601620154 Centerline is valid? [True, True] Translation: X:209.01, Y:32.67, Z:21.90 [[ 9.73221712e-01 -2.05549699e-01 -1.02901999e-01 2.09007577e+02] [ 2.04430047e-01 9.78646661e-01 -2.14258884e-02 3.26734670e+01] [ 1.05108782e-01 -1.84120648e-04 9.94460713e-01 2.18974454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48509989299995 meters 0.052491510193470335 Centerline is valid? [True, True] Translation: X:209.07, Y:32.68, Z:21.90 [[ 9.71740472e-01 -2.12125796e-01 -1.03552416e-01 2.09067003e+02] [ 2.11028448e-01 9.77241959e-01 -2.15672868e-02 3.26754997e+01] [ 1.05770744e-01 -8.94700124e-04 9.94390139e-01 2.19023146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54509989299996 meters 0.05317989836143298 Centerline is valid? [True, True] Translation: X:209.13, Y:32.68, Z:21.91 [[ 9.69874422e-01 -2.20696792e-01 -1.03133564e-01 2.09127897e+02] [ 2.19655439e-01 9.75340785e-01 -2.14904785e-02 3.26798100e+01] [ 1.05333251e-01 -1.81078296e-03 9.94435331e-01 2.19090567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.60509989299996 meters 0.05394192457741394 Centerline is valid? [True, True] Translation: X:209.19, Y:32.68, Z:21.91 [[ 9.68644518e-01 -2.26068482e-01 -1.03057455e-01 2.09188440e+02] [ 2.25058995e-01 9.74108471e-01 -2.14740569e-02 3.26835330e+01] [ 1.05243748e-01 -2.39327994e-03 9.94443576e-01 2.19146735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.66509989299996 meters 0.05393527178280553 Centerline is valid? [True, True] Translation: X:209.25, Y:32.69, Z:21.92 [[ 9.66915208e-01 -2.33593528e-01 -1.02513627e-01 2.09247761e+02] [ 2.32636725e-01 9.72329091e-01 -2.13610186e-02 3.26905493e+01] [ 1.04666778e-01 -3.19414073e-03 9.94502219e-01 2.19218376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.72509989299996 meters 0.05428133935310751 Centerline is valid? [True, True] Translation: X:209.31, Y:32.70, Z:21.93 [[ 9.65726669e-01 -2.38743291e-01 -1.01851079e-01 2.09306749e+02] [ 2.37827252e-01 9.71075565e-01 -2.12236942e-02 3.26991324e+01] [ 1.03972109e-01 -3.72667479e-03 9.94573231e-01 2.19289914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.78509989299997 meters 0.054447538051217874 Centerline is valid? [True, True] Translation: X:209.37, Y:32.71, Z:21.93 [[ 9.64062281e-01 -2.45051191e-01 -1.02634460e-01 2.09367014e+02] [ 2.44156436e-01 9.69499975e-01 -2.13876776e-02 3.27068380e+01] [ 1.04745182e-01 -4.43981068e-03 9.94489183e-01 2.19347739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.84509989299997 meters 0.057704949848998335 Centerline is valid? [True, True] Translation: X:209.43, Y:32.71, Z:21.94 [[ 9.63227503e-01 -2.48257885e-01 -1.02765754e-01 2.09427913e+02] [ 2.47378954e-01 9.68682114e-01 -2.14153111e-02 3.27087677e+01] [ 1.04863868e-01 -4.79426824e-03 9.94475029e-01 2.19404733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.90509989299997 meters 0.06157086035703289 Centerline is valid? [True, True] Translation: X:209.49, Y:32.71, Z:21.95 [[ 9.62157607e-01 -2.51863798e-01 -1.04006571e-01 2.09489001e+02] [ 2.50984429e-01 9.67748449e-01 -2.16738450e-02 3.27107580e+01] [ 1.06111055e-01 -5.25037509e-03 9.94340423e-01 2.19454573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96509989299997 meters 0.05591981517751526 Centerline is valid? [True, True] Translation: X:209.54, Y:32.74, Z:21.95 [[ 9.61469180e-01 -2.53856252e-01 -1.05517865e-01 2.09544680e+02] [ 2.52963046e-01 9.67226030e-01 -2.19887162e-02 3.27373726e+01] [ 1.07641598e-01 -5.55064758e-03 9.94174269e-01 2.19512417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02509989299995 meters 0.05486674915677323 Centerline is valid? [True, True] Translation: X:209.60, Y:32.75, Z:21.96 [[ 9.60745316e-01 -2.56004871e-01 -1.06910917e-01 2.09603205e+02] [ 2.55101102e-01 9.66657678e-01 -2.22791592e-02 3.27525361e+01] [ 1.09049832e-01 -5.86849490e-03 9.94018961e-01 2.19565203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08509989299995 meters 0.05355398811216732 Centerline is valid? [True, True] Translation: X:209.66, Y:32.77, Z:21.96 [[ 9.60396205e-01 -2.57050820e-01 -1.07536063e-01 2.09661311e+02] [ 2.56143051e-01 9.66379115e-01 -2.24085785e-02 3.27718454e+01] [ 1.09680749e-01 -6.02350148e-03 9.93948616e-01 2.19635052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14509989299995 meters 0.05138191334009061 Centerline is valid? [True, True] Translation: X:209.72, Y:32.80, Z:21.97 [[ 9.60329421e-01 -2.57230683e-01 -1.07702267e-01 2.09719361e+02] [ 2.56321425e-01 9.66331056e-01 -2.24414225e-02 3.27974182e+01] [ 1.09848668e-01 -6.05524039e-03 9.93929879e-01 2.19714832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.20509989299995 meters 0.05283598949648321 Centerline is valid? [True, True] Translation: X:209.78, Y:32.80, Z:21.98 [[ 9.60856724e-01 -2.55707543e-01 -1.06620866e-01 2.09778421e+02] [ 2.54807509e-01 9.66736638e-01 -2.22127514e-02 3.28033546e+01] [ 1.08754266e-01 -5.82452583e-03 9.94051601e-01 2.19775101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26509989299996 meters 0.05225670894942467 Centerline is valid? [True, True] Translation: X:209.84, Y:32.83, Z:21.98 [[ 9.61375650e-01 -2.54096990e-01 -1.05790264e-01 2.09835074e+02] [ 2.53201149e-01 9.67162548e-01 -2.20405229e-02 3.28266681e+01] [ 1.07916812e-01 -5.59699443e-03 9.94144172e-01 2.19849902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.32509989299996 meters 0.052716146051973965 Centerline is valid? [True, True] Translation: X:209.90, Y:32.83, Z:21.99 [[ 9.61817483e-01 -2.52252526e-01 -1.06187535e-01 2.09895234e+02] [ 2.51338852e-01 9.67646310e-01 -2.21224072e-02 3.28318941e+01] [ 1.08332409e-01 -5.41133515e-03 9.94099998e-01 2.19905002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.38509989299996 meters 0.05427497506461231 Centerline is valid? [True, True] Translation: X:209.96, Y:32.84, Z:22.00 [[ 9.61546547e-01 -2.52971276e-01 -1.06928820e-01 2.09956064e+02] [ 2.52049311e-01 9.67457973e-01 -2.22758774e-02 3.28389948e+01] [ 1.09084297e-01 -5.53204245e-03 9.94017109e-01 2.19960068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.44509989299996 meters 0.05296649341253362 Centerline is valid? [True, True] Translation: X:210.01, Y:32.86, Z:22.00 [[ 9.61006854e-01 -2.54901108e-01 -1.07197257e-01 2.10013572e+02] [ 2.53986705e-01 9.66949924e-01 -2.23293188e-02 3.28581769e+01] [ 1.09346147e-01 -5.76804962e-03 9.93986997e-01 2.20033399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.50509989299997 meters 0.05392595659871685 Centerline is valid? [True, True] Translation: X:210.07, Y:32.87, Z:22.01 [[ 9.60157144e-01 -2.58165979e-01 -1.06998068e-01 2.10073623e+02] [ 2.57275127e-01 9.66081141e-01 -2.22876243e-02 3.28657586e+01] [ 1.09122722e-01 -6.12831977e-03 9.94009394e-01 2.20089082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.56509989299997 meters 0.05314228865933913 Centerline is valid? [True, True] Translation: X:210.13, Y:32.88, Z:22.02 [[ 9.59758366e-01 -2.59573704e-01 -1.07169828e-01 2.10131952e+02] [ 2.58688765e-01 9.65702756e-01 -2.23228378e-02 3.28842202e+01] [ 1.09288620e-01 -6.29910016e-03 9.93990100e-01 2.20157222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.62509989299997 meters 0.05399249913250889 Centerline is valid? [True, True] Translation: X:210.19, Y:32.89, Z:22.02 [[ 9.59641108e-01 -2.59688327e-01 -1.07939414e-01 2.10192693e+02] [ 2.58791453e-01 9.65671547e-01 -2.24821649e-02 3.28918837e+01] [ 1.10072377e-01 -6.35898829e-03 9.93903232e-01 2.20210528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68509989299997 meters 0.051437483854025405 Centerline is valid? [True, True] Translation: X:210.25, Y:32.92, Z:22.03 [[ 9.59871491e-01 -2.58882827e-01 -1.07825793e-01 2.10250091e+02] [ 2.57983074e-01 9.65888433e-01 -2.24559471e-02 3.29158763e+01] [ 1.09961146e-01 -6.26240615e-03 9.93916158e-01 2.20282071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74509989299997 meters 0.05145071952218142 Centerline is valid? [True, True] Translation: X:210.31, Y:32.94, Z:22.04 [[ 9.60573035e-01 -2.56444792e-01 -1.07403504e-01 2.10306909e+02] [ 2.55537108e-01 9.66540498e-01 -2.23663215e-02 3.29367333e+01] [ 1.09545563e-01 -5.96109541e-03 9.93963900e-01 2.20351527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80509989299995 meters 0.05111919514665915 Centerline is valid? [True, True] Translation: X:210.37, Y:32.95, Z:22.04 [[ 9.61306007e-01 -2.53673789e-01 -1.07426111e-01 2.10365170e+02] [ 2.52748516e-01 9.67273346e-01 -2.23709874e-02 3.29498333e+01] [ 1.09585347e-01 -5.64642567e-03 9.93961352e-01 2.20417478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.86509989299995 meters 0.05910182491018515 Centerline is valid? [True, True] Translation: X:210.43, Y:32.94, Z:22.04 [[ 9.63207139e-01 -2.46269399e-01 -1.07626163e-01 2.10428771e+02] [ 2.45294609e-01 9.69189469e-01 -2.24126714e-02 3.29370005e+01] [ 1.09829699e-01 -4.81207244e-03 9.93938771e-01 2.20437755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92509989299995 meters 0.05312035219412838 Centerline is valid? [True, True] Translation: X:210.48, Y:32.97, Z:22.05 [[ 9.64946116e-01 -2.39651419e-01 -1.06986875e-01 2.10483294e+02] [ 2.38647632e-01 9.70850621e-01 -2.22795801e-02 3.29710043e+01] [ 1.09207607e-01 -4.03357003e-03 9.94010779e-01 2.20527936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98509989299995 meters 0.052577469740429324 Centerline is valid? [True, True] Translation: X:210.54, Y:32.99, Z:22.06 [[ 9.67786178e-01 -2.28308622e-01 -1.06137116e-01 2.10540167e+02] [ 2.27252501e-01 9.73584988e-01 -2.21036518e-02 3.29926328e+01] [ 1.08379957e-01 -2.72831644e-03 9.94105800e-01 2.20597340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04509989299996 meters 0.05173434442544739 Centerline is valid? [True, True] Translation: X:210.60, Y:33.02, Z:22.07 [[ 9.70402981e-01 -2.16822913e-01 -1.06329103e-01 2.10597098e+02] [ 2.15694121e-01 9.76209881e-01 -2.21430656e-02 3.30162759e+01] [ 1.08600645e-01 -1.44686560e-03 9.94084406e-01 2.20661423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.10509989299996 meters 0.05213947654235338 Centerline is valid? [True, True] Translation: X:210.65, Y:33.03, Z:22.07 [[ 9.71071105e-01 -2.13559354e-01 -1.06833101e-01 2.10654744e+02] [ 2.12400081e-01 9.76929486e-01 -2.22482438e-02 3.30300022e+01] [ 1.09119727e-01 -1.08673250e-03 9.94028020e-01 2.20710189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.16509989299996 meters 0.051602280962817444 Centerline is valid? [True, True] Translation: X:210.71, Y:33.05, Z:22.08 [[ 9.71995856e-01 -2.08485002e-01 -1.08434587e-01 2.10714017e+02] [ 2.07258952e-01 9.78025424e-01 -2.25831026e-02 3.30503766e+01] [ 1.10760022e-01 -5.23356822e-04 9.93847042e-01 2.20784940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.22509989299996 meters 0.052650540557063356 Centerline is valid? [True, True] Translation: X:210.77, Y:33.07, Z:22.08 [[ 9.72998020e-01 -2.02875175e-01 -1.10075051e-01 2.10773499e+02] [ 2.01576345e-01 9.79204601e-01 -2.29200073e-02 3.30669363e+01] [ 1.12435897e-01 1.12595356e-04 9.93658974e-01 2.20833456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.28509989299997 meters 0.0526458220119303 Centerline is valid? [True, True] Translation: X:210.83, Y:33.08, Z:22.09 [[ 9.73191222e-01 -2.01044885e-01 -1.11713022e-01 2.10832535e+02] [ 1.99695588e-01 9.79581977e-01 -2.32555907e-02 3.30805570e+01] [ 1.14107480e-01 3.23539087e-04 9.93468358e-01 2.20883507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.34509989299997 meters 0.05266973218162504 Centerline is valid? [True, True] Translation: X:210.89, Y:33.09, Z:22.09 [[ 9.73085499e-01 -2.01831385e-01 -1.11214677e-01 2.10891215e+02] [ 2.00499981e-01 9.79420258e-01 -2.31455368e-02 3.30919301e+01] [ 1.13597403e-01 2.24045704e-04 9.93526839e-01 2.20937953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.40509989299997 meters 0.052473960957891704 Centerline is valid? [True, True] Translation: X:210.95, Y:33.10, Z:22.10 [[ 9.72820679e-01 -2.03568544e-01 -1.10362015e-01 2.10950555e+02] [ 2.02268782e-01 9.79060696e-01 -2.29672086e-02 3.31026817e+01] [ 1.12726512e-01 2.01851603e-05 9.93626053e-01 2.21011282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46509989299997 meters 0.051986986153085425 Centerline is valid? [True, True] Translation: X:211.01, Y:33.11, Z:22.11 [[ 9.72021093e-01 -2.08092995e-01 -1.08960086e-01 2.11010176e+02] [ 2.06854450e-01 9.78108919e-01 -2.26755174e-02 3.31089989e+01] [ 1.11293448e-01 -4.97797423e-04 9.93787462e-01 2.21056149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52509989299995 meters 0.05211988024431571 Centerline is valid? [True, True] Translation: X:211.07, Y:33.12, Z:22.12 [[ 9.70247999e-01 -2.16004426e-01 -1.09365940e-01 2.11069900e+02] [ 2.14806532e-01 9.76391368e-01 -2.27607351e-02 3.31170779e+01] [ 1.11700380e-01 -1.40896073e-03 9.93740932e-01 2.21158677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58509989299995 meters 0.05270396019951865 Centerline is valid? [True, True] Translation: X:211.13, Y:33.12, Z:22.12 [[ 9.68902278e-01 -2.22255015e-01 -1.08770784e-01 2.11130330e+02] [ 2.21109558e-01 9.74986265e-01 -2.26350498e-02 3.31200600e+01] [ 1.11080774e-01 -2.11910880e-03 9.93809122e-01 2.21207618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64509989299995 meters 0.052615550546066085 Centerline is valid? [True, True] Translation: X:211.19, Y:33.13, Z:22.13 [[ 9.66674400e-01 -2.31611399e-01 -1.09072292e-01 2.11189304e+02] [ 2.30519027e-01 9.72803111e-01 -2.26954729e-02 3.31292023e+01] [ 1.11362395e-01 -3.20410597e-03 9.93774698e-01 2.21297481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.70509989299995 meters 0.05350168056967156 Centerline is valid? [True, True] Translation: X:211.25, Y:33.13, Z:22.13 [[ 9.65236049e-01 -2.37458405e-01 -1.09237698e-01 2.11249936e+02] [ 2.36399969e-01 9.71389941e-01 -2.27296411e-02 3.31298904e+01] [ 1.11509746e-01 -3.88431960e-03 9.93755749e-01 2.21344846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.76509989299996 meters 0.052467290129880814 Centerline is valid? [True, True] Translation: X:211.31, Y:33.14, Z:22.14 [[ 9.64965682e-01 -2.38557908e-01 -1.09230756e-01 2.11309272e+02] [ 2.37506784e-01 9.71119984e-01 -2.27267111e-02 3.31431344e+01] [ 1.11497807e-01 -4.01254934e-03 9.93756579e-01 2.21414976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.82509989299996 meters 0.0519555224959661 Centerline is valid? [True, True] Translation: X:211.37, Y:33.16, Z:22.15 [[ 9.65262017e-01 -2.37479245e-01 -1.08962590e-01 2.11368938e+02] [ 2.36426644e-01 9.71384864e-01 -2.26691064e-02 3.31584260e+01] [ 1.11228053e-01 -3.88003205e-03 9.93787334e-01 2.21489234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.88509989299996 meters 0.05253102931915716 Centerline is valid? [True, True] Translation: X:211.43, Y:33.17, Z:22.15 [[ 9.66599025e-01 -2.32151337e-01 -1.08591353e-01 2.11427439e+02] [ 2.31072723e-01 9.72674221e-01 -2.25888364e-02 3.31676893e+01] [ 1.10868039e-01 -3.25815251e-03 9.93829796e-01 2.21545066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.94509989299996 meters 0.05309641724789668 Centerline is valid? [True, True] Translation: X:211.49, Y:33.18, Z:22.16 [[ 9.68129998e-01 -2.25309225e-01 -1.09362060e-01 2.11485713e+02] [ 2.24171650e-01 9.74284119e-01 -2.27492127e-02 3.31823425e+01] [ 1.11675326e-01 -2.49167821e-03 9.93741623e-01 2.21597701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.00509989299997 meters 0.052454129650895895 Centerline is valid? [True, True] Translation: X:211.55, Y:33.20, Z:22.17 [[ 9.68751979e-01 -2.21433731e-01 -1.11743929e-01 2.11545387e+02] [ 2.20220301e-01 9.75173181e-01 -2.32440658e-02 3.31985107e+01] [ 1.14116703e-01 -2.09054708e-03 9.93465152e-01 2.21653035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.06509989299997 meters 0.05271715010838802 Centerline is valid? [True, True] Translation: X:211.60, Y:33.20, Z:22.17 [[ 9.68945444e-01 -2.19851969e-01 -1.13180555e-01 2.11604334e+02] [ 2.18596668e-01 9.75531331e-01 -2.35397150e-02 3.32048481e+01] [ 1.15586431e-01 -1.93219273e-03 9.93295547e-01 2.21666333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.12509989299997 meters 0.053005320200697884 Centerline is valid? [True, True] Translation: X:211.66, Y:33.22, Z:22.18 [[ 9.69245464e-01 -2.17965029e-01 -1.14256192e-01 2.11660923e+02] [ 2.16672225e-01 9.75955064e-01 -2.37667852e-02 3.32214040e+01] [ 1.16689237e-01 -1.72029459e-03 9.93166986e-01 2.21750956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18509989299997 meters 0.05272869273784923 Centerline is valid? [True, True] Translation: X:211.72, Y:33.24, Z:22.18 [[ 9.70640622e-01 -2.12454905e-01 -1.12781629e-01 2.11717938e+02] [ 2.11157475e-01 9.77170322e-01 -2.34666357e-02 3.32379356e+01] [ 1.15192462e-01 -1.03701405e-03 9.93342650e-01 2.21849001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24509989299997 meters 0.05333753398563529 Centerline is valid? [True, True] Translation: X:211.78, Y:33.25, Z:22.20 [[ 9.72065692e-01 -2.07508817e-01 -1.09673973e-01 2.11776545e+02] [ 2.06250285e-01 9.78233051e-01 -2.28236189e-02 3.32532589e+01] [ 1.12022807e-01 -4.34231334e-04 9.93705541e-01 2.21951138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30509989299995 meters 0.053156433620366615 Centerline is valid? [True, True] Translation: X:211.84, Y:33.27, Z:22.20 [[ 9.72714444e-01 -2.05380562e-01 -1.07914014e-01 2.11835570e+02] [ 2.04149322e-01 9.78682170e-01 -2.24558372e-02 3.32659811e+01] [ 1.10225514e-01 -1.87455619e-04 9.93906586e-01 2.22018349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36509989299995 meters 0.052634221039426374 Centerline is valid? [True, True] Translation: X:211.89, Y:33.28, Z:22.21 [[ 9.73212322e-01 -2.03481689e-01 -1.07018591e-01 2.11892009e+02] [ 2.02259585e-01 9.79078752e-01 -2.22678816e-02 3.32785396e+01] [ 1.09310735e-01 2.58409499e-05 9.94007627e-01 2.22091394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42509989299995 meters 0.05297092503339855 Centerline is valid? [True, True] Translation: X:211.95, Y:33.29, Z:22.22 [[ 9.73789386e-01 -2.01574542e-01 -1.05365722e-01 2.11951584e+02] [ 2.00378595e-01 9.79473148e-01 -2.19265037e-02 3.32897267e+01] [ 1.07622720e-01 2.38761233e-04 9.94191779e-01 2.22164101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48509989299995 meters 0.05316082165834749 Centerline is valid? [True, True] Translation: X:212.01, Y:33.30, Z:22.22 [[ 9.74004563e-01 -2.00785971e-01 -1.04881388e-01 2.12008107e+02] [ 1.99596607e-01 9.79635080e-01 -2.18244067e-02 3.33002954e+01] [ 1.07127521e-01 3.23102599e-04 9.94245236e-01 2.22212093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54509989299996 meters 0.05347126582487446 Centerline is valid? [True, True] Translation: X:212.07, Y:33.31, Z:22.23 [[ 9.74148924e-01 -2.00068766e-01 -1.04911216e-01 2.12067251e+02] [ 1.98873274e-01 9.79781770e-01 -2.18426955e-02 3.33071075e+01] [ 1.07160138e-01 4.14001366e-04 9.94241688e-01 2.22277858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.60509989299996 meters 0.053106658729280165 Centerline is valid? [True, True] Translation: X:212.12, Y:33.32, Z:22.23 [[ 9.74457543e-01 -1.98541113e-01 -1.04947243e-01 2.12124041e+02] [ 1.97335746e-01 9.80092386e-01 -2.18521847e-02 3.33153783e+01] [ 1.07196551e-01 5.84183734e-04 9.94237677e-01 2.22320643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.66509989299996 meters 0.0533672643006615 Centerline is valid? [True, True] Translation: X:212.18, Y:33.32, Z:22.24 [[ 9.74617777e-01 -1.98200447e-01 -1.04099816e-01 2.12181249e+02] [ 1.97011843e-01 9.80161310e-01 -2.16827033e-02 3.33219167e+01] [ 1.06332133e-01 6.23451664e-04 9.94330473e-01 2.22375281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.72509989299996 meters 0.053189960237426115 Centerline is valid? [True, True] Translation: X:212.24, Y:33.33, Z:22.24 [[ 9.74472418e-01 -1.99139886e-01 -1.03666836e-01 2.12240259e+02] [ 1.97965042e-01 9.79970930e-01 -2.16060003e-02 3.33277590e+01] [ 1.05893102e-01 5.32041757e-04 9.94377377e-01 2.22436699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.78509989299997 meters 0.05248200043603378 Centerline is valid? [True, True] Translation: X:212.30, Y:33.33, Z:22.25 [[ 9.73128691e-01 -2.05719025e-01 -1.03441936e-01 2.12299942e+02] [ 2.04585178e-01 9.78611084e-01 -2.15696984e-02 3.33290627e+01] [ 1.05666722e-01 -1.72594442e-04 9.94401586e-01 2.22490281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.84509989299997 meters 0.053522238611790424 Centerline is valid? [True, True] Translation: X:212.36, Y:33.33, Z:22.25 [[ 9.71379148e-01 -2.13634852e-01 -1.03839780e-01 2.12359871e+02] [ 2.12536202e-01 9.76913044e-01 -2.16625870e-02 3.33306434e+01] [ 1.06070319e-01 -1.02712714e-03 9.94358101e-01 2.22543909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.90509989299997 meters 0.05306114568948544 Centerline is valid? [True, True] Translation: X:212.42, Y:33.33, Z:22.26 [[ 9.68261366e-01 -2.27337338e-01 -1.03863665e-01 2.12421449e+02] [ 2.26316337e-01 9.73812796e-01 -2.16692079e-02 3.33303967e+01] [ 1.06069986e-01 -2.52458740e-03 9.94355462e-01 2.22597175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96509989299997 meters 0.053084927462903685 Centerline is valid? [True, True] Translation: X:212.48, Y:33.34, Z:22.27 [[ 9.66188486e-01 -2.35865022e-01 -1.04151338e-01 2.12481280e+02] [ 2.34887568e-01 9.71779634e-01 -2.17295444e-02 3.33366886e+01] [ 1.06337388e-01 -3.46901874e-03 9.94324055e-01 2.22653121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02509989299995 meters 0.05328493662226196 Centerline is valid? [True, True] Translation: X:212.54, Y:33.34, Z:22.27 [[ 9.64541606e-01 -2.42378355e-01 -1.04461593e-01 2.12540647e+02] [ 2.41432998e-01 9.70172719e-01 -2.17945675e-02 3.33408678e+01] [ 1.06628319e-01 -4.19870856e-03 9.94290085e-01 2.22706778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08509989299995 meters 0.05854550149589236 Centerline is valid? [True, True] Translation: X:212.60, Y:33.33, Z:22.28 [[ 9.63349080e-01 -2.46937309e-01 -1.04787952e-01 2.12603035e+02] [ 2.46012852e-01 9.69019972e-01 -2.18625308e-02 3.33316376e+01] [ 1.06940293e-01 -4.71793391e-03 9.94254251e-01 2.22753109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14509989299995 meters 0.05374877639188296 Centerline is valid? [True, True] Translation: X:212.66, Y:33.36, Z:22.28 [[ 9.62502210e-01 -2.50883154e-01 -1.03184974e-01 2.12658440e+02] [ 2.50009328e-01 9.68004067e-01 -2.15281587e-02 3.33606980e+01] [ 1.05284527e-01 -5.07630574e-03 9.94429183e-01 2.22841083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20509989299995 meters 0.05662782492453304 Centerline is valid? [True, True] Translation: X:212.72, Y:33.36, Z:22.29 [[ 9.62694625e-01 -2.50645174e-01 -1.01961048e-01 2.12717340e+02] [ 2.49790745e-01 9.68066160e-01 -2.12718890e-02 3.33581510e+01] [ 1.04036736e-01 -4.99059274e-03 9.94560934e-01 2.22918646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26509989299996 meters 0.055995095869584295 Centerline is valid? [True, True] Translation: X:212.78, Y:33.37, Z:22.30 [[ 9.63445242e-01 -2.48092491e-01 -1.01110739e-01 2.12775351e+02] [ 2.47237828e-01 9.68725089e-01 -2.10987649e-02 3.33717703e+01] [ 1.03182955e-01 -4.67089499e-03 9.94651427e-01 2.22988968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.32509989299996 meters 0.056709904514501495 Centerline is valid? [True, True] Translation: X:212.83, Y:33.38, Z:22.30 [[ 9.64739376e-01 -2.41711525e-01 -1.04180016e-01 2.12833688e+02] [ 2.40766965e-01 9.70339450e-01 -2.17398332e-02 3.33840733e+01] [ 1.06344747e-01 -4.10983317e-03 9.94320825e-01 2.23024566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.38509989299996 meters 0.05447149140437039 Centerline is valid? [True, True] Translation: X:212.89, Y:33.41, Z:22.31 [[ 9.65841628e-01 -2.36303416e-01 -1.06351514e-01 2.12890395e+02] [ 2.35286259e-01 9.71672694e-01 -2.21935072e-02 3.34066072e+01] [ 1.08583264e-01 -3.58763678e-03 9.94080884e-01 2.23074908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.44509989299996 meters 0.053406052078520574 Centerline is valid? [True, True] Translation: X:212.95, Y:33.43, Z:22.31 [[ 9.67797108e-01 -2.26575879e-01 -1.09691061e-01 2.12946172e+02] [ 2.25431088e-01 9.73990120e-01 -2.28925931e-02 3.34319472e+01] [ 1.12024920e-01 -2.57238992e-03 9.93702068e-01 2.23132014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.50509989299997 meters 0.05361642214785678 Centerline is valid? [True, True] Translation: X:213.01, Y:33.44, Z:22.32 [[ 9.69169506e-01 -2.20171525e-01 -1.10611794e-01 2.13005235e+02] [ 2.18965750e-01 9.75459424e-01 -2.30848952e-02 3.34449400e+01] [ 1.12979954e-01 -1.84701805e-03 9.93595551e-01 2.23169053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.56509989299997 meters 0.05355551920188871 Centerline is valid? [True, True] Translation: X:213.06, Y:33.47, Z:22.33 [[ 9.71280719e-01 -2.11104226e-01 -1.09766895e-01 2.13061284e+02] [ 2.09859092e-01 9.77463242e-01 -2.29079158e-02 3.34685609e+01] [ 1.12129063e-01 -7.85564082e-04 9.93693341e-01 2.23271443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.62509989299997 meters 0.05319364005748975 Centerline is valid? [True, True] Translation: X:213.12, Y:33.48, Z:22.33 [[ 9.72398180e-01 -2.06544338e-01 -1.08541314e-01 2.13117017e+02] [ 2.05298532e-01 9.78437209e-01 -2.26526362e-02 3.34830126e+01] [ 1.10879634e-01 -2.55990122e-04 9.93833810e-01 2.23329994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68509989299997 meters 0.05381769929624241 Centerline is valid? [True, True] Translation: X:213.17, Y:33.50, Z:22.34 [[ 9.73048124e-01 -2.04038733e-01 -1.07450190e-01 2.13172676e+02] [ 2.02802196e-01 9.78962816e-01 -2.24293325e-02 3.34981401e+01] [ 1.09766193e-01 3.36854446e-05 9.93957435e-01 2.23421977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74509989299995 meters 0.0534832965140379 Centerline is valid? [True, True] Translation: X:213.23, Y:33.51, Z:22.35 [[ 9.72570030e-01 -2.06852035e-01 -1.06394419e-01 2.13228836e+02] [ 2.05656021e-01 9.78372199e-01 -2.22135498e-02 3.35089829e+01] [ 1.08688259e-01 -2.76420117e-04 9.94075845e-01 2.23486092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80509989299995 meters 0.0540596347959316 Centerline is valid? [True, True] Translation: X:213.29, Y:33.52, Z:22.36 [[ 9.70337181e-01 -2.16864563e-01 -1.06843418e-01 2.13288275e+02] [ 2.15717359e-01 9.76200712e-01 -2.23201985e-02 3.35158332e+01] [ 1.09141080e-01 -1.38986142e-03 9.94025298e-01 2.23567109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86509989299995 meters 0.05660246069703913 Centerline is valid? [True, True] Translation: X:213.35, Y:33.51, Z:22.36 [[ 9.66672332e-01 -2.31945436e-01 -1.08378584e-01 2.13350552e+02] [ 2.30858928e-01 9.72723753e-01 -2.26419015e-02 3.35056777e+01] [ 1.10674109e-01 -3.13286405e-03 9.93851813e-01 2.23599941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92509989299995 meters 0.053641355254486205 Centerline is valid? [True, True] Translation: X:213.41, Y:33.53, Z:22.37 [[ 9.63980314e-01 -2.42560976e-01 -1.09115203e-01 2.13407443e+02] [ 2.41526967e-01 9.70126283e-01 -2.27973423e-02 3.35275029e+01] [ 1.11385271e-01 -4.37807478e-03 9.93767656e-01 2.23698925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98509989299995 meters 0.052930283185519136 Centerline is valid? [True, True] Translation: X:213.47, Y:33.54, Z:22.38 [[ 9.61743732e-01 -2.51094756e-01 -1.09546419e-01 2.13466866e+02] [ 2.50107583e-01 9.67947519e-01 -2.28866043e-02 3.35390228e+01] [ 1.11781890e-01 -5.38734182e-03 9.93718162e-01 2.23766232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04509989299996 meters 0.05610466083096171 Centerline is valid? [True, True] Translation: X:213.53, Y:33.54, Z:22.38 [[ 9.59725741e-01 -2.58682751e-01 -1.09588943e-01 2.13526939e+02] [ 2.57743888e-01 9.65941970e-01 -2.28953926e-02 3.35395005e+01] [ 1.11779203e-01 -6.27258271e-03 9.93713271e-01 2.23805750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.10509989299996 meters 0.0523037861772632 Centerline is valid? [True, True] Translation: X:213.58, Y:33.57, Z:22.39 [[ 9.59381179e-01 -2.60380507e-01 -1.08580591e-01 2.13582610e+02] [ 2.59469726e-01 9.65484798e-01 -2.26840707e-02 3.35691392e+01] [ 1.10739400e-01 -6.41070566e-03 9.93828802e-01 2.23894710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.16509989299996 meters 0.0557802518640735 Centerline is valid? [True, True] Translation: X:213.64, Y:33.57, Z:22.39 [[ 9.59478779e-01 -2.60311713e-01 -1.07880880e-01 2.13644275e+02] [ 2.59412306e-01 9.65503671e-01 -2.25370056e-02 3.35666720e+01] [ 1.10026032e-01 -6.36184919e-03 9.93908345e-01 2.23939286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.22509989299996 meters 0.052368546996088984 Centerline is valid? [True, True] Translation: X:213.70, Y:33.59, Z:22.40 [[ 9.59593616e-01 -2.60101491e-01 -1.07365296e-01 2.13701087e+02] [ 2.59209475e-01 9.65560678e-01 -2.24282327e-02 3.35949899e+01] [ 1.09501325e-01 -6.30811306e-03 9.93966633e-01 2.24018015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.28509989299997 meters 0.05586625008695206 Centerline is valid? [True, True] Translation: X:213.76, Y:33.60, Z:22.41 [[ 9.59914803e-01 -2.59062839e-01 -1.07004753e-01 2.13761168e+02] [ 2.58170853e-01 9.65840745e-01 -2.23487408e-02 3.35977868e+01] [ 1.09139278e-01 -6.17262117e-03 9.94007302e-01 2.24068112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.34509989299997 meters 0.055893535023647745 Centerline is valid? [True, True] Translation: X:213.82, Y:33.61, Z:22.41 [[ 9.60075901e-01 -2.57985033e-01 -1.08157228e-01 2.13819551e+02] [ 2.57066819e-01 9.66129560e-01 -2.25903478e-02 3.36113088e+01] [ 1.10321867e-01 -6.11518593e-03 9.93877100e-01 2.24123313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.40509989299997 meters 0.053361317793175336 Centerline is valid? [True, True] Translation: X:213.88, Y:33.64, Z:22.42 [[ 9.60360071e-01 -2.56342526e-01 -1.09531014e-01 2.13875745e+02] [ 2.55390109e-01 9.66567373e-01 -2.28780801e-02 3.36366493e+01] [ 1.11733730e-01 -6.00194306e-03 9.93720056e-01 2.24189639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46509989299997 meters 0.05478827501690348 Centerline is valid? [True, True] Translation: X:213.93, Y:33.65, Z:22.42 [[ 9.60748769e-01 -2.54109165e-01 -1.11311883e-01 2.13934380e+02] [ 2.53110578e-01 9.67157932e-01 -2.32501526e-02 3.36465449e+01] [ 1.13564248e-01 -5.83665955e-03 9.93513510e-01 2.24237496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52509989299995 meters 0.05288321299614641 Centerline is valid? [True, True] Translation: X:213.99, Y:33.68, Z:22.43 [[ 9.62174473e-01 -2.48155601e-01 -1.12423668e-01 2.13989330e+02] [ 2.47096363e-01 9.68706312e-01 -2.34833453e-02 3.36764837e+01] [ 1.14733041e-01 -5.18440424e-03 9.93382832e-01 2.24322444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58509989299995 meters 0.05577274628036581 Centerline is valid? [True, True] Translation: X:214.05, Y:33.68, Z:22.43 [[ 9.63972883e-01 -2.41315843e-01 -1.11905964e-01 2.14050584e+02] [ 2.40220511e-01 9.70436883e-01 -2.33744097e-02 3.36769178e+01] [ 1.14238290e-01 -4.34981075e-03 9.93443855e-01 2.24340294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64509989299995 meters 0.05265649799682557 Centerline is valid? [True, True] Translation: X:214.10, Y:33.71, Z:22.44 [[ 9.67302784e-01 -2.28606781e-01 -1.09837440e-01 2.14104375e+02] [ 2.27469797e-01 9.73514839e-01 -2.29423204e-02 3.37119477e+01] [ 1.12173148e-01 -2.79252979e-03 9.93684752e-01 2.24445194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70509989299995 meters 0.053223436970299916 Centerline is valid? [True, True] Translation: X:214.16, Y:33.73, Z:22.45 [[ 9.69583390e-01 -2.19072553e-01 -1.09157074e-01 2.14160515e+02] [ 2.17889117e-01 9.75707132e-01 -2.28018595e-02 3.37311193e+01] [ 1.11500597e-01 -1.67583421e-03 9.93762954e-01 2.24507112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76509989299996 meters 0.05251735620909565 Centerline is valid? [True, True] Translation: X:214.22, Y:33.75, Z:22.46 [[ 9.72226126e-01 -2.07040004e-01 -1.09136593e-01 2.14215660e+02] [ 2.05781120e-01 9.78332434e-01 -2.27986789e-02 3.37542688e+01] [ 1.11492107e-01 -2.92778995e-04 9.93765276e-01 2.24565736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.82509989299996 meters 0.05333843825038883 Centerline is valid? [True, True] Translation: X:214.27, Y:33.77, Z:22.46 [[ 9.74013071e-01 -1.98666109e-01 -1.08767249e-01 2.14270707e+02] [ 1.97363450e-01 9.80067005e-01 -2.27229970e-02 3.37723492e+01] [ 1.11113481e-01 6.65816618e-04 9.93807502e-01 2.24633165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.88509989299996 meters 0.05359085573554395 Centerline is valid? [True, True] Translation: X:214.33, Y:33.79, Z:22.47 [[ 9.74877481e-01 -1.94532632e-01 -1.08494022e-01 2.14329043e+02] [ 1.93210339e-01 9.80895385e-01 -2.26717735e-02 3.37886458e+01] [ 1.10831685e-01 1.14003455e-03 9.93838537e-01 2.24692500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.94509989299996 meters 0.0543610177548994 Centerline is valid? [True, True] Translation: X:214.39, Y:33.80, Z:22.48 [[ 9.75181616e-01 -1.92992112e-01 -1.08512030e-01 2.14390277e+02] [ 1.91660059e-01 9.81199429e-01 -2.26738290e-02 3.37973730e+01] [ 1.10847812e-01 1.31367915e-03 9.93836524e-01 2.24788627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.00509989299997 meters 0.053878349282787626 Centerline is valid? [True, True] Translation: X:214.45, Y:33.82, Z:22.48 [[ 9.75553653e-01 -1.90625409e-01 -1.09348177e-01 2.14448726e+02] [ 1.89258236e-01 9.81661561e-01 -2.28451295e-02 3.38160694e+01] [ 1.11697764e-01 1.59160639e-03 9.93740950e-01 2.24836971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.06509989299997 meters 0.053846600459156145 Centerline is valid? [True, True] Translation: X:214.51, Y:33.83, Z:22.49 [[ 9.75051037e-01 -1.93216449e-01 -1.09283477e-01 2.14508609e+02] [ 1.91867389e-01 9.81155307e-01 -2.28291353e-02 3.38262225e+01] [ 1.11635027e-01 1.29163675e-03 9.93748435e-01 2.24902258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.12509989299997 meters 0.053502425360549166 Centerline is valid? [True, True] Translation: X:214.57, Y:33.84, Z:22.50 [[ 9.74377784e-01 -1.97070187e-01 -1.08403299e-01 2.14568472e+02] [ 1.95766786e-01 9.80389021e-01 -2.26436013e-02 3.38381346e+01] [ 1.10739783e-01 8.41656561e-04 9.93849079e-01 2.24963479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18509989299997 meters 0.05303670477446911 Centerline is valid? [True, True] Translation: X:214.63, Y:33.85, Z:22.50 [[ 9.73596909e-01 -2.01437336e-01 -1.07387426e-01 2.14626173e+02] [ 2.00185069e-01 9.79501345e-01 -2.24288598e-02 3.38503209e+01] [ 1.09704138e-01 3.39309347e-04 9.93964228e-01 2.25007264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24509989299995 meters 0.05237998112312172 Centerline is valid? [True, True] Translation: X:214.68, Y:33.86, Z:22.51 [[ 9.72304974e-01 -2.08398908e-01 -1.05796659e-01 2.14683046e+02] [ 2.07224548e-01 9.78043814e-01 -2.20971430e-02 3.38563268e+01] [ 1.08078788e-01 -4.38502851e-04 9.94142235e-01 2.25090943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30509989299995 meters 0.052593404153731135 Centerline is valid? [True, True] Translation: X:214.74, Y:33.86, Z:22.51 [[ 9.70805371e-01 -2.15455249e-01 -1.05432284e-01 2.14741871e+02] [ 2.14328944e-01 9.76512971e-01 -2.20345644e-02 3.38617384e+01] [ 1.07703456e-01 -1.20591674e-03 9.94182333e-01 2.25136938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36509989299995 meters 0.052643515792661806 Centerline is valid? [True, True] Translation: X:214.80, Y:33.87, Z:22.52 [[ 9.69856423e-01 -2.19670214e-01 -1.05468079e-01 2.14801911e+02] [ 2.18567978e-01 9.75572751e-01 -2.20419165e-02 3.38704166e+01] [ 1.07733736e-01 -1.67445040e-03 9.94178373e-01 2.25193616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42509989299995 meters 0.05307406087640764 Centerline is valid? [True, True] Translation: X:214.86, Y:33.88, Z:22.52 [[ 9.69010201e-01 -2.23167423e-01 -1.05903409e-01 2.14859911e+02] [ 2.22077013e-01 9.74777925e-01 -2.21313595e-02 3.38761926e+01] [ 1.08171304e-01 -2.07319962e-03 9.94130108e-01 2.25237143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48509989299995 meters 0.053442450685375294 Centerline is valid? [True, True] Translation: X:214.92, Y:33.88, Z:22.53 [[ 9.68652269e-01 -2.24497309e-01 -1.06366069e-01 2.14918049e+02] [ 2.23404837e-01 9.74472164e-01 -2.22324330e-02 3.38821104e+01] [ 1.08641895e-01 -2.22719771e-03 9.94078457e-01 2.25275573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54509989299996 meters 0.05309171614153424 Centerline is valid? [True, True] Translation: X:214.98, Y:33.89, Z:22.53 [[ 9.68228190e-01 -2.26186428e-01 -1.06648359e-01 2.14975536e+02] [ 2.25097571e-01 9.74081034e-01 -2.22984813e-02 3.38938267e+01] [ 1.08927758e-01 -2.41626848e-03 9.94046732e-01 2.25324541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.60509989299996 meters 0.05324836773935568 Centerline is valid? [True, True] Translation: X:215.03, Y:33.91, Z:22.54 [[ 9.67954263e-01 -2.27003434e-01 -1.07396394e-01 2.15032523e+02] [ 2.25902899e-01 9.73890712e-01 -2.24668818e-02 3.39070870e+01] [ 1.09692410e-01 -2.51424278e-03 9.93962401e-01 2.25379305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.66509989299996 meters 0.052821168042316465 Centerline is valid? [True, True] Translation: X:215.09, Y:33.92, Z:22.54 [[ 9.67766425e-01 -2.27547642e-01 -1.07936171e-01 2.15090418e+02] [ 2.26438072e-01 9.73763537e-01 -2.25914301e-02 3.39219745e+01] [ 1.10244934e-01 -2.57763101e-03 9.93901107e-01 2.25438153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.72509989299996 meters 0.05280320312954662 Centerline is valid? [True, True] Translation: X:215.15, Y:33.93, Z:22.55 [[ 9.67400716e-01 -2.29671737e-01 -1.06708702e-01 2.15148035e+02] [ 2.28599990e-01 9.73264165e-01 -2.23362971e-02 3.39339521e+01] [ 1.08985772e-01 -2.78545845e-03 9.94039407e-01 2.25503500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.78509989299997 meters 0.05204989917606487 Centerline is valid? [True, True] Translation: X:215.21, Y:33.95, Z:22.56 [[ 9.66962498e-01 -2.31821292e-01 -1.06030259e-01 2.15207643e+02] [ 2.30775766e-01 9.72753748e-01 -2.21966768e-02 3.39473339e+01] [ 1.08286994e-01 -3.00586021e-03 9.94115130e-01 2.25572719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.84509989299997 meters 0.05190577379004395 Centerline is valid? [True, True] Translation: X:215.27, Y:33.96, Z:22.56 [[ 9.66047716e-01 -2.35848760e-01 -1.05485419e-01 2.15266384e+02] [ 2.34838146e-01 9.71783678e-01 -2.20800262e-02 3.39614743e+01] [ 1.07716556e-01 -3.44164153e-03 9.94175688e-01 2.25641073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.90509989299997 meters 0.052838655828033064 Centerline is valid? [True, True] Translation: X:215.33, Y:33.97, Z:22.57 [[ 9.65245264e-01 -2.38865739e-01 -1.06041214e-01 2.15325599e+02] [ 2.37862581e-01 9.71045174e-01 -2.21960301e-02 3.39668229e+01] [ 1.08272680e-01 -3.79862389e-03 9.94113976e-01 2.25691160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96509989299997 meters 0.051829580130986964 Centerline is valid? [True, True] Translation: X:215.38, Y:33.98, Z:22.58 [[ 9.63812121e-01 -2.44122324e-01 -1.07100356e-01 2.15383967e+02] [ 2.43131197e-01 9.69734316e-01 -2.24182305e-02 3.39842318e+01] [ 1.09331681e-01 -4.43247548e-03 9.93995441e-01 2.25757430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02509989299995 meters 0.05208253599172725 Centerline is valid? [True, True] Translation: X:215.44, Y:33.99, Z:22.58 [[ 9.62843551e-01 -2.48262172e-01 -1.06292948e-01 2.15442921e+02] [ 2.47311113e-01 9.68680659e-01 -2.22484640e-02 3.39935515e+01] [ 1.08487375e-01 -4.86563710e-03 9.94085919e-01 2.25827268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.08509989299995 meters 0.06074556532714647 Centerline is valid? [True, True] Translation: X:215.51, Y:33.98, Z:22.59 [[ 9.62577138e-01 -2.49437939e-01 -1.05952669e-01 2.15506890e+02] [ 2.48500113e-01 9.68377968e-01 -2.21766670e-02 3.39799100e+01] [ 1.08133932e-01 -4.98249753e-03 9.94123849e-01 2.25870145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14509989299995 meters 0.052444368371110106 Centerline is valid? [True, True] Translation: X:215.56, Y:34.02, Z:22.60 [[ 9.62678387e-01 -2.49574665e-01 -1.04703441e-01 2.15561278e+02] [ 2.48659667e-01 9.68342966e-01 -2.19150782e-02 3.40209667e+01] [ 1.06858288e-01 -4.93835051e-03 9.94261997e-01 2.25961766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.20509989299995 meters 0.05276290658596701 Centerline is valid? [True, True] Translation: X:215.62, Y:34.03, Z:22.60 [[ 9.63138353e-01 -2.47907664e-01 -1.04433251e-01 2.15620076e+02] [ 2.46988074e-01 9.68772045e-01 -2.18544155e-02 3.40343947e+01] [ 1.06589892e-01 -4.74494188e-03 9.94291748e-01 2.26023885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.26509989299996 meters 0.0522087974279642 Centerline is valid? [True, True] Translation: X:215.68, Y:34.05, Z:22.61 [[ 9.63513292e-01 -2.46284833e-01 -1.04813730e-01 2.15678487e+02] [ 2.45349067e-01 9.69186657e-01 -2.19330665e-02 3.40504670e+01] [ 1.06985850e-01 -4.58314981e-03 9.94249980e-01 2.26087763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.32509989299996 meters 0.05229482462856207 Centerline is valid? [True, True] Translation: X:215.74, Y:34.06, Z:22.62 [[ 9.64073444e-01 -2.43647160e-01 -1.05822758e-01 2.15736190e+02] [ 2.42677530e-01 9.69854261e-01 -2.21433916e-02 3.40649873e+01] [ 1.08027827e-01 -4.33294964e-03 9.94138428e-01 2.26150063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.38509989299996 meters 0.05327001435287991 Centerline is valid? [True, True] Translation: X:215.79, Y:34.08, Z:22.62 [[ 9.64544757e-01 -2.41452839e-01 -1.06554856e-01 2.15794588e+02] [ 2.40456343e-01 9.70403829e-01 -2.22970071e-02 3.40765221e+01] [ 1.08784916e-01 -4.11532976e-03 9.94056792e-01 2.26205695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.44509989299996 meters 0.052211599357040395 Centerline is valid? [True, True] Translation: X:215.85, Y:34.10, Z:22.63 [[ 9.65758375e-01 -2.36420484e-01 -1.06846223e-01 2.15851504e+02] [ 2.35387909e-01 9.71644323e-01 -2.23571378e-02 3.40990641e+01] [ 1.09102211e-01 -3.55871591e-03 9.94024166e-01 2.26276177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.50509989299997 meters 0.05300416535191494 Centerline is valid? [True, True] Translation: X:215.91, Y:34.11, Z:22.63 [[ 9.66778053e-01 -2.32082126e-01 -1.07135819e-01 2.15909751e+02] [ 2.31017435e-01 9.72691325e-01 -2.24171980e-02 3.41090977e+01] [ 1.09412713e-01 -3.07778720e-03 9.93991643e-01 2.26329953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.56509989299997 meters 0.052654746924840214 Centerline is valid? [True, True] Translation: X:215.97, Y:34.13, Z:22.64 [[ 9.68431611e-01 -2.25239251e-01 -1.06805876e-01 2.15968329e+02] [ 2.24139501e-01 9.74300779e-01 -2.23489597e-02 3.41261450e+01] [ 1.09094911e-01 -2.29597671e-03 9.94028686e-01 2.26388999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.62509989299997 meters 0.05285194478612031 Centerline is valid? [True, True] Translation: X:216.03, Y:34.14, Z:22.65 [[ 9.69378916e-01 -2.21348409e-01 -1.06345661e-01 2.16026311e+02] [ 2.20234818e-01 9.75193037e-01 -2.22523249e-02 3.41449431e+01] [ 1.08633065e-01 -1.85008261e-03 9.94080195e-01 2.26453389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68509989299997 meters 0.052241838999399666 Centerline is valid? [True, True] Translation: X:216.08, Y:34.16, Z:22.65 [[ 9.70093225e-01 -2.18219019e-01 -1.06299551e-01 2.16084091e+02] [ 2.17087587e-01 9.75898671e-01 -2.22432963e-02 3.41599146e+01] [ 1.08591501e-01 -1.49824201e-03 9.94085329e-01 2.26516243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74509989299995 meters 0.05238920320967018 Centerline is valid? [True, True] Translation: X:216.14, Y:34.18, Z:22.66 [[ 9.71210586e-01 -2.13093547e-01 -1.06494781e-01 2.16141340e+02] [ 2.11926734e-01 9.77031366e-01 -2.22883343e-02 3.41768491e+01] [ 1.08798242e-01 -9.22424986e-04 9.94063424e-01 2.26572830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80509989299995 meters 0.05249437235128046 Centerline is valid? [True, True] Translation: X:216.20, Y:34.19, Z:22.66 [[ 9.71683568e-01 -2.10896290e-01 -1.06554203e-01 2.16201480e+02] [ 2.09714831e-01 9.77508209e-01 -2.23022634e-02 3.41924690e+01] [ 1.08861072e-01 -6.75253704e-04 9.94056744e-01 2.26647408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86509989299995 meters 0.052291578764580925 Centerline is valid? [True, True] Translation: X:216.26, Y:34.21, Z:22.67 [[ 9.73243878e-01 -2.02912582e-01 -1.07809263e-01 2.16260497e+02] [ 2.01654536e-01 9.79196832e-01 -2.25612789e-02 3.42105152e+01] [ 1.10144456e-01 2.17399694e-04 9.93915566e-01 2.26690917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92509989299995 meters 0.05369364435828382 Centerline is valid? [True, True] Translation: X:216.32, Y:34.23, Z:22.68 [[ 9.74313472e-01 -1.98024618e-01 -1.07235759e-01 2.16317130e+02] [ 1.96750637e-01 9.80196749e-01 -2.24392517e-02 3.42254197e+01] [ 1.09555667e-01 7.64161266e-04 9.93980368e-01 2.26769341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98509989299995 meters 0.05352183490077437 Centerline is valid? [True, True] Translation: X:216.38, Y:34.24, Z:22.69 [[ 9.75398530e-01 -1.92793378e-01 -1.06903790e-01 2.16375246e+02] [ 1.91494753e-01 9.81238436e-01 -2.23806085e-02 3.42386745e+01] [ 1.09212941e-01 1.35849769e-03 9.94017449e-01 2.26850717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.04509989299996 meters 0.05345112787770409 Centerline is valid? [True, True] Translation: X:216.43, Y:34.25, Z:22.69 [[ 9.75425427e-01 -1.92452006e-01 -1.07272837e-01 2.16432577e+02] [ 1.91142201e-01 9.81305385e-01 -2.24588691e-02 3.42484288e+01] [ 1.09589667e-01 1.40258573e-03 9.93975924e-01 2.26925168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.10509989299996 meters 0.05358221942847389 Centerline is valid? [True, True] Translation: X:216.49, Y:34.26, Z:22.70 [[ 9.74891164e-01 -1.95262935e-01 -1.07049543e-01 2.16490475e+02] [ 1.93975166e-01 9.80750327e-01 -2.24149641e-02 3.42594013e+01] [ 1.09365686e-01 1.08719751e-03 9.94000988e-01 2.26982454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.16509989299996 meters 0.05294637256601077 Centerline is valid? [True, True] Translation: X:216.55, Y:34.26, Z:22.70 [[ 9.73024016e-01 -2.03756681e-01 -1.08201106e-01 2.16548873e+02] [ 2.02492513e-01 9.79021550e-01 -2.26624669e-02 3.42623131e+01] [ 1.10548844e-01 1.41210640e-04 9.93870682e-01 2.27027701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.22509989299996 meters 0.052444219710064216 Centerline is valid? [True, True] Translation: X:216.61, Y:34.27, Z:22.71 [[ 9.71240411e-01 -2.11883136e-01 -1.08616759e-01 2.16607701e+02] [ 2.10659199e-01 9.77294698e-01 -2.27546670e-02 3.42661965e+01] [ 1.10971913e-01 -7.80867328e-04 9.93823236e-01 2.27098300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.28509989299997 meters 0.05251757396592338 Centerline is valid? [True, True] Translation: X:216.67, Y:34.26, Z:22.71 [[ 9.68491258e-01 -2.24045459e-01 -1.08758063e-01 2.16668523e+02] [ 2.22893184e-01 9.74576294e-01 -2.27964059e-02 3.42649760e+01] [ 1.11100462e-01 -2.16331119e-03 9.93806826e-01 2.27145124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.34509989299997 meters 0.05247538288054747 Centerline is valid? [True, True] Translation: X:216.73, Y:34.27, Z:22.72 [[ 9.67040264e-01 -2.30441972e-01 -1.08303399e-01 2.16728547e+02] [ 2.29339152e-01 9.73081794e-01 -2.27018997e-02 3.42731929e+01] [ 1.10619537e-01 -2.88455868e-03 9.93858641e-01 2.27217010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.40509989299997 meters 0.054524332799368844 Centerline is valid? [True, True] Translation: X:216.79, Y:34.27, Z:22.73 [[ 9.65532231e-01 -2.36712593e-01 -1.08234277e-01 2.16788935e+02] [ 2.35650358e-01 9.71573049e-01 -2.26874456e-02 3.42745313e+01] [ 1.10527911e-01 -3.59998623e-03 9.93866501e-01 2.27266423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46509989299997 meters 0.052971621053321254 Centerline is valid? [True, True] Translation: X:216.85, Y:34.29, Z:22.74 [[ 9.64552072e-01 -2.41611284e-01 -1.06128634e-01 2.16847046e+02] [ 2.40619468e-01 9.70364547e-01 -2.22467565e-02 3.42919865e+01] [ 1.08358531e-01 -4.07846029e-03 9.94103513e-01 2.27363628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52509989299995 meters 0.054762750049108425 Centerline is valid? [True, True] Translation: X:216.91, Y:34.29, Z:22.74 [[ 9.64115324e-01 -2.44238913e-01 -1.04062464e-01 2.16907779e+02] [ 2.43300767e-01 9.69705604e-01 -2.18123350e-02 3.42926402e+01] [ 1.06237375e-01 -4.28887083e-03 9.94331547e-01 2.27438535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58509989299995 meters 0.05304798081647919 Centerline is valid? [True, True] Translation: X:216.97, Y:34.31, Z:22.75 [[ 9.63464767e-01 -2.47674845e-01 -1.01945149e-01 2.16965537e+02] [ 2.46793665e-01 9.68832427e-01 -2.13685606e-02 3.43110379e+01] [ 1.04060221e-01 -4.57156155e-03 9.94560492e-01 2.27526871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64509989299995 meters 0.05714019096031183 Centerline is valid? [True, True] Translation: X:217.03, Y:34.31, Z:22.76 [[ 9.63071587e-01 -2.49043066e-01 -1.02326286e-01 2.17026898e+02] [ 2.48163081e-01 9.68480820e-01 -2.14472828e-02 3.43090104e+01] [ 1.04442342e-01 -4.73833769e-03 9.94519656e-01 2.27586758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70509989299995 meters 0.055703689660261166 Centerline is valid? [True, True] Translation: X:217.08, Y:34.32, Z:22.76 [[ 9.62387545e-01 -2.50679192e-01 -1.04738515e-01 2.17084631e+02] [ 2.49766809e-01 9.68057132e-01 -2.19529014e-02 3.43249038e+01] [ 1.06896002e-01 -5.03300588e-03 9.94257468e-01 2.27626657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76509989299996 meters 0.053848454183769844 Centerline is valid? [True, True] Translation: X:217.14, Y:34.34, Z:22.77 [[ 9.62049645e-01 -2.51309692e-01 -1.06319897e-01 2.17143777e+02] [ 2.50373273e-01 9.67892867e-01 -2.22850084e-02 3.43446168e+01] [ 1.08506708e-01 -5.18037612e-03 9.94082219e-01 2.27682825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.82509989299996 meters 0.05438649859240618 Centerline is valid? [True, True] Translation: X:217.20, Y:34.36, Z:22.77 [[ 9.62243860e-01 -2.50078234e-01 -1.07459902e-01 2.17202831e+02] [ 2.49114323e-01 9.68212204e-01 -2.25206907e-02 3.43554105e+01] [ 1.09675923e-01 -5.09940422e-03 9.93954319e-01 2.27736553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.88509989299996 meters 0.05504069464662888 Centerline is valid? [True, True] Translation: X:217.26, Y:34.37, Z:22.78 [[ 9.63829153e-01 -2.43537847e-01 -1.08271327e-01 2.17260876e+02] [ 2.42518266e-01 9.69881466e-01 -2.26899270e-02 3.43693685e+01] [ 1.10536210e-01 -4.38856144e-03 9.93862408e-01 2.27788197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.94509989299996 meters 0.05269651925937947 Centerline is valid? [True, True] Translation: X:217.32, Y:34.39, Z:22.79 [[ 9.65807743e-01 -2.35980575e-01 -1.07371185e-01 2.17317305e+02] [ 2.34931333e-01 9.71751494e-01 -2.25011589e-02 3.43942033e+01] [ 1.09647946e-01 -3.49306207e-03 9.93964349e-01 2.27869382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.00509989299997 meters 0.05301401911300113 Centerline is valid? [True, True] Translation: X:217.37, Y:34.41, Z:22.80 [[ 9.69429364e-01 -2.22050590e-01 -1.04404230e-01 2.17373482e+02] [ 2.20977769e-01 9.75033372e-01 -2.18803140e-02 3.44139820e+01] [ 1.06656145e-01 -1.85959489e-03 9.94294226e-01 2.27952938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.06509989299997 meters 0.05245413915012021 Centerline is valid? [True, True] Translation: X:217.43, Y:34.43, Z:22.80 [[ 9.71814878e-01 -2.12272883e-01 -1.02547868e-01 2.17430522e+02] [ 2.11183567e-01 9.77210125e-01 -2.14912129e-02 3.44332042e+01] [ 1.04772817e-01 -7.70944116e-04 9.94495884e-01 2.28027931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.12509989299997 meters 0.052895560852260985 Centerline is valid? [True, True] Translation: X:217.49, Y:34.45, Z:22.81 [[ 9.74160841e-01 -2.01511817e-01 -1.01998252e-01 2.17488910e+02] [ 2.00375119e-01 9.79486007e-01 -2.13769397e-02 3.44527118e+01] [ 1.04213566e-01 3.86665698e-04 9.94554867e-01 2.28097855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18509989299997 meters 0.053462722588242695 Centerline is valid? [True, True] Translation: X:217.55, Y:34.47, Z:22.82 [[ 9.74913601e-01 -1.97881609e-01 -1.01913392e-01 2.17546132e+02] [ 1.96727192e-01 9.80225623e-01 -2.13574297e-02 3.44675191e+01] [ 1.04124361e-01 7.72513200e-04 9.94563985e-01 2.28160351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24509989299995 meters 0.05351825713755264 Centerline is valid? [True, True] Translation: X:217.60, Y:34.48, Z:22.82 [[ 9.74736996e-01 -1.97101859e-01 -1.05064962e-01 2.17603370e+02] [ 1.95870184e-01 9.80382618e-01 -2.20180231e-02 3.44752377e+01] [ 1.07343656e-01 8.82688332e-04 9.94221585e-01 2.28195523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30509989299995 meters 0.05363813721806219 Centerline is valid? [True, True] Translation: X:217.66, Y:34.48, Z:22.82 [[ 9.74485745e-01 -1.97614808e-01 -1.06423310e-01 2.17660298e+02] [ 1.96353532e-01 9.80279389e-01 -2.23071887e-02 3.44844110e+01] [ 1.08732808e-01 8.41444643e-04 9.94070656e-01 2.28239930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36509989299995 meters 0.05398002015534898 Centerline is valid? [True, True] Translation: X:217.72, Y:34.49, Z:22.83 [[ 9.74645554e-01 -1.96572745e-01 -1.06888729e-01 2.17717973e+02] [ 1.95293620e-01 9.80488767e-01 -2.24093799e-02 3.44940113e+01] [ 1.09208272e-01 9.66515552e-04 9.94018420e-01 2.28294746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42509989299995 meters 0.05356281454926373 Centerline is valid? [True, True] Translation: X:217.78, Y:34.50, Z:22.84 [[ 9.74979319e-01 -1.95163208e-01 -1.06426737e-01 2.17775426e+02] [ 1.93885498e-01 9.80770127e-01 -2.23242257e-02 3.45036545e+01] [ 1.08737032e-01 1.13105742e-03 9.94069906e-01 2.28357961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48509989299995 meters 0.05361836737853413 Centerline is valid? [True, True] Translation: X:217.83, Y:34.50, Z:22.85 [[ 9.75428565e-01 -1.94514697e-01 -1.03456018e-01 2.17834404e+02] [ 1.93302715e-01 9.80898893e-01 -2.17122371e-02 3.45024099e+01] [ 1.05703243e-01 1.18040708e-03 9.94397019e-01 2.28451102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54509989299996 meters 0.05403291955547551 Centerline is valid? [True, True] Translation: X:217.89, Y:34.51, Z:22.85 [[ 9.75084511e-01 -1.95909505e-01 -1.04065660e-01 2.17891891e+02] [ 1.94689585e-01 9.80621418e-01 -2.18540653e-02 3.45145609e+01] [ 1.06330434e-01 1.04906041e-03 9.94330296e-01 2.28489402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.60509989299996 meters 0.05359303153217519 Centerline is valid? [True, True] Translation: X:217.95, Y:34.52, Z:22.85 [[ 9.74812134e-01 -1.97875800e-01 -1.02890579e-01 2.17950191e+02] [ 1.96693073e-01 9.80226743e-01 -2.16186673e-02 3.45172304e+01] [ 1.05133908e-01 8.36275149e-04 9.94457723e-01 2.28549388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.66509989299996 meters 0.053131315220150625 Centerline is valid? [True, True] Translation: X:218.01, Y:34.52, Z:22.86 [[ 9.74802891e-01 -1.98460976e-01 -1.01845786e-01 2.18007990e+02] [ 1.97304944e-01 9.80108488e-01 -2.14035083e-02 3.45233733e+01] [ 1.04067680e-01 7.69524663e-04 9.94569920e-01 2.28618969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.72509989299996 meters 0.05340804557576334 Centerline is valid? [True, True] Translation: X:218.07, Y:34.53, Z:22.87 [[ 9.74824509e-01 -1.98005592e-01 -1.02522980e-01 2.18065616e+02] [ 1.96830158e-01 9.80200533e-01 -2.15593080e-02 3.45271678e+01] [ 1.04761943e-01 8.36927433e-04 9.94496976e-01 2.28677392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.78509989299997 meters 0.05357692712994148 Centerline is valid? [True, True] Translation: X:218.12, Y:34.54, Z:22.87 [[ 9.74886358e-01 -1.97520638e-01 -1.02869752e-01 2.18123050e+02] [ 1.96334039e-01 9.80298319e-01 -2.16368107e-02 3.45369983e+01] [ 1.05116762e-01 8.96597655e-04 9.94459483e-01 2.28728097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.84509989299997 meters 0.053922602265896104 Centerline is valid? [True, True] Translation: X:218.18, Y:34.54, Z:22.88 [[ 9.74834839e-01 -1.97409134e-01 -1.03569642e-01 2.18180345e+02] [ 1.96204460e-01 9.80320752e-01 -2.17952603e-02 3.45434212e+01] [ 1.05834053e-01 9.25953368e-04 9.94383375e-01 2.28779082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.90509989299997 meters 0.05476834543093962 Centerline is valid? [True, True] Translation: X:218.24, Y:34.55, Z:22.88 [[ 9.74425739e-01 -1.98451072e-01 -1.05411820e-01 2.18238435e+02] [ 1.97207595e-01 9.80110435e-01 -2.21968496e-02 3.45460512e+01] [ 1.07720213e-01 8.41170107e-04 9.94180893e-01 2.28825316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96509989299997 meters 0.05439172934732397 Centerline is valid? [True, True] Translation: X:218.30, Y:34.55, Z:22.89 [[ 9.73894855e-01 -2.00662570e-01 -1.06128903e-01 2.18296846e+02] [ 1.99414645e-01 9.79660230e-01 -2.23524663e-02 3.45531428e+01] [ 1.08455568e-01 6.05294486e-04 9.94101113e-01 2.28868454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02509989299995 meters 0.053706617224700756 Centerline is valid? [True, True] Translation: X:218.36, Y:34.55, Z:22.90 [[ 9.72820352e-01 -2.06245601e-01 -1.05277326e-01 2.18356125e+02] [ 2.05049062e-01 9.78500257e-01 -2.21840067e-02 3.45544739e+01] [ 1.07589244e-01 -5.96370709e-06 9.94195431e-01 2.28950490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08509989299995 meters 0.05403101547985172 Centerline is valid? [True, True] Translation: X:218.42, Y:34.55, Z:22.90 [[ 9.71277535e-01 -2.13665054e-01 -1.04724379e-01 2.18415756e+02] [ 2.12522749e-01 9.76906642e-01 -2.20792767e-02 3.45541506e+01] [ 1.07023511e-01 -8.11207495e-04 9.94256159e-01 2.29018807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14509989299995 meters 0.05461021054363689 Centerline is valid? [True, True] Translation: X:218.48, Y:34.55, Z:22.91 [[ 9.69769848e-01 -2.20328027e-01 -1.04890429e-01 2.18476324e+02] [ 2.19219596e-01 9.75424625e-01 -2.21262194e-02 3.45524775e+01] [ 1.07187734e-01 -1.53669705e-03 9.94237612e-01 2.29072595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20509989299995 meters 0.05460276475309592 Centerline is valid? [True, True] Translation: X:218.54, Y:34.56, Z:22.91 [[ 9.69254329e-01 -2.22875274e-01 -1.04272043e-01 2.18536060e+02] [ 2.21794407e-01 9.74845296e-01 -2.19974885e-02 3.45578605e+01] [ 1.06551807e-01 -1.80579509e-03 9.94305512e-01 2.29139945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26509989299996 meters 0.054701966149078345 Centerline is valid? [True, True] Translation: X:218.59, Y:34.57, Z:22.92 [[ 9.69321513e-01 -2.22655056e-01 -1.04117865e-01 2.18593618e+02] [ 2.21575919e-01 9.74895671e-01 -2.19668777e-02 3.45677756e+01] [ 1.06395092e-01 -1.77704454e-03 9.94322345e-01 2.29202652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.32509989299996 meters 0.05408990543989892 Centerline is valid? [True, True] Translation: X:218.65, Y:34.59, Z:22.93 [[ 9.70554808e-01 -2.17017338e-01 -1.04531524e-01 2.18650505e+02] [ 2.15895716e-01 9.76167070e-01 -2.20656282e-02 3.45858233e+01] [ 1.06828855e-01 -1.15200663e-03 9.94276757e-01 2.29276800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.38509989299996 meters 0.054083889942164697 Centerline is valid? [True, True] Translation: X:218.71, Y:34.60, Z:22.93 [[ 9.72608394e-01 -2.07510384e-01 -1.04748998e-01 2.18709676e+02] [ 2.06328900e-01 9.78232809e-01 -2.21123470e-02 3.45964340e+01] [ 1.07057448e-01 -1.06091256e-04 9.94252831e-01 2.29319795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.44509989299996 meters 0.05428058357386409 Centerline is valid? [True, True] Translation: X:218.77, Y:34.61, Z:22.94 [[ 9.74548133e-01 -1.98593551e-01 -1.04002584e-01 2.18766085e+02] [ 1.97378138e-01 9.80081551e-01 -2.19550317e-02 3.46117826e+01] [ 1.06291142e-01 8.68398778e-04 9.94334672e-01 2.29386472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.50509989299997 meters 0.05469070712585955 Centerline is valid? [True, True] Translation: X:218.82, Y:34.62, Z:22.94 [[ 9.74874834e-01 -1.95784126e-01 -1.06243280e-01 2.18824747e+02] [ 1.94497670e-01 9.80646270e-01 -2.24399086e-02 3.46203212e+01] [ 1.08580454e-01 1.21203174e-03 9.94086926e-01 2.29432008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.56509989299997 meters 0.05497231668703857 Centerline is valid? [True, True] Translation: X:218.88, Y:34.62, Z:22.95 [[ 9.73067119e-01 -2.04004780e-01 -1.07342594e-01 2.18884364e+02] [ 2.02740988e-01 9.78969846e-01 -2.26744936e-02 3.46237415e+01] [ 1.09710867e-01 3.01060661e-04 9.93963498e-01 2.29498007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.62509989299997 meters 0.054611238717089734 Centerline is valid? [True, True] Translation: X:218.94, Y:34.63, Z:22.95 [[ 9.72139819e-01 -2.08395772e-01 -1.07309713e-01 2.18941047e+02] [ 2.07159144e-01 9.78044562e-01 -2.26698880e-02 3.46319502e+01] [ 1.09677990e-01 -1.91887514e-04 9.93967153e-01 2.29514701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68509989299997 meters 0.05448685279940063 Centerline is valid? [True, True] Translation: X:219.00, Y:34.63, Z:22.96 [[ 9.70013714e-01 -2.18272166e-01 -1.06914252e-01 2.19000682e+02] [ 2.17102807e-01 9.75887084e-01 -2.26002308e-02 3.46348914e+01] [ 1.09269239e-01 -1.28885052e-03 9.94011354e-01 2.29597817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74509989299995 meters 0.05510004791414829 Centerline is valid? [True, True] Translation: X:219.06, Y:34.64, Z:22.97 [[ 9.67768056e-01 -2.28292436e-01 -1.06336982e-01 2.19059941e+02] [ 2.27195654e-01 9.73589639e-01 -2.24799831e-02 3.46385831e+01] [ 1.08660594e-01 -2.40389056e-03 9.94076001e-01 2.29667946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80509989299995 meters 0.05679929336233742 Centerline is valid? [True, True] Translation: X:219.12, Y:34.64, Z:22.97 [[ 9.65692359e-01 -2.37411297e-01 -1.05233755e-01 2.19120502e+02] [ 2.36390847e-01 9.71403302e-01 -2.22484036e-02 3.46400149e+01] [ 1.07506440e-01 -3.39118312e-03 9.94198605e-01 2.29730875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86509989299995 meters 0.05825927344977674 Centerline is valid? [True, True] Translation: X:219.18, Y:34.64, Z:22.98 [[ 9.63154671e-01 -2.48045402e-01 -1.03954600e-01 2.19180669e+02] [ 2.47111125e-01 9.68737864e-01 -2.19782411e-02 3.46433310e+01] [ 1.06156359e-01 -4.51989262e-03 9.94339177e-01 2.29803443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92509989299995 meters 0.058469791104830866 Centerline is valid? [True, True] Translation: X:219.24, Y:34.65, Z:22.99 [[ 9.61935176e-01 -2.52621984e-01 -1.04224997e-01 2.19239822e+02] [ 2.51709542e-01 9.67551938e-01 -2.20352859e-02 3.46528137e+01] [ 1.06409696e-01 -5.03790965e-03 9.94309608e-01 2.29868339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98509989299995 meters 0.062276541459611534 Centerline is valid? [True, True] Translation: X:219.30, Y:34.66, Z:22.99 [[ 9.61177355e-01 -2.55807578e-01 -1.03443585e-01 2.19300964e+02] [ 2.54927043e-01 9.66712921e-01 -2.18707556e-02 3.46552889e+01] [ 1.05594956e-01 -5.34889233e-03 9.94394838e-01 2.29924763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04509989299996 meters 0.0581224111467089 Centerline is valid? [True, True] Translation: X:219.36, Y:34.68, Z:23.00 [[ 9.61261192e-01 -2.55884184e-01 -1.02470508e-01 2.19355217e+02] [ 2.55020582e-01 9.66692882e-01 -2.16650653e-02 3.46788722e+01] [ 1.04601258e-01 -5.30630210e-03 9.94500085e-01 2.29993108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.10509989299996 meters 0.058477687906936617 Centerline is valid? [True, True] Translation: X:219.41, Y:34.70, Z:23.01 [[ 9.61952984e-01 -2.53436647e-01 -1.02060392e-01 2.19413515e+02] [ 2.52564980e-01 9.67339024e-01 -2.15903745e-02 3.46957466e+01] [ 1.04198792e-01 -5.00795575e-03 9.94543881e-01 2.30053270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.16509989299996 meters 0.0589607654595919 Centerline is valid? [True, True] Translation: X:219.47, Y:34.71, Z:23.01 [[ 9.63081192e-01 -2.48460188e-01 -1.03644352e-01 2.19470871e+02] [ 2.47532208e-01 9.68631485e-01 -2.19283240e-02 3.47121465e+01] [ 1.05841498e-01 -4.53655904e-03 9.94372665e-01 2.30089272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.22509989299996 meters 0.05654797732559953 Centerline is valid? [True, True] Translation: X:219.53, Y:34.73, Z:23.01 [[ 9.64081842e-01 -2.44222962e-01 -1.04409517e-01 2.19527013e+02] [ 2.43256321e-01 9.69710437e-01 -2.20914134e-02 3.47345703e+01] [ 1.06642228e-01 -4.10034435e-03 9.94289003e-01 2.30141661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.28509989299997 meters 0.05560515528117839 Centerline is valid? [True, True] Translation: X:219.58, Y:34.76, Z:23.02 [[ 9.65812078e-01 -2.36884929e-01 -1.05321224e-01 2.19582738e+02] [ 2.35857622e-01 9.71532052e-01 -2.22857407e-02 3.47623011e+01] [ 1.07602101e-01 -3.31697595e-03 9.94188506e-01 2.30199355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.34509989299997 meters 0.054735458821876866 Centerline is valid? [True, True] Translation: X:219.64, Y:34.78, Z:23.03 [[ 9.67092833e-01 -2.31289674e-01 -1.06002539e-01 2.19639096e+02] [ 2.30215385e-01 9.72881153e-01 -2.24307429e-02 3.47797975e+01] [ 1.08315871e-01 -2.71080456e-03 9.94112832e-01 2.30250052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.40509989299997 meters 0.054088585047071 Centerline is valid? [True, True] Translation: X:219.70, Y:34.80, Z:23.03 [[ 9.68369648e-01 -2.25798973e-01 -1.06184036e-01 2.19696227e+02] [ 2.24687829e-01 9.74171660e-01 -2.24712343e-02 3.48021308e+01] [ 1.08515460e-01 -2.09779929e-03 9.94092548e-01 2.30311331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46509989299994 meters 0.053394529092536676 Centerline is valid? [True, True] Translation: X:219.75, Y:34.83, Z:23.04 [[ 9.69983460e-01 -2.19028538e-01 -1.05634213e-01 2.19752331e+02] [ 2.17888877e-01 9.75717542e-01 -2.23543125e-02 3.48262006e+01] [ 1.07965387e-01 -1.33320656e-03 9.94153760e-01 2.30378216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52509989299995 meters 0.053584720203248934 Centerline is valid? [True, True] Translation: X:219.81, Y:34.84, Z:23.04 [[ 9.70596299e-01 -2.16133110e-01 -1.05968405e-01 2.19808070e+02] [ 2.14968906e-01 9.76363381e-01 -2.24258323e-02 3.48434652e+01] [ 1.08310635e-01 -1.01348235e-03 9.94116582e-01 2.30431934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58509989299995 meters 0.053849016082185105 Centerline is valid? [True, True] Translation: X:219.86, Y:34.86, Z:23.05 [[ 9.70975786e-01 -2.14884562e-01 -1.05026895e-01 2.19864132e+02] [ 2.13732446e-01 9.76639081e-01 -2.22384143e-02 3.48625357e+01] [ 1.07352062e-01 -8.54693374e-04 9.94220702e-01 2.30504677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64509989299995 meters 0.05318894574227255 Centerline is valid? [True, True] Translation: X:219.92, Y:34.87, Z:23.06 [[ 9.70963314e-01 -2.15096418e-01 -1.04708039e-01 2.19920970e+02] [ 2.13951367e-01 9.76592434e-01 -2.21817414e-02 3.48745178e+01] [ 1.07028292e-01 -8.64770935e-04 9.94255599e-01 2.30567261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70509989299995 meters 0.05341393900143062 Centerline is valid? [True, True] Translation: X:219.98, Y:34.89, Z:23.06 [[ 9.70601024e-01 -2.17107076e-01 -1.03914239e-01 2.19977407e+02] [ 2.15989512e-01 9.76147213e-01 -2.20261062e-02 3.48902735e+01] [ 1.06217618e-01 -1.06582449e-03 9.94342336e-01 2.30646724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.76509989299996 meters 0.053461102887483625 Centerline is valid? [True, True] Translation: X:220.03, Y:34.90, Z:23.07 [[ 9.69939462e-01 -2.20224356e-01 -1.03531030e-01 2.20034082e+02] [ 2.19131479e-01 9.75448256e-01 -2.19566562e-02 3.49034160e+01] [ 1.05824553e-01 -1.39028039e-03 9.94383845e-01 2.30715014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.82509989299996 meters 0.05437334550193123 Centerline is valid? [True, True] Translation: X:220.09, Y:34.91, Z:23.08 [[ 9.68556731e-01 -2.26683901e-01 -1.02529349e-01 2.20092757e+02] [ 2.25647005e-01 9.73966194e-01 -2.17550512e-02 3.49097790e+01] [ 1.04791639e-01 -2.06443914e-03 9.94492056e-01 2.30772679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.88509989299996 meters 0.054258226522039536 Centerline is valid? [True, True] Translation: X:220.15, Y:34.92, Z:23.08 [[ 9.67389878e-01 -2.31644081e-01 -1.02458983e-01 2.20151036e+02] [ 2.30636136e-01 9.72797137e-01 -2.17417309e-02 3.49225399e+01] [ 1.04708149e-01 -2.59801354e-03 9.94499600e-01 2.30832412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.94509989299996 meters 0.054202273092035326 Centerline is valid? [True, True] Translation: X:220.21, Y:34.93, Z:23.09 [[ 9.65533123e-01 -2.38506116e-01 -1.04214307e-01 2.20210514e+02] [ 2.37502987e-01 9.71135047e-01 -2.21145036e-02 3.49334870e+01] [ 1.06480610e-01 -3.39892336e-03 9.94308970e-01 2.30878921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.00509989299997 meters 0.057338966707177606 Centerline is valid? [True, True] Translation: X:220.27, Y:34.93, Z:23.09 [[ 9.64404945e-01 -2.42710177e-01 -1.04951758e-01 2.20272075e+02] [ 2.41717547e-01 9.70091044e-01 -2.22709132e-02 3.49345801e+01] [ 1.07218138e-01 -3.89050267e-03 9.94227909e-01 2.30921441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.06509989299997 meters 0.053027751490674256 Centerline is valid? [True, True] Translation: X:220.33, Y:34.96, Z:23.10 [[ 9.62877580e-01 -2.48582072e-01 -1.05231740e-01 2.20327001e+02] [ 2.47618947e-01 9.68600124e-01 -2.23306416e-02 3.49641639e+01] [ 1.07478474e-01 -4.55569860e-03 9.94196974e-01 2.30991161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.12509989299997 meters 0.055505349072073794 Centerline is valid? [True, True] Translation: X:220.39, Y:34.97, Z:23.10 [[ 9.61987341e-01 -2.51631438e-01 -1.06122453e-01 2.20387181e+02] [ 2.50670320e-01 9.67810538e-01 -2.25200466e-02 3.49653797e+01] [ 1.08373180e-01 -4.93774950e-03 9.94098020e-01 2.31035371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18509989299997 meters 0.05293975718687558 Centerline is valid? [True, True] Translation: X:220.44, Y:34.99, Z:23.11 [[ 9.61271366e-01 -2.54143601e-01 -1.06622655e-01 2.20443920e+02] [ 2.53188657e-01 9.67152274e-01 -2.26270352e-02 3.49895676e+01] [ 1.08870859e-01 -5.24492576e-03 9.94042065e-01 2.31101991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24509989299995 meters 0.05662368529926859 Centerline is valid? [True, True] Translation: X:220.50, Y:34.99, Z:23.11 [[ 9.60471393e-01 -2.56729560e-01 -1.07631951e-01 2.20504386e+02] [ 2.55772645e-01 9.66467106e-01 -2.28404833e-02 3.49924329e+01] [ 1.09886568e-01 -5.59167801e-03 9.93928406e-01 2.31145611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30509989299995 meters 0.05326878850452353 Centerline is valid? [True, True] Translation: X:220.56, Y:35.02, Z:23.12 [[ 9.59799986e-01 -2.58949307e-01 -1.08301629e-01 2.20559262e+02] [ 2.57994470e-01 9.65873000e-01 -2.29826223e-02 3.50221796e+01] [ 1.10556954e-01 -5.88250092e-03 9.93852381e-01 2.31221703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36509989299995 meters 0.05993435028294686 Centerline is valid? [True, True] Translation: X:220.62, Y:35.01, Z:23.13 [[ 9.59501475e-01 -2.60226320e-01 -1.07885044e-01 2.20620267e+02] [ 2.59286781e-01 9.65528972e-01 -2.28947601e-02 3.50142991e+01] [ 1.10123955e-01 -6.00560980e-03 9.93899717e-01 2.31266467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42509989299995 meters 0.05754836836449765 Centerline is valid? [True, True] Translation: X:220.68, Y:35.04, Z:23.14 [[ 9.58946575e-01 -2.62712433e-01 -1.06787846e-01 2.20676592e+02] [ 2.61806780e-01 9.64854114e-01 -2.26660316e-02 3.50371741e+01] [ 1.08989341e-01 -6.22226886e-03 9.94023444e-01 2.31350653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48509989299995 meters 0.054826346167107666 Centerline is valid? [True, True] Translation: X:220.73, Y:35.06, Z:23.14 [[ 9.58583793e-01 -2.63894833e-01 -1.07129030e-01 2.20732700e+02] [ 2.62990715e-01 9.64530377e-01 -2.27384220e-02 3.50598077e+01] [ 1.09329756e-01 -6.37725740e-03 9.93985078e-01 2.31421915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54509989299996 meters 0.05165613622318256 Centerline is valid? [True, True] Translation: X:220.79, Y:35.10, Z:23.15 [[ 9.58283531e-01 -2.64813321e-01 -1.07548032e-01 2.20787321e+02] [ 2.63907867e-01 9.64277737e-01 -2.28272571e-02 3.50965727e+01] [ 1.09751135e-01 -6.50778738e-03 9.93937793e-01 2.31502409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.60509989299996 meters 0.05249608194519481 Centerline is valid? [True, True] Translation: X:220.85, Y:35.10, Z:23.15 [[ 9.58117224e-01 -2.64983621e-01 -1.08605095e-01 2.20847651e+02] [ 2.64061566e-01 9.64230366e-01 -2.30497420e-02 3.51043975e+01] [ 1.10828135e-01 -6.59407669e-03 9.93817711e-01 2.31544878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.66509989299996 meters 0.054706419896718685 Centerline is valid? [True, True] Translation: X:220.91, Y:35.11, Z:23.16 [[ 9.58056637e-01 -2.65088813e-01 -1.08882514e-01 2.20907199e+02] [ 2.64162916e-01 9.64201239e-01 -2.31068112e-02 3.51114708e+01] [ 1.11110012e-01 -6.62508851e-03 9.93786030e-01 2.31595512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.72509989299996 meters 0.061121539826013156 Centerline is valid? [True, True] Translation: X:220.97, Y:35.11, Z:23.16 [[ 9.58193747e-01 -2.64670719e-01 -1.08692938e-01 2.20965701e+02] [ 2.63745436e-01 9.64316496e-01 -2.30660105e-02 3.51119475e+01] [ 1.10919290e-01 -6.56555927e-03 9.93807730e-01 2.31635987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.78509989299997 meters 0.05129749730945616 Centerline is valid? [True, True] Translation: X:221.02, Y:35.16, Z:23.17 [[ 9.58405640e-01 -2.64357702e-01 -1.07580826e-01 2.21018092e+02] [ 2.63448901e-01 9.64403079e-01 -2.28337060e-02 3.51621187e+01] [ 1.09787546e-01 -6.45809793e-03 9.93934096e-01 2.31747199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.84509989299997 meters 0.05053700852024376 Centerline is valid? [True, True] Translation: X:221.08, Y:35.18, Z:23.18 [[ 9.58829941e-01 -2.63259596e-01 -1.06487224e-01 2.21076147e+02] [ 2.62362838e-01 9.64704652e-01 -2.25981339e-02 3.51825062e+01] [ 1.08677896e-01 -6.27052282e-03 9.94057240e-01 2.31816797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.90509989299997 meters 0.05087595507806384 Centerline is valid? [True, True] Translation: X:221.14, Y:35.20, Z:23.19 [[ 9.59019980e-01 -2.62923488e-01 -1.05602640e-01 2.21135087e+02] [ 2.62039783e-01 9.64796881e-01 -2.24082806e-02 3.52036488e+01] [ 1.07776761e-01 -6.18210403e-03 9.94155899e-01 2.31890973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96509989299994 meters 0.05337990645106394 Centerline is valid? [True, True] Translation: X:221.20, Y:35.20, Z:23.19 [[ 9.59150967e-01 -2.62874755e-01 -1.04528873e-01 2.21199425e+02] [ 2.62009963e-01 9.64810525e-01 -2.21682320e-02 3.51980105e+01] [ 1.06678025e-01 -6.12492508e-03 9.94274753e-01 2.31947300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02509989299995 meters 0.053969990963406954 Centerline is valid? [True, True] Translation: X:221.26, Y:35.21, Z:23.20 [[ 9.59150082e-01 -2.62607951e-01 -1.05205435e-01 2.21259691e+02] [ 2.61731698e-01 9.64883036e-01 -2.22990081e-02 3.52128004e+01] [ 1.07366836e-01 -6.14750159e-03 9.94200468e-01 2.32003840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08509989299995 meters 0.05465065317834719 Centerline is valid? [True, True] Translation: X:221.32, Y:35.23, Z:23.20 [[ 9.59470935e-01 -2.60547979e-01 -1.07379118e-01 2.21317593e+02] [ 2.59622739e-01 9.65441978e-01 -2.27556740e-02 3.52253396e+01] [ 1.09597253e-01 -6.04465291e-03 9.93957697e-01 2.32041187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14509989299995 meters 0.05220781632757291 Centerline is valid? [True, True] Translation: X:221.38, Y:35.25, Z:23.21 [[ 9.59602098e-01 -2.59524961e-01 -1.08676621e-01 2.21375439e+02] [ 2.58570646e-01 9.65717761e-01 -2.30309833e-02 3.52486142e+01] [ 1.10928058e-01 -6.00000420e-03 9.93810327e-01 2.32104432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.20509989299995 meters 0.053795618080337705 Centerline is valid? [True, True] Translation: X:221.43, Y:35.26, Z:23.22 [[ 9.60309485e-01 -2.57261903e-01 -1.07805411e-01 2.21433314e+02] [ 2.56309009e-01 9.66324935e-01 -2.28431877e-02 3.52593431e+01] [ 1.10051738e-01 -5.69496815e-03 9.93909544e-01 2.32172446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26509989299996 meters 0.05515163104247958 Centerline is valid? [True, True] Translation: X:221.49, Y:35.27, Z:23.22 [[ 9.61053507e-01 -2.55031243e-01 -1.06467002e-01 2.21493098e+02] [ 2.54088183e-01 9.66917900e-01 -2.25603663e-02 3.52694255e+01] [ 1.08698448e-01 -5.37028793e-03 9.94060263e-01 2.32239604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.32509989299996 meters 0.05285142503639926 Centerline is valid? [True, True] Translation: X:221.55, Y:35.29, Z:23.23 [[ 9.62007058e-01 -2.51955224e-01 -1.05171218e-01 2.21549716e+02] [ 2.51016705e-01 9.67726179e-01 -2.22857943e-02 3.52928619e+01] [ 1.07391964e-01 -4.96064128e-03 9.94204385e-01 2.32320132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.38509989299996 meters 0.058392188056260334 Centerline is valid? [True, True] Translation: X:221.61, Y:35.29, Z:23.24 [[ 9.62201479e-01 -2.51043820e-01 -1.05571371e-01 2.21611640e+02] [ 2.50092764e-01 9.67963430e-01 -2.23697934e-02 3.52898748e+01] [ 1.07805024e-01 -4.87838756e-03 9.94160087e-01 2.32369074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.44509989299996 meters 0.05190841669383983 Centerline is valid? [True, True] Translation: X:221.67, Y:35.32, Z:23.25 [[ 9.61914414e-01 -2.52223636e-01 -1.05375036e-01 2.21666337e+02] [ 2.51283255e-01 9.67656043e-01 -2.23273002e-02 3.53241522e+01] [ 1.07598264e-01 -5.00203031e-03 9.94181871e-01 2.32456144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.50509989299997 meters 0.053926768365577346 Centerline is valid? [True, True] Translation: X:221.73, Y:35.32, Z:23.25 [[ 9.61657822e-01 -2.53123726e-01 -1.05558575e-01 2.21727981e+02] [ 2.52185745e-01 9.67420396e-01 -2.23635173e-02 3.53247017e+01] [ 1.07780255e-01 -5.11431647e-03 9.94161587e-01 2.32518732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.56509989299997 meters 0.052183851759212474 Centerline is valid? [True, True] Translation: X:221.79, Y:35.35, Z:23.26 [[ 9.61336010e-01 -2.54005867e-01 -1.06367739e-01 2.21785929e+02] [ 2.53059448e-01 9.67188378e-01 -2.25290289e-02 3.53475601e+01] [ 1.08600147e-01 -5.25939465e-03 9.94071601e-01 2.32600761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.62509989299997 meters 0.054040766354791936 Centerline is valid? [True, True] Translation: X:221.85, Y:35.35, Z:23.27 [[ 9.61113637e-01 -2.54629121e-01 -1.06885864e-01 2.21846942e+02] [ 2.53677650e-01 9.67023934e-01 -2.26354116e-02 3.53514845e+01] [ 1.09124824e-01 -5.35935198e-03 9.94013607e-01 2.32660586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68509989299997 meters 0.053178519897414615 Centerline is valid? [True, True] Translation: X:221.91, Y:35.37, Z:23.27 [[ 9.61166454e-01 -2.54352741e-01 -1.07068816e-01 2.21905546e+02] [ 2.53396776e-01 9.67096765e-01 -2.26698333e-02 3.53672818e+01] [ 1.09312040e-01 -5.34140940e-03 9.93993132e-01 2.32737688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74509989299995 meters 0.053214069545966455 Centerline is valid? [True, True] Translation: X:221.96, Y:35.38, Z:23.28 [[ 9.61778679e-01 -2.52283319e-01 -1.06465484e-01 2.21963385e+02] [ 2.51325668e-01 9.67640086e-01 -2.25404821e-02 3.53836174e+01] [ 1.08706857e-01 -5.07855368e-03 9.94060877e-01 2.32806821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80509989299995 meters 0.055549718512834814 Centerline is valid? [True, True] Translation: X:222.02, Y:35.39, Z:23.29 [[ 9.62767129e-01 -2.48734646e-01 -1.05879795e-01 2.22023124e+02] [ 2.47766269e-01 9.68560493e-01 -2.24153406e-02 3.53882396e+01] [ 1.08126458e-01 -4.65268867e-03 9.94126260e-01 2.32868051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86509989299995 meters 0.05442466070853876 Centerline is valid? [True, True] Translation: X:222.08, Y:35.41, Z:23.29 [[ 9.64123428e-01 -2.43739554e-01 -1.05152487e-01 2.22080668e+02] [ 2.42754839e-01 9.69832211e-01 -2.22614117e-02 3.54052537e+01] [ 1.07406255e-01 -4.06352646e-03 9.94206912e-01 2.32944017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92509989299995 meters 0.05406916907134046 Centerline is valid? [True, True] Translation: X:222.14, Y:35.42, Z:23.30 [[ 9.64534577e-01 -2.42011134e-01 -1.05373905e-01 2.22139385e+02] [ 2.41012026e-01 9.70265716e-01 -2.23079364e-02 3.54193636e+01] [ 1.07639457e-01 -3.87960240e-03 9.94182426e-01 2.33005750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98509989299995 meters 0.05241301743396995 Centerline is valid? [True, True] Translation: X:222.20, Y:35.44, Z:23.31 [[ 9.64623010e-01 -2.40858384e-01 -1.07189955e-01 2.22198749e+02] [ 2.39817515e-01 9.70552763e-01 -2.26912748e-02 3.54401278e+01] [ 1.09498891e-01 -3.81750289e-03 9.93979587e-01 2.33068456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04509989299996 meters 0.05404363804676076 Centerline is valid? [True, True] Translation: X:222.26, Y:35.45, Z:23.31 [[ 9.64469582e-01 -2.40867218e-01 -1.08542194e-01 2.22260318e+02] [ 2.39800658e-01 9.70550348e-01 -2.29709932e-02 3.54450866e+01] [ 1.10878623e-01 -3.87366524e-03 9.93826406e-01 2.33127557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.10509989299996 meters 0.05367110575985858 Centerline is valid? [True, True] Translation: X:222.32, Y:35.46, Z:23.32 [[ 9.64027928e-01 -2.41758061e-01 -1.10468068e-01 2.22319641e+02] [ 2.40659674e-01 9.70328096e-01 -2.33732033e-02 3.54583876e+01] [ 1.12840930e-01 -4.05278830e-03 9.93604800e-01 2.33187767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.16509989299996 meters 0.05359570073772838 Centerline is valid? [True, True] Translation: X:222.38, Y:35.47, Z:23.32 [[ 9.64165109e-01 -2.40825228e-01 -1.11305222e-01 2.22378711e+02] [ 2.39704164e-01 9.70560354e-01 -2.35480977e-02 3.54696602e+01] [ 1.13699411e-01 -3.97607091e-03 9.93507239e-01 2.33244386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.22509989299996 meters 0.05545208420349317 Centerline is valid? [True, True] Translation: X:222.44, Y:35.47, Z:23.33 [[ 9.65089665e-01 -2.37948507e-01 -1.09464363e-01 2.22438171e+02] [ 2.36845843e-01 9.71271188e-01 -2.31587122e-02 3.54745137e+01] [ 1.11830163e-01 -3.57594559e-03 9.93720900e-01 2.33302711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.28509989299997 meters 0.05397534407939201 Centerline is valid? [True, True] Translation: X:222.49, Y:35.49, Z:23.34 [[ 9.64844421e-01 -2.38734933e-01 -1.09913032e-01 2.22493772e+02] [ 2.37628064e-01 9.71077796e-01 -2.32554820e-02 3.54925223e+01] [ 1.12286000e-01 -3.68049888e-03 9.93669114e-01 2.33375336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.34509989299997 meters 0.053157844292597345 Centerline is valid? [True, True] Translation: X:222.55, Y:35.51, Z:23.34 [[ 9.63979064e-01 -2.41708115e-01 -1.11002481e-01 2.22552422e+02] [ 2.40597485e-01 9.70340525e-01 -2.34971400e-02 3.55061292e+01] [ 1.13389655e-01 -4.05616683e-03 9.93542316e-01 2.33439419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40509989299997 meters 0.05425645934857205 Centerline is valid? [True, True] Translation: X:222.61, Y:35.51, Z:23.35 [[ 9.62791073e-01 -2.46394302e-01 -1.11009902e-01 2.22611082e+02] [ 2.45314489e-01 9.69158715e-01 -2.34986701e-02 3.55124545e+01] [ 1.13376152e-01 -4.60802761e-03 9.93541451e-01 2.33495237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46509989299994 meters 0.053403567717745126 Centerline is valid? [True, True] Translation: X:222.67, Y:35.53, Z:23.36 [[ 9.61333307e-01 -2.52062337e-01 -1.10918222e-01 2.22670126e+02] [ 2.51021618e-01 9.67696649e-01 -2.34806891e-02 3.55258003e+01] [ 1.13253789e-01 -5.27010309e-03 9.93552115e-01 2.33568966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52509989299995 meters 0.055275638528530006 Centerline is valid? [True, True] Translation: X:222.73, Y:35.53, Z:23.36 [[ 9.60797692e-01 -2.54757288e-01 -1.09391586e-01 2.22729757e+02] [ 2.53762535e-01 9.66989325e-01 -2.31564388e-02 3.55294341e+01] [ 1.11679767e-01 -5.51083309e-03 9.93728967e-01 2.33636792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58509989299995 meters 0.0537826710340276 Centerline is valid? [True, True] Translation: X:222.79, Y:35.55, Z:23.37 [[ 9.60938656e-01 -2.54970590e-01 -1.07642452e-01 2.22787240e+02] [ 2.54008842e-01 9.66933468e-01 -2.27854451e-02 3.55458034e+01] [ 1.09892707e-01 -5.44671946e-03 9.93928532e-01 2.33725065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64509989299995 meters 0.054073195938985116 Centerline is valid? [True, True] Translation: X:222.85, Y:35.56, Z:23.38 [[ 9.61280997e-01 -2.54179554e-01 -1.06449987e-01 2.22847011e+02] [ 2.53234208e-01 9.67142546e-01 -2.25329204e-02 3.55561362e+01] [ 1.08679719e-01 -5.29630984e-03 9.94062708e-01 2.33800956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.70509989299995 meters 0.0569100293195619 Centerline is valid? [True, True] Translation: X:222.91, Y:35.56, Z:23.38 [[ 9.61346738e-01 -2.53803947e-01 -1.06752074e-01 2.22907081e+02] [ 2.52851170e-01 9.67241320e-01 -2.25945687e-02 3.55587999e+01] [ 1.08989608e-01 -5.27117185e-03 9.94028913e-01 2.33849747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.76509989299996 meters 0.05595028759154522 Centerline is valid? [True, True] Translation: X:222.97, Y:35.57, Z:23.39 [[ 9.60970971e-01 -2.54562823e-01 -1.08316951e-01 2.22965031e+02] [ 2.53586567e-01 9.67040961e-01 -2.29266791e-02 3.55722668e+01] [ 1.10583209e-01 -5.43585073e-03 9.93852004e-01 2.33904696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.82509989299996 meters 0.06457177981552532 Centerline is valid? [True, True] Translation: X:223.03, Y:35.56, Z:23.39 [[ 9.60406726e-01 -2.55687633e-01 -1.10646987e-01 2.23029164e+02] [ 2.54676099e-01 9.66742735e-01 -2.34215416e-02 3.55609240e+01] [ 1.12955770e-01 -5.68493708e-03 9.93583754e-01 2.33908721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.88509989299996 meters 0.053391671018829 Centerline is valid? [True, True] Translation: X:223.08, Y:35.60, Z:23.40 [[ 9.61065683e-01 -2.53097612e-01 -1.10879900e-01 2.23081086e+02] [ 2.52064572e-01 9.67425726e-01 -2.34716187e-02 3.56043363e+01] [ 1.13208679e-01 -5.39112741e-03 9.93556607e-01 2.34035416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.94509989299996 meters 0.05395431848780203 Centerline is valid? [True, True] Translation: X:223.14, Y:35.62, Z:23.41 [[ 9.64157094e-01 -2.41320600e-01 -1.10297168e-01 2.23138937e+02] [ 2.40221500e-01 9.70437269e-01 -2.33482079e-02 3.56211840e+01] [ 1.12670886e-01 -3.98441088e-03 9.93624374e-01 2.34123510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.00509989299997 meters 0.05555898326423959 Centerline is valid? [True, True] Translation: X:223.20, Y:35.62, Z:23.42 [[ 9.64307798e-01 -2.40543879e-01 -1.10675713e-01 2.23200179e+02] [ 2.39432155e-01 9.70630400e-01 -2.34279708e-02 3.56222297e+01] [ 1.13060667e-01 -3.90754963e-03 9.93580403e-01 2.34158803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.06509989299997 meters 0.05497105512358959 Centerline is valid? [True, True] Translation: X:223.26, Y:35.64, Z:23.42 [[ 9.64303539e-01 -2.40370498e-01 -1.11088744e-01 2.23256612e+02] [ 2.39249278e-01 9.70673375e-01 -2.35155946e-02 3.56371073e+01] [ 1.13483341e-01 -3.90173065e-03 9.93532238e-01 2.34226740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.12509989299997 meters 0.05496205725471002 Centerline is valid? [True, True] Translation: X:223.31, Y:35.65, Z:23.43 [[ 9.64220975e-01 -2.40506989e-01 -1.11509192e-01 2.23314059e+02] [ 2.39376752e-01 9.70639488e-01 -2.36168478e-02 3.56499187e+01] [ 1.13915242e-01 -3.92084812e-03 9.93482735e-01 2.34293425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18509989299997 meters 0.05496205725471002 Centerline is valid? [True, True] Translation: X:223.37, Y:35.66, Z:23.44 [[ 9.64192349e-01 -2.40622889e-01 -1.11506676e-01 2.23369990e+02] [ 2.39492052e-01 9.70610756e-01 -2.36287185e-02 3.56617615e+01] [ 1.13915190e-01 -3.92233321e-03 9.93482735e-01 2.34353254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24509989299995 meters 0.05403575737663578 Centerline is valid? [True, True] Translation: X:223.43, Y:35.68, Z:23.44 [[ 9.63853803e-01 -2.41679111e-01 -1.12147467e-01 2.23428866e+02] [ 2.40540904e-01 9.70347739e-01 -2.37768530e-02 3.56808818e+01] [ 1.14568410e-01 -4.05864297e-03 9.93407070e-01 2.34438285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30509989299995 meters 0.05509065978421927 Centerline is valid? [True, True] Translation: X:223.49, Y:35.68, Z:23.45 [[ 9.62986096e-01 -2.44754709e-01 -1.12928788e-01 2.23489948e+02] [ 2.43622077e-01 9.69574774e-01 -2.39382646e-02 3.56812062e+01] [ 1.15351907e-01 -4.45972999e-03 9.93314677e-01 2.34473655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36509989299995 meters 0.053744176963485886 Centerline is valid? [True, True] Translation: X:223.55, Y:35.70, Z:23.46 [[ 9.62251362e-01 -2.47742696e-01 -1.12675968e-01 2.23547069e+02] [ 2.46635435e-01 9.68813943e-01 -2.38852677e-02 3.56990600e+01] [ 1.15079450e-01 -4.80625500e-03 9.93344663e-01 2.34572636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42509989299995 meters 0.056291673628748484 Centerline is valid? [True, True] Translation: X:223.61, Y:35.70, Z:23.46 [[ 9.61889871e-01 -2.49195166e-01 -1.12559517e-01 2.23607249e+02] [ 2.48100171e-01 9.68440506e-01 -2.38598245e-02 3.56974983e+01] [ 1.14952948e-01 -4.97551189e-03 9.93358477e-01 2.34600170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48509989299995 meters 0.05570738467641205 Centerline is valid? [True, True] Translation: X:223.66, Y:35.71, Z:23.47 [[ 9.60808455e-01 -2.53823848e-01 -1.11447603e-01 2.23664975e+02] [ 2.52781044e-01 9.67234988e-01 -2.36267266e-02 3.57106574e+01] [ 1.13793047e-01 -5.47108269e-03 9.93489411e-01 2.34692942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54509989299996 meters 0.055808834944260005 Centerline is valid? [True, True] Translation: X:223.72, Y:35.72, Z:23.48 [[ 9.59876844e-01 -2.57728516e-01 -1.10509980e-01 2.23723866e+02] [ 2.56728843e-01 9.66199465e-01 -2.34285008e-02 3.57205042e+01] [ 1.12812876e-01 -5.88262386e-03 9.93598837e-01 2.34763910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.60509989299996 meters 0.05379390379770467 Centerline is valid? [True, True] Translation: X:223.78, Y:35.74, Z:23.48 [[ 9.59065056e-01 -2.60711056e-01 -1.10562033e-01 2.23781918e+02] [ 2.59730142e-01 9.65396733e-01 -2.34393188e-02 3.57390421e+01] [ 1.12847115e-01 -6.23646102e-03 9.93592791e-01 2.34843181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.66509989299996 meters 0.05373562575085443 Centerline is valid? [True, True] Translation: X:223.84, Y:35.75, Z:23.49 [[ 9.58760581e-01 -2.61717236e-01 -1.10825250e-01 2.23841246e+02] [ 2.60738497e-01 9.65123562e-01 -2.34935476e-02 3.57520369e+01] [ 1.13108727e-01 -6.37172183e-03 9.93562186e-01 2.34901635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.72509989299996 meters 0.05591170101722767 Centerline is valid? [True, True] Translation: X:223.90, Y:35.75, Z:23.49 [[ 9.58877501e-01 -2.61344133e-01 -1.10694096e-01 2.23902768e+02] [ 2.60365352e-01 9.65224994e-01 -2.34647732e-02 3.57548828e+01] [ 1.12977089e-01 -6.32106409e-03 9.93577486e-01 2.34942126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.78509989299997 meters 0.056445777374188856 Centerline is valid? [True, True] Translation: X:223.96, Y:35.77, Z:23.50 [[ 9.59042493e-01 -2.60898410e-01 -1.10315534e-01 2.23960843e+02] [ 2.59923475e-01 9.65346045e-01 -2.33837559e-02 3.57654120e+01] [ 1.12593449e-01 -6.24758126e-03 9.93621499e-01 2.34998227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.84509989299997 meters 0.05340124470806673 Centerline is valid? [True, True] Translation: X:224.02, Y:35.79, Z:23.51 [[ 9.59209359e-01 -2.60271361e-01 -1.10345930e-01 2.24018239e+02] [ 2.59290649e-01 9.65515819e-01 -2.34000335e-02 3.57928123e+01] [ 1.12631100e-01 -6.16613683e-03 9.93617740e-01 2.35080561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90509989299997 meters 0.05386541549112239 Centerline is valid? [True, True] Translation: X:224.08, Y:35.80, Z:23.51 [[ 9.59209111e-01 -2.59930242e-01 -1.11149229e-01 2.24079586e+02] [ 2.58933422e-01 9.65607649e-01 -2.35659064e-02 3.57998316e+01] [ 1.13452037e-01 -6.17561801e-03 9.93524281e-01 2.35125066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96509989299994 meters 0.05271706532458856 Centerline is valid? [True, True] Translation: X:224.14, Y:35.82, Z:23.52 [[ 9.59136939e-01 -2.60242281e-01 -1.11041832e-01 2.24137306e+02] [ 2.59249789e-01 9.65523382e-01 -2.35402997e-02 3.58237855e+01] [ 1.13339666e-01 -6.20920046e-03 9.93536897e-01 2.35206258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02509989299995 meters 0.052954263461409974 Centerline is valid? [True, True] Translation: X:224.20, Y:35.83, Z:23.53 [[ 9.58888812e-01 -2.61167422e-01 -1.11012722e-01 2.24197433e+02] [ 2.60182013e-01 9.65272828e-01 -2.35305904e-02 3.58325066e+01] [ 1.13302988e-01 -6.32029355e-03 9.93540380e-01 2.35256805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08509989299995 meters 0.05451043934266113 Centerline is valid? [True, True] Translation: X:224.26, Y:35.84, Z:23.53 [[ 9.58501829e-01 -2.62245176e-01 -1.11811048e-01 2.24256876e+02] [ 2.61253005e-01 9.64979412e-01 -2.36981295e-02 3.58388696e+01] [ 1.14110080e-01 -6.49627186e-03 9.93446872e-01 2.35305121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14509989299995 meters 0.05786438860219819 Centerline is valid? [True, True] Translation: X:224.32, Y:35.84, Z:23.53 [[ 9.57934046e-01 -2.64258149e-01 -1.11937454e-01 2.24317429e+02] [ 2.63277363e-01 9.64428408e-01 -2.37250101e-02 3.58389818e+01] [ 1.14225188e-01 -6.74360281e-03 9.93431996e-01 2.35348213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20509989299995 meters 0.052936163533633965 Centerline is valid? [True, True] Translation: X:224.37, Y:35.87, Z:23.55 [[ 9.57349028e-01 -2.67082567e-01 -1.10225860e-01 2.24371622e+02] [ 2.66150050e-01 9.63648443e-01 -2.33630096e-02 3.58717720e+01] [ 1.12458831e-01 -6.97006371e-03 9.93631939e-01 2.35457297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26509989299996 meters 0.055118479184601415 Centerline is valid? [True, True] Translation: X:224.43, Y:35.87, Z:23.55 [[ 9.57158436e-01 -2.68136272e-01 -1.09319110e-01 2.24432818e+02] [ 2.67226011e-01 9.63355300e-01 -2.31694853e-02 3.58728881e+01] [ 1.11525723e-01 -7.03604138e-03 9.93736639e-01 2.35514765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.32509989299996 meters 0.05476979628382108 Centerline is valid? [True, True] Translation: X:224.49, Y:35.89, Z:23.56 [[ 9.56954122e-01 -2.69498041e-01 -1.07747918e-01 2.24491890e+02] [ 2.68622428e-01 9.62974831e-01 -2.28356185e-02 3.58855312e+01] [ 1.09912688e-01 -7.09086820e-03 9.93915952e-01 2.35593235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.38509989299996 meters 0.05422066818618732 Centerline is valid? [True, True] Translation: X:224.55, Y:35.90, Z:23.57 [[ 9.56578444e-01 -2.70835831e-01 -1.07729444e-01 2.24551356e+02] [ 2.69969033e-01 9.62598294e-01 -2.28308124e-02 3.58989760e+01] [ 1.09883581e-01 -7.24415088e-03 9.93918065e-01 2.35663410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.44509989299996 meters 0.052075892836133814 Centerline is valid? [True, True] Translation: X:224.61, Y:35.92, Z:23.57 [[ 9.56063914e-01 -2.72526865e-01 -1.08031944e-01 2.24607660e+02] [ 2.71666077e-01 9.62119244e-01 -2.28933075e-02 3.59214721e+01] [ 1.10178653e-01 -7.46114921e-03 9.93883794e-01 2.35732533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.50509989299997 meters 0.05214012448165244 Centerline is valid? [True, True] Translation: X:224.67, Y:35.94, Z:23.58 [[ 9.55008060e-01 -2.75587568e-01 -1.09595154e-01 2.24666311e+02] [ 2.74721686e-01 9.61243272e-01 -2.32243032e-02 3.59353131e+01] [ 1.11747934e-01 -7.92876878e-03 9.93704953e-01 2.35788959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.56509989299997 meters 0.05700248918385606 Centerline is valid? [True, True] Translation: X:224.73, Y:35.92, Z:23.58 [[ 9.54067969e-01 -2.78217391e-01 -1.11127825e-01 2.24729875e+02] [ 2.77344836e-01 9.60481806e-01 -2.35487141e-02 3.59239991e+01] [ 1.13287915e-01 -8.35365442e-03 9.93527083e-01 2.35812832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.62509989299997 meters 0.05629554604145533 Centerline is valid? [True, True] Translation: X:224.79, Y:35.94, Z:23.59 [[ 9.54053096e-01 -2.78223951e-01 -1.11239034e-01 2.24789738e+02] [ 2.77349652e-01 9.60479829e-01 -2.35726410e-02 3.59396844e+01] [ 1.13401322e-01 -8.36255620e-03 9.93514070e-01 2.35883063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68509989299997 meters 0.0568829546631334 Centerline is valid? [True, True] Translation: X:224.85, Y:35.95, Z:23.60 [[ 9.54623099e-01 -2.76989767e-01 -1.09413932e-01 2.24848543e+02] [ 2.76136297e-01 9.60838870e-01 -2.31821283e-02 3.59470479e+01] [ 1.11550372e-01 -8.08296293e-03 9.93725908e-01 2.35953653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74509989299995 meters 0.059077480893461515 Centerline is valid? [True, True] Translation: X:224.91, Y:35.95, Z:23.60 [[ 9.55322742e-01 -2.74755889e-01 -1.08938794e-01 2.24907984e+02] [ 2.73895312e-01 9.61482484e-01 -2.30822656e-02 3.59536268e+01] [ 1.11084731e-01 -7.78681175e-03 9.93780433e-01 2.36019920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.80509989299995 meters 0.05200758171977493 Centerline is valid? [True, True] Translation: X:224.96, Y:35.99, Z:23.61 [[ 9.56125235e-01 -2.72231187e-01 -1.08234543e-01 2.24961235e+02] [ 2.71365503e-01 9.62203087e-01 -2.29343052e-02 3.59907581e+01] [ 1.10387045e-01 -7.44305330e-03 9.93860806e-01 2.36109506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.86509989299995 meters 0.05275901197117722 Centerline is valid? [True, True] Translation: X:225.02, Y:36.00, Z:23.62 [[ 9.57014508e-01 -2.69560255e-01 -1.07053729e-01 2.25021606e+02] [ 2.68696839e-01 9.62957669e-01 -2.26833909e-02 3.59994650e+01] [ 1.09202750e-01 -7.05666438e-03 9.93994448e-01 2.36171038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92509989299995 meters 0.054119961835126504 Centerline is valid? [True, True] Translation: X:225.08, Y:36.01, Z:23.62 [[ 9.57205441e-01 -2.68934474e-01 -1.06920492e-01 2.25081643e+02] [ 2.68069510e-01 9.63133197e-01 -2.26535235e-02 3.60072830e+01] [ 1.09070989e-01 -6.97804793e-03 9.94009470e-01 2.36228047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98509989299995 meters 0.053963250856558495 Centerline is valid? [True, True] Translation: X:225.14, Y:36.02, Z:23.63 [[ 9.57054218e-01 -2.69115964e-01 -1.07813833e-01 2.25142942e+02] [ 2.68237739e-01 9.63081912e-01 -2.28417590e-02 3.60172165e+01] [ 1.09980634e-01 -7.05893699e-03 9.93908664e-01 2.36285275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04509989299996 meters 0.052916739742647004 Centerline is valid? [True, True] Translation: X:225.20, Y:36.03, Z:23.64 [[ 9.56461099e-01 -2.70815908e-01 -1.08815949e-01 2.25200365e+02] [ 2.69932558e-01 9.62603281e-01 -2.30507550e-02 3.60346847e+01] [ 1.10989101e-01 -7.32581703e-03 9.93794623e-01 2.36350329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.10509989299996 meters 0.05257094005390307 Centerline is valid? [True, True] Translation: X:225.26, Y:36.05, Z:23.64 [[ 9.56216201e-01 -2.71592861e-01 -1.09031628e-01 2.25260096e+02] [ 2.70711048e-01 9.62383549e-01 -2.30961576e-02 3.60482873e+01] [ 1.11202996e-01 -7.43114613e-03 9.93769929e-01 2.36415790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.16509989299996 meters 0.05571919836940973 Centerline is valid? [True, True] Translation: X:225.32, Y:36.05, Z:23.65 [[ 9.56524474e-01 -2.70499808e-01 -1.09044873e-01 2.25321788e+02] [ 2.69610919e-01 9.62692302e-01 -2.30972903e-02 3.60452152e+01] [ 1.11224472e-01 -7.30656484e-03 9.93768449e-01 2.36463767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.22509989299996 meters 0.05346145753237863 Centerline is valid? [True, True] Translation: X:225.38, Y:36.07, Z:23.65 [[ 9.56921513e-01 -2.69072457e-01 -1.09092763e-01 2.25378641e+02] [ 2.68173590e-01 9.63093442e-01 -2.31073139e-02 3.60697310e+01] [ 1.11284066e-01 -7.14391202e-03 9.93762960e-01 2.36548147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.28509989299997 meters 0.052610350634715246 Centerline is valid? [True, True] Translation: X:225.44, Y:36.09, Z:23.66 [[ 9.57762535e-01 -2.66207638e-01 -1.08740153e-01 2.25436813e+02] [ 2.65296421e-01 9.63891792e-01 -2.30309117e-02 3.60878555e+01] [ 1.10944745e-01 -6.79022903e-03 9.93803379e-01 2.36623130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.34509989299997 meters 0.05538027905894763 Centerline is valid? [True, True] Translation: X:225.50, Y:36.08, Z:23.67 [[ 9.58325199e-01 -2.64235483e-01 -1.08592922e-01 2.25498626e+02] [ 2.63314231e-01 9.64435929e-01 -2.29990193e-02 3.60832019e+01] [ 1.10808073e-01 -6.55352210e-03 9.93820216e-01 2.36665698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40509989299997 meters 0.05569002673122078 Centerline is valid? [True, True] Translation: X:225.56, Y:36.09, Z:23.67 [[ 9.58665787e-01 -2.62859238e-01 -1.08926260e-01 2.25556944e+02] [ 2.61923392e-01 9.64812878e-01 -2.30704997e-02 3.60939634e+01] [ 1.11157752e-01 -6.41343670e-03 9.93782080e-01 2.36726098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46509989299994 meters 0.05380769114776416 Centerline is valid? [True, True] Translation: X:225.61, Y:36.12, Z:23.68 [[ 9.59313490e-01 -2.60519730e-01 -1.08844374e-01 2.25613386e+02] [ 2.59570156e-01 9.65449024e-01 -2.30546344e-02 3.61156236e+01] [ 1.11089882e-01 -6.13612932e-03 9.93791420e-01 2.36804347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52509989299995 meters 0.055123470780841705 Centerline is valid? [True, True] Translation: X:225.67, Y:36.12, Z:23.69 [[ 9.59908422e-01 -2.58266728e-01 -1.08968428e-01 2.25673397e+02] [ 2.57300640e-01 9.66055738e-01 -2.30801148e-02 3.61208949e+01] [ 1.11230400e-01 -5.88284949e-03 9.93777234e-01 2.36852377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58509989299995 meters 0.053273332350689574 Centerline is valid? [True, True] Translation: X:225.73, Y:36.15, Z:23.69 [[ 9.60419361e-01 -2.56068735e-01 -1.09651513e-01 2.25729576e+02] [ 2.55076230e-01 9.66641983e-01 -2.32248531e-02 3.61452305e+01] [ 1.11940915e-01 -5.66389587e-03 9.93698723e-01 2.36924095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64509989299995 meters 0.05457319215659284 Centerline is valid? [True, True] Translation: X:225.79, Y:36.15, Z:23.70 [[ 9.60714407e-01 -2.54839652e-01 -1.09929888e-01 2.25790408e+02] [ 2.53834123e-01 9.66967484e-01 -2.32835557e-02 3.61484431e+01] [ 1.12232200e-01 -5.53510918e-03 9.93666592e-01 2.36962310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70509989299995 meters 0.05279400843767053 Centerline is valid? [True, True] Translation: X:225.85, Y:36.17, Z:23.70 [[ 9.61090504e-01 -2.53711256e-01 -1.09250359e-01 2.25848665e+02] [ 2.52711000e-01 9.67265091e-01 -2.31385847e-02 3.61695327e+01] [ 1.11544578e-01 -5.37049351e-03 9.93744919e-01 2.37041889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76509989299996 meters 0.06224324838375858 Centerline is valid? [True, True] Translation: X:225.91, Y:36.15, Z:23.71 [[ 9.61679432e-01 -2.51628691e-01 -1.08883754e-01 2.25913946e+02] [ 2.50622145e-01 9.67810338e-01 -2.30584073e-02 3.61496977e+01] [ 1.11180979e-01 -5.11388385e-03 9.93787018e-01 2.37050944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.82509989299996 meters 0.05580311473976667 Centerline is valid? [True, True] Translation: X:225.97, Y:36.18, Z:23.71 [[ 9.61990789e-01 -2.50866500e-01 -1.07887541e-01 2.25967843e+02] [ 2.49873430e-01 9.68008893e-01 -2.28484610e-02 3.61786173e+01] [ 1.10168012e-01 -4.97822094e-03 9.93900511e-01 2.37145966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.88509989299996 meters 0.05343569261011928 Centerline is valid? [True, True] Translation: X:226.03, Y:36.21, Z:23.72 [[ 9.62160561e-01 -2.50490209e-01 -1.07246024e-01 2.26025106e+02] [ 2.49506053e-01 9.68106729e-01 -2.27176089e-02 3.62050248e+01] [ 1.09516137e-01 -4.90054499e-03 9.93972938e-01 2.37229311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.94509989299996 meters 0.056383952415626916 Centerline is valid? [True, True] Translation: X:226.09, Y:36.20, Z:23.73 [[ 9.62107803e-01 -2.50761092e-01 -1.07086186e-01 2.26087194e+02] [ 2.49781916e-01 9.68036465e-01 -2.26803322e-02 3.62029756e+01] [ 1.09350678e-01 -4.92726816e-03 9.93991022e-01 2.37273628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.00509989299997 meters 0.05354837804193019 Centerline is valid? [True, True] Translation: X:226.14, Y:36.23, Z:23.74 [[ 9.61793348e-01 -2.52284728e-01 -1.06329538e-01 2.26143680e+02] [ 2.51328713e-01 9.67639790e-01 -2.25192059e-02 3.62266682e+01] [ 1.08569944e-01 -5.06484365e-03 9.94075910e-01 2.37358445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.06509989299997 meters 0.05342818722789924 Centerline is valid? [True, True] Translation: X:226.20, Y:36.24, Z:23.74 [[ 9.61544351e-01 -2.53516517e-01 -1.05649597e-01 2.26202340e+02] [ 2.52580195e-01 9.67317236e-01 -2.23743143e-02 3.62426929e+01] [ 1.07868934e-01 -5.17110029e-03 9.94151675e-01 2.37427822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.12509989299997 meters 0.05310362830536464 Centerline is valid? [True, True] Translation: X:226.26, Y:36.26, Z:23.75 [[ 9.61183619e-01 -2.54715968e-01 -1.06046336e-01 2.26261372e+02] [ 2.53780046e-01 9.67001237e-01 -2.24565393e-02 3.62554285e+01] [ 1.08266977e-01 -5.32758635e-03 9.94107579e-01 2.37484663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18509989299997 meters 0.06216230058673651 Centerline is valid? [True, True] Translation: X:226.33, Y:36.24, Z:23.75 [[ 9.60996752e-01 -2.54810106e-01 -1.07503729e-01 2.26325562e+02] [ 2.53848935e-01 9.66975959e-01 -2.27642830e-02 3.62402347e+01] [ 1.09754091e-01 -5.41330502e-03 9.93944030e-01 2.37506828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24509989299995 meters 0.05379523113259688 Centerline is valid? [True, True] Translation: X:226.38, Y:36.28, Z:23.76 [[ 9.61400499e-01 -2.53472646e-01 -1.07054653e-01 2.26379402e+02] [ 2.52511241e-01 9.67328371e-01 -2.26692474e-02 3.62817493e+01] [ 1.09303037e-01 -5.23827759e-03 9.93994671e-01 2.37595406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.30509989299995 meters 0.05279102872054593 Centerline is valid? [True, True] Translation: X:226.44, Y:36.30, Z:23.77 [[ 9.62496118e-01 -2.49316498e-01 -1.06969656e-01 2.26436332e+02] [ 2.48331434e-01 9.68410334e-01 -2.26478388e-02 3.63041420e+01] [ 1.09237000e-01 -4.76547126e-03 9.94004310e-01 2.37657824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36509989299995 meters 0.054774806543576096 Centerline is valid? [True, True] Translation: X:226.50, Y:36.31, Z:23.77 [[ 9.63452495e-01 -2.46229403e-01 -1.05500570e-01 2.26496592e+02] [ 2.45252887e-01 9.69201795e-01 -2.23361206e-02 3.63058875e+01] [ 1.07751152e-01 -4.35452823e-03 9.94168360e-01 2.37712123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42509989299995 meters 0.05305194197957937 Centerline is valid? [True, True] Translation: X:226.55, Y:36.33, Z:23.78 [[ 9.64685554e-01 -2.42871643e-01 -1.01956593e-01 2.26553935e+02] [ 2.41941035e-01 9.70050818e-01 -2.15857948e-02 3.63261709e+01] [ 1.04145654e-01 -3.84397924e-03 9.94554627e-01 2.37797365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.48509989299995 meters 0.054537740094669065 Centerline is valid? [True, True] Translation: X:226.61, Y:36.33, Z:23.79 [[ 9.65026845e-01 -2.41882886e-01 -1.01073531e-01 2.26614344e+02] [ 2.40962948e-01 9.70298380e-01 -2.13988661e-02 3.63320330e+01] [ 1.03247503e-01 -3.70449580e-03 9.94648797e-01 2.37871779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54509989299996 meters 0.053249852396541064 Centerline is valid? [True, True] Translation: X:226.67, Y:36.35, Z:23.79 [[ 9.64945155e-01 -2.42334265e-01 -1.00771778e-01 2.26673211e+02] [ 2.41422441e-01 9.70185597e-01 -2.13333425e-02 3.63477578e+01] [ 1.02937128e-01 -3.74306329e-03 9.94680822e-01 2.37931738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.60509989299996 meters 0.05547496249959945 Centerline is valid? [True, True] Translation: X:226.73, Y:36.35, Z:23.80 [[ 9.64439775e-01 -2.43942286e-01 -1.01725524e-01 2.26732428e+02] [ 2.43022169e-01 9.69781692e-01 -2.15335973e-02 3.63535037e+01] [ 1.03904506e-01 -3.95369980e-03 9.94579420e-01 2.37987791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.66509989299996 meters 0.0601650429414891 Centerline is valid? [True, True] Translation: X:226.79, Y:36.35, Z:23.80 [[ 9.63271274e-01 -2.47282256e-01 -1.04689722e-01 2.26794328e+02] [ 2.46327174e-01 9.68933317e-01 -2.21619274e-02 3.63502744e+01] [ 1.06917611e-01 -4.43997529e-03 9.94257970e-01 2.38022367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.72509989299996 meters 0.05337928382160952 Centerline is valid? [True, True] Translation: X:226.85, Y:36.39, Z:23.81 [[ 9.62299541e-01 -2.50722797e-01 -1.05440378e-01 2.26848520e+02] [ 2.49774401e-01 9.68046743e-01 -2.23215721e-02 3.63851517e+01] [ 1.07667742e-01 -4.85626868e-03 9.94175072e-01 2.38100704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.78509989299997 meters 0.05887304852370203 Centerline is valid? [True, True] Translation: X:226.91, Y:36.38, Z:23.82 [[ 9.61840810e-01 -2.52460155e-01 -1.05480457e-01 2.26911422e+02] [ 2.51521588e-01 9.67594092e-01 -2.23285630e-02 3.63758719e+01] [ 1.07699339e-01 -5.05408882e-03 9.94170664e-01 2.38154479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.84509989299997 meters 0.05529512864872982 Centerline is valid? [True, True] Translation: X:226.97, Y:36.40, Z:23.82 [[ 9.61415420e-01 -2.54591401e-01 -1.04228637e-01 2.26968260e+02] [ 2.53687454e-01 9.67034577e-01 -2.20635845e-02 3.63976966e+01] [ 1.06409895e-01 -5.22922710e-03 9.94308599e-01 2.38226133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90509989299997 meters 0.05582604744280712 Centerline is valid? [True, True] Translation: X:227.03, Y:36.41, Z:23.83 [[ 9.61241726e-01 -2.55419127e-01 -1.03804689e-01 2.27026297e+02] [ 2.54527268e-01 9.66815906e-01 -2.19743920e-02 3.64083657e+01] [ 1.05972705e-01 -5.29842146e-03 9.94354923e-01 2.38287435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96509989299994 meters 0.055485822849474065 Centerline is valid? [True, True] Translation: X:227.08, Y:36.42, Z:23.84 [[ 9.60559341e-01 -2.57764744e-01 -1.04322049e-01 2.27084975e+02] [ 2.56877455e-01 9.66191580e-01 -2.20862864e-02 3.64225535e+01] [ 1.06488151e-01 -5.58279361e-03 9.94298298e-01 2.38352790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02509989299995 meters 0.05482537984078338 Centerline is valid? [True, True] Translation: X:227.14, Y:36.44, Z:23.84 [[ 9.59288068e-01 -2.62614185e-01 -1.03923970e-01 2.27143715e+02] [ 2.61761883e-01 9.64881660e-01 -2.20022368e-02 3.64360261e+01] [ 1.06052432e-01 -6.09685087e-03 9.94341848e-01 2.38421895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.08509989299995 meters 0.05267403608648718 Centerline is valid? [True, True] Translation: X:227.20, Y:36.46, Z:23.85 [[ 9.57912312e-01 -2.67357551e-01 -1.04517670e-01 2.27200755e+02] [ 2.66523438e-01 9.63574384e-01 -2.21283625e-02 3.64574000e+01] [ 1.06626734e-01 -6.65937771e-03 9.94276819e-01 2.38485669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14509989299995 meters 0.05648869302487354 Centerline is valid? [True, True] Translation: X:227.26, Y:36.46, Z:23.85 [[ 9.57492431e-01 -2.68486562e-01 -1.05466630e-01 2.27261915e+02] [ 2.67644106e-01 9.63259087e-01 -2.23285252e-02 3.64562212e+01] [ 1.07586598e-01 -6.84812793e-03 9.94172131e-01 2.38529851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.20509989299995 meters 0.06203321851702656 Centerline is valid? [True, True] Translation: X:227.32, Y:36.46, Z:23.86 [[ 9.57293623e-01 -2.68676868e-01 -1.06778553e-01 2.27321499e+02] [ 2.67814804e-01 9.63205231e-01 -2.26034157e-02 3.64569341e+01] [ 1.08922675e-01 -6.95877146e-03 9.94025868e-01 2.38573418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26509989299996 meters 0.05369861644115774 Centerline is valid? [True, True] Translation: X:227.38, Y:36.49, Z:23.87 [[ 9.57322699e-01 -2.68637981e-01 -1.06615600e-01 2.27377206e+02] [ 2.67777250e-01 9.63216254e-01 -2.25785898e-02 3.64941243e+01] [ 1.08759345e-01 -6.93423556e-03 9.94043923e-01 2.38660604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.32509989299996 meters 0.05376634108856653 Centerline is valid? [True, True] Translation: X:227.44, Y:36.51, Z:23.87 [[ 9.57595052e-01 -2.67635479e-01 -1.06690983e-01 2.27436158e+02] [ 2.66767990e-01 9.63496024e-01 -2.25887235e-02 3.65088698e+01] [ 1.08841882e-01 -6.83088925e-03 9.94035605e-01 2.38723180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.38509989299996 meters 0.0582930477051949 Centerline is valid? [True, True] Translation: X:227.50, Y:36.51, Z:23.88 [[ 9.57704895e-01 -2.66631470e-01 -1.08208099e-01 2.27497980e+02] [ 2.65732956e-01 9.63774461e-01 -2.29081632e-02 3.65086312e+01] [ 1.10396239e-01 -6.81519789e-03 9.93864288e-01 2.38761030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.44509989299996 meters 0.05963001854394576 Centerline is valid? [True, True] Translation: X:227.56, Y:36.52, Z:23.88 [[ 9.57501885e-01 -2.67355868e-01 -1.08217285e-01 2.27556107e+02] [ 2.66461951e-01 9.63573153e-01 -2.29086911e-02 3.65182713e+01] [ 1.10400044e-01 -6.90067405e-03 9.93863276e-01 2.38811637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.50509989299997 meters 0.052471914262133726 Centerline is valid? [True, True] Translation: X:227.61, Y:36.56, Z:23.89 [[ 9.57130037e-01 -2.69051719e-01 -1.07299882e-01 2.27609327e+02] [ 2.68183227e-01 9.63100050e-01 -2.27167220e-02 3.65559879e+01] [ 1.09452494e-01 -7.03317155e-03 9.93967145e-01 2.38899397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.56509989299997 meters 0.05247039515557886 Centerline is valid? [True, True] Translation: X:227.67, Y:36.57, Z:23.90 [[ 9.56941846e-01 -2.69942376e-01 -1.06739947e-01 2.27668092e+02] [ 2.69088564e-01 9.62850312e-01 -2.25969103e-02 3.65704978e+01] [ 1.08874455e-01 -7.09857007e-03 9.94030162e-01 2.38968368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.62509989299997 meters 0.05170271866416448 Centerline is valid? [True, True] Translation: X:227.73, Y:36.59, Z:23.90 [[ 9.56364089e-01 -2.72222577e-01 -1.06125383e-01 2.27727015e+02] [ 2.71392764e-01 9.62206486e-01 -2.24643345e-02 3.65866032e+01] [ 1.08229831e-01 -7.31757814e-03 9.94098967e-01 2.39032176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68509989299994 meters 0.055500674449087975 Centerline is valid? [True, True] Translation: X:227.79, Y:36.58, Z:23.91 [[ 9.55881043e-01 -2.73741001e-01 -1.06570616e-01 2.27788324e+02] [ 2.72913709e-01 9.61774026e-01 -2.25572872e-02 3.65825568e+01] [ 1.08671705e-01 -7.52249894e-03 9.94049230e-01 2.39081153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74509989299995 meters 0.05307975372010425 Centerline is valid? [True, True] Translation: X:227.84, Y:36.61, Z:23.92 [[ 9.55018378e-01 -2.76079211e-01 -1.08259720e-01 2.27844555e+02] [ 2.75240497e-01 9.61102300e-01 -2.29137065e-02 3.66074857e+01] [ 1.10374664e-01 -7.91444823e-03 9.93858539e-01 2.39151694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.80509989299995 meters 0.052406737098614896 Centerline is valid? [True, True] Translation: X:227.90, Y:36.62, Z:23.92 [[ 9.54475937e-01 -2.77642717e-01 -1.09042228e-01 2.27903157e+02] [ 2.76801971e-01 9.60649792e-01 -2.30791049e-02 3.66202040e+01] [ 1.11159139e-01 -8.15465331e-03 9.93769162e-01 2.39224028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.86509989299995 meters 0.05162235915982586 Centerline is valid? [True, True] Translation: X:227.96, Y:36.64, Z:23.93 [[ 9.54655259e-01 -2.77395001e-01 -1.08098798e-01 2.27962676e+02] [ 2.76567258e-01 9.60722188e-01 -2.28785622e-02 3.66388176e+01] [ 1.10199312e-01 -8.05544837e-03 9.93876864e-01 2.39301591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92509989299995 meters 0.05368332312426288 Centerline is valid? [True, True] Translation: X:228.02, Y:36.64, Z:23.94 [[ 9.55064700e-01 -2.76201762e-01 -1.07536069e-01 2.28023285e+02] [ 2.75376364e-01 9.61067314e-01 -2.27481002e-02 3.66401551e+01] [ 1.09632467e-01 -7.88698431e-03 9.93940903e-01 2.39355819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98509989299995 meters 0.052380078469423774 Centerline is valid? [True, True] Translation: X:228.08, Y:36.66, Z:23.94 [[ 9.56059316e-01 -2.73335859e-01 -1.06009868e-01 2.28080620e+02] [ 2.72516236e-01 9.61889813e-01 -2.24252007e-02 3.66598288e+01] [ 1.08099423e-01 -7.44958805e-03 9.94112176e-01 2.39421938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04509989299996 meters 0.052705786596582135 Centerline is valid? [True, True] Translation: X:228.14, Y:36.67, Z:23.95 [[ 9.56373497e-01 -2.72418772e-01 -1.05535522e-01 2.28141604e+02] [ 2.71601066e-01 9.62150986e-01 -2.23235689e-02 3.66693641e+01] [ 1.07622465e-01 -7.31389042e-03 9.94164932e-01 2.39483202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.10509989299996 meters 0.052627752967578344 Centerline is valid? [True, True] Translation: X:228.20, Y:36.68, Z:23.95 [[ 9.55894433e-01 -2.74105349e-01 -1.05508721e-01 2.28200357e+02] [ 2.73298670e-01 9.61670382e-01 -2.23139689e-02 3.66836375e+01] [ 1.07580990e-01 -7.50559457e-03 9.94167992e-01 2.39542551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.16509989299996 meters 0.05226902914738197 Centerline is valid? [True, True] Translation: X:228.26, Y:36.69, Z:23.96 [[ 9.54748763e-01 -2.77477285e-01 -1.07056783e-01 2.28259240e+02] [ 2.76667881e-01 9.60698861e-01 -2.26402698e-02 3.66917267e+01] [ 1.09131490e-01 -8.00340381e-03 9.93995102e-01 2.39599329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.22509989299996 meters 0.05522934606908382 Centerline is valid? [True, True] Translation: X:228.32, Y:36.69, Z:23.96 [[ 9.53388716e-01 -2.81199313e-01 -1.09439036e-01 2.28320907e+02] [ 2.80377833e-01 9.59610676e-01 -2.31434841e-02 3.66897876e+01] [ 1.11526799e-01 -8.61954309e-03 9.93724045e-01 2.39638455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.28509989299997 meters 0.05178041345486495 Centerline is valid? [True, True] Translation: X:228.38, Y:36.72, Z:23.97 [[ 9.52963570e-01 -2.82571896e-01 -1.09606376e-01 2.28376429e+02] [ 2.81756936e-01 9.59205811e-01 -2.31784842e-02 3.67163117e+01] [ 1.11684661e-01 -8.79410544e-03 9.93704785e-01 2.39715578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.34509989299997 meters 0.05409019625793008 Centerline is valid? [True, True] Translation: X:228.44, Y:36.71, Z:23.98 [[ 9.53366590e-01 -2.81941136e-01 -1.07709521e-01 2.28438488e+02] [ 2.81150168e-01 9.59393449e-01 -2.27770172e-02 3.67148288e+01] [ 1.09757587e-01 -8.56770272e-03 9.93921459e-01 2.39774495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40509989299997 meters 0.051565981258652444 Centerline is valid? [True, True] Translation: X:228.49, Y:36.75, Z:23.99 [[ 9.54110218e-01 -2.79876817e-01 -1.06501924e-01 2.28493871e+02] [ 2.79090899e-01 9.60000582e-01 -2.25200508e-02 3.67456926e+01] [ 1.08544749e-01 -8.23710718e-03 9.94057437e-01 2.39857544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46509989299994 meters 0.055533888134804775 Centerline is valid? [True, True] Translation: X:228.56, Y:36.74, Z:23.99 [[ 9.55400780e-01 -2.75297383e-01 -1.06867675e-01 2.28556339e+02] [ 2.74477547e-01 9.61327938e-01 -2.25980639e-02 3.67358489e+01] [ 1.08956070e-01 -7.74256943e-03 9.94016412e-01 2.39910410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52509989299995 meters 0.05315181299328294 Centerline is valid? [True, True] Translation: X:228.61, Y:36.76, Z:24.00 [[ 9.55646716e-01 -2.74594631e-01 -1.06476021e-01 2.28614808e+02] [ 2.73776425e-01 9.61529779e-01 -2.25156211e-02 3.67569234e+01] [ 1.08562533e-01 -7.63364486e-03 9.94060312e-01 2.39985477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58509989299995 meters 0.05191691981065666 Centerline is valid? [True, True] Translation: X:228.67, Y:36.78, Z:24.00 [[ 9.55713637e-01 -2.74115465e-01 -1.07108147e-01 2.28673996e+02] [ 2.73284967e-01 9.61666531e-01 -2.26453236e-02 3.67786429e+01] [ 1.09209753e-01 -7.62860173e-03 9.93989454e-01 2.40045413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64509989299995 meters 0.05712441692994436 Centerline is valid? [True, True] Translation: X:228.74, Y:36.77, Z:24.01 [[ 9.55934468e-01 -2.73315847e-01 -1.07180876e-01 2.28738299e+02] [ 2.72479949e-01 9.61894726e-01 -2.26541999e-02 3.67677538e+01] [ 1.09288471e-01 -7.54870904e-03 9.93981412e-01 2.40090026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70509989299995 meters 0.06258340802343984 Centerline is valid? [True, True] Translation: X:228.80, Y:36.77, Z:24.01 [[ 9.56585860e-01 -2.70660796e-01 -1.08102846e-01 2.28800503e+02] [ 2.69793806e-01 9.62647027e-01 -2.28474155e-02 3.67661925e+01] [ 1.10248783e-01 -7.30996370e-03 9.93877140e-01 2.40130377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76509989299996 meters 0.05348445556598706 Centerline is valid? [True, True] Translation: X:228.85, Y:36.80, Z:24.02 [[ 9.57556054e-01 -2.67481202e-01 -1.07425372e-01 2.28854058e+02] [ 2.66605132e-01 9.63538379e-01 -2.27045580e-02 3.68048548e+01] [ 1.09581512e-01 -6.89926861e-03 9.93953868e-01 2.40224351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.82509989299996 meters 0.06397476014014035 Centerline is valid? [True, True] Translation: X:228.92, Y:36.79, Z:24.03 [[ 9.58408855e-01 -2.64817649e-01 -1.06414659e-01 2.28918521e+02] [ 2.63941668e-01 9.64276387e-01 -2.24910130e-02 3.67874151e+01] [ 1.08569160e-01 -6.53167644e-03 9.94067440e-01 2.40266786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.88509989299996 meters 0.052586626267585285 Centerline is valid? [True, True] Translation: X:228.97, Y:36.83, Z:24.04 [[ 9.59489152e-01 -2.61089718e-01 -1.05890163e-01 2.28969877e+02] [ 2.60199673e-01 9.65295403e-01 -2.23811305e-02 3.68324768e+01] [ 1.08058771e-01 -6.07813399e-03 9.94125927e-01 2.40356114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.94509989299996 meters 0.05371017266863153 Centerline is valid? [True, True] Translation: X:229.03, Y:36.84, Z:24.04 [[ 9.60154156e-01 -2.58295995e-01 -1.06710712e-01 2.29029522e+02] [ 2.57374875e-01 9.66048365e-01 -2.25550704e-02 3.68417330e+01] [ 1.08913593e-01 -5.80831142e-03 9.94034251e-01 2.40407979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.00509989299997 meters 0.05278603493151083 Centerline is valid? [True, True] Translation: X:229.09, Y:36.85, Z:24.05 [[ 9.60448481e-01 -2.57017802e-01 -1.07147399e-01 2.29087904e+02] [ 2.56081238e-01 9.66389935e-01 -2.26471334e-02 3.68543968e+01] [ 1.09366884e-01 -5.68703367e-03 9.93985182e-01 2.40476780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.06509989299997 meters 0.054886788924837 Centerline is valid? [True, True] Translation: X:229.15, Y:36.86, Z:24.05 [[ 9.60464362e-01 -2.56952428e-01 -1.07161833e-01 2.29149642e+02] [ 2.56015784e-01 9.66407329e-01 -2.26449323e-02 3.68581094e+01] [ 1.09380651e-01 -5.68547022e-03 9.93983676e-01 2.40538568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.12509989299997 meters 0.05516921162299633 Centerline is valid? [True, True] Translation: X:229.21, Y:36.87, Z:24.06 [[ 9.60680324e-01 -2.56024217e-01 -1.07447266e-01 2.29208226e+02] [ 2.55077153e-01 9.66654159e-01 -2.27020344e-02 3.68691206e+01] [ 1.09676617e-01 -5.59794501e-03 9.93951560e-01 2.40602200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18509989299994 meters 0.05379903113806785 Centerline is valid? [True, True] Translation: X:229.27, Y:36.89, Z:24.07 [[ 9.60744490e-01 -2.55787659e-01 -1.07436952e-01 2.29266796e+02] [ 2.54839245e-01 9.66716944e-01 -2.27004195e-02 3.68903944e+01] [ 1.09667609e-01 -5.56984858e-03 9.93952711e-01 2.40677278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24509989299995 meters 0.05480439260926361 Centerline is valid? [True, True] Translation: X:229.33, Y:36.90, Z:24.07 [[ 9.60939146e-01 -2.54904997e-01 -1.07793324e-01 2.29327552e+02] [ 2.53945236e-01 9.66950507e-01 -2.27713401e-02 3.68963603e+01] [ 1.10035338e-01 -5.49172897e-03 9.93912504e-01 2.40731881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30509989299995 meters 0.054414367748314436 Centerline is valid? [True, True] Translation: X:229.39, Y:36.91, Z:24.08 [[ 9.61059744e-01 -2.54230431e-01 -1.08309999e-01 2.29386647e+02] [ 2.53257383e-01 9.67128361e-01 -2.28786314e-02 3.69139719e+01] [ 1.10566116e-01 -5.44257521e-03 9.93853869e-01 2.40794237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36509989299995 meters 0.057959861847018776 Centerline is valid? [True, True] Translation: X:229.45, Y:36.91, Z:24.08 [[ 9.61236967e-01 -2.53680053e-01 -1.08027421e-01 2.29446814e+02] [ 2.52708849e-01 9.67273294e-01 -2.28169245e-02 3.69129825e+01] [ 1.10280238e-01 -5.36701393e-03 9.93886042e-01 2.40836370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42509989299995 meters 0.059528903431902515 Centerline is valid? [True, True] Translation: X:229.50, Y:36.92, Z:24.09 [[ 9.61220938e-01 -2.54432846e-01 -1.06387194e-01 2.29504655e+02] [ 2.53495209e-01 9.67075553e-01 -2.24733995e-02 3.69225684e+01] [ 1.08602426e-01 -5.36674195e-03 9.94070778e-01 2.40906378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48509989299995 meters 0.060319544335159264 Centerline is valid? [True, True] Translation: X:229.56, Y:36.93, Z:24.10 [[ 9.60480104e-01 -2.57824727e-01 -1.04901759e-01 2.29563855e+02] [ 2.56932046e-01 9.66175136e-01 -2.21704805e-02 3.69309593e+01] [ 1.07069569e-01 -5.65831811e-03 9.94235430e-01 2.40986137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.54509989299996 meters 0.05871124482282374 Centerline is valid? [True, True] Translation: X:229.62, Y:36.95, Z:24.10 [[ 9.58687249e-01 -2.63917981e-01 -1.06141690e-01 2.29621864e+02] [ 2.63041020e-01 9.64523805e-01 -2.24332521e-02 3.69455090e+01] [ 1.08296726e-01 -6.41314576e-03 9.94097928e-01 2.41046259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.60509989299996 meters 0.055458278500939165 Centerline is valid? [True, True] Translation: X:229.68, Y:36.97, Z:24.11 [[ 9.57660994e-01 -2.66877661e-01 -1.07989516e-01 2.29679116e+02] [ 2.65988544e-01 9.63705954e-01 -2.28238598e-02 3.69669550e+01] [ 1.10161318e-01 -6.86645376e-03 9.93890002e-01 2.41098193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.66509989299996 meters 0.05411050755343898 Centerline is valid? [True, True] Translation: X:229.74, Y:36.99, Z:24.12 [[ 9.56879980e-01 -2.69371825e-01 -1.08717634e-01 2.29736378e+02] [ 2.68486670e-01 9.63009316e-01 -2.29774865e-02 3.69867625e+01] [ 1.10885582e-01 -7.20253869e-03 9.93807079e-01 2.41167629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.72509989299996 meters 0.053495275990688713 Centerline is valid? [True, True] Translation: X:229.79, Y:37.00, Z:24.12 [[ 9.55952150e-01 -2.72300352e-01 -1.09581049e-01 2.29794830e+02] [ 2.71420215e-01 9.62182264e-01 -2.31593923e-02 3.70032983e+01] [ 1.11743252e-01 -7.60324106e-03 9.93708024e-01 2.41243738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.78509989299997 meters 0.053181549429678884 Centerline is valid? [True, True] Translation: X:229.85, Y:37.02, Z:24.13 [[ 9.54713013e-01 -2.76073635e-01 -1.10934267e-01 2.29854216e+02] [ 2.75196956e-01 9.61101967e-01 -2.34444977e-02 3.70152530e+01] [ 1.13091550e-01 -8.14600564e-03 9.93551178e-01 2.41319115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.84509989299997 meters 0.05303376497735463 Centerline is valid? [True, True] Translation: X:229.91, Y:37.03, Z:24.14 [[ 9.54113220e-01 -2.78130538e-01 -1.10956598e-01 2.29913620e+02] [ 2.77267319e-01 9.60506628e-01 -2.34489028e-02 3.70280569e+01] [ 1.13096403e-01 -8.39173014e-03 9.93548581e-01 2.41390383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90509989299997 meters 0.05425646693966642 Centerline is valid? [True, True] Translation: X:229.97, Y:37.03, Z:24.15 [[ 9.53711757e-01 -2.79994712e-01 -1.09712555e-01 2.29973371e+02] [ 2.79163094e-01 9.59963768e-01 -2.31847158e-02 3.70316236e+01] [ 1.11811676e-01 -8.51616027e-03 9.93692923e-01 2.41454381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96509989299994 meters 0.061588975712232125 Centerline is valid? [True, True] Translation: X:230.04, Y:37.02, Z:24.15 [[ 9.54473453e-01 -2.77745348e-01 -1.08802337e-01 2.30036962e+02] [ 2.76913015e-01 9.60619879e-01 -2.29919774e-02 3.70184811e+01] [ 1.10903602e-01 -8.18355100e-03 9.93797475e-01 2.41499162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02509989299995 meters 0.05911978634692823 Centerline is valid? [True, True] Translation: X:230.09, Y:37.04, Z:24.16 [[ 9.55044779e-01 -2.75724979e-01 -1.08927530e-01 2.30094048e+02] [ 2.74877683e-01 9.61203624e-01 -2.30185416e-02 3.70361290e+01] [ 1.11048323e-01 -7.95800904e-03 9.93783145e-01 2.41573244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08509989299995 meters 0.05875657500509105 Centerline is valid? [True, True] Translation: X:230.15, Y:37.05, Z:24.17 [[ 9.55472939e-01 -2.73953355e-01 -1.09640421e-01 2.30152296e+02] [ 2.73083310e-01 9.61711325e-01 -2.31696557e-02 3.70508600e+01] [ 1.11789840e-01 -7.80299008e-03 9.93701235e-01 2.41650989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14509989299995 meters 0.057344921651553145 Centerline is valid? [True, True] Translation: X:230.21, Y:37.07, Z:24.17 [[ 9.55770834e-01 -2.72691397e-01 -1.10188540e-01 2.30209693e+02] [ 2.71804296e-01 9.62070790e-01 -2.32856207e-02 3.70659740e+01] [ 1.12358964e-01 -7.69400146e-03 9.93637895e-01 2.41720007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20509989299995 meters 0.0606880420233732 Centerline is valid? [True, True] Translation: X:230.27, Y:37.07, Z:24.18 [[ 9.56445635e-01 -2.70261373e-01 -1.10320163e-01 2.30270207e+02] [ 2.69356003e-01 9.62758425e-01 -2.33143333e-02 3.70675267e+01] [ 1.12512630e-01 -7.41650576e-03 9.93622616e-01 2.41764320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26509989299996 meters 0.057844835605607714 Centerline is valid? [True, True] Translation: X:230.33, Y:37.09, Z:24.18 [[ 9.58021607e-01 -2.64323386e-01 -1.11030397e-01 2.30326364e+02] [ 2.63366484e-01 9.64410411e-01 -2.34660277e-02 3.70905834e+01] [ 1.13281490e-01 -6.76072368e-03 9.93539932e-01 2.41831433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.32509989299996 meters 0.05605241701160626 Centerline is valid? [True, True] Translation: X:230.38, Y:37.11, Z:24.19 [[ 9.59904861e-01 -2.56705837e-01 -1.12626685e-01 2.30384147e+02] [ 2.55669001e-01 9.66471291e-01 -2.38034669e-02 3.71097664e+01] [ 1.14960947e-01 -5.94608841e-03 9.93352216e-01 2.41898725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.38509989299996 meters 0.055297170101504686 Centerline is valid? [True, True] Translation: X:230.44, Y:37.13, Z:24.20 [[ 9.61065484e-01 -2.52305193e-01 -1.12673091e-01 2.30441708e+02] [ 2.51237261e-01 9.67632528e-01 -2.38144926e-02 3.71263624e+01] [ 1.15034668e-01 -5.42039189e-03 9.93346689e-01 2.41977450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.44509989299996 meters 0.05614372669638959 Centerline is valid? [True, True] Translation: X:230.50, Y:37.13, Z:24.20 [[ 9.62416857e-01 -2.47654200e-01 -1.11450395e-01 2.30500196e+02] [ 2.46578275e-01 9.68836549e-01 -2.35562441e-02 3.71348917e+01] [ 1.13811019e-01 -4.81031972e-03 9.93490771e-01 2.42041864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.50509989299997 meters 0.055841420969173806 Centerline is valid? [True, True] Translation: X:230.56, Y:37.15, Z:24.21 [[ 9.63408811e-01 -2.44147762e-01 -1.10613444e-01 2.30558128e+02] [ 2.43064895e-01 9.69728232e-01 -2.33797560e-02 3.71508958e+01] [ 1.12973094e-01 -4.36198215e-03 9.93588473e-01 2.42119836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.56509989299997 meters 0.0551407800461999 Centerline is valid? [True, True] Translation: X:230.62, Y:37.17, Z:24.22 [[ 9.63426099e-01 -2.43875897e-01 -1.11061691e-01 2.30615839e+02] [ 2.42782477e-01 9.69796700e-01 -2.34740264e-02 3.71689822e+01] [ 1.13432011e-01 -4.34834272e-03 9.93536245e-01 2.42195276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.62509989299997 meters 0.05642502680693383 Centerline is valid? [True, True] Translation: X:230.67, Y:37.17, Z:24.22 [[ 9.63337914e-01 -2.43977094e-01 -1.11603054e-01 2.30674125e+02] [ 2.42873697e-01 9.69771093e-01 -2.35880013e-02 3.71719324e+01] [ 1.13984348e-01 -4.38223031e-03 9.93472881e-01 2.42233257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68509989299994 meters 0.055865593763450995 Centerline is valid? [True, True] Translation: X:230.73, Y:37.19, Z:24.23 [[ 9.62735904e-01 -2.46088712e-01 -1.12160261e-01 2.30732007e+02] [ 2.44987993e-01 9.69236148e-01 -2.37101690e-02 3.71865356e+01] [ 1.14544584e-01 -4.65128612e-03 9.93407220e-01 2.42313595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74509989299995 meters 0.056328973983048064 Centerline is valid? [True, True] Translation: X:230.79, Y:37.19, Z:24.24 [[ 9.61099743e-01 -2.51925812e-01 -1.13228390e-01 2.30791941e+02] [ 2.50844123e-01 9.67731500e-01 -2.39367727e-02 3.71939092e+01] [ 1.15604971e-01 -5.39705012e-03 9.93280606e-01 2.42371202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.80509989299995 meters 0.05854022347021615 Centerline is valid? [True, True] Translation: X:230.85, Y:37.20, Z:24.24 [[ 9.60105118e-01 -2.55218421e-01 -1.14287879e-01 2.30852042e+02] [ 2.54139536e-01 9.66865738e-01 -2.41607276e-02 3.71969925e+01] [ 1.16667297e-01 -5.84823033e-03 9.93153835e-01 2.42404704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.86509989299995 meters 0.05506314258342153 Centerline is valid? [True, True] Translation: X:230.91, Y:37.22, Z:24.25 [[ 9.59318838e-01 -2.58495899e-01 -1.13521965e-01 2.30907766e+02] [ 2.57454157e-01 9.65992435e-01 -2.39994052e-02 3.72212599e+01] [ 1.15865107e-01 -6.20362027e-03 9.93245585e-01 2.42507997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92509989299995 meters 0.058243421058523835 Centerline is valid? [True, True] Translation: X:230.97, Y:37.22, Z:24.26 [[ 9.59280567e-01 -2.59278769e-01 -1.12050493e-01 2.30965864e+02] [ 2.58269150e-01 9.65782529e-01 -2.36886835e-02 3.72231201e+01] [ 1.14358381e-01 -6.21509173e-03 9.93420119e-01 2.42568285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.98509989299995 meters 0.055789974867954416 Centerline is valid? [True, True] Translation: X:231.02, Y:37.25, Z:24.27 [[ 9.59342416e-01 -2.59988810e-01 -1.09854206e-01 2.31020826e+02] [ 2.59022482e-01 9.65591918e-01 -2.32293385e-02 3.72450485e+01] [ 1.12113701e-01 -6.16981924e-03 9.93676231e-01 2.42666596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04509989299996 meters 0.060970524886618915 Centerline is valid? [True, True] Translation: X:231.08, Y:37.24, Z:24.27 [[ 9.59237449e-01 -2.60715687e-01 -1.09045160e-01 2.31081241e+02] [ 2.59766911e-01 9.65395738e-01 -2.30699311e-02 3.72394802e+01] [ 1.11286426e-01 -6.19678263e-03 9.93769053e-01 2.42710336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.10509989299996 meters 0.060044283385253416 Centerline is valid? [True, True] Translation: X:231.14, Y:37.26, Z:24.28 [[ 9.58436996e-01 -2.63718157e-01 -1.08863490e-01 2.31139308e+02] [ 2.62791091e-01 9.64577687e-01 -2.30375299e-02 3.72557872e+01] [ 1.11082708e-01 -6.52833436e-03 9.93789723e-01 2.42792517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.16509989299996 meters 0.057189462591961164 Centerline is valid? [True, True] Translation: X:231.20, Y:37.28, Z:24.29 [[ 9.57429621e-01 -2.67084463e-01 -1.09519000e-01 2.31196753e+02] [ 2.66168059e-01 9.63647983e-01 -2.31760670e-02 3.72762464e+01] [ 1.11727731e-01 -6.96100676e-03 9.93714475e-01 2.42865844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.22509989299996 meters 0.05630356774187231 Centerline is valid? [True, True] Translation: X:231.26, Y:37.29, Z:24.29 [[ 9.56772136e-01 -2.68840094e-01 -1.10959832e-01 2.31255405e+02] [ 2.67911271e-01 9.63157441e-01 -2.34796427e-02 3.72914990e+01] [ 1.13184057e-01 -7.26272173e-03 9.93547494e-01 2.42933952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.28509989299997 meters 0.060089679701774396 Centerline is valid? [True, True] Translation: X:231.32, Y:37.29, Z:24.30 [[ 9.56110695e-01 -2.70557574e-01 -1.12476391e-01 2.31315555e+02] [ 2.69614962e-01 9.62674039e-01 -2.38005898e-02 3.72931901e+01] [ 1.14717531e-01 -7.56931932e-03 9.93369314e-01 2.42969424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.34509989299997 meters 0.06133765995842236 Centerline is valid? [True, True] Translation: X:231.37, Y:37.30, Z:24.30 [[ 9.55951642e-01 -2.70821510e-01 -1.13190845e-01 2.31372789e+02] [ 2.69868665e-01 9.62599187e-01 -2.39522211e-02 3.73031979e+01] [ 1.15444192e-01 -7.64949705e-03 9.93284513e-01 2.43026356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40509989299997 meters 0.05559089760248247 Centerline is valid? [True, True] Translation: X:231.43, Y:37.34, Z:24.31 [[ 9.56361569e-01 -2.70158396e-01 -1.11296857e-01 2.31427432e+02] [ 2.69232306e-01 9.62787164e-01 -2.35550665e-02 3.73381419e+01] [ 1.13518784e-01 -7.43754912e-03 9.93508011e-01 2.43140023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46509989299994 meters 0.06533464669388288 Centerline is valid? [True, True] Translation: X:231.49, Y:37.32, Z:24.32 [[ 9.56851093e-01 -2.69238701e-01 -1.09300086e-01 2.31490891e+02] [ 2.68339851e-01 9.63046582e-01 -2.31301785e-02 3.73216994e+01] [ 1.11488613e-01 -7.19743232e-03 9.93739647e-01 2.43185933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52509989299995 meters 0.05682738410608979 Centerline is valid? [True, True] Translation: X:231.55, Y:37.36, Z:24.33 [[ 9.56750208e-01 -2.69545609e-01 -1.09426711e-01 2.31545505e+02] [ 2.68646505e-01 9.62960406e-01 -2.31584234e-02 3.73582810e+01] [ 1.11615841e-01 -7.24027691e-03 9.93725054e-01 2.43282389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.58509989299995 meters 0.05954633632235305 Centerline is valid? [True, True] Translation: X:231.61, Y:37.37, Z:24.33 [[ 9.56365303e-01 -2.70365373e-01 -1.10760881e-01 2.31605042e+02] [ 2.69449876e-01 9.62729133e-01 -2.34388643e-02 3.73651431e+01] [ 1.12969784e-01 -7.42838912e-03 9.93570655e-01 2.43335715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64509989299995 meters 0.05421584296171455 Centerline is valid? [True, True] Translation: X:231.66, Y:37.40, Z:24.34 [[ 9.56114658e-01 -2.71146504e-01 -1.11015016e-01 2.31659486e+02] [ 2.70231510e-01 9.62508605e-01 -2.34971384e-02 3.73996170e+01] [ 1.13224075e-01 -7.53379687e-03 9.93540915e-01 2.43430421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70509989299995 meters 0.06792919850997618 Centerline is valid? [True, True] Translation: X:231.73, Y:37.37, Z:24.34 [[ 9.56006798e-01 -2.71671124e-01 -1.10660752e-01 2.31727667e+02] [ 2.70765744e-01 9.62360346e-01 -2.34195552e-02 3.73721101e+01] [ 1.12857937e-01 -7.57388696e-03 9.93582268e-01 2.43443976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76509989299996 meters 0.057169260348358245 Centerline is valid? [True, True] Translation: X:231.78, Y:37.41, Z:24.36 [[ 9.56204861e-01 -2.71760205e-01 -1.08713636e-01 2.31781178e+02] [ 2.70887175e-01 9.62336155e-01 -2.30057364e-02 3.74114815e+01] [ 1.10871106e-01 -7.45093282e-03 9.93806863e-01 2.43551904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.82509989299996 meters 0.05451935575590331 Centerline is valid? [True, True] Translation: X:231.84, Y:37.44, Z:24.36 [[ 9.56074462e-01 -2.72417210e-01 -1.08215004e-01 2.31838388e+02] [ 2.71556533e-01 9.62150044e-01 -2.28985246e-02 3.74370264e+01] [ 1.10357023e-01 -7.49379662e-03 9.93863759e-01 2.43635705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.88509989299996 meters 0.060493160234532176 Centerline is valid? [True, True] Translation: X:231.90, Y:37.43, Z:24.37 [[ 9.55651118e-01 -2.73394773e-01 -1.09481683e-01 2.31901889e+02] [ 2.72520468e-01 9.61871104e-01 -2.31640777e-02 3.74270112e+01] [ 1.11640205e-01 -7.69922271e-03 9.93718867e-01 2.43664769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.94509989299996 meters 0.0763121873377541 Centerline is valid? [True, True] Translation: X:231.97, Y:37.41, Z:24.37 [[ 9.55131812e-01 -2.74522491e-01 -1.11178345e-01 2.31967618e+02] [ 2.73628443e-01 9.61547782e-01 -2.35231264e-02 3.74077289e+01] [ 1.13360919e-01 -7.95387106e-03 9.93522037e-01 2.43672988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.00509989299997 meters 0.06044324403082377 Centerline is valid? [True, True] Translation: X:232.02, Y:37.45, Z:24.38 [[ 9.54159990e-01 -2.77237865e-01 -1.12773574e-01 2.32019263e+02] [ 2.76336675e-01 9.60764631e-01 -2.38614103e-02 3.74514237e+01] [ 1.14964148e-01 -8.39587150e-03 9.93334160e-01 2.43773267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.06509989299997 meters 0.05632825349434124 Centerline is valid? [True, True] Translation: X:232.08, Y:37.48, Z:24.39 [[ 9.54167235e-01 -2.77159383e-01 -1.12905110e-01 2.32076622e+02] [ 2.76255585e-01 9.60787267e-01 -2.38888938e-02 3.74761166e+01] [ 1.15098823e-01 -8.39666756e-03 9.93318558e-01 2.43862474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.12509989299997 meters 0.06016371917261598 Centerline is valid? [True, True] Translation: X:232.14, Y:37.48, Z:24.39 [[ 9.54787748e-01 -2.75551869e-01 -1.11586394e-01 2.32136642e+02] [ 2.74658511e-01 9.61252006e-01 -2.36068626e-02 3.74791445e+01] [ 1.13767560e-01 -8.10860976e-03 9.93474304e-01 2.43926426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18509989299994 meters 0.05349343629863845 Centerline is valid? [True, True] Translation: X:232.19, Y:37.52, Z:24.40 [[ 9.55760121e-01 -2.72704263e-01 -1.10249611e-01 2.32189541e+02] [ 2.71813278e-01 9.62067300e-01 -2.33249142e-02 3.75196716e+01] [ 1.12428349e-01 -7.67428530e-03 9.93630199e-01 2.44035226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24509989299995 meters 0.05619155133279541 Centerline is valid? [True, True] Translation: X:232.25, Y:37.52, Z:24.41 [[ 9.56341712e-01 -2.70859604e-01 -1.09752473e-01 2.32251371e+02] [ 2.69964590e-01 9.62590239e-01 -2.32196406e-02 3.75169019e+01] [ 1.11935922e-01 -7.42337059e-03 9.93687699e-01 2.44076102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30509989299995 meters 0.06171418698148059 Centerline is valid? [True, True] Translation: X:232.31, Y:37.52, Z:24.41 [[ 9.56788109e-01 -2.69355305e-01 -1.09563837e-01 2.32313683e+02] [ 2.68453575e-01 9.63013696e-01 -2.31797159e-02 3.75162564e+01] [ 1.11755055e-01 -7.23472712e-03 9.93709448e-01 2.44126980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36509989299995 meters 0.059324024259617136 Centerline is valid? [True, True] Translation: X:232.37, Y:37.53, Z:24.42 [[ 9.56507626e-01 -2.70393874e-01 -1.09454620e-01 2.32371334e+02] [ 2.69500712e-01 9.62721739e-01 -2.31563983e-02 3.75348500e+01] [ 1.11635690e-01 -7.34882635e-03 9.93722027e-01 2.44198101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42509989299995 meters 0.05648827739379328 Centerline is valid? [True, True] Translation: X:232.43, Y:37.56, Z:24.43 [[ 9.56167256e-01 -2.71636137e-01 -1.09352579e-01 2.32429069e+02] [ 2.70752793e-01 9.62370898e-01 -2.31339575e-02 3.75554956e+01] [ 1.11521759e-01 -7.48758360e-03 9.93733784e-01 2.44267421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48509989299995 meters 0.05365391791747516 Centerline is valid? [True, True] Translation: X:232.49, Y:37.58, Z:24.43 [[ 9.55833514e-01 -2.72967462e-01 -1.08954389e-01 2.32486584e+02] [ 2.72099263e-01 9.61993119e-01 -2.30484074e-02 3.75770979e+01] [ 1.11104838e-01 -7.61596869e-03 9.93779509e-01 2.44338334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54509989299996 meters 0.05891792904015456 Centerline is valid? [True, True] Translation: X:232.55, Y:37.57, Z:24.44 [[ 9.55690206e-01 -2.73618249e-01 -1.08578473e-01 2.32549209e+02] [ 2.72760419e-01 9.61807817e-01 -2.29668881e-02 3.75747298e+01] [ 1.10715783e-01 -7.66667968e-03 9.93822538e-01 2.44382638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.60509989299996 meters 0.07042932121496227 Centerline is valid? [True, True] Translation: X:232.61, Y:37.56, Z:24.44 [[ 9.55646048e-01 -2.73774494e-01 -1.08573282e-01 2.32612004e+02] [ 2.72918299e-01 9.61763174e-01 -2.29608241e-02 3.75612423e+01] [ 1.10707872e-01 -7.68921459e-03 9.93823245e-01 2.44418387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.66509989299996 meters 0.05529625815859892 Centerline is valid? [True, True] Translation: X:232.66, Y:37.61, Z:24.45 [[ 9.55684448e-01 -2.73971356e-01 -1.07735469e-01 2.32664022e+02] [ 2.73128412e-01 9.61707492e-01 -2.27940744e-02 3.76120708e+01] [ 1.09854931e-01 -7.64167504e-03 9.93918256e-01 2.44522854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.72509989299996 meters 0.055924083599821664 Centerline is valid? [True, True] Translation: X:232.72, Y:37.62, Z:24.46 [[ 9.55773307e-01 -2.73805744e-01 -1.07367594e-01 2.32724823e+02] [ 2.72967971e-01 9.61754984e-01 -2.27120544e-02 3.76219046e+01] [ 1.09480010e-01 -7.60033894e-03 9.93959940e-01 2.44583870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.78509989299997 meters 0.06093371051125911 Centerline is valid? [True, True] Translation: X:232.79, Y:37.62, Z:24.46 [[ 9.56322518e-01 -2.71585912e-01 -1.08112600e-01 2.32785522e+02] [ 2.70722929e-01 9.62385732e-01 -2.28648033e-02 3.76207050e+01] [ 1.10255782e-01 -7.40243356e-03 9.93875680e-01 2.44621413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.84509989299997 meters 0.05666627649125737 Centerline is valid? [True, True] Translation: X:232.84, Y:37.65, Z:24.47 [[ 9.56747756e-01 -2.70268505e-01 -1.07650665e-01 2.32841966e+02] [ 2.69404516e-01 9.62757929e-01 -2.27679068e-02 3.76473224e+01] [ 1.09794979e-01 -7.21843150e-03 9.93928044e-01 2.44693551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90509989299997 meters 0.05386426224022572 Centerline is valid? [True, True] Translation: X:232.90, Y:37.67, Z:24.48 [[ 9.57196868e-01 -2.68920340e-01 -1.07032734e-01 2.32899442e+02] [ 2.68057969e-01 9.63136813e-01 -2.26363573e-02 3.76699466e+01] [ 1.09174543e-01 -7.02352691e-03 9.93997781e-01 2.44759700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96509989299994 meters 0.05761645770804964 Centerline is valid? [True, True] Translation: X:232.96, Y:37.67, Z:24.48 [[ 9.57347710e-01 -2.68368304e-01 -1.07069213e-01 2.32962070e+02] [ 2.67502021e-01 9.63291211e-01 -2.26431259e-02 3.76686195e+01] [ 1.09215529e-01 -6.96388605e-03 9.93993698e-01 2.44812403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02509989299995 meters 0.05611988520963978 Centerline is valid? [True, True] Translation: X:233.02, Y:37.69, Z:24.49 [[ 9.57528912e-01 -2.67890892e-01 -1.06643579e-01 2.33020859e+02] [ 2.67028824e-01 9.63424662e-01 -2.25505654e-02 3.76880082e+01] [ 1.08784145e-01 -6.88409108e-03 9.94041558e-01 2.44879034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.08509989299995 meters 0.057989975429794775 Centerline is valid? [True, True] Translation: X:233.08, Y:37.70, Z:24.49 [[ 9.57660123e-01 -2.67261219e-01 -1.07044527e-01 2.33081763e+02] [ 2.66389097e-01 9.63599831e-01 -2.26321691e-02 3.76960840e+01] [ 1.09196789e-01 -6.84156891e-03 9.93996607e-01 2.44934609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14509989299995 meters 0.05371370094553742 Centerline is valid? [True, True] Translation: X:233.14, Y:37.72, Z:24.50 [[ 9.57417087e-01 -2.68316588e-01 -1.06577340e-01 2.33138331e+02] [ 2.67458811e-01 9.63305837e-01 -2.25310508e-02 3.77205512e+01] [ 1.08712028e-01 -6.93343552e-03 9.94049105e-01 2.45004120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.20509989299995 meters 0.05722702986240515 Centerline is valid? [True, True] Translation: X:233.20, Y:37.72, Z:24.51 [[ 9.57242041e-01 -2.68628435e-01 -1.07361255e-01 2.33200690e+02] [ 2.67760042e-01 9.63218283e-01 -2.26958121e-02 3.77188338e+01] [ 1.09509064e-01 -7.02166864e-03 9.93960996e-01 2.45054428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26509989299996 meters 0.05751392928678803 Centerline is valid? [True, True] Translation: X:233.26, Y:37.73, Z:24.51 [[ 9.57201314e-01 -2.68611253e-01 -1.07766596e-01 2.33260915e+02] [ 2.67736464e-01 9.63222875e-01 -2.27789345e-02 3.77314563e+01] [ 1.09921928e-01 -7.04902130e-03 9.93915228e-01 2.45111357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.32509989299996 meters 0.05871951456463802 Centerline is valid? [True, True] Translation: X:233.32, Y:37.74, Z:24.52 [[ 9.57221709e-01 -2.68348490e-01 -1.08239032e-01 2.33318976e+02] [ 2.67464441e-01 9.63296099e-01 -2.28779159e-02 3.77404468e+01] [ 1.10405491e-01 -7.05085435e-03 9.93861617e-01 2.45168639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.38509989299996 meters 0.05428816854682444 Centerline is valid? [True, True] Translation: X:233.37, Y:37.77, Z:24.52 [[ 9.57460878e-01 -2.67745816e-01 -1.07614333e-01 2.33374901e+02] [ 2.66866973e-01 9.63464661e-01 -2.27566882e-02 3.77685649e+01] [ 1.09775615e-01 -6.93007263e-03 9.93932235e-01 2.45245560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.44509989299996 meters 0.053392311987720875 Centerline is valid? [True, True] Translation: X:233.44, Y:37.78, Z:24.53 [[ 9.57510289e-01 -2.67991650e-01 -1.06557596e-01 2.33435015e+02] [ 2.67131702e-01 9.63396591e-01 -2.25313730e-02 3.77821081e+01] [ 1.08695445e-01 -6.89089060e-03 9.94051214e-01 2.45321696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.50509989299997 meters 0.05573752943022435 Centerline is valid? [True, True] Translation: X:233.50, Y:37.79, Z:24.54 [[ 9.57812428e-01 -2.66966685e-01 -1.06414948e-01 2.33495820e+02] [ 2.66103416e-01 9.63681970e-01 -2.24951653e-02 3.77879038e+01] [ 1.08555626e-01 -6.77123224e-03 9.94067315e-01 2.45378063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.56509989299997 meters 0.0537856318556084 Centerline is valid? [True, True] Translation: X:233.55, Y:37.81, Z:24.54 [[ 9.58807753e-01 -2.63678921e-01 -1.05646203e-01 2.33553471e+02] [ 2.62808426e-01 9.64589580e-01 -2.23309829e-02 3.78072091e+01] [ 1.07793436e-01 -6.35359281e-03 9.94153010e-01 2.45441934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.62509989299997 meters 0.056336142207571216 Centerline is valid? [True, True] Translation: X:233.61, Y:37.81, Z:24.55 [[ 9.59509405e-01 -2.61354812e-01 -1.05049339e-01 2.33612863e+02] [ 2.60480378e-01 9.65223787e-01 -2.22039353e-02 3.78115765e+01] [ 1.07199226e-01 -6.05840674e-03 9.94219101e-01 2.45506916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68509989299994 meters 0.05592889298192145 Centerline is valid? [True, True] Translation: X:233.67, Y:37.82, Z:24.56 [[ 9.60104881e-01 -2.59363589e-01 -1.04542561e-01 2.33671252e+02] [ 2.58485748e-01 9.65762295e-01 -2.20976656e-02 3.78249552e+01] [ 1.06694594e-01 -5.80668563e-03 9.94274885e-01 2.45580774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74509989299995 meters 0.056120438536714425 Centerline is valid? [True, True] Translation: X:233.73, Y:37.84, Z:24.56 [[ 9.60552912e-01 -2.57728258e-01 -1.04471283e-01 2.33730606e+02] [ 2.56842006e-01 9.66201090e-01 -2.20825022e-02 3.78381578e+01] [ 1.06631552e-01 -5.62120209e-03 9.94282713e-01 2.45638426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.80509989299995 meters 0.05523108825636838 Centerline is valid? [True, True] Translation: X:233.79, Y:37.85, Z:24.57 [[ 9.60775885e-01 -2.56629975e-01 -1.05122574e-01 2.33788762e+02] [ 2.55726176e-01 9.66493881e-01 -2.22193726e-02 3.78544537e+01] [ 1.07302482e-01 -5.53475652e-03 9.94211016e-01 2.45699995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86509989299995 meters 0.05580024282669933 Centerline is valid? [True, True] Translation: X:233.85, Y:37.86, Z:24.58 [[ 9.60971820e-01 -2.55159047e-01 -1.06897249e-01 2.33848422e+02] [ 2.54215400e-01 9.66883666e-01 -2.25944007e-02 3.78643583e+01] [ 1.09122370e-01 -5.46234455e-03 9.94013315e-01 2.45756128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92509989299995 meters 0.059894934715398654 Centerline is valid? [True, True] Translation: X:233.91, Y:37.86, Z:24.58 [[ 9.60867805e-01 -2.54911026e-01 -1.08413234e-01 2.33908980e+02] [ 2.53938920e-01 9.66948796e-01 -2.29139618e-02 3.78639070e+01] [ 1.10671068e-01 -5.51305155e-03 9.93841799e-01 2.45792988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98509989299995 meters 0.056334379186251025 Centerline is valid? [True, True] Translation: X:233.96, Y:37.89, Z:24.59 [[ 9.61073543e-01 -2.54314993e-01 -1.07988558e-01 2.33964828e+02] [ 2.53345536e-01 9.67106299e-01 -2.28351961e-02 3.78858455e+01] [ 1.10243748e-01 -5.41211638e-03 9.93889846e-01 2.45870351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04509989299996 meters 0.05643308448094499 Centerline is valid? [True, True] Translation: X:234.02, Y:37.90, Z:24.59 [[ 9.62000019e-01 -2.51324088e-01 -1.06734095e-01 2.34023545e+02] [ 2.50358554e-01 9.67890036e-01 -2.25714922e-02 3.78966374e+01] [ 1.08979627e-01 -5.00801775e-03 9.94031368e-01 2.45940021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.10509989299996 meters 0.05746862709308961 Centerline is valid? [True, True] Translation: X:234.08, Y:37.91, Z:24.60 [[ 9.63078446e-01 -2.47319678e-01 -1.06362045e-01 2.34083229e+02] [ 2.46336499e-01 9.68923311e-01 -2.24932496e-02 3.79065927e+01] [ 1.08619688e-01 -4.53808994e-03 9.94073020e-01 2.46001673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.16509989299996 meters 0.05494316151159179 Centerline is valid? [True, True] Translation: X:234.14, Y:37.93, Z:24.61 [[ 9.64148312e-01 -2.43380601e-01 -1.05754030e-01 2.34139948e+02] [ 2.42385052e-01 9.69922324e-01 -2.23645331e-02 3.79273090e+01] [ 1.08016288e-01 -4.07046925e-03 9.94140791e-01 2.46071250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.22509989299996 meters 0.05768808491167833 Centerline is valid? [True, True] Translation: X:234.20, Y:37.93, Z:24.61 [[ 9.64621438e-01 -2.41658735e-01 -1.05387560e-01 2.34199900e+02] [ 2.40659885e-01 9.70353607e-01 -2.22866935e-02 3.79279681e+01] [ 1.07648973e-01 -3.86433578e-03 9.94181455e-01 2.46123688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.28509989299997 meters 0.05576048070780739 Centerline is valid? [True, True] Translation: X:234.26, Y:37.95, Z:24.62 [[ 9.64787347e-01 -2.41275787e-01 -1.04744307e-01 2.34257285e+02] [ 2.40286698e-01 9.70449165e-01 -2.21522293e-02 3.79490641e+01] [ 1.06993822e-01 -3.79647316e-03 9.94252437e-01 2.46200058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.34509989299997 meters 0.055279466182400434 Centerline is valid? [True, True] Translation: X:234.32, Y:37.96, Z:24.63 [[ 9.64583704e-01 -2.41905233e-01 -1.05167183e-01 2.34315626e+02] [ 2.40912025e-01 9.70292108e-01 -2.22400601e-02 3.79593042e+01] [ 1.07422875e-01 -3.88363955e-03 9.94205835e-01 2.46256876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40509989299994 meters 0.05724838365127822 Centerline is valid? [True, True] Translation: X:234.38, Y:37.96, Z:24.63 [[ 9.64085060e-01 -2.43431004e-01 -1.06213667e-01 2.34375280e+02] [ 2.42426918e-01 9.69909582e-01 -2.24631483e-02 3.79569493e+01] [ 1.08485880e-01 -4.09266632e-03 9.94089565e-01 2.46295620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46509989299994 meters 0.05522972088105679 Centerline is valid? [True, True] Translation: X:234.43, Y:37.97, Z:24.64 [[ 9.64008055e-01 -2.43790469e-01 -1.06088060e-01 2.34431052e+02] [ 2.42790605e-01 9.69819153e-01 -2.24395363e-02 3.79741221e+01] [ 1.08356777e-01 -4.12529052e-03 9.94103511e-01 2.46362502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52509989299995 meters 0.05511964652146481 Centerline is valid? [True, True] Translation: X:234.49, Y:37.98, Z:24.64 [[ 9.63961377e-01 -2.44007121e-01 -1.06014100e-01 2.34488467e+02] [ 2.43008638e-01 9.69764625e-01 -2.24360040e-02 3.79839876e+01] [ 1.08283269e-01 -4.13490080e-03 9.94111481e-01 2.46422538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58509989299995 meters 0.0548292144566109 Centerline is valid? [True, True] Translation: X:234.55, Y:38.00, Z:24.65 [[ 9.63680076e-01 -2.45524182e-01 -1.05064682e-01 2.34546832e+02] [ 2.44551258e-01 9.69381127e-01 -2.22466142e-02 3.79951973e+01] [ 1.07309801e-01 -4.25508126e-03 9.94216526e-01 2.46488166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64509989299995 meters 0.05514046374313754 Centerline is valid? [True, True] Translation: X:234.61, Y:38.00, Z:24.65 [[ 9.63047678e-01 -2.47862308e-01 -1.05372893e-01 2.34605198e+02] [ 2.46897388e-01 9.68784693e-01 -2.23136511e-02 3.80031078e+01] [ 1.07614358e-01 -4.52718209e-03 9.94182405e-01 2.46533189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70509989299995 meters 0.05529179537906846 Centerline is valid? [True, True] Translation: X:234.66, Y:38.01, Z:24.66 [[ 9.62464348e-01 -2.50213475e-01 -1.05145596e-01 2.34664698e+02] [ 2.49266486e-01 9.68178903e-01 -2.22672420e-02 3.80126102e+01] [ 1.07371312e-01 -4.77784676e-03 9.94207510e-01 2.46591854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76509989299996 meters 0.05523588259916306 Centerline is valid? [True, True] Translation: X:234.72, Y:38.02, Z:24.66 [[ 9.61792371e-01 -2.52623028e-01 -1.05532180e-01 2.34724147e+02] [ 2.51683405e-01 9.67551524e-01 -2.23497466e-02 3.80224238e+01] [ 1.07753883e-01 -5.06488273e-03 9.94164699e-01 2.46647072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.82509989299996 meters 0.056131977399896164 Centerline is valid? [True, True] Translation: X:234.78, Y:38.03, Z:24.67 [[ 9.60911652e-01 -2.56133329e-01 -1.05092884e-01 2.34783710e+02] [ 2.55222362e-01 9.66626183e-01 -2.22568871e-02 3.80265668e+01] [ 1.07286264e-01 -5.43515199e-03 9.94213315e-01 2.46704389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.88509989299996 meters 0.055249253477551094 Centerline is valid? [True, True] Translation: X:234.84, Y:38.04, Z:24.68 [[ 9.60367068e-01 -2.58287312e-01 -1.04798663e-01 2.34842502e+02] [ 2.57394110e-01 9.66051573e-01 -2.21952964e-02 3.80395519e+01] [ 1.06973676e-01 -5.65892672e-03 9.94245749e-01 2.46768720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.94509989299996 meters 0.057596576961790755 Centerline is valid? [True, True] Translation: X:234.90, Y:38.04, Z:24.68 [[ 9.59878713e-01 -2.59933370e-01 -1.05202181e-01 2.34901754e+02] [ 2.59043159e-01 9.65608739e-01 -2.22801464e-02 3.80418723e+01] [ 1.07375499e-01 -5.86566713e-03 9.94201235e-01 2.46822266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.00509989299997 meters 0.06542723663570688 Centerline is valid? [True, True] Translation: X:234.96, Y:38.04, Z:24.69 [[ 9.59800643e-01 -2.59948595e-01 -1.05874705e-01 2.34962381e+02] [ 2.59046816e-01 9.65604412e-01 -2.24247136e-02 3.80369025e+01] [ 1.08062355e-01 -5.90325060e-03 9.94126591e-01 2.46865249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.06509989299997 meters 0.05797546744971144 Centerline is valid? [True, True] Translation: X:235.02, Y:38.07, Z:24.69 [[ 9.60143980e-01 -2.58848784e-01 -1.05455418e-01 2.35016380e+02] [ 2.57946191e-01 9.65900777e-01 -2.23483956e-02 3.80673653e+01] [ 1.07644326e-01 -5.74414604e-03 9.94172874e-01 2.46926414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.12509989299997 meters 0.05557129548606375 Centerline is valid? [True, True] Translation: X:235.07, Y:38.09, Z:24.70 [[ 9.60379896e-01 -2.57874269e-01 -1.05694448e-01 2.35073284e+02] [ 2.56961526e-01 9.66161985e-01 -2.24007198e-02 3.80871017e+01] [ 1.07894527e-01 -5.64620583e-03 9.94146313e-01 2.46983255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18509989299994 meters 0.05669668641769067 Centerline is valid? [True, True] Translation: X:235.13, Y:38.09, Z:24.70 [[ 9.60411844e-01 -2.57730011e-01 -1.05756000e-01 2.35130726e+02] [ 2.56815062e-01 9.66200567e-01 -2.24162746e-02 3.80948405e+01] [ 1.07958854e-01 -5.63087815e-03 9.94139416e-01 2.47037615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24509989299995 meters 0.055658040378729755 Centerline is valid? [True, True] Translation: X:235.19, Y:38.11, Z:24.71 [[ 9.60380476e-01 -2.58111544e-01 -1.05108383e-01 2.35186498e+02] [ 2.57209602e-01 9.66098692e-01 -2.22831432e-02 3.81113911e+01] [ 1.07296608e-01 -5.63458982e-03 9.94211089e-01 2.47096943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30509989299995 meters 0.060663216337452745 Centerline is valid? [True, True] Translation: X:235.24, Y:38.11, Z:24.71 [[ 9.60297600e-01 -2.58175896e-01 -1.05705848e-01 2.35244688e+02] [ 2.57263590e-01 9.66081289e-01 -2.24140372e-02 3.81131827e+01] [ 1.07907206e-01 -5.67011965e-03 9.94144801e-01 2.47139427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36509989299995 meters 0.05602795569582622 Centerline is valid? [True, True] Translation: X:235.30, Y:38.14, Z:24.72 [[ 9.60511122e-01 -2.57500696e-01 -1.05412415e-01 2.35299108e+02] [ 2.56588960e-01 9.66262033e-01 -2.23559657e-02 3.81389234e+01] [ 1.07612691e-01 -5.57450819e-03 9.94177265e-01 2.47206607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42509989299995 meters 0.052808803748123155 Centerline is valid? [True, True] Translation: X:235.35, Y:38.17, Z:24.73 [[ 9.60958278e-01 -2.55842022e-01 -1.05375747e-01 2.35353917e+02] [ 2.54920663e-01 9.66703613e-01 -2.23513076e-02 3.81704071e+01] [ 1.07585519e-01 -5.38378115e-03 9.94181257e-01 2.47270606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48509989299995 meters 0.0568638824693318 Centerline is valid? [True, True] Translation: X:235.42, Y:38.17, Z:24.73 [[ 9.61147933e-01 -2.55374822e-01 -1.04777627e-01 2.35415625e+02] [ 2.54461151e-01 9.66827596e-01 -2.22243649e-02 3.81714891e+01] [ 1.06977444e-01 -5.30093303e-03 9.94247317e-01 2.47321537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54509989299996 meters 0.054388614151514435 Centerline is valid? [True, True] Translation: X:235.47, Y:38.20, Z:24.74 [[ 9.60924523e-01 -2.56395921e-01 -1.04332132e-01 2.35472287e+02] [ 2.55496269e-01 9.66556795e-01 -2.21273119e-02 3.81975800e+01] [ 1.06516283e-01 -5.39379375e-03 9.94296328e-01 2.47384677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.60509989299996 meters 0.05401781570229488 Centerline is valid? [True, True] Translation: X:235.53, Y:38.21, Z:24.74 [[ 9.60404672e-01 -2.58169982e-01 -1.04743146e-01 2.35530839e+02] [ 2.57273875e-01 9.66083195e-01 -2.22129069e-02 3.82148726e+01] [ 1.06925299e-01 -5.61429550e-03 9.94251206e-01 2.47442249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.66509989299996 meters 0.05459672333179642 Centerline is valid? [True, True] Translation: X:235.59, Y:38.23, Z:24.75 [[ 9.60084315e-01 -2.59535163e-01 -1.04305358e-01 2.35588094e+02] [ 2.58654632e-01 9.65716584e-01 -2.21192439e-02 3.82307408e+01] [ 1.06470136e-01 -5.74272499e-03 9.94299317e-01 2.47504371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.72509989299996 meters 0.06571677870804277 Centerline is valid? [True, True] Translation: X:235.65, Y:38.22, Z:24.76 [[ 9.60149940e-01 -2.59621590e-01 -1.03482957e-01 2.35650820e+02] [ 2.58755396e-01 9.65693568e-01 -2.19448843e-02 3.82160960e+01] [ 1.05630192e-01 -5.70639424e-03 9.94389109e-01 2.47569951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.78509989299997 meters 0.0564982165575813 Centerline is valid? [True, True] Translation: X:235.70, Y:38.26, Z:24.76 [[ 9.60862596e-01 -2.57686085e-01 -1.01690477e-01 2.35704037e+02] [ 2.56838632e-01 9.66213628e-01 -2.15671307e-02 3.82573061e+01] [ 1.03812274e-01 -5.39499386e-03 9.94582277e-01 2.47640488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.84509989299997 meters 0.05803889179344342 Centerline is valid? [True, True] Translation: X:235.76, Y:38.27, Z:24.77 [[ 9.61579420e-01 -2.55502688e-01 -1.00416111e-01 2.35762957e+02] [ 2.54664529e-01 9.66794926e-01 -2.12966985e-02 3.82685199e+01] [ 1.02523150e-01 -5.09395472e-03 9.94717576e-01 2.47709715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90509989299994 meters 0.05219465036657022 Centerline is valid? [True, True] Translation: X:235.82, Y:38.31, Z:24.78 [[ 9.62636602e-01 -2.51578105e-01 -1.00195951e-01 2.35815976e+02] [ 2.50722456e-01 9.67825754e-01 -2.12499285e-02 3.83097850e+01] [ 1.02318239e-01 -4.66541599e-03 9.94740776e-01 2.47755081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96509989299994 meters 0.05263706271119952 Centerline is valid? [True, True] Translation: X:235.87, Y:38.32, Z:24.78 [[ 9.63575069e-01 -2.47270334e-01 -1.01884582e-01 2.35874501e+02] [ 2.46361656e-01 9.68937078e-01 -2.16072492e-02 3.83213728e+01] [ 1.04062581e-01 -4.28024776e-03 9.94561541e-01 2.47812121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02509989299995 meters 0.05614272277489407 Centerline is valid? [True, True] Translation: X:235.93, Y:38.32, Z:24.79 [[ 9.64375117e-01 -2.43682879e-01 -1.02952843e-01 2.35934656e+02] [ 2.42734637e-01 9.69846986e-01 -2.18339007e-02 3.83231603e+01] [ 1.05169053e-01 -3.93415051e-03 9.94446576e-01 2.47869249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08509989299995 meters 0.05409466184017848 Centerline is valid? [True, True] Translation: X:235.99, Y:38.35, Z:24.79 [[ 9.65161899e-01 -2.40467748e-01 -1.03139573e-01 2.35991243e+02] [ 2.39497670e-01 9.70650492e-01 -2.18743590e-02 3.83486194e+01] [ 1.05372555e-01 -3.58938966e-03 9.94426338e-01 2.47931800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14509989299995 meters 0.05491934078254585 Centerline is valid? [True, True] Translation: X:236.05, Y:38.36, Z:24.80 [[ 9.66113520e-01 -2.36941820e-01 -1.02387693e-01 2.36049019e+02] [ 2.35966139e-01 9.71518633e-01 -2.17146796e-02 3.83640523e+01] [ 1.04616668e-01 -3.18118310e-03 9.94507533e-01 2.48006836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.20509989299995 meters 0.05472306080859073 Centerline is valid? [True, True] Translation: X:236.11, Y:38.38, Z:24.81 [[ 9.66394934e-01 -2.36444927e-01 -1.00869359e-01 2.36108489e+02] [ 2.35495327e-01 9.71640009e-01 -2.13926176e-02 3.83806092e+01] [ 1.03066881e-01 -3.08054538e-03 9.94669658e-01 2.48092630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.26509989299996 meters 0.053041473343488764 Centerline is valid? [True, True] Translation: X:236.17, Y:38.40, Z:24.82 [[ 9.66192978e-01 -2.37424397e-01 -1.00502666e-01 2.36166854e+02] [ 2.36487300e-01 9.71400827e-01 -2.13117396e-02 3.84013459e+01] [ 1.02688300e-01 -3.17635096e-03 9.94708512e-01 2.48157139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.32509989299996 meters 0.054748103136085295 Centerline is valid? [True, True] Translation: X:236.23, Y:38.40, Z:24.82 [[ 9.65565586e-01 -2.40035409e-01 -1.00329967e-01 2.36227146e+02] [ 2.39115916e-01 9.70757998e-01 -2.12717520e-02 3.84043587e+01] [ 1.02502091e-01 -3.45122023e-03 9.94726802e-01 2.48228620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.38509989299996 meters 0.05384559629040048 Centerline is valid? [True, True] Translation: X:236.29, Y:38.42, Z:24.83 [[ 9.64216825e-01 -2.44750829e-01 -1.01896740e-01 2.36286996e+02] [ 2.43828534e-01 9.69577700e-01 -2.16039342e-02 3.84172819e+01] [ 1.04084388e-01 -4.01445596e-03 9.94560367e-01 2.48285518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.44509989299996 meters 0.05315114557148566 Centerline is valid? [True, True] Translation: X:236.35, Y:38.43, Z:24.83 [[ 9.62916433e-01 -2.49176053e-01 -1.03456456e-01 2.36346237e+02] [ 2.48250807e-01 9.68447454e-01 -2.19332187e-02 3.84308297e+01] [ 1.05657375e-01 -4.56329201e-03 9.94392124e-01 2.48326912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.50509989299997 meters 0.055943144738490255 Centerline is valid? [True, True] Translation: X:236.41, Y:38.43, Z:24.84 [[ 9.62356282e-01 -2.51276403e-01 -1.03588392e-01 2.36408195e+02] [ 2.50361005e-01 9.67903466e-01 -2.19601425e-02 3.84285444e+01] [ 1.05781630e-01 -4.80101297e-03 9.94377794e-01 2.48377360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.56509989299997 meters 0.06572550660153163 Centerline is valid? [True, True] Translation: X:236.47, Y:38.42, Z:24.84 [[ 9.62020420e-01 -2.52693526e-01 -1.03260322e-01 2.36471307e+02] [ 2.51792125e-01 9.67533752e-01 -2.18898093e-02 3.84154856e+01] [ 1.05439260e-01 -4.94169245e-03 9.94413466e-01 2.48441481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.62509989299997 meters 0.054617955018772466 Centerline is valid? [True, True] Translation: X:236.53, Y:38.45, Z:24.85 [[ 9.61475826e-01 -2.55408148e-01 -1.01641104e-01 2.36525597e+02] [ 2.54549667e-01 9.66819587e-01 -2.15488490e-02 3.84494993e+01] [ 1.03772362e-01 -5.15401163e-03 9.94587720e-01 2.48521126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68509989299994 meters 0.053489119155930236 Centerline is valid? [True, True] Translation: X:236.58, Y:38.46, Z:24.86 [[ 9.60960744e-01 -2.57317090e-01 -1.01697416e-01 2.36583951e+02] [ 2.56468296e-01 9.66312140e-01 -2.15606597e-02 3.84643993e+01] [ 1.03819374e-01 -5.36321546e-03 9.94581708e-01 2.48577594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74509989299995 meters 0.055997515899554914 Centerline is valid? [True, True] Translation: X:236.65, Y:38.47, Z:24.86 [[ 9.60702902e-01 -2.57760153e-01 -1.03003099e-01 2.36645954e+02] [ 2.56891969e-01 9.66193384e-01 -2.18371546e-02 3.84664653e+01] [ 1.05149661e-01 -5.48165098e-03 9.94441301e-01 2.48621583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.80509989299995 meters 0.05502326502448375 Centerline is valid? [True, True] Translation: X:236.71, Y:38.48, Z:24.87 [[ 9.60730192e-01 -2.57516545e-01 -1.03357279e-01 2.36705634e+02] [ 2.56641236e-01 9.66258370e-01 -2.19097596e-02 3.84826168e+01] [ 1.05511962e-01 -5.47637245e-03 9.94402954e-01 2.48682626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.86509989299995 meters 0.05483930295656807 Centerline is valid? [True, True] Translation: X:236.77, Y:38.50, Z:24.87 [[ 9.60921908e-01 -2.56844511e-01 -1.03247194e-01 2.36765588e+02] [ 2.55967541e-01 9.66437654e-01 -2.18832948e-02 3.84953728e+01] [ 1.05402580e-01 -5.39979306e-03 9.94414973e-01 2.48745557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92509989299995 meters 0.05855142342277697 Centerline is valid? [True, True] Translation: X:236.83, Y:38.50, Z:24.88 [[ 9.61834982e-01 -2.53504606e-01 -1.02999425e-01 2.36826099e+02] [ 2.52612944e-01 9.67321139e-01 -2.18292184e-02 3.84950573e+01] [ 1.05167329e-01 -5.02288220e-03 9.94441855e-01 2.48813712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98509989299995 meters 0.05399392755556713 Centerline is valid? [True, True] Translation: X:236.88, Y:38.53, Z:24.89 [[ 9.63077604e-01 -2.49193240e-01 -1.01903178e-01 2.36881812e+02] [ 2.48296424e-01 9.68443316e-01 -2.15969872e-02 3.85251107e+01] [ 1.04069275e-01 -4.50262008e-03 9.94559859e-01 2.48885864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04509989299996 meters 0.05415342569141718 Centerline is valid? [True, True] Translation: X:236.94, Y:38.53, Z:24.90 [[ 9.63819149e-01 -2.46353984e-01 -1.01795689e-01 2.36940533e+02] [ 2.45443363e-01 9.69170852e-01 -2.15734796e-02 3.85343031e+01] [ 1.03972127e-01 -4.19214351e-03 9.94571376e-01 2.48951869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.10509989299996 meters 0.0540956855418495 Centerline is valid? [True, True] Translation: X:237.00, Y:38.55, Z:24.90 [[ 9.63718811e-01 -2.46558618e-01 -1.02249211e-01 2.37000689e+02] [ 2.45640921e-01 9.69118638e-01 -2.16703466e-02 3.85465155e+01] [ 1.04434627e-01 -4.23246972e-03 9.94522747e-01 2.49009712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.16509989299996 meters 0.053681344183843176 Centerline is valid? [True, True] Translation: X:237.06, Y:38.56, Z:24.91 [[ 9.63046475e-01 -2.48947953e-01 -1.02793013e-01 2.37059494e+02] [ 2.48034246e-01 9.68506327e-01 -2.17832061e-02 3.85595710e+01] [ 1.04978568e-01 -4.51794763e-03 9.94464222e-01 2.49065362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.22509989299996 meters 0.05698785541402141 Centerline is valid? [True, True] Translation: X:237.12, Y:38.56, Z:24.91 [[ 9.60917015e-01 -2.56046189e-01 -1.05256069e-01 2.37120682e+02] [ 2.55130410e-01 9.66649349e-01 -2.23049385e-02 3.85572447e+01] [ 1.07456805e-01 -5.42082908e-03 9.94194976e-01 2.49093278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.28509989299997 meters 0.05721889950341327 Centerline is valid? [True, True] Translation: X:237.18, Y:38.57, Z:24.92 [[ 9.60165618e-01 -2.58846445e-01 -1.05263977e-01 2.37180419e+02] [ 2.57947319e-01 9.65901458e-01 -2.23059317e-02 3.85673590e+01] [ 1.07448440e-01 -5.73517206e-03 9.94194116e-01 2.49152375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.34509989299997 meters 0.05504127937824608 Centerline is valid? [True, True] Translation: X:237.24, Y:38.59, Z:24.92 [[ 9.60145726e-01 -2.59361564e-01 -1.04171804e-01 2.37238037e+02] [ 2.58484038e-01 9.65763285e-01 -2.20744179e-02 3.85881143e+01] [ 1.06330559e-01 -5.73209057e-03 9.94314314e-01 2.49225410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40509989299994 meters 0.05500809497707085 Centerline is valid? [True, True] Translation: X:237.30, Y:38.60, Z:24.93 [[ 9.61651101e-01 -2.54606644e-01 -1.01993218e-01 2.37296408e+02] [ 2.53738997e-01 9.67031269e-01 -2.16112362e-02 3.86016149e+01] [ 1.04132996e-01 -5.09718790e-03 9.94550319e-01 2.49296525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46509989299994 meters 0.05559600325794319 Centerline is valid? [True, True] Translation: X:237.36, Y:38.61, Z:24.94 [[ 9.63146701e-01 -2.49225640e-01 -1.01168245e-01 2.37355819e+02] [ 2.48342429e-01 9.68435092e-01 -2.14362155e-02 3.86137233e+01] [ 1.03317333e-01 -4.47814734e-03 9.94638364e-01 2.49364519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52509989299995 meters 0.05355276414846338 Centerline is valid? [True, True] Translation: X:237.41, Y:38.64, Z:24.94 [[ 9.65393655e-01 -2.41099281e-01 -9.94295127e-02 2.37411291e+02] [ 2.40203264e-01 9.70493982e-01 -2.10671208e-02 3.86404819e+01] [ 1.01575011e-01 -3.54522872e-03 9.94821566e-01 2.49431966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.58509989299995 meters 0.05399439675737647 Centerline is valid? [True, True] Translation: X:237.47, Y:38.65, Z:24.95 [[ 9.66832694e-01 -2.35770374e-01 -9.82184909e-02 2.37469175e+02] [ 2.34868704e-01 9.71804320e-01 -2.08099891e-02 3.86515168e+01] [ 1.00355533e-01 -2.94867184e-03 9.94947271e-01 2.49504166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64509989299995 meters 0.05566722806975307 Centerline is valid? [True, True] Translation: X:237.53, Y:38.66, Z:24.96 [[ 9.66940749e-01 -2.34997807e-01 -9.90031248e-02 2.37529074e+02] [ 2.34077519e-01 9.71991602e-01 -2.09771502e-02 3.86618401e+01] [ 1.01159790e-01 -2.89074450e-03 9.94865991e-01 2.49562406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.70509989299995 meters 0.05387150099293889 Centerline is valid? [True, True] Translation: X:237.59, Y:38.68, Z:24.96 [[ 9.66082654e-01 -2.37549218e-01 -1.01265366e-01 2.37587565e+02] [ 2.36600353e-01 9.71370129e-01 -2.14556739e-02 3.86791706e+01] [ 1.03462930e-01 -3.23146683e-03 9.94628061e-01 2.49597437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76509989299996 meters 0.05287532008367627 Centerline is valid? [True, True] Translation: X:237.65, Y:38.70, Z:24.96 [[ 9.65183559e-01 -2.40729644e-01 -1.02322705e-01 2.37645438e+02] [ 2.39778699e-01 9.70585494e-01 -2.16788909e-02 3.86968968e+01] [ 1.04531685e-01 -3.61069606e-03 9.94515002e-01 2.49642927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.82509989299996 meters 0.05209157323485738 Centerline is valid? [True, True] Translation: X:237.71, Y:38.71, Z:24.97 [[ 9.63915933e-01 -2.45121844e-01 -1.03833305e-01 2.37705203e+02] [ 2.44167934e-01 9.69483407e-01 -2.19987018e-02 3.87088901e+01] [ 1.06057028e-01 -4.14786430e-03 9.94351398e-01 2.49691590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.88509989299996 meters 0.05346526317037204 Centerline is valid? [True, True] Translation: X:237.76, Y:38.72, Z:24.98 [[ 9.63344245e-01 -2.48099451e-01 -1.02051597e-01 2.37763618e+02] [ 2.47194803e-01 9.68724579e-01 -2.16199038e-02 3.87170660e+01] [ 1.04223777e-01 -4.39921449e-03 9.94544142e-01 2.49757170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.94509989299996 meters 0.05584088701019631 Centerline is valid? [True, True] Translation: X:237.82, Y:38.72, Z:24.98 [[ 9.63256302e-01 -2.48837235e-01 -1.01080791e-01 2.37824925e+02] [ 2.47953711e-01 9.68535161e-01 -2.14149120e-02 3.87207601e+01] [ 1.03229128e-01 -4.43530837e-03 9.94647714e-01 2.49828222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.00509989299997 meters 0.05256771640745844 Centerline is valid? [True, True] Translation: X:237.88, Y:38.74, Z:24.99 [[ 9.63515525e-01 -2.48649994e-01 -9.90505621e-02 2.37883121e+02] [ 2.47800895e-01 9.68583734e-01 -2.09825180e-02 3.87437803e+01] [ 1.01156066e-01 -4.32783607e-03 9.94861156e-01 2.49901233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.06509989299997 meters 0.0533391056678642 Centerline is valid? [True, True] Translation: X:237.94, Y:38.76, Z:25.00 [[ 9.63620898e-01 -2.48268159e-01 -9.89832642e-02 2.37942485e+02] [ 2.47418534e-01 9.68681854e-01 -2.09650606e-02 3.87552895e+01] [ 1.01088249e-01 -4.28792363e-03 9.94868222e-01 2.49967747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.12509989299997 meters 0.053488442968591836 Centerline is valid? [True, True] Translation: X:238.00, Y:38.77, Z:25.00 [[ 9.63448870e-01 -2.49001314e-01 -9.88160917e-02 2.38003259e+02] [ 2.48158637e-01 9.68493334e-01 -2.09273039e-02 3.87680712e+01] [ 1.00913652e-01 -4.35967931e-03 9.94885636e-01 2.50026694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18509989299994 meters 0.05335474369772863 Centerline is valid? [True, True] Translation: X:238.06, Y:38.78, Z:25.01 [[ 9.62763826e-01 -2.51165610e-01 -1.00008257e-01 2.38062720e+02] [ 2.50314394e-01 9.67932981e-01 -2.11765931e-02 3.87797648e+01] [ 1.02120123e-01 -4.64544857e-03 9.94761228e-01 2.50076657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24509989299995 meters 0.05925680493390451 Centerline is valid? [True, True] Translation: X:238.13, Y:38.78, Z:25.01 [[ 9.62261356e-01 -2.52348423e-01 -1.01849675e-01 2.38125246e+02] [ 2.51472212e-01 9.67624229e-01 -2.15656690e-02 3.87753876e+01] [ 1.03994276e-01 -4.86055314e-03 9.94566019e-01 2.50125512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.30509989299995 meters 0.055697896729324944 Centerline is valid? [True, True] Translation: X:238.18, Y:38.80, Z:25.02 [[ 9.61716539e-01 -2.53731315e-01 -1.03545728e-01 2.38182744e+02] [ 2.52833702e-01 9.67261319e-01 -2.19239686e-02 3.87966144e+01] [ 1.05718575e-01 -5.09520666e-03 9.94383036e-01 2.50168965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.36509989299995 meters 0.05774432728960086 Centerline is valid? [True, True] Translation: X:238.24, Y:38.81, Z:25.02 [[ 9.61421721e-01 -2.54295976e-01 -1.04889613e-01 2.38242870e+02] [ 2.53378401e-01 9.67112320e-01 -2.22068935e-02 3.88065730e+01] [ 1.07087161e-01 -5.22657266e-03 9.94235899e-01 2.50218400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42509989299995 meters 0.05810610060169215 Centerline is valid? [True, True] Translation: X:238.30, Y:38.82, Z:25.03 [[ 9.61879869e-01 -2.53090884e-01 -1.03595958e-01 2.38302102e+02] [ 2.52189037e-01 9.67429429e-01 -2.19314651e-02 3.88202950e+01] [ 1.05772432e-01 -5.03033005e-03 9.94377639e-01 2.50290662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48509989299995 meters 0.053845793844309646 Centerline is valid? [True, True] Translation: X:238.36, Y:38.85, Z:25.04 [[ 9.62695729e-01 -2.50921499e-01 -1.01268629e-01 2.38357916e+02] [ 2.50047800e-01 9.67996112e-01 -2.14388782e-02 3.88473151e+01] [ 1.03407115e-01 -4.68288147e-03 9.94628091e-01 2.50375235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54509989299996 meters 0.05469801523749888 Centerline is valid? [True, True] Translation: X:238.42, Y:38.86, Z:25.04 [[ 9.63235087e-01 -2.49147251e-01 -1.00517731e-01 2.38417852e+02] [ 2.48276896e-01 9.68455350e-01 -2.12795425e-02 3.88571952e+01] [ 1.02648674e-01 -4.45902839e-03 9.94707679e-01 2.50449996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.60509989299996 meters 0.05496164218782774 Centerline is valid? [True, True] Translation: X:238.48, Y:38.87, Z:25.05 [[ 9.63810794e-01 -2.47148691e-01 -9.99313705e-02 2.38476666e+02] [ 2.46277851e-01 9.68968369e-01 -2.11546495e-02 3.88724500e+01] [ 1.02058681e-01 -4.22180368e-03 9.94769422e-01 2.50526271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.66509989299996 meters 0.05484480906255642 Centerline is valid? [True, True] Translation: X:238.54, Y:38.89, Z:25.06 [[ 9.63819940e-01 -2.47045957e-01 -1.00097048e-01 2.38536778e+02] [ 2.46171746e-01 9.68994581e-01 -2.11889896e-02 3.88852331e+01] [ 1.02228151e-01 -4.21869439e-03 9.94752033e-01 2.50587349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.72509989299996 meters 0.05430028959392911 Centerline is valid? [True, True] Translation: X:238.60, Y:38.90, Z:25.06 [[ 9.63331854e-01 -2.46992954e-01 -1.04815166e-01 2.38597125e+02] [ 2.46034318e-01 9.69007208e-01 -2.21843551e-02 3.89013341e+01] [ 1.07046031e-01 -4.41723203e-03 9.94244253e-01 2.50610806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.78509989299997 meters 0.054506384883300306 Centerline is valid? [True, True] Translation: X:238.66, Y:38.91, Z:25.07 [[ 9.63235270e-01 -2.47025670e-01 -1.05622596e-01 2.38657796e+02] [ 2.46052739e-01 9.68998679e-01 -2.23519495e-02 3.89141858e+01] [ 1.07869661e-01 -4.45854305e-03 9.94155047e-01 2.50672938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.84509989299997 meters 0.05688209832447392 Centerline is valid? [True, True] Translation: X:238.72, Y:38.92, Z:25.07 [[ 9.63427140e-01 -2.45901646e-01 -1.06491908e-01 2.38718554e+02] [ 2.44906125e-01 9.69284926e-01 -2.25327058e-02 3.89200892e+01] [ 1.08761830e-01 -4.37190017e-03 9.94058223e-01 2.50725745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90509989299994 meters 0.053832625177465995 Centerline is valid? [True, True] Translation: X:238.77, Y:38.95, Z:25.08 [[ 9.64268814e-01 -2.42900736e-01 -1.05758625e-01 2.38773482e+02] [ 2.41901004e-01 9.70042878e-01 -2.23767592e-02 3.89485615e+01] [ 1.08025732e-01 -4.00590653e-03 9.94140027e-01 2.50806629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96509989299994 meters 0.053748762273071404 Centerline is valid? [True, True] Translation: X:238.83, Y:38.96, Z:25.09 [[ 9.65088124e-01 -2.40310856e-01 -1.04190241e-01 2.38831275e+02] [ 2.39325587e-01 9.70689082e-01 -2.20446957e-02 3.89623205e+01] [ 1.06433909e-01 -3.66031651e-03 9.94313042e-01 2.50883989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02509989299995 meters 0.05489130117129882 Centerline is valid? [True, True] Translation: X:238.89, Y:38.97, Z:25.09 [[ 9.65137121e-01 -2.40170685e-01 -1.04059503e-01 2.38892194e+02] [ 2.39187084e-01 9.70723849e-01 -2.20169963e-02 3.89725700e+01] [ 1.06300878e-01 -3.64026871e-03 9.94327346e-01 2.50944839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.08509989299995 meters 0.05393225471711542 Centerline is valid? [True, True] Translation: X:238.95, Y:38.99, Z:25.10 [[ 9.64236306e-01 -2.43411713e-01 -1.04876519e-01 2.38951319e+02] [ 2.42431997e-01 9.69914676e-01 -2.21866631e-02 3.89862754e+01] [ 1.07121769e-01 -4.03223793e-03 9.94237732e-01 2.50996762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14509989299995 meters 0.05454502172190359 Centerline is valid? [True, True] Translation: X:239.01, Y:39.00, Z:25.11 [[ 9.63229476e-01 -2.47045023e-01 -1.05630170e-01 2.39010422e+02] [ 2.46072985e-01 9.68993696e-01 -2.23451129e-02 3.89991113e+01] [ 1.07875218e-01 -4.46925989e-03 9.94154396e-01 2.51066298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.20509989299995 meters 0.05258825458082138 Centerline is valid? [True, True] Translation: X:239.07, Y:39.02, Z:25.11 [[ 9.62050045e-01 -2.50877870e-01 -1.07331287e-01 2.39067594e+02] [ 2.49898085e-01 9.68005937e-01 -2.27035799e-02 3.90201571e+01] [ 1.09593149e-01 -4.97990294e-03 9.93964055e-01 2.51130626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.26509989299996 meters 0.052009468643372116 Centerline is valid? [True, True] Translation: X:239.13, Y:39.04, Z:25.12 [[ 9.62151657e-01 -2.50501019e-01 -1.07300649e-01 2.39127921e+02] [ 2.49519550e-01 9.68103751e-01 -2.26962997e-02 3.90357811e+01] [ 1.09563607e-01 -4.93632716e-03 9.93967529e-01 2.51200303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.32509989299996 meters 0.06298985556276217 Centerline is valid? [True, True] Translation: X:239.19, Y:39.02, Z:25.12 [[ 9.63123936e-01 -2.47279729e-01 -1.06042535e-01 2.39192957e+02] [ 2.46302164e-01 9.68933595e-01 -2.24261619e-02 3.90157376e+01] [ 1.08293710e-01 -4.51933258e-03 9.94108670e-01 2.51239788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.38509989299996 meters 0.05378246380468741 Centerline is valid? [True, True] Translation: X:239.25, Y:39.05, Z:25.13 [[ 9.63891045e-01 -2.44683081e-01 -1.05091595e-01 2.39245416e+02] [ 2.43707532e-01 9.69594064e-01 -2.22259017e-02 3.90547863e+01] [ 1.07334489e-01 -4.18826568e-03 9.94214145e-01 2.51346700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.44509989299996 meters 0.05254384818903538 Centerline is valid? [True, True] Translation: X:239.30, Y:39.08, Z:25.14 [[ 9.64056845e-01 -2.43667786e-01 -1.05926431e-01 2.39302998e+02] [ 2.42670570e-01 9.69850057e-01 -2.24022643e-02 3.90763650e+01] [ 1.08191466e-01 -4.10817124e-03 9.94121587e-01 2.51417767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.50509989299997 meters 0.05471351322717355 Centerline is valid? [True, True] Translation: X:239.36, Y:39.08, Z:25.15 [[ 9.64091764e-01 -2.43233664e-01 -1.06604199e-01 2.39364757e+02] [ 2.42221178e-01 9.69959111e-01 -2.25438140e-02 3.90785669e+01] [ 1.08885129e-01 -4.08748938e-03 9.94045935e-01 2.51464223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.56509989299997 meters 0.05301443584949569 Centerline is valid? [True, True] Translation: X:239.42, Y:39.10, Z:25.15 [[ 9.63852821e-01 -2.43100034e-01 -1.09041792e-01 2.39422831e+02] [ 2.42040094e-01 9.69992263e-01 -2.30565308e-02 3.91010424e+01] [ 1.11374738e-01 -4.16938339e-03 9.93769734e-01 2.51539295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.62509989299997 meters 0.053935666285261655 Centerline is valid? [True, True] Translation: X:239.48, Y:39.11, Z:25.16 [[ 9.63413819e-01 -2.44149265e-01 -1.10566499e-01 2.39482448e+02] [ 2.43066676e-01 9.69727886e-01 -2.33755786e-02 3.91068180e+01] [ 1.12926548e-01 -4.35467590e-03 9.93593796e-01 2.51584406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68509989299994 meters 0.054174492859310676 Centerline is valid? [True, True] Translation: X:239.54, Y:39.12, Z:25.16 [[ 9.63088246e-01 -2.45065343e-01 -1.11373280e-01 2.39542431e+02] [ 2.43972989e-01 9.69496142e-01 -2.35459207e-02 3.91192233e+01] [ 1.13746255e-01 -4.49527269e-03 9.93499664e-01 2.51645210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74509989299995 meters 0.05286996082334881 Centerline is valid? [True, True] Translation: X:239.60, Y:39.14, Z:25.17 [[ 9.63276405e-01 -2.44282241e-01 -1.11466385e-01 2.39600441e+02] [ 2.43183149e-01 9.69694151e-01 -2.35628997e-02 3.91407537e+01] [ 1.13844299e-01 -4.40916116e-03 9.93488820e-01 2.51738238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.80509989299995 meters 0.05400158562381622 Centerline is valid? [True, True] Translation: X:239.66, Y:39.15, Z:25.18 [[ 9.63478944e-01 -2.43658639e-01 -1.11080116e-01 2.39661678e+02] [ 2.42563535e-01 9.69851415e-01 -2.34769051e-02 3.91472534e+01] [ 1.13451559e-01 -4.32448199e-03 9.93534118e-01 2.51787632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.86509989299995 meters 0.054595076215792716 Centerline is valid? [True, True] Translation: X:239.72, Y:39.15, Z:25.18 [[ 9.64191705e-01 -2.41214276e-01 -1.10227171e-01 2.39721325e+02] [ 2.40121259e-01 9.70463573e-01 -2.32859270e-02 3.91530910e+01] [ 1.12588352e-01 -4.01578947e-03 9.93633603e-01 2.51845937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92509989299995 meters 0.05490124783425566 Centerline is valid? [True, True] Translation: X:239.78, Y:39.17, Z:25.19 [[ 9.64319660e-01 -2.40706275e-01 -1.10218341e-01 2.39781749e+02] [ 2.39610156e-01 9.70589942e-01 -2.32838261e-02 3.91650991e+01] [ 1.12581377e-01 -3.95638270e-03 9.93634631e-01 2.51923287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98509989299995 meters 0.05501153211667989 Centerline is valid? [True, True] Translation: X:239.84, Y:39.18, Z:25.20 [[ 9.64260158e-01 -2.40901071e-01 -1.10313285e-01 2.39842754e+02] [ 2.39804713e-01 9.70541491e-01 -2.33004990e-02 3.91756324e+01] [ 1.12676735e-01 -3.98590273e-03 9.93623704e-01 2.51982918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04509989299996 meters 0.05465449597773622 Centerline is valid? [True, True] Translation: X:239.90, Y:39.18, Z:25.20 [[ 9.64020982e-01 -2.41852789e-01 -1.10321237e-01 2.39903022e+02] [ 2.40762836e-01 9.70304289e-01 -2.32989801e-02 3.91840165e+01] [ 1.12680093e-01 -4.10054826e-03 9.93622857e-01 2.52043693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.10509989299996 meters 0.05316847592969015 Centerline is valid? [True, True] Translation: X:239.96, Y:39.21, Z:25.21 [[ 9.63927463e-01 -2.42310076e-01 -1.10134798e-01 2.39961433e+02] [ 2.41226901e-01 9.70189993e-01 -2.32585523e-02 3.92068035e+01] [ 1.12487461e-01 -4.14791877e-03 9.93644487e-01 2.52139289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.16509989299996 meters 0.05476112469518243 Centerline is valid? [True, True] Translation: X:240.02, Y:39.21, Z:25.22 [[ 9.63852246e-01 -2.43327875e-01 -1.08537516e-01 2.40022930e+02] [ 2.42282774e-01 9.69934968e-01 -2.29175996e-02 3.92087066e+01] [ 1.10850823e-01 -4.20759066e-03 9.93828150e-01 2.52196379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.22509989299996 meters 0.05660952962468172 Centerline is valid? [True, True] Translation: X:240.08, Y:39.21, Z:25.23 [[ 9.63730571e-01 -2.44046638e-01 -1.08002898e-01 2.40084201e+02] [ 2.43016948e-01 9.69754076e-01 -2.27990163e-02 3.92087136e+01] [ 1.10300274e-01 -4.27442560e-03 9.93889118e-01 2.52250811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.28509989299997 meters 0.055385154192877865 Centerline is valid? [True, True] Translation: X:240.14, Y:39.22, Z:25.23 [[ 9.63397319e-01 -2.45506267e-01 -1.07667440e-01 2.40143172e+02] [ 2.44492043e-01 9.69384892e-01 -2.27282025e-02 3.92201166e+01] [ 1.09951106e-01 -4.42754317e-03 9.93927136e-01 2.52320787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.34509989299997 meters 0.05336392515573331 Centerline is valid? [True, True] Translation: X:240.20, Y:39.24, Z:25.24 [[ 9.63236789e-01 -2.46060170e-01 -1.07839146e-01 2.40200788e+02] [ 2.45046174e-01 9.69244117e-01 -2.27642977e-02 3.92431445e+01] [ 1.10123845e-01 -4.49816108e-03 9.93907695e-01 2.52400998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40509989299994 meters 0.05439462105915174 Centerline is valid? [True, True] Translation: X:240.26, Y:39.25, Z:25.25 [[ 9.63613446e-01 -2.44998527e-01 -1.06887082e-01 2.40262101e+02] [ 2.43996167e-01 9.69513736e-01 -2.25607213e-02 3.92463723e+01] [ 1.09155837e-01 -4.34022390e-03 9.94015174e-01 2.52463535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46509989299994 meters 0.057165721770252836 Centerline is valid? [True, True] Translation: X:240.32, Y:39.24, Z:25.25 [[ 9.64139917e-01 -2.43003311e-01 -1.06694011e-01 2.40323150e+02] [ 2.41992588e-01 9.70016759e-01 -2.25183188e-02 3.92434834e+01] [ 1.08967005e-01 -4.10835000e-03 9.94036877e-01 2.52513155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52509989299995 meters 0.05473884990166872 Centerline is valid? [True, True] Translation: X:240.38, Y:39.26, Z:25.26 [[ 9.65164343e-01 -2.38778662e-01 -1.06969813e-01 2.40380250e+02] [ 2.37736747e-01 9.71067198e-01 -2.25773512e-02 3.92624366e+01] [ 1.09265866e-01 -3.63980093e-03 9.94005897e-01 2.52583525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.58509989299995 meters 0.05551141775869065 Centerline is valid? [True, True] Translation: X:240.44, Y:39.27, Z:25.26 [[ 9.65914811e-01 -2.35403702e-01 -1.07673927e-01 2.40439903e+02] [ 2.34327048e-01 9.71892147e-01 -2.27264190e-02 3.92700707e+01] [ 1.09997327e-01 -3.27912873e-03 9.93926474e-01 2.52629008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64509989299995 meters 0.05454746991120394 Centerline is valid? [True, True] Translation: X:240.50, Y:39.28, Z:25.27 [[ 9.66504624e-01 -2.32620069e-01 -1.08428391e-01 2.40498395e+02] [ 2.31510739e-01 9.72563112e-01 -2.28860614e-02 3.92834696e+01] [ 1.10777210e-01 -2.98285271e-03 9.93840788e-01 2.52692665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.70509989299995 meters 0.05426428984325033 Centerline is valid? [True, True] Translation: X:240.56, Y:39.30, Z:25.28 [[ 9.67076962e-01 -2.29974241e-01 -1.08967873e-01 2.40556882e+02] [ 2.28836693e-01 9.73192999e-01 -2.30033583e-02 3.92952079e+01] [ 1.11336951e-01 -2.68982995e-03 9.93779074e-01 2.52764343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.76509989299996 meters 0.054478330096620134 Centerline is valid? [True, True] Translation: X:240.61, Y:39.30, Z:25.28 [[ 9.67026527e-01 -2.30360182e-01 -1.08599641e-01 2.40614598e+02] [ 2.29232574e-01 9.73101624e-01 -2.29272187e-02 3.93028212e+01] [ 1.10960006e-01 -2.72334663e-03 9.93821141e-01 2.52835811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.82509989299996 meters 0.05520485667531328 Centerline is valid? [True, True] Translation: X:240.67, Y:39.31, Z:25.29 [[ 9.66738138e-01 -2.31744835e-01 -1.08220630e-01 2.40672127e+02] [ 2.30632427e-01 9.72772404e-01 -2.28590168e-02 3.93075230e+01] [ 1.10571502e-01 -2.86050330e-03 9.93864055e-01 2.52895619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.88509989299996 meters 0.055022760657753016 Centerline is valid? [True, True] Translation: X:240.73, Y:39.31, Z:25.30 [[ 9.66413680e-01 -2.33850413e-01 -1.06576654e-01 2.40731131e+02] [ 2.32783912e-01 9.72267805e-01 -2.25159112e-02 3.93129102e+01] [ 1.08886405e-01 -3.04964583e-03 9.94049521e-01 2.52975414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.94509989299996 meters 0.05537279196491761 Centerline is valid? [True, True] Translation: X:240.79, Y:39.32, Z:25.31 [[ 9.65637203e-01 -2.37555296e-01 -1.05414765e-01 2.40791361e+02] [ 2.36533679e-01 9.71367973e-01 -2.22728425e-02 3.93193218e+01] [ 1.07687558e-01 -3.42665671e-03 9.94178881e-01 2.53054816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.00509989299997 meters 0.05465002594319783 Centerline is valid? [True, True] Translation: X:240.85, Y:39.33, Z:25.31 [[ 9.64540585e-01 -2.41687774e-01 -1.06058855e-01 2.40850388e+02] [ 2.40678428e-01 9.70346186e-01 -2.24092385e-02 3.93298907e+01] [ 1.08329844e-01 -3.91145847e-03 9.94107311e-01 2.53109489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.06509989299997 meters 0.056426654927878996 Centerline is valid? [True, True] Translation: X:240.91, Y:39.33, Z:25.31 [[ 9.63651502e-01 -2.44772369e-01 -1.07061996e-01 2.40912093e+02] [ 2.43762742e-01 9.69571043e-01 -2.26211795e-02 3.93258397e+01] [ 1.09341251e-01 -4.29879218e-03 9.93994975e-01 2.53142211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.12509989299997 meters 0.05787056445881665 Centerline is valid? [True, True] Translation: X:240.97, Y:39.33, Z:25.32 [[ 9.62636098e-01 -2.48296502e-01 -1.08076778e-01 2.40972283e+02] [ 2.47289705e-01 9.68672463e-01 -2.28355055e-02 3.93325696e+01] [ 1.10360974e-01 -4.74399256e-03 9.93880249e-01 2.53186292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18509989299994 meters 0.05544586181483593 Centerline is valid? [True, True] Translation: X:241.03, Y:39.35, Z:25.33 [[ 9.61935608e-01 -2.50698546e-01 -1.08766380e-01 2.41030081e+02] [ 2.49694110e-01 9.68052022e-01 -2.29811723e-02 3.93496021e+01] [ 1.11052861e-01 -5.05191661e-03 9.93801660e-01 2.53253406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24509989299995 meters 0.05756122730873715 Centerline is valid? [True, True] Translation: X:241.09, Y:39.35, Z:25.33 [[ 9.62011468e-01 -2.50719365e-01 -1.08045062e-01 2.41087939e+02] [ 2.49728260e-01 9.68046799e-01 -2.28296240e-02 3.93528817e+01] [ 1.10316505e-01 -5.01954522e-03 9.93883833e-01 2.53306087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.30509989299995 meters 0.0571583341850822 Centerline is valid? [True, True] Translation: X:241.15, Y:39.37, Z:25.34 [[ 9.62839949e-01 -2.48061803e-01 -1.06792199e-01 2.41146990e+02] [ 2.47076077e-01 9.68733055e-01 -2.25760966e-02 3.93652420e+01] [ 1.09053400e-01 -4.64862978e-03 9.94025023e-01 2.53384104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36509989299995 meters 0.05559450936322184 Centerline is valid? [True, True] Translation: X:241.20, Y:39.39, Z:25.35 [[ 9.63604213e-01 -2.44829459e-01 -1.07356676e-01 2.41203797e+02] [ 2.43813275e-01 9.69556599e-01 -2.26955448e-02 3.93862439e+01] [ 1.09644912e-01 -4.30546028e-03 9.93961496e-01 2.53459666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42509989299995 meters 0.055626577329256036 Centerline is valid? [True, True] Translation: X:241.26, Y:39.40, Z:25.35 [[ 9.65018100e-01 -2.38957117e-01 -1.07886802e-01 2.41261423e+02] [ 2.37894335e-01 9.71023237e-01 -2.28069937e-02 3.94008196e+01] [ 1.10210485e-01 -3.65649739e-03 9.93901544e-01 2.53514998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48509989299995 meters 0.0555259595292965 Centerline is valid? [True, True] Translation: X:241.32, Y:39.41, Z:25.36 [[ 9.65720331e-01 -2.35581907e-01 -1.09020220e-01 2.41320220e+02] [ 2.34475098e-01 9.71848878e-01 -2.30474926e-02 3.94136026e+01] [ 1.11380751e-01 -3.30509455e-03 9.93772310e-01 2.53567623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54509989299996 meters 0.055503931136284 Centerline is valid? [True, True] Translation: X:241.38, Y:39.43, Z:25.36 [[ 9.65741759e-01 -2.34976124e-01 -1.10132085e-01 2.41377199e+02] [ 2.33842604e-01 9.71995648e-01 -2.32829764e-02 3.94261138e+01] [ 1.12518851e-01 -3.26823102e-03 9.93644215e-01 2.53609374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.60509989299996 meters 0.0555715221823582 Centerline is valid? [True, True] Translation: X:241.43, Y:39.44, Z:25.37 [[ 9.65418682e-01 -2.36189394e-01 -1.10369105e-01 2.41433431e+02] [ 2.35057475e-01 9.71701074e-01 -2.33453848e-02 3.94413553e+01] [ 1.12759710e-01 -3.40501250e-03 9.93616452e-01 2.53673892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.66509989299996 meters 0.05571324625949191 Centerline is valid? [True, True] Translation: X:241.49, Y:39.45, Z:25.37 [[ 9.65141956e-01 -2.37305424e-01 -1.10395384e-01 2.41490144e+02] [ 2.36178882e-01 9.71428697e-01 -2.33628523e-02 3.94509467e+01] [ 1.12785376e-01 -3.52458941e-03 9.93613122e-01 2.53731724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.72509989299996 meters 0.055509178257456236 Centerline is valid? [True, True] Translation: X:241.55, Y:39.46, Z:25.38 [[ 9.64966121e-01 -2.38372925e-01 -1.09629986e-01 2.41547181e+02] [ 2.37268282e-01 9.71166954e-01 -2.32058225e-02 3.94648959e+01] [ 1.12000660e-01 -3.61888599e-03 9.93701543e-01 2.53804799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.78509989299997 meters 0.05791324365435057 Centerline is valid? [True, True] Translation: X:241.61, Y:39.47, Z:25.38 [[ 9.64534757e-01 -2.40016448e-01 -1.09839921e-01 2.41606078e+02] [ 2.38916864e-01 9.70761361e-01 -2.32618038e-02 3.94713334e+01] [ 1.12211566e-01 -3.80579105e-03 9.93677050e-01 2.53848090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.84509989299997 meters 0.05537944848153423 Centerline is valid? [True, True] Translation: X:241.66, Y:39.49, Z:25.39 [[ 9.64252231e-01 -2.41321179e-01 -1.09461064e-01 2.41662019e+02] [ 2.40237264e-01 9.70437301e-01 -2.31840999e-02 3.94927295e+01] [ 1.11819914e-01 -3.94130648e-03 9.93720671e-01 2.53933339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90509989299994 meters 0.05450205699370631 Centerline is valid? [True, True] Translation: X:241.72, Y:39.51, Z:25.40 [[ 9.63944400e-01 -2.42883003e-01 -1.08715412e-01 2.41718438e+02] [ 2.41823532e-01 9.70046957e-01 -2.30278168e-02 3.95122812e+01] [ 1.11052119e-01 -4.09240969e-03 9.93806158e-01 2.54010672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96509989299994 meters 0.054333701430617325 Centerline is valid? [True, True] Translation: X:241.78, Y:39.53, Z:25.41 [[ 9.63589164e-01 -2.44512725e-01 -1.08210209e-01 2.41775361e+02] [ 2.43473201e-01 9.69636730e-01 -2.29218760e-02 3.95283490e+01] [ 1.10529283e-01 -4.25901464e-03 9.93863742e-01 2.54081625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02509989299995 meters 0.055844617510660305 Centerline is valid? [True, True] Translation: X:241.83, Y:39.53, Z:25.41 [[ 9.63273715e-01 -2.45864182e-01 -1.07956256e-01 2.41834108e+02] [ 2.44837554e-01 9.69294303e-01 -2.28719597e-02 3.95332329e+01] [ 1.10264780e-01 -4.39978806e-03 9.93892509e-01 2.54129278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.08509989299995 meters 0.05675282669779302 Centerline is valid? [True, True] Translation: X:241.89, Y:39.54, Z:25.42 [[ 9.63095099e-01 -2.46493649e-01 -1.08114347e-01 2.41891266e+02] [ 2.45467478e-01 9.69134078e-01 -2.29097246e-02 3.95443700e+01] [ 1.10424400e-01 -4.47431267e-03 9.93874455e-01 2.54187252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14509989299995 meters 0.0576946795962442 Centerline is valid? [True, True] Translation: X:241.95, Y:39.56, Z:25.42 [[ 9.62708919e-01 -2.47782968e-01 -1.08605421e-01 2.41949494e+02] [ 2.46754335e-01 9.68804491e-01 -2.30251236e-02 3.95562968e+01] [ 1.10922653e-01 -4.63236652e-03 9.93818246e-01 2.54244505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.20509989299995 meters 0.055640010271727554 Centerline is valid? [True, True] Translation: X:242.01, Y:39.58, Z:25.43 [[ 9.62201541e-01 -2.49572149e-01 -1.09004299e-01 2.42005629e+02] [ 2.48547168e-01 9.68344036e-01 -2.31113297e-02 3.95797161e+01] [ 1.11321607e-01 -4.85495277e-03 9.93772574e-01 2.54322858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.26509989299996 meters 0.057521095928110104 Centerline is valid? [True, True] Translation: X:242.06, Y:39.59, Z:25.44 [[ 9.61798441e-01 -2.51132086e-01 -1.08979058e-01 2.42064955e+02] [ 2.50117443e-01 9.67939740e-01 -2.31068188e-02 3.95866956e+01] [ 1.11288024e-01 -5.03346085e-03 9.93775447e-01 2.54378264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.32509989299996 meters 0.05508909832210087 Centerline is valid? [True, True] Translation: X:242.12, Y:39.61, Z:25.45 [[ 9.61431407e-01 -2.52791362e-01 -1.08379782e-01 2.42120699e+02] [ 2.51798251e-01 9.67506865e-01 -2.29805895e-02 3.96102841e+01] [ 1.10667478e-01 -5.19557917e-03 9.93843909e-01 2.54462278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.38509989299996 meters 0.05455388842535691 Centerline is valid? [True, True] Translation: X:242.18, Y:39.63, Z:25.45 [[ 9.61525393e-01 -2.52767092e-01 -1.07599798e-01 2.42178452e+02] [ 2.51787991e-01 9.67513428e-01 -2.28161003e-02 3.96257197e+01] [ 1.09871409e-01 -5.15407726e-03 9.93932447e-01 2.54521626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.44509989299996 meters 0.05391984238520831 Centerline is valid? [True, True] Translation: X:242.24, Y:39.64, Z:25.46 [[ 9.62154327e-01 -2.50854596e-01 -1.06447274e-01 2.42236552e+02] [ 2.49884563e-01 9.68012475e-01 -2.25732826e-02 3.96441667e+01] [ 1.08704901e-01 -4.88054918e-03 9.94062083e-01 2.54583213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.50509989299997 meters 0.05443819880350513 Centerline is valid? [True, True] Translation: X:242.30, Y:39.66, Z:25.46 [[ 9.62499792e-01 -2.49744143e-01 -1.05934007e-01 2.42295534e+02] [ 2.48776868e-01 9.68300296e-01 -2.24634555e-02 3.96555041e+01] [ 1.08186047e-01 -4.73285932e-03 9.94119399e-01 2.54644092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.56509989299997 meters 0.054503422219256165 Centerline is valid? [True, True] Translation: X:242.35, Y:39.67, Z:25.47 [[ 9.63716046e-01 -2.45492195e-01 -1.04809183e-01 2.42352574e+02] [ 2.44520806e-01 9.69389409e-01 -2.22204763e-02 3.96698460e+01] [ 1.07055866e-01 -4.21379641e-03 9.94244077e-01 2.54720006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.62509989299994 meters 0.05323648525339576 Centerline is valid? [True, True] Translation: X:242.41, Y:39.69, Z:25.48 [[ 9.64224004e-01 -2.43381629e-01 -1.05059286e-01 2.42409051e+02] [ 2.42393019e-01 9.69922408e-01 -2.22743574e-02 3.96932755e+01] [ 1.07320525e-01 -3.98816740e-03 9.94216475e-01 2.54784176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68509989299994 meters 0.055183315655470265 Centerline is valid? [True, True] Translation: X:242.47, Y:39.70, Z:25.48 [[ 9.64412085e-01 -2.41636050e-01 -1.07337547e-01 2.42470007e+02] [ 2.40593378e-01 9.70359201e-01 -2.27562745e-02 3.96985712e+01] [ 1.09654712e-01 -3.87827674e-03 9.93962174e-01 2.54827785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74509989299995 meters 0.05489831091346767 Centerline is valid? [True, True] Translation: X:242.53, Y:39.71, Z:25.49 [[ 9.64387002e-01 -2.41061460e-01 -1.08844306e-01 2.42526164e+02] [ 2.39985721e-01 9.70502143e-01 -2.30747365e-02 3.97140873e+01] [ 1.11196062e-01 -3.86810330e-03 9.93790961e-01 2.54881862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.80509989299995 meters 0.05423875493744377 Centerline is valid? [True, True] Translation: X:242.58, Y:39.73, Z:25.50 [[ 9.64636144e-01 -2.40230406e-01 -1.08473322e-01 2.42583594e+02] [ 2.39155525e-01 9.70708660e-01 -2.30072412e-02 3.97315749e+01] [ 1.10823032e-01 -3.74837768e-03 9.93833087e-01 2.54955072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.86509989299995 meters 0.05532838809441231 Centerline is valid? [True, True] Translation: X:242.64, Y:39.74, Z:25.50 [[ 9.64989101e-01 -2.38606816e-01 -1.08916586e-01 2.42642262e+02] [ 2.37512801e-01 9.71109673e-01 -2.31013712e-02 3.97386682e+01] [ 1.11282095e-01 -3.57651212e-03 9.93782423e-01 2.55000016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92509989299995 meters 0.05321454153295844 Centerline is valid? [True, True] Translation: X:242.70, Y:39.77, Z:25.51 [[ 9.65038260e-01 -2.38773552e-01 -1.08112659e-01 2.42699705e+02] [ 2.37696566e-01 9.71068722e-01 -2.29320728e-02 3.97666929e+01] [ 1.10460394e-01 -3.56768027e-03 9.93874123e-01 2.55098555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98509989299995 meters 0.05502665190430385 Centerline is valid? [True, True] Translation: X:242.76, Y:39.77, Z:25.52 [[ 9.64758207e-01 -2.40248429e-01 -1.07341948e-01 2.42761592e+02] [ 2.39196567e-01 9.70704324e-01 -2.27621880e-02 3.97671452e+01] [ 1.09665873e-01 -3.71581791e-03 9.93961563e-01 2.55152638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04509989299996 meters 0.05410739237219951 Centerline is valid? [True, True] Translation: X:242.82, Y:39.79, Z:25.52 [[ 9.64175307e-01 -2.42855197e-01 -1.06711436e-01 2.42819490e+02] [ 2.41832238e-01 9.70054327e-01 -2.26223411e-02 3.97857266e+01] [ 1.09009844e-01 -3.99436288e-03 9.94032645e-01 2.55235522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.10509989299996 meters 0.05726362987880328 Centerline is valid? [True, True] Translation: X:242.88, Y:39.78, Z:25.53 [[ 9.62936716e-01 -2.47212562e-01 -1.07883408e-01 2.42880357e+02] [ 2.46194322e-01 9.68950644e-01 -2.28693100e-02 3.97846897e+01] [ 1.10187278e-01 -4.53858417e-03 9.93900480e-01 2.55273782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.16509989299996 meters 0.05961710907534821 Centerline is valid? [True, True] Translation: X:242.94, Y:39.79, Z:25.53 [[ 9.61953068e-01 -2.50351658e-01 -1.09409063e-01 2.42940048e+02] [ 2.49324449e-01 9.68142229e-01 -2.31936327e-02 3.97922562e+01] [ 1.11730098e-01 -4.96716812e-03 9.93726176e-01 2.55320816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.22509989299996 meters 0.0564859786011207 Centerline is valid? [True, True] Translation: X:243.00, Y:39.82, Z:25.54 [[ 9.60751459e-01 -2.54389433e-01 -1.10646509e-01 2.42995805e+02] [ 2.53365337e-01 9.67086237e-01 -2.34567022e-02 3.98167716e+01] [ 1.12971853e-01 -5.49792928e-03 9.93582977e-01 2.55401055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.28509989299997 meters 0.05471892674096606 Centerline is valid? [True, True] Translation: X:243.05, Y:39.84, Z:25.55 [[ 9.60278956e-01 -2.56426269e-01 -1.10044971e-01 2.43053182e+02] [ 2.55426591e-01 9.66546952e-01 -2.33290822e-02 3.98366528e+01] [ 1.12345821e-01 -5.70598504e-03 9.93652786e-01 2.55485484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.34509989299997 meters 0.053267239783433624 Centerline is valid? [True, True] Translation: X:243.11, Y:39.86, Z:25.56 [[ 9.60255395e-01 -2.57178215e-01 -1.08484753e-01 2.43111600e+02] [ 2.56211535e-01 9.66347116e-01 -2.29978624e-02 3.98579531e+01] [ 1.10748477e-01 -5.71122345e-03 9.93832057e-01 2.55565706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40509989299994 meters 0.05488729928263603 Centerline is valid? [True, True] Translation: X:243.17, Y:39.86, Z:25.56 [[ 9.60512619e-01 -2.56033192e-01 -1.08915169e-01 2.43172139e+02] [ 2.55051963e-01 9.66651737e-01 -2.30849494e-02 3.98632503e+01] [ 1.11193551e-01 -5.60564246e-03 9.93782960e-01 2.55611525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46509989299994 meters 0.052940859615606316 Centerline is valid? [True, True] Translation: X:243.23, Y:39.89, Z:25.57 [[ 9.60675813e-01 -2.54837839e-01 -1.10270845e-01 2.43229529e+02] [ 2.53824289e-01 9.66967949e-01 -2.33712483e-02 3.98883341e+01] [ 1.12584251e-01 -5.53722588e-03 9.93626754e-01 2.55679356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52509989299995 meters 0.05452875685479193 Centerline is valid? [True, True] Translation: X:243.29, Y:39.89, Z:25.57 [[ 9.60601045e-01 -2.55101114e-01 -1.10313433e-01 2.43291153e+02] [ 2.54088815e-01 9.66898322e-01 -2.33775524e-02 3.98910577e+01] [ 1.12625513e-01 -5.57290810e-03 9.93621878e-01 2.55728867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.58509989299995 meters 0.053796853135709116 Centerline is valid? [True, True] Translation: X:243.35, Y:39.91, Z:25.58 [[ 9.60760146e-01 -2.54783833e-01 -1.09659197e-01 2.43350105e+02] [ 2.53781775e-01 9.66982364e-01 -2.32361567e-02 3.99092688e+01] [ 1.11958707e-01 -5.50513246e-03 9.93697611e-01 2.55803584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64509989299995 meters 0.053471497277558386 Centerline is valid? [True, True] Translation: X:243.41, Y:39.93, Z:25.59 [[ 9.61254492e-01 -2.53326000e-01 -1.08700225e-01 2.43408700e+02] [ 2.52332509e-01 9.67366497e-01 -2.30296428e-02 3.99254925e+01] [ 1.10986963e-01 -5.29125294e-03 9.93807777e-01 2.55874376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.70509989299995 meters 0.05309216938873026 Centerline is valid? [True, True] Translation: X:243.47, Y:39.94, Z:25.59 [[ 9.62278071e-01 -2.49355888e-01 -1.08823504e-01 2.43466759e+02] [ 2.48334952e-01 9.68399825e-01 -2.30549402e-02 3.99415724e+01] [ 1.11133547e-01 -4.83941623e-03 9.93793698e-01 2.55938102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.76509989299996 meters 0.05340707361945332 Centerline is valid? [True, True] Translation: X:243.53, Y:39.95, Z:25.60 [[ 9.63103017e-01 -2.45592714e-01 -1.10076325e-01 2.43525051e+02] [ 2.44523605e-01 9.69362864e-01 -2.33204982e-02 3.99536339e+01] [ 1.12431246e-01 -4.45621769e-03 9.93649514e-01 2.55987023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.82509989299996 meters 0.05252494305284162 Centerline is valid? [True, True] Translation: X:243.58, Y:39.97, Z:25.61 [[ 9.63509630e-01 -2.44216966e-01 -1.09577672e-01 2.43583543e+02] [ 2.43148598e-01 9.69711192e-01 -2.32155841e-02 3.99708929e+01] [ 1.11928334e-01 -4.27521840e-03 9.93707085e-01 2.56061307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.88509989299996 meters 0.05418497117712285 Centerline is valid? [True, True] Translation: X:243.64, Y:39.98, Z:25.61 [[ 9.63896987e-01 -2.43516395e-01 -1.07714267e-01 2.43643303e+02] [ 2.42479969e-01 9.69888015e-01 -2.28189046e-02 3.99797081e+01] [ 1.10027554e-01 -4.12347876e-03 9.93919984e-01 2.56125421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.94509989299996 meters 0.05436914397853145 Centerline is valid? [True, True] Translation: X:243.70, Y:39.98, Z:25.62 [[ 9.63848333e-01 -2.44057243e-01 -1.06922649e-01 2.43704508e+02] [ 2.43039870e-01 9.69751910e-01 -2.26463128e-02 3.99841126e+01] [ 1.09215440e-01 -4.15885595e-03 9.94009402e-01 2.56185319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.00509989299997 meters 0.05469062011166694 Centerline is valid? [True, True] Translation: X:243.76, Y:40.00, Z:25.62 [[ 9.63712323e-01 -2.44575982e-01 -1.06963295e-01 2.43763581e+02] [ 2.43561291e-01 9.69620939e-01 -2.26524067e-02 3.99973354e+01] [ 1.09254086e-01 -4.22171479e-03 9.94004890e-01 2.56243999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.06509989299997 meters 0.054147587795848225 Centerline is valid? [True, True] Translation: X:243.82, Y:40.01, Z:25.63 [[ 9.63662314e-01 -2.44502700e-01 -1.07579615e-01 2.43823852e+02] [ 2.43476066e-01 9.69639340e-01 -2.27805954e-02 4.00111676e+01] [ 1.09883344e-01 -4.24026015e-03 9.93935446e-01 2.56299418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.12509989299994 meters 0.054821804705696676 Centerline is valid? [True, True] Translation: X:243.88, Y:40.02, Z:25.63 [[ 9.63549325e-01 -2.44379637e-01 -1.08863634e-01 2.43883564e+02] [ 2.43327994e-01 9.69670182e-01 -2.30483118e-02 4.00181054e+01] [ 1.11194358e-01 -4.28138454e-03 9.93789457e-01 2.56333848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18509989299994 meters 0.05321508613050829 Centerline is valid? [True, True] Translation: X:243.94, Y:40.04, Z:25.64 [[ 9.63580384e-01 -2.44290462e-01 -1.08788851e-01 2.43942390e+02] [ 2.43239817e-01 9.69692706e-01 -2.30314350e-02 4.00401734e+01] [ 1.11118116e-01 -4.26914132e-03 9.93798037e-01 2.56407716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24509989299995 meters 0.05349486112241241 Centerline is valid? [True, True] Translation: X:244.00, Y:40.05, Z:25.65 [[ 9.63787993e-01 -2.43481013e-01 -1.08764427e-01 2.44003596e+02] [ 2.42426112e-01 9.69896663e-01 -2.30226538e-02 4.00527751e+01] [ 1.11095834e-01 -4.17837995e-03 9.93800914e-01 2.56467827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.30509989299995 meters 0.053320416516824114 Centerline is valid? [True, True] Translation: X:244.06, Y:40.06, Z:25.65 [[ 9.64487475e-01 -2.41314192e-01 -1.07384227e-01 2.44062079e+02] [ 2.40273028e-01 9.70439276e-01 -2.27262732e-02 4.00615924e+01] [ 1.09694044e-01 -3.88232762e-03 9.93957818e-01 2.56533368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.36509989299995 meters 0.05256444157475269 Centerline is valid? [True, True] Translation: X:244.12, Y:40.08, Z:25.66 [[ 9.65128358e-01 -2.39770470e-01 -1.05058908e-01 2.44119288e+02] [ 2.38765234e-01 9.70822823e-01 -2.22308333e-02 4.00840855e+01] [ 1.07323883e-01 -3.62880707e-03 9.94217489e-01 2.56612081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42509989299995 meters 0.05313517504687691 Centerline is valid? [True, True] Translation: X:244.18, Y:40.09, Z:25.67 [[ 9.65393258e-01 -2.39011783e-01 -1.04351453e-01 2.44179847e+02] [ 2.38016060e-01 9.71010272e-01 -2.20772904e-02 4.00905689e+01] [ 1.06603065e-01 -3.52405445e-03 9.94295413e-01 2.56675973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48509989299995 meters 0.05325723435636754 Centerline is valid? [True, True] Translation: X:244.24, Y:40.10, Z:25.68 [[ 9.65678318e-01 -2.38734332e-01 -1.02329395e-01 2.44240186e+02] [ 2.37776042e-01 9.71078855e-01 -2.16427902e-02 4.01044125e+01] [ 1.04536788e-01 -3.43150516e-03 9.94515100e-01 2.56758151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54509989299996 meters 0.05493797199107429 Centerline is valid? [True, True] Translation: X:244.30, Y:40.11, Z:25.68 [[ 9.64722298e-01 -2.41162357e-01 -1.05601162e-01 2.44301416e+02] [ 2.40156538e-01 9.70477278e-01 -2.23313955e-02 4.01064536e+01] [ 1.07869020e-01 -3.81721434e-03 9.94157786e-01 2.56781993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.60509989299996 meters 0.05512976012143152 Centerline is valid? [True, True] Translation: X:244.36, Y:40.11, Z:25.68 [[ 9.63927460e-01 -2.43760285e-01 -1.06886744e-01 2.44361883e+02] [ 2.42745680e-01 9.69826598e-01 -2.26031958e-02 4.01141815e+01] [ 1.09171369e-01 -4.15845437e-03 9.94014245e-01 2.56829727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.66509989299996 meters 0.05370104161200644 Centerline is valid? [True, True] Translation: X:244.42, Y:40.13, Z:25.69 [[ 9.62699699e-01 -2.47414260e-01 -1.09523853e-01 2.44420285e+02] [ 2.46372568e-01 9.68898449e-01 -2.31592974e-02 4.01323178e+01] [ 1.11847431e-01 -4.68822420e-03 9.93714332e-01 2.56882468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.72509989299996 meters 0.053945003758953954 Centerline is valid? [True, True] Translation: X:244.48, Y:40.15, Z:25.69 [[ 9.62018117e-01 -2.49474433e-01 -1.10831629e-01 2.44479431e+02] [ 2.48421394e-01 9.68368537e-01 -2.34347377e-02 4.01462679e+01] [ 1.13172231e-01 -4.98830558e-03 9.93562863e-01 2.56938879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.78509989299997 meters 0.05584774580666629 Centerline is valid? [True, True] Translation: X:244.54, Y:40.15, Z:25.70 [[ 9.62099924e-01 -2.49194542e-01 -1.10751143e-01 2.44541342e+02] [ 2.48140985e-01 9.68440797e-01 -2.34195142e-02 4.01481878e+01] [ 1.13091940e-01 -4.94998488e-03 9.93572197e-01 2.56986200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.84509989299997 meters 0.05251284686850012 Centerline is valid? [True, True] Translation: X:244.60, Y:40.18, Z:25.71 [[ 9.63057277e-01 -2.46754434e-01 -1.07856069e-01 2.44596307e+02] [ 2.45740698e-01 9.69067382e-01 -2.28017321e-02 4.01777326e+01] [ 1.10146227e-01 -4.54525165e-03 9.93905000e-01 2.57093875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90509989299994 meters 0.05279668335307227 Centerline is valid? [True, True] Translation: X:244.65, Y:40.19, Z:25.72 [[ 9.64442843e-01 -2.42661686e-01 -1.04715371e-01 2.44654737e+02] [ 2.41682178e-01 9.70102905e-01 -2.21377199e-02 4.01896333e+01] [ 1.06956662e-01 -3.95727358e-03 9.94255808e-01 2.57161890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96509989299994 meters 0.05472115599394148 Centerline is valid? [True, True] Translation: X:244.72, Y:40.19, Z:25.72 [[ 9.64967092e-01 -2.40747698e-01 -1.04302719e-01 2.44715179e+02] [ 2.39764762e-01 9.70580565e-01 -2.20505454e-02 4.01930083e+01] [ 1.06542810e-01 -3.73006605e-03 9.94301119e-01 2.57230195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02509989299995 meters 0.05275481394656664 Centerline is valid? [True, True] Translation: X:244.77, Y:40.21, Z:25.73 [[ 9.64696836e-01 -2.41458699e-01 -1.05155656e-01 2.44774905e+02] [ 2.40463810e-01 9.70403498e-01 -2.22307567e-02 4.02113172e+01] [ 1.07411226e-01 -3.84018894e-03 9.94207263e-01 2.57288061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08509989299995 meters 0.05220365479773379 Centerline is valid? [True, True] Translation: X:244.83, Y:40.23, Z:25.73 [[ 9.64013769e-01 -2.43737716e-01 -1.06157327e-01 2.44833358e+02] [ 2.42737862e-01 9.69832363e-01 -2.24391879e-02 4.02292889e+01] [ 1.08424088e-01 -4.13671660e-03 9.94096124e-01 2.57344723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14509989299995 meters 0.05455694751406979 Centerline is valid? [True, True] Translation: X:244.89, Y:40.23, Z:25.74 [[ 9.62862250e-01 -2.47391188e-01 -1.08138281e-01 2.44894352e+02] [ 2.46376741e-01 9.68904593e-01 -2.28558847e-02 4.02290102e+01] [ 1.10430022e-01 -4.63568874e-03 9.93873091e-01 2.57377596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.20509989299995 meters 0.05453161997470812 Centerline is valid? [True, True] Translation: X:244.95, Y:40.24, Z:25.74 [[ 9.62515116e-01 -2.48734432e-01 -1.08147275e-01 2.44954257e+02] [ 2.47728700e-01 9.68559858e-01 -2.28537270e-02 4.02389761e+01] [ 1.10431618e-01 -4.79412620e-03 9.93872162e-01 2.57433932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.26509989299996 meters 0.05318989738976591 Centerline is valid? [True, True] Translation: X:245.01, Y:40.26, Z:25.75 [[ 9.63023523e-01 -2.47305764e-01 -1.06890383e-01 2.45011502e+02] [ 2.46314707e-01 9.68926679e-01 -2.25866450e-02 4.02585956e+01] [ 1.09154751e-01 -4.57720297e-03 9.94014230e-01 2.57515016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.32509989299996 meters 0.05401473489567683 Centerline is valid? [True, True] Translation: X:245.07, Y:40.27, Z:25.76 [[ 9.64134899e-01 -2.43957688e-01 -1.04539668e-01 2.45069384e+02] [ 2.42990194e-01 9.69777191e-01 -2.20899462e-02 4.02694664e+01] [ 1.06769197e-01 -4.10442604e-03 9.94275360e-01 2.57584032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.38509989299996 meters 0.054773023961460346 Centerline is valid? [True, True] Translation: X:245.13, Y:40.28, Z:25.77 [[ 9.65262551e-01 -2.39942960e-01 -1.03419450e-01 2.45128699e+02] [ 2.38973064e-01 9.70780240e-01 -2.18540577e-02 4.02817146e+01] [ 1.05641286e-01 -3.61955948e-03 9.94397716e-01 2.57661659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.44509989299996 meters 0.053648582895708306 Centerline is valid? [True, True] Translation: X:245.19, Y:40.30, Z:25.77 [[ 9.65791186e-01 -2.37666842e-01 -1.03739375e-01 2.45187331e+02] [ 2.36677922e-01 9.71340844e-01 -2.19208943e-02 4.02989725e+01] [ 1.05976162e-01 -3.38181315e-03 9.94362920e-01 2.57724078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.50509989299997 meters 0.05438460478445559 Centerline is valid? [True, True] Translation: X:245.25, Y:40.31, Z:25.78 [[ 9.65771272e-01 -2.37361899e-01 -1.04619212e-01 2.45246741e+02] [ 2.36354406e-01 9.71415420e-01 -2.21060106e-02 4.03093147e+01] [ 1.06875840e-01 -3.37786166e-03 9.94266637e-01 2.57779098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.56509989299997 meters 0.053471635902737 Centerline is valid? [True, True] Translation: X:245.31, Y:40.33, Z:25.78 [[ 9.65621233e-01 -2.37776198e-01 -1.05062429e-01 2.45305711e+02] [ 2.36762593e-01 9.71313881e-01 -2.21995113e-02 4.03272266e+01] [ 1.07327111e-01 -3.43853372e-03 9.94217817e-01 2.57844939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.62509989299994 meters 0.05473514628735942 Centerline is valid? [True, True] Translation: X:245.37, Y:40.33, Z:25.79 [[ 9.64990698e-01 -2.39976368e-01 -1.05850345e-01 2.45365433e+02] [ 2.38961161e-01 9.70771619e-01 -2.23612853e-02 4.03315823e+01] [ 1.08122691e-01 -3.71568891e-03 9.94130614e-01 2.57898048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68509989299994 meters 0.054688929973855785 Centerline is valid? [True, True] Translation: X:245.42, Y:40.35, Z:25.80 [[ 9.64368296e-01 -2.42623388e-01 -1.05487829e-01 2.45424065e+02] [ 2.41630894e-01 9.70112315e-01 -2.22846886e-02 4.03469884e+01] [ 1.07741828e-01 -3.99847122e-03 9.94170866e-01 2.57971195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74509989299995 meters 0.05279211607514419 Centerline is valid? [True, True] Translation: X:245.48, Y:40.37, Z:25.81 [[ 9.64035752e-01 -2.44374519e-01 -1.04480442e-01 2.45481647e+02] [ 2.43411203e-01 9.69672026e-01 -2.20714299e-02 4.03700995e+01] [ 1.06705457e-01 -4.15406259e-03 9.94281997e-01 2.58050284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.80509989299995 meters 0.053200608158559516 Centerline is valid? [True, True] Translation: X:245.54, Y:40.38, Z:25.81 [[ 9.63517250e-01 -2.46362037e-01 -1.04595674e-01 2.45541052e+02] [ 2.45408518e-01 9.69167968e-01 -2.20932105e-02 4.03794537e+01] [ 1.06813705e-01 -4.38148002e-03 9.94269398e-01 2.58116796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.86509989299995 meters 0.05736988351074647 Centerline is valid? [True, True] Translation: X:245.60, Y:40.37, Z:25.82 [[ 9.62184182e-01 -2.51225555e-01 -1.05296349e-01 2.45602869e+02] [ 2.50288236e-01 9.67915888e-01 -2.22403217e-02 4.03735132e+01] [ 1.07505346e-01 -4.95515164e-03 9.94192158e-01 2.58166071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92509989299995 meters 0.05455828064032703 Centerline is valid? [True, True] Translation: X:245.66, Y:40.39, Z:25.82 [[ 9.61403157e-01 -2.53782714e-01 -1.06293478e-01 2.45659828e+02] [ 2.52843189e-01 9.67246776e-01 -2.24498368e-02 4.03939843e+01] [ 1.08509404e-01 -5.29223793e-03 9.94081335e-01 2.58227363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98509989299995 meters 0.054319978355361655 Centerline is valid? [True, True] Translation: X:245.72, Y:40.41, Z:25.83 [[ 9.61496284e-01 -2.53546318e-01 -1.06014903e-01 2.45719481e+02] [ 2.52610316e-01 9.67308990e-01 -2.23907456e-02 4.04094721e+01] [ 1.08226260e-01 -5.25183958e-03 9.94112416e-01 2.58292242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04509989299996 meters 0.053071855486137985 Centerline is valid? [True, True] Translation: X:245.78, Y:40.43, Z:25.84 [[ 9.61803948e-01 -2.52868199e-01 -1.04837209e-01 2.45778013e+02] [ 2.51949232e-01 9.67487186e-01 -2.21388596e-02 4.04257531e+01] [ 1.07026870e-01 -5.12041166e-03 9.94242943e-01 2.58370554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.10509989299996 meters 0.057707300796359946 Centerline is valid? [True, True] Translation: X:245.84, Y:40.42, Z:25.84 [[ 9.62116428e-01 -2.51435984e-01 -1.05413119e-01 2.45840345e+02] [ 2.50498590e-01 9.67861062e-01 -2.22580402e-02 4.04224697e+01] [ 1.07621726e-01 -4.99101161e-03 9.94179387e-01 2.58418401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.16509989299996 meters 0.05498456025791837 Centerline is valid? [True, True] Translation: X:245.90, Y:40.44, Z:25.85 [[ 9.62358970e-01 -2.50585297e-01 -1.05224621e-01 2.45897802e+02] [ 2.49646373e-01 9.68082182e-01 -2.22166152e-02 4.04445197e+01] [ 1.07433238e-01 -4.88858603e-03 9.94200282e-01 2.58483222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.22509989299996 meters 0.05677197868112007 Centerline is valid? [True, True] Translation: X:245.96, Y:40.45, Z:25.85 [[ 9.62302378e-01 -2.50432174e-01 -1.06103061e-01 2.45959338e+02] [ 2.49476834e-01 9.68121670e-01 -2.23995802e-02 4.04528352e+01] [ 1.08330248e-01 -4.91508627e-03 9.94102811e-01 2.58539367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.28509989299997 meters 0.05418645621110797 Centerline is valid? [True, True] Translation: X:246.02, Y:40.47, Z:25.86 [[ 9.62165836e-01 -2.50636438e-01 -1.06856351e-01 2.46018624e+02] [ 2.49669086e-01 9.68068493e-01 -2.25552765e-02 4.04729727e+01] [ 1.09097441e-01 -4.97681091e-03 9.94018601e-01 2.58607091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.34509989299997 meters 0.05601477183002638 Centerline is valid? [True, True] Translation: X:246.08, Y:40.48, Z:25.87 [[ 9.61934581e-01 -2.50889853e-01 -1.08333482e-01 2.46078902e+02] [ 2.49897507e-01 9.68002317e-01 -2.28637133e-02 4.04800588e+01] [ 1.10603335e-01 -5.07887055e-03 9.93851653e-01 2.58660040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40509989299994 meters 0.05278218919803673 Centerline is valid? [True, True] Translation: X:246.14, Y:40.51, Z:25.88 [[ 9.62067785e-01 -2.50511128e-01 -1.08026627e-01 2.46136343e+02] [ 2.49522233e-01 9.68100691e-01 -2.27971081e-02 4.05080461e+01] [ 1.10291582e-01 -5.02268195e-03 9.93886583e-01 2.58753205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46509989299994 meters 0.05477595442260059 Centerline is valid? [True, True] Translation: X:246.20, Y:40.51, Z:25.88 [[ 9.62685123e-01 -2.48567711e-01 -1.07011430e-01 2.46197035e+02] [ 2.47585830e-01 9.68602835e-01 -2.25788436e-02 4.05110262e+01] [ 1.09263946e-01 -4.75819678e-03 9.94001383e-01 2.58810906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52509989299995 meters 0.054339964634131134 Centerline is valid? [True, True] Translation: X:246.26, Y:40.53, Z:25.89 [[ 9.63400350e-01 -2.46220099e-01 -1.05997308e-01 2.46255156e+02] [ 2.45242705e-01 9.69203727e-01 -2.23640624e-02 4.05251871e+01] [ 1.08239468e-01 -4.44952091e-03 9.94114892e-01 2.58884733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.58509989299995 meters 0.05637540856916541 Centerline is valid? [True, True] Translation: X:246.31, Y:40.53, Z:25.89 [[ 9.64800499e-01 -2.40985387e-01 -1.05290268e-01 2.46314428e+02] [ 2.39989954e-01 9.70521164e-01 -2.22146926e-02 4.05343180e+01] [ 1.07539849e-01 -3.83585999e-03 9.94193375e-01 2.58945474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.64509989299995 meters 0.05373654854804158 Centerline is valid? [True, True] Translation: X:246.37, Y:40.56, Z:25.90 [[ 9.65804556e-01 -2.37143012e-01 -1.04808169e-01 2.46370835e+02] [ 2.36134090e-01 9.71468831e-01 -2.21133898e-02 4.05579668e+01] [ 1.07061905e-01 -3.39156907e-03 9.94246572e-01 2.59019671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.70509989299995 meters 0.054905331612689935 Centerline is valid? [True, True] Translation: X:246.43, Y:40.57, Z:25.91 [[ 9.67018777e-01 -2.31875900e-01 -1.05395689e-01 2.46430796e+02] [ 2.30824411e-01 9.72741277e-01 -2.22373355e-02 4.05672721e+01] [ 1.07679040e-01 -2.82397689e-03 9.94181698e-01 2.59075435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.76509989299996 meters 0.052988069816178665 Centerline is valid? [True, True] Translation: X:246.49, Y:40.59, Z:25.92 [[ 9.68112717e-01 -2.27314989e-01 -1.05288475e-01 2.46487762e+02] [ 2.26238820e-01 9.73818534e-01 -2.22139355e-02 4.05893912e+01] [ 1.07581429e-01 -2.31474692e-03 9.94193582e-01 2.59156759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.82509989299996 meters 0.05348175313294773 Centerline is valid? [True, True] Translation: X:246.55, Y:40.60, Z:25.92 [[ 9.68828103e-01 -2.24017016e-01 -1.05775626e-01 2.46546796e+02] [ 2.22911359e-01 9.74583265e-01 -2.23155857e-02 4.05997827e+01] [ 1.08086226e-01 -1.95862202e-03 9.94139594e-01 2.59207435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.88509989299996 meters 0.05361066948058082 Centerline is valid? [True, True] Translation: X:246.60, Y:40.62, Z:25.93 [[ 9.69985569e-01 -2.18988417e-01 -1.05698007e-01 2.46604678e+02] [ 2.17854682e-01 9.75726457e-01 -2.22983852e-02 4.06182827e+01] [ 1.08015430e-01 -1.39769386e-03 9.94148235e-01 2.59280877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.94509989299996 meters 0.054017361065885346 Centerline is valid? [True, True] Translation: X:246.66, Y:40.63, Z:25.93 [[ 9.70699354e-01 -2.15299978e-01 -1.06717774e-01 2.46663570e+02] [ 2.14122156e-01 9.76547450e-01 -2.25117721e-02 4.06329226e+01] [ 1.09061755e-01 -9.98477341e-04 9.94034475e-01 2.59342677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.00509989299997 meters 0.053957701583314616 Centerline is valid? [True, True] Translation: X:246.72, Y:40.65, Z:25.94 [[ 9.70928690e-01 -2.14236297e-01 -1.06772132e-01 2.46722027e+02] [ 2.13051031e-01 9.76781466e-01 -2.25216619e-02 4.06450796e+01] [ 1.09117997e-01 -8.80985163e-04 9.94028413e-01 2.59404290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.06509989299997 meters 0.05367654268185147 Centerline is valid? [True, True] Translation: X:246.78, Y:40.66, Z:25.95 [[ 9.70786394e-01 -2.15412100e-01 -1.05694863e-01 2.46780093e+02] [ 2.14257459e-01 9.76522721e-01 -2.22961026e-02 4.06560732e+01] [ 1.08016285e-01 -1.00115961e-03 9.94148621e-01 2.59489826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.12509989299994 meters 0.0538051909087443 Centerline is valid? [True, True] Translation: X:246.84, Y:40.67, Z:25.96 [[ 9.70138228e-01 -2.18395623e-01 -1.05523316e-01 2.46840036e+02] [ 2.17262151e-01 9.75859408e-01 -2.22614791e-02 4.06660634e+01] [ 1.07837730e-01 -1.32951074e-03 9.94167620e-01 2.59555524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18509989299994 meters 0.05378937996917588 Centerline is valid? [True, True] Translation: X:246.90, Y:40.67, Z:25.96 [[ 9.68549005e-01 -2.25413259e-01 -1.05364545e-01 2.46899674e+02] [ 2.24324707e-01 9.74260959e-01 -2.22263207e-02 4.06700406e+01] [ 1.07662670e-01 -2.10858987e-03 9.94185246e-01 2.59612622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24509989299995 meters 0.05423408173795705 Centerline is valid? [True, True] Translation: X:246.96, Y:40.67, Z:25.97 [[ 9.66490117e-01 -2.34134985e-01 -1.05250478e-01 2.46960754e+02] [ 2.33100218e-01 9.72199233e-01 -2.22022350e-02 4.06727201e+01] [ 1.07522754e-01 -3.07566865e-03 9.94197866e-01 2.59671088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.30509989299995 meters 0.05429095144829865 Centerline is valid? [True, True] Translation: X:247.02, Y:40.68, Z:25.97 [[ 9.65052560e-01 -2.40142202e-01 -1.04906053e-01 2.47020260e+02] [ 2.39149465e-01 9.70730548e-01 -2.21299703e-02 4.06797113e+01] [ 1.07149850e-01 -3.73164190e-03 9.94235880e-01 2.59738028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.36509989299995 meters 0.05479356407872809 Centerline is valid? [True, True] Translation: X:247.08, Y:40.68, Z:25.98 [[ 9.62841715e-01 -2.48907542e-01 -1.04789635e-01 2.47080373e+02] [ 2.47968507e-01 9.68515847e-01 -2.21059718e-02 4.06840080e+01] [ 1.06992766e-01 -4.69997769e-03 9.94248690e-01 2.59804759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.42509989299995 meters 0.05441705354195918 Centerline is valid? [True, True] Translation: X:247.14, Y:40.70, Z:25.99 [[ 9.60950938e-01 -2.55556858e-01 -1.06131930e-01 2.47140213e+02] [ 2.54633894e-01 9.66778324e-01 -2.23886564e-02 4.06953615e+01] [ 1.08327624e-01 -5.51038634e-03 9.94099976e-01 2.59856644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.48509989299995 meters 0.05577723490113862 Centerline is valid? [True, True] Translation: X:247.20, Y:40.70, Z:25.99 [[ 9.59995628e-01 -2.58823776e-01 -1.06858068e-01 2.47200419e+02] [ 2.57908276e-01 9.65906417e-01 -2.25413821e-02 4.06962090e+01] [ 1.09049139e-01 -5.91995179e-03 9.94018732e-01 2.59906087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.54509989299996 meters 0.052308835089924594 Centerline is valid? [True, True] Translation: X:247.26, Y:40.73, Z:26.00 [[ 9.59287361e-01 -2.61232698e-01 -1.07355657e-01 2.47255477e+02] [ 2.60323600e-01 9.65255798e-01 -2.26465668e-02 4.07263160e+01] [ 1.09541694e-01 -6.22264583e-03 9.93962724e-01 2.59987429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.60509989299996 meters 0.05674407651149806 Centerline is valid? [True, True] Translation: X:247.32, Y:40.72, Z:26.00 [[ 9.59322854e-01 -2.61016576e-01 -1.07563972e-01 2.47320238e+02] [ 2.60102647e-01 9.65314340e-01 -2.26900320e-02 4.07172314e+01] [ 1.09755519e-01 -6.21060749e-03 9.93939211e-01 2.60037576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.66509989299996 meters 0.05302858944238677 Centerline is valid? [True, True] Translation: X:247.38, Y:40.74, Z:26.01 [[ 9.59520507e-01 -2.60431592e-01 -1.07218388e-01 2.47378514e+02] [ 2.59520297e-01 9.65472860e-01 -2.26135371e-02 4.07415253e+01] [ 1.09405723e-01 -6.12719532e-03 9.93978292e-01 2.60115113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.72509989299996 meters 0.054857217473106124 Centerline is valid? [True, True] Translation: X:247.44, Y:40.75, Z:26.02 [[ 9.59503634e-01 -2.60451724e-01 -1.07320434e-01 2.47439135e+02] [ 2.59539194e-01 9.65467356e-01 -2.26316351e-02 4.07479816e+01] [ 1.09508824e-01 -6.13872283e-03 9.93966867e-01 2.60169938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.78509989299997 meters 0.05530121722471512 Centerline is valid? [True, True] Translation: X:247.50, Y:40.76, Z:26.02 [[ 9.59262971e-01 -2.60701296e-01 -1.08854889e-01 2.47499143e+02] [ 2.59764351e-01 9.65399223e-01 -2.29526262e-02 4.07567584e+01] [ 1.11072205e-01 -6.25901519e-03 9.93792629e-01 2.60214084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.84509989299997 meters 0.053158114497913675 Centerline is valid? [True, True] Translation: X:247.56, Y:40.78, Z:26.03 [[ 9.59128239e-01 -2.61195487e-01 -1.08857419e-01 2.47557581e+02] [ 2.60261870e-01 9.65265247e-01 -2.29512829e-02 4.07775090e+01] [ 1.11071055e-01 -6.31821179e-03 9.93792383e-01 2.60292158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90509989299994 meters 0.05566301301384686 Centerline is valid? [True, True] Translation: X:247.62, Y:40.78, Z:26.03 [[ 9.58888315e-01 -2.61615386e-01 -1.09957217e-01 2.47618571e+02] [ 2.60666018e-01 9.65150748e-01 -2.31788925e-02 4.07823809e+01] [ 1.12189245e-01 -6.43614081e-03 9.93666015e-01 2.60346958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96509989299994 meters 0.06340376508332454 Centerline is valid? [True, True] Translation: X:247.68, Y:40.77, Z:26.04 [[ 9.58954415e-01 -2.60895112e-01 -1.11086322e-01 2.47679726e+02] [ 2.59921577e-01 9.65345805e-01 -2.34147477e-02 4.07748584e+01] [ 1.13345508e-01 -6.42005641e-03 9.93534890e-01 2.60374243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.025099893 meters 0.055791780758588934 Centerline is valid? [True, True] Translation: X:247.73, Y:40.81, Z:26.05 [[ 9.59309047e-01 -2.60044379e-01 -1.10013967e-01 2.47733898e+02] [ 2.59083658e-01 9.65576408e-01 -2.31917868e-02 4.08079933e+01] [ 1.12257785e-01 -6.25473008e-03 9.93659433e-01 2.60481561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.085099893 meters 0.05739326454435722 Centerline is valid? [True, True] Translation: X:247.79, Y:40.82, Z:26.05 [[ 9.60641238e-01 -2.55652750e-01 -1.08674207e-01 2.47793427e+02] [ 2.54687432e-01 9.66752042e-01 -2.29085531e-02 4.08190468e+01] [ 1.10917646e-01 -5.67105380e-03 9.93813421e-01 2.60547801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.145099893 meters 0.05447947787730166 Centerline is valid? [True, True] Translation: X:247.85, Y:40.84, Z:26.06 [[ 9.61659802e-01 -2.52169362e-01 -1.07800917e-01 2.47849479e+02] [ 2.51197802e-01 9.67669000e-01 -2.27237955e-02 4.08446580e+01] [ 1.10045851e-01 -5.22679276e-03 9.93912768e-01 2.60629350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.205099893 meters 0.057853009486397454 Centerline is valid? [True, True] Translation: X:247.91, Y:40.85, Z:26.07 [[ 9.62983280e-01 -2.47744599e-01 -1.06234726e-01 2.47909374e+02] [ 2.46774357e-01 9.68814210e-01 -2.23929390e-02 4.08464622e+01] [ 1.08469442e-01 -4.65198040e-03 9.94088899e-01 2.60686325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26509989299996 meters 0.05545655281508329 Centerline is valid? [True, True] Translation: X:247.97, Y:40.87, Z:26.08 [[ 9.63357478e-01 -2.46449885e-01 -1.05852843e-01 2.47966778e+02] [ 2.45478870e-01 9.69145135e-01 -2.23121280e-02 4.08688730e+01] [ 1.08085589e-01 -4.49008094e-03 9.94131452e-01 2.60757974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.32509989299996 meters 0.05496383379644762 Centerline is valid? [True, True] Translation: X:248.03, Y:40.88, Z:26.08 [[ 9.63296255e-01 -2.46641178e-01 -1.05964403e-01 2.48025230e+02] [ 2.45669349e-01 9.69096345e-01 -2.23348580e-02 4.08815108e+01] [ 1.08198411e-01 -4.51712069e-03 9.94119057e-01 2.60818040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.38509989299996 meters 0.05528143947594355 Centerline is valid? [True, True] Translation: X:248.08, Y:40.89, Z:26.09 [[ 9.62730437e-01 -2.48979139e-01 -1.05638510e-01 2.48084945e+02] [ 2.48027285e-01 9.68497126e-01 -2.22661637e-02 4.08890398e+01] [ 1.07854404e-01 -4.76491934e-03 9.94155281e-01 2.60878901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.44509989299996 meters 0.05641121755864454 Centerline is valid? [True, True] Translation: X:248.15, Y:40.90, Z:26.09 [[ 9.62065637e-01 -2.51409634e-01 -1.05938214e-01 2.48145193e+02] [ 2.50467028e-01 9.67867591e-01 -2.23292022e-02 4.08962814e+01] [ 1.08147941e-01 -5.05187149e-03 9.94121975e-01 2.60929415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.50509989299997 meters 0.05285444953148261 Centerline is valid? [True, True] Translation: X:248.20, Y:40.92, Z:26.10 [[ 9.61786218e-01 -2.51860960e-01 -1.07393331e-01 2.48202403e+02] [ 2.50895179e-01 9.67749595e-01 -2.26347064e-02 4.09241955e+01] [ 1.09630651e-01 -5.17472029e-03 9.93958924e-01 2.60998461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.56509989299997 meters 0.053416929076348124 Centerline is valid? [True, True] Translation: X:248.26, Y:40.93, Z:26.10 [[ 9.61803569e-01 -2.51042355e-01 -1.09140417e-01 2.48262534e+02] [ 2.50040352e-01 9.67962288e-01 -2.29963315e-02 4.09349856e+01] [ 1.11416860e-01 -5.17155444e-03 9.93760302e-01 2.61045319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.62509989299997 meters 0.05644189563612839 Centerline is valid? [True, True] Translation: X:248.32, Y:40.94, Z:26.11 [[ 9.62668101e-01 -2.48169671e-01 -1.08083028e-01 2.48323616e+02] [ 2.47169732e-01 9.68704699e-01 -2.27668466e-02 4.09351800e+01] [ 1.10350578e-01 -4.79793609e-03 9.93881145e-01 2.61095428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.685099893 meters 0.05291273619280269 Centerline is valid? [True, True] Translation: X:248.38, Y:40.96, Z:26.12 [[ 9.63570449e-01 -2.45536327e-01 -1.06037268e-01 2.48379141e+02] [ 2.44558055e-01 9.69377359e-01 -2.23359347e-02 4.09622636e+01] [ 1.08274410e-01 -4.41002142e-03 9.94111263e-01 2.61189460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.745099893 meters 0.05458114649758227 Centerline is valid? [True, True] Translation: X:248.44, Y:40.97, Z:26.13 [[ 9.64689230e-01 -2.41692095e-01 -1.04688205e-01 2.48437585e+02] [ 2.40716039e-01 9.70345047e-01 -2.20517374e-02 4.09702156e+01] [ 1.06913411e-01 -3.92705636e-03 9.94260580e-01 2.61250107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.805099893 meters 0.053618366461684226 Centerline is valid? [True, True] Translation: X:248.50, Y:40.99, Z:26.13 [[ 9.65132217e-01 -2.39784440e-01 -1.04991555e-01 2.48496859e+02] [ 2.38791379e-01 9.70819005e-01 -2.21164295e-02 4.09855783e+01] [ 1.07230973e-01 -3.72579961e-03 9.94227156e-01 2.61304665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.865099893 meters 0.053765877028730945 Centerline is valid? [True, True] Translation: X:248.56, Y:41.00, Z:26.14 [[ 9.65483954e-01 -2.38488743e-01 -1.04708423e-01 2.48556604e+02] [ 2.37493713e-01 9.71138683e-01 -2.20543371e-02 4.09972934e+01] [ 1.06946112e-01 -3.57448364e-03 9.94258393e-01 2.61362929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.925099893 meters 0.053423700012403555 Centerline is valid? [True, True] Translation: X:248.62, Y:41.01, Z:26.14 [[ 9.65276999e-01 -2.38419645e-01 -1.06753866e-01 2.48617651e+02] [ 2.37385067e-01 9.71155410e-01 -2.24833323e-02 4.10085785e+01] [ 1.09035063e-01 -3.63913021e-03 9.94031243e-01 2.61409526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.985099893 meters 0.053343956229478184 Centerline is valid? [True, True] Translation: X:248.68, Y:41.02, Z:26.15 [[ 9.65050930e-01 -2.38743845e-01 -1.08065159e-01 2.48677520e+02] [ 2.37686059e-01 9.71075436e-01 -2.27560047e-02 4.10236712e+01] [ 1.10372277e-01 -3.72487829e-03 9.93883336e-01 2.61459739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.045099893 meters 0.055415582781059444 Centerline is valid? [True, True] Translation: X:248.74, Y:41.03, Z:26.15 [[ 9.64628233e-01 -2.39622558e-01 -1.09879030e-01 2.48738207e+02] [ 2.38534966e-01 9.70858315e-01 -2.31344440e-02 4.10277137e+01] [ 1.12220505e-01 -3.89385288e-03 9.93675700e-01 2.61491833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.105099893 meters 0.05423712036478258 Centerline is valid? [True, True] Translation: X:248.80, Y:41.05, Z:26.16 [[ 9.64630048e-01 -2.39164622e-01 -1.10856460e-01 2.48797163e+02] [ 2.38054793e-01 9.70971292e-01 -2.33380679e-02 4.10455198e+01] [ 1.13220080e-01 -3.87731000e-03 9.93562368e-01 2.61559818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.165099893 meters 0.05361259017919355 Centerline is valid? [True, True] Translation: X:248.85, Y:41.06, Z:26.16 [[ 9.64996559e-01 -2.38352588e-01 -1.09406054e-01 2.48854848e+02] [ 2.37266744e-01 9.71171508e-01 -2.30302716e-02 4.10614755e+01] [ 1.11741367e-01 -3.73428533e-03 9.93730306e-01 2.61641969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.225099893 meters 0.05412891967267052 Centerline is valid? [True, True] Translation: X:248.91, Y:41.07, Z:26.17 [[ 9.65298761e-01 -2.38231043e-01 -1.06977910e-01 2.48913795e+02] [ 2.37192212e-01 9.71201701e-01 -2.25190990e-02 4.10731719e+01] [ 1.09261877e-01 -3.63666874e-03 9.94006347e-01 2.61720289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.285099893 meters 0.05410662797852643 Centerline is valid? [True, True] Translation: X:248.97, Y:41.09, Z:26.18 [[ 9.65120750e-01 -2.38979165e-01 -1.06915371e-01 2.48973170e+02] [ 2.37946219e-01 9.71017570e-01 -2.25050344e-02 4.10857890e+01] [ 1.09194938e-01 -3.72003269e-03 9.94013394e-01 2.61782819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.345099893 meters 0.05267591489213693 Centerline is valid? [True, True] Translation: X:249.03, Y:41.10, Z:26.18 [[ 9.64346531e-01 -2.41881817e-01 -1.07372970e-01 2.49031467e+02] [ 2.40858075e-01 9.70297192e-01 -2.25997178e-02 4.11033752e+01] [ 1.09650152e-01 -4.06768734e-03 9.93961920e-01 2.61844088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.405099893 meters 0.053186160964638844 Centerline is valid? [True, True] Translation: X:249.09, Y:41.11, Z:26.19 [[ 9.63627300e-01 -2.44792968e-01 -1.07232598e-01 2.49091057e+02] [ 2.43789857e-01 9.69565420e-01 -2.25699522e-02 4.11144786e+01] [ 1.09493984e-01 -4.39319759e-03 9.93977750e-01 2.61894672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.465099893 meters 0.05359189968192888 Centerline is valid? [True, True] Translation: X:249.15, Y:41.12, Z:26.19 [[ 9.62943209e-01 -2.47082355e-01 -1.08123481e-01 2.49150087e+02] [ 2.46076887e-01 9.68983119e-01 -2.27569809e-02 4.11210891e+01] [ 1.10392676e-01 -4.69300930e-03 9.93876971e-01 2.61948824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.525099893 meters 0.054008963277038864 Centerline is valid? [True, True] Translation: X:249.21, Y:41.13, Z:26.20 [[ 9.62760565e-01 -2.47721997e-01 -1.08286230e-01 2.49210412e+02] [ 2.46717736e-01 9.68819388e-01 -2.27892893e-02 4.11332996e+01] [ 1.10555207e-01 -4.77550445e-03 9.93858511e-01 2.62009468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.585099893 meters 0.05316234829514718 Centerline is valid? [True, True] Translation: X:249.27, Y:41.15, Z:26.21 [[ 9.63053564e-01 -2.47089514e-01 -1.07119581e-01 2.49269238e+02] [ 2.46103394e-01 9.68981473e-01 -2.25393976e-02 4.11547963e+01] [ 1.09366138e-01 -4.65584533e-03 9.93990629e-01 2.62086156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.645099893 meters 0.0529998012641809 Centerline is valid? [True, True] Translation: X:249.33, Y:41.17, Z:26.21 [[ 9.63676536e-01 -2.44784488e-01 -1.06808651e-01 2.49327702e+02] [ 2.43790459e-01 9.69567596e-01 -2.24697389e-02 4.11701157e+01] [ 1.09058450e-01 -4.38536980e-03 9.94025665e-01 2.62149161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.705099893 meters 0.053441847508252184 Centerline is valid? [True, True] Translation: X:249.39, Y:41.18, Z:26.22 [[ 9.63977569e-01 -2.43861208e-01 -1.06202437e-01 2.49386298e+02] [ 2.42872965e-01 9.69800798e-01 -2.23413314e-02 4.11815333e+01] [ 1.08443393e-01 -4.25715855e-03 9.94093510e-01 2.62214504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76509989299996 meters 0.05386871089521617 Centerline is valid? [True, True] Translation: X:249.45, Y:41.19, Z:26.23 [[ 9.63622133e-01 -2.44988519e-01 -1.06831691e-01 2.49446538e+02] [ 2.43995511e-01 9.69515945e-01 -2.24727388e-02 4.11912363e+01] [ 1.09080591e-01 -4.41122464e-03 9.94023121e-01 2.62272223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.82509989299996 meters 0.052229180371720814 Centerline is valid? [True, True] Translation: X:249.50, Y:41.21, Z:26.23 [[ 9.63019900e-01 -2.47065164e-01 -1.07477799e-01 2.49504379e+02] [ 2.46073229e-01 9.68987579e-01 -2.26061472e-02 4.12106073e+01] [ 1.09729844e-01 -4.67723950e-03 9.93950444e-01 2.62336231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.88509989299996 meters 0.05536028176228474 Centerline is valid? [True, True] Translation: X:249.57, Y:41.21, Z:26.24 [[ 9.62306990e-01 -2.49435450e-01 -1.08384561e-01 2.49565647e+02] [ 2.48441730e-01 9.68378568e-01 -2.27959613e-02 4.12081800e+01] [ 1.10643407e-01 -4.99053501e-03 9.93847640e-01 2.62374349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.94509989299996 meters 0.05544639929226232 Centerline is valid? [True, True] Translation: X:249.62, Y:41.22, Z:26.24 [[ 9.61410615e-01 -2.52867891e-01 -1.08385693e-01 2.49624344e+02] [ 2.51895936e-01 9.67485822e-01 -2.27951955e-02 4.12227904e+01] [ 1.10625794e-01 -5.38637252e-03 9.93847534e-01 2.62441692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.00509989299997 meters 0.05347886993978395 Centerline is valid? [True, True] Translation: X:249.68, Y:41.25, Z:26.25 [[ 9.61113994e-01 -2.53963182e-01 -1.08455485e-01 2.49681818e+02] [ 2.52996974e-01 9.67198154e-01 -2.28092533e-02 4.12450141e+01] [ 1.10690656e-01 -5.51661707e-03 9.93839598e-01 2.62509845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.06509989299997 meters 0.05882707536105025 Centerline is valid? [True, True] Translation: X:249.74, Y:41.24, Z:26.26 [[ 9.61333779e-01 -2.53504000e-01 -1.07578283e-01 2.49744920e+02] [ 2.52550715e-01 9.67319150e-01 -2.26229682e-02 4.12414455e+01] [ 1.09797546e-01 -5.42074882e-03 9.93939190e-01 2.62570176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.12509989299997 meters 0.052419401542297114 Centerline is valid? [True, True] Translation: X:249.80, Y:41.28, Z:26.27 [[ 9.61462293e-01 -2.53625126e-01 -1.06134609e-01 2.49800424e+02] [ 2.52698313e-01 9.67287718e-01 -2.23166629e-02 4.12822747e+01] [ 1.08322770e-01 -5.36340661e-03 9.94101308e-01 2.62669038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.185099893 meters 0.05257202004807484 Centerline is valid? [True, True] Translation: X:249.86, Y:41.29, Z:26.27 [[ 9.61558482e-01 -2.53692128e-01 -1.05097999e-01 2.49861048e+02] [ 2.52784435e-01 9.67270365e-01 -2.20923333e-02 4.12940935e+01] [ 1.07262831e-01 -5.32406781e-03 9.94216445e-01 2.62737786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.245099893 meters 0.053486547167389625 Centerline is valid? [True, True] Translation: X:249.92, Y:41.30, Z:26.28 [[ 9.61770781e-01 -2.52878638e-01 -1.05115936e-01 2.49921305e+02] [ 2.51967192e-01 9.67483781e-01 -2.20832196e-02 4.13008852e+01] [ 1.07282337e-01 -5.24677179e-03 9.94214751e-01 2.62789862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.305099893 meters 0.05371252734491984 Centerline is valid? [True, True] Translation: X:249.98, Y:41.31, Z:26.28 [[ 9.62338253e-01 -2.50452221e-01 -1.05729708e-01 2.49980613e+02] [ 2.49515608e-01 9.68116016e-01 -2.22112735e-02 4.13146190e+01] [ 1.07921487e-01 -5.00645437e-03 9.94146814e-01 2.62841032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.365099893 meters 0.052314704287414394 Centerline is valid? [True, True] Translation: X:250.04, Y:41.34, Z:26.29 [[ 9.62641890e-01 -2.49455605e-01 -1.05320903e-01 2.50038544e+02] [ 2.48520403e-01 9.68373957e-01 -2.21243966e-02 4.13367154e+01] [ 1.07509074e-01 -4.87652223e-03 9.94192144e-01 2.62911582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.425099893 meters 0.05158415581753275 Centerline is valid? [True, True] Translation: X:250.10, Y:41.35, Z:26.30 [[ 9.62781521e-01 -2.49287154e-01 -1.04439736e-01 2.50098104e+02] [ 2.48366962e-01 9.68417617e-01 -2.19356140e-02 4.13531913e+01] [ 1.06609547e-01 -4.82017608e-03 9.94289279e-01 2.62980277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.485099893 meters 0.051883640769266416 Centerline is valid? [True, True] Translation: X:250.16, Y:41.37, Z:26.30 [[ 9.62913583e-01 -2.48710911e-01 -1.04595957e-01 2.50158731e+02] [ 2.47785903e-01 9.68565990e-01 -2.19560903e-02 4.13652806e+01] [ 1.06768806e-01 -4.77558617e-03 9.94272405e-01 2.63038449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.545099893 meters 0.054047893063193776 Centerline is valid? [True, True] Translation: X:250.22, Y:41.37, Z:26.31 [[ 9.63235927e-01 -2.47785090e-01 -1.03822433e-01 2.50219832e+02] [ 2.46869654e-01 9.68803866e-01 -2.17817368e-02 4.13657237e+01] [ 1.05980764e-01 -4.64965679e-03 9.94357309e-01 2.63100385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.605099893 meters 0.0563367206905273 Centerline is valid? [True, True] Translation: X:250.28, Y:41.37, Z:26.32 [[ 9.63407813e-01 -2.47229589e-01 -1.03551513e-01 2.50281820e+02] [ 2.46315835e-01 9.68946117e-01 -2.17239709e-02 4.13702072e+01] [ 1.05706645e-01 -4.57733410e-03 9.94386823e-01 2.63164404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.665099893 meters 0.05298844645675971 Centerline is valid? [True, True] Translation: X:250.34, Y:41.40, Z:26.32 [[ 9.63190159e-01 -2.48150425e-01 -1.03373522e-01 2.50338593e+02] [ 2.47245556e-01 9.68710233e-01 -2.16822432e-02 4.13979255e+01] [ 1.05519446e-01 -4.67452061e-03 9.94406253e-01 2.63230780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.725099893 meters 0.05499494450763705 Centerline is valid? [True, True] Translation: X:250.40, Y:41.40, Z:26.33 [[ 9.62457898e-01 -2.50234989e-01 -1.05153432e-01 2.50399634e+02] [ 2.49311401e-01 9.68172264e-01 -2.20520449e-02 4.13975838e+01] [ 1.07324829e-01 -4.99178465e-03 9.94211478e-01 2.63283364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.785099893 meters 0.05281258523294017 Centerline is valid? [True, True] Translation: X:250.46, Y:41.42, Z:26.33 [[ 9.61653149e-01 -2.53250032e-01 -1.05297873e-01 2.50456687e+02] [ 2.52342086e-01 9.67386134e-01 -2.20802928e-02 4.14190990e+01] [ 1.07455537e-01 -5.33750186e-03 9.94195564e-01 2.63349954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.845099893 meters 0.05285187695833957 Centerline is valid? [True, True] Translation: X:250.52, Y:41.43, Z:26.34 [[ 9.60845477e-01 -2.56385023e-01 -1.05084203e-01 2.50516413e+02] [ 2.55499458e-01 9.66558065e-01 -2.20348303e-02 4.14260689e+01] [ 1.07219385e-01 -5.67688995e-03 9.94219179e-01 2.63420655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.905099893 meters 0.05378208153907654 Centerline is valid? [True, True] Translation: X:250.58, Y:41.43, Z:26.35 [[ 9.60288014e-01 -2.58631191e-01 -1.04674910e-01 2.50575719e+02] [ 2.57765824e-01 9.65958095e-01 -2.19485381e-02 4.14317855e+01] [ 1.06788153e-01 -5.90469642e-03 9.94264263e-01 2.63484882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.965099893 meters 0.053708187221836956 Centerline is valid? [True, True] Translation: X:250.64, Y:41.44, Z:26.36 [[ 9.59829522e-01 -2.60359165e-01 -1.04596336e-01 2.50635332e+02] [ 2.59505218e-01 9.65492619e-01 -2.19327196e-02 4.14403378e+01] [ 1.06697375e-01 -6.09162319e-03 9.94272881e-01 2.63550154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.025099893 meters 0.05448530292755444 Centerline is valid? [True, True] Translation: X:250.69, Y:41.45, Z:26.36 [[ 9.59360930e-01 -2.62061003e-01 -1.04645289e-01 2.50694670e+02] [ 2.61216340e-01 9.65030850e-01 -2.19427155e-02 4.14485786e+01] [ 1.06736262e-01 -6.28407529e-03 9.94267510e-01 2.63616503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.085099893 meters 0.05283130500911403 Centerline is valid? [True, True] Translation: X:250.75, Y:41.47, Z:26.37 [[ 9.59150561e-01 -2.63055207e-01 -1.04077659e-01 2.50751986e+02] [ 2.62225523e-01 9.64759820e-01 -2.18234747e-02 4.14697037e+01] [ 1.06150722e-01 -6.35982044e-03 9.94329712e-01 2.63696517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.145099893 meters 0.05173852971143968 Centerline is valid? [True, True] Translation: X:250.81, Y:41.48, Z:26.38 [[ 9.59186484e-01 -2.63039698e-01 -1.03785385e-01 2.50813441e+02] [ 2.62214771e-01 9.64764168e-01 -2.17603962e-02 4.14812320e+01] [ 1.05852268e-01 -6.34178294e-03 9.94361644e-01 2.63768069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.205099893 meters 0.05438493583512242 Centerline is valid? [True, True] Translation: X:250.88, Y:41.48, Z:26.38 [[ 9.59513530e-01 -2.61563670e-01 -1.04490345e-01 2.50875022e+02] [ 2.60719447e-01 9.65166135e-01 -2.19021110e-02 4.14788996e+01] [ 1.06579339e-01 -6.22729315e-03 9.94284700e-01 2.63820165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26509989299996 meters 0.05477682371633478 Centerline is valid? [True, True] Translation: X:250.93, Y:41.49, Z:26.39 [[ 9.60569017e-01 -2.57308407e-01 -1.05354393e-01 2.50934142e+02] [ 2.56424691e-01 9.66311911e-01 -2.20832225e-02 4.14907840e+01] [ 1.07487403e-01 -5.80300839e-03 9.94189511e-01 2.63879006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.32509989299996 meters 0.05357065824435485 Centerline is valid? [True, True] Translation: X:250.99, Y:41.51, Z:26.39 [[ 9.62517845e-01 -2.49395788e-01 -1.06588645e-01 2.50992533e+02] [ 2.48442877e-01 9.68388855e-01 -2.23419562e-02 4.15076773e+01] [ 1.08791246e-01 -4.97665822e-03 9.94052160e-01 2.63939247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.38509989299996 meters 0.05379374454707583 Centerline is valid? [True, True] Translation: X:251.05, Y:41.52, Z:26.40 [[ 9.64006460e-01 -2.43336435e-01 -1.07139744e-01 2.51051189e+02] [ 2.42336231e-01 9.69932354e-01 -2.24584192e-02 4.15214186e+01] [ 1.09383256e-01 -4.31378064e-03 9.93990289e-01 2.64006487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.44509989299996 meters 0.05519643115288624 Centerline is valid? [True, True] Translation: X:251.11, Y:41.53, Z:26.41 [[ 9.65866619e-01 -2.35658001e-01 -1.07549899e-01 2.51110984e+02] [ 2.34602623e-01 9.71829902e-01 -2.25444205e-02 4.15279009e+01] [ 1.09832981e-01 -3.45658513e-03 9.93944047e-01 2.64060709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.50509989299997 meters 0.054332985670854664 Centerline is valid? [True, True] Translation: X:251.17, Y:41.54, Z:26.41 [[ 9.67561989e-01 -2.28734614e-01 -1.07257981e-01 2.51169550e+02] [ 2.27642507e-01 9.73485176e-01 -2.24833555e-02 4.15428072e+01] [ 1.09556776e-01 -2.66243549e-03 9.93976974e-01 2.64130369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.56509989299997 meters 0.05439888285598305 Centerline is valid? [True, True] Translation: X:251.23, Y:41.55, Z:26.42 [[ 9.69120855e-01 -2.22255542e-01 -1.06804694e-01 2.51227169e+02] [ 2.21133275e-01 9.74986558e-01 -2.23894372e-02 4.15547938e+01] [ 1.09109318e-01 -1.92000126e-03 9.94027902e-01 2.64198146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.62509989299997 meters 0.05414018370023586 Centerline is valid? [True, True] Translation: X:251.28, Y:41.57, Z:26.43 [[ 9.69647891e-01 -2.20151380e-01 -1.06378275e-01 2.51284014e+02] [ 2.19025330e-01 9.75464281e-01 -2.23011600e-02 4.15682942e+01] [ 1.08677838e-01 -1.67526391e-03 9.94075611e-01 2.64280480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.685099893 meters 0.054134167033574175 Centerline is valid? [True, True] Translation: X:251.34, Y:41.57, Z:26.43 [[ 9.69312689e-01 -2.21323609e-01 -1.06998925e-01 2.51341358e+02] [ 2.20191032e-01 9.75198734e-01 -2.24351962e-02 4.15739514e+01] [ 1.09310655e-01 -1.81348348e-03 9.94005982e-01 2.64329388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.745099893 meters 0.05440590826429475 Centerline is valid? [True, True] Translation: X:251.40, Y:41.58, Z:26.44 [[ 9.68131122e-01 -2.25441246e-01 -1.09079671e-01 2.51400698e+02] [ 2.24288769e-01 9.74254023e-01 -2.28833062e-02 4.15830018e+01] [ 1.11430149e-01 -2.31130419e-03 9.93769581e-01 2.64388299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.805099893 meters 0.054085257408659486 Centerline is valid? [True, True] Translation: X:251.46, Y:41.60, Z:26.45 [[ 9.67402671e-01 -2.28262217e-01 -1.09674212e-01 2.51457726e+02] [ 2.27115041e-01 9.73596087e-01 -2.30090886e-02 4.15962493e+01] [ 1.12030489e-01 -2.64960948e-03 9.93701237e-01 2.64466479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.865099893 meters 0.05450935287159349 Centerline is valid? [True, True] Translation: X:251.52, Y:41.59, Z:26.45 [[ 9.67256744e-01 -2.29312352e-01 -1.08766887e-01 2.51517397e+02] [ 2.28190362e-01 9.73349018e-01 -2.28220769e-02 4.15933345e+01] [ 1.11101527e-01 -2.74474748e-03 9.93805271e-01 2.64494291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.925099893 meters 0.05498547722303349 Centerline is valid? [True, True] Translation: X:251.57, Y:41.61, Z:26.46 [[ 9.67521731e-01 -2.29013271e-01 -1.07026268e-01 2.51574872e+02] [ 2.27923863e-01 9.73419680e-01 -2.24686298e-02 4.16056614e+01] [ 1.09327090e-01 -2.65495288e-03 9.94002283e-01 2.64575590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.985099893 meters 0.05463875096299026 Centerline is valid? [True, True] Translation: X:251.63, Y:41.61, Z:26.46 [[ 9.67710402e-01 -2.28928203e-01 -1.05491498e-01 2.51632731e+02] [ 2.27868678e-01 9.73439836e-01 -2.21529045e-02 4.16128799e+01] [ 1.07761051e-01 -2.60061211e-03 9.94173422e-01 2.64646815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.045099893 meters 0.05510084754960522 Centerline is valid? [True, True] Translation: X:251.69, Y:41.62, Z:26.47 [[ 9.67549164e-01 -2.30208071e-01 -1.04177055e-01 2.51690137e+02] [ 2.29180982e-01 9.73137693e-01 -2.18885332e-02 4.16188194e+01] [ 1.06417536e-01 -2.69716780e-03 9.94317873e-01 2.64709397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.105099893 meters 0.05612795332829759 Centerline is valid? [True, True] Translation: X:251.75, Y:41.62, Z:26.48 [[ 9.66467139e-01 -2.34626569e-01 -1.04363036e-01 2.51750381e+02] [ 2.33620755e-01 9.72080368e-01 -2.19340015e-02 4.16213326e+01] [ 1.06595558e-01 -3.18287967e-03 9.94297368e-01 2.64768286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.165099893 meters 0.05460226066656057 Centerline is valid? [True, True] Translation: X:251.81, Y:41.63, Z:26.48 [[ 9.65452545e-01 -2.38085276e-01 -1.05909327e-01 2.51809364e+02] [ 2.37069994e-01 9.71237519e-01 -2.22598369e-02 4.16327865e+01] [ 1.08162851e-01 -3.61710718e-03 9.94126609e-01 2.64821589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.225099893 meters 0.05603065762805029 Centerline is valid? [True, True] Translation: X:251.87, Y:41.64, Z:26.49 [[ 9.64453720e-01 -2.41447718e-01 -1.07387248e-01 2.51869338e+02] [ 2.40424662e-01 9.70405373e-01 -2.25697488e-02 4.16401328e+01] [ 1.09658577e-01 -4.05106456e-03 9.93961058e-01 2.64880352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.285099893 meters 0.054993607335566776 Centerline is valid? [True, True] Translation: X:251.93, Y:41.65, Z:26.50 [[ 9.64427443e-01 -2.41066844e-01 -1.08473428e-01 2.51926195e+02] [ 2.40020462e-01 9.70500072e-01 -2.27988537e-02 4.16524587e+01] [ 1.10769518e-01 -4.04800218e-03 9.93837878e-01 2.64950497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.345099893 meters 0.05700971635621777 Centerline is valid? [True, True] Translation: X:251.99, Y:41.65, Z:26.50 [[ 9.64871045e-01 -2.38963399e-01 -1.09180406e-01 2.51985833e+02] [ 2.37888547e-01 9.71021062e-01 -2.29594562e-02 4.16548659e+01] [ 1.11502943e-01 -3.81985358e-03 9.93756762e-01 2.64992258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.405099893 meters 0.054684551459469884 Centerline is valid? [True, True] Translation: X:252.04, Y:41.68, Z:26.51 [[ 9.66766057e-01 -2.31608625e-01 -1.08262808e-01 2.52041369e+02] [ 2.30505599e-01 9.72804595e-01 -2.27681669e-02 4.16789001e+01] [ 1.10591861e-01 -2.94369249e-03 9.93861547e-01 2.65086704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.465099893 meters 0.05567295204782199 Centerline is valid? [True, True] Translation: X:252.10, Y:41.69, Z:26.51 [[ 9.68233974e-01 -2.25941579e-01 -1.07113842e-01 2.52100609e+02] [ 2.24827276e-01 9.74138207e-01 -2.25266626e-02 4.16869831e+01] [ 1.09433396e-01 -2.27103337e-03 9.93991536e-01 2.65145915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.525099893 meters 0.055024193146540536 Centerline is valid? [True, True] Translation: X:252.16, Y:41.70, Z:26.52 [[ 9.68706087e-01 -2.23378498e-01 -1.08215355e-01 2.52158028e+02] [ 2.22225118e-01 9.74729726e-01 -2.27586743e-02 4.16991135e+01] [ 1.10564522e-01 -2.00170368e-03 9.93866933e-01 2.65201079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.585099893 meters 0.05488773745895192 Centerline is valid? [True, True] Translation: X:252.21, Y:41.71, Z:26.53 [[ 9.68792585e-01 -2.22711524e-01 -1.08814081e-01 2.52214711e+02] [ 2.21540644e-01 9.74882477e-01 -2.28888472e-02 4.17146363e+01] [ 1.11178551e-01 -1.93219623e-03 9.93798569e-01 2.65278548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.645099893 meters 0.0547064625472064 Centerline is valid? [True, True] Translation: X:252.27, Y:41.72, Z:26.53 [[ 9.68596934e-01 -2.23769982e-01 -1.08383466e-01 2.52270648e+02] [ 2.22613541e-01 9.74639863e-01 -2.28111500e-02 4.17248406e+01] [ 1.10739297e-01 -2.03281714e-03 9.93847411e-01 2.65349716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.70509989299995 meters 0.05582850223035464 Centerline is valid? [True, True] Translation: X:252.33, Y:41.73, Z:26.54 [[ 9.68266407e-01 -2.25213164e-01 -1.08347574e-01 2.52328820e+02] [ 2.24065602e-01 9.74307055e-01 -2.28115778e-02 4.17300148e+01] [ 1.10701273e-01 -2.18927991e-03 9.93851314e-01 2.65396432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76509989299996 meters 0.05637105380854938 Centerline is valid? [True, True] Translation: X:252.39, Y:41.74, Z:26.55 [[ 9.67630611e-01 -2.27675247e-01 -1.08880587e-01 2.52386296e+02] [ 2.26530499e-01 9.73733986e-01 -2.29359605e-02 4.17382951e+01] [ 1.11242679e-01 -2.47123627e-03 9.93790199e-01 2.65453372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.82509989299996 meters 0.05587145117452099 Centerline is valid? [True, True] Translation: X:252.44, Y:41.75, Z:26.55 [[ 9.66812071e-01 -2.30931877e-01 -1.09292670e-01 2.52444081e+02] [ 2.29798757e-01 9.72965738e-01 -2.30261723e-02 4.17524677e+01] [ 1.11655501e-01 -2.85333851e-03 9.93742878e-01 2.65525112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.88509989299996 meters 0.056033881486590754 Centerline is valid? [True, True] Translation: X:252.50, Y:41.76, Z:26.56 [[ 9.66168580e-01 -2.33283660e-01 -1.09986407e-01 2.52502511e+02] [ 2.32151124e-01 9.72403645e-01 -2.31734024e-02 4.17603264e+01] [ 1.12357159e-01 -3.14405470e-03 9.93662913e-01 2.65565097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.94509989299996 meters 0.05589052189321598 Centerline is valid? [True, True] Translation: X:252.56, Y:41.77, Z:26.56 [[ 9.65075882e-01 -2.37871682e-01 -1.09752470e-01 2.52560802e+02] [ 2.36773190e-01 9.71289665e-01 -2.31266835e-02 4.17737118e+01] [ 1.12102623e-01 -3.66743802e-03 9.93689867e-01 2.65634555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.00509989299997 meters 0.05559159402802343 Centerline is valid? [True, True] Translation: X:252.62, Y:41.79, Z:26.57 [[ 9.64179835e-01 -2.41817507e-01 -1.09002473e-01 2.52618952e+02] [ 2.40759083e-01 9.70313096e-01 -2.29686594e-02 4.17877249e+01] [ 1.11320751e-01 -4.09741724e-03 9.93776082e-01 2.65706217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.06509989299997 meters 0.057526648167741896 Centerline is valid? [True, True] Translation: X:252.68, Y:41.79, Z:26.58 [[ 9.62564242e-01 -2.48374481e-01 -1.08536614e-01 2.52679395e+02] [ 2.47366505e-01 9.68652027e-01 -2.28705527e-02 4.17882257e+01] [ 1.10814673e-01 -4.83394668e-03 9.93829332e-01 2.65755495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.12509989299997 meters 0.05418672585476055 Centerline is valid? [True, True] Translation: X:252.73, Y:41.82, Z:26.59 [[ 9.61297808e-01 -2.53619576e-01 -1.07627293e-01 2.52734911e+02] [ 2.52661091e-01 9.67289014e-01 -2.26789803e-02 4.18165364e+01] [ 1.09858532e-01 -5.39197519e-03 9.93932608e-01 2.65861122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.185099893 meters 0.05516474487874718 Centerline is valid? [True, True] Translation: X:252.79, Y:41.83, Z:26.59 [[ 9.60742536e-01 -2.55728978e-01 -1.07594007e-01 2.52793535e+02] [ 2.54784233e-01 9.66732113e-01 -2.26719373e-02 4.18289381e+01] [ 1.09812453e-01 -5.63136212e-03 9.93936373e-01 2.65932367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.245099893 meters 0.05666843365787946 Centerline is valid? [True, True] Translation: X:252.85, Y:41.83, Z:26.60 [[ 9.59765508e-01 -2.58816399e-01 -1.08923101e-01 2.52853037e+02] [ 2.57867915e-01 9.65907529e-01 -2.29517678e-02 4.18316618e+01] [ 1.11149938e-01 -6.05945797e-03 9.93785175e-01 2.65977443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.305099893 meters 0.05545610066802756 Centerline is valid? [True, True] Translation: X:252.91, Y:41.85, Z:26.60 [[ 9.58978415e-01 -2.61171761e-01 -1.10225726e-01 2.52910494e+02] [ 2.60215911e-01 9.65271067e-01 -2.32259995e-02 4.18516527e+01] [ 1.12463679e-01 -6.40925555e-03 9.93635166e-01 2.66048073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.365099893 meters 0.057608181752747414 Centerline is valid? [True, True] Translation: X:252.97, Y:41.86, Z:26.61 [[ 9.58789713e-01 -2.61478411e-01 -1.11136524e-01 2.52968789e+02] [ 2.60508617e-01 9.65187450e-01 -2.34189381e-02 4.18563940e+01] [ 1.13391125e-01 -6.49818505e-03 9.93529177e-01 2.66089370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.425099893 meters 0.05469238234342551 Centerline is valid? [True, True] Translation: X:253.02, Y:41.89, Z:26.62 [[ 9.59833361e-01 -2.57956393e-01 -1.10355874e-01 2.53024110e+02] [ 2.56975745e-01 9.66137759e-01 -2.32658106e-02 4.18865515e+01] [ 1.12620541e-01 -6.02748166e-03 9.93619788e-01 2.66172421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.485099893 meters 0.05858810450348904 Centerline is valid? [True, True] Translation: X:253.08, Y:41.89, Z:26.62 [[ 9.62082413e-01 -2.50478471e-01 -1.07972064e-01 2.53083779e+02] [ 2.49492930e-01 9.68109057e-01 -2.27625223e-02 4.18884932e+01] [ 1.10230255e-01 -5.03884430e-03 9.93893305e-01 2.66229159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.545099893 meters 0.056782350375112194 Centerline is valid? [True, True] Translation: X:253.14, Y:41.91, Z:26.63 [[ 9.64030890e-01 -2.43339511e-01 -1.06912704e-01 2.53140090e+02] [ 2.42329425e-01 9.69932171e-01 -2.25395982e-02 4.19120394e+01] [ 1.09182846e-01 -4.17922515e-03 9.94012897e-01 2.66308727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.605099893 meters 0.05623213868143731 Centerline is valid? [True, True] Translation: X:253.20, Y:41.93, Z:26.64 [[ 9.64548252e-01 -2.41423632e-01 -1.06589400e-01 2.53196380e+02] [ 2.40407866e-01 9.70411787e-01 -2.24726984e-02 4.19320385e+01] [ 1.08861050e-01 -3.94892811e-03 9.94049132e-01 2.66380636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.665099893 meters 0.055663910634964786 Centerline is valid? [True, True] Translation: X:253.25, Y:41.95, Z:26.64 [[ 9.63996553e-01 -2.42192147e-01 -1.09788935e-01 2.53252348e+02] [ 2.41119109e-01 9.70219402e-01 -2.31492358e-02 4.19523269e+01] [ 1.12125918e-01 -4.15642657e-03 9.93685314e-01 2.66428119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.725099893 meters 0.05440777174576626 Centerline is valid? [True, True] Translation: X:253.31, Y:41.97, Z:26.65 [[ 9.63401263e-01 -2.44459055e-01 -1.09989898e-01 2.53309586e+02] [ 2.43396352e-01 9.69649520e-01 -2.31953307e-02 4.19723176e+01] [ 1.12321960e-01 -4.42472908e-03 9.93662014e-01 2.66502697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.785099893 meters 0.05472123716050001 Centerline is valid? [True, True] Translation: X:253.37, Y:41.99, Z:26.66 [[ 9.62300440e-01 -2.48581997e-01 -1.10385024e-01 2.53368805e+02] [ 2.47538793e-01 9.68598334e-01 -2.32768788e-02 4.19851620e+01] [ 1.12704963e-01 -4.92522483e-03 9.93616291e-01 2.66566026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.845099893 meters 0.05422657611375222 Centerline is valid? [True, True] Translation: X:253.43, Y:42.00, Z:26.66 [[ 9.61193473e-01 -2.52560536e-01 -1.10996774e-01 2.53427749e+02] [ 2.51532154e-01 9.67565901e-01 -2.34051684e-02 4.19991158e+01] [ 1.13307916e-01 -5.42236266e-03 9.93545124e-01 2.66619271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.905099893 meters 0.055608392532986745 Centerline is valid? [True, True] Translation: X:253.49, Y:42.01, Z:26.67 [[ 9.60916098e-01 -2.53676199e-01 -1.10854130e-01 2.53487072e+02] [ 2.52658033e-01 9.67273282e-01 -2.33734083e-02 4.20079465e+01] [ 1.13155515e-01 -5.54830203e-03 9.93561798e-01 2.66674475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.965099893 meters 0.06193960402352841 Centerline is valid? [True, True] Translation: X:253.55, Y:42.00, Z:26.67 [[ 9.60376197e-01 -2.55786832e-01 -1.10682684e-01 2.53549646e+02] [ 2.54785837e-01 9.66715878e-01 -2.33364235e-02 4.20010791e+01] [ 1.12967857e-01 -5.78863456e-03 9.93581781e-01 2.66706123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.025099893 meters 0.061060279478818806 Centerline is valid? [True, True] Translation: X:253.61, Y:42.02, Z:26.68 [[ 9.59815494e-01 -2.57994135e-01 -1.10423021e-01 2.53607003e+02] [ 2.57012312e-01 9.66127642e-01 -2.32819788e-02 4.20175660e+01] [ 1.12689347e-01 -6.03367184e-03 9.93611949e-01 2.66777311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.085099893 meters 0.05344892404629122 Centerline is valid? [True, True] Translation: X:253.66, Y:42.06, Z:26.69 [[ 9.59761452e-01 -2.58642515e-01 -1.09370953e-01 2.53661249e+02] [ 2.57683555e-01 9.65954156e-01 -2.30597771e-02 4.20584025e+01] [ 1.11611566e-01 -6.05121082e-03 9.93733486e-01 2.66888612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.145099893 meters 0.0529730587693398 Centerline is valid? [True, True] Translation: X:253.72, Y:42.08, Z:26.70 [[ 9.59988664e-01 -2.57925534e-01 -1.09069631e-01 2.53719046e+02] [ 2.56968038e-01 9.66146429e-01 -2.29892619e-02 4.20819212e+01] [ 1.11306752e-01 -5.95797824e-03 9.93768237e-01 2.66973345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.20509989299995 meters 0.055637719215998076 Centerline is valid? [True, True] Translation: X:253.78, Y:42.08, Z:26.70 [[ 9.60130126e-01 -2.57069963e-01 -1.09841587e-01 2.53782072e+02] [ 2.56094811e-01 9.66374699e-01 -2.31384596e-02 4.20803131e+01] [ 1.12096334e-01 -5.91392837e-03 9.93679746e-01 2.67012999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26509989299996 meters 0.05427898134715753 Centerline is valid? [True, True] Translation: X:253.84, Y:42.10, Z:26.71 [[ 9.60235599e-01 -2.56671140e-01 -1.09852263e-01 2.53841344e+02] [ 2.55694549e-01 9.66480914e-01 -2.31287900e-02 4.21012038e+01] [ 1.12106609e-01 -5.87953733e-03 9.93678791e-01 2.67085046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.32509989299996 meters 0.05516975259027509 Centerline is valid? [True, True] Translation: X:253.90, Y:42.11, Z:26.71 [[ 9.60751749e-01 -2.54831822e-01 -1.09621253e-01 2.53899693e+02] [ 2.53848077e-01 9.66968834e-01 -2.30744138e-02 4.21112506e+01] [ 1.11880430e-01 -5.65836087e-03 9.93705566e-01 2.67139292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.38509989299996 meters 0.0555834327749182 Centerline is valid? [True, True] Translation: X:253.96, Y:42.12, Z:26.72 [[ 9.61189869e-01 -2.52872700e-01 -1.10315152e-01 2.53958507e+02] [ 2.51863518e-01 9.67484129e-01 -2.32213068e-02 4.21230390e+01] [ 1.12600193e-01 -5.46427738e-03 9.93625351e-01 2.67189246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.44509989299996 meters 0.05369667531739319 Centerline is valid? [True, True] Translation: X:254.01, Y:42.15, Z:26.73 [[ 9.61940344e-01 -2.49675666e-01 -1.11053305e-01 2.54014436e+02] [ 2.48631693e-01 9.68315963e-01 -2.33768509e-02 4.21513376e+01] [ 1.13371319e-01 -5.12423543e-03 9.93539474e-01 2.67263138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.50509989299997 meters 0.05355330534677486 Centerline is valid? [True, True] Translation: X:254.07, Y:42.16, Z:26.73 [[ 9.62456130e-01 -2.47562497e-01 -1.11314904e-01 2.54072972e+02] [ 2.46499321e-01 9.68859611e-01 -2.34337120e-02 4.21643748e+01] [ 1.13649822e-01 -4.88512837e-03 9.93508859e-01 2.67312516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.56509989299997 meters 0.05339439591769831 Centerline is valid? [True, True] Translation: X:254.13, Y:42.18, Z:26.74 [[ 9.63025381e-01 -2.45959383e-01 -1.09936786e-01 2.54130838e+02] [ 2.44912020e-01 9.69269044e-01 -2.31435269e-02 4.21833105e+01] [ 1.12250691e-01 -4.63703643e-03 9.93669100e-01 2.67381951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.62509989299997 meters 0.05401777729455021 Centerline is valid? [True, True] Translation: X:254.19, Y:42.20, Z:26.74 [[ 9.63775167e-01 -2.43424014e-01 -1.09005400e-01 2.54188721e+02] [ 2.42378291e-01 9.69910416e-01 -2.29466560e-02 4.21962629e+01] [ 1.11311240e-01 -4.30512521e-03 9.93776270e-01 2.67444476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.685099893 meters 0.058019751103354916 Centerline is valid? [True, True] Translation: X:254.25, Y:42.20, Z:26.75 [[ 9.64062954e-01 -2.42248050e-01 -1.09080262e-01 2.54250762e+02] [ 2.41193346e-01 9.70205379e-01 -2.29628253e-02 4.21956532e+01] [ 1.11392957e-01 -4.17182416e-03 9.93767682e-01 2.67478962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.745099893 meters 0.054069280843043695 Centerline is valid? [True, True] Translation: X:254.31, Y:42.23, Z:26.76 [[ 9.64285412e-01 -2.41617824e-01 -1.08510239e-01 2.54307116e+02] [ 2.40570358e-01 9.70362916e-01 -2.28410626e-02 4.22251709e+01] [ 1.10813120e-01 -4.07904354e-03 9.93832890e-01 2.67576486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.805099893 meters 0.05333996064036439 Centerline is valid? [True, True] Translation: X:254.37, Y:42.25, Z:26.76 [[ 9.64151153e-01 -2.42139013e-01 -1.08541474e-01 2.54365995e+02] [ 2.41094524e-01 9.70232723e-01 -2.28450029e-02 4.22458165e+01] [ 1.10842157e-01 -4.14271924e-03 9.93829389e-01 2.67644667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.865099893 meters 0.05296337657535864 Centerline is valid? [True, True] Translation: X:254.42, Y:42.27, Z:26.77 [[ 9.63717841e-01 -2.43910834e-01 -1.08422448e-01 2.54423767e+02] [ 2.42880266e-01 9.69787925e-01 -2.28157226e-02 4.22657426e+01] [ 1.10711783e-01 -4.34575411e-03 9.93843054e-01 2.67719055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.925099893 meters 0.05485804249400669 Centerline is valid? [True, True] Translation: X:254.49, Y:42.27, Z:26.78 [[ 9.63481183e-01 -2.44458830e-01 -1.09288109e-01 2.54486120e+02] [ 2.43415467e-01 9.69649477e-01 -2.29956889e-02 4.22680286e+01] [ 1.11592657e-01 -4.44650259e-03 9.93744085e-01 2.67755206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.985099893 meters 0.052231193731432236 Centerline is valid? [True, True] Translation: X:254.54, Y:42.29, Z:26.78 [[ 9.63636179e-01 -2.44322529e-01 -1.08221142e-01 2.54544273e+02] [ 2.43299330e-01 9.69684073e-01 -2.27647635e-02 4.22934403e+01] [ 1.10502262e-01 -4.39318150e-03 9.93866163e-01 2.67840196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.045099893 meters 0.05282586412193608 Centerline is valid? [True, True] Translation: X:254.60, Y:42.31, Z:26.79 [[ 9.64278878e-01 -2.41888517e-01 -1.07963844e-01 2.54602566e+02] [ 2.40855567e-01 9.70295346e-01 -2.27054394e-02 4.23060822e+01] [ 1.10249001e-01 -4.10931723e-03 9.93895503e-01 2.67901992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.105099893 meters 0.05302618876183154 Centerline is valid? [True, True] Translation: X:254.66, Y:42.32, Z:26.80 [[ 9.64702575e-01 -2.40484542e-01 -1.07313219e-01 2.54662313e+02] [ 2.39455385e-01 9.70645033e-01 -2.25685158e-02 4.23196086e+01] [ 1.09590422e-01 -3.92482271e-03 9.93969082e-01 2.67963367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.165099893 meters 0.05464039549113949 Centerline is valid? [True, True] Translation: X:254.72, Y:42.32, Z:26.80 [[ 9.65042139e-01 -2.39200367e-01 -1.07130084e-01 2.54722524e+02] [ 2.38167063e-01 9.70962893e-01 -2.25280172e-02 4.23249057e+01] [ 1.09408046e-01 -3.77437137e-03 9.93989755e-01 2.68010658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.225099893 meters 0.0543460359917954 Centerline is valid? [True, True] Translation: X:254.78, Y:42.34, Z:26.81 [[ 9.65225610e-01 -2.38499515e-01 -1.07039731e-01 2.54782530e+02] [ 2.37464245e-01 9.71135580e-01 -2.25037346e-02 4.23390676e+01] [ 1.09317221e-01 -3.69692793e-03 9.94000039e-01 2.68075561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.285099893 meters 0.05445147178976396 Centerline is valid? [True, True] Translation: X:254.84, Y:42.35, Z:26.81 [[ 9.65156231e-01 -2.38511181e-01 -1.07637667e-01 2.54843758e+02] [ 2.37464734e-01 9.71132617e-01 -2.26260907e-02 4.23508587e+01] [ 1.09927025e-01 -3.72243755e-03 9.93932690e-01 2.68136729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.345099893 meters 0.053278181632464075 Centerline is valid? [True, True] Translation: X:254.90, Y:42.37, Z:26.82 [[ 9.65268675e-01 -2.38532144e-01 -1.06577675e-01 2.54902928e+02] [ 2.37506728e-01 9.71127589e-01 -2.24000077e-02 4.23679516e+01] [ 1.08843643e-01 -3.69088920e-03 9.94052030e-01 2.68206317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.405099893 meters 0.05360477683965846 Centerline is valid? [True, True] Translation: X:254.96, Y:42.38, Z:26.83 [[ 9.65558225e-01 -2.37867359e-01 -1.05434505e-01 2.54963209e+02] [ 2.36860279e-01 9.71291050e-01 -2.21563703e-02 4.23836936e+01] [ 1.07677868e-01 -3.57998062e-03 9.94179390e-01 2.68277208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.465099893 meters 0.055928745009575946 Centerline is valid? [True, True] Translation: X:255.03, Y:42.38, Z:26.83 [[ 9.65786218e-01 -2.36467982e-01 -1.06488849e-01 2.55026099e+02] [ 2.35432609e-01 9.71633111e-01 -2.23737255e-02 4.23788271e+01] [ 1.08758761e-01 -3.46271175e-03 9.94062142e-01 2.68309886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.525099893 meters 0.05407635875290202 Centerline is valid? [True, True] Translation: X:255.09, Y:42.40, Z:26.84 [[ 9.65736440e-01 -2.36726156e-01 -1.06366614e-01 2.55085361e+02] [ 2.35694828e-01 9.71570150e-01 -2.23470807e-02 4.23991707e+01] [ 1.08632765e-01 -3.48867052e-03 9.94075828e-01 2.68383197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.585099893 meters 0.051873977063150514 Centerline is valid? [True, True] Translation: X:255.14, Y:42.42, Z:26.84 [[ 9.65266482e-01 -2.38528281e-01 -1.06606178e-01 2.55143897e+02] [ 2.37503585e-01 9.71128492e-01 -2.23941934e-02 4.24183808e+01] [ 1.08869945e-01 -3.70298509e-03 9.94049105e-01 2.68447069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.645099893 meters 0.05396107700493601 Centerline is valid? [True, True] Translation: X:255.21, Y:42.42, Z:26.85 [[ 9.64981911e-01 -2.39711791e-01 -1.06527784e-01 2.55205256e+02] [ 2.38695977e-01 9.70836519e-01 -2.23759503e-02 4.24216366e+01] [ 1.08784843e-01 -3.83536630e-03 9.94057920e-01 2.68496544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.70509989299995 meters 0.05354321700555081 Centerline is valid? [True, True] Translation: X:255.27, Y:42.44, Z:26.86 [[ 9.65048943e-01 -2.39650563e-01 -1.06057275e-01 2.55265636e+02] [ 2.38643636e-01 9.70851720e-01 -2.22745051e-02 4.24361319e+01] [ 1.08303985e-01 -3.81390603e-03 9.94110507e-01 2.68574103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.76509989299996 meters 0.05421699539041258 Centerline is valid? [True, True] Translation: X:255.33, Y:42.45, Z:26.86 [[ 9.65216689e-01 -2.39499011e-01 -1.04866426e-01 2.55327339e+02] [ 2.38514068e-01 9.70889339e-01 -2.20211380e-02 4.24451502e+01] [ 1.07087736e-01 -3.75694800e-03 9.94242477e-01 2.68636048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.82509989299996 meters 0.053428696236403596 Centerline is valid? [True, True] Translation: X:255.39, Y:42.46, Z:26.87 [[ 9.65131072e-01 -2.40017436e-01 -1.04468393e-01 2.55386788e+02] [ 2.39043337e-01 9.70761128e-01 -2.19343351e-02 4.24624665e+01] [ 1.06678478e-01 -3.80296498e-03 9.94286297e-01 2.68705513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.88509989299996 meters 0.05437709296538768 Centerline is valid? [True, True] Translation: X:255.45, Y:42.47, Z:26.88 [[ 9.64476575e-01 -2.42424022e-01 -1.04954891e-01 2.55446278e+02] [ 2.41455339e-01 9.70161767e-01 -2.20332679e-02 4.24687215e+01] [ 1.07164615e-01 -4.09134794e-03 9.94232873e-01 2.68764219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.94509989299996 meters 0.053426861065221876 Centerline is valid? [True, True] Translation: X:255.50, Y:42.48, Z:26.88 [[ 9.63671579e-01 -2.45490611e-01 -1.05220946e-01 2.55504622e+02] [ 2.44535182e-01 9.69388784e-01 -2.20891353e-02 4.24831010e+01] [ 1.07422680e-01 -4.44355137e-03 9.94203512e-01 2.68827595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.00509989299997 meters 0.0517225749465026 Centerline is valid? [True, True] Translation: X:255.56, Y:42.50, Z:26.89 [[ 9.63359671e-01 -2.46792269e-01 -1.05031995e-01 2.55563511e+02] [ 2.45847993e-01 9.69057581e-01 -2.20492520e-02 4.25004633e+01] [ 1.07223636e-01 -4.58054510e-03 9.94224376e-01 2.68897893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.06509989299997 meters 0.054009025966606686 Centerline is valid? [True, True] Translation: X:255.63, Y:42.50, Z:26.89 [[ 9.63176407e-01 -2.47289461e-01 -1.05542084e-01 2.55625933e+02] [ 2.46339268e-01 9.68930437e-01 -2.21533921e-02 4.24991119e+01] [ 1.07741238e-01 -4.66153516e-03 9.94168042e-01 2.68948577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.12509989299997 meters 0.054232591373020264 Centerline is valid? [True, True] Translation: X:255.69, Y:42.51, Z:26.90 [[ 9.62934739e-01 -2.47991956e-01 -1.06097498e-01 2.55686945e+02] [ 2.47037178e-01 9.68750317e-01 -2.22588246e-02 4.25102101e+01] [ 1.08301994e-01 -4.77623099e-03 9.94106567e-01 2.69005073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.185099893 meters 0.05263262141573281 Centerline is valid? [True, True] Translation: X:255.75, Y:42.53, Z:26.91 [[ 9.62965027e-01 -2.48268286e-01 -1.05172312e-01 2.55745574e+02] [ 2.47332099e-01 9.68679578e-01 -2.20614769e-02 4.25297465e+01] [ 1.07355435e-01 -4.76805791e-03 9.94209272e-01 2.69080139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.245099893 meters 0.05695650093485006 Centerline is valid? [True, True] Translation: X:255.81, Y:42.52, Z:26.91 [[ 9.63352158e-01 -2.46862239e-01 -1.04936429e-01 2.55807882e+02] [ 2.45922309e-01 9.69039647e-01 -2.20086647e-02 4.25246996e+01] [ 1.07120669e-01 -4.60411428e-03 9.94235367e-01 2.69130218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.305099893 meters 0.054097259153106515 Centerline is valid? [True, True] Translation: X:255.87, Y:42.55, Z:26.92 [[ 9.64376643e-01 -2.43072562e-01 -1.04371550e-01 2.55865182e+02] [ 2.42120713e-01 9.69999184e-01 -2.18893529e-02 4.25473318e+01] [ 1.06561020e-01 -4.16093357e-03 9.94297458e-01 2.69198896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.365099893 meters 0.05215165794723127 Centerline is valid? [True, True] Translation: X:255.92, Y:42.57, Z:26.93 [[ 9.65545434e-01 -2.38288150e-01 -1.04598151e-01 2.55922139e+02] [ 2.37304220e-01 9.71187675e-01 -2.19364216e-02 4.25690232e+01] [ 1.06811624e-01 -3.64097084e-03 9.94272609e-01 2.69254070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.425099893 meters 0.05458435657577233 Centerline is valid? [True, True] Translation: X:255.98, Y:42.58, Z:26.93 [[ 9.66620843e-01 -2.33750924e-01 -1.04903059e-01 2.55981599e+02] [ 2.32734584e-01 9.72291414e-01 -2.20004663e-02 4.25750662e+01] [ 1.07138973e-01 -3.14846063e-03 9.94239070e-01 2.69301353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.485099893 meters 0.052719630116193066 Centerline is valid? [True, True] Translation: X:256.04, Y:42.59, Z:26.94 [[ 9.67100016e-01 -2.32139431e-01 -1.04061734e-01 2.56040354e+02] [ 2.31129979e-01 9.72678061e-01 -2.18247929e-02 4.25934757e+01] [ 1.06284960e-01 -2.94502873e-03 9.94331350e-01 2.69366966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.545099893 meters 0.05372375468615862 Centerline is valid? [True, True] Translation: X:256.10, Y:42.60, Z:26.94 [[ 9.67234960e-01 -2.31352728e-01 -1.04558349e-01 2.56101047e+02] [ 2.30329373e-01 9.72865688e-01 -2.19256367e-02 4.26031477e+01] [ 1.06793786e-01 -2.87561676e-03 9.94277033e-01 2.69422230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.605099893 meters 0.0527819938398414 Centerline is valid? [True, True] Translation: X:256.16, Y:42.62, Z:26.95 [[ 9.66959040e-01 -2.32470109e-01 -1.04632035e-01 2.56160641e+02] [ 2.31452269e-01 9.72598899e-01 -2.19369482e-02 4.26181545e+01] [ 1.06864686e-01 -3.00519149e-03 9.94269032e-01 2.69480654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.665099893 meters 0.052466698239931116 Centerline is valid? [True, True] Translation: X:256.22, Y:42.63, Z:26.96 [[ 9.66650095e-01 -2.33871895e-01 -1.04362495e-01 2.56219881e+02] [ 2.32867711e-01 9.72262303e-01 -2.18778986e-02 4.26345016e+01] [ 1.06584346e-01 -3.15438268e-03 9.94298661e-01 2.69550838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.725099893 meters 0.05270467382646151 Centerline is valid? [True, True] Translation: X:256.28, Y:42.65, Z:26.96 [[ 9.66518549e-01 -2.34638883e-01 -1.03858026e-01 2.56279894e+02] [ 2.33649096e-01 9.72077255e-01 -2.17694885e-02 4.26475769e+01] [ 1.06065993e-01 -3.22571941e-03 9.94353860e-01 2.69620648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.785099893 meters 0.05249085386133513 Centerline is valid? [True, True] Translation: X:256.34, Y:42.66, Z:26.97 [[ 9.66337242e-01 -2.35546600e-01 -1.03489775e-01 2.56340393e+02] [ 2.34569390e-01 9.71857396e-01 -2.16887877e-02 4.26589111e+01] [ 1.05686023e-01 -3.31685004e-03 9.94394018e-01 2.69687629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.845099893 meters 0.05586576126161561 Centerline is valid? [True, True] Translation: X:256.40, Y:42.66, Z:26.97 [[ 9.66391766e-01 -2.35186521e-01 -1.03799108e-01 2.56403401e+02] [ 2.34201761e-01 9.71944685e-01 -2.17500471e-02 4.26568024e+01] [ 1.06002309e-01 -3.29086754e-03 9.94360438e-01 2.69744506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.905099893 meters 0.05435607664899304 Centerline is valid? [True, True] Translation: X:256.46, Y:42.67, Z:26.98 [[ 9.66415676e-01 -2.34847503e-01 -1.04342664e-01 2.56463114e+02] [ 2.33851158e-01 9.72026701e-01 -2.18570106e-02 4.26718331e+01] [ 1.06556920e-01 -3.27769516e-03 9.94301202e-01 2.69811577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.965099893 meters 0.053665475603561504 Centerline is valid? [True, True] Translation: X:256.52, Y:42.69, Z:26.99 [[ 9.66116630e-01 -2.35940795e-01 -1.04645105e-01 2.56522291e+02] [ 2.34945393e-01 9.71761444e-01 -2.19170904e-02 4.26901191e+01] [ 1.06861214e-01 -3.41141986e-03 9.94268094e-01 2.69867950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.025099893 meters 0.0540604448654562 Centerline is valid? [True, True] Translation: X:256.58, Y:42.70, Z:26.99 [[ 9.65745128e-01 -2.37683634e-01 -1.04128950e-01 2.56581517e+02] [ 2.36708579e-01 9.71335987e-01 -2.18047985e-02 4.26983080e+01] [ 1.06326840e-01 -3.59033781e-03 9.94324752e-01 2.69928431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.085099893 meters 0.05355705018954809 Centerline is valid? [True, True] Translation: X:256.64, Y:42.71, Z:27.00 [[ 9.64859109e-01 -2.41221355e-01 -1.04207285e-01 2.56640369e+02] [ 2.40265355e-01 9.70461949e-01 -2.18212178e-02 4.27066415e+01] [ 1.06392949e-01 -3.98299961e-03 9.94316185e-01 2.69987147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.145099893 meters 0.05232391709908053 Centerline is valid? [True, True] Translation: X:256.70, Y:42.72, Z:27.00 [[ 9.63548400e-01 -2.45835180e-01 -1.05544040e-01 2.56699227e+02] [ 2.44881904e-01 9.69300967e-01 -2.21017814e-02 4.27206749e+01] [ 1.07737336e-01 -4.54968939e-03 9.94168983e-01 2.70040407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.20509989299995 meters 0.05170006105020948 Centerline is valid? [True, True] Translation: X:256.76, Y:42.74, Z:27.01 [[ 9.62082524e-01 -2.51544253e-01 -1.05464236e-01 2.56757276e+02] [ 2.50626596e-01 9.67831907e-01 -2.20841376e-02 4.27390705e+01] [ 1.07626791e-01 -5.18537961e-03 9.94177844e-01 2.70110812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.26509989299996 meters 0.05710078347936331 Centerline is valid? [True, True] Translation: X:256.82, Y:42.73, Z:27.01 [[ 9.60906195e-01 -2.55901075e-01 -1.05706789e-01 2.56820795e+02] [ 2.55005399e-01 9.66686249e-01 -2.21346463e-02 4.27254799e+01] [ 1.07849579e-01 -5.68648317e-03 9.94150960e-01 2.70149144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.32509989299996 meters 0.05376583338057693 Centerline is valid? [True, True] Translation: X:256.88, Y:42.75, Z:27.02 [[ 9.60707850e-01 -2.57200111e-01 -1.04348116e-01 2.56878479e+02] [ 2.56334878e-01 9.66341023e-01 -2.18507963e-02 4.27463108e+01] [ 1.06455893e-01 -5.75583009e-03 9.94300766e-01 2.70225120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.38509989299996 meters 0.0538200161484433 Centerline is valid? [True, True] Translation: X:256.94, Y:42.76, Z:27.03 [[ 9.60848510e-01 -2.56995967e-01 -1.03552946e-01 2.56938387e+02] [ 2.56142876e-01 9.66395721e-01 -2.16826503e-02 4.27600643e+01] [ 1.05645478e-01 -5.69060719e-03 9.94387575e-01 2.70299120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.44509989299996 meters 0.056632283558106566 Centerline is valid? [True, True] Translation: X:257.00, Y:42.76, Z:27.04 [[ 9.61522422e-01 -2.54856567e-01 -1.02580513e-01 2.56997885e+02] [ 2.54007657e-01 9.66963752e-01 -2.14758580e-02 4.27628290e+01] [ 1.04664901e-01 -5.40671664e-03 9.94492849e-01 2.70362248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.50509989299997 meters 0.05401741119451057 Centerline is valid? [True, True] Translation: X:257.06, Y:42.78, Z:27.04 [[ 9.61884521e-01 -2.53703166e-01 -1.02043484e-01 2.57055950e+02] [ 2.52856596e-01 9.67267861e-01 -2.13641525e-02 4.27828224e+01] [ 1.04123536e-01 -5.25252056e-03 9.94550502e-01 2.70432372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.56509989299997 meters 0.05228147246477639 Centerline is valid? [True, True] Translation: X:257.11, Y:42.81, Z:27.05 [[ 9.61973667e-01 -2.52894402e-01 -1.03204097e-01 2.57113121e+02] [ 2.52023990e-01 9.67479773e-01 -2.16055067e-02 4.28078607e+01] [ 1.05311788e-01 -5.22597969e-03 9.94425521e-01 2.70495922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.62509989299997 meters 0.05538150731389181 Centerline is valid? [True, True] Translation: X:257.18, Y:42.80, Z:27.05 [[ 9.62093249e-01 -2.51613441e-01 -1.05201025e-01 2.57176023e+02] [ 2.50701650e-01 9.67813909e-01 -2.20209138e-02 4.28044462e+01] [ 1.07355773e-01 -5.18789813e-03 9.94207133e-01 2.70534156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.685099893 meters 0.052494124881717674 Centerline is valid? [True, True] Translation: X:257.23, Y:42.84, Z:27.06 [[ 9.62805855e-01 -2.48466136e-01 -1.06157738e-01 2.57231554e+02] [ 2.47518816e-01 9.68628275e-01 -2.22193914e-02 4.28350807e+01] [ 1.08348153e-01 -4.88307738e-03 9.94101018e-01 2.70600212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.745099893 meters 0.05270175994028091 Centerline is valid? [True, True] Translation: X:257.29, Y:42.85, Z:27.07 [[ 9.63077990e-01 -2.47258113e-01 -1.06509210e-01 2.57291342e+02] [ 2.46297346e-01 9.68937935e-01 -2.22911488e-02 4.28451036e+01] [ 1.08712481e-01 -4.76482086e-03 9.94061815e-01 2.70661296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.805099893 meters 0.05270155786778934 Centerline is valid? [True, True] Translation: X:257.35, Y:42.86, Z:27.07 [[ 9.63677834e-01 -2.44822002e-01 -1.06710920e-01 2.57349438e+02] [ 2.43842905e-01 9.69557598e-01 -2.23316323e-02 4.28567408e+01] [ 1.08929659e-01 -4.50020180e-03 9.94039274e-01 2.70724343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.865099893 meters 0.05447347558949166 Centerline is valid? [True, True] Translation: X:257.41, Y:42.86, Z:27.08 [[ 9.64675169e-01 -2.41365170e-01 -1.05568334e-01 2.57408377e+02] [ 2.40386329e-01 9.70425850e-01 -2.20925835e-02 4.28648318e+01] [ 1.07778621e-01 -4.06501769e-03 9.94166608e-01 2.70793276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.925099893 meters 0.05244188818025496 Centerline is valid? [True, True] Translation: X:257.46, Y:42.89, Z:27.09 [[ 9.65693689e-01 -2.37811482e-01 -1.04313938e-01 2.57463927e+02] [ 2.36835047e-01 9.71304572e-01 -2.18309190e-02 4.28908596e+01] [ 1.06512248e-01 -3.62321566e-03 9.94304789e-01 2.70870451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.985099893 meters 0.05349641516641995 Centerline is valid? [True, True] Translation: X:257.52, Y:42.90, Z:27.09 [[ 9.66352923e-01 -2.35448280e-01 -1.03567056e-01 2.57522555e+02] [ 2.34472299e-01 9.71881146e-01 -2.16743922e-02 4.29007853e+01] [ 1.05758068e-01 -3.33849341e-03 9.94386286e-01 2.70939521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.045099893 meters 0.05376313189955121 Centerline is valid? [True, True] Translation: X:257.58, Y:42.91, Z:27.10 [[ 9.66278324e-01 -2.35806356e-01 -1.03448363e-01 2.57582782e+02] [ 2.34834663e-01 9.71794207e-01 -2.16495003e-02 4.29136273e+01] [ 1.05635609e-01 -3.37381861e-03 9.94399183e-01 2.71004344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.105099893 meters 0.0523997380594569 Centerline is valid? [True, True] Translation: X:257.64, Y:42.93, Z:27.11 [[ 9.66031552e-01 -2.36651075e-01 -1.03823450e-01 2.57641795e+02] [ 2.35677523e-01 9.71588464e-01 -2.17246765e-02 4.29331971e+01] [ 1.06014834e-01 -3.48213048e-03 9.94358451e-01 2.71067153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.165099893 meters 0.05250244078349981 Centerline is valid? [True, True] Translation: X:257.70, Y:42.94, Z:27.11 [[ 9.65749298e-01 -2.37557653e-01 -1.04377464e-01 2.57702370e+02] [ 2.36579318e-01 9.71366753e-01 -2.18370509e-02 4.29448464e+01] [ 1.06576357e-01 -3.60443275e-03 9.94297988e-01 2.71122860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.225099893 meters 0.05268645891981497 Centerline is valid? [True, True] Translation: X:257.76, Y:42.96, Z:27.12 [[ 9.65970038e-01 -2.36074586e-01 -1.05691419e-01 2.57761370e+02] [ 2.35063050e-01 9.71728675e-01 -2.21075828e-02 4.29572026e+01] [ 1.07922421e-01 -3.48888460e-03 9.94153197e-01 2.71182478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.285099893 meters 0.05224822491627402 Centerline is valid? [True, True] Translation: X:257.82, Y:42.98, Z:27.13 [[ 9.66606376e-01 -2.33713152e-01 -1.05120295e-01 2.57819263e+02] [ 2.32698716e-01 9.72300298e-01 -2.19872420e-02 4.29765893e+01] [ 1.07347201e-01 -3.20834930e-03 9.94216418e-01 2.71252200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.345099893 meters 0.05337719447849745 Centerline is valid? [True, True] Translation: X:257.88, Y:42.99, Z:27.13 [[ 9.67681596e-01 -2.29744028e-01 -1.03971201e-01 2.57878645e+02] [ 2.28728937e-01 9.73247237e-01 -2.17460081e-02 4.29886183e+01] [ 1.06185700e-01 -2.73801049e-03 9.94342547e-01 2.71317942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.405099893 meters 0.053361088312249096 Centerline is valid? [True, True] Translation: X:257.94, Y:43.00, Z:27.14 [[ 9.68581823e-01 -2.25666003e-01 -1.04518457e-01 2.57937530e+02] [ 2.24616636e-01 9.74202004e-01 -2.18591213e-02 4.29979074e+01] [ 1.06754951e-01 -2.30423674e-03 9.94282692e-01 2.71376202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.465099893 meters 0.05286293981586938 Centerline is valid? [True, True] Translation: X:258.00, Y:43.01, Z:27.14 [[ 9.68991907e-01 -2.23513255e-01 -1.05339968e-01 2.57997043e+02] [ 2.22434612e-01 9.74698663e-01 -2.20308778e-02 4.30128057e+01] [ 1.07598919e-01 -2.08351264e-03 9.94192201e-01 2.71437616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.525099893 meters 0.0528072837963241 Centerline is valid? [True, True] Translation: X:258.06, Y:43.03, Z:27.15 [[ 9.69763539e-01 -2.20628154e-01 -1.04316327e-01 2.58056364e+02] [ 2.19553949e-01 9.75356429e-01 -2.18151254e-02 4.30299915e+01] [ 1.06558631e-01 -1.74754843e-03 9.94304885e-01 2.71512195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.585099893 meters 0.05331526241919046 Centerline is valid? [True, True] Translation: X:258.12, Y:43.04, Z:27.16 [[ 9.70556629e-01 -2.17442924e-01 -1.03626276e-01 2.58115924e+02] [ 2.16365165e-01 9.76072046e-01 -2.16674266e-02 4.30433729e+01] [ 1.05858140e-01 -1.39165170e-03 9.94380268e-01 2.71578408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.645099893 meters 0.05295344388776491 Centerline is valid? [True, True] Translation: X:258.18, Y:43.06, Z:27.17 [[ 9.70956778e-01 -2.15658819e-01 -1.03606032e-01 2.58175960e+02] [ 2.14571539e-01 9.76468042e-01 -2.16614246e-02 4.30588571e+01] [ 1.05839456e-01 -1.19859871e-03 9.94382508e-01 2.71650162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.70509989299995 meters 0.052883480796607645 Centerline is valid? [True, True] Translation: X:258.24, Y:43.07, Z:27.17 [[ 9.70943183e-01 -2.15010023e-01 -1.05071529e-01 2.58236872e+02] [ 2.13888301e-01 9.76611168e-01 -2.19641034e-02 4.30717027e+01] [ 1.07336531e-01 -1.14767436e-03 9.94222084e-01 2.71703601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.76509989299996 meters 0.053339343917986 Centerline is valid? [True, True] Translation: X:258.30, Y:43.08, Z:27.17 [[ 9.70443644e-01 -2.16855852e-01 -1.05889909e-01 2.58297194e+02] [ 2.15727897e-01 9.76202681e-01 -2.21314469e-02 4.30791953e+01] [ 1.08169347e-01 -1.36608549e-03 9.94131544e-01 2.71747583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.82509989299996 meters 0.05324030189471439 Centerline is valid? [True, True] Translation: X:258.36, Y:43.09, Z:27.18 [[ 9.69358848e-01 -2.21097434e-01 -1.07048350e-01 2.58357148e+02] [ 2.19970565e-01 9.75249948e-01 -2.23716426e-02 4.30914879e+01] [ 1.09345211e-01 -1.86133644e-03 9.94002093e-01 2.71815075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.88509989299996 meters 0.05300716446305617 Centerline is valid? [True, True] Translation: X:258.42, Y:43.10, Z:27.19 [[ 9.68489600e-01 -2.24858403e-01 -1.07082178e-01 2.58416819e+02] [ 2.23753906e-01 9.74388764e-01 -2.23769285e-02 4.31030556e+01] [ 1.09371311e-01 -2.28823292e-03 9.93998330e-01 2.71878252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.94509989299996 meters 0.05426820938602405 Centerline is valid? [True, True] Translation: X:258.48, Y:43.10, Z:27.19 [[ 9.67260820e-01 -2.30240433e-01 -1.06751340e-01 2.58478511e+02] [ 2.29175474e-01 9.73129489e-01 -2.23069605e-02 4.31006888e+01] [ 1.09018842e-01 -2.88814008e-03 9.94035488e-01 2.71921685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.00509989299997 meters 0.054220857283093435 Centerline is valid? [True, True] Translation: X:258.54, Y:43.11, Z:27.20 [[ 9.65944340e-01 -2.36180188e-01 -1.05690353e-01 2.58537675e+02] [ 2.35171627e-01 9.71702895e-01 -2.20859377e-02 4.31115825e+01] [ 1.07915883e-01 -3.52158580e-03 9.94153791e-01 2.71994079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.06509989299997 meters 0.05331970827255911 Centerline is valid? [True, True] Translation: X:258.60, Y:43.12, Z:27.21 [[ 9.64811419e-01 -2.41230694e-01 -1.04626372e-01 2.58597717e+02] [ 2.40271967e-01 9.70459370e-01 -2.18630276e-02 4.31212125e+01] [ 1.06809676e-01 -4.04508553e-03 9.94271256e-01 2.72062782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.12509989299997 meters 0.052427873048245865 Centerline is valid? [True, True] Translation: X:258.66, Y:43.14, Z:27.21 [[ 9.64220275e-01 -2.43607528e-01 -1.04568794e-01 2.58656191e+02] [ 2.42663849e-01 9.69864333e-01 -2.18501996e-02 4.31391721e+01] [ 1.06740417e-01 -4.30666068e-03 9.94277595e-01 2.72130548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.185099893 meters 0.05238072202523562 Centerline is valid? [True, True] Translation: X:258.72, Y:43.15, Z:27.22 [[ 9.63396333e-01 -2.46288079e-01 -1.05875814e-01 2.58715929e+02] [ 2.45336819e-01 9.69185453e-01 -2.21224465e-02 4.31485420e+01] [ 1.08061794e-01 -4.66255161e-03 9.94133245e-01 2.72183198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.245099893 meters 0.05217744748616442 Centerline is valid? [True, True] Translation: X:258.78, Y:43.16, Z:27.22 [[ 9.62688302e-01 -2.48474529e-01 -1.07199078e-01 2.58775202e+02] [ 2.47512810e-01 9.68625679e-01 -2.23987294e-02 4.31616479e+01] [ 1.09401293e-01 -4.97015012e-03 9.93985239e-01 2.72236243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.305099893 meters 0.053635432264189854 Centerline is valid? [True, True] Translation: X:258.84, Y:43.16, Z:27.23 [[ 9.62128389e-01 -2.49842852e-01 -1.09029872e-01 2.58836121e+02] [ 2.48856742e-01 9.68272356e-01 -2.27808269e-02 4.31621097e+01] [ 1.11262238e-01 -5.21473858e-03 9.93777400e-01 2.72267311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.365099893 meters 0.05381423548143154 Centerline is valid? [True, True] Translation: X:258.90, Y:43.18, Z:27.23 [[ 9.62090050e-01 -2.49774271e-01 -1.09524192e-01 2.58896356e+02] [ 2.48778774e-01 9.68289962e-01 -2.28838612e-02 4.31754187e+01] [ 1.11766975e-01 -5.23095888e-03 9.93720675e-01 2.72332366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.425099893 meters 0.05311107941513036 Centerline is valid? [True, True] Translation: X:258.95, Y:43.19, Z:27.24 [[ 9.62687575e-01 -2.47870499e-01 -1.08594880e-01 2.58954145e+02] [ 2.46880180e-01 9.68780425e-01 -2.26862083e-02 4.31873789e+01] [ 1.10827836e-01 -4.97019267e-03 9.93827192e-01 2.72402634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.485099893 meters 0.05184059291484976 Centerline is valid? [True, True] Translation: X:259.01, Y:43.21, Z:27.25 [[ 9.63681387e-01 -2.44680369e-01 -1.07003275e-01 2.59010897e+02] [ 2.43699678e-01 9.69593175e-01 -2.23504565e-02 4.32084567e+01] [ 1.09218363e-01 -4.53794460e-03 9.94007423e-01 2.72488960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.545099893 meters 0.05261823338184459 Centerline is valid? [True, True] Translation: X:259.07, Y:43.23, Z:27.26 [[ 9.64469393e-01 -2.42041211e-01 -1.05900152e-01 2.59068517e+02] [ 2.41064909e-01 9.70256899e-01 -2.21192143e-02 4.32258758e+01] [ 1.08104115e-01 -4.19550551e-03 9.94130725e-01 2.72557535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.605099893 meters 0.052098819390734456 Centerline is valid? [True, True] Translation: X:259.13, Y:43.24, Z:27.26 [[ 9.64724811e-01 -2.41343514e-01 -1.05163430e-01 2.59128826e+02] [ 2.40376700e-01 9.70431136e-01 -2.19648048e-02 4.32382200e+01] [ 1.07354930e-01 -4.08884603e-03 9.94212352e-01 2.72625204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.665099893 meters 0.05392559532349728 Centerline is valid? [True, True] Translation: X:259.19, Y:43.24, Z:27.27 [[ 9.64851311e-01 -2.40888965e-01 -1.05045007e-01 2.59190873e+02] [ 2.39922150e-01 9.70544280e-01 -2.19354186e-02 4.32386156e+01] [ 1.07234831e-01 -4.03820660e-03 9.94225520e-01 2.72678753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.725099893 meters 0.05250807436274284 Centerline is valid? [True, True] Translation: X:259.25, Y:43.26, Z:27.27 [[ 9.64548639e-01 -2.41878360e-01 -1.05549901e-01 2.59248601e+02] [ 2.40909341e-01 9.70297579e-01 -2.20294872e-02 4.32614537e+01] [ 1.07743269e-01 -4.17944512e-03 9.94169965e-01 2.72746547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.785099893 meters 0.05562066447107013 Centerline is valid? [True, True] Translation: X:259.31, Y:43.26, Z:27.28 [[ 9.64027909e-01 -2.43065157e-01 -1.07561707e-01 2.59310906e+02] [ 2.42066551e-01 9.69999989e-01 -2.24456175e-02 4.32567772e+01] [ 1.09790602e-01 -4.39888961e-03 9.93945005e-01 2.72777167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.845099893 meters 0.05262946856624491 Centerline is valid? [True, True] Translation: X:259.37, Y:43.28, Z:27.29 [[ 9.63737313e-01 -2.44148145e-01 -1.07712924e-01 2.59368421e+02] [ 2.43153955e-01 9.69727350e-01 -2.24726536e-02 4.32842269e+01] [ 1.09938825e-01 -4.53308859e-03 9.93928018e-01 2.72858584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.905099893 meters 0.05290945114409721 Centerline is valid? [True, True] Translation: X:259.43, Y:43.29, Z:27.29 [[ 9.63414790e-01 -2.45518338e-01 -1.07483431e-01 2.59427571e+02] [ 2.44537342e-01 9.69380632e-01 -2.24204813e-02 4.32926245e+01] [ 1.09696995e-01 -4.68348915e-03 9.93954040e-01 2.72914695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.965099893 meters 0.05509205726625173 Centerline is valid? [True, True] Translation: X:259.49, Y:43.29, Z:27.30 [[ 9.63572985e-01 -2.45675463e-01 -1.05691384e-01 2.59490333e+02] [ 2.44727909e-01 9.69341118e-01 -2.20465097e-02 4.32934352e+01] [ 1.07867291e-01 -4.62221028e-03 9.94154557e-01 2.72976848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.025099893 meters 0.05304751940799431 Centerline is valid? [True, True] Translation: X:259.55, Y:43.32, Z:27.31 [[ 9.63484135e-01 -2.46580199e-01 -1.04386427e-01 2.59548326e+02] [ 2.45661669e-01 9.69111144e-01 -2.17700523e-02 4.33152922e+01] [ 1.06530114e-01 -4.66864397e-03 9.94298516e-01 2.73053332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.085099893 meters 0.05246807777166143 Centerline is valid? [True, True] Translation: X:259.61, Y:43.33, Z:27.31 [[ 9.63160414e-01 -2.48127932e-01 -1.03704132e-01 2.59606701e+02] [ 2.47230658e-01 9.68715326e-01 -2.16244751e-02 4.33310717e+01] [ 1.05825418e-01 -4.81100242e-03 9.94373086e-01 2.73118751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.145099893 meters 0.05326874852834743 Centerline is valid? [True, True] Translation: X:259.67, Y:43.33, Z:27.32 [[ 9.62885580e-01 -2.48979544e-01 -1.04213947e-01 2.59667920e+02] [ 2.48078472e-01 9.68496197e-01 -2.17298918e-02 4.33329365e+01] [ 1.06341110e-01 -4.92983736e-03 9.94317487e-01 2.73178027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.20509989299995 meters 0.05522170920148989 Centerline is valid? [True, True] Translation: X:259.73, Y:43.34, Z:27.33 [[ 9.62794464e-01 -2.49746572e-01 -1.03215643e-01 2.59729626e+02] [ 2.48867266e-01 9.68298493e-01 -2.15200257e-02 4.33402532e+01] [ 1.05318104e-01 -4.96763329e-03 9.94426176e-01 2.73250821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.26509989299996 meters 0.05216305573935021 Centerline is valid? [True, True] Translation: X:259.79, Y:43.36, Z:27.33 [[ 9.62930741e-01 -2.49212619e-01 -1.03234967e-01 2.59787380e+02] [ 2.48330268e-01 9.68436333e-01 -2.15208667e-02 4.33644769e+01] [ 1.05339764e-01 -4.91326290e-03 9.94424152e-01 2.73316198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.32509989299996 meters 0.05183180902310697 Centerline is valid? [True, True] Translation: X:259.85, Y:43.38, Z:27.34 [[ 9.63421088e-01 -2.46942539e-01 -1.04111427e-01 2.59845479e+02] [ 2.46032298e-01 9.69018686e-01 -2.17001242e-02 4.33817847e+01] [ 1.06244602e-01 -4.70841638e-03 9.94328877e-01 2.73373308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.38509989299996 meters 0.054154886943678704 Centerline is valid? [True, True] Translation: X:259.91, Y:43.38, Z:27.34 [[ 9.64323761e-01 -2.43569375e-01 -1.03699779e-01 2.59906482e+02] [ 2.42647085e-01 9.69873852e-01 -2.16125635e-02 4.33821337e+01] [ 1.05839863e-01 -4.32094059e-03 9.94373799e-01 2.73429821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.44509989299996 meters 0.05479676280345265 Centerline is valid? [True, True] Translation: X:259.97, Y:43.39, Z:27.35 [[ 9.65434748e-01 -2.39362872e-01 -1.03156010e-01 2.59966768e+02] [ 2.38426312e-01 9.70922591e-01 -2.14992171e-02 4.33890372e+01] [ 1.05302615e-01 -3.83901571e-03 9.94432814e-01 2.73490290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.50509989299997 meters 0.05347177336973899 Centerline is valid? [True, True] Translation: X:260.02, Y:43.41, Z:27.36 [[ 9.66304772e-01 -2.35879259e-01 -1.03034275e-01 2.60023991e+02] [ 2.34925327e-01 9.71776223e-01 -2.14723777e-02 4.34079938e+01] [ 1.05191147e-01 -3.45649979e-03 9.94446014e-01 2.73555521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.56509989299997 meters 0.053322498780943556 Centerline is valid? [True, True] Translation: X:260.08, Y:43.43, Z:27.36 [[ 9.66603653e-01 -2.34579438e-01 -1.03198180e-01 2.60082140e+02] [ 2.33615090e-01 9.72091283e-01 -2.15064600e-02 4.34261486e+01] [ 1.05363025e-01 -3.32042934e-03 9.94428282e-01 2.73622706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.62509989299997 meters 0.052738089525048645 Centerline is valid? [True, True] Translation: X:260.14, Y:43.44, Z:27.37 [[ 9.66697010e-01 -2.33491634e-01 -1.04778566e-01 2.60142615e+02] [ 2.32491389e-01 9.72353366e-01 -2.18331417e-02 4.34407063e+01] [ 1.06979647e-01 -3.25408162e-03 9.94255886e-01 2.73676404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.685099893 meters 0.054299915402912347 Centerline is valid? [True, True] Translation: X:260.20, Y:43.45, Z:27.37 [[ 9.67241808e-01 -2.30758444e-01 -1.05800876e-01 2.60202763e+02] [ 2.29722721e-01 9.73006490e-01 -2.20418235e-02 4.34463923e+01] [ 1.08031276e-01 -2.98509198e-03 9.94143014e-01 2.73725951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.745099893 meters 0.053805149181791405 Centerline is valid? [True, True] Translation: X:260.26, Y:43.46, Z:27.38 [[ 9.67626593e-01 -2.29306908e-01 -1.05437746e-01 2.60261141e+02] [ 2.28269711e-01 9.73350105e-01 -2.19661436e-02 4.34634391e+01] [ 1.07664830e-01 -2.81321918e-03 9.94183268e-01 2.73788468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.805099893 meters 0.05368992714472997 Centerline is valid? [True, True] Translation: X:260.32, Y:43.48, Z:27.39 [[ 9.68069002e-01 -2.27623474e-01 -1.05023626e-01 2.60320165e+02] [ 2.26584638e-01 9.73745711e-01 -2.18790573e-02 4.34772001e+01] [ 1.07246492e-01 -2.61630304e-03 9.94229020e-01 2.73861413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.865099893 meters 0.05438168804772369 Centerline is valid? [True, True] Translation: X:260.38, Y:43.49, Z:27.39 [[ 9.67806457e-01 -2.28489326e-01 -1.05561777e-01 2.60378945e+02] [ 2.27445007e-01 9.73542598e-01 -2.19904011e-02 4.34884669e+01] [ 1.07793459e-01 -2.72704694e-03 9.94169570e-01 2.73910903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.925099893 meters 0.05499601175298044 Centerline is valid? [True, True] Translation: X:260.44, Y:43.50, Z:27.40 [[ 9.67557092e-01 -2.29948948e-01 -1.04674516e-01 2.60436385e+02] [ 2.28930536e-01 9.73198479e-01 -2.18066698e-02 4.34984334e+01] [ 1.06883501e-01 -2.86399519e-03 9.94267426e-01 2.73980257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.985099893 meters 0.0541263961265827 Centerline is valid? [True, True] Translation: X:260.49, Y:43.51, Z:27.41 [[ 9.66430010e-01 -2.34797274e-01 -1.04322945e-01 2.60493977e+02] [ 2.33812615e-01 9.72038494e-01 -2.17446016e-02 4.35138365e+01] [ 1.06511492e-01 -3.37738514e-03 9.94305735e-01 2.74056537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.045099893 meters 0.052468411385756336 Centerline is valid? [True, True] Translation: X:260.55, Y:43.54, Z:27.41 [[ 9.65723157e-01 -2.37485544e-01 -1.04782635e-01 2.60551341e+02] [ 2.36507937e-01 9.71384063e-01 -2.18402667e-02 4.35357176e+01] [ 1.06970930e-01 -3.69027366e-03 9.94255300e-01 2.74131918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.105099893 meters 0.05460540385853272 Centerline is valid? [True, True] Translation: X:260.61, Y:43.54, Z:27.42 [[ 9.64639510e-01 -2.41094687e-01 -1.06508064e-01 2.60612080e+02] [ 2.40106535e-01 9.70492686e-01 -2.21990666e-02 4.35350560e+01] [ 1.08717374e-01 -4.15918557e-03 9.94063999e-01 2.74177626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.165099893 meters 0.056943862653149 Centerline is valid? [True, True] Translation: X:260.67, Y:43.54, Z:27.42 [[ 9.64296443e-01 -2.42341378e-01 -1.06784954e-01 2.60672957e+02] [ 2.41355610e-01 9.70181466e-01 -2.22574193e-02 4.35410831e+01] [ 1.08994677e-01 -4.31039753e-03 9.94032988e-01 2.74232269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.225099893 meters 0.05355773318723987 Centerline is valid? [True, True] Translation: X:260.73, Y:43.57, Z:27.43 [[ 9.65159235e-01 -2.39301219e-01 -1.05842230e-01 2.60729041e+02] [ 2.38314761e-01 9.70937412e-01 -2.20593794e-02 4.35678310e+01] [ 1.08045017e-01 -3.93295203e-03 9.94138223e-01 2.74320206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.285099893 meters 0.05453118717925623 Centerline is valid? [True, True] Translation: X:260.79, Y:43.58, Z:27.44 [[ 9.66277414e-01 -2.35208443e-01 -1.04809097e-01 2.60787888e+02] [ 2.34216927e-01 9.71938869e-01 -2.18463964e-02 4.35767578e+01] [ 1.07006492e-01 -3.43838517e-03 9.94252377e-01 2.74391634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.345099893 meters 0.0530410883042811 Centerline is valid? [True, True] Translation: X:260.85, Y:43.60, Z:27.45 [[ 9.67711536e-01 -2.28777594e-01 -1.05807352e-01 2.60845164e+02] [ 2.27728716e-01 9.73474824e-01 -2.20544527e-02 4.36001841e+01] [ 1.08046358e-01 -2.75302408e-03 9.94142045e-01 2.74451074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.405099893 meters 0.053142625342584716 Centerline is valid? [True, True] Translation: X:260.90, Y:43.61, Z:27.45 [[ 9.68421986e-01 -2.25332301e-01 -1.06696815e-01 2.60904549e+02] [ 2.24245001e-01 9.74279037e-01 -2.22382211e-02 4.36137449e+01] [ 1.08963460e-01 -2.39024519e-03 9.94042882e-01 2.74508626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.465099893 meters 0.05389962673553183 Centerline is valid? [True, True] Translation: X:260.96, Y:43.62, Z:27.46 [[ 9.69192395e-01 -2.21951570e-01 -1.06787654e-01 2.60963772e+02] [ 2.20842047e-01 9.75055614e-01 -2.22562431e-02 4.36247368e+01] [ 1.09063709e-01 -2.01262251e-03 9.94032724e-01 2.74573462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.525099893 meters 0.05342072430149039 Centerline is valid? [True, True] Translation: X:261.02, Y:43.64, Z:27.47 [[ 9.69287109e-01 -2.21668830e-01 -1.06514930e-01 2.61022975e+02] [ 2.20563475e-01 9.75120003e-01 -2.21976094e-02 4.36435116e+01] [ 1.08785357e-01 -1.97744652e-03 9.94063296e-01 2.74659883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.585099893 meters 0.053605749040404396 Centerline is valid? [True, True] Translation: X:261.08, Y:43.65, Z:27.47 [[ 9.69327880e-01 -2.21112578e-01 -1.07297197e-01 2.61083065e+02] [ 2.19987895e-01 9.75246375e-01 -2.23569772e-02 4.36539517e+01] [ 1.09584612e-01 -1.93284324e-03 9.93975592e-01 2.74717495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.645099893 meters 0.05362211699581272 Centerline is valid? [True, True] Translation: X:261.14, Y:43.66, Z:27.48 [[ 9.69280732e-01 -2.21871608e-01 -1.06150136e-01 2.61143108e+02] [ 2.20775818e-01 9.75073837e-01 -2.21144658e-02 4.36641510e+01] [ 1.08410792e-01 -2.00025752e-03 9.94104169e-01 2.74789868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.70509989299995 meters 0.05470367116705688 Centerline is valid? [True, True] Translation: X:261.20, Y:43.67, Z:27.48 [[ 9.68835811e-01 -2.24120448e-01 -1.05485528e-01 2.61203278e+02] [ 2.23051922e-01 9.74558878e-01 -2.19734687e-02 4.36699857e+01] [ 1.07726562e-01 -2.24006643e-03 9.94178037e-01 2.74847887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.76509989299996 meters 0.054292311719075545 Centerline is valid? [True, True] Translation: X:261.26, Y:43.68, Z:27.49 [[ 9.67075256e-01 -2.31279916e-01 -1.06184034e-01 2.61262190e+02] [ 2.30240084e-01 9.72882446e-01 -2.21189818e-02 4.36834557e+01] [ 1.08420259e-01 -3.05710082e-03 9.94100448e-01 2.74912987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.82509989299996 meters 0.055645893018989076 Centerline is valid? [True, True] Translation: X:261.32, Y:43.69, Z:27.50 [[ 9.65879377e-01 -2.36109103e-01 -1.06440224e-01 2.61322667e+02] [ 2.35093386e-01 9.71719856e-01 -2.21725368e-02 4.36886799e+01] [ 1.08665217e-01 -3.60739674e-03 9.94071857e-01 2.74963652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.88509989299996 meters 0.05338622620486273 Centerline is valid? [True, True] Translation: X:261.38, Y:43.70, Z:27.50 [[ 9.64521617e-01 -2.41237044e-01 -1.07250824e-01 2.61381098e+02] [ 2.40237344e-01 9.70457058e-01 -2.23409123e-02 4.37049588e+01] [ 1.09471775e-01 -4.21736028e-03 9.93980958e-01 2.75034319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.94509989299996 meters 0.053309203840018665 Centerline is valid? [True, True] Translation: X:261.44, Y:43.72, Z:27.51 [[ 9.63086015e-01 -2.47086661e-01 -1.06834032e-01 2.61439357e+02] [ 2.46130578e-01 9.68981182e-01 -2.22532742e-02 4.37195092e+01] [ 1.09018654e-01 -4.86330499e-03 9.94027807e-01 2.75099450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.00509989299997 meters 0.057514096137094475 Centerline is valid? [True, True] Translation: X:261.50, Y:43.71, Z:27.52 [[ 9.62425796e-01 -2.50051699e-01 -1.05880762e-01 2.61501324e+02] [ 2.49130476e-01 9.68218778e-01 -2.20545556e-02 4.37120684e+01] [ 1.08030521e-01 -5.15225143e-03 9.94134227e-01 2.75152503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.06509989299997 meters 0.054540873324650296 Centerline is valid? [True, True] Translation: X:261.56, Y:43.74, Z:27.52 [[ 9.62366924e-01 -2.50121693e-01 -1.06249901e-01 2.61559259e+02] [ 2.49194397e-01 9.68200562e-01 -2.21319603e-02 4.37358931e+01] [ 1.08406898e-01 -5.17781354e-03 9.94093122e-01 2.75225698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.12509989299997 meters 0.05443659703784927 Centerline is valid? [True, True] Translation: X:261.62, Y:43.75, Z:27.53 [[ 9.62279196e-01 -2.49834315e-01 -1.07710558e-01 2.61620196e+02] [ 2.48880002e-01 9.68274524e-01 -2.24319176e-02 4.37493491e+01] [ 1.09897652e-01 -5.22123622e-03 9.93929195e-01 2.75284829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.185099893 meters 0.05550368830795551 Centerline is valid? [True, True] Translation: X:261.68, Y:43.76, Z:27.53 [[ 9.61768763e-01 -2.51118812e-01 -1.09271171e-01 2.61679338e+02] [ 2.50145310e-01 9.67940924e-01 -2.27528451e-02 4.37567073e+01] [ 1.11481705e-01 -5.45069518e-03 9.93751538e-01 2.75337309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.245099893 meters 0.053987324199991645 Centerline is valid? [True, True] Translation: X:261.74, Y:43.78, Z:27.54 [[ 9.61602126e-01 -2.51666655e-01 -1.09477150e-01 2.61737975e+02] [ 2.50693032e-01 9.67798207e-01 -2.27954897e-02 4.37775569e+01] [ 1.11688654e-01 -5.52496724e-03 9.93727890e-01 2.75413038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.305099893 meters 0.05439888363477153 Centerline is valid? [True, True] Translation: X:261.80, Y:43.79, Z:27.55 [[ 9.61416235e-01 -2.52357720e-01 -1.09518965e-01 2.61798665e+02] [ 2.51388197e-01 9.67617745e-01 -2.28007448e-02 4.37856274e+01] [ 1.11726438e-01 -5.61076899e-03 9.93723162e-01 2.75470892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.365099893 meters 0.054126917233080205 Centerline is valid? [True, True] Translation: X:261.86, Y:43.80, Z:27.55 [[ 9.61994803e-01 -2.50741159e-01 -1.08142823e-01 2.61857299e+02] [ 2.49785986e-01 9.68039349e-01 -2.25117804e-02 4.38024996e+01] [ 1.10331138e-01 -5.35634590e-03 9.93880450e-01 2.75542417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.425099893 meters 0.05279924090478709 Centerline is valid? [True, True] Translation: X:261.92, Y:43.82, Z:27.56 [[ 9.62562520e-01 -2.48721190e-01 -1.07755119e-01 2.61915182e+02] [ 2.47760359e-01 9.68561660e-01 -2.24302316e-02 4.38202760e+01] [ 1.09946351e-01 -5.10694679e-03 9.93924403e-01 2.75615174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.485099893 meters 0.05511944735514298 Centerline is valid? [True, True] Translation: X:261.98, Y:43.82, Z:27.57 [[ 9.63162121e-01 -2.46038465e-01 -1.08553227e-01 2.61975276e+02] [ 2.45046452e-01 9.69247994e-01 -2.25956262e-02 4.38238153e+01] [ 1.10774391e-01 -4.83733193e-03 9.93833806e-01 2.75657409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.545099893 meters 0.05257706271103365 Centerline is valid? [True, True] Translation: X:262.03, Y:43.85, Z:27.57 [[ 9.63256546e-01 -2.46089844e-01 -1.07594680e-01 2.62034083e+02] [ 2.45115621e-01 9.69235136e-01 -2.23960599e-02 4.38494901e+01] [ 1.09795988e-01 -4.79998567e-03 9.93942554e-01 2.75746272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.605099893 meters 0.05300936727949153 Centerline is valid? [True, True] Translation: X:262.09, Y:43.86, Z:27.58 [[ 9.63027817e-01 -2.46741358e-01 -1.08148626e-01 2.62094718e+02] [ 2.45762712e-01 9.69068914e-01 -2.24972993e-02 4.38574016e+01] [ 1.10354486e-01 -4.91337463e-03 9.93880147e-01 2.75801805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.665099893 meters 0.05583530081311549 Centerline is valid? [True, True] Translation: X:262.16, Y:43.86, Z:27.58 [[ 9.63106563e-01 -2.46484497e-01 -1.08033051e-01 2.62156872e+02] [ 2.45507578e-01 9.69134400e-01 -2.24620696e-02 4.38575242e+01] [ 1.10235098e-01 -4.88956610e-03 9.93893513e-01 2.75834204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.725099893 meters 0.05358205739213158 Centerline is valid? [True, True] Translation: X:262.21, Y:43.88, Z:27.59 [[ 9.63457806e-01 -2.45564390e-01 -1.06991526e-01 2.62213988e+02] [ 2.44601318e-01 9.69368673e-01 -2.22389417e-02 4.38804487e+01] [ 1.09175326e-01 -4.74398634e-03 9.94011188e-01 2.75911068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.785099893 meters 0.05445664956716923 Centerline is valid? [True, True] Translation: X:262.27, Y:43.89, Z:27.60 [[ 9.64086225e-01 -2.43895851e-01 -1.05131174e-01 2.62273581e+02] [ 2.42956409e-01 9.69791095e-01 -2.18498205e-02 4.38853152e+01] [ 1.07284357e-01 -4.47718154e-03 9.94218297e-01 2.75973891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.845099893 meters 0.05274382903859863 Centerline is valid? [True, True] Translation: X:262.33, Y:43.91, Z:27.61 [[ 9.64548239e-01 -2.42924539e-01 -1.03123050e-01 2.62331500e+02] [ 2.42015167e-01 9.70035726e-01 -2.14324436e-02 4.39062825e+01] [ 1.05239509e-01 -4.28471647e-03 9.94437674e-01 2.76054780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.905099893 meters 0.05317675101811107 Centerline is valid? [True, True] Translation: X:262.39, Y:43.92, Z:27.61 [[ 9.65037554e-01 -2.41147063e-01 -1.02716180e-01 2.62389789e+02] [ 2.40235007e-01 9.70480025e-01 -2.13462442e-02 4.39159228e+01] [ 1.04831585e-01 -4.07609485e-03 9.94481636e-01 2.76117442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.965099893 meters 0.05221653575559081 Centerline is valid? [True, True] Translation: X:262.45, Y:43.93, Z:27.62 [[ 9.65127170e-01 -2.40423960e-01 -1.03565755e-01 2.62449129e+02] [ 2.39492519e-01 9.70659608e-01 -2.15234253e-02 4.39348323e+01] [ 1.05701843e-01 -4.03038105e-03 9.94389701e-01 2.76176261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.025099893 meters 0.05430714950353607 Centerline is valid? [True, True] Translation: X:262.51, Y:43.94, Z:27.62 [[ 9.65076691e-01 -2.39952709e-01 -1.05117444e-01 2.62511013e+02] [ 2.38991657e-01 9.70776125e-01 -2.18335152e-02 4.39362332e+01] [ 1.07284517e-01 -4.05117569e-03 9.94220107e-01 2.76216724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.085099893 meters 0.05414482278543682 Centerline is valid? [True, True] Translation: X:262.57, Y:43.95, Z:27.63 [[ 9.65250557e-01 -2.39741581e-01 -1.03996813e-01 2.62571559e+02] [ 2.38800889e-01 9.70828520e-01 -2.15898250e-02 4.39490000e+01] [ 1.06139051e-01 -3.99494073e-03 9.94343272e-01 2.76292615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.145099893 meters 0.052516921704850845 Centerline is valid? [True, True] Translation: X:262.63, Y:43.97, Z:27.64 [[ 9.65424975e-01 -2.39304869e-01 -1.03381805e-01 2.62629766e+02] [ 2.38373133e-01 9.70936539e-01 -2.14589489e-02 4.39713620e+01] [ 1.05512403e-01 -3.92643963e-03 9.94410235e-01 2.76359772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.20509989299995 meters 0.057390412490403934 Centerline is valid? [True, True] Translation: X:262.69, Y:43.96, Z:27.64 [[ 9.65243656e-01 -2.39746931e-01 -1.04048519e-01 2.62694011e+02] [ 2.38806151e-01 9.70827157e-01 -2.15929029e-02 4.39609964e+01] [ 1.06189960e-01 -4.00501382e-03 9.94337796e-01 2.76406605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.26509989299996 meters 0.054331623693679935 Centerline is valid? [True, True] Translation: X:262.75, Y:43.98, Z:27.65 [[ 9.64541895e-01 -2.42463432e-01 -1.04261294e-01 2.62751756e+02] [ 2.41534863e-01 9.70150948e-01 -2.16344364e-02 4.39812082e+01] [ 1.06394753e-01 -4.31541704e-03 9.94314605e-01 2.76467738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.32509989299996 meters 0.05613493847707081 Centerline is valid? [True, True] Translation: X:262.81, Y:43.98, Z:27.65 [[ 9.63893940e-01 -2.44665921e-01 -1.05104990e-01 2.62813375e+02] [ 2.43735274e-01 9.69596548e-01 -2.18094197e-02 4.39839670e+01] [ 1.07245457e-01 -4.59582603e-03 9.94221952e-01 2.76512839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.38509989299996 meters 0.05326497568748864 Centerline is valid? [True, True] Translation: X:262.87, Y:44.00, Z:27.66 [[ 9.62982047e-01 -2.48528812e-01 -1.04398308e-01 2.62870801e+02] [ 2.47632996e-01 9.68611653e-01 -2.16648453e-02 4.40046240e+01] [ 1.06505756e-01 -4.98960868e-03 9.94299566e-01 2.76585056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.44509989299996 meters 0.055639252378250376 Centerline is valid? [True, True] Translation: X:262.93, Y:44.01, Z:27.66 [[ 9.62603250e-01 -2.49964586e-01 -1.04463819e-01 2.62931285e+02] [ 2.49076231e-01 9.68241266e-01 -2.16767669e-02 4.40056021e+01] [ 1.06564605e-01 -5.15332808e-03 9.94292426e-01 2.76646920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.50509989299997 meters 0.05564808374337648 Centerline is valid? [True, True] Translation: X:262.99, Y:44.02, Z:27.67 [[ 9.62433680e-01 -2.50913277e-01 -1.03749410e-01 2.62990871e+02] [ 2.50042528e-01 9.67995485e-01 -2.15284939e-02 4.40176356e+01] [ 1.05830745e-01 -5.22201704e-03 9.94370446e-01 2.76723818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.56509989299997 meters 0.05292464417895069 Centerline is valid? [True, True] Translation: X:263.05, Y:44.04, Z:27.68 [[ 9.62421612e-01 -2.50724952e-01 -1.04315092e-01 2.63049708e+02] [ 2.49843750e-01 9.68044229e-01 -2.16442084e-02 4.40401795e+01] [ 1.06408366e-01 -5.23161990e-03 9.94308750e-01 2.76783312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.62509989299997 meters 0.05551172890083063 Centerline is valid? [True, True] Translation: X:263.11, Y:44.04, Z:27.68 [[ 9.63074489e-01 -2.48718578e-01 -1.03085393e-01 2.63110501e+02] [ 2.47846962e-01 9.68563128e-01 -2.13857450e-02 4.40407399e+01] [ 1.05163743e-01 -4.95333609e-03 9.94442583e-01 2.76847955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.685099893 meters 0.053311738034133645 Centerline is valid? [True, True] Translation: X:263.17, Y:44.06, Z:27.69 [[ 9.63408683e-01 -2.47021696e-01 -1.04038410e-01 2.63167794e+02] [ 2.46124024e-01 9.68997998e-01 -2.15834422e-02 4.40613170e+01] [ 1.06144590e-01 -4.81267658e-03 9.94339059e-01 2.76913839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.745099893 meters 0.05331331739841983 Centerline is valid? [True, True] Translation: X:263.23, Y:44.07, Z:27.70 [[ 9.63402270e-01 -2.45953439e-01 -1.06597239e-01 2.63228324e+02] [ 2.45004612e-01 9.69269695e-01 -2.21132873e-02 4.40736201e+01] [ 1.08760312e-01 -4.81282394e-03 9.94056352e-01 2.76960118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.805099893 meters 0.05622947270345035 Centerline is valid? [True, True] Translation: X:263.29, Y:44.07, Z:27.70 [[ 9.63343463e-01 -2.45180885e-01 -1.08883912e-01 2.63290814e+02] [ 2.44186375e-01 9.69465309e-01 -2.25838209e-02 4.40735187e+01] [ 1.11096296e-01 -4.83199149e-03 9.93797899e-01 2.76995004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.865099893 meters 0.054790299859577174 Centerline is valid? [True, True] Translation: X:263.35, Y:44.09, Z:27.71 [[ 9.63899473e-01 -2.42723627e-01 -1.09467104e-01 2.63348613e+02] [ 2.41703327e-01 9.70084672e-01 -2.26987033e-02 4.40929169e+01] [ 1.11701872e-01 -4.57929506e-03 9.93731212e-01 2.77068186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.925099893 meters 0.05576568037227623 Centerline is valid? [True, True] Translation: X:263.41, Y:44.10, Z:27.71 [[ 9.65567233e-01 -2.36313803e-01 -1.08792026e-01 2.63406898e+02] [ 2.35265512e-01 9.71669309e-01 -2.25586395e-02 4.41016764e+01] [ 1.11040791e-01 -3.81312865e-03 9.93808534e-01 2.77119325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.985099893 meters 0.053289338020750567 Centerline is valid? [True, True] Translation: X:263.46, Y:44.13, Z:27.72 [[ 9.67022368e-01 -2.31314724e-01 -1.06589108e-01 2.63462627e+02] [ 2.30278151e-01 9.72873805e-01 -2.21027587e-02 4.41287124e+01] [ 1.08810445e-01 -3.17128070e-03 9.94057458e-01 2.77220382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.045099893 meters 0.05409086008976782 Centerline is valid? [True, True] Translation: X:263.52, Y:44.14, Z:27.73 [[ 9.68269423e-01 -2.25932647e-01 -1.06811815e-01 2.63520380e+02] [ 2.24859240e-01 9.74139527e-01 -2.21473200e-02 4.41412614e+01] [ 1.09053413e-01 -2.57305067e-03 9.94032561e-01 2.77288472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.105099893 meters 0.0539625031094576 Centerline is valid? [True, True] Translation: X:263.58, Y:44.15, Z:27.74 [[ 9.68143187e-01 -2.26114233e-01 -1.07569159e-01 2.63581164e+02] [ 2.25026557e-01 9.74097292e-01 -2.23050370e-02 4.41520321e+01] [ 1.09826313e-01 -2.61144784e-03 9.93947363e-01 2.77350856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.165099893 meters 0.05384703580616032 Centerline is valid? [True, True] Translation: X:263.64, Y:44.16, Z:27.74 [[ 9.67647388e-01 -2.28105239e-01 -1.07826404e-01 2.63640202e+02] [ 2.27025047e-01 9.73632318e-01 -2.23548111e-02 4.41614449e+01] [ 1.10082521e-01 -2.84771985e-03 9.93918371e-01 2.77413595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.225099893 meters 0.05574588520150983 Centerline is valid? [True, True] Translation: X:263.70, Y:44.16, Z:27.74 [[ 9.66056727e-01 -2.34144029e-01 -1.09137411e-01 2.63700203e+02] [ 2.33076061e-01 9.72195321e-01 -2.26231573e-02 4.41621511e+01] [ 1.11399957e-01 -3.58206449e-03 9.93769198e-01 2.77447135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.285099893 meters 0.05472212643419595 Centerline is valid? [True, True] Translation: X:263.76, Y:44.18, Z:27.75 [[ 9.64709090e-01 -2.39248177e-01 -1.09984911e-01 2.63757772e+02] [ 2.38196479e-01 9.70949350e-01 -2.27990626e-02 4.41778601e+01] [ 1.12244412e-01 -4.20355569e-03 9.93671738e-01 2.77520171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.345099893 meters 0.0560504253257978 Centerline is valid? [True, True] Translation: X:263.82, Y:44.18, Z:27.76 [[ 9.63754118e-01 -2.43590125e-01 -1.08820273e-01 2.63816641e+02] [ 2.42588063e-01 9.69867081e-01 -2.25582851e-02 4.41827307e+01] [ 1.11036176e-01 -4.65785915e-03 9.93805450e-01 2.77583939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.405099893 meters 0.055513415266278315 Centerline is valid? [True, True] Translation: X:263.87, Y:44.20, Z:27.77 [[ 9.63539333e-01 -2.44617531e-01 -1.08416871e-01 2.63874909e+02] [ 2.43629404e-01 9.69607972e-01 -2.24743097e-02 4.41970393e+01] [ 1.10619473e-01 -4.75865638e-03 9.93851441e-01 2.77655825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.465099893 meters 0.05380609216877925 Centerline is valid? [True, True] Translation: X:263.93, Y:44.22, Z:27.77 [[ 9.63627203e-01 -2.43792343e-01 -1.09489300e-01 2.63934143e+02] [ 2.42779374e-01 9.69816010e-01 -2.26954389e-02 4.42184977e+01] [ 1.11717450e-01 -4.71180143e-03 9.93728841e-01 2.77715198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.525099893 meters 0.05581641460074693 Centerline is valid? [True, True] Translation: X:264.00, Y:44.22, Z:27.78 [[ 9.63742925e-01 -2.43512562e-01 -1.09092653e-01 2.63995613e+02] [ 2.42505781e-01 9.69886511e-01 -2.26075575e-02 4.42223203e+01] [ 1.11312716e-01 -4.66772531e-03 9.93774467e-01 2.77767223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.585099893 meters 0.05784146070800258 Centerline is valid? [True, True] Translation: X:264.05, Y:44.23, Z:27.78 [[ 9.63908039e-01 -2.42695071e-01 -1.09454989e-01 2.64054375e+02] [ 2.41676906e-01 9.70091749e-01 -2.26775722e-02 4.42290313e+01] [ 1.11685116e-01 -4.59364888e-03 9.93733029e-01 2.77820000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.645099893 meters 0.05330151223420291 Centerline is valid? [True, True] Translation: X:264.11, Y:44.26, Z:27.79 [[ 9.63902907e-01 -2.42889977e-01 -1.09067161e-01 2.64110622e+02] [ 2.41879151e-01 9.70042984e-01 -2.26071836e-02 4.42622498e+01] [ 1.11290893e-01 -4.58994242e-03 9.93777274e-01 2.77926023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.70509989299995 meters 0.05520380463195822 Centerline is valid? [True, True] Translation: X:264.17, Y:44.27, Z:27.80 [[ 9.63848449e-01 -2.43015299e-01 -1.09269079e-01 2.64171588e+02] [ 2.42002043e-01 9.70011465e-01 -2.26443916e-02 4.42661434e+01] [ 1.11495193e-01 -4.61757872e-03 9.93754245e-01 2.77980129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.76509989299996 meters 0.056466689577385654 Centerline is valid? [True, True] Translation: X:264.23, Y:44.28, Z:27.80 [[ 9.63771261e-01 -2.42722761e-01 -1.10592123e-01 2.64230746e+02] [ 2.41683541e-01 9.70084573e-01 -2.29126097e-02 4.42762333e+01] [ 1.12845124e-01 -4.64578105e-03 9.93601728e-01 2.78032321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.82509989299996 meters 0.05419429829566756 Centerline is valid? [True, True] Translation: X:264.29, Y:44.31, Z:27.82 [[ 9.64043883e-01 -2.42887100e-01 -1.07820446e-01 2.64287043e+02] [ 2.41900446e-01 9.70043907e-01 -2.23381248e-02 4.43074065e+01] [ 1.10016209e-01 -4.54688141e-03 9.93919393e-01 2.78156595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.88509989299996 meters 0.05485765956069228 Centerline is valid? [True, True] Translation: X:264.35, Y:44.31, Z:27.82 [[ 9.64136204e-01 -2.42830586e-01 -1.07119964e-01 2.64348659e+02] [ 2.41856854e-01 9.70058206e-01 -2.21887007e-02 4.43123855e+01] [ 1.09300695e-01 -4.51476777e-03 9.93998478e-01 2.78217254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.94509989299996 meters 0.05597305245005553 Centerline is valid? [True, True] Translation: X:264.41, Y:44.32, Z:27.83 [[ 9.64224487e-01 -2.42398062e-01 -1.07304791e-01 2.64408914e+02] [ 2.41418589e-01 9.70166555e-01 -2.22243320e-02 4.43215719e+01] [ 1.09490654e-01 -4.47612619e-03 9.93977747e-01 2.78269086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.00509989299997 meters 0.05519653134130372 Centerline is valid? [True, True] Translation: X:264.47, Y:44.34, Z:27.83 [[ 9.64680234e-01 -2.40918605e-01 -1.06537658e-01 2.64467189e+02] [ 2.39944386e-01 9.70535890e-01 -2.20630601e-02 4.43370966e+01] [ 1.08714022e-01 -4.27931500e-03 9.94063855e-01 2.78337990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.06509989299997 meters 0.05381327770009854 Centerline is valid? [True, True] Translation: X:264.52, Y:44.36, Z:27.84 [[ 9.65066573e-01 -2.39891387e-01 -1.05350047e-01 2.64524828e+02] [ 2.38932718e-01 9.70791005e-01 -2.18169957e-02 4.43612444e+01] [ 1.07506588e-01 -4.11671996e-03 9.94195849e-01 2.78422005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.12509989299997 meters 0.054490270305819835 Centerline is valid? [True, True] Translation: X:264.58, Y:44.37, Z:27.85 [[ 9.65604728e-01 -2.37192584e-01 -1.06523182e-01 2.64583820e+02] [ 2.36196433e-01 9.71454970e-01 -2.20564335e-02 4.43688324e+01] [ 1.08714097e-01 -3.86259920e-03 9.94065554e-01 2.78465612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.185099893 meters 0.05543029213833999 Centerline is valid? [True, True] Translation: X:264.64, Y:44.38, Z:27.85 [[ 9.66058917e-01 -2.35568494e-01 -1.06007802e-01 2.64642536e+02] [ 2.34572146e-01 9.71850854e-01 -2.19505405e-02 4.43797186e+01] [ 1.08194629e-01 -3.66096231e-03 9.94122990e-01 2.78533430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.245099893 meters 0.05597116042104276 Centerline is valid? [True, True] Translation: X:264.70, Y:44.39, Z:27.86 [[ 9.66003615e-01 -2.36330556e-01 -1.04808802e-01 2.64702303e+02] [ 2.35361216e-01 9.71665656e-01 -2.17014176e-02 4.43918190e+01] [ 1.06967821e-01 -3.70427923e-03 9.94255583e-01 2.78617424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.305099893 meters 0.05567679781907895 Centerline is valid? [True, True] Translation: X:264.76, Y:44.40, Z:27.87 [[ 9.65889287e-01 -2.37624247e-01 -1.02920370e-01 2.64761237e+02] [ 2.36697056e-01 9.71349801e-01 -2.13088504e-02 4.44044442e+01] [ 1.05035180e-01 -3.77895822e-03 9.94461327e-01 2.78701796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.365099893 meters 0.054233655397970607 Centerline is valid? [True, True] Translation: X:264.82, Y:44.43, Z:27.88 [[ 9.65517389e-01 -2.39107295e-01 -1.02975110e-01 2.64818187e+02] [ 2.38187598e-01 9.70985146e-01 -2.13193716e-02 4.44271483e+01] [ 1.05084920e-01 -3.94317007e-03 9.94455434e-01 2.78771515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.425099893 meters 0.055586667723787196 Centerline is valid? [True, True] Translation: X:264.88, Y:44.43, Z:27.88 [[ 9.65284672e-01 -2.39710405e-01 -1.03751738e-01 2.64879706e+02] [ 2.38780492e-01 9.70836024e-01 -2.14776926e-02 4.44297619e+01] [ 1.05874351e-01 -4.04180350e-03 9.94371302e-01 2.78821629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.485099893 meters 0.054982219964350834 Centerline is valid? [True, True] Translation: X:264.94, Y:44.45, Z:27.89 [[ 9.64952313e-01 -2.40708687e-01 -1.04529242e-01 2.64940054e+02] [ 2.39770868e-01 9.70588384e-01 -2.16360694e-02 4.44450875e+01] [ 1.06662858e-01 -4.18529189e-03 9.94286437e-01 2.78881381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.545099893 meters 0.05545537971625937 Centerline is valid? [True, True] Translation: X:265.00, Y:44.45, Z:27.89 [[ 9.63898603e-01 -2.44006262e-01 -1.06585305e-01 2.65000928e+02] [ 2.43051542e-01 9.69762538e-01 -2.20582938e-02 4.44520965e+01] [ 1.08744797e-01 -4.64376413e-03 9.94058854e-01 2.78922188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.605099893 meters 0.057185797028996066 Centerline is valid? [True, True] Translation: X:265.06, Y:44.45, Z:27.90 [[ 9.63185491e-01 -2.47366309e-01 -1.05278763e-01 2.65061037e+02] [ 2.46454959e-01 9.68909330e-01 -2.17867692e-02 4.44534723e+01] [ 1.07394889e-01 -4.96177334e-03 9.94204063e-01 2.78988705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.665099893 meters 0.05374674273277018 Centerline is valid? [True, True] Translation: X:265.12, Y:44.48, Z:27.91 [[ 9.62526475e-01 -2.50504058e-01 -1.03877343e-01 2.65118288e+02] [ 2.49634932e-01 9.68101370e-01 -2.14973849e-02 4.44773293e+01] [ 1.05948980e-01 -5.23961136e-03 9.94357763e-01 2.79069461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.725099893 meters 0.05478716374383442 Centerline is valid? [True, True] Translation: X:265.18, Y:44.48, Z:27.91 [[ 9.62066999e-01 -2.51895940e-01 -1.04764141e-01 2.65177866e+02] [ 2.51020228e-01 9.67739033e-01 -2.16797016e-02 4.44840824e+01] [ 1.06845377e-01 -5.44059298e-03 9.94260763e-01 2.79114954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.785099893 meters 0.058534195533483886 Centerline is valid? [True, True] Translation: X:265.24, Y:44.48, Z:27.92 [[ 9.62033992e-01 -2.51844241e-01 -1.05190669e-01 2.65242134e+02] [ 2.50961084e-01 9.67752394e-01 -2.17678365e-02 4.44806787e+01] [ 1.07280626e-01 -5.45736565e-03 9.94213802e-01 2.79169382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.845099893 meters 0.05551225496131859 Centerline is valid? [True, True] Translation: X:265.30, Y:44.50, Z:27.93 [[ 9.62245404e-01 -2.51503917e-01 -1.04065179e-01 2.65300774e+02] [ 2.50638028e-01 9.67841413e-01 -2.15308884e-02 4.45027197e+01] [ 1.06133693e-01 -5.36469286e-03 9.94337397e-01 2.79251863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.905099893 meters 0.05366450183837623 Centerline is valid? [True, True] Translation: X:265.36, Y:44.52, Z:27.93 [[ 9.62556977e-01 -2.50142396e-01 -1.04464577e-01 2.65359423e+02] [ 2.49262377e-01 9.68194882e-01 -2.16087399e-02 4.45218547e+01] [ 1.06547331e-01 -5.23944538e-03 9.94293827e-01 2.79315589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.965099893 meters 0.053792967516305745 Centerline is valid? [True, True] Translation: X:265.42, Y:44.53, Z:27.94 [[ 9.63238436e-01 -2.47194082e-01 -1.05198868e-01 2.65418334e+02] [ 2.46284399e-01 9.68953342e-01 -2.17581409e-02 4.45328537e+01] [ 1.07311278e-01 -4.95056240e-03 9.94213147e-01 2.79368393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.025099893 meters 0.05434241556188466 Centerline is valid? [True, True] Translation: X:265.48, Y:44.54, Z:27.94 [[ 9.64785236e-01 -2.40895131e-01 -1.05636094e-01 2.65476202e+02] [ 2.39940222e-01 9.70541770e-01 -2.18486214e-02 4.45444786e+01] [ 1.07787468e-01 -4.26712039e-03 9.94164802e-01 2.79423385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.085099893 meters 0.05350022471263827 Centerline is valid? [True, True] Translation: X:265.53, Y:44.56, Z:27.95 [[ 9.65560373e-01 -2.37925383e-01 -1.05283796e-01 2.65534432e+02] [ 2.36959159e-01 9.71275520e-01 -2.17766335e-02 4.45605137e+01] [ 1.07440787e-01 -3.92130530e-03 9.94203752e-01 2.79485545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.145099893 meters 0.05379018429563784 Centerline is valid? [True, True] Translation: X:265.59, Y:44.57, Z:27.95 [[ 9.65988171e-01 -2.36195982e-01 -1.05253563e-01 2.65593825e+02] [ 2.35220204e-01 9.71698283e-01 -2.17692974e-02 4.45711092e+01] [ 1.07416527e-01 -3.72888074e-03 9.94207114e-01 2.79548011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.20509989299995 meters 0.05479231264573979 Centerline is valid? [True, True] Translation: X:265.65, Y:44.59, Z:27.96 [[ 9.66971366e-01 -2.32144338e-01 -1.05239648e-01 2.65652784e+02] [ 2.31145076e-01 9.72675819e-01 -2.17647490e-02 4.45850951e+01] [ 1.07416624e-01 -3.27973736e-03 9.94208686e-01 2.79607442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.26509989299996 meters 0.05425585145392561 Centerline is valid? [True, True] Translation: X:265.71, Y:44.60, Z:27.97 [[ 9.67942561e-01 -2.28216124e-01 -1.04902810e-01 2.65711186e+02] [ 2.27200255e-01 9.73606372e-01 -2.16950866e-02 4.45958390e+01] [ 1.07085213e-01 -2.83434750e-03 9.94245806e-01 2.79675963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.32509989299996 meters 0.05458454724307148 Centerline is valid? [True, True] Translation: X:265.77, Y:44.61, Z:27.97 [[ 9.68415076e-01 -2.25638503e-01 -1.06110823e-01 2.65769481e+02] [ 2.24583641e-01 9.74207685e-01 -2.19447920e-02 4.46106730e+01] [ 1.08325569e-01 -2.57908755e-03 9.94112126e-01 2.79725427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.38509989299996 meters 0.05358217251903031 Centerline is valid? [True, True] Translation: X:265.83, Y:44.63, Z:27.98 [[ 9.69640924e-01 -2.21312575e-01 -1.04005877e-01 2.65827775e+02] [ 2.20274413e-01 9.75200763e-01 -2.15094312e-02 4.46294857e+01] [ 1.06186918e-01 -2.05340859e-03 9.94344066e-01 2.79799348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.44509989299996 meters 0.05335272007765322 Centerline is valid? [True, True] Translation: X:265.89, Y:44.64, Z:27.99 [[ 9.70453401e-01 -2.17070303e-01 -1.05359768e-01 2.65886373e+02] [ 2.15980122e-01 9.76154643e-01 -2.17876340e-02 4.46420585e+01] [ 1.07576875e-01 -1.61173197e-03 9.94195463e-01 2.79852772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.50509989299997 meters 0.05370134793665196 Centerline is valid? [True, True] Translation: X:265.95, Y:44.65, Z:27.99 [[ 9.70870492e-01 -2.14802621e-01 -1.06161773e-01 2.65945873e+02] [ 2.13682321e-01 9.76656517e-01 -2.19525278e-02 4.46536029e+01] [ 1.08399048e-01 -1.37183269e-03 9.94106516e-01 2.79905529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.56509989299997 meters 0.05349958294475207 Centerline is valid? [True, True] Translation: X:266.01, Y:44.66, Z:28.00 [[ 9.70869316e-01 -2.14711841e-01 -1.06355993e-01 2.66005408e+02] [ 2.13587070e-01 9.76676487e-01 -2.19909980e-02 4.46646717e+01] [ 1.08597126e-01 -1.36587984e-03 9.94084905e-01 2.79959853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.62509989299997 meters 0.05348348810905508 Centerline is valid? [True, True] Translation: X:266.07, Y:44.68, Z:28.00 [[ 9.70860366e-01 -2.15480580e-01 -1.04872629e-01 2.66065716e+02] [ 2.14391525e-01 9.76507076e-01 -2.16841847e-02 4.46766439e+01] [ 1.07081385e-01 -1.43148729e-03 9.94249228e-01 2.80037121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.685099893 meters 0.05423849451755092 Centerline is valid? [True, True] Translation: X:266.13, Y:44.68, Z:28.01 [[ 9.70767392e-01 -2.16527586e-01 -1.03568699e-01 2.66125409e+02] [ 2.15471810e-01 9.76275300e-01 -2.14111738e-02 4.46828806e+01] [ 1.05747673e-01 -1.53086564e-03 9.94391817e-01 2.80103958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.745099893 meters 0.05369165379197568 Centerline is valid? [True, True] Translation: X:266.19, Y:44.69, Z:28.02 [[ 9.70263606e-01 -2.19997632e-01 -1.00943431e-01 2.66185104e+02] [ 2.19013614e-01 9.75498631e-01 -2.08676311e-02 4.46940839e+01] [ 1.03061008e-01 -1.86088265e-03 9.94673296e-01 2.80192540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.805099893 meters 0.054554260955999356 Centerline is valid? [True, True] Translation: X:266.25, Y:44.70, Z:28.02 [[ 9.68864376e-01 -2.25766178e-01 -1.01643755e-01 2.66245127e+02] [ 2.24800204e-01 9.74178330e-01 -2.10107256e-02 4.46973029e+01] [ 1.03762654e-01 -2.49299322e-03 9.94598963e-01 2.80247213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.865099893 meters 0.054540361400172356 Centerline is valid? [True, True] Translation: X:266.31, Y:44.70, Z:28.03 [[ 9.66922052e-01 -2.32813226e-01 -1.04210109e-01 2.66305810e+02] [ 2.31838382e-01 9.72515763e-01 -2.15419421e-02 4.47017243e+01] [ 1.06361223e-01 -3.33052432e-03 9.94321979e-01 2.80282631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.925099893 meters 0.05364373163050797 Centerline is valid? [True, True] Translation: X:266.37, Y:44.71, Z:28.03 [[ 9.65789693e-01 -2.37336330e-01 -1.04507109e-01 2.66365004e+02] [ 2.36382163e-01 9.71419957e-01 -2.16041853e-02 4.47141105e+01] [ 1.06647750e-01 -3.83851706e-03 9.94289456e-01 2.80340481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.985099893 meters 0.055410009551207846 Centerline is valid? [True, True] Translation: X:266.43, Y:44.71, Z:28.04 [[ 9.64719265e-01 -2.41632149e-01 -1.04549723e-01 2.66426271e+02] [ 2.40702464e-01 9.70358322e-01 -2.16113641e-02 4.47142016e+01] [ 1.06672694e-01 -4.31647667e-03 9.94284821e-01 2.80396001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.045099893 meters 0.056771603731169844 Centerline is valid? [True, True] Translation: X:266.49, Y:44.72, Z:28.05 [[ 9.64222989e-01 -2.44009007e-01 -1.03603245e-01 2.66486115e+02] [ 2.43109798e-01 9.69762348e-01 -2.14152724e-02 4.47223659e+01] [ 1.05696046e-01 -4.53786599e-03 9.94388130e-01 2.80457325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.105099893 meters 0.055192896349695354 Centerline is valid? [True, True] Translation: X:266.54, Y:44.74, Z:28.05 [[ 9.63706964e-01 -2.46789674e-01 -1.01802475e-01 2.66544036e+02] [ 2.45936599e-01 9.69057403e-01 -2.10461148e-02 4.47398132e+01] [ 1.03846406e-01 -4.75466710e-03 9.94581981e-01 2.80547400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.165099893 meters 0.05309039507525198 Centerline is valid? [True, True] Translation: X:266.60, Y:44.76, Z:28.06 [[ 9.62453923e-01 -2.50358525e-01 -1.04895451e-01 2.66601786e+02] [ 2.49473791e-01 9.68138704e-01 -2.16858683e-02 4.47635725e+01] [ 1.06982588e-01 -5.29701690e-03 9.94246784e-01 2.80575829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.225099893 meters 0.05599835261923703 Centerline is valid? [True, True] Translation: X:266.66, Y:44.76, Z:28.06 [[ 9.61079028e-01 -2.55639725e-01 -1.04763699e-01 2.66663835e+02] [ 2.54788612e-01 9.66754243e-01 -2.16563342e-02 4.47576444e+01] [ 1.06816970e-01 -5.87914882e-03 9.94261319e-01 2.80644879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.285099893 meters 0.05161614659945113 Centerline is valid? [True, True] Translation: X:266.72, Y:44.79, Z:28.07 [[ 9.60598972e-01 -2.57004303e-01 -1.05822510e-01 2.66719530e+02] [ 2.56144140e-01 9.66391053e-01 -2.18749389e-02 4.47897521e+01] [ 1.07887881e-01 -6.09277206e-03 9.94144398e-01 2.80717286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.345099893 meters 0.054845902655706706 Centerline is valid? [True, True] Translation: X:266.78, Y:44.79, Z:28.08 [[ 9.60212213e-01 -2.57905365e-01 -1.07132292e-01 2.66781629e+02] [ 2.57029468e-01 9.66149820e-01 -2.21444693e-02 4.47859740e+01] [ 1.09217022e-01 -6.27276604e-03 9.93998136e-01 2.80756973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.405099893 meters 0.052493133443081694 Centerline is valid? [True, True] Translation: X:266.84, Y:44.81, Z:28.08 [[ 9.59479180e-01 -2.60161425e-01 -1.08239250e-01 2.66838211e+02] [ 2.59282030e-01 9.65542568e-01 -2.23691578e-02 4.48104007e+01] [ 1.10329196e-01 -6.60175133e-03 9.93873174e-01 2.80818853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.465099893 meters 0.051919537136739156 Centerline is valid? [True, True] Translation: X:266.90, Y:44.83, Z:28.09 [[ 9.59522169e-01 -2.60134235e-01 -1.07923062e-01 2.66899076e+02] [ 2.59260019e-01 9.65550035e-01 -2.23018521e-02 4.48263702e+01] [ 1.10006591e-01 -6.58101355e-03 9.93909070e-01 2.80891536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.525099893 meters 0.052419399684792554 Centerline is valid? [True, True] Translation: X:266.96, Y:44.84, Z:28.10 [[ 9.61040905e-01 -2.55555913e-01 -1.05316448e-01 2.66957303e+02] [ 2.54697509e-01 9.66776145e-01 -2.17500266e-02 4.48420530e+01] [ 1.07375778e-01 -5.92117177e-03 9.94200876e-01 2.80964891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.585099893 meters 0.055104650369476614 Centerline is valid? [True, True] Translation: X:267.02, Y:44.84, Z:28.10 [[ 9.62571399e-01 -2.50120328e-01 -1.04384498e-01 2.67018011e+02] [ 2.49245266e-01 9.68200434e-01 -2.15572873e-02 4.48400689e+01] [ 1.06457032e-01 -5.26691378e-03 9.94303354e-01 2.81024994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.64509989299995 meters 0.054859076732579656 Centerline is valid? [True, True] Translation: X:267.08, Y:44.86, Z:28.11 [[ 9.64733727e-01 -2.42103354e-01 -1.03318931e-01 2.67075383e+02] [ 2.41200140e-01 9.70240782e-01 -2.13381695e-02 4.48583865e+01] [ 1.05410283e-01 -4.33488889e-03 9.94419369e-01 2.81096306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.70509989299995 meters 0.05479933746506604 Centerline is valid? [True, True] Translation: X:267.13, Y:44.88, Z:28.11 [[ 9.65887241e-01 -2.36772741e-01 -1.04883297e-01 2.67133718e+02] [ 2.35810679e-01 9.71557587e-01 -2.16605213e-02 4.48753950e+01] [ 1.07028784e-01 -3.81098028e-03 9.94248619e-01 2.81147525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.76509989299996 meters 0.05386894009050394 Centerline is valid? [True, True] Translation: X:267.19, Y:44.89, Z:28.12 [[ 9.66871579e-01 -2.32327352e-01 -1.05751365e-01 2.67191588e+02] [ 2.31322819e-01 9.72631893e-01 -2.18392708e-02 4.48932148e+01] [ 1.07931010e-01 -3.34693359e-03 9.94152752e-01 2.81204768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.82509989299996 meters 0.054458228120856364 Centerline is valid? [True, True] Translation: X:267.25, Y:44.90, Z:28.13 [[ 9.67501632e-01 -2.29617197e-01 -1.05908145e-01 2.67249611e+02] [ 2.28593574e-01 9.73276241e-01 -2.18709018e-02 4.49046567e+01] [ 1.08099816e-01 -3.04978808e-03 9.94135367e-01 2.81263648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.88509989299996 meters 0.05420359740304752 Centerline is valid? [True, True] Translation: X:267.31, Y:44.92, Z:28.13 [[ 9.68294671e-01 -2.26427038e-01 -1.05528318e-01 2.67308062e+02] [ 2.25391769e-01 9.74024434e-01 -2.17933806e-02 4.49172831e+01] [ 1.07721771e-01 -2.68279990e-03 9.94177460e-01 2.81329777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.94509989299996 meters 0.05391009760691525 Centerline is valid? [True, True] Translation: X:267.36, Y:44.94, Z:28.14 [[ 9.69140302e-01 -2.22453025e-01 -1.06215475e-01 2.67364864e+02] [ 2.21380073e-01 9.74940807e-01 -2.19382403e-02 4.49384801e+01] [ 1.08434029e-01 -2.25275684e-03 9.94101095e-01 2.81391634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.00509989299997 meters 0.0535795890195963 Centerline is valid? [True, True] Translation: X:267.42, Y:44.95, Z:28.15 [[ 9.69749882e-01 -2.19733368e-01 -1.06312806e-01 2.67423527e+02] [ 2.18642060e-01 9.75558018e-01 -2.19591279e-02 4.49548987e+01] [ 1.08539463e-01 -1.94958924e-03 9.94090229e-01 2.81457713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.06509989299997 meters 0.05345349457413793 Centerline is valid? [True, True] Translation: X:267.48, Y:44.97, Z:28.15 [[ 9.68679793e-01 -2.23585945e-01 -1.08022146e-01 2.67482750e+02] [ 2.22483128e-01 9.74681212e-01 -2.23112563e-02 4.49668117e+01] [ 1.10275639e-01 -2.42064173e-03 9.93898095e-01 2.81522237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.12509989299997 meters 0.05323245043673234 Centerline is valid? [True, True] Translation: X:267.54, Y:44.98, Z:28.16 [[ 9.67893597e-01 -2.26789082e-01 -1.08391409e-01 2.67541870e+02] [ 2.25698885e-01 9.73939880e-01 -2.23857739e-02 4.49785418e+01] [ 1.10643565e-01 -2.79677286e-03 9.93856217e-01 2.81591015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.185099893 meters 0.05442510029656543 Centerline is valid? [True, True] Translation: X:267.60, Y:44.98, Z:28.16 [[ 9.67676484e-01 -2.27923970e-01 -1.07948533e-01 2.67602353e+02] [ 2.26849826e-01 9.73674568e-01 -2.22933235e-02 4.49838371e+01] [ 1.10187924e-01 -2.91538096e-03 9.93906496e-01 2.81643849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.245099893 meters 0.05517395159791681 Centerline is valid? [True, True] Translation: X:267.66, Y:44.99, Z:28.17 [[ 9.67377738e-01 -2.29294108e-01 -1.07724300e-01 2.67660350e+02] [ 2.28233071e-01 9.73352356e-01 -2.22453824e-02 4.49915666e+01] [ 1.09954436e-01 -3.06656011e-03 9.93931898e-01 2.81703098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.305099893 meters 0.053329389734944166 Centerline is valid? [True, True] Translation: X:267.72, Y:45.01, Z:28.18 [[ 9.66404839e-01 -2.33692938e-01 -1.07001393e-01 2.67717243e+02] [ 2.32671739e-01 9.72304035e-01 -2.21071201e-02 4.50140590e+01] [ 1.09204164e-01 -3.53177222e-03 9.94013067e-01 2.81798713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.365099893 meters 0.05357725573402052 Centerline is valid? [True, True] Translation: X:267.78, Y:45.03, Z:28.19 [[ 9.65897224e-01 -2.35774142e-01 -1.07019186e-01 2.67776869e+02] [ 2.34765338e-01 9.71800575e-01 -2.21106017e-02 4.50251325e+01] [ 1.09214414e-01 -3.76782654e-03 9.94011074e-01 2.81869007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.425099893 meters 0.05336273161475761 Centerline is valid? [True, True] Translation: X:267.84, Y:45.04, Z:28.19 [[ 9.64697216e-01 -2.39660013e-01 -1.09189555e-01 2.67836223e+02] [ 2.38634658e-01 9.70847379e-01 -2.25580665e-02 4.50384355e+01] [ 1.11412660e-01 -4.29470825e-03 9.93764949e-01 2.81936351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.485099893 meters 0.05266368515293203 Centerline is valid? [True, True] Translation: X:267.90, Y:45.05, Z:28.20 [[ 9.63922480e-01 -2.42232970e-01 -1.10347813e-01 2.67895466e+02] [ 2.41202625e-01 9.70207006e-01 -2.27960303e-02 4.50502586e+01] [ 1.12582171e-01 -4.64257611e-03 9.93631572e-01 2.82000726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.545099893 meters 0.054022685630398984 Centerline is valid? [True, True] Translation: X:267.96, Y:45.05, Z:28.20 [[ 9.63137160e-01 -2.44693171e-01 -1.11767897e-01 2.67956116e+02] [ 2.43652616e-01 9.69587698e-01 -2.30889183e-02 4.50526050e+01] [ 1.14018479e-01 -4.99474535e-03 9.93466073e-01 2.82042773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.605099893 meters 0.052764657747075255 Centerline is valid? [True, True] Translation: X:268.01, Y:45.08, Z:28.21 [[ 9.63273100e-01 -2.43697035e-01 -1.12768303e-01 2.68013734e+02] [ 2.42631189e-01 9.69838914e-01 -2.32935112e-02 4.50774789e+01] [ 1.15043648e-01 -4.92309479e-03 9.93348238e-01 2.82140905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.665099893 meters 0.054534313159944725 Centerline is valid? [True, True] Translation: X:268.07, Y:45.08, Z:28.22 [[ 9.63936111e-01 -2.41080573e-01 -1.12726800e-01 2.68074157e+02] [ 2.39999081e-01 9.70494105e-01 -2.32730248e-02 4.50811419e+01] [ 1.15011369e-01 -4.62061942e-03 9.93353429e-01 2.82182001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.725099893 meters 0.054089617457172015 Centerline is valid? [True, True] Translation: X:268.13, Y:45.10, Z:28.23 [[ 9.65404727e-01 -2.35409398e-01 -1.12143343e-01 2.68132378e+02] [ 2.34300914e-01 9.71888380e-01 -2.31529445e-02 4.50969821e+01] [ 1.14441232e-01 -3.92332557e-03 9.93422273e-01 2.82258397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.785099893 meters 0.05375269560651995 Centerline is valid? [True, True] Translation: X:268.19, Y:45.12, Z:28.24 [[ 9.66897911e-01 -2.29221922e-01 -1.12097010e-01 2.68189053e+02] [ 2.28073025e-01 9.73368961e-01 -2.31422111e-02 4.51190476e+01] [ 1.14416452e-01 -3.19014852e-03 9.93427752e-01 2.82359238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.845099893 meters 0.05380232110966588 Centerline is valid? [True, True] Translation: X:268.25, Y:45.13, Z:28.24 [[ 9.67657660e-01 -2.25860481e-01 -1.12364124e-01 2.68248173e+02] [ 2.24683705e-01 9.74155633e-01 -2.31955891e-02 4.51327340e+01] [ 1.14699111e-01 -2.80099825e-03 9.93396330e-01 2.82427332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.905099893 meters 0.054382892160842244 Centerline is valid? [True, True] Translation: X:268.31, Y:45.14, Z:28.25 [[ 9.67972215e-01 -2.23371732e-01 -1.14607415e-01 2.68308691e+02] [ 2.22130206e-01 9.74729974e-01 -2.36568946e-02 4.51424309e+01] [ 1.16995564e-01 -2.55855201e-03 9.93129142e-01 2.82464983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.965099893 meters 0.05398751979040525 Centerline is valid? [True, True] Translation: X:268.37, Y:45.16, Z:28.25 [[ 9.68530550e-01 -2.20761748e-01 -1.14947047e-01 2.68367556e+02] [ 2.19495388e-01 9.75325154e-01 -2.37195916e-02 4.51571662e+01] [ 1.17347125e-01 -2.25719747e-03 9.93088394e-01 2.82537336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.025099893 meters 0.054109050651244855 Centerline is valid? [True, True] Translation: X:268.43, Y:45.17, Z:28.26 [[ 9.69296184e-01 -2.17443896e-01 -1.14817503e-01 2.68426736e+02] [ 2.16157534e-01 9.76071056e-01 -2.36899423e-02 4.51736585e+01] [ 1.17221275e-01 -1.85609761e-03 9.93104087e-01 2.82624635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.085099893 meters 0.054378881960686576 Centerline is valid? [True, True] Translation: X:268.49, Y:45.19, Z:28.27 [[ 9.69890234e-01 -2.15450744e-01 -1.13551360e-01 2.68485888e+02] [ 2.14179384e-01 9.76513399e-01 -2.34259168e-02 4.51850198e+01] [ 1.15931556e-01 -1.59979256e-03 9.93255916e-01 2.82675216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.14509989299995 meters 0.05467829434631231 Centerline is valid? [True, True] Translation: X:268.55, Y:45.20, Z:28.28 [[ 9.70013700e-01 -2.15295601e-01 -1.12788413e-01 2.68546482e+02] [ 2.14040514e-01 9.76547659e-01 -2.32664400e-02 4.51986362e+01] [ 1.15152423e-01 -1.57252440e-03 9.93346589e-01 2.82754371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.20509989299995 meters 0.05413051239092332 Centerline is valid? [True, True] Translation: X:268.61, Y:45.21, Z:28.28 [[ 9.69945880e-01 -2.15966264e-01 -1.12087303e-01 2.68606933e+02] [ 2.14731677e-01 9.76399439e-01 -2.31179946e-02 4.52104039e+01] [ 1.14434687e-01 -1.64549095e-03 9.93429411e-01 2.82823217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.26509989299996 meters 0.05411292981429973 Centerline is valid? [True, True] Translation: X:268.67, Y:45.22, Z:28.29 [[ 9.69300685e-01 -2.18584365e-01 -1.12592438e-01 2.68667338e+02] [ 2.17356618e-01 9.75816072e-01 -2.32184072e-02 4.52202378e+01] [ 1.14944691e-01 -1.96709359e-03 9.93369945e-01 2.82874155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.32509989299996 meters 0.05404096645804167 Centerline is valid? [True, True] Translation: X:268.73, Y:45.23, Z:28.29 [[ 9.68526853e-01 -2.22108909e-01 -1.12353762e-01 2.68726589e+02] [ 2.20910309e-01 9.75018951e-01 -2.31663713e-02 4.52311315e+01] [ 1.14692505e-01 -2.38285164e-03 9.93398184e-01 2.82948352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.38509989299996 meters 0.05422817955107356 Centerline is valid? [True, True] Translation: X:268.79, Y:45.24, Z:28.30 [[ 9.67031071e-01 -2.27988229e-01 -1.13456052e-01 2.68785612e+02] [ 2.26806450e-01 9.73658914e-01 -2.33913214e-02 4.52400137e+01] [ 1.15800442e-01 -3.11242966e-03 9.93267623e-01 2.83010245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.44509989299996 meters 0.05406241497519907 Centerline is valid? [True, True] Translation: X:268.85, Y:45.25, Z:28.31 [[ 9.66282785e-01 -2.31488199e-01 -1.12742151e-01 2.68845766e+02] [ 2.30345211e-01 9.72831376e-01 -2.32421596e-02 4.52500805e+01] [ 1.15059388e-01 -3.51111590e-03 9.93352409e-01 2.83075906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.50509989299997 meters 0.05483663650869019 Centerline is valid? [True, True] Translation: X:268.90, Y:45.26, Z:28.31 [[ 9.65373969e-01 -2.35916062e-01 -1.11340523e-01 2.68904550e+02] [ 2.34830762e-01 9.71765251e-01 -2.29523491e-02 4.52573150e+01] [ 1.13611679e-01 -3.98857957e-03 9.93517226e-01 2.83138606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.56509989299997 meters 0.05393782993968906 Centerline is valid? [True, True] Translation: X:268.96, Y:45.27, Z:28.32 [[ 9.64708956e-01 -2.39172399e-01 -1.10150778e-01 2.68962970e+02] [ 2.38131381e-01 9.70967485e-01 -2.27065758e-02 4.52698870e+01] [ 1.12383610e-01 -4.32511976e-03 9.93655482e-01 2.83208900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.62509989299997 meters 0.053446030101398104 Centerline is valid? [True, True] Translation: X:269.02, Y:45.28, Z:28.33 [[ 9.63739665e-01 -2.43300470e-01 -1.09593524e-01 2.69021767e+02] [ 2.42296640e-01 9.69939177e-01 -2.25905187e-02 4.52841215e+01] [ 1.11795336e-01 -4.78276372e-03 9.93719743e-01 2.83287196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.685099893 meters 0.05328577150687385 Centerline is valid? [True, True] Translation: X:269.08, Y:45.29, Z:28.33 [[ 9.63047299e-01 -2.46005434e-01 -1.09641357e-01 2.69081210e+02] [ 2.45018307e-01 9.69255030e-01 -2.25990087e-02 4.52943762e+01] [ 1.11829916e-01 -5.10022544e-03 9.93714274e-01 2.83344611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.745099893 meters 0.05379209455702218 Centerline is valid? [True, True] Translation: X:269.14, Y:45.30, Z:28.34 [[ 9.62342935e-01 -2.49022834e-01 -1.09012398e-01 2.69140334e+02] [ 2.48066271e-01 9.68482452e-01 -2.24691986e-02 4.53043688e+01] [ 1.11171938e-01 -5.41922452e-03 9.93786412e-01 2.83403217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.805099893 meters 0.058464887743355225 Centerline is valid? [True, True] Translation: X:269.20, Y:45.30, Z:28.34 [[ 9.62144637e-01 -2.50010779e-01 -1.08500269e-01 2.69204545e+02] [ 2.49069478e-01 9.68227390e-01 -2.23632802e-02 4.52967796e+01] [ 1.10643993e-01 -5.50739530e-03 9.93844845e-01 2.83449729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.865099893 meters 0.05484130123097968 Centerline is valid? [True, True] Translation: X:269.26, Y:45.32, Z:28.35 [[ 9.62748098e-01 -2.48100259e-01 -1.07528420e-01 2.69261892e+02] [ 2.47164189e-01 9.68720176e-01 -2.21604116e-02 4.53188128e+01] [ 1.09662954e-01 -5.24228065e-03 9.93955007e-01 2.83530201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.925099893 meters 0.05525935979232252 Centerline is valid? [True, True] Translation: X:269.32, Y:45.33, Z:28.36 [[ 9.63231909e-01 -2.46502150e-01 -1.06868980e-01 2.69321033e+02] [ 2.45567828e-01 9.69129194e-01 -2.20238064e-02 4.53319242e+01] [ 1.08998764e-01 -5.02955019e-03 9.94029161e-01 2.83599132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.985099893 meters 0.05447562446604356 Centerline is valid? [True, True] Translation: X:269.38, Y:45.34, Z:28.37 [[ 9.63654669e-01 -2.44958592e-01 -1.06606596e-01 2.69379894e+02] [ 2.44019547e-01 9.69521442e-01 -2.19689224e-02 4.53442666e+01] [ 1.08738857e-01 -4.84363852e-03 9.94058550e-01 2.83661799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.045099893 meters 0.054022188711376935 Centerline is valid? [True, True] Translation: X:269.44, Y:45.36, Z:28.37 [[ 9.64260610e-01 -2.42108398e-01 -1.07633639e-01 2.69439267e+02] [ 2.41133467e-01 9.70238462e-01 -2.21805760e-02 4.53571790e+01] [ 1.09800400e-01 -4.56621675e-03 9.93943168e-01 2.83720242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.105099893 meters 0.05432779328321654 Centerline is valid? [True, True] Translation: X:269.50, Y:45.37, Z:28.38 [[ 9.65451059e-01 -2.37270807e-01 -1.07734942e-01 2.69498405e+02] [ 2.36264014e-01 9.71435231e-01 -2.22015165e-02 4.53703129e+01] [ 1.09925290e-01 -4.01941229e-03 9.93931725e-01 2.83775670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.165099893 meters 0.0547064566830456 Centerline is valid? [True, True] Translation: X:269.56, Y:45.39, Z:28.38 [[ 9.66918300e-01 -2.30711364e-01 -1.08817585e-01 2.69556388e+02] [ 2.29642855e-01 9.73016613e-01 -2.24238664e-02 4.53886834e+01] [ 1.11054759e-01 -3.30713418e-03 9.93808786e-01 2.83839810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.225099893 meters 0.05466816667449554 Centerline is valid? [True, True] Translation: X:269.61, Y:45.40, Z:28.39 [[ 9.68877215e-01 -2.22171099e-01 -1.09164761e-01 2.69614269e+02] [ 2.21041675e-01 9.75004898e-01 -2.24950540e-02 4.54035444e+01] [ 1.11433927e-01 -2.33501629e-03 9.93769102e-01 2.83899041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.285099893 meters 0.05395289596110655 Centerline is valid? [True, True] Translation: X:269.67, Y:45.42, Z:28.40 [[ 9.71056767e-01 -2.12862670e-01 -1.08343155e-01 2.69672478e+02] [ 2.11692354e-01 9.77081320e-01 -2.23257854e-02 4.54197776e+01] [ 1.10612400e-01 -1.25581262e-03 9.93862828e-01 2.83972987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.345099893 meters 0.05402585134016378 Centerline is valid? [True, True] Translation: X:269.73, Y:45.43, Z:28.40 [[ 9.72234972e-01 -2.07582900e-01 -1.08020823e-01 2.69730470e+02] [ 2.06387121e-01 9.78217211e-01 -2.22585664e-02 4.54337432e+01] [ 1.10288326e-01 -6.53549914e-04 9.93899421e-01 2.84033128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.405099893 meters 0.054570744909174164 Centerline is valid? [True, True] Translation: X:269.79, Y:45.45, Z:28.41 [[ 9.73521179e-01 -2.01579884e-01 -1.07805681e-01 2.69788324e+02] [ 2.00352133e-01 9.79472077e-01 -2.22142555e-02 4.54501242e+01] [ 1.10070601e-01 2.69500531e-05 9.93923771e-01 2.84106998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.465099893 meters 0.05571309308794775 Centerline is valid? [True, True] Translation: X:269.85, Y:45.47, Z:28.42 [[ 9.75249622e-01 -1.92734878e-01 -1.08357932e-01 2.69845130e+02] [ 1.91439914e-01 9.81250326e-01 -2.23283876e-02 4.54660615e+01] [ 1.10629715e-01 1.03171848e-03 9.93861158e-01 2.84161109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.525099893 meters 0.05556658285141836 Centerline is valid? [True, True] Translation: X:269.91, Y:45.48, Z:28.42 [[ 9.75953753e-01 -1.89111752e-01 -1.08402112e-01 2.69905208e+02] [ 1.87793493e-01 9.81954512e-01 -2.23369602e-02 4.54759875e+01] [ 1.10670124e-01 1.44262897e-03 9.93856148e-01 2.84246509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.585099893 meters 0.055274362809290004 Centerline is valid? [True, True] Translation: X:269.96, Y:45.49, Z:28.43 [[ 9.75884396e-01 -1.88863534e-01 -1.09454153e-01 2.69963788e+02] [ 1.87518205e-01 9.82002224e-01 -2.25511766e-02 4.54854408e+01] [ 1.11743317e-01 1.48269505e-03 9.93735998e-01 2.84290164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.64509989299995 meters 0.05526371538950218 Centerline is valid? [True, True] Translation: X:270.02, Y:45.49, Z:28.43 [[ 9.75126457e-01 -1.92463868e-01 -1.09936581e-01 2.70022492e+02] [ 1.91129272e-01 9.81303471e-01 -2.26517053e-02 4.54919668e+01] [ 1.12240784e-01 1.07617838e-03 9.93680456e-01 2.84348732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.70509989299995 meters 0.05508775957976917 Centerline is valid? [True, True] Translation: X:270.08, Y:45.50, Z:28.44 [[ 9.74010889e-01 -1.97999992e-01 -1.09994502e-01 2.70079940e+02] [ 1.96698723e-01 9.80201922e-01 -2.26672601e-02 4.54969405e+01] [ 1.12304940e-01 4.42380002e-04 9.93673691e-01 2.84401321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.76509989299996 meters 0.05452189460224996 Centerline is valid? [True, True] Translation: X:270.14, Y:45.50, Z:28.45 [[ 9.71905466e-01 -2.08936453e-01 -1.08375840e-01 2.70139593e+02] [ 2.07740421e-01 9.77928890e-01 -2.23384034e-02 4.54966248e+01] [ 1.10651172e-01 -8.03226322e-04 9.93858980e-01 2.84496923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.82509989299996 meters 0.05486514045846856 Centerline is valid? [True, True] Translation: X:270.20, Y:45.49, Z:28.46 [[ 9.69718907e-01 -2.19749544e-01 -1.06561625e-01 2.70202022e+02] [ 2.18657048e-01 9.75554292e-01 -2.19754320e-02 4.54941489e+01] [ 1.08785742e-01 -1.99045853e-03 9.94063228e-01 2.84552117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.88509989299996 meters 0.054420380622106086 Centerline is valid? [True, True] Translation: X:270.26, Y:45.50, Z:28.46 [[ 9.68376846e-01 -2.25927243e-01 -1.05845006e-01 2.70261842e+02] [ 2.24886230e-01 9.74140529e-01 -2.18268757e-02 4.55005246e+01] [ 1.08039196e-01 -2.66644336e-03 9.94143059e-01 2.84623073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.94509989299996 meters 0.055557900787219866 Centerline is valid? [True, True] Translation: X:270.32, Y:45.50, Z:28.47 [[ 9.66584764e-01 -2.33693310e-01 -1.05362850e-01 2.70322608e+02] [ 2.32707626e-01 9.72303999e-01 -2.17277181e-02 4.54968382e+01] [ 1.07522343e-01 -3.51705742e-03 9.94196447e-01 2.84672882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.00509989299997 meters 0.056018541715235286 Centerline is valid? [True, True] Translation: X:270.38, Y:45.50, Z:28.47 [[ 9.64920973e-01 -2.40153410e-01 -1.06084188e-01 2.70383467e+02] [ 2.39192823e-01 9.70725582e-01 -2.18777920e-02 4.55004974e+01] [ 1.08232661e-01 -4.26423598e-03 9.94116446e-01 2.84725198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.06509989299997 meters 0.05571864937846704 Centerline is valid? [True, True] Translation: X:270.44, Y:45.52, Z:28.48 [[ 9.64406392e-01 -2.41985945e-01 -1.06597909e-01 2.70441802e+02] [ 2.41027128e-01 9.70269359e-01 -2.19839687e-02 4.55153697e+01] [ 1.08748497e-01 -4.49150802e-03 9.94059149e-01 2.84787297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.12509989299997 meters 0.055791114147473425 Centerline is valid? [True, True] Translation: X:270.50, Y:45.52, Z:28.48 [[ 9.63477850e-01 -2.45246972e-01 -1.07537694e-01 2.70501604e+02] [ 2.44291342e-01 9.69448238e-01 -2.21777813e-02 4.55236512e+01] [ 1.09691262e-01 -4.90272663e-03 9.93953616e-01 2.84840006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.185099893 meters 0.05519445218744658 Centerline is valid? [True, True] Translation: X:270.56, Y:45.53, Z:28.49 [[ 9.62275750e-01 -2.49384331e-01 -1.08778838e-01 2.70560578e+02] [ 2.48432746e-01 9.68389331e-01 -2.24337641e-02 4.55331203e+01] [ 1.10934895e-01 -5.43675812e-03 9.93812805e-01 2.84895232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.245099893 meters 0.055520028133810795 Centerline is valid? [True, True] Translation: X:270.62, Y:45.54, Z:28.50 [[ 9.61624538e-01 -2.51517996e-01 -1.09621833e-01 2.70619305e+02] [ 2.50565269e-01 9.67835680e-01 -2.26084500e-02 4.55425293e+01] [ 1.11782353e-01 -5.72658374e-03 9.93716213e-01 2.84951649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.305099893 meters 0.056760556424448785 Centerline is valid? [True, True] Translation: X:270.68, Y:45.55, Z:28.50 [[ 9.61371155e-01 -2.52444546e-01 -1.09714420e-01 2.70676800e+02] [ 2.51496061e-01 9.67593752e-01 -2.26288083e-02 4.55506236e+01] [ 1.11871506e-01 -5.83806085e-03 9.93705531e-01 2.84996504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.365099893 meters 0.05521753378160038 Centerline is valid? [True, True] Translation: X:270.73, Y:45.57, Z:28.51 [[ 9.61811481e-01 -2.51526724e-01 -1.07948985e-01 2.70734390e+02] [ 2.50602466e-01 9.67833950e-01 -2.22676844e-02 4.55732339e+01] [ 1.10077610e-01 -5.63496718e-03 9.93907021e-01 2.85082784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.425099893 meters 0.05361730148526067 Centerline is valid? [True, True] Translation: X:270.79, Y:45.59, Z:28.52 [[ 9.62221833e-01 -2.49884665e-01 -1.08105498e-01 2.70791715e+02] [ 2.48947703e-01 9.68260228e-01 -2.22973663e-02 4.55935043e+01] [ 1.10246024e-01 -5.45760259e-03 9.93889344e-01 2.85154710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.485099893 meters 0.05570730229501977 Centerline is valid? [True, True] Translation: X:270.85, Y:45.59, Z:28.52 [[ 9.62522591e-01 -2.48925205e-01 -1.07640629e-01 2.70852828e+02] [ 2.47990430e-01 9.68508071e-01 -2.22005237e-02 4.55947285e+01] [ 1.09777088e-01 -5.32534043e-03 9.93941966e-01 2.85200794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.545099893 meters 0.054150945225666415 Centerline is valid? [True, True] Translation: X:270.91, Y:45.61, Z:28.53 [[ 9.63051854e-01 -2.47050025e-01 -1.07225982e-01 2.70910249e+02] [ 2.46111074e-01 9.68989341e-01 -2.21132438e-02 4.56144640e+01] [ 1.09363911e-01 -5.09330115e-03 9.93988729e-01 2.85274806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.605099893 meters 0.054582777142207224 Centerline is valid? [True, True] Translation: X:270.97, Y:45.63, Z:28.53 [[ 9.63911950e-01 -2.43873539e-01 -1.06768205e-01 2.70968548e+02] [ 2.42923291e-01 9.69795589e-01 -2.20179721e-02 4.56287637e+01] [ 1.08912935e-01 -4.71309732e-03 9.94040120e-01 2.85340770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.665099893 meters 0.054710316019398984 Centerline is valid? [True, True] Translation: X:271.03, Y:45.64, Z:28.54 [[ 9.65960903e-01 -2.35851431e-01 -1.06271523e-01 2.71025795e+02] [ 2.34861596e-01 9.71781736e-01 -2.19154983e-02 4.56430391e+01] [ 1.08441527e-01 -3.78958513e-03 9.94095606e-01 2.85396452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.725099893 meters 0.05503986375667532 Centerline is valid? [True, True] Translation: X:271.08, Y:45.66, Z:28.55 [[ 9.68700964e-01 -2.24612049e-01 -1.05678143e-01 2.71081991e+02] [ 2.23566338e-01 9.74445025e-01 -2.17941653e-02 4.56607635e+01] [ 1.07872773e-01 -2.51404652e-03 9.94161528e-01 2.85458602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.785099893 meters 0.055300029574064345 Centerline is valid? [True, True] Translation: X:271.14, Y:45.68, Z:28.55 [[ 9.70417375e-01 -2.16781575e-01 -1.06282018e-01 2.71139174e+02] [ 2.15676873e-01 9.76218736e-01 -2.19195137e-02 4.56796129e+01] [ 1.08506244e-01 -1.65149625e-03 9.94094396e-01 2.85520329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.845099893 meters 0.05404410936975815 Centerline is valid? [True, True] Translation: X:271.20, Y:45.70, Z:28.56 [[ 9.72804159e-01 -2.06195642e-01 -1.05524526e-01 2.71195454e+02] [ 2.05044508e-01 9.78510674e-01 -2.17625882e-02 4.56994446e+01] [ 1.07744226e-01 -4.66488241e-04 9.94178537e-01 2.85582067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.905099893 meters 0.05458042750365647 Centerline is valid? [True, True] Translation: X:271.25, Y:45.72, Z:28.56 [[ 9.74130273e-01 -1.99871360e-01 -1.05459236e-01 2.71250951e+02] [ 1.98684559e-01 9.79822119e-01 -2.17499777e-02 4.57163882e+01] [ 1.07678489e-01 2.34190000e-04 9.94185741e-01 2.85645667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.965099893 meters 0.05537196567397044 Centerline is valid? [True, True] Translation: X:271.31, Y:45.73, Z:28.57 [[ 9.75521922e-01 -1.93459269e-01 -1.04548992e-01 2.71306979e+02] [ 1.92255464e-01 9.81107857e-01 -2.15687313e-02 4.57329461e+01] [ 1.06746509e-01 9.40655281e-04 9.94285823e-01 2.85707583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.025099893 meters 0.05526864519017339 Centerline is valid? [True, True] Translation: X:271.36, Y:45.74, Z:28.58 [[ 9.75735306e-01 -1.92828584e-01 -1.03719575e-01 2.71364313e+02] [ 1.91639015e-01 9.81231935e-01 -2.14097658e-02 4.57428171e+01] [ 1.05901374e-01 1.01354710e-03 9.94376122e-01 2.85766202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.085099893 meters 0.05581808990010016 Centerline is valid? [True, True] Translation: X:271.42, Y:45.75, Z:28.58 [[ 9.74834951e-01 -1.97188412e-01 -1.03988210e-01 2.71422887e+02] [ 1.96015964e-01 9.80365454e-01 -2.14783390e-02 4.57500442e+01] [ 1.06181729e-01 5.54486178e-04 9.94346586e-01 2.85818738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.14509989299995 meters 0.054976332228245973 Centerline is valid? [True, True] Translation: X:271.48, Y:45.76, Z:28.59 [[ 9.73827177e-01 -2.02125751e-01 -1.03950998e-01 2.71481060e+02] [ 2.00981971e-01 9.79359577e-01 -2.14724661e-02 4.57604384e+01] [ 1.06145544e-01 1.81945849e-05 9.94350604e-01 2.85872663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.20509989299995 meters 0.055025814620805476 Centerline is valid? [True, True] Translation: X:271.54, Y:45.76, Z:28.59 [[ 9.72039032e-01 -2.10806638e-01 -1.03444100e-01 2.71539565e+02] [ 2.09722745e-01 9.77527345e-01 -2.13695957e-02 4.57621724e+01] [ 1.05624289e-01 -9.22499602e-04 9.94405681e-01 2.85927376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.26509989299996 meters 0.05538097186850541 Centerline is valid? [True, True] Translation: X:271.60, Y:45.76, Z:28.60 [[ 9.70053978e-01 -2.20090627e-01 -1.02739457e-01 2.71600605e+02] [ 2.19072826e-01 9.75477550e-01 -2.12284439e-02 4.57628995e+01] [ 1.04892216e-01 -1.91468685e-03 9.94481753e-01 2.85994503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.32509989299996 meters 0.054582989243344746 Centerline is valid? [True, True] Translation: X:271.66, Y:45.77, Z:28.61 [[ 9.68891504e-01 -2.24965139e-01 -1.03150079e-01 2.71658852e+02] [ 2.23966644e-01 9.74363729e-01 -2.13135382e-02 4.57742859e+01] [ 1.05300499e-01 -2.45167097e-03 9.94437426e-01 2.86057847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.38509989299996 meters 0.05487657347408447 Centerline is valid? [True, True] Translation: X:271.72, Y:45.78, Z:28.61 [[ 9.68057822e-01 -2.27010708e-01 -1.06443372e-01 2.71718271e+02] [ 2.25959498e-01 9.73888353e-01 -2.19950271e-02 4.57807498e+01] [ 1.08657067e-01 -2.75943293e-03 9.94075464e-01 2.86081992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.44509989299996 meters 0.05486157136757788 Centerline is valid? [True, True] Translation: X:271.77, Y:45.79, Z:28.62 [[ 9.68556530e-01 -2.25652149e-01 -1.04782425e-01 2.71774793e+02] [ 2.24625349e-01 9.74204567e-01 -2.16544480e-02 4.57895189e+01] [ 1.06965890e-01 -2.56323173e-03 9.94259387e-01 2.86151476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.50509989299997 meters 0.05491911637328343 Centerline is valid? [True, True] Translation: X:271.83, Y:45.80, Z:28.62 [[ 9.69770389e-01 -2.20383572e-01 -1.04768666e-01 2.71832165e+02] [ 2.19325902e-01 9.75411283e-01 -2.16558726e-02 4.58015422e+01] [ 1.06965137e-01 -1.97725820e-03 9.94260806e-01 2.86219551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.56509989299997 meters 0.05445055994133847 Centerline is valid? [True, True] Translation: X:271.89, Y:45.82, Z:28.63 [[ 9.71407361e-01 -2.12875906e-01 -1.05126530e-01 2.71890191e+02] [ 2.11766975e-01 9.77078564e-01 -2.17308214e-02 4.58194856e+01] [ 1.07342848e-01 -1.15284750e-03 9.94221396e-01 2.86278922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.62509989299997 meters 0.05490578717913239 Centerline is valid? [True, True] Translation: X:271.95, Y:45.83, Z:28.63 [[ 9.73118923e-01 -2.03981914e-01 -1.06915576e-01 2.71947049e+02] [ 2.02781248e-01 9.78974641e-01 -2.21001578e-02 4.58346729e+01] [ 1.09175670e-01 -1.74392173e-04 9.94022456e-01 2.86335822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.685099893 meters 0.05566340972854673 Centerline is valid? [True, True] Translation: X:272.00, Y:45.85, Z:28.64 [[ 9.74788256e-01 -1.94993006e-01 -1.08469271e-01 2.72003772e+02] [ 1.93701005e-01 9.80804265e-01 -2.24257727e-02 4.58481535e+01] [ 1.10759992e-01 8.49773164e-04 9.93846820e-01 2.86374432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.745099893 meters 0.05622506766191672 Centerline is valid? [True, True] Translation: X:272.06, Y:45.86, Z:28.64 [[ 9.75920947e-01 -1.89631930e-01 -1.07786996e-01 2.72060376e+02] [ 1.88322119e-01 9.81854161e-01 -2.22976667e-02 4.58608507e+01] [ 1.10059461e-01 1.46208443e-03 9.93923929e-01 2.86441849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.805099893 meters 0.05628263388159476 Centerline is valid? [True, True] Translation: X:272.12, Y:45.87, Z:28.65 [[ 9.76756660e-01 -1.85787709e-01 -1.06908162e-01 2.72117714e+02] [ 1.84475798e-01 9.82588102e-01 -2.21201885e-02 4.58698435e+01] [ 1.09156347e-01 1.88407295e-03 9.94022808e-01 2.86530557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.865099893 meters 0.0563869855721104 Centerline is valid? [True, True] Translation: X:272.18, Y:45.88, Z:28.66 [[ 9.76899217e-01 -1.85186125e-01 -1.06649043e-01 2.72175596e+02] [ 1.83876676e-01 9.82701531e-01 -2.20696527e-02 4.58774503e+01] [ 1.08891171e-01 1.94955492e-03 9.94051765e-01 2.86592050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.925099893 meters 0.056186034569636036 Centerline is valid? [True, True] Translation: X:272.23, Y:45.88, Z:28.67 [[ 9.76112737e-01 -1.89116883e-01 -1.06951992e-01 2.72234786e+02] [ 1.87822331e-01 9.81953399e-01 -2.21426054e-02 4.58830924e+01] [ 1.09209412e-01 1.52570681e-03 9.94017594e-01 2.86652725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.985099893 meters 0.05583915794801734 Centerline is valid? [True, True] Translation: X:272.29, Y:45.89, Z:28.67 [[ 9.74845927e-01 -1.96043197e-01 -1.06030579e-01 2.72294349e+02] [ 1.94811543e-01 9.80594977e-01 -2.19534306e-02 4.58920352e+01] [ 1.08276874e-01 7.45231681e-04 9.94120497e-01 2.86710011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.045099893 meters 0.055687445013174505 Centerline is valid? [True, True] Translation: X:272.35, Y:45.89, Z:28.68 [[ 9.72237501e-01 -2.09388877e-01 -1.04453528e-01 2.72353941e+02] [ 2.08270245e-01 9.77832178e-01 -2.16272113e-02 4.58882180e+01] [ 1.06666519e-01 -7.27776061e-04 9.94294586e-01 2.86778821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.105099893 meters 0.05575570649515622 Centerline is valid? [True, True] Translation: X:272.41, Y:45.89, Z:28.69 [[ 9.70199320e-01 -2.18838093e-01 -1.04034464e-01 2.72414561e+02] [ 2.17781206e-01 9.75759621e-01 -2.15524375e-02 4.58923395e+01] [ 1.06229123e-01 -1.74659078e-03 9.94340144e-01 2.86851305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.165099893 meters 0.05684401969284746 Centerline is valid? [True, True] Translation: X:272.48, Y:45.89, Z:28.69 [[ 9.66924711e-01 -2.32747758e-01 -1.04331607e-01 2.72476915e+02] [ 2.31765179e-01 9.72531602e-01 -2.16144600e-02 4.58883121e+01] [ 1.06496502e-01 -3.28087807e-03 9.94307664e-01 2.86904112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.225099893 meters 0.05555137797233234 Centerline is valid? [True, True] Translation: X:272.54, Y:45.90, Z:28.70 [[ 9.63070329e-01 -2.48269311e-01 -1.04201201e-01 2.72535148e+02] [ 2.47379324e-01 9.68678210e-01 -2.15869337e-02 4.59020202e+01] [ 1.06296806e-01 -4.98748745e-03 9.94321937e-01 2.86953950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.285099893 meters 0.057199108117512186 Centerline is valid? [True, True] Translation: X:272.60, Y:45.90, Z:28.70 [[ 9.61181046e-01 -2.55249783e-01 -1.04778549e-01 2.72595558e+02] [ 2.54391026e-01 9.66857807e-01 -2.17068576e-02 4.59039050e+01] [ 1.06846629e-01 -5.79050256e-03 9.94258652e-01 2.87013133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.345099893 meters 0.05551819435341936 Centerline is valid? [True, True] Translation: X:272.65, Y:45.92, Z:28.71 [[ 9.60867489e-01 -2.56342858e-01 -1.04985751e-01 2.72651872e+02] [ 2.55487190e-01 9.66567766e-01 -2.17497015e-02 4.59244512e+01] [ 1.07051224e-01 -5.92393348e-03 9.94235859e-01 2.87073751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.405099893 meters 0.055480214257276235 Centerline is valid? [True, True] Translation: X:272.71, Y:45.94, Z:28.71 [[ 9.60779544e-01 -2.56474450e-01 -1.05468121e-01 2.72709026e+02] [ 2.55611538e-01 9.66532605e-01 -2.18509772e-02 4.59353007e+01] [ 1.07542595e-01 -5.96489682e-03 9.94182584e-01 2.87128908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.465099893 meters 0.05767590601037969 Centerline is valid? [True, True] Translation: X:272.77, Y:45.94, Z:28.72 [[ 9.60886011e-01 -2.55692103e-01 -1.06393711e-01 2.72766619e+02] [ 2.54807666e-01 9.66740167e-01 -2.20567955e-02 4.59407826e+01] [ 1.08494822e-01 -5.91586687e-03 9.94079411e-01 2.87169099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.525099893 meters 0.05612076646551551 Centerline is valid? [True, True] Translation: X:272.82, Y:45.96, Z:28.72 [[ 9.61349655e-01 -2.53820950e-01 -1.06685361e-01 2.72823201e+02] [ 2.52919724e-01 9.67234330e-01 -2.21215690e-02 4.59614687e+01] [ 1.08804662e-01 -5.71626937e-03 9.94046714e-01 2.87229563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.585099893 meters 0.05611262651471867 Centerline is valid? [True, True] Translation: X:272.88, Y:45.98, Z:28.73 [[ 9.62701654e-01 -2.48844201e-01 -1.06217180e-01 2.72881315e+02] [ 2.47920677e-01 9.68529941e-01 -2.20248087e-02 4.59781057e+01] [ 1.08355265e-01 -5.13011549e-03 9.94098998e-01 2.87288240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.64509989299995 meters 0.0550397132266019 Centerline is valid? [True, True] Translation: X:272.94, Y:46.00, Z:28.74 [[ 9.64389315e-01 -2.42277491e-01 -1.06088954e-01 2.72937694e+02] [ 2.41316667e-01 9.70197080e-01 -2.19975624e-02 4.60042454e+01] [ 1.08256707e-01 -4.38681854e-03 9.94113294e-01 2.87355448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.70509989299995 meters 0.05498867129766488 Centerline is valid? [True, True] Translation: X:272.99, Y:46.02, Z:28.74 [[ 9.66582030e-01 -2.33796171e-01 -1.05159546e-01 2.72994275e+02] [ 2.32802050e-01 9.72279669e-01 -2.18048237e-02 4.60224638e+01] [ 1.07342373e-01 -3.40520714e-03 9.94216284e-01 2.87421904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.76509989299996 meters 0.055090299367876905 Centerline is valid? [True, True] Translation: X:273.05, Y:46.04, Z:28.75 [[ 9.69269743e-01 -2.22973443e-01 -1.03918282e-01 2.73050380e+02] [ 2.21940528e-01 9.74822086e-01 -2.15476777e-02 4.60435267e+01] [ 1.06106397e-01 -2.17816645e-03 9.94352396e-01 2.87490594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.82509989299996 meters 0.05470064681667358 Centerline is valid? [True, True] Translation: X:273.11, Y:46.06, Z:28.76 [[ 9.71078784e-01 -2.15295682e-01 -1.03217075e-01 2.73107273e+02] [ 2.14233343e-01 9.76548004e-01 -2.14025987e-02 4.60639342e+01] [ 1.05404316e-01 -1.32892953e-03 9.94428562e-01 2.87551751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.88509989299996 meters 0.05457956753982073 Centerline is valid? [True, True] Translation: X:273.16, Y:46.09, Z:28.76 [[ 9.73073215e-01 -2.05944535e-01 -1.03515057e-01 2.73163433e+02] [ 2.04823112e-01 9.78563615e-01 -2.14649420e-02 4.60869534e+01] [ 1.05716656e-01 -3.15316065e-04 9.94396244e-01 2.87600220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.94509989299996 meters 0.05458371616393016 Centerline is valid? [True, True] Translation: X:273.22, Y:46.10, Z:28.77 [[ 9.73652652e-01 -2.02761293e-01 -1.04347359e-01 2.73219237e+02] [ 2.01603346e-01 9.79228195e-01 -2.16387056e-02 4.61041252e+01] [ 1.06567368e-01 3.18064022e-05 9.94305484e-01 2.87653405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.00509989299997 meters 0.05508908525678835 Centerline is valid? [True, True] Translation: X:273.27, Y:46.12, Z:28.77 [[ 9.73742393e-01 -2.02888180e-01 -1.03257630e-01 2.73274869e+02] [ 2.01753677e-01 9.79201913e-01 -2.14258772e-02 4.61182708e+01] [ 1.05457126e-01 3.06784627e-05 9.94423850e-01 2.87718928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.06509989299997 meters 0.05453854639495685 Centerline is valid? [True, True] Translation: X:273.33, Y:46.13, Z:28.78 [[ 9.73165538e-01 -2.06187711e-01 -1.02154116e-01 2.73331174e+02] [ 2.05094008e-01 9.78512408e-01 -2.12112176e-02 4.61288798e+01] [ 1.04332562e-01 -3.09171056e-04 9.94542418e-01 2.87783142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.12509989299997 meters 0.05430900443633501 Centerline is valid? [True, True] Translation: X:273.39, Y:46.13, Z:28.79 [[ 9.71632373e-01 -2.14363676e-01 -9.98936702e-02 2.73389376e+02] [ 2.13359543e-01 9.76753244e-01 -2.07558441e-02 4.61347189e+01] [ 1.02020766e-01 -1.14621774e-03 9.94781609e-01 2.87864425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.185099893 meters 0.055477877503291265 Centerline is valid? [True, True] Translation: X:273.45, Y:46.13, Z:28.79 [[ 9.68926406e-01 -2.26009885e-01 -1.00504484e-01 2.73449655e+02] [ 2.25055290e-01 9.74122098e-01 -2.08867249e-02 4.61343730e+01] [ 1.02624245e-01 -2.38136645e-03 9.94717344e-01 2.87925492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.245099893 meters 0.060678520456085516 Centerline is valid? [True, True] Translation: X:273.51, Y:46.12, Z:28.79 [[ 9.65991199e-01 -2.36856870e-01 -1.03729587e-01 2.73513206e+02] [ 2.35901853e-01 9.71537720e-01 -2.15586483e-02 4.61240142e+01] [ 1.05883520e-01 -3.64453724e-03 9.94371861e-01 2.87935154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.305099893 meters 0.05605696193477115 Centerline is valid? [True, True] Translation: X:273.57, Y:46.15, Z:28.80 [[ 9.64191689e-01 -2.45434564e-01 -1.00480156e-01 2.73568830e+02] [ 2.44584754e-01 9.69402993e-01 -2.08838680e-02 4.61498007e+01] [ 1.02531387e-01 -4.43986230e-03 9.94719861e-01 2.88028972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.365099893 meters 0.05603724265018149 Centerline is valid? [True, True] Translation: X:273.63, Y:46.16, Z:28.81 [[ 9.63442840e-01 -2.48618426e-01 -9.98337229e-02 2.73627630e+02] [ 2.47796585e-01 9.68589869e-01 -2.07489314e-02 4.61604166e+01] [ 1.01856499e-01 -4.74804615e-03 9.94787771e-01 2.88093646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.425099893 meters 0.055805671779055106 Centerline is valid? [True, True] Translation: X:273.69, Y:46.17, Z:28.81 [[ 9.62870654e-01 -2.50737458e-01 -1.00054142e-01 2.73685865e+02] [ 2.49923277e-01 9.68042304e-01 -2.07955202e-02 4.61731118e+01] [ 1.02070858e-01 -4.98246285e-03 9.94764653e-01 2.88142914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.485099893 meters 0.05510194791528575 Centerline is valid? [True, True] Translation: X:273.74, Y:46.19, Z:28.82 [[ 9.62729773e-01 -2.51233888e-01 -1.00164453e-01 2.73742793e+02] [ 2.50420480e-01 9.67913289e-01 -2.08194234e-02 4.61881482e+01] [ 1.02181050e-01 -5.03975176e-03 9.94753052e-01 2.88201073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.545099893 meters 0.05448179407577103 Centerline is valid? [True, True] Translation: X:273.80, Y:46.21, Z:28.83 [[ 9.62727630e-01 -2.51315588e-01 -9.99799235e-02 2.73802176e+02] [ 2.50504431e-01 9.67892141e-01 -2.07926288e-02 4.62064892e+01] [ 1.01995294e-01 -5.02777561e-03 9.94772176e-01 2.88269197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.605099893 meters 0.056167767338111026 Centerline is valid? [True, True] Translation: X:273.86, Y:46.21, Z:28.83 [[ 9.62943228e-01 -2.50277542e-01 -1.00506177e-01 2.73861581e+02] [ 2.49452638e-01 9.68161488e-01 -2.08977193e-02 4.62113717e+01] [ 1.02536440e-01 -4.94821368e-03 9.94716941e-01 2.88335721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.665099893 meters 0.05882935902859362 Centerline is valid? [True, True] Translation: X:273.92, Y:46.22, Z:28.84 [[ 9.63263948e-01 -2.48666885e-01 -1.01426562e-01 2.73921154e+02] [ 2.47817810e-01 9.68577073e-01 -2.10899580e-02 4.62168721e+01] [ 1.03483817e-01 -4.82011223e-03 9.94619458e-01 2.88398023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.725099893 meters 0.05469759032119976 Centerline is valid? [True, True] Translation: X:273.98, Y:46.25, Z:28.85 [[ 9.64024425e-01 -2.45196980e-01 -1.02641851e-01 2.73976230e+02] [ 2.44307740e-01 9.69462833e-01 -2.13434496e-02 4.62484187e+01] [ 1.04740809e-01 -4.50059181e-03 9.94489370e-01 2.88453461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.785099893 meters 0.054972902891507594 Centerline is valid? [True, True] Translation: X:274.03, Y:46.26, Z:28.85 [[ 9.64955310e-01 -2.41216026e-01 -1.03325115e-01 2.74033565e+02] [ 2.40292232e-01 9.70462801e-01 -2.14847560e-02 4.62596549e+01] [ 1.05455648e-01 -4.09639313e-03 9.94415570e-01 2.88511860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.845099893 meters 0.05485962090341068 Centerline is valid? [True, True] Translation: X:274.09, Y:46.28, Z:28.86 [[ 9.67133957e-01 -2.32496331e-01 -1.02943506e-01 2.74089793e+02] [ 2.31529822e-01 9.72592235e-01 -2.14075988e-02 4.62772814e+01] [ 1.05099243e-01 -3.13047588e-03 9.94456811e-01 2.88590353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.905099893 meters 0.05542989786556651 Centerline is valid? [True, True] Translation: X:274.15, Y:46.29, Z:28.87 [[ 9.67946664e-01 -2.29174375e-01 -1.02753892e-01 2.74148476e+02] [ 2.28192615e-01 9.73381462e-01 -2.13695823e-02 4.62902088e+01] [ 1.04916094e-01 -2.76306331e-03 9.94477239e-01 2.88656073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.965099893 meters 0.05525095702164908 Centerline is valid? [True, True] Translation: X:274.21, Y:46.31, Z:28.87 [[ 9.69445722e-01 -2.22591054e-01 -1.03093229e-01 2.74205792e+02] [ 2.21565631e-01 9.74909735e-01 -2.14401279e-02 4.63086294e+01] [ 1.05278973e-01 -2.05687605e-03 9.94440600e-01 2.88726044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.025099893 meters 0.05396417965700866 Centerline is valid? [True, True] Translation: X:274.26, Y:46.33, Z:28.88 [[ 9.71151557e-01 -2.15342829e-01 -1.02431044e-01 2.74262295e+02] [ 2.14290260e-01 9.76537697e-01 -2.13028285e-02 4.63290994e+01] [ 1.04615188e-01 -1.26170006e-03 9.94511976e-01 2.88797141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.085099893 meters 0.054244739377635395 Centerline is valid? [True, True] Translation: X:274.32, Y:46.34, Z:28.89 [[ 9.72414386e-01 -2.09818095e-01 -1.01914808e-01 2.74318559e+02] [ 2.08745819e-01 9.77740214e-01 -2.11956605e-02 4.63411126e+01] [ 1.04093439e-01 -6.63324833e-04 9.94567301e-01 2.88859531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.14509989299995 meters 0.05386569828399982 Centerline is valid? [True, True] Translation: X:274.38, Y:46.36, Z:28.89 [[ 9.72730044e-01 -2.07896087e-01 -1.02837150e-01 2.74375975e+02] [ 2.06793062e-01 9.78150810e-01 -2.13920888e-02 4.63551113e+01] [ 1.05037573e-01 -4.57281776e-04 9.94468149e-01 2.88914310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.20509989299995 meters 0.05435053473068506 Centerline is valid? [True, True] Translation: X:274.43, Y:46.37, Z:28.90 [[ 9.72693395e-01 -2.07421893e-01 -1.04133169e-01 2.74433165e+02] [ 2.06286871e-01 9.78251501e-01 -2.16732219e-02 4.63660609e+01] [ 1.06363930e-01 -3.99905791e-04 9.94327187e-01 2.88964030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.26509989299996 meters 0.05447800142943394 Centerline is valid? [True, True] Translation: X:274.49, Y:46.37, Z:28.90 [[ 9.72181299e-01 -2.09780713e-01 -1.04190087e-01 2.74490965e+02] [ 2.08656591e-01 9.77748248e-01 -2.16977328e-02 4.63721282e+01] [ 1.06423441e-01 -6.45818328e-04 9.94320690e-01 2.89022345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.32509989299996 meters 0.054869928292349546 Centerline is valid? [True, True] Translation: X:274.55, Y:46.38, Z:28.91 [[ 9.71515737e-01 -2.12986383e-01 -1.03894051e-01 2.74548187e+02] [ 2.11886436e-01 9.77054666e-01 -2.16406285e-02 4.63786810e+01] [ 1.06119326e-01 -9.89528974e-04 9.94352910e-01 2.89086940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.38509989299996 meters 0.054330068603914046 Centerline is valid? [True, True] Translation: X:274.61, Y:46.38, Z:28.92 [[ 9.70051617e-01 -2.19814258e-01 -1.03351594e-01 2.74608211e+02] [ 2.18763923e-01 9.75540222e-01 -2.15318707e-02 4.63846646e+01] [ 1.05556649e-01 -1.72257416e-03 9.94411799e-01 2.89161745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.44509989299996 meters 0.05553671628694138 Centerline is valid? [True, True] Translation: X:274.67, Y:46.39, Z:28.92 [[ 9.68870569e-01 -2.25103563e-01 -1.03044684e-01 2.74668569e+02] [ 2.24089345e-01 9.74332146e-01 -2.14670684e-02 4.63855937e+01] [ 1.05232062e-01 -2.29240497e-03 9.94445050e-01 2.89220134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.50509989299997 meters 0.05631565683414224 Centerline is valid? [True, True] Translation: X:274.73, Y:46.39, Z:28.93 [[ 9.66871297e-01 -2.33764546e-01 -1.02537953e-01 2.74728797e+02] [ 2.32808638e-01 9.72287914e-01 -2.13623684e-02 4.63897005e+01] [ 1.04690176e-01 -3.21706027e-03 9.94499682e-01 2.89291761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.56509989299997 meters 0.05656235621424811 Centerline is valid? [True, True] Translation: X:274.79, Y:46.40, Z:28.94 [[ 9.65765915e-01 -2.38288985e-01 -1.02540514e-01 2.74789372e+02] [ 2.37358474e-01 9.71187217e-01 -2.13622151e-02 4.63956008e+01] [ 1.04676417e-01 -3.70796060e-03 9.94499421e-01 2.89352920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.62509989299997 meters 0.056087157029118435 Centerline is valid? [True, True] Translation: X:274.85, Y:46.40, Z:28.94 [[ 9.64639052e-01 -2.42742116e-01 -1.02702306e-01 2.74848245e+02] [ 2.41833767e-01 9.70081773e-01 -2.13958848e-02 4.64049945e+01] [ 1.04823317e-01 -4.19757938e-03 9.94482002e-01 2.89408160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.685099893 meters 0.056725838508802175 Centerline is valid? [True, True] Translation: X:274.91, Y:46.41, Z:28.95 [[ 9.64352224e-01 -2.43911542e-01 -1.02625276e-01 2.74907547e+02] [ 2.43011067e-01 9.69787859e-01 -2.13805859e-02 4.64117084e+01] [ 1.04739718e-01 -4.32066224e-03 9.94490283e-01 2.89459418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.745099893 meters 0.05824413824960277 Centerline is valid? [True, True] Translation: X:274.97, Y:46.42, Z:28.95 [[ 9.65049769e-01 -2.40742856e-01 -1.03546228e-01 2.74966861e+02] [ 2.39807864e-01 9.70580642e-01 -2.15732778e-02 4.64164239e+01] [ 1.05693577e-01 -4.01191313e-03 9.94390654e-01 2.89508620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.805099893 meters 0.05474422218087756 Centerline is valid? [True, True] Translation: X:275.02, Y:46.45, Z:28.96 [[ 9.67409322e-01 -2.31316744e-01 -1.03013437e-01 2.75021722e+02] [ 2.30337908e-01 9.72873978e-01 -2.14632288e-02 4.64491426e+01] [ 1.05183897e-01 -2.96417208e-03 9.94448370e-01 2.89575665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.865099893 meters 0.055232385992307016 Centerline is valid? [True, True] Translation: X:275.08, Y:46.46, Z:28.96 [[ 9.70311632e-01 -2.18766000e-01 -1.03134737e-01 2.75079042e+02] [ 2.17714148e-01 9.75776031e-01 -2.14869282e-02 4.64627770e+01] [ 1.05337013e-01 -1.60487496e-03 9.94435286e-01 2.89637916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.925099893 meters 0.05513856036694051 Centerline is valid? [True, True] Translation: X:275.14, Y:46.48, Z:28.97 [[ 9.71795212e-01 -2.12229591e-01 -1.02823475e-01 2.75135513e+02] [ 2.11147513e-01 9.77219425e-01 -2.14225026e-02 4.64780417e+01] [ 1.05027586e-01 -8.92635567e-04 9.94468908e-01 2.89701194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.985099893 meters 0.05518352489543581 Centerline is valid? [True, True] Translation: X:275.19, Y:46.49, Z:28.98 [[ 9.72562521e-01 -2.08113873e-01 -1.03974800e-01 2.75192927e+02] [ 2.06983619e-01 9.78104500e-01 -2.16649204e-02 4.64923837e+01] [ 1.06206990e-01 -4.50590802e-04 9.94343941e-01 2.89756333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.045099893 meters 0.05491099696217766 Centerline is valid? [True, True] Translation: X:275.25, Y:46.50, Z:28.98 [[ 9.72133184e-01 -2.09504198e-01 -1.05190609e-01 2.75249762e+02] [ 2.08354726e-01 9.77807561e-01 -2.19244480e-02 4.65017413e+01] [ 1.07449436e-01 -6.03477017e-04 9.94210367e-01 2.89802968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.105099893 meters 0.05495643310582749 Centerline is valid? [True, True] Translation: X:275.31, Y:46.51, Z:28.99 [[ 9.70650105e-01 -2.15963806e-01 -1.05820645e-01 2.75308594e+02] [ 2.14838225e-01 9.76400475e-01 -2.20601317e-02 4.65068082e+01] [ 1.08087518e-01 -1.32165026e-03 9.94140504e-01 2.89864915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.165099893 meters 0.05532669306569039 Centerline is valid? [True, True] Translation: X:275.37, Y:46.51, Z:28.99 [[ 9.69015377e-01 -2.23458139e-01 -1.05240958e-01 2.75368337e+02] [ 2.22388685e-01 9.74711171e-01 -2.19409727e-02 4.65143864e+01] [ 1.07482426e-01 -2.14325824e-03 9.94204674e-01 2.89942583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.225099893 meters 0.05518034625434059 Centerline is valid? [True, True] Translation: X:275.43, Y:46.52, Z:29.00 [[ 9.68023098e-01 -2.27982899e-01 -1.04666513e-01 2.75428063e+02] [ 2.26951415e-01 9.73661583e-01 -2.18214865e-02 4.65221903e+01] [ 1.06884688e-01 -2.63051012e-03 9.94267944e-01 2.90012329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.285099893 meters 0.056023013496153934 Centerline is valid? [True, True] Translation: X:275.49, Y:46.53, Z:29.01 [[ 9.66632002e-01 -2.34108220e-01 -1.03999592e-01 2.75486735e+02] [ 2.33125037e-01 9.72204994e-01 -2.16833452e-02 4.65289183e+01] [ 1.06185172e-01 -3.28509346e-03 9.94340946e-01 2.90077096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.345099893 meters 0.05704204682024904 Centerline is valid? [True, True] Translation: X:275.55, Y:46.53, Z:29.01 [[ 9.65660419e-01 -2.38443036e-01 -1.03173993e-01 2.75546012e+02] [ 2.37499868e-01 9.71149323e-01 -2.15128937e-02 4.65340504e+01] [ 1.05326953e-01 -3.72965969e-03 9.94430653e-01 2.90142261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.405099893 meters 0.05862882864768994 Centerline is valid? [True, True] Translation: X:275.61, Y:46.54, Z:29.02 [[ 9.64341006e-01 -2.43584175e-01 -1.03504461e-01 2.75605670e+02] [ 2.42664377e-01 9.69870208e-01 -2.15819240e-02 4.65390323e+01] [ 1.05642909e-01 -4.30451128e-03 9.94394814e-01 2.90201913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.465099893 meters 0.05839059739059272 Centerline is valid? [True, True] Translation: X:275.66, Y:46.55, Z:29.03 [[ 9.61696554e-01 -2.53402873e-01 -1.04530962e-01 2.75664340e+02] [ 2.52522186e-01 9.67345569e-01 -2.17967064e-02 4.65513093e+01] [ 1.06640911e-01 -5.43456958e-03 9.94282747e-01 2.90266031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.525099893 meters 0.055412761452989165 Centerline is valid? [True, True] Translation: X:275.72, Y:46.57, Z:29.03 [[ 9.59321713e-01 -2.62236733e-01 -1.04564560e-01 2.75720981e+02] [ 2.61407466e-01 9.64982238e-01 -2.18040532e-02 4.65719421e+01] [ 1.06620767e-01 -6.41685497e-03 9.94279053e-01 2.90341377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.585099893 meters 0.06396055946673324 Centerline is valid? [True, True] Translation: X:275.78, Y:46.56, Z:29.04 [[ 9.58320313e-01 -2.65511990e-01 -1.05477771e-01 2.75784259e+02] [ 2.64687835e-01 9.64083288e-01 -2.19946264e-02 4.65592404e+01] [ 1.07529193e-01 -6.84078547e-03 9.94178393e-01 2.90382745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.64509989299995 meters 0.05749927320340702 Centerline is valid? [True, True] Translation: X:275.84, Y:46.59, Z:29.04 [[ 9.57962903e-01 -2.66494407e-01 -1.06244090e-01 2.75838946e+02] [ 2.65664174e-01 9.63811033e-01 -2.21548996e-02 4.65917727e+01] [ 1.08303383e-01 -7.00167654e-03 9.94093232e-01 2.90443957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.70509989299995 meters 0.054716871526005496 Centerline is valid? [True, True] Translation: X:275.89, Y:46.62, Z:29.05 [[ 9.58360938e-01 -2.64957008e-01 -1.06499280e-01 2.75894518e+02] [ 2.64113438e-01 9.64235929e-01 -2.22073289e-02 4.66174908e+01] [ 1.08574420e-01 -6.84525462e-03 9.94064755e-01 2.90513049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.76509989299996 meters 0.05627655840823546 Centerline is valid? [True, True] Translation: X:275.95, Y:46.63, Z:29.06 [[ 9.58982214e-01 -2.62541010e-01 -1.06889342e-01 2.75952325e+02] [ 2.61676250e-01 9.64898296e-01 -2.22894452e-02 4.66298962e+01] [ 1.08989237e-01 -6.59522051e-03 9.94021051e-01 2.90567306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.82509989299996 meters 0.05933379550356436 Centerline is valid? [True, True] Translation: X:276.01, Y:46.63, Z:29.06 [[ 9.59717587e-01 -2.59892009e-01 -1.06762809e-01 2.76011125e+02] [ 2.59012881e-01 9.65617230e-01 -2.22641641e-02 4.66333317e+01] [ 1.08878286e-01 -6.28563293e-03 9.94035216e-01 2.90622342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.88509989299996 meters 0.0644607230345116 Centerline is valid? [True, True] Translation: X:276.07, Y:46.64, Z:29.07 [[ 9.60695097e-01 -2.56607501e-01 -1.05912802e-01 2.76071048e+02] [ 2.55722236e-01 9.66497911e-01 -2.20890694e-02 4.66404576e+01] [ 1.08032722e-01 -5.86339782e-03 9.94130048e-01 2.90693816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.94509989299996 meters 0.05446624729987894 Centerline is valid? [True, True] Translation: X:276.12, Y:46.68, Z:29.08 [[ 9.61271309e-01 -2.54525457e-01 -1.05708384e-01 2.76122670e+02] [ 2.53631018e-01 9.67049757e-01 -2.20470738e-02 4.66848486e+01] [ 1.07836808e-01 -5.61770546e-03 9.94152737e-01 2.90782645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.00509989299997 meters 0.059729955727646444 Centerline is valid? [True, True] Translation: X:276.18, Y:46.68, Z:29.08 [[ 9.62564415e-01 -2.49572833e-01 -1.05750409e-01 2.76183200e+02] [ 2.48647905e-01 9.68342787e-01 -2.20559713e-02 4.66847175e+01] [ 1.07907217e-01 -5.06432437e-03 9.94148070e-01 2.90823402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.06509989299997 meters 0.05686546176333724 Centerline is valid? [True, True] Translation: X:276.24, Y:46.71, Z:29.09 [[ 9.64481287e-01 -2.41994010e-01 -1.05899699e-01 2.76238628e+02] [ 2.41020801e-01 9.70268564e-01 -2.20881547e-02 4.67119830e+01] [ 1.08096350e-01 -4.22041829e-03 9.94131464e-01 2.90896997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.12509989299997 meters 0.0578852664498049 Centerline is valid? [True, True] Translation: X:276.30, Y:46.72, Z:29.09 [[ 9.65971622e-01 -2.35722715e-01 -1.06459514e-01 2.76297007e+02] [ 2.34701170e-01 9.71813919e-01 -2.22051163e-02 4.67248416e+01] [ 1.08693087e-01 -3.53666019e-03 9.94069064e-01 2.90949393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.185099893 meters 0.0555577806062874 Centerline is valid? [True, True] Translation: X:276.35, Y:46.75, Z:29.10 [[ 9.67620311e-01 -2.28651763e-01 -1.06907927e-01 2.76353576e+02] [ 2.27578431e-01 9.73504388e-01 -2.22994075e-02 4.67487158e+01] [ 1.09174135e-01 -2.75257873e-03 9.94018829e-01 2.91016855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.245099893 meters 0.05440815492833089 Centerline is valid? [True, True] Translation: X:276.41, Y:46.77, Z:29.11 [[ 9.70220726e-01 -2.17144154e-01 -1.07332008e-01 2.76409851e+02] [ 2.15991890e-01 9.76138453e-01 -2.23880174e-02 4.67747421e+01] [ 1.09632327e-01 -1.46152475e-03 9.93971135e-01 2.91089567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.305099893 meters 0.0540559538010599 Centerline is valid? [True, True] Translation: X:276.47, Y:46.79, Z:29.11 [[ 9.72228885e-01 -2.07595380e-01 -1.08051627e-01 2.76466455e+02] [ 2.06368540e-01 9.78214705e-01 -2.25392081e-02 4.67937630e+01] [ 1.10376726e-01 -3.85187407e-04 9.93889747e-01 2.91133140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.365099893 meters 0.05496803379505562 Centerline is valid? [True, True] Translation: X:276.52, Y:46.81, Z:29.12 [[ 9.72994858e-01 -2.04249690e-01 -1.07531714e-01 2.76522501e+02] [ 2.03014119e-01 9.78918824e-01 -2.24321970e-02 4.68093046e+01] [ 1.09846589e-01 -4.04389195e-06 9.93948553e-01 2.91203029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.425099893 meters 0.054645473240423875 Centerline is valid? [True, True] Translation: X:276.58, Y:46.82, Z:29.13 [[ 9.73075043e-01 -2.03963390e-01 -1.07349416e-01 2.76577246e+02] [ 2.02729034e-01 9.78978516e-01 -2.24054675e-02 4.68208611e+01] [ 1.09662667e-01 3.93579563e-05 9.93968862e-01 2.91295054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.485099893 meters 0.054812147759281525 Centerline is valid? [True, True] Translation: X:276.63, Y:46.83, Z:29.13 [[ 9.72354469e-01 -2.07002850e-01 -1.08058353e-01 2.76634941e+02] [ 2.05770044e-01 9.78340294e-01 -2.25601024e-02 4.68309210e+01] [ 1.10387846e-01 -2.98755619e-04 9.93888542e-01 2.91340704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.545099893 meters 0.0547771047027063 Centerline is valid? [True, True] Translation: X:276.69, Y:46.84, Z:29.14 [[ 9.70445988e-01 -2.15604395e-01 -1.08394325e-01 2.76693449e+02] [ 2.14415954e-01 9.76479972e-01 -2.26420709e-02 4.68358707e+01] [ 1.10726618e-01 -1.26856574e-03 9.93850093e-01 2.91392940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.605099893 meters 0.05568159724371512 Centerline is valid? [True, True] Translation: X:276.76, Y:46.83, Z:29.15 [[ 9.68269477e-01 -2.25924346e-01 -1.06828883e-01 2.76755140e+02] [ 2.24832238e-01 9.74141872e-01 -2.23176696e-02 4.68349512e+01] [ 1.09108593e-01 -2.40905861e-03 9.94026917e-01 2.91459275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.665099893 meters 0.05663470364058247 Centerline is valid? [True, True] Translation: X:276.82, Y:46.84, Z:29.15 [[ 9.66877546e-01 -2.32201857e-01 -1.05972208e-01 2.76815256e+02] [ 2.31164837e-01 9.72662703e-01 -2.21378396e-02 4.68402916e+01] [ 1.08215662e-01 -3.09246818e-03 9.94122632e-01 2.91524548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.725099893 meters 0.05659875413305489 Centerline is valid? [True, True] Translation: X:276.88, Y:46.85, Z:29.16 [[ 9.65120540e-01 -2.39332211e-01 -1.06124627e-01 2.76875273e+02] [ 2.38335059e-01 9.70929919e-01 -2.21696281e-02 4.68480285e+01] [ 1.08345481e-01 -3.89685564e-03 9.94105664e-01 2.91588617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.785099893 meters 0.0571146654479643 Centerline is valid? [True, True] Translation: X:276.93, Y:46.86, Z:29.16 [[ 9.64097760e-01 -2.43124996e-01 -1.06797685e-01 2.76934703e+02] [ 2.42138248e-01 9.69985212e-01 -2.23104826e-02 4.68573704e+01] [ 1.09016412e-01 -4.35031813e-03 9.94030430e-01 2.91648936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.845099893 meters 0.05792347015877579 Centerline is valid? [True, True] Translation: X:277.00, Y:46.86, Z:29.17 [[ 9.62668793e-01 -2.48677800e-01 -1.06902505e-01 2.76995205e+02] [ 2.47723135e-01 9.68573443e-01 -2.23323276e-02 4.68627254e+01] [ 1.09096482e-01 -4.98358895e-03 9.94018673e-01 2.91702720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.905099893 meters 0.05885016681032196 Centerline is valid? [True, True] Translation: X:277.05, Y:46.87, Z:29.18 [[ 9.61531583e-01 -2.52840382e-01 -1.07372047e-01 2.77054740e+02] [ 2.51903081e-01 9.67492487e-01 -2.24304310e-02 4.68726417e+01] [ 1.09552967e-01 -5.47978161e-03 9.93965854e-01 2.91758652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.965099893 meters 0.057770284311826715 Centerline is valid? [True, True] Translation: X:277.11, Y:46.89, Z:29.18 [[ 9.59949158e-01 -2.58274396e-01 -1.08590750e-01 2.77112816e+02] [ 2.57350104e-01 9.66051905e-01 -2.26856914e-02 4.68874139e+01] [ 1.10763434e-01 -6.16873051e-03 9.93827655e-01 2.91809515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.025099893 meters 0.05355537961023114 Centerline is valid? [True, True] Translation: X:277.17, Y:46.92, Z:29.19 [[ 9.58926450e-01 -2.61540211e-01 -1.09803380e-01 2.77167250e+02] [ 2.60616324e-01 9.65169884e-01 -2.29396276e-02 4.69226057e+01] [ 1.11978550e-01 -6.61913762e-03 9.93688579e-01 2.91889039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.085099893 meters 0.05277522588964037 Centerline is valid? [True, True] Translation: X:277.23, Y:46.94, Z:29.20 [[ 9.58807987e-01 -2.61932587e-01 -1.09902519e-01 2.77226316e+02] [ 2.61009700e-01 9.65063109e-01 -2.29593624e-02 4.69416447e+01] [ 1.12076672e-01 -6.67200338e-03 9.93677163e-01 2.91956551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.14509989299995 meters 0.05626650403097949 Centerline is valid? [True, True] Translation: X:277.29, Y:46.94, Z:29.20 [[ 9.59311527e-01 -2.60051302e-01 -1.09975974e-01 2.77288052e+02] [ 2.59115393e-01 9.65573186e-01 -2.29702974e-02 4.69391604e+01] [ 1.12163307e-01 -6.46079666e-03 9.93668783e-01 2.91993806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.20509989299995 meters 0.05872719124876651 Centerline is valid? [True, True] Translation: X:277.35, Y:46.95, Z:29.21 [[ 9.60008788e-01 -2.57567328e-01 -1.09736956e-01 2.77346807e+02] [ 2.56619312e-01 9.66240741e-01 -2.29207322e-02 4.69472252e+01] [ 1.11935949e-01 -6.15651771e-03 9.93696352e-01 2.92053981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.26509989299996 meters 0.053192859336542796 Centerline is valid? [True, True] Translation: X:277.40, Y:46.99, Z:29.22 [[ 9.62117272e-01 -2.50601811e-01 -1.07373583e-01 2.77399132e+02] [ 2.49650888e-01 9.68076137e-01 -2.24282606e-02 4.69900459e+01] [ 1.09566366e-01 -5.22729323e-03 9.93965737e-01 2.92156595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.32509989299996 meters 0.053956161883950506 Centerline is valid? [True, True] Translation: X:277.46, Y:47.00, Z:29.22 [[ 9.63819791e-01 -2.44092909e-01 -1.07098377e-01 2.77456777e+02] [ 2.43106796e-01 9.69741526e-01 -2.23709122e-02 4.70024976e+01] [ 1.09318324e-01 -4.47481531e-03 9.93996720e-01 2.92209555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.38509989299996 meters 0.05452996323061857 Centerline is valid? [True, True] Translation: X:277.51, Y:47.02, Z:29.23 [[ 9.66642646e-01 -2.33173077e-01 -1.05982596e-01 2.77514340e+02] [ 2.32141797e-01 9.72429976e-01 -2.21388131e-02 4.70173738e+01] [ 1.08222828e-01 -3.20266939e-03 9.94121503e-01 2.92271363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.44509989299996 meters 0.05399038747205637 Centerline is valid? [True, True] Translation: X:277.57, Y:47.04, Z:29.23 [[ 9.69080756e-01 -2.22923694e-01 -1.05771052e-01 2.77570780e+02] [ 2.21835548e-01 9.74833737e-01 -2.20946755e-02 4.70420425e+01] [ 1.08034616e-01 -2.05225436e-03 9.94145015e-01 2.92339053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.50509989299997 meters 0.05393962327763041 Centerline is valid? [True, True] Translation: X:277.63, Y:47.06, Z:29.24 [[ 9.70449791e-01 -2.16864299e-01 -1.05816254e-01 2.77628190e+02] [ 2.15739360e-01 9.76200786e-01 -2.21032376e-02 4.70590052e+01] [ 1.08091313e-01 -1.37864867e-03 9.94140014e-01 2.92399534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.56509989299997 meters 0.05456681263877771 Centerline is valid? [True, True] Translation: X:277.69, Y:47.08, Z:29.25 [[ 9.71605726e-01 -2.11600860e-01 -1.05864961e-01 2.77686249e+02] [ 2.10443706e-01 9.77355845e-01 -2.21133433e-02 4.70766922e+01] [ 1.08146941e-01 -7.93163694e-04 9.94134604e-01 2.92462927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.62509989299997 meters 0.05429738720602161 Centerline is valid? [True, True] Translation: X:277.74, Y:47.09, Z:29.25 [[ 9.72954029e-01 -2.04579839e-01 -1.07273239e-01 2.77744516e+02] [ 2.03349199e-01 9.78849881e-01 -2.24056693e-02 4.70947002e+01] [ 1.09588146e-01 -1.42410925e-05 9.93977081e-01 2.92518598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.685099893 meters 0.05453623551031275 Centerline is valid? [True, True] Translation: X:277.80, Y:47.11, Z:29.26 [[ 9.73370133e-01 -2.02280983e-01 -1.07856329e-01 2.77801841e+02] [ 2.01023001e-01 9.79327496e-01 -2.25257376e-02 4.71082962e+01] [ 1.10183197e-01 2.44277301e-04 9.93911265e-01 2.92562558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.745099893 meters 0.05529639981076491 Centerline is valid? [True, True] Translation: X:277.86, Y:47.12, Z:29.26 [[ 9.74336528e-01 -1.97773391e-01 -1.07489612e-01 2.77860699e+02] [ 1.96496517e-01 9.80247479e-01 -2.24499221e-02 4.71233904e+01] [ 1.09806418e-01 7.52444729e-04 9.93952707e-01 2.92642245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.805099893 meters 0.05426696553858724 Centerline is valid? [True, True] Translation: X:277.92, Y:47.14, Z:29.27 [[ 9.74201813e-01 -1.98076017e-01 -1.08151371e-01 2.77918430e+02] [ 1.96785378e-01 9.80186396e-01 -2.25863614e-02 4.71370097e+01] [ 1.10482320e-01 7.21065727e-04 9.93877828e-01 2.92702093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.865099893 meters 0.05433635779756378 Centerline is valid? [True, True] Translation: X:277.98, Y:47.15, Z:29.28 [[ 9.73394326e-01 -2.02509617e-01 -1.07207002e-01 2.77978735e+02] [ 2.01268185e-01 9.79280250e-01 -2.23899439e-02 4.71453576e+01] [ 1.09519879e-01 2.16885637e-04 9.93984582e-01 2.92795726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.925099893 meters 0.053777711767032735 Centerline is valid? [True, True] Translation: X:278.04, Y:47.15, Z:29.29 [[ 9.71266777e-01 -2.13030564e-01 -1.06107618e-01 2.78039504e+02] [ 2.11877191e-01 9.77045064e-01 -2.21584977e-02 4.71478883e+01] [ 1.08392362e-01 -9.59971409e-04 9.94107728e-01 2.92858144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.985099893 meters 0.05484594885126171 Centerline is valid? [True, True] Translation: X:278.10, Y:47.15, Z:29.29 [[ 9.69712260e-01 -2.20200831e-01 -1.05686928e-01 2.78099653e+02] [ 2.19099089e-01 9.75452979e-01 -2.20697499e-02 4.71538738e+01] [ 1.07952406e-01 -1.75460266e-03 9.94154515e-01 2.92927221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.045099893 meters 0.05408625139440621 Centerline is valid? [True, True] Translation: X:278.16, Y:47.16, Z:29.30 [[ 9.67831386e-01 -2.28054789e-01 -1.06270514e-01 2.78160171e+02] [ 2.26987911e-01 9.73644710e-01 -2.21916132e-02 4.71593949e+01] [ 1.08530628e-01 -2.64438233e-03 9.94089589e-01 2.92990721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.105099893 meters 0.05436105117091181 Centerline is valid? [True, True] Translation: X:278.22, Y:47.17, Z:29.31 [[ 9.67333439e-01 -2.30389665e-01 -1.05766821e-01 2.78220230e+02] [ 2.29346804e-01 9.73094156e-01 -2.20863657e-02 4.71696858e+01] [ 1.08009546e-01 -2.89240236e-03 9.94145649e-01 2.93051347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.165099893 meters 0.05552193928451841 Centerline is valid? [True, True] Translation: X:278.28, Y:47.17, Z:29.31 [[ 9.67821094e-01 -2.28607248e-01 -1.05171557e-01 2.78280033e+02] [ 2.27565664e-01 9.73515050e-01 -2.19617055e-02 4.71717648e+01] [ 1.07406699e-01 -2.67843338e-03 9.94211561e-01 2.93103977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.225099893 meters 0.05427706199162526 Centerline is valid? [True, True] Translation: X:278.34, Y:47.19, Z:29.32 [[ 9.68806469e-01 -2.24936360e-01 -1.04007978e-01 2.78337505e+02] [ 2.23896791e-01 9.74370866e-01 -2.17173374e-02 4.71892443e+01] [ 1.06227363e-01 -2.24715559e-03 9.94339327e-01 2.93176365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.285099893 meters 0.054550107978052986 Centerline is valid? [True, True] Translation: X:278.40, Y:47.21, Z:29.32 [[ 9.70628719e-01 -2.16946407e-01 -1.03991088e-01 2.78395179e+02] [ 2.15861293e-01 9.76182553e-01 -2.17146225e-02 4.72059946e+01] [ 1.06225195e-01 -1.37081453e-03 9.94341153e-01 2.93244060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.345099893 meters 0.05457033579995592 Centerline is valid? [True, True] Translation: X:278.45, Y:47.22, Z:29.33 [[ 9.71820884e-01 -2.10967129e-01 -1.05152457e-01 2.78452525e+02] [ 2.09822717e-01 9.77492887e-01 -2.19564067e-02 4.72199249e+01] [ 1.07417859e-01 -7.25679658e-04 9.94213698e-01 2.93294184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.405099893 meters 0.0548147041849347 Centerline is valid? [True, True] Translation: X:278.51, Y:47.23, Z:29.34 [[ 9.71870096e-01 -2.10442999e-01 -1.05746205e-01 2.78513184e+02] [ 2.09282325e-01 9.77605900e-01 -2.20819667e-02 4.72342992e+01] [ 1.08025109e-01 -6.70008577e-04 9.94147940e-01 2.93360338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.465099893 meters 0.0551531378949047 Centerline is valid? [True, True] Translation: X:278.57, Y:47.24, Z:29.34 [[ 9.70671019e-01 -2.14940086e-01 -1.07696484e-01 2.78572206e+02] [ 2.13764042e-01 9.76626505e-01 -2.24856489e-02 4.72395692e+01] [ 1.10012308e-01 -1.19546805e-03 9.93929506e-01 2.93394304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.525099893 meters 0.05463142712995404 Centerline is valid? [True, True] Translation: X:278.63, Y:47.25, Z:29.35 [[ 9.69401899e-01 -2.20225205e-01 -1.08447304e-01 2.78630879e+02] [ 2.19065380e-01 9.75447384e-01 -2.26442219e-02 4.72516568e+01] [ 1.10771467e-01 -1.80569802e-03 9.93844264e-01 2.93472897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.585099893 meters 0.05466509306927781 Centerline is valid? [True, True] Translation: X:278.69, Y:47.26, Z:29.36 [[ 9.67709666e-01 -2.27971880e-01 -1.07549174e-01 2.78689358e+02] [ 2.26878821e-01 9.73664058e-01 -2.24566798e-02 4.72638441e+01] [ 1.09836257e-01 -2.66908375e-03 9.93946112e-01 2.93561177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.64509989299995 meters 0.055287912249160694 Centerline is valid? [True, True] Translation: X:278.75, Y:47.27, Z:29.36 [[ 9.66513506e-01 -2.33046874e-01 -1.07428106e-01 2.78748296e+02] [ 2.31987484e-01 9.72460099e-01 -2.24312774e-02 4.72699467e+01] [ 1.09697086e-01 -3.24184353e-03 9.93959778e-01 2.93622465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.70509989299995 meters 0.05473327795132351 Centerline is valid? [True, True] Translation: X:278.81, Y:47.28, Z:29.37 [[ 9.64724005e-01 -2.40653289e-01 -1.06740758e-01 2.78807395e+02] [ 2.39653635e-01 9.70602576e-01 -2.22884636e-02 4.72823002e+01] [ 1.08966646e-01 -4.07859464e-03 9.94037039e-01 2.93692991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.76509989299996 meters 0.054552559667219676 Centerline is valid? [True, True] Translation: X:278.87, Y:47.29, Z:29.38 [[ 9.63545171e-01 -2.45582793e-01 -1.06159295e-01 2.78865638e+02] [ 2.44623774e-01 9.69364656e-01 -2.21669099e-02 4.72909693e+01] [ 1.08350880e-01 -4.61026853e-03 9.94102023e-01 2.93757105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.82509989299996 meters 0.056676735493791625 Centerline is valid? [True, True] Translation: X:278.93, Y:47.29, Z:29.38 [[ 9.62218590e-01 -2.51152451e-01 -1.05156223e-01 2.78926105e+02] [ 2.50244424e-01 9.67933651e-01 -2.19584992e-02 4.72924476e+01] [ 1.07299178e-01 -5.18588224e-03 9.94213253e-01 2.93813443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.88509989299996 meters 0.05810814876842861 Centerline is valid? [True, True] Translation: X:278.99, Y:47.30, Z:29.39 [[ 9.61803562e-01 -2.52961569e-01 -1.04615261e-01 2.78985639e+02] [ 2.52073545e-01 9.67461480e-01 -2.18451881e-02 4.72990518e+01] [ 1.06737228e-01 -5.35995993e-03 9.94272817e-01 2.93872095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.94509989299996 meters 0.053854715723682785 Centerline is valid? [True, True] Translation: X:279.04, Y:47.33, Z:29.39 [[ 9.62060097e-01 -2.51827118e-01 -1.04992723e-01 2.79040909e+02] [ 2.50925874e-01 9.67757983e-01 -2.19246876e-02 4.73347561e+01] [ 1.07128776e-01 -5.25252360e-03 9.94231279e-01 2.93938865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.00509989299997 meters 0.05402192940552498 Centerline is valid? [True, True] Translation: X:279.10, Y:47.35, Z:29.40 [[ 9.62936428e-01 -2.48028415e-01 -1.05996892e-01 2.79098859e+02] [ 2.47087294e-01 9.68740467e-01 -2.21308997e-02 4.73463001e+01] [ 1.08172571e-01 -4.87983569e-03 9.94120155e-01 2.93993882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.06509989299997 meters 0.0560740438698914 Centerline is valid? [True, True] Translation: X:279.16, Y:47.35, Z:29.40 [[ 9.64922181e-01 -2.39536691e-01 -1.07458636e-01 2.79157464e+02] [ 2.38516774e-01 9.70879152e-01 -2.24370383e-02 4.73548955e+01] [ 1.09703843e-01 -3.98069125e-03 9.93956348e-01 2.94031003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.12509989299997 meters 0.054884588205306464 Centerline is valid? [True, True] Translation: X:279.21, Y:47.38, Z:29.41 [[ 9.66993938e-01 -2.30628596e-01 -1.08319776e-01 2.79213938e+02] [ 2.29536498e-01 9.73037250e-01 -2.26164888e-02 4.73807137e+01] [ 1.10615186e-01 -2.99333435e-03 9.93858803e-01 2.94097278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.185099893 meters 0.05485579807619196 Centerline is valid? [True, True] Translation: X:279.27, Y:47.40, Z:29.42 [[ 9.68174461e-01 -2.25265184e-01 -1.09058741e-01 2.79271483e+02] [ 2.24124222e-01 9.74294540e-01 -2.27702129e-02 4.73984607e+01] [ 1.11384672e-01 -2.39716692e-03 9.93774476e-01 2.94159011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.245099893 meters 0.054373907277434894 Centerline is valid? [True, True] Translation: X:279.33, Y:47.42, Z:29.42 [[ 9.69142282e-01 -2.21273907e-01 -1.08632846e-01 2.79329181e+02] [ 2.20116804e-01 9.75209789e-01 -2.26817070e-02 4.74169024e+01] [ 1.10958685e-01 -1.93011364e-03 9.93823146e-01 2.94228028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.305099893 meters 0.054168810190026874 Centerline is valid? [True, True] Translation: X:279.39, Y:47.44, Z:29.43 [[ 9.70228832e-01 -2.17392031e-01 -1.06755416e-01 2.79387454e+02] [ 2.16251336e-01 9.76083281e-01 -2.22887634e-02 4.74362959e+01] [ 1.09047576e-01 -1.46080046e-03 9.94035458e-01 2.94311145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.365099893 meters 0.0547699743504266 Centerline is valid? [True, True] Translation: X:279.45, Y:47.45, Z:29.44 [[ 9.70942052e-01 -2.14775275e-01 -1.05560945e-01 2.79446400e+02] [ 2.13644894e-01 9.76662810e-01 -2.20366748e-02 4.74503086e+01] [ 1.07830382e-01 -1.15622276e-03 9.94168633e-01 2.94386018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.425099893 meters 0.054589570051598604 Centerline is valid? [True, True] Translation: X:279.50, Y:47.46, Z:29.44 [[ 9.71076977e-01 -2.14156819e-01 -1.05576331e-01 2.79503709e+02] [ 2.13022739e-01 9.76798684e-01 -2.20373393e-02 4.74615745e+01] [ 1.07846268e-01 -1.09020649e-03 9.94166985e-01 2.94442287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.485099893 meters 0.0546061239060263 Centerline is valid? [True, True] Translation: X:279.56, Y:47.47, Z:29.45 [[ 9.70865001e-01 -2.15357267e-01 -1.05082814e-01 2.79560954e+02] [ 2.14240585e-01 9.76534572e-01 -2.19363220e-02 4.74722764e+01] [ 1.07341147e-01 -1.21579628e-03 9.94221505e-01 2.94497648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.545099893 meters 0.05490696418463669 Centerline is valid? [True, True] Translation: X:279.62, Y:47.49, Z:29.46 [[ 9.70700928e-01 -2.16090016e-01 -1.05094305e-01 2.79619408e+02] [ 2.14976141e-01 9.76372599e-01 -2.19500984e-02 4.74861870e+01] [ 1.07354397e-01 -1.28578717e-03 9.94219986e-01 2.94562425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.605099893 meters 0.05442554457015192 Centerline is valid? [True, True] Translation: X:279.68, Y:47.50, Z:29.46 [[ 9.70771940e-01 -2.15499976e-01 -1.05648477e-01 2.79676734e+02] [ 2.14370799e-01 9.76503075e-01 -2.20659369e-02 4.74958685e+01] [ 1.07921272e-01 -1.22695613e-03 9.94158686e-01 2.94608790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.665099893 meters 0.0543312172698246 Centerline is valid? [True, True] Translation: X:279.74, Y:47.51, Z:29.47 [[ 9.71216962e-01 -2.13654624e-01 -1.05305812e-01 2.79735795e+02] [ 2.12521698e-01 9.76908731e-01 -2.19967884e-02 4.75126382e+01] [ 1.07573883e-01 -1.01611588e-03 9.94196574e-01 2.94682244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.725099893 meters 0.05468453998803474 Centerline is valid? [True, True] Translation: X:279.79, Y:47.53, Z:29.47 [[ 9.72127922e-01 -2.09316507e-01 -1.05612043e-01 2.79794140e+02] [ 2.08151610e-01 9.77847794e-01 -2.20589768e-02 4.75253464e+01] [ 1.07889811e-01 -5.39169409e-04 9.94162712e-01 2.94738133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.785099893 meters 0.05439793149701119 Centerline is valid? [True, True] Translation: X:279.85, Y:47.54, Z:29.48 [[ 9.72860166e-01 -2.05573235e-01 -1.06220250e-01 2.79850822e+02] [ 2.04372748e-01 9.78641727e-01 -2.21844785e-02 4.75372040e+01] [ 1.08512104e-01 -1.26129006e-04 9.94095120e-01 2.94784214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.845099893 meters 0.05434187222245916 Centerline is valid? [True, True] Translation: X:279.91, Y:47.55, Z:29.49 [[ 9.73245765e-01 -2.04076582e-01 -1.05571913e-01 2.79912069e+02] [ 2.02881532e-01 9.78954926e-01 -2.20530619e-02 4.75483627e+01] [ 1.07850658e-01 4.44577212e-05 9.94167106e-01 2.94861068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.905099893 meters 0.05456112192568503 Centerline is valid? [True, True] Translation: X:279.97, Y:47.56, Z:29.49 [[ 9.73476018e-01 -2.03236082e-01 -1.05069204e-01 2.79971952e+02] [ 2.02048012e-01 9.79129755e-01 -2.19436370e-02 4.75569881e+01] [ 1.07336122e-01 1.32580636e-04 9.94222781e-01 2.94921750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.965099893 meters 0.05445809773151895 Centerline is valid? [True, True] Translation: X:280.03, Y:47.56, Z:29.50 [[ 9.72825409e-01 -2.06171100e-01 -1.05376477e-01 2.80032517e+02] [ 2.04993304e-01 9.78515938e-01 -2.20069280e-02 4.75629704e+01] [ 1.07649755e-01 -1.92573419e-04 9.94188862e-01 2.94991205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.025099893 meters 0.05474133857553844 Centerline is valid? [True, True] Translation: X:280.09, Y:47.57, Z:29.50 [[ 9.71899064e-01 -2.10327489e-01 -1.05709780e-01 2.80092439e+02] [ 2.09166698e-01 9.77630768e-01 -2.20765475e-02 4.75671573e+01] [ 1.07988439e-01 -6.54789916e-04 9.94151934e-01 2.95034061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.085099893 meters 0.05486839891713872 Centerline is valid? [True, True] Translation: X:280.15, Y:47.57, Z:29.51 [[ 9.69710288e-01 -2.19602132e-01 -1.06943262e-01 2.80151938e+02] [ 2.18470078e-01 9.75588025e-01 -2.23345296e-02 4.75721015e+01] [ 1.09237276e-01 -1.70587959e-03 9.94014239e-01 2.95107987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.14509989299995 meters 0.05542543232952591 Centerline is valid? [True, True] Translation: X:280.21, Y:47.57, Z:29.52 [[ 9.67984134e-01 -2.26404197e-01 -1.08387527e-01 2.80212158e+02] [ 2.25283560e-01 9.74030217e-01 -2.26374513e-02 4.75742589e+01] [ 1.10697940e-01 -2.50523432e-03 9.93850939e-01 2.95151426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.20509989299995 meters 0.05424748682231335 Centerline is valid? [True, True] Translation: X:280.27, Y:47.59, Z:29.52 [[ 9.65269738e-01 -2.37107991e-01 -1.09700198e-01 2.80270521e+02] [ 2.36028628e-01 9.71475959e-01 -2.29117275e-02 4.75870778e+01] [ 1.12003659e-01 -3.77639019e-03 9.93700619e-01 2.95236398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.26509989299996 meters 0.057360814326524505 Centerline is valid? [True, True] Translation: X:280.33, Y:47.58, Z:29.53 [[ 9.63294056e-01 -2.45618770e-01 -1.08332736e-01 2.80332847e+02] [ 2.44619580e-01 9.69355090e-01 -2.26267487e-02 4.75784994e+01] [ 1.10570443e-01 -4.70409597e-03 9.93857157e-01 2.95288575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.32509989299996 meters 0.05681416782600165 Centerline is valid? [True, True] Translation: X:280.39, Y:47.59, Z:29.54 [[ 9.62368066e-01 -2.49820438e-01 -1.06946036e-01 2.80392556e+02] [ 2.48872448e-01 9.68278650e-01 -2.23374322e-02 4.75875794e+01] [ 1.09133910e-01 -5.11909043e-03 9.94013875e-01 2.95364553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.38509989299996 meters 0.05428464349824575 Centerline is valid? [True, True] Translation: X:280.45, Y:47.61, Z:29.54 [[ 9.61325991e-01 -2.54150003e-01 -1.06113693e-01 2.80449893e+02] [ 2.53242872e-01 9.67148799e-01 -2.21641066e-02 4.76061675e+01] [ 1.08260739e-01 -5.56560469e-03 9.94106954e-01 2.95446766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.44509989299996 meters 0.05376195277871208 Centerline is valid? [True, True] Translation: X:280.51, Y:47.62, Z:29.55 [[ 9.60533054e-01 -2.56709324e-01 -1.07128781e-01 2.80508048e+02] [ 2.55800556e-01 9.66470583e-01 -2.23760673e-02 4.76198857e+01] [ 1.09280960e-01 -5.91064938e-03 9.93993328e-01 2.95507068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.50509989299997 meters 0.05463340521055587 Centerline is valid? [True, True] Translation: X:280.57, Y:47.63, Z:29.56 [[ 9.59352598e-01 -2.60168149e-01 -1.09339503e-01 2.80566822e+02] [ 2.59243759e-01 9.65541874e-01 -2.28377492e-02 4.76302571e+01] [ 1.11513523e-01 -6.43612974e-03 9.93742074e-01 2.95567946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.56509989299997 meters 0.054543832304910514 Centerline is valid? [True, True] Translation: X:280.63, Y:47.64, Z:29.56 [[ 9.58880858e-01 -2.61269462e-01 -1.10841185e-01 2.80625727e+02] [ 2.60326792e-01 9.65242961e-01 -2.31514221e-02 4.76395441e+01] [ 1.13037433e-01 -6.65547462e-03 9.93568439e-01 2.95622360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.62509989299997 meters 0.054635034030273526 Centerline is valid? [True, True] Translation: X:280.68, Y:47.66, Z:29.57 [[ 9.59791849e-01 -2.57504086e-01 -1.11764269e-01 2.80683544e+02] [ 2.56520259e-01 9.66256904e-01 -2.33441962e-02 4.76573003e+01] [ 1.14004223e-01 -6.26422997e-03 9.93460516e-01 2.95698720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.685099893 meters 0.054990025781023404 Centerline is valid? [True, True] Translation: X:280.74, Y:47.67, Z:29.58 [[ 9.61762368e-01 -2.50502941e-01 -1.10731313e-01 2.80741358e+02] [ 2.49491047e-01 9.68100875e-01 -2.31282044e-02 4.76689536e+01] [ 1.12992764e-01 -5.38263444e-03 9.93581231e-01 2.95759589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.745099893 meters 0.05576810096018669 Centerline is valid? [True, True] Translation: X:280.80, Y:47.68, Z:29.58 [[ 9.65913327e-01 -2.34989867e-01 -1.08587326e-01 2.80798794e+02] [ 2.33918785e-01 9.71991546e-01 -2.26812134e-02 4.76823452e+01] [ 1.10875818e-01 -3.49252912e-03 9.93828132e-01 2.95821511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.805099893 meters 0.05452012711081038 Centerline is valid? [True, True] Translation: X:280.85, Y:47.71, Z:29.59 [[ 9.70267322e-01 -2.16680249e-01 -1.07847088e-01 2.80854287e+02] [ 2.15510553e-01 9.76241646e-01 -2.25266716e-02 4.77094607e+01] [ 1.10165904e-01 -1.38529225e-03 9.93912247e-01 2.95898376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.865099893 meters 0.05511159167440583 Centerline is valid? [True, True] Translation: X:280.91, Y:47.73, Z:29.60 [[ 9.72528941e-01 -2.06109324e-01 -1.08196142e-01 2.80910419e+02] [ 2.04866646e-01 9.78528953e-01 -2.25996903e-02 4.77301561e+01] [ 1.10531064e-01 -1.86927777e-04 9.93872652e-01 2.95968226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.925099893 meters 0.056413607495547934 Centerline is valid? [True, True] Translation: X:280.97, Y:47.75, Z:29.60 [[ 9.74938727e-01 -1.93846222e-01 -1.09170147e-01 2.80966185e+02] [ 1.92504032e-01 9.81031172e-01 -2.28043216e-02 4.77458892e+01] [ 1.11519849e-01 1.21712280e-03 9.93761461e-01 2.96042773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.985099893 meters 0.055977932765847546 Centerline is valid? [True, True] Translation: X:281.02, Y:47.76, Z:29.61 [[ 9.75684176e-01 -1.89498434e-01 -1.10139603e-01 2.81023517e+02] [ 1.88104157e-01 9.81879493e-01 -2.30105844e-02 4.77646480e+01] [ 1.12504287e-01 1.73334595e-03 9.93649727e-01 2.96071070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.045099893 meters 0.05662500250294043 Centerline is valid? [True, True] Translation: X:281.08, Y:47.78, Z:29.61 [[ 9.75921290e-01 -1.87941442e-01 -1.10705243e-01 2.81079888e+02] [ 1.86522625e-01 9.82178351e-01 -2.31300209e-02 4.77774401e+01] [ 1.13079382e-01 1.92404742e-03 9.93584094e-01 2.96119746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.105099893 meters 0.05631377995113832 Centerline is valid? [True, True] Translation: X:281.14, Y:47.78, Z:29.62 [[ 9.75585258e-01 -1.89720991e-01 -1.10631594e-01 2.81138717e+02] [ 1.88314843e-01 9.81836534e-01 -2.31201112e-02 4.77814199e+01] [ 1.13008511e-01 1.72206834e-03 9.93592528e-01 2.96214763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.165099893 meters 0.0561093627997289 Centerline is valid? [True, True] Translation: X:281.20, Y:47.79, Z:29.63 [[ 9.74918762e-01 -1.93726779e-01 -1.09559764e-01 2.81195941e+02] [ 1.92371598e-01 9.81054714e-01 -2.29088644e-02 4.77921791e+01] [ 1.11922184e-01 1.25809491e-03 9.93716178e-01 2.96264744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.225099893 meters 0.055801031462182786 Centerline is valid? [True, True] Translation: X:281.26, Y:47.80, Z:29.64 [[ 9.74040099e-01 -1.99134401e-01 -1.07663249e-01 2.81255707e+02] [ 1.97858583e-01 9.79971988e-01 -2.25140993e-02 4.77956382e+01] [ 1.09990299e-01 6.27537738e-04 9.93932463e-01 2.96364101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.285099893 meters 0.05507115024687056 Centerline is valid? [True, True] Translation: X:281.31, Y:47.80, Z:29.64 [[ 9.72520524e-01 -2.07062242e-01 -1.06438053e-01 2.81313761e+02] [ 2.05862494e-01 9.78327736e-01 -2.22592755e-02 4.77971761e+01] [ 1.08740355e-01 -2.64000775e-04 9.94070151e-01 2.96421324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.345099893 meters 0.05488295732447213 Centerline is valid? [True, True] Translation: X:281.37, Y:47.80, Z:29.65 [[ 9.71023477e-01 -2.13867818e-01 -1.06648788e-01 2.81373704e+02] [ 2.12702863e-01 9.76862081e-01 -2.23151906e-02 4.78001414e+01] [ 1.08953658e-01 -1.01592856e-03 9.94046311e-01 2.96474963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.405099893 meters 0.055386470072226544 Centerline is valid? [True, True] Translation: X:281.44, Y:47.80, Z:29.65 [[ 9.68706858e-01 -2.23913544e-01 -1.07096913e-01 2.81435445e+02] [ 2.22799618e-01 9.74606636e-01 -2.24106219e-02 4.78008382e+01] [ 1.09395404e-01 -2.15182806e-03 9.93995984e-01 2.96525621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.465099893 meters 0.0558325505495776 Centerline is valid? [True, True] Translation: X:281.50, Y:47.80, Z:29.66 [[ 9.67346480e-01 -2.29502349e-01 -1.07561424e-01 2.81495949e+02] [ 2.28413096e-01 9.73304093e-01 -2.25077943e-02 4.78038049e+01] [ 1.09855566e-01 -2.79560225e-03 9.93943630e-01 2.96574644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.525099893 meters 0.055714223784684706 Centerline is valid? [True, True] Translation: X:281.56, Y:47.81, Z:29.66 [[ 9.66244025e-01 -2.33879811e-01 -1.08040351e-01 2.81555155e+02] [ 2.32808043e-01 9.72259889e-01 -2.26080202e-02 4.78129653e+01] [ 1.10330859e-01 -3.30779821e-03 9.93889410e-01 2.96634736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.58509989299995 meters 0.056574719211708376 Centerline is valid? [True, True] Translation: X:281.61, Y:47.82, Z:29.67 [[ 9.65271566e-01 -2.37468682e-01 -1.08901002e-01 2.81614809e+02] [ 2.36402446e-01 9.71387966e-01 -2.27882260e-02 4.78175532e+01] [ 1.11196613e-01 -3.74763669e-03 9.93791361e-01 2.96684910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.64509989299995 meters 0.0585456592507405 Centerline is valid? [True, True] Translation: X:281.68, Y:47.82, Z:29.67 [[ 9.64169489e-01 -2.41537695e-01 -1.09712067e-01 2.81675762e+02] [ 2.40481577e-01 9.70382142e-01 -2.29588796e-02 4.78197772e+01] [ 1.12008065e-01 -4.24747964e-03 9.93698220e-01 2.96735398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.70509989299995 meters 0.05541725983129741 Centerline is valid? [True, True] Translation: X:281.73, Y:47.85, Z:29.68 [[ 9.63734282e-01 -2.43291278e-01 -1.09661244e-01 2.81730347e+02] [ 2.42247424e-01 9.69943070e-01 -2.29483244e-02 4.78458022e+01] [ 1.11948291e-01 -4.44906708e-03 9.93704074e-01 2.96831850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.76509989299996 meters 0.055601113271034015 Centerline is valid? [True, True] Translation: X:281.79, Y:47.86, Z:29.69 [[ 9.63749172e-01 -2.43165191e-01 -1.09809938e-01 2.81787362e+02] [ 2.42117376e-01 9.69974740e-01 -2.29821868e-02 4.78567341e+01] [ 1.12101334e-01 -4.43783043e-03 9.93686871e-01 2.96894160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.82509989299996 meters 0.057005258329224685 Centerline is valid? [True, True] Translation: X:281.85, Y:47.86, Z:29.69 [[ 9.64403430e-01 -2.40504829e-01 -1.09924754e-01 2.81846276e+02] [ 2.39436182e-01 9.70639196e-01 -2.30188190e-02 4.78609511e+01] [ 1.12233412e-01 -4.12053538e-03 9.93673328e-01 2.96941955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.88509989299996 meters 0.06104489005234139 Centerline is valid? [True, True] Translation: X:281.91, Y:47.86, Z:29.70 [[ 9.65072950e-01 -2.37612404e-01 -1.10338332e-01 2.81906929e+02] [ 2.36516643e-01 9.71352629e-01 -2.31072841e-02 4.78609196e+01] [ 1.12668006e-01 -3.79663703e-03 9.93625435e-01 2.96969702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.94509989299996 meters 0.05658533284620804 Centerline is valid? [True, True] Translation: X:281.96, Y:47.89, Z:29.71 [[ 9.66420461e-01 -2.32375918e-01 -1.09694692e-01 2.81961207e+02] [ 2.31259132e-01 9.72620899e-01 -2.29739176e-02 4.78900731e+01] [ 1.12029935e-01 -3.16543523e-03 9.93699791e-01 2.97071456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.00509989299997 meters 0.0557078378101638 Centerline is valid? [True, True] Translation: X:282.02, Y:47.91, Z:29.72 [[ 9.67357676e-01 -2.28426253e-01 -1.09729551e-01 2.82017346e+02] [ 2.27283261e-01 9.73557455e-01 -2.29826430e-02 4.79107052e+01] [ 1.12077862e-01 -2.70725413e-03 9.93695740e-01 2.97153815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.06509989299997 meters 0.055965760861678426 Centerline is valid? [True, True] Translation: X:282.08, Y:47.93, Z:29.72 [[ 9.68890707e-01 -2.22021388e-01 -1.09349441e-01 2.82075443e+02] [ 2.20845533e-01 9.75039829e-01 -2.29037438e-02 4.79263175e+01] [ 1.11705181e-01 -1.95811103e-03 9.93739462e-01 2.97218107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.12509989299997 meters 0.05559410302188492 Centerline is valid? [True, True] Translation: X:282.13, Y:47.94, Z:29.73 [[ 9.69753222e-01 -2.17993200e-01 -1.09807344e-01 2.82132877e+02] [ 2.16781758e-01 9.75949134e-01 -2.29990593e-02 4.79405058e+01] [ 1.12180020e-01 -1.50081719e-03 9.93686767e-01 2.97275471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.185099893 meters 0.05566830637589491 Centerline is valid? [True, True] Translation: X:282.19, Y:47.95, Z:29.73 [[ 9.71091682e-01 -2.12411049e-01 -1.08915069e-01 2.82189787e+02] [ 2.11184017e-01 9.77180039e-01 -2.28140644e-02 4.79544690e+01] [ 1.11275591e-01 -8.46573624e-04 9.93789226e-01 2.97336601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.245099893 meters 0.05584608834978209 Centerline is valid? [True, True] Translation: X:282.25, Y:47.97, Z:29.74 [[ 9.71499372e-01 -2.10184271e-01 -1.09597181e-01 2.82246209e+02] [ 2.08927347e-01 9.77661609e-01 -2.29595813e-02 4.79684120e+01] [ 1.11974699e-01 -5.92629428e-04 9.93710881e-01 2.97406147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.305099893 meters 0.05620202763487536 Centerline is valid? [True, True] Translation: X:282.30, Y:47.98, Z:29.75 [[ 9.72084996e-01 -2.06521286e-01 -1.11354028e-01 2.82301420e+02] [ 2.05198196e-01 9.78442095e-01 -2.33402596e-02 4.79823714e+01] [ 1.13773729e-01 -1.60929446e-04 9.93506675e-01 2.97496790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.365099893 meters 0.056000184211790656 Centerline is valid? [True, True] Translation: X:282.36, Y:47.99, Z:29.76 [[ 9.73315686e-01 -2.02069988e-01 -1.08739573e-01 2.82357614e+02] [ 2.00779221e-01 9.79371016e-01 -2.28060850e-02 4.79932382e+01] [ 1.11104811e-01 3.64873586e-04 9.93808627e-01 2.97550053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.425099893 meters 0.05594294745839593 Centerline is valid? [True, True] Translation: X:282.41, Y:48.01, Z:29.76 [[ 9.73971023e-01 -1.98782601e-01 -1.08930821e-01 2.82414564e+02] [ 1.97465460e-01 9.80043321e-01 -2.28578530e-02 4.80051482e+01] [ 1.11300667e-01 7.52811838e-04 9.93786494e-01 2.97588502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.485099893 meters 0.05651409755883839 Centerline is valid? [True, True] Translation: X:282.47, Y:48.01, Z:29.76 [[ 9.74173301e-01 -1.97596247e-01 -1.09279927e-01 2.82472612e+02] [ 1.96261789e-01 9.80283075e-01 -2.29434760e-02 4.80148437e+01] [ 1.11658807e-01 9.03447806e-04 9.93746192e-01 2.97649001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.545099893 meters 0.05644217533405962 Centerline is valid? [True, True] Translation: X:282.53, Y:48.02, Z:29.77 [[ 9.74024431e-01 -1.98404825e-01 -1.09141804e-01 2.82530544e+02] [ 1.97077534e-01 9.80119815e-01 -2.29258405e-02 4.80195111e+01] [ 1.11520642e-01 8.20931085e-04 9.93761778e-01 2.97721365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.605099893 meters 0.05651375128487371 Centerline is valid? [True, True] Translation: X:282.59, Y:48.02, Z:29.78 [[ 9.73180810e-01 -2.02820955e-01 -1.08548476e-01 2.82589229e+02] [ 2.01534906e-01 9.79215788e-01 -2.28061987e-02 4.80236261e+01] [ 1.10917956e-01 3.18248023e-04 9.93829515e-01 2.97770869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.665099893 meters 0.05643113107833247 Centerline is valid? [True, True] Translation: X:282.65, Y:48.03, Z:29.78 [[ 9.72438599e-01 -2.06605312e-01 -1.08062091e-01 2.82647093e+02] [ 2.05352782e-01 9.78424363e-01 -2.27156352e-02 4.80302332e+01] [ 1.10423754e-01 -1.01290574e-04 9.93884593e-01 2.97825707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.725099893 meters 0.05538215182109692 Centerline is valid? [True, True] Translation: X:282.71, Y:48.03, Z:29.79 [[ 9.71011606e-01 -2.13383894e-01 -1.07720817e-01 2.82705548e+02] [ 2.12180297e-01 9.76968048e-01 -2.26485096e-02 4.80315738e+01] [ 1.10072624e-01 -8.64269231e-04 9.93923171e-01 2.97880427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.785099893 meters 0.05634347701822529 Centerline is valid? [True, True] Translation: X:282.76, Y:48.04, Z:29.79 [[ 9.69880098e-01 -2.18190062e-01 -1.08285232e-01 2.82764935e+02] [ 2.17003126e-01 9.75905273e-01 -2.27715118e-02 4.80363822e+01] [ 1.10644646e-01 -1.41259771e-03 9.93859028e-01 2.97931859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.845099893 meters 0.0570264696596634 Centerline is valid? [True, True] Translation: X:282.83, Y:48.04, Z:29.80 [[ 9.68375704e-01 -2.24676315e-01 -1.08485248e-01 2.82826751e+02] [ 2.23525214e-01 9.74431070e-01 -2.28159651e-02 4.80359519e+01] [ 1.10837603e-01 -2.15476201e-03 9.93836195e-01 2.97985182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.905099893 meters 0.05709574069369521 Centerline is valid? [True, True] Translation: X:282.88, Y:48.04, Z:29.81 [[ 9.67803267e-01 -2.27734834e-01 -1.07208589e-01 2.82884788e+02] [ 2.26629440e-01 9.73720041e-01 -2.25472584e-02 4.80444202e+01] [ 1.09525948e-01 -2.47531216e-03 9.93980855e-01 2.98067348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.965099893 meters 0.057136195677931524 Centerline is valid? [True, True] Translation: X:282.94, Y:48.05, Z:29.81 [[ 9.67337434e-01 -2.30324404e-01 -1.05872361e-01 2.82944713e+02] [ 2.29261630e-01 9.73110071e-01 -2.22687058e-02 4.80486257e+01] [ 1.08154487e-01 -2.73111734e-03 9.94130348e-01 2.98139077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.025099893 meters 0.05796475370513044 Centerline is valid? [True, True] Translation: X:283.00, Y:48.06, Z:29.82 [[ 9.67043588e-01 -2.31405776e-01 -1.06198242e-01 2.83002731e+02] [ 2.30342781e-01 9.72853118e-01 -2.23386179e-02 4.80566229e+01] [ 1.08484576e-01 -2.85958117e-03 9.94094019e-01 2.98200171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.08509989299995 meters 0.058074861046362634 Centerline is valid? [True, True] Translation: X:283.06, Y:48.06, Z:29.82 [[ 9.66662467e-01 -2.32597541e-01 -1.07061004e-01 2.83061982e+02] [ 2.31523105e-01 9.72568429e-01 -2.25322824e-02 4.80592282e+01] [ 1.09365106e-01 -3.00598426e-03 9.93997101e-01 2.98246282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.14509989299995 meters 0.05729101914089975 Centerline is valid? [True, True] Translation: X:283.12, Y:48.07, Z:29.83 [[ 9.65631661e-01 -2.36870337e-01 -1.06995038e-01 2.83120395e+02] [ 2.35823050e-01 9.71535022e-01 -2.25208955e-02 4.80718214e+01] [ 1.09283958e-01 -3.48500635e-03 9.94004462e-01 2.98320980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.20509989299995 meters 0.05885965182601485 Centerline is valid? [True, True] Translation: X:283.18, Y:48.08, Z:29.84 [[ 9.65216637e-01 -2.38485469e-01 -1.07151877e-01 2.83179504e+02] [ 2.37444990e-01 9.71139120e-01 -2.25540936e-02 4.80762056e+01] [ 1.09438203e-01 -3.67309004e-03 9.93986815e-01 2.98373790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.26509989299996 meters 0.05798694898582069 Centerline is valid? [True, True] Translation: X:283.24, Y:48.09, Z:29.85 [[ 9.64363798e-01 -2.42250699e-01 -1.06381691e-01 2.83237532e+02] [ 2.41247754e-01 9.70205156e-01 -2.23936755e-02 4.80929564e+01] [ 1.08636949e-01 -4.06869400e-03 9.94073166e-01 2.98450635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.32509989299996 meters 0.060782986922998064 Centerline is valid? [True, True] Translation: X:283.30, Y:48.09, Z:29.85 [[ 9.63795160e-01 -2.44227627e-01 -1.07012874e-01 2.83297867e+02] [ 2.43224796e-01 9.69708323e-01 -2.25270154e-02 4.80925226e+01] [ 1.09272994e-01 -4.31675594e-03 9.94002404e-01 2.98498468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.38509989299996 meters 0.0602637744200521 Centerline is valid? [True, True] Translation: X:283.36, Y:48.11, Z:29.86 [[ 9.63268876e-01 -2.46407499e-01 -1.06754002e-01 2.83355625e+02] [ 2.45422643e-01 9.69155628e-01 -2.24743019e-02 4.81064531e+01] [ 1.08999079e-01 -4.55105392e-03 9.94031432e-01 2.98560823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.44509989299996 meters 0.06190951503112594 Centerline is valid? [True, True] Translation: X:283.41, Y:48.11, Z:29.86 [[ 9.61927298e-01 -2.51331742e-01 -1.07369593e-01 2.83414685e+02] [ 2.50365946e-01 9.67887366e-01 -2.26039755e-02 4.81117392e+01] [ 1.09602769e-01 -5.13830858e-03 9.93962188e-01 2.98611129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.50509989299997 meters 0.05775535394564213 Centerline is valid? [True, True] Translation: X:283.47, Y:48.14, Z:29.87 [[ 9.61278641e-01 -2.54048330e-01 -1.06783989e-01 2.83469641e+02] [ 2.53109557e-01 9.67176358e-01 -2.24820926e-02 4.81422933e+01] [ 1.08990488e-01 -5.41649279e-03 9.94028035e-01 2.98693991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.56509989299997 meters 0.06366504672330547 Centerline is valid? [True, True] Translation: X:283.53, Y:48.13, Z:29.87 [[ 9.60478308e-01 -2.56805468e-01 -1.07388876e-01 2.83532295e+02] [ 2.55873128e-01 9.66445938e-01 -2.26095409e-02 4.81333895e+01] [ 1.09591796e-01 -5.76195383e-03 9.93959978e-01 2.98739894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.62509989299997 meters 0.05796082724926046 Centerline is valid? [True, True] Translation: X:283.59, Y:48.16, Z:29.88 [[ 9.60246148e-01 -2.57809642e-01 -1.07058508e-01 2.83586109e+02] [ 2.56889213e-01 9.66177971e-01 -2.25401935e-02 4.81644967e+01] [ 1.09248651e-01 -5.85804190e-03 9.93997191e-01 2.98822313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.685099893 meters 0.05983751067359813 Centerline is valid? [True, True] Translation: X:283.64, Y:48.17, Z:29.89 [[ 9.60399815e-01 -2.57224992e-01 -1.07086408e-01 2.83644680e+02] [ 2.56300282e-01 9.66334188e-01 -2.25477808e-02 4.81728608e+01] [ 1.09281110e-01 -5.79139195e-03 9.93994013e-01 2.98879180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.745099893 meters 0.0612448471392741 Centerline is valid? [True, True] Translation: X:283.70, Y:48.19, Z:29.89 [[ 9.60981477e-01 -2.55207560e-01 -1.06694434e-01 2.83702635e+02] [ 2.54277057e-01 9.66870423e-01 -2.24669580e-02 4.81858947e+01] [ 1.08893430e-01 -5.53961617e-03 9.94037994e-01 2.98943254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.805099893 meters 0.06259865937892856 Centerline is valid? [True, True] Translation: X:283.76, Y:48.20, Z:29.90 [[ 9.62086230e-01 -2.51154557e-01 -1.06355414e-01 2.83760642e+02] [ 2.50205173e-01 9.67933755e-01 -2.23968151e-02 4.81989540e+01] [ 1.08570057e-01 -5.06300724e-03 9.94075907e-01 2.99004543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.865099893 meters 0.06020712694948519 Centerline is valid? [True, True] Translation: X:283.82, Y:48.23, Z:29.91 [[ 9.63234028e-01 -2.46552389e-01 -1.06733912e-01 2.83815568e+02] [ 2.45567954e-01 9.69118741e-01 -2.24776799e-02 4.82265972e+01] [ 1.08979760e-01 -4.55916232e-03 9.94033513e-01 2.99071617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.925099893 meters 0.057555487413523274 Centerline is valid? [True, True] Translation: X:283.87, Y:48.26, Z:29.92 [[ 9.64723474e-01 -2.40602380e-01 -1.06860249e-01 2.83869463e+02] [ 2.39579095e-01 9.70615971e-01 -2.25054270e-02 4.82602484e+01] [ 1.09135123e-01 -3.88996792e-03 9.94019312e-01 2.99151373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.985099893 meters 0.05767543122015895 Centerline is valid? [True, True] Translation: X:283.93, Y:48.27, Z:29.92 [[ 9.65930830e-01 -2.35544299e-01 -1.07221804e-01 2.83926907e+02] [ 2.34482879e-01 9.71857914e-01 -2.25826182e-02 4.82747449e+01] [ 1.09523566e-01 -3.32843022e-03 9.93978627e-01 2.99206208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.045099893 meters 0.05651695180390996 Centerline is valid? [True, True] Translation: X:283.98, Y:48.30, Z:29.93 [[ 9.67497542e-01 -2.28898773e-01 -1.07488873e-01 2.83983321e+02] [ 2.27790954e-01 9.73446811e-01 -2.26404137e-02 4.82970137e+01] [ 1.09817063e-01 -2.58044816e-03 9.93948466e-01 2.99264254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.105099893 meters 0.05637056623588575 Centerline is valid? [True, True] Translation: X:284.04, Y:48.32, Z:29.93 [[ 9.68357473e-01 -2.25019876e-01 -1.07934513e-01 2.84039542e+02] [ 2.23878428e-01 9.74351810e-01 -2.27376297e-02 4.83210802e+01] [ 1.10282607e-01 -2.14605550e-03 9.93897953e-01 2.99332249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.165099893 meters 0.05608184346320755 Centerline is valid? [True, True] Translation: X:284.10, Y:48.34, Z:29.94 [[ 9.68483076e-01 -2.24585052e-01 -1.07712976e-01 2.84095936e+02] [ 2.23445445e-01 9.74452248e-01 -2.26925056e-02 4.83385612e+01] [ 1.10057549e-01 -2.09066616e-03 9.93923018e-01 2.99400758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.225099893 meters 0.0562199935711871 Centerline is valid? [True, True] Translation: X:284.15, Y:48.35, Z:29.95 [[ 9.68053588e-01 -2.26444882e-01 -1.07679927e-01 2.84152229e+02] [ 2.25316015e-01 9.74021292e-01 -2.26983774e-02 4.83547697e+01] [ 1.10022473e-01 -2.28876630e-03 9.93926465e-01 2.99469769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.285099893 meters 0.05645790584197929 Centerline is valid? [True, True] Translation: X:284.21, Y:48.37, Z:29.95 [[ 9.67410489e-01 -2.29031058e-01 -1.07989447e-01 2.84209391e+02] [ 2.27910359e-01 9.73415701e-01 -2.27758931e-02 4.83710026e+01] [ 1.10335010e-01 -2.57827581e-03 9.93891110e-01 2.99539265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.345099893 meters 0.05709076361309952 Centerline is valid? [True, True] Translation: X:284.27, Y:48.38, Z:29.96 [[ 9.66291023e-01 -2.33399872e-01 -1.08656146e-01 2.84268650e+02] [ 2.32292644e-01 9.72375915e-01 -2.29174103e-02 4.83782351e+01] [ 1.11003540e-01 -3.09513567e-03 9.93815191e-01 2.99582283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.405099893 meters 0.0568544986233746 Centerline is valid? [True, True] Translation: X:284.33, Y:48.39, Z:29.96 [[ 9.65591423e-01 -2.36112672e-01 -1.09013805e-01 2.84326854e+02] [ 2.35015330e-01 9.71719673e-01 -2.29928862e-02 4.83942946e+01] [ 1.11359770e-01 -3.41818154e-03 9.93774279e-01 2.99647465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.465099893 meters 0.05716466178449428 Centerline is valid? [True, True] Translation: X:284.38, Y:48.41, Z:29.97 [[ 9.64851315e-01 -2.39340821e-01 -1.08526085e-01 2.84384893e+02] [ 2.38273607e-01 9.70928284e-01 -2.28900715e-02 4.84099461e+01] [ 1.10849574e-01 -3.77338622e-03 9.93830032e-01 2.99714562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.525099893 meters 0.057244009399277714 Centerline is valid? [True, True] Translation: X:284.44, Y:48.42, Z:29.98 [[ 9.64439969e-01 -2.41257592e-01 -1.07936646e-01 2.84441775e+02] [ 2.40213791e-01 9.70452991e-01 -2.27667923e-02 4.84199823e+01] [ 1.10240102e-01 -3.97066639e-03 9.93897054e-01 2.99768840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.58509989299995 meters 0.05569343304759686 Centerline is valid? [True, True] Translation: X:284.50, Y:48.44, Z:29.99 [[ 9.63649463e-01 -2.44982438e-01 -1.06598866e-01 2.84497895e+02] [ 2.43986635e-01 9.69517813e-01 -2.24884908e-02 4.84438773e+01] [ 1.08858785e-01 -4.33767657e-03 9.94047760e-01 2.99853963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.64509989299995 meters 0.05634082787811747 Centerline is valid? [True, True] Translation: X:284.56, Y:48.45, Z:29.99 [[ 9.62450550e-01 -2.49649812e-01 -1.06601648e-01 2.84557055e+02] [ 2.48682424e-01 9.68323964e-01 -2.24889574e-02 4.84510686e+01] [ 1.08839294e-01 -4.86544679e-03 9.94047451e-01 2.99905687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.70509989299995 meters 0.05585864947402925 Centerline is valid? [True, True] Translation: X:284.62, Y:48.46, Z:30.00 [[ 9.61603768e-01 -2.52763215e-01 -1.06906272e-01 2.84615269e+02] [ 2.51809313e-01 9.67514023e-01 -2.25540611e-02 4.84633629e+01] [ 1.09134155e-01 -5.23192487e-03 9.94013261e-01 2.99965469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.76509989299996 meters 0.05414857559595047 Centerline is valid? [True, True] Translation: X:284.67, Y:48.49, Z:30.00 [[ 9.60595361e-01 -2.56466141e-01 -1.07152562e-01 2.84671428e+02] [ 2.55530624e-01 9.66536616e-01 -2.26068620e-02 4.84867423e+01] [ 1.09364770e-01 -5.66471444e-03 9.93985542e-01 3.00033339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.82509989299996 meters 0.055626087053192746 Centerline is valid? [True, True] Translation: X:284.73, Y:48.49, Z:30.01 [[ 9.60131375e-01 -2.57666225e-01 -1.08424444e-01 2.84731550e+02] [ 2.56715955e-01 9.66216149e-01 -2.28751464e-02 4.84930144e+01] [ 1.10655601e-01 -5.87113889e-03 9.93841470e-01 3.00082733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.88509989299996 meters 0.05967601941966181 Centerline is valid? [True, True] Translation: X:284.79, Y:48.49, Z:30.01 [[ 9.60937485e-01 -2.54351118e-01 -1.09108469e-01 2.84791102e+02] [ 2.53367718e-01 9.67096156e-01 -2.30179217e-02 4.84948071e+01] [ 1.11373015e-01 -5.52578000e-03 9.93763310e-01 3.00121275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.94509989299996 meters 0.05657758568553298 Centerline is valid? [True, True] Translation: X:284.85, Y:48.52, Z:30.02 [[ 9.62374000e-01 -2.49555413e-01 -1.07509909e-01 2.84846413e+02] [ 2.48570609e-01 9.68348150e-01 -2.26828568e-02 4.85220083e+01] [ 1.09767652e-01 -4.89441196e-03 9.93945224e-01 3.00210772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.00509989299997 meters 0.05547743423417351 Centerline is valid? [True, True] Translation: X:284.90, Y:48.54, Z:30.03 [[ 9.64259386e-01 -2.42890541e-01 -1.05867942e-01 2.84903515e+02] [ 2.41895555e-01 9.70045161e-01 -2.23366431e-02 4.85428069e+01] [ 1.08122044e-01 -4.07066676e-03 9.94129294e-01 3.00296213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.06509989299997 meters 0.05596493519696677 Centerline is valid? [True, True] Translation: X:284.96, Y:48.56, Z:30.04 [[ 9.67121859e-01 -2.31512036e-01 -1.05249640e-01 2.84961284e+02] [ 2.30461250e-01 9.72828070e-01 -2.22071518e-02 4.85567922e+01] [ 1.07531027e-01 -2.77894157e-03 9.94197845e-01 3.00358227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.12509989299997 meters 0.055053426868067766 Centerline is valid? [True, True] Translation: X:285.02, Y:48.58, Z:30.04 [[ 9.68667946e-01 -2.24774925e-01 -1.05634483e-01 2.85018202e+02] [ 2.23676417e-01 9.74408580e-01 -2.22885626e-02 4.85791745e+01] [ 1.07941057e-01 -2.03772658e-03 9.94155207e-01 3.00422130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.185099893 meters 0.05481271485421563 Centerline is valid? [True, True] Translation: X:285.08, Y:48.60, Z:30.05 [[ 9.70422701e-01 -2.16753195e-01 -1.06291270e-01 2.85076322e+02] [ 2.15592886e-01 9.76225756e-01 -2.24272498e-02 4.85962694e+01] [ 1.08625454e-01 -1.15172941e-03 9.94082081e-01 3.00476707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.245099893 meters 0.05505801505098793 Centerline is valid? [True, True] Translation: X:285.13, Y:48.61, Z:30.05 [[ 9.71300810e-01 -2.12847644e-01 -1.06163159e-01 2.85132416e+02] [ 2.11666920e-01 9.77085140e-01 -2.23996680e-02 4.86107971e+01] [ 1.08498162e-01 -7.14413204e-04 9.94096393e-01 3.00533845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.305099893 meters 0.055258742066092326 Centerline is valid? [True, True] Translation: X:285.19, Y:48.62, Z:30.06 [[ 9.71605419e-01 -2.11214445e-01 -1.06636616e-01 2.85189048e+02] [ 2.10012889e-01 9.77439603e-01 -2.25035523e-02 4.86243592e+01] [ 1.08983926e-01 -5.30490264e-04 9.94043370e-01 3.00591643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.365099893 meters 0.05477703444451928 Centerline is valid? [True, True] Translation: X:285.25, Y:48.64, Z:30.06 [[ 9.71927256e-01 -2.08846064e-01 -1.08354653e-01 2.85245446e+02] [ 2.07589380e-01 9.77948493e-01 -2.28778076e-02 4.86370684e+01] [ 1.10743209e-01 -2.57710396e-04 9.93849020e-01 3.00618602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.425099893 meters 0.055162602534454486 Centerline is valid? [True, True] Translation: X:285.30, Y:48.65, Z:30.07 [[ 9.71600724e-01 -2.10905426e-01 -1.07289019e-01 2.85302097e+02] [ 2.09685376e-01 9.77506352e-01 -2.26577765e-02 4.86467197e+01] [ 1.09654346e-01 -4.82626311e-04 9.93969663e-01 3.00691965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.485099893 meters 0.055496689804965936 Centerline is valid? [True, True] Translation: X:285.36, Y:48.66, Z:30.08 [[ 9.70927087e-01 -2.14224820e-01 -1.06809734e-01 2.85360193e+02] [ 2.13034239e-01 9.76784019e-01 -2.25697369e-02 4.86555716e+01] [ 1.09165039e-01 -8.40561470e-04 9.94023283e-01 3.00758857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.545099893 meters 0.05513437220369603 Centerline is valid? [True, True] Translation: X:285.42, Y:48.66, Z:30.08 [[ 9.69507586e-01 -2.20815996e-01 -1.06279525e-01 2.85418891e+02] [ 2.19675413e-01 9.75314233e-01 -2.24690938e-02 4.86607722e+01] [ 1.08617468e-01 -1.56304154e-03 9.94082392e-01 3.00823655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.605099893 meters 0.05597227295857735 Centerline is valid? [True, True] Translation: X:285.48, Y:48.67, Z:30.09 [[ 9.68371177e-01 -2.26142992e-01 -1.05435339e-01 2.85478312e+02] [ 2.25051649e-01 9.74091765e-01 -2.22932442e-02 4.86656285e+01] [ 1.07745157e-01 -2.14026187e-03 9.94176242e-01 3.00887282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.665099893 meters 0.056157107713719484 Centerline is valid? [True, True] Translation: X:285.54, Y:48.67, Z:30.10 [[ 9.66252274e-01 -2.34996464e-01 -1.05514004e-01 2.85538657e+02] [ 2.33955879e-01 9.71991193e-01 -2.23107209e-02 4.86691078e+01] [ 1.07801623e-01 -3.12783667e-03 9.94167504e-01 3.00951406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.725099893 meters 0.05541393700891012 Centerline is valid? [True, True] Translation: X:285.60, Y:48.68, Z:30.10 [[ 9.63958362e-01 -2.43902819e-01 -1.06281193e-01 2.85598061e+02] [ 2.42900766e-01 9.69790788e-01 -2.24732355e-02 4.86807049e+01] [ 1.08551807e-01 -4.15251992e-03 9.94082120e-01 3.01006677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.785099893 meters 0.05564400249019039 Centerline is valid? [True, True] Translation: X:285.66, Y:48.69, Z:30.11 [[ 9.62738828e-01 -2.48864857e-01 -1.05831152e-01 2.85657986e+02] [ 2.47901097e-01 9.68526857e-01 -2.23779726e-02 4.86888177e+01] [ 1.08069404e-01 -4.69151559e-03 9.94132282e-01 3.01068992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.845099893 meters 0.05534323363297375 Centerline is valid? [True, True] Translation: X:285.72, Y:48.70, Z:30.11 [[ 9.61207724e-01 -2.54428482e-01 -1.06516940e-01 2.85716585e+02] [ 2.53486021e-01 9.67076791e-01 -2.25237288e-02 4.87037338e+01] [ 1.08740738e-01 -5.35057308e-03 9.94055745e-01 3.01134425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.905099893 meters 0.056883745592232554 Centerline is valid? [True, True] Translation: X:285.78, Y:48.70, Z:30.12 [[ 9.60395721e-01 -2.57169598e-01 -1.07256033e-01 2.85777476e+02] [ 2.56230999e-01 9.66349471e-01 -2.26798371e-02 4.87041930e+01] [ 1.09479376e-01 -5.70070214e-03 9.93972720e-01 3.01184853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.965099893 meters 0.05710228221153113 Centerline is valid? [True, True] Translation: X:285.84, Y:48.72, Z:30.13 [[ 9.59519432e-01 -2.60726082e-01 -1.06509951e-01 2.85835701e+02] [ 2.59822189e-01 9.65393782e-01 -2.25227693e-02 4.87194736e+01] [ 1.08696318e-01 -6.06261386e-03 9.94056515e-01 3.01255453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.025099893 meters 0.058432220054631855 Centerline is valid? [True, True] Translation: X:285.90, Y:48.73, Z:30.13 [[ 9.58923883e-01 -2.63034658e-01 -1.06196780e-01 2.85895344e+02] [ 2.62150143e-01 9.64765780e-01 -2.24564621e-02 4.87252128e+01] [ 1.08361847e-01 -6.30546312e-03 9.94091521e-01 3.01309594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.08509989299995 meters 0.05631344868977382 Centerline is valid? [True, True] Translation: X:285.95, Y:48.74, Z:30.14 [[ 9.58227823e-01 -2.65413681e-01 -1.06559921e-01 2.85952838e+02] [ 2.64537697e-01 9.64112056e-01 -2.25333187e-02 4.87442057e+01] [ 1.08716356e-01 -6.59706316e-03 9.94050921e-01 3.01375763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.14509989299995 meters 0.05533839620798726 Centerline is valid? [True, True] Translation: X:286.01, Y:48.76, Z:30.14 [[ 9.57452161e-01 -2.67825084e-01 -1.07494577e-01 2.86011290e+02] [ 2.66948748e-01 9.63442616e-01 -2.27308574e-02 4.87635872e+01] [ 1.09652750e-01 -6.93183411e-03 9.93945785e-01 3.01435802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.20509989299995 meters 0.05395082873713024 Centerline is valid? [True, True] Translation: X:286.07, Y:48.78, Z:30.15 [[ 9.56823916e-01 -2.70221255e-01 -1.07090930e-01 2.86068339e+02] [ 2.69366524e-01 9.62771477e-01 -2.26441563e-02 4.87845287e+01] [ 1.09223025e-01 -7.18024117e-03 9.93991335e-01 3.01503405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.26509989299996 meters 0.05398622325939355 Centerline is valid? [True, True] Translation: X:286.13, Y:48.80, Z:30.16 [[ 9.56672212e-01 -2.70766108e-01 -1.07070040e-01 2.86128150e+02] [ 2.69915256e-01 9.62617921e-01 -2.26382973e-02 4.87994606e+01] [ 1.09197223e-01 -7.24240717e-03 9.93993719e-01 3.01568829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.32509989299996 meters 0.055291125542125966 Centerline is valid? [True, True] Translation: X:286.19, Y:48.81, Z:30.16 [[ 9.57277214e-01 -2.68765138e-01 -1.06703493e-01 2.86186760e+02] [ 2.67908132e-01 9.63180356e-01 -2.25573764e-02 4.88099970e+01] [ 1.08837345e-01 -6.99307121e-03 9.94034974e-01 3.01630794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.38509989299996 meters 0.055554754318792816 Centerline is valid? [True, True] Translation: X:286.25, Y:48.82, Z:30.17 [[ 9.57584312e-01 -2.67890229e-01 -1.06146644e-01 2.86246363e+02] [ 2.67036733e-01 9.63425043e-01 -2.24403578e-02 4.88233525e+01] [ 1.08275887e-01 -6.85651841e-03 9.94097239e-01 3.01697243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.44509989299996 meters 0.054618861722539734 Centerline is valid? [True, True] Translation: X:286.30, Y:48.84, Z:30.18 [[ 9.58525818e-01 -2.64753965e-01 -1.05515851e-01 2.86303362e+02] [ 2.63892075e-01 9.64294315e-01 -2.23035261e-02 4.88444681e+01] [ 1.07653282e-01 -6.46629130e-03 9.94167470e-01 3.01753598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.50509989299997 meters 0.053910408786419145 Centerline is valid? [True, True] Translation: X:286.36, Y:48.86, Z:30.18 [[ 9.59172891e-01 -2.62678077e-01 -1.04821720e-01 2.86361529e+02] [ 2.61815242e-01 9.64863660e-01 -2.21561658e-02 4.88609763e+01] [ 1.06958607e-01 -6.19233028e-03 9.94244191e-01 3.01818045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.56509989299997 meters 0.061386154287549205 Centerline is valid? [True, True] Translation: X:286.42, Y:48.85, Z:30.19 [[ 9.60050118e-01 -2.59696429e-01 -1.04218691e-01 2.86423909e+02] [ 2.58826032e-01 9.65672731e-01 -2.20286485e-02 4.88508284e+01] [ 1.06361910e-01 -5.82590367e-03 9.94310416e-01 3.01871741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.62509989299997 meters 0.05449898089578478 Centerline is valid? [True, True] Translation: X:286.48, Y:48.89, Z:30.19 [[ 9.60507098e-01 -2.58020067e-01 -1.04171780e-01 2.86477453e+02] [ 2.57140551e-01 9.66123114e-01 -2.20196556e-02 4.88880864e+01] [ 1.06324277e-01 -5.63675331e-03 9.94315531e-01 3.01936715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.685099893 meters 0.05653905945194613 Centerline is valid? [True, True] Translation: X:286.54, Y:48.89, Z:30.20 [[ 9.61062837e-01 -2.55716609e-01 -1.04724582e-01 2.86536722e+02] [ 2.54814117e-01 9.66736645e-01 -2.21365279e-02 4.88927647e+01] [ 1.06901769e-01 -5.41070772e-03 9.94254865e-01 3.01981864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.745099893 meters 0.05463428562053083 Centerline is valid? [True, True] Translation: X:286.59, Y:48.92, Z:30.20 [[ 9.61778638e-01 -2.52916835e-01 -1.04952019e-01 2.86592683e+02] [ 2.51993742e-01 9.67474529e-01 -2.21853559e-02 4.89173467e+01] [ 1.07149455e-01 -5.10985058e-03 9.94229794e-01 3.02049579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.805099893 meters 0.0560826909042339 Centerline is valid? [True, True] Translation: X:286.65, Y:48.93, Z:30.21 [[ 9.62483125e-01 -2.50279417e-01 -1.04816259e-01 2.86651579e+02] [ 2.49343140e-01 9.68161701e-01 -2.21566904e-02 4.89256603e+01] [ 1.07024451e-01 -4.80977464e-03 9.94244755e-01 3.02110952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.865099893 meters 0.05579191466114634 Centerline is valid? [True, True] Translation: X:286.71, Y:48.94, Z:30.22 [[ 9.63062641e-01 -2.48205725e-01 -1.04423502e-01 2.86710049e+02] [ 2.47264242e-01 9.68696606e-01 -2.20744333e-02 4.89394053e+01] [ 1.06633693e-01 -4.56113612e-03 9.94287912e-01 3.02181112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.925099893 meters 0.060109039030249264 Centerline is valid? [True, True] Translation: X:286.77, Y:48.94, Z:30.22 [[ 9.63619226e-01 -2.45719026e-01 -1.05167238e-01 2.86772092e+02] [ 2.44749379e-01 9.69331481e-01 -2.22310729e-02 4.89390200e+01] [ 1.07404512e-01 -4.31732696e-03 9.94206031e-01 3.02232178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.985099893 meters 0.05417656375138828 Centerline is valid? [True, True] Translation: X:286.83, Y:48.98, Z:30.23 [[ 9.64082451e-01 -2.43532533e-01 -1.06004400e-01 2.86825863e+02] [ 2.42534187e-01 9.69884036e-01 -2.24081448e-02 4.89766139e+01] [ 1.08269088e-01 -4.10639189e-03 9.94113144e-01 3.02301343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.045099893 meters 0.05565805230346457 Centerline is valid? [True, True] Translation: X:286.89, Y:48.98, Z:30.23 [[ 9.64510443e-01 -2.41493974e-01 -1.06772029e-01 2.86885593e+02] [ 2.40468834e-01 9.70394452e-01 -2.25687405e-02 4.89807444e+01] [ 1.09061199e-01 -3.90755943e-03 9.94027357e-01 3.02346573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.105099893 meters 0.056434738423731305 Centerline is valid? [True, True] Translation: X:286.94, Y:48.99, Z:30.24 [[ 9.65287524e-01 -2.38767665e-01 -1.05877277e-01 2.86944858e+02] [ 2.37743230e-01 9.71070168e-01 -2.23804664e-02 4.89924006e+01] [ 1.08157997e-01 -3.56802081e-03 9.94127314e-01 3.02410464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.165099893 meters 0.05647307891104077 Centerline is valid? [True, True] Translation: X:287.00, Y:49.00, Z:30.25 [[ 9.65675727e-01 -2.37762964e-01 -1.04590452e-01 2.87002543e+02] [ 2.36757427e-01 9.71317212e-01 -2.21086997e-02 4.90043532e+01] [ 1.06847136e-01 -3.41273153e-03 9.94269603e-01 3.02474871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.225099893 meters 0.054905536592106126 Centerline is valid? [True, True] Translation: X:287.06, Y:49.02, Z:30.25 [[ 9.65704526e-01 -2.37774125e-01 -1.04298770e-01 2.87060824e+02] [ 2.36774098e-01 9.71314515e-01 -2.20485850e-02 4.90240362e+01] [ 1.06549492e-01 -3.40282878e-03 9.94301577e-01 3.02547153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.285099893 meters 0.05539563574302875 Centerline is valid? [True, True] Translation: X:287.12, Y:49.03, Z:30.26 [[ 9.65240244e-01 -2.39669526e-01 -1.04258280e-01 2.87119974e+02] [ 2.38681460e-01 9.70847810e-01 -2.20383833e-02 4.90330592e+01] [ 1.06500852e-01 -3.61218398e-03 9.94306050e-01 3.02609331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.345099893 meters 0.054900584638052016 Centerline is valid? [True, True] Translation: X:287.18, Y:49.05, Z:30.27 [[ 9.64662605e-01 -2.42205038e-01 -1.03743812e-01 2.87179156e+02] [ 2.41241310e-01 9.70217358e-01 -2.19296180e-02 4.90472221e+01] [ 1.05965511e-01 -3.87261067e-03 9.94362265e-01 3.02675348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.405099893 meters 0.058138472915402306 Centerline is valid? [True, True] Translation: X:287.24, Y:49.05, Z:30.27 [[ 9.63265299e-01 -2.47194332e-01 -1.04952018e-01 2.87240065e+02] [ 2.46237519e-01 9.68955596e-01 -2.21841716e-02 4.90450793e+01] [ 1.07177646e-01 -4.47388178e-03 9.94229821e-01 3.02727786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.465099893 meters 0.055470106628373435 Centerline is valid? [True, True] Translation: X:287.30, Y:49.07, Z:30.28 [[ 9.61781960e-01 -2.52416458e-01 -1.06119715e-01 2.87296781e+02] [ 2.51469844e-01 9.67605184e-01 -2.24304578e-02 4.90656474e+01] [ 1.08343803e-01 -5.11269866e-03 9.94100337e-01 3.02788466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.525099893 meters 0.054053446809785785 Centerline is valid? [True, True] Translation: X:287.35, Y:49.08, Z:30.29 [[ 9.61153483e-01 -2.54700101e-01 -1.06357137e-01 2.87354488e+02] [ 2.53763159e-01 9.67005113e-01 -2.24804448e-02 4.90836352e+01] [ 1.08573667e-01 -5.38236539e-03 9.94073835e-01 3.02854545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.58509989299995 meters 0.05406036224037772 Centerline is valid? [True, True] Translation: X:287.41, Y:49.10, Z:30.29 [[ 9.61232551e-01 -2.54525969e-01 -1.06059015e-01 2.87414245e+02] [ 2.53593259e-01 9.67051153e-01 -2.24171047e-02 4.91018502e+01] [ 1.08270228e-01 -5.34780065e-03 9.94107116e-01 3.02928070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.64509989299995 meters 0.05552970225474444 Centerline is valid? [True, True] Translation: X:287.47, Y:49.11, Z:30.30 [[ 9.63039487e-01 -2.48108767e-01 -1.04866521e-01 2.87472941e+02] [ 2.47159468e-01 9.68721369e-01 -2.21609081e-02 4.91095479e+01] [ 1.07084755e-01 -4.57692383e-03 9.94239361e-01 3.02994496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.70509989299995 meters 0.05429430684101888 Centerline is valid? [True, True] Translation: X:287.53, Y:49.13, Z:30.31 [[ 9.64969625e-01 -2.40224975e-01 -1.05477884e-01 2.87530646e+02] [ 2.39217570e-01 9.70710102e-01 -2.22901824e-02 4.91283873e+01] [ 1.07743106e-01 -3.72281418e-03 9.94171798e-01 3.03060908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.76509989299996 meters 0.05489181142568427 Centerline is valid? [True, True] Translation: X:287.59, Y:49.15, Z:30.31 [[ 9.68161063e-01 -2.27162324e-01 -1.05173353e-01 2.87586992e+02] [ 2.26083872e-01 9.73854283e-01 -2.22242645e-02 4.91472579e+01] [ 1.07472036e-01 -2.26133126e-03 9.94205536e-01 3.03124379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.82509989299996 meters 0.0544357217585772 Centerline is valid? [True, True] Translation: X:287.64, Y:49.17, Z:30.32 [[ 9.69977322e-01 -2.19504354e-01 -1.04698778e-01 2.87644863e+02] [ 2.18391087e-01 9.75610508e-01 -2.21239635e-02 4.91658188e+01] [ 1.07001535e-01 -1.40553721e-03 9.94257862e-01 3.03198139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.88509989299996 meters 0.053789470029733784 Centerline is valid? [True, True] Translation: X:287.70, Y:49.18, Z:30.33 [[ 9.71456431e-01 -2.12745025e-01 -1.04937868e-01 2.87703279e+02] [ 2.11587191e-01 9.77107526e-01 -2.21752935e-02 4.91835350e+01] [ 1.07253264e-01 -6.61177207e-04 9.94231512e-01 3.03263814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.94509989299996 meters 0.05486954592275057 Centerline is valid? [True, True] Translation: X:287.76, Y:49.20, Z:30.33 [[ 9.71627218e-01 -2.11701948e-01 -1.05464854e-01 2.87760678e+02] [ 2.10526312e-01 9.77334121e-01 -2.22865010e-02 4.91965792e+01] [ 1.07792496e-01 -5.48955809e-04 9.94173263e-01 3.03326311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.00509989299997 meters 0.054599413674175486 Centerline is valid? [True, True] Translation: X:287.82, Y:49.21, Z:30.34 [[ 9.70679005e-01 -2.15259546e-01 -1.06984101e-01 2.87820468e+02] [ 2.14071044e-01 9.76556406e-01 -2.26091624e-02 4.92071783e+01] [ 1.09342847e-01 -9.55958912e-04 9.94003636e-01 3.03392923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.06509989299997 meters 0.054904807320847744 Centerline is valid? [True, True] Translation: X:287.88, Y:49.22, Z:30.35 [[ 9.69393262e-01 -2.20207773e-01 -1.08559848e-01 2.87879721e+02] [ 2.19015005e-01 9.75451778e-01 -2.29402813e-02 4.92169940e+01] [ 1.10946525e-01 -1.53808147e-03 9.93825187e-01 3.03458075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.12509989299997 meters 0.05537052104057092 Centerline is valid? [True, True] Translation: X:287.94, Y:49.22, Z:30.35 [[ 9.67100961e-01 -2.29905336e-01 -1.08900261e-01 2.87940861e+02] [ 2.28766402e-01 9.73209362e-01 -2.30102126e-02 4.92196856e+01] [ 1.11272925e-01 -2.65952226e-03 9.93786327e-01 3.03516360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.185099893 meters 0.05774708257425587 Centerline is valid? [True, True] Translation: X:288.00, Y:49.22, Z:30.36 [[ 9.65182935e-01 -2.38020305e-01 -1.08481504e-01 2.88001889e+02] [ 2.36941185e-01 9.71253577e-01 -2.29208171e-02 4.92184851e+01] [ 1.10818668e-01 -3.58095444e-03 9.93834191e-01 3.03582723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.245099893 meters 0.05663026558337321 Centerline is valid? [True, True] Translation: X:288.06, Y:49.23, Z:30.37 [[ 9.64062907e-01 -2.42604852e-01 -1.08284799e-01 2.88059927e+02] [ 2.41558424e-01 9.70116526e-01 -2.28791136e-02 4.92331521e+01] [ 1.10599457e-01 -4.10020065e-03 9.93856604e-01 3.03670370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.305099893 meters 0.05725869324960806 Centerline is valid? [True, True] Translation: X:288.12, Y:49.24, Z:30.37 [[ 9.63222329e-01 -2.46094785e-01 -1.07889300e-01 2.88119130e+02] [ 2.45077859e-01 9.69235391e-01 -2.27947424e-02 4.92392899e+01] [ 1.10179795e-01 -4.48487379e-03 9.93901554e-01 3.03734420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.365099893 meters 0.057087383688969 Centerline is valid? [True, True] Translation: X:288.18, Y:49.25, Z:30.38 [[ 9.62490967e-01 -2.49165623e-01 -1.07366806e-01 2.88178612e+02] [ 2.48177449e-01 9.68448935e-01 -2.26851321e-02 4.92485675e+01] [ 1.09631624e-01 -4.81178525e-03 9.93960640e-01 3.03810334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.425099893 meters 0.05631553505088427 Centerline is valid? [True, True] Translation: X:288.24, Y:49.26, Z:30.39 [[ 9.62749444e-01 -2.48293581e-01 -1.07069163e-01 2.88237466e+02] [ 2.47305526e-01 9.68673430e-01 -2.26221734e-02 4.92643949e+01] [ 1.09331994e-01 -4.69931086e-03 9.93994181e-01 3.03889203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.485099893 meters 0.05565072171570041 Centerline is valid? [True, True] Translation: X:288.29, Y:49.28, Z:30.40 [[ 9.63382178e-01 -2.45624942e-01 -1.07532167e-01 2.88294959e+02] [ 2.44611929e-01 9.69354877e-01 -2.27184324e-02 4.92809708e+01] [ 1.09817044e-01 -4.41711790e-03 9.93942003e-01 3.03959663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.545099893 meters 0.05689963719485006 Centerline is valid? [True, True] Translation: X:288.35, Y:49.29, Z:30.40 [[ 9.64970858e-01 -2.38690359e-01 -1.08895155e-01 2.88353993e+02] [ 2.37607352e-01 9.71088781e-01 -2.30070754e-02 4.92890072e+01] [ 1.11238431e-01 -3.67313220e-03 9.93786959e-01 3.04000397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.605099893 meters 0.05699811299369594 Centerline is valid? [True, True] Translation: X:288.41, Y:49.30, Z:30.41 [[ 9.66183179e-01 -2.33148289e-01 -1.10145085e-01 2.88412156e+02] [ 2.32004223e-01 9.72436350e-01 -2.32719761e-02 4.93044534e+01] [ 1.12534906e-01 -3.06913311e-03 9.93643032e-01 3.04053580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.665099893 meters 0.0553343561027281 Centerline is valid? [True, True] Translation: X:288.47, Y:49.33, Z:30.41 [[ 9.68143491e-01 -2.24537991e-01 -1.10819094e-01 2.88468890e+02] [ 2.23323579e-01 9.74463115e-01 -2.34140192e-02 4.93285320e+01] [ 1.13246456e-01 -2.08038645e-03 9.93564750e-01 3.04146167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.725099893 meters 0.05565225246690518 Centerline is valid? [True, True] Translation: X:288.53, Y:49.35, Z:30.42 [[ 9.69774715e-01 -2.17332206e-01 -1.10922110e-01 2.88526313e+02] [ 2.16068531e-01 9.76096909e-01 -2.34353278e-02 4.93459649e+01] [ 1.13363981e-01 -1.23978919e-03 9.93552752e-01 3.04218527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.785099893 meters 0.05593967751218077 Centerline is valid? [True, True] Translation: X:288.58, Y:49.36, Z:30.43 [[ 9.70408574e-01 -2.14497884e-01 -1.10895701e-01 2.88583638e+02] [ 2.13216229e-01 9.76724032e-01 -2.34308520e-02 4.93579098e+01] [ 1.13340364e-01 -9.07263482e-04 9.93555806e-01 3.04265353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.845099893 meters 0.054933026938934 Centerline is valid? [True, True] Translation: X:288.64, Y:49.37, Z:30.43 [[ 9.70652125e-01 -2.13552732e-01 -1.10587901e-01 2.88641511e+02] [ 2.12271685e-01 9.76931218e-01 -2.33693654e-02 4.93684227e+01] [ 1.13027364e-01 -7.91155766e-04 9.93591560e-01 3.04319628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.905099893 meters 0.05597949665833603 Centerline is valid? [True, True] Translation: X:288.70, Y:49.38, Z:30.44 [[ 9.70281620e-01 -2.15541255e-01 -1.09979745e-01 2.88697332e+02] [ 2.14285630e-01 9.76494218e-01 -2.32531970e-02 4.93821142e+01] [ 1.12406608e-01 -1.00492932e-03 9.93661786e-01 3.04436013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.965099893 meters 0.05614744472892454 Centerline is valid? [True, True] Translation: X:288.76, Y:49.38, Z:30.45 [[ 9.68882744e-01 -2.21858879e-01 -1.09749103e-01 2.88758571e+02] [ 2.20647540e-01 9.75077265e-01 -2.32161755e-02 4.93839750e+01] [ 1.12164569e-01 -1.72211771e-03 9.93688152e-01 3.04469025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.025099893 meters 0.056510361050532 Centerline is valid? [True, True] Translation: X:288.82, Y:49.39, Z:30.45 [[ 9.66999275e-01 -2.29507693e-01 -1.10628297e-01 2.88818227e+02] [ 2.28326689e-01 9.73303293e-01 -2.34013458e-02 4.93899349e+01] [ 1.13045674e-01 -2.63030823e-03 9.93586311e-01 3.04529317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.08509989299995 meters 0.05622852575839025 Centerline is valid? [True, True] Translation: X:288.88, Y:49.40, Z:30.46 [[ 9.66083420e-01 -2.33493827e-01 -1.10288069e-01 2.88877014e+02] [ 2.32345936e-01 9.72353384e-01 -2.33294263e-02 4.94010690e+01] [ 1.12686254e-01 -3.08681257e-03 9.93625825e-01 3.04601901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.14509989299995 meters 0.056627196314292756 Centerline is valid? [True, True] Translation: X:288.93, Y:49.41, Z:30.47 [[ 9.65846728e-01 -2.34711227e-01 -1.09775849e-01 2.88934520e+02] [ 2.33581658e-01 9.72059834e-01 -2.32225650e-02 4.94073468e+01] [ 1.12159291e-01 -3.21218643e-03 9.93685048e-01 3.04653550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.20509989299995 meters 0.05683607699015212 Centerline is valid? [True, True] Translation: X:288.99, Y:49.42, Z:30.47 [[ 9.65668390e-01 -2.36012095e-01 -1.08548840e-01 2.88991909e+02] [ 2.34915336e-01 9.71744444e-01 -2.29678002e-02 4.94183768e+01] [ 1.10902411e-01 -3.32050850e-03 9.93825754e-01 3.04725059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.26509989299996 meters 0.05692546163823159 Centerline is valid? [True, True] Translation: X:289.05, Y:49.43, Z:30.48 [[ 9.66088117e-01 -2.34570445e-01 -1.07937284e-01 2.89049435e+02] [ 2.33475767e-01 9.72094099e-01 -2.28501367e-02 4.94288785e+01] [ 1.10285163e-01 -3.12549454e-03 9.93895072e-01 3.04779432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.32509989299996 meters 0.058074455138457826 Centerline is valid? [True, True] Translation: X:289.11, Y:49.43, Z:30.48 [[ 9.66407164e-01 -2.33442685e-01 -1.07525375e-01 2.89108266e+02] [ 2.32348246e-01 9.72366013e-01 -2.27734452e-02 4.94345702e+01] [ 1.09870314e-01 -2.97491175e-03 9.93941479e-01 3.04829829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.38509989299996 meters 0.05567841483582538 Centerline is valid? [True, True] Translation: X:289.16, Y:49.45, Z:30.49 [[ 9.66423772e-01 -2.33543139e-01 -1.07157341e-01 2.89163244e+02] [ 2.32456387e-01 9.72341899e-01 -2.26993415e-02 4.94539150e+01] [ 1.09494848e-01 -2.97222509e-03 9.93982919e-01 3.04904601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.44509989299996 meters 0.05681290994953589 Centerline is valid? [True, True] Translation: X:289.22, Y:49.46, Z:30.49 [[ 9.66090033e-01 -2.34369005e-01 -1.08356903e-01 2.89220526e+02] [ 2.33261509e-01 9.72142804e-01 -2.29659930e-02 4.94603277e+01] [ 1.10720900e-01 -3.08827765e-03 9.93846741e-01 3.04940926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.50509989299997 meters 0.055657214156943524 Centerline is valid? [True, True] Translation: X:289.28, Y:49.48, Z:30.50 [[ 9.65762504e-01 -2.35295129e-01 -1.09265680e-01 2.89276291e+02] [ 2.34174257e-01 9.71918647e-01 -2.31637896e-02 4.94773278e+01] [ 1.11647678e-01 -3.21648981e-03 9.93742648e-01 3.05004951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.56509989299997 meters 0.055608613959009116 Centerline is valid? [True, True] Translation: X:289.33, Y:49.49, Z:30.51 [[ 9.65320040e-01 -2.36966394e-01 -1.09563445e-01 2.89334935e+02] [ 2.35849644e-01 9.71511845e-01 -2.32310150e-02 4.94913895e+01] [ 1.11947155e-01 -3.41513531e-03 9.93708293e-01 3.05075198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.62509989299997 meters 0.057064445352635405 Centerline is valid? [True, True] Translation: X:289.39, Y:49.50, Z:30.51 [[ 9.65547670e-01 -2.36430086e-01 -1.08712980e-01 2.89392451e+02] [ 2.35327302e-01 9.71642808e-01 -2.30502779e-02 4.94968162e+01] [ 1.11079964e-01 -3.32699011e-03 9.93805903e-01 3.05116319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.685099893 meters 0.05641011843444409 Centerline is valid? [True, True] Translation: X:289.45, Y:49.51, Z:30.52 [[ 9.66070803e-01 -2.34929604e-01 -1.07309292e-01 2.89449560e+02] [ 2.33845242e-01 9.72007422e-01 -2.27590509e-02 4.95141932e+01] [ 1.09652203e-01 -3.10691264e-03 9.93965161e-01 3.05200028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.745099893 meters 0.05622470780137948 Centerline is valid? [True, True] Translation: X:289.51, Y:49.53, Z:30.53 [[ 9.66756844e-01 -2.32787174e-01 -1.05789115e-01 2.89506678e+02] [ 2.31720164e-01 9.72523617e-01 -2.24405913e-02 4.95308699e+01] [ 1.08106295e-01 -2.81887585e-03 9.94135344e-01 3.05281375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.805099893 meters 0.05550069472023487 Centerline is valid? [True, True] Translation: X:289.56, Y:49.54, Z:30.53 [[ 9.66758712e-01 -2.33100160e-01 -1.05080486e-01 2.89564669e+02] [ 2.32049181e-01 9.72448603e-01 -2.22910787e-02 4.95449509e+01] [ 1.07381426e-01 -2.83374635e-03 9.94213860e-01 3.05346631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.865099893 meters 0.05693211446979979 Centerline is valid? [True, True] Translation: X:289.62, Y:49.55, Z:30.54 [[ 9.65982806e-01 -2.35734151e-01 -1.06332630e-01 2.89623889e+02] [ 2.34673806e-01 9.71812430e-01 -2.25567322e-02 4.95509365e+01] [ 1.08652763e-01 -3.16406739e-03 9.94074728e-01 3.05389654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.925099893 meters 0.05523902592675801 Centerline is valid? [True, True] Translation: X:289.68, Y:49.57, Z:30.55 [[ 9.65083803e-01 -2.39298681e-01 -1.06533534e-01 2.89681850e+02] [ 2.38255850e-01 9.70939435e-01 -2.26000651e-02 4.95667287e+01] [ 1.08845775e-01 -3.57128077e-03 9.94052234e-01 3.05455117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.985099893 meters 0.05655262818282684 Centerline is valid? [True, True] Translation: X:289.74, Y:49.57, Z:30.55 [[ 9.63792599e-01 -2.44346051e-01 -1.06765322e-01 2.89740424e+02] [ 2.43329468e-01 9.69679217e-01 -2.26491810e-02 4.95746473e+01] [ 1.09062351e-01 -4.15003593e-03 9.94026247e-01 3.05502191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.045099893 meters 0.055854991815705114 Centerline is valid? [True, True] Translation: X:289.80, Y:49.59, Z:30.56 [[ 9.62905919e-01 -2.47758244e-01 -1.06902025e-01 2.89798922e+02] [ 2.46759956e-01 9.68811242e-01 -2.26782342e-02 4.95905417e+01] [ 1.09186603e-01 -4.54213296e-03 9.94010893e-01 3.05565500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.105099893 meters 0.05579310282585299 Centerline is valid? [True, True] Translation: X:289.86, Y:49.60, Z:30.56 [[ 9.62779430e-01 -2.48360217e-01 -1.06644132e-01 2.89858518e+02] [ 2.47370544e-01 9.68656823e-01 -2.26224116e-02 4.96018801e+01] [ 1.08920073e-01 -4.60022433e-03 9.94039866e-01 3.05623120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.165099893 meters 0.05815175540499471 Centerline is valid? [True, True] Translation: X:289.92, Y:49.61, Z:30.57 [[ 9.63049904e-01 -2.47499923e-01 -1.06201085e-01 2.89917956e+02] [ 2.46513531e-01 9.68877526e-01 -2.25259561e-02 4.96056978e+01] [ 1.08471017e-01 -4.48638463e-03 9.94089488e-01 3.05676537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.225099893 meters 0.057018019896550594 Centerline is valid? [True, True] Translation: X:289.98, Y:49.62, Z:30.57 [[ 9.64382096e-01 -2.42447210e-01 -1.05766364e-01 2.89975668e+02] [ 2.41438508e-01 9.70156758e-01 -2.24345972e-02 4.96225133e+01] [ 1.08049158e-01 -3.90054912e-03 9.94137900e-01 3.05744417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.285099893 meters 0.05636967901338308 Centerline is valid? [True, True] Translation: X:290.03, Y:49.64, Z:30.58 [[ 9.66164442e-01 -2.35396479e-01 -1.05426606e-01 2.90032552e+02] [ 2.34352247e-01 9.71894484e-01 -2.23637258e-02 4.96420827e+01] [ 1.07727879e-01 -3.09992534e-03 9.94175585e-01 3.05812887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.345099893 meters 0.05498416026573024 Centerline is valid? [True, True] Translation: X:290.09, Y:49.66, Z:30.59 [[ 9.67234538e-01 -2.31028092e-01 -1.05277585e-01 2.90090059e+02] [ 2.29960987e-01 9.72943582e-01 -2.23322921e-02 4.96612602e+01] [ 1.07588537e-01 -2.60917317e-03 9.94192083e-01 3.05881578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.405099893 meters 0.05575501316133321 Centerline is valid? [True, True] Translation: X:290.15, Y:49.67, Z:30.59 [[ 9.68215970e-01 -2.26798166e-01 -1.05453439e-01 2.90148866e+02] [ 2.25702444e-01 9.73939424e-01 -2.23697267e-02 4.96726043e+01] [ 1.07778675e-01 -2.14237228e-03 9.94172605e-01 3.05935425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.465099893 meters 0.056023533479061215 Centerline is valid? [True, True] Translation: X:290.21, Y:49.69, Z:30.60 [[ 9.68546654e-01 -2.25474762e-01 -1.05254506e-01 2.90205630e+02] [ 2.24375349e-01 9.74246975e-01 -2.23278915e-02 4.96876167e+01] [ 1.07578260e-01 -1.99091194e-03 9.94194626e-01 3.05995212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.525099893 meters 0.05561786739422972 Centerline is valid? [True, True] Translation: X:290.27, Y:49.71, Z:30.61 [[ 9.68834918e-01 -2.24541586e-01 -1.04594353e-01 2.90265168e+02] [ 2.23449322e-01 9.74462724e-01 -2.21990940e-02 4.97057326e+01] [ 1.06907918e-01 -1.86427998e-03 9.94267178e-01 3.06065004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.58509989299995 meters 0.0555912385678181 Centerline is valid? [True, True] Translation: X:290.33, Y:49.71, Z:30.61 [[ 9.68649681e-01 -2.24905055e-01 -1.05524932e-01 2.90326113e+02] [ 2.23795766e-01 9.74378782e-01 -2.23929595e-02 4.97135094e+01] [ 1.07857545e-01 -1.92509996e-03 9.94164495e-01 3.06114372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.64509989299995 meters 0.0558606045300038 Centerline is valid? [True, True] Translation: X:290.38, Y:49.72, Z:30.62 [[ 9.67932559e-01 -2.28243793e-01 -1.04934894e-01 2.90384327e+02] [ 2.27166717e-01 9.73601327e-01 -2.22652152e-02 4.97237939e+01] [ 1.07246649e-01 -2.28648852e-03 9.94229817e-01 3.06176119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.70509989299995 meters 0.05605438769903598 Centerline is valid? [True, True] Translation: X:290.44, Y:49.73, Z:30.62 [[ 9.66993223e-01 -2.32509749e-01 -1.04227265e-01 2.90443041e+02] [ 2.31471589e-01 9.72590211e-01 -2.21175165e-02 4.97309489e+01] [ 1.06512956e-01 -2.73816206e-03 9.94307544e-01 3.06238493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.76509989299996 meters 0.05745977372025259 Centerline is valid? [True, True] Translation: X:290.50, Y:49.73, Z:30.63 [[ 9.65307089e-01 -2.39237769e-01 -1.04630367e-01 2.90503984e+02] [ 2.38230752e-01 9.70954732e-01 -2.22039817e-02 4.97346852e+01] [ 1.06903381e-01 -3.49251017e-03 9.94263280e-01 3.06286515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.82509989299996 meters 0.05683296201342239 Centerline is valid? [True, True] Translation: X:290.56, Y:49.75, Z:30.64 [[ 9.63690396e-01 -2.45964939e-01 -1.03933002e-01 2.90562770e+02] [ 2.45010222e-01 9.69269585e-01 -2.20559050e-02 4.97465736e+01] [ 1.06164077e-01 -4.20958398e-03 9.94339715e-01 3.06352795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.88509989299996 meters 0.05760533145199392 Centerline is valid? [True, True] Translation: X:290.62, Y:49.75, Z:30.64 [[ 9.62636624e-01 -2.50107413e-01 -1.03812384e-01 2.90622121e+02] [ 2.49178836e-01 9.68206880e-01 -2.20305562e-02 4.97546323e+01] [ 1.06021870e-01 -4.66042874e-03 9.94352877e-01 3.06410162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.94509989299996 meters 0.05819355548116352 Centerline is valid? [True, True] Translation: X:290.68, Y:49.76, Z:30.65 [[ 9.61686093e-01 -2.54534366e-01 -1.01843579e-01 2.90681481e+02] [ 2.53665325e-01 9.67050549e-01 -2.16133713e-02 4.97646016e+01] [ 1.03989235e-01 -5.04890595e-03 9.94565607e-01 3.06487632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.00509989299997 meters 0.057294783477750945 Centerline is valid? [True, True] Translation: X:290.74, Y:49.78, Z:30.66 [[ 9.61661252e-01 -2.55059559e-01 -1.00758412e-01 2.90740761e+02] [ 2.54211776e-01 9.66912156e-01 -2.13835506e-02 4.97806973e+01] [ 1.02878612e-01 -5.05024281e-03 9.94681098e-01 3.06558173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.06509989299997 meters 0.057260833327999625 Centerline is valid? [True, True] Translation: X:290.80, Y:49.79, Z:30.66 [[ 9.61761025e-01 -2.54948456e-01 -1.00085042e-01 2.90798575e+02] [ 2.54111544e-01 9.66941687e-01 -2.12390469e-02 4.97918651e+01] [ 1.02191262e-01 -5.00587715e-03 9.94752174e-01 3.06629154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.12509989299997 meters 0.05523949737761844 Centerline is valid? [True, True] Translation: X:290.86, Y:49.81, Z:30.67 [[ 9.60657157e-01 -2.59042333e-01 -1.00174333e-01 2.90855822e+02] [ 2.58225956e-01 9.65850620e-01 -2.12587942e-02 4.98126887e+01] [ 1.02260369e-01 -5.44520006e-03 9.94742764e-01 3.06701794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.185099893 meters 0.05430506675121948 Centerline is valid? [True, True] Translation: X:290.91, Y:49.83, Z:30.67 [[ 9.58375814e-01 -2.64117286e-01 -1.08433657e-01 2.90913857e+02] [ 2.63192847e-01 9.64468765e-01 -2.30114372e-02 4.98329796e+01] [ 1.10658593e-01 -6.48535790e-03 9.93837319e-01 3.06705582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.245099893 meters 0.05597335489173681 Centerline is valid? [True, True] Translation: X:290.98, Y:49.84, Z:30.67 [[ 9.58236965e-01 -2.63217869e-01 -1.11795676e-01 2.90975604e+02] [ 2.62229202e-01 9.64713957e-01 -2.37239712e-02 4.98393024e+01] [ 1.14095422e-01 -6.58290471e-03 9.93447986e-01 3.06730224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.305099893 meters 0.05513801812429459 Centerline is valid? [True, True] Translation: X:291.03, Y:49.86, Z:30.68 [[ 9.59778005e-01 -2.57531472e-01 -1.11820043e-01 2.91031596e+02] [ 2.56504365e-01 9.66251832e-01 -2.37256987e-02 4.98649900e+01] [ 1.14156436e-01 -5.91092543e-03 9.93445202e-01 3.06818904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.365099893 meters 0.05596352520436561 Centerline is valid? [True, True] Translation: X:291.09, Y:49.87, Z:30.69 [[ 9.61770234e-01 -2.50432146e-01 -1.10823090e-01 2.91090135e+02] [ 2.49376412e-01 9.68121128e-01 -2.35135293e-02 4.98746773e+01] [ 1.13178719e-01 -5.02205194e-03 9.93561954e-01 3.06882760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.425099893 meters 0.05460985045510099 Centerline is valid? [True, True] Translation: X:291.15, Y:49.90, Z:30.70 [[ 9.65301390e-01 -2.38718441e-01 -1.05861851e-01 2.91146464e+02] [ 2.37684827e-01 9.71082591e-01 -2.24616144e-02 4.98974566e+01] [ 1.08162602e-01 -3.47952806e-03 9.94127127e-01 3.06989992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.485099893 meters 0.05417444734706901 Centerline is valid? [True, True] Translation: X:291.20, Y:49.92, Z:30.71 [[ 9.67947583e-01 -2.29982215e-01 -1.00924019e-01 2.91203726e+02] [ 2.28995531e-01 9.73191913e-01 -2.14137388e-02 4.99159589e+01] [ 1.03143218e-01 -2.38377266e-03 9.94663659e-01 3.07094871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.545099893 meters 0.05429266835568681 Centerline is valid? [True, True] Translation: X:291.26, Y:49.93, Z:30.72 [[ 9.69316250e-01 -2.24037250e-01 -1.01159860e-01 2.91262358e+02] [ 2.23013709e-01 9.74579001e-01 -2.14629311e-02 4.99305214e+01] [ 1.03396772e-01 -1.75566776e-03 9.94638641e-01 3.07152621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.605099893 meters 0.054999043369603304 Centerline is valid? [True, True] Translation: X:291.32, Y:49.94, Z:30.72 [[ 9.70808335e-01 -2.16442211e-01 -1.03363177e-01 2.91320381e+02] [ 2.15330509e-01 9.76294952e-01 -2.19302958e-02 4.99447283e+01] [ 1.05659590e-01 -9.67131649e-04 9.94401888e-01 3.07196974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.665099893 meters 0.055397310428466566 Centerline is valid? [True, True] Translation: X:291.38, Y:49.96, Z:30.72 [[ 9.71375801e-01 -2.13452600e-01 -1.04245096e-01 2.91377596e+02] [ 2.12304593e-01 9.76953207e-01 -2.21176683e-02 4.99567149e+01] [ 1.06563655e-01 -6.47144971e-04 9.94305672e-01 3.07248947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.725099893 meters 0.055474267498018204 Centerline is valid? [True, True] Translation: X:291.44, Y:49.97, Z:30.73 [[ 9.72266005e-01 -2.08840619e-01 -1.05282528e-01 2.91435972e+02] [ 2.07641440e-01 9.77949681e-01 -2.23484677e-02 4.99697308e+01] [ 1.07628283e-01 -1.32360431e-04 9.94191196e-01 3.07302433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.785099893 meters 0.055080483046608834 Centerline is valid? [True, True] Translation: X:291.49, Y:49.98, Z:30.74 [[ 9.73438880e-01 -2.03887925e-01 -1.04146344e-01 2.91492083e+02] [ 2.02686167e-01 9.78994149e-01 -2.21082237e-02 4.99820356e+01] [ 1.06466261e-01 4.11981327e-04 9.94316230e-01 3.07374803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.845099893 meters 0.05521793506576562 Centerline is valid? [True, True] Translation: X:291.55, Y:49.99, Z:30.74 [[ 9.74485715e-01 -2.00315587e-01 -1.01248494e-01 2.91549579e+02] [ 1.99160294e-01 9.79731112e-01 -2.14971217e-02 4.99940514e+01] [ 1.03502508e-01 7.83958069e-04 9.94628884e-01 3.07449582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.905099893 meters 0.05463672433338609 Centerline is valid? [True, True] Translation: X:291.62, Y:49.95, Z:30.74 [[ 9.63476720e-01 -2.45178616e-01 -1.07703556e-01 2.91620291e+02] [ 2.44145757e-01 9.69468603e-01 -2.28796247e-02 4.99542406e+01] [ 1.10024811e-01 -4.25138053e-03 9.93919749e-01 3.07427106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.965099893 meters 0.05518438137616458 Centerline is valid? [True, True] Translation: X:291.68, Y:49.96, Z:30.75 [[ 9.63045227e-01 -2.46637534e-01 -1.08230389e-01 2.91679595e+02] [ 2.45603629e-01 9.69097632e-01 -2.29921291e-02 4.99628230e+01] [ 1.10556536e-01 -4.43931614e-03 9.93859922e-01 3.07482244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.025099893 meters 0.05518438137616458 Centerline is valid? [True, True] Translation: X:291.74, Y:49.98, Z:30.75 [[ 9.63041238e-01 -2.46653122e-01 -1.08230367e-01 2.91737194e+02] [ 2.45619303e-01 9.69093657e-01 -2.29922345e-02 4.99750756e+01] [ 1.10556468e-01 -4.44099731e-03 9.93859922e-01 3.07543835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.08509989299995 meters 0.05484025699364217 Centerline is valid? [True, True] Translation: X:291.79, Y:49.98, Z:30.76 [[ 9.62808061e-01 -2.47374022e-01 -1.08658778e-01 2.91794401e+02] [ 2.46336339e-01 9.68909429e-01 -2.30851971e-02 4.99849060e+01] [ 1.10991193e-01 -4.53999182e-03 9.93811020e-01 3.07600401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.14509989299995 meters 0.05484025699364217 Centerline is valid? [True, True] Translation: X:291.85, Y:50.00, Z:30.77 [[ 9.62781071e-01 -2.47479403e-01 -1.08657972e-01 2.91851166e+02] [ 2.46441960e-01 9.68882479e-01 -2.30889907e-02 4.99969163e+01] [ 1.10990855e-01 -4.54824044e-03 9.93811020e-01 3.07661095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.20509989299995 meters 0.05647632795392893 Centerline is valid? [True, True] Translation: X:291.91, Y:50.00, Z:30.77 [[ 9.62632953e-01 -2.47896181e-01 -1.09019638e-01 2.91908791e+02] [ 2.46853125e-01 9.68775682e-01 -2.31778354e-02 5.00035951e+01] [ 1.11361271e-01 -4.60009020e-03 9.93769343e-01 3.07708646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.26509989299996 meters 0.05678768271119701 Centerline is valid? [True, True] Translation: X:291.97, Y:50.01, Z:30.78 [[ 9.62538217e-01 -2.48022292e-01 -1.09567897e-01 2.91966902e+02] [ 2.46968954e-01 9.68743245e-01 -2.32993693e-02 5.00116378e+01] [ 1.11921923e-01 -4.63333562e-03 9.93706202e-01 3.07756795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.32509989299996 meters 0.05603155179561815 Centerline is valid? [True, True] Translation: X:292.02, Y:50.03, Z:30.78 [[ 9.62532782e-01 -2.48146237e-01 -1.09334754e-01 2.92022556e+02] [ 2.47096872e-01 9.68711537e-01 -2.32614253e-02 5.00273674e+01] [ 1.11686073e-01 -4.62639144e-03 9.93732770e-01 3.07823531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.38509989299996 meters 0.05672161705198204 Centerline is valid? [True, True] Translation: X:292.08, Y:50.04, Z:30.79 [[ 9.62539647e-01 -2.48635031e-01 -1.08157517e-01 2.92079651e+02] [ 2.47609733e-01 9.68586232e-01 -2.30245950e-02 5.00373611e+01] [ 1.10484603e-01 -4.61876828e-03 9.93867104e-01 3.07886779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.44509989299996 meters 0.05708060015278976 Centerline is valid? [True, True] Translation: X:292.14, Y:50.05, Z:30.80 [[ 9.62707192e-01 -2.49201432e-01 -1.05325730e-01 2.92136193e+02] [ 2.48232114e-01 9.68440960e-01 -2.24259786e-02 5.00490400e+01] [ 1.07590338e-01 -4.55557793e-03 9.94184875e-01 3.07966066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.50509989299997 meters 0.06239178837333088 Centerline is valid? [True, True] Translation: X:292.20, Y:50.05, Z:30.80 [[ 9.62866480e-01 -2.48932317e-01 -1.04502840e-01 2.92196179e+02] [ 2.47976065e-01 9.68510496e-01 -2.22550990e-02 5.00465777e+01] [ 1.06752111e-01 -4.48551417e-03 9.94275549e-01 3.08021895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.56509989299997 meters 0.05437907617115903 Centerline is valid? [True, True] Translation: X:292.25, Y:50.09, Z:30.81 [[ 9.62478523e-01 -2.50100325e-01 -1.05284949e-01 2.92250138e+02] [ 2.49135431e-01 9.68208813e-01 -2.24328122e-02 5.00858155e+01] [ 1.07548269e-01 -4.63911106e-03 9.94189041e-01 3.08091491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.62509989299997 meters 0.05455768182736758 Centerline is valid? [True, True] Translation: X:292.31, Y:50.10, Z:30.81 [[ 9.61777802e-01 -2.52080169e-01 -1.06953486e-01 2.92308933e+02] [ 2.51096868e-01 9.67693741e-01 -2.27856777e-02 5.00996839e+01] [ 1.09242037e-01 -4.94092641e-03 9.94002900e-01 3.08140772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.685099893 meters 0.05435133659274458 Centerline is valid? [True, True] Translation: X:292.37, Y:50.12, Z:30.82 [[ 9.61522104e-01 -2.52598935e-01 -1.08023241e-01 2.92368039e+02] [ 2.51599119e-01 9.67557889e-01 -2.30133642e-02 5.01209329e+01] [ 1.10331891e-01 -5.05069398e-03 9.93881967e-01 3.08200642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.745099893 meters 0.05815410454011675 Centerline is valid? [True, True] Translation: X:292.43, Y:50.12, Z:30.82 [[ 9.63145910e-01 -2.46856095e-01 -1.06827078e-01 2.92428888e+02] [ 2.45843505e-01 9.69042403e-01 -2.27550582e-02 5.01215338e+01] [ 1.09137193e-01 -4.34630210e-03 9.94017194e-01 3.08247828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.805099893 meters 0.055167150232239025 Centerline is valid? [True, True] Translation: X:292.48, Y:50.15, Z:30.83 [[ 9.65008996e-01 -2.40202809e-01 -1.05167712e-01 2.92483945e+02] [ 2.39182066e-01 9.70716284e-01 -2.24016768e-02 5.01511209e+01] [ 1.07468956e-01 -3.53641085e-03 9.94202151e-01 3.08332831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.865099893 meters 0.05532960704404701 Centerline is valid? [True, True] Translation: X:292.54, Y:50.17, Z:30.84 [[ 9.67134161e-01 -2.32142015e-01 -1.03738132e-01 2.92540726e+02] [ 2.31102523e-01 9.72678421e-01 -2.20977944e-02 5.01694685e+01] [ 1.06033669e-01 -2.60261226e-03 9.94359134e-01 3.08402235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.925099893 meters 0.05568772165171468 Centerline is valid? [True, True] Translation: X:292.60, Y:50.18, Z:30.85 [[ 9.68208135e-01 -2.27951262e-01 -1.03010822e-01 2.92598178e+02] [ 2.26902551e-01 9.73670220e-01 -2.19439063e-02 5.01818105e+01] [ 1.05300711e-01 -2.12714977e-03 9.94438151e-01 3.08468149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.985099893 meters 0.05403245993043575 Centerline is valid? [True, True] Translation: X:292.65, Y:50.21, Z:30.85 [[ 9.71051844e-01 -2.16615935e-01 -1.00676978e-01 2.92652035e+02] [ 2.15553235e-01 9.76256510e-01 -2.14483079e-02 5.02137944e+01] [ 1.02932600e-01 -8.73829276e-04 9.94687949e-01 3.08547000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.045099893 meters 0.05461806553925786 Centerline is valid? [True, True] Translation: X:292.71, Y:50.23, Z:30.86 [[ 9.72828403e-01 -2.08586343e-01 -1.00482019e-01 2.92711140e+02] [ 2.07484830e-01 9.78003956e-01 -2.14081337e-02 5.02306913e+01] [ 1.02737256e-01 -2.20539995e-05 9.94708528e-01 3.08611275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.105099893 meters 0.05434262416030199 Centerline is valid? [True, True] Translation: X:292.77, Y:50.25, Z:30.87 [[ 9.73390647e-01 -2.05847400e-01 -1.00685132e-01 2.92767415e+02] [ 2.04727108e-01 9.78584068e-01 -2.14483909e-02 5.02454612e+01] [ 1.02943961e-01 2.64687241e-04 9.94687122e-01 3.08676477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.165099893 meters 0.055307588203043 Centerline is valid? [True, True] Translation: X:292.82, Y:50.26, Z:30.87 [[ 9.73232033e-01 -2.06165231e-01 -1.01564303e-01 2.92823727e+02] [ 2.05026280e-01 9.78517164e-01 -2.16421904e-02 5.02561289e+01] [ 1.03844281e-01 2.39521691e-04 9.94593539e-01 3.08722379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.225099893 meters 0.0539152972191774 Centerline is valid? [True, True] Translation: X:292.88, Y:50.27, Z:30.88 [[ 9.72766968e-01 -2.08219403e-01 -1.01828804e-01 2.92880219e+02] [ 2.07084310e-01 9.78082143e-01 -2.17119624e-02 5.02654545e+01] [ 1.04117787e-01 3.35321590e-05 9.94564973e-01 3.08778786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.285099893 meters 0.05478765523237884 Centerline is valid? [True, True] Translation: X:292.94, Y:50.27, Z:30.88 [[ 9.71814906e-01 -2.13405186e-01 -1.00169926e-01 2.92939835e+02] [ 2.12333013e-01 9.76963651e-01 -2.13709150e-02 5.02722512e+01] [ 1.02423040e-01 -5.00808395e-04 9.94740805e-01 3.08845893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.345099893 meters 0.05486815095012894 Centerline is valid? [True, True] Translation: X:293.00, Y:50.28, Z:30.89 [[ 9.70984569e-01 -2.17480530e-01 -9.94544424e-02 2.92999496e+02] [ 2.16445050e-01 9.76064221e-01 -2.12173561e-02 5.02774111e+01] [ 1.01688285e-01 -9.24696437e-04 9.94815881e-01 3.08918844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.405099893 meters 0.054969253828082515 Centerline is valid? [True, True] Translation: X:293.06, Y:50.28, Z:30.90 [[ 9.69461877e-01 -2.25076207e-01 -9.73877325e-02 2.93059962e+02] [ 2.24121481e-01 9.74339707e-01 -2.07773012e-02 5.02826325e+01] [ 9.95652109e-02 -1.68388149e-03 9.95029614e-01 3.08989215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.465099893 meters 0.05495230866547021 Centerline is valid? [True, True] Translation: X:293.12, Y:50.29, Z:30.90 [[ 9.68316052e-01 -2.30114794e-01 -9.70113677e-02 2.93119026e+02] [ 2.29192567e-01 9.73161022e-01 -2.06976482e-02 5.02908995e+01] [ 9.91705168e-02 -2.19241936e-03 9.95068039e-01 3.09041362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.525099893 meters 0.055717534316090785 Centerline is valid? [True, True] Translation: X:293.18, Y:50.29, Z:30.91 [[ 9.66846554e-01 -2.35850764e-01 -9.78885040e-02 2.93179707e+02] [ 2.34940931e-01 9.71785239e-01 -2.08856078e-02 5.02917159e+01] [ 1.00052490e-01 -2.80483842e-03 9.94978207e-01 3.09098750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.58509989299995 meters 0.05788260352116951 Centerline is valid? [True, True] Translation: X:293.24, Y:50.30, Z:30.92 [[ 9.66198599e-01 -2.38470196e-01 -9.79399496e-02 2.93239893e+02] [ 2.37572727e-01 9.71144942e-01 -2.08973780e-02 5.02960036e+01] [ 1.00097288e-01 -3.07684363e-03 9.94972897e-01 3.09153106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.64509989299995 meters 0.05626938620485818 Centerline is valid? [True, True] Translation: X:293.30, Y:50.31, Z:30.92 [[ 9.65779145e-01 -2.40053989e-01 -9.82075664e-02 2.93297635e+02] [ 2.39159672e-01 9.70754102e-01 -2.09553222e-02 5.03091477e+01] [ 1.00365807e-01 -3.24907626e-03 9.94945299e-01 3.09196262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.70509989299995 meters 0.05676482323197598 Centerline is valid? [True, True] Translation: X:293.35, Y:50.32, Z:30.92 [[ 9.65679329e-01 -2.40048858e-01 -9.91966646e-02 2.93354861e+02] [ 2.39136143e-01 9.70755269e-01 -2.11686931e-02 5.03178414e+01] [ 1.01377205e-01 -3.27933842e-03 9.94842655e-01 3.09245081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.76509989299996 meters 0.05508589805241674 Centerline is valid? [True, True] Translation: X:293.41, Y:50.34, Z:30.93 [[ 9.65580288e-01 -2.40063160e-01 -1.00121860e-01 2.93411616e+02] [ 2.39132795e-01 9.70751641e-01 -2.13718833e-02 5.03352656e+01] [ 1.02324062e-01 -3.30615101e-03 9.94745624e-01 3.09286454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.82509989299996 meters 0.057991571518778734 Centerline is valid? [True, True] Translation: X:293.47, Y:50.34, Z:30.93 [[ 9.65469370e-01 -2.40418683e-01 -1.00338189e-01 2.93469764e+02] [ 2.39485078e-01 9.70663535e-01 -2.14289394e-02 5.03377937e+01] [ 1.02546539e-01 -3.34051446e-03 9.94722599e-01 3.09348928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.88509989299996 meters 0.056732532067626865 Centerline is valid? [True, True] Translation: X:293.53, Y:50.35, Z:30.94 [[ 9.65256276e-01 -2.41497170e-01 -9.97969875e-02 2.93526929e+02] [ 2.40578942e-01 9.70395454e-01 -2.13174997e-02 5.03537720e+01] [ 1.01990659e-01 -3.43220327e-03 9.94779436e-01 3.09410763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.94509989299996 meters 0.055523511554501 Centerline is valid? [True, True] Translation: X:293.58, Y:50.37, Z:30.95 [[ 9.64919221e-01 -2.43039716e-01 -9.93105920e-02 2.93584443e+02] [ 2.42138406e-01 9.70009747e-01 -2.12151676e-02 5.03701510e+01] [ 1.01488370e-01 -3.57598548e-03 9.94830299e-01 3.09470133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.00509989299997 meters 0.06037902506823081 Centerline is valid? [True, True] Translation: X:293.65, Y:50.37, Z:30.95 [[ 9.63870048e-01 -2.46431842e-01 -1.01123083e-01 2.93645194e+02] [ 2.45515767e-01 9.69151851e-01 -2.16031948e-02 5.03666363e+01] [ 1.03327338e-01 -4.00463888e-03 9.94639344e-01 3.09528447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.06509989299997 meters 0.055130639389580786 Centerline is valid? [True, True] Translation: X:293.70, Y:50.40, Z:30.96 [[ 9.62650656e-01 -2.51167628e-01 -1.01086780e-01 2.93700356e+02] [ 2.50277990e-01 9.67933102e-01 -2.15971819e-02 5.03961014e+01] [ 1.03269754e-01 -4.50925490e-03 9.94643164e-01 3.09581149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.12509989299997 meters 0.05817758670372382 Centerline is valid? [True, True] Translation: X:293.76, Y:50.40, Z:30.97 [[ 9.62327348e-01 -2.52345494e-01 -1.01231547e-01 2.93758942e+02] [ 2.51459726e-01 9.67626067e-01 -2.16287022e-02 5.03976347e+01] [ 1.03412189e-01 -4.64176542e-03 9.94627756e-01 3.09654242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.185099893 meters 0.05756915570329694 Centerline is valid? [True, True] Translation: X:293.82, Y:50.41, Z:30.97 [[ 9.62691514e-01 -2.51373213e-01 -1.00182616e-01 2.93815997e+02] [ 2.50500150e-01 9.67879837e-01 -2.14078607e-02 5.04130619e+01] [ 1.02346096e-01 -4.48659443e-03 9.94738733e-01 3.09727354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.245099893 meters 0.05670660821378956 Centerline is valid? [True, True] Translation: X:293.87, Y:50.43, Z:30.98 [[ 9.63594127e-01 -2.48242580e-01 -9.93074996e-02 2.93873466e+02] [ 2.47367609e-01 9.68689173e-01 -2.12262319e-02 5.04318439e+01] [ 1.01467354e-01 -4.11198633e-03 9.94830371e-01 3.09794000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.305099893 meters 0.05576934718327961 Centerline is valid? [True, True] Translation: X:293.93, Y:50.45, Z:30.99 [[ 9.65673464e-01 -2.40260512e-01 -9.87403024e-02 2.93930403e+02] [ 2.39353861e-01 9.70702994e-01 -2.11051254e-02 5.04508698e+01] [ 1.00918235e-01 -3.25321305e-03 9.94889404e-01 3.09860180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.365099893 meters 0.05480340625849754 Centerline is valid? [True, True] Translation: X:293.99, Y:50.47, Z:30.99 [[ 9.68040848e-01 -2.30921526e-01 -9.78374444e-02 2.93987009e+02] [ 2.29983743e-01 9.72969760e-01 -2.09122825e-02 5.04736776e+01] [ 1.00021971e-01 -2.25707805e-03 9.94982669e-01 3.09932821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.425099893 meters 0.054571000960196764 Centerline is valid? [True, True] Translation: X:294.04, Y:50.50, Z:31.00 [[ 9.69148599e-01 -2.26314121e-01 -9.76366354e-02 2.94044001e+02] [ 2.25356828e-01 9.74052750e-01 -2.08696013e-02 5.04952581e+01] [ 9.98263186e-02 -1.77733752e-03 9.95003290e-01 3.09989665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.485099893 meters 0.05426081147553872 Centerline is valid? [True, True] Translation: X:294.10, Y:50.52, Z:31.00 [[ 9.69882129e-01 -2.22464072e-01 -9.91886678e-02 2.94102475e+02] [ 2.21455935e-01 9.74939879e-01 -2.12014298e-02 5.05158515e+01] [ 1.01419544e-01 -1.40303132e-03 9.94842755e-01 3.10032890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.545099893 meters 0.05488319159570013 Centerline is valid? [True, True] Translation: X:294.16, Y:50.53, Z:31.01 [[ 9.69782712e-01 -2.22013249e-01 -1.01151412e-01 2.94162131e+02] [ 2.20962641e-01 9.75042663e-01 -2.16174962e-02 5.05271221e+01] [ 1.03426313e-01 -1.38640900e-03 9.94636152e-01 3.10090248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.605099893 meters 0.05403130419669657 Centerline is valid? [True, True] Translation: X:294.22, Y:50.54, Z:31.01 [[ 9.69538395e-01 -2.23021940e-01 -1.01274450e-01 2.94221981e+02] [ 2.21974528e-01 9.74812274e-01 -2.16411593e-02 5.05439743e+01] [ 1.03550030e-01 -1.49841332e-03 9.94623118e-01 3.10144366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.665099893 meters 0.05439066809329596 Centerline is valid? [True, True] Translation: X:294.28, Y:50.55, Z:31.02 [[ 9.68868387e-01 -2.26231842e-01 -1.00564422e-01 2.94282223e+02] [ 2.25216686e-01 9.74071763e-01 -2.14859453e-02 5.05495722e+01] [ 1.02817768e-01 -1.83173258e-03 9.94698523e-01 3.10219671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.725099893 meters 0.05389637558165693 Centerline is valid? [True, True] Translation: X:294.34, Y:50.56, Z:31.03 [[ 9.67985362e-01 -2.30448625e-01 -9.94875339e-02 2.94340653e+02] [ 2.29477412e-01 9.73081879e-01 -2.12549815e-02 5.05632074e+01] [ 1.01707698e-01 -2.25563080e-03 9.94811769e-01 3.10288024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.785099893 meters 0.05591296519238564 Centerline is valid? [True, True] Translation: X:294.40, Y:50.56, Z:31.04 [[ 9.65951786e-01 -2.39096560e-01 -9.88432206e-02 2.94401249e+02] [ 2.38182851e-01 9.70990707e-01 -2.11181664e-02 5.05629432e+01] [ 1.01025130e-01 -3.14362953e-03 9.94878908e-01 3.10353890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.845099893 meters 0.055661024339141746 Centerline is valid? [True, True] Translation: X:294.46, Y:50.57, Z:31.04 [[ 9.65193837e-01 -2.42142820e-01 -9.88317345e-02 2.94459695e+02] [ 2.41245235e-01 9.70234440e-01 -2.11155751e-02 5.05746178e+01] [ 1.01002938e-01 -3.46206204e-03 9.94880104e-01 3.10408749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.905099893 meters 0.0554974898976208 Centerline is valid? [True, True] Translation: X:294.52, Y:50.59, Z:31.05 [[ 9.62947413e-01 -2.50893385e-01 -9.89180961e-02 2.94519056e+02] [ 2.50040006e-01 9.68004809e-01 -2.11349269e-02 5.05869718e+01] [ 1.01055806e-01 -4.38165814e-03 9.94871110e-01 3.10460647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.965099893 meters 0.05970817593565493 Centerline is valid? [True, True] Translation: X:294.58, Y:50.59, Z:31.05 [[ 9.61900535e-01 -2.54902484e-01 -9.88538499e-02 2.94579629e+02] [ 2.54071259e-01 9.66954854e-01 -2.11212292e-02 5.05857732e+01] [ 1.00971064e-01 -4.79940044e-03 9.94877786e-01 3.10530606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.025099893 meters 0.05960020965492925 Centerline is valid? [True, True] Translation: X:294.64, Y:50.60, Z:31.06 [[ 9.61382487e-01 -2.57058572e-01 -9.83087143e-02 2.94637848e+02] [ 2.56247557e-01 9.66382909e-01 -2.10062442e-02 5.05984070e+01] [ 1.00403696e-01 -4.99633264e-03 9.94934236e-01 3.10594033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.08509989299995 meters 0.05499828420378373 Centerline is valid? [True, True] Translation: X:294.69, Y:50.63, Z:31.07 [[ 9.61463220e-01 -2.56737980e-01 -9.83569308e-02 2.94694518e+02] [ 2.55924475e-01 9.66468291e-01 -2.10167905e-02 5.06250331e+01] [ 1.00454663e-01 -4.96507479e-03 9.94929248e-01 3.10650691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.14509989299995 meters 0.059099271702482005 Centerline is valid? [True, True] Translation: X:294.76, Y:50.63, Z:31.07 [[ 9.62070333e-01 -2.54054732e-01 -9.93824327e-02 2.94755156e+02] [ 2.53210067e-01 9.67178249e-01 -2.12343091e-02 5.06254433e+01] [ 1.01515204e-01 -4.73573359e-03 9.94822716e-01 3.10708678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.20509989299995 meters 0.054264882588233886 Centerline is valid? [True, True] Translation: X:294.81, Y:50.66, Z:31.07 [[ 9.63758983e-01 -2.46830696e-01 -1.01208842e-01 2.94810287e+02] [ 2.45914925e-01 9.69050165e-01 -2.16246805e-02 5.06577862e+01] [ 1.03414080e-01 -4.04778460e-03 9.94630154e-01 3.10738512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.26509989299996 meters 0.05433430269380853 Centerline is valid? [True, True] Translation: X:294.87, Y:50.67, Z:31.08 [[ 9.65606454e-01 -2.38934093e-01 -1.02541088e-01 2.94867881e+02] [ 2.37949649e-01 9.71030367e-01 -2.19087182e-02 5.06730442e+01] [ 1.04805250e-01 -3.24441610e-03 9.94487473e-01 3.10791934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.32509989299996 meters 0.05485920179723286 Centerline is valid? [True, True] Translation: X:294.93, Y:50.69, Z:31.08 [[ 9.66727287e-01 -2.33978376e-01 -1.03404414e-01 2.94927146e+02] [ 2.32948965e-01 9.72237969e-01 -2.20932584e-02 5.06857295e+01] [ 1.05703042e-01 -2.72979534e-03 9.94393994e-01 3.10841800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.38509989299996 meters 0.05348368322713147 Centerline is valid? [True, True] Translation: X:294.98, Y:50.71, Z:31.09 [[ 9.68437955e-01 -2.26141983e-01 -1.04822375e-01 2.94982980e+02] [ 2.25038416e-01 9.74092495e-01 -2.23946959e-02 5.07124246e+01] [ 1.07171070e-01 -1.90118783e-03 9.94238778e-01 3.10897124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.44509989299996 meters 0.05292716262620752 Centerline is valid? [True, True] Translation: X:295.04, Y:50.73, Z:31.10 [[ 9.69837336e-01 -2.19902813e-01 -1.05158425e-01 2.95040946e+02] [ 2.18755617e-01 9.75521027e-01 -2.24656619e-02 5.07325532e+01] [ 1.07524517e-01 -1.21595832e-03 9.94201690e-01 3.10968271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.50509989299997 meters 0.05337969188973568 Centerline is valid? [True, True] Translation: X:295.10, Y:50.75, Z:31.10 [[ 9.71872521e-01 -2.10639956e-01 -1.05330966e-01 2.95098375e+02] [ 2.09434732e-01 9.77563692e-01 -2.25015671e-02 5.07517451e+01] [ 1.07707457e-01 -1.91308018e-04 9.94182613e-01 3.11026125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.56509989299997 meters 0.05327228484716098 Centerline is valid? [True, True] Translation: X:295.16, Y:50.77, Z:31.11 [[ 9.72991894e-01 -2.05619084e-01 -1.04916952e-01 2.95155315e+02] [ 2.04394399e-01 9.78632036e-01 -2.24113357e-02 5.07688676e+01] [ 1.07283288e-01 3.61610634e-04 9.94228427e-01 3.11086742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.62509989299997 meters 0.05347579489878436 Centerline is valid? [True, True] Translation: X:295.21, Y:50.78, Z:31.12 [[ 9.73734832e-01 -2.02435219e-01 -1.04213531e-01 2.95211490e+02] [ 2.01208743e-01 9.79295400e-01 -2.22611868e-02 5.07819764e+01] [ 1.06562280e-01 7.07819394e-04 9.94305778e-01 3.11170239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.685099893 meters 0.05413811654420806 Centerline is valid? [True, True] Translation: X:295.27, Y:50.80, Z:31.12 [[ 9.73463032e-01 -2.04244892e-01 -1.03217005e-01 2.95270991e+02] [ 2.03051515e-01 9.78919693e-01 -2.20526017e-02 5.07960075e+01] [ 1.05545290e-01 5.09023224e-04 9.94414367e-01 3.11233567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.745099893 meters 0.05311821913193768 Centerline is valid? [True, True] Translation: X:295.33, Y:50.80, Z:31.13 [[ 9.71809070e-01 -2.12352045e-01 -1.02438959e-01 2.95330531e+02] [ 2.11221756e-01 9.77193160e-01 -2.18837372e-02 5.08021573e+01] [ 1.04749706e-01 -3.70522493e-04 9.94498548e-01 3.11303131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.805099893 meters 0.05347880763642014 Centerline is valid? [True, True] Translation: X:295.39, Y:50.81, Z:31.14 [[ 9.68932581e-01 -2.25205040e-01 -1.02236707e-01 2.95390960e+02] [ 2.24150442e-01 9.74309812e-01 -2.18396500e-02 5.08053174e+01] [ 1.04528626e-01 -1.75525458e-03 9.94520329e-01 3.11368386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.865099893 meters 0.053908988137623674 Centerline is valid? [True, True] Translation: X:295.45, Y:50.81, Z:31.14 [[ 9.66692136e-01 -2.34257571e-01 -1.03100464e-01 2.95450578e+02] [ 2.33236231e-01 9.72170661e-01 -2.20242182e-02 5.08092166e+01] [ 1.05390586e-01 -2.75612504e-03 9.94427085e-01 3.11420688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.925099893 meters 0.05374139904823941 Centerline is valid? [True, True] Translation: X:295.51, Y:50.82, Z:31.15 [[ 9.63269772e-01 -2.47089486e-01 -1.05157653e-01 2.95509770e+02] [ 2.46102618e-01 9.68983391e-01 -2.24652737e-02 5.08206688e+01] [ 1.07446952e-01 -4.23945456e-03 9.94201780e-01 3.11473940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.985099893 meters 0.052322234941051246 Centerline is valid? [True, True] Translation: X:295.57, Y:50.84, Z:31.15 [[ 9.61239034e-01 -2.54300892e-01 -1.06539080e-01 2.95567246e+02] [ 2.53331888e-01 9.67111641e-01 -2.27602220e-02 5.08406093e+01] [ 1.08823129e-01 -5.11173246e-03 9.94047985e-01 3.11539742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.045099893 meters 0.05285166822569457 Centerline is valid? [True, True] Translation: X:295.63, Y:50.85, Z:31.16 [[ 9.59334919e-01 -2.61244558e-01 -1.06900858e-01 2.95626313e+02] [ 2.60311796e-01 9.65254497e-01 -2.28369442e-02 5.08467899e+01] [ 1.09152561e-01 -5.91927616e-03 9.94007385e-01 3.11599153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.105099893 meters 0.06240014892124101 Centerline is valid? [True, True] Translation: X:295.69, Y:50.83, Z:31.17 [[ 9.59096709e-01 -2.62701735e-01 -1.05457585e-01 2.95691211e+02] [ 2.61802855e-01 9.64858417e-01 -2.25277641e-02 5.08313893e+01] [ 1.07669721e-01 -6.00279233e-03 9.94168596e-01 3.11653352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.165099893 meters 0.05389958211786953 Centerline is valid? [True, True] Translation: X:295.74, Y:50.87, Z:31.17 [[ 9.59552634e-01 -2.61356906e-01 -1.04648509e-01 2.95744960e+02] [ 2.60463916e-01 9.65224763e-01 -2.23540791e-02 5.08695311e+01] [ 1.06851725e-01 -5.80724507e-03 9.94258007e-01 3.11739212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.225099893 meters 0.05233021069778326 Centerline is valid? [True, True] Translation: X:295.80, Y:50.89, Z:31.18 [[ 9.60425541e-01 -2.58101828e-01 -1.04719750e-01 2.95801412e+02] [ 2.57188436e-01 9.66102351e-01 -2.23686607e-02 5.08946106e+01] [ 1.06943389e-01 -5.44927572e-03 9.94250178e-01 3.11809177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.285099893 meters 0.05213815818353025 Centerline is valid? [True, True] Translation: X:295.86, Y:50.92, Z:31.19 [[ 9.60882887e-01 -2.55903052e-01 -1.05913666e-01 2.95859259e+02] [ 2.54955463e-01 9.66688112e-01 -2.26231130e-02 5.09159953e+01] [ 1.08174806e-01 -5.26510572e-03 9.94117946e-01 3.11870007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.345099893 meters 0.05263387382495333 Centerline is valid? [True, True] Translation: X:295.92, Y:50.93, Z:31.19 [[ 9.60970828e-01 -2.54593164e-01 -1.08246891e-01 2.95918487e+02] [ 2.53595167e-01 9.67034094e-01 -2.31203980e-02 5.09313816e+01] [ 1.10564730e-01 -5.23286054e-03 9.93855149e-01 3.11930776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.405099893 meters 0.0531661571726316 Centerline is valid? [True, True] Translation: X:295.98, Y:50.94, Z:31.20 [[ 9.61438159e-01 -2.51631265e-01 -1.10988169e-01 2.95978313e+02] [ 2.50562572e-01 9.67810163e-01 -2.37041228e-02 5.09390604e+01] [ 1.13380176e-01 -5.01943299e-03 9.93538998e-01 3.11956465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.465099893 meters 0.055458362288674276 Centerline is valid? [True, True] Translation: X:296.04, Y:50.94, Z:31.20 [[ 9.62298143e-01 -2.47759479e-01 -1.12238693e-01 2.96038038e+02] [ 2.46640241e-01 9.68810583e-01 -2.39717657e-02 5.09442554e+01] [ 1.14677266e-01 -4.61459259e-03 9.93392083e-01 3.11980160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.52509989299995 meters 0.05354375922543936 Centerline is valid? [True, True] Translation: X:296.09, Y:50.97, Z:31.21 [[ 9.64565947e-01 -2.38574455e-01 -1.12671044e-01 2.96092965e+02] [ 2.37383949e-01 9.71117778e-01 -2.40649312e-02 5.09745372e+01] [ 1.15158132e-01 -3.53408433e-03 9.93340886e-01 3.12066974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.58509989299995 meters 0.05295914928645731 Centerline is valid? [True, True] Translation: X:296.15, Y:51.00, Z:31.22 [[ 9.67933275e-01 -2.25339094e-01 -1.11029129e-01 2.96147871e+02] [ 2.24096127e-01 9.74278490e-01 -2.37139029e-02 5.10023767e+01] [ 1.13516962e-01 -1.92772217e-03 9.93534188e-01 3.12163967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.64509989299995 meters 0.05364895988042784 Centerline is valid? [True, True] Translation: X:296.20, Y:51.02, Z:31.22 [[ 9.70186386e-01 -2.16208033e-01 -1.09510107e-01 2.96204608e+02] [ 2.14940892e-01 9.76346952e-01 -2.33889540e-02 5.10232527e+01] [ 1.11976739e-01 -8.46555423e-04 9.93710468e-01 3.12245106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.70509989299995 meters 0.0530860484234737 Centerline is valid? [True, True] Translation: X:296.26, Y:51.04, Z:31.23 [[ 9.71723644e-01 -2.09958410e-01 -1.08030674e-01 2.96262790e+02] [ 2.08686851e-01 9.77710310e-01 -2.30726632e-02 5.10381444e+01] [ 1.10467003e-01 -1.24328760e-04 9.93879784e-01 3.12294544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.76509989299996 meters 0.053626836451092376 Centerline is valid? [True, True] Translation: X:296.32, Y:51.05, Z:31.24 [[ 9.72503090e-01 -2.06795671e-01 -1.07113445e-01 2.96321301e+02] [ 2.05526638e-01 9.78384125e-01 -2.28758572e-02 5.10521082e+01] [ 1.09528723e-01 2.32175604e-04 9.93983604e-01 3.12364404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.82509989299996 meters 0.05352725666004794 Centerline is valid? [True, True] Translation: X:296.38, Y:51.07, Z:31.24 [[ 9.72938992e-01 -2.04118460e-01 -1.08283758e-01 2.96380049e+02] [ 2.02805008e-01 9.78946048e-01 -2.31249819e-02 5.10655689e+01] [ 1.10724193e-01 5.38708189e-04 9.93851027e-01 3.12437774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.88509989299996 meters 0.053750557662682594 Centerline is valid? [True, True] Translation: X:296.44, Y:51.08, Z:31.25 [[ 9.72990413e-01 -2.03647296e-01 -1.08708028e-01 2.96439956e+02] [ 2.02320578e-01 9.79044139e-01 -2.32154799e-02 5.10756335e+01] [ 1.11157727e-01 5.94568331e-04 9.93802599e-01 3.12527137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.94509989299996 meters 0.053409769392517674 Centerline is valid? [True, True] Translation: X:296.50, Y:51.08, Z:31.25 [[ 9.72723062e-01 -2.04564971e-01 -1.09375578e-01 2.96501003e+02] [ 2.03227832e-01 9.78852865e-01 -2.33563014e-02 5.10845597e+01] [ 1.11840479e-01 4.91051488e-04 9.93726052e-01 3.12548071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.00509989299997 meters 0.05411095969108203 Centerline is valid? [True, True] Translation: X:296.56, Y:51.09, Z:31.26 [[ 9.72304656e-01 -2.06202313e-01 -1.10019371e-01 2.96562151e+02] [ 2.04860032e-01 9.78509333e-01 -2.34915393e-02 5.10930269e+01] [ 1.12498991e-01 3.02361172e-04 9.93651793e-01 3.12619886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.06509989299997 meters 0.053922493755861216 Centerline is valid? [True, True] Translation: X:296.62, Y:51.10, Z:31.27 [[ 9.72113912e-01 -2.07381720e-01 -1.09486824e-01 2.96623143e+02] [ 2.06060329e-01 9.78260086e-01 -2.33740155e-02 5.11020865e+01] [ 1.11953933e-01 1.61314674e-04 9.93713385e-01 3.12687522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.12509989299997 meters 0.0537033240745823 Centerline is valid? [True, True] Translation: X:296.68, Y:51.11, Z:31.28 [[ 9.72323179e-01 -2.06968796e-01 -1.08404576e-01 2.96681811e+02] [ 2.05671318e-01 9.78347523e-01 -2.31394239e-02 5.11128414e+01] [ 1.10846487e-01 2.03286133e-04 9.93837519e-01 3.12754105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.185099893 meters 0.05354347291112523 Centerline is valid? [True, True] Translation: X:296.74, Y:51.12, Z:31.28 [[ 9.72703013e-01 -2.06016006e-01 -1.06800060e-01 2.96740419e+02] [ 2.04751131e-01 9.78548574e-01 -2.27961152e-02 5.11210580e+01] [ 1.09205411e-01 3.06416772e-04 9.94019157e-01 3.12805999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.245099893 meters 0.054146713901319865 Centerline is valid? [True, True] Translation: X:296.80, Y:51.13, Z:31.29 [[ 9.72804961e-01 -2.06034872e-01 -1.05830715e-01 2.96801234e+02] [ 2.04792957e-01 9.78544603e-01 -2.25899216e-02 5.11300169e+01] [ 1.08214387e-01 3.02202752e-04 9.94127535e-01 3.12887578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.305099893 meters 0.05405794354246848 Centerline is valid? [True, True] Translation: X:296.86, Y:51.14, Z:31.29 [[ 9.72958458e-01 -2.05202188e-01 -1.06037265e-01 2.96860086e+02] [ 2.03950856e-01 9.78719525e-01 -2.26305129e-02 5.11378875e+01] [ 1.08424573e-01 3.92157900e-04 9.94104601e-01 3.12944340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.365099893 meters 0.053986138647137284 Centerline is valid? [True, True] Translation: X:296.92, Y:51.14, Z:31.30 [[ 9.73064910e-01 -2.04603903e-01 -1.06216402e-01 2.96920825e+02] [ 2.03344689e-01 9.78844743e-01 -2.26695079e-02 5.11442387e+01] [ 1.08607636e-01 4.60361497e-04 9.94084589e-01 3.13011008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.425099893 meters 0.053850428050933354 Centerline is valid? [True, True] Translation: X:296.98, Y:51.15, Z:31.31 [[ 9.73079777e-01 -2.04263392e-01 -1.06734316e-01 2.96979701e+02] [ 2.02990084e-01 9.78915838e-01 -2.27773449e-02 5.11535184e+01] [ 1.09136491e-01 4.98165832e-04 9.94026649e-01 3.13060319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.485099893 meters 0.05432485301526373 Centerline is valid? [True, True] Translation: X:297.04, Y:51.16, Z:31.31 [[ 9.72751108e-01 -2.05017823e-01 -1.08272685e-01 2.97038709e+02] [ 2.03711898e-01 9.78758149e-01 -2.31073108e-02 5.11568965e+01] [ 1.10710183e-01 4.21227988e-04 9.93852644e-01 3.13145986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.545099893 meters 0.05380942009257032 Centerline is valid? [True, True] Translation: X:297.10, Y:51.17, Z:31.32 [[ 9.72342340e-01 -2.06343387e-01 -1.09420198e-01 2.97097393e+02] [ 2.05016482e-01 9.78479599e-01 -2.33648667e-02 5.11656378e+01] [ 1.11886618e-01 2.85704992e-04 9.93720938e-01 3.13174129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.605099893 meters 0.05366445234772627 Centerline is valid? [True, True] Translation: X:297.16, Y:51.17, Z:31.32 [[ 9.71506128e-01 -2.09628932e-01 -1.10596358e-01 2.97155635e+02] [ 2.08293095e-01 9.77781010e-01 -2.36279973e-02 5.11691442e+01] [ 1.13092130e-01 -8.17134842e-05 9.93584502e-01 3.13217718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.665099893 meters 0.05440325884566899 Centerline is valid? [True, True] Translation: X:297.21, Y:51.17, Z:31.33 [[ 9.70409200e-01 -2.15226718e-01 -1.09468918e-01 2.97214125e+02] [ 2.13952932e-01 9.76563843e-01 -2.33923671e-02 5.11719788e+01] [ 1.11938049e-01 -7.21027719e-04 9.93714926e-01 3.13310030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.725099893 meters 0.054005479622830206 Centerline is valid? [True, True] Translation: X:297.27, Y:51.17, Z:31.34 [[ 9.69442450e-01 -2.20317499e-01 -1.07895947e-01 2.97273101e+02] [ 2.19110271e-01 9.75427376e-01 -2.30678027e-02 5.11703531e+01] [ 1.10326901e-01 -1.27820303e-03 9.93894532e-01 3.13366147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.785099893 meters 0.05422856277208274 Centerline is valid? [True, True] Translation: X:297.33, Y:51.18, Z:31.35 [[ 9.68829449e-01 -2.23900238e-01 -1.06010290e-01 2.97331308e+02] [ 2.22755786e-01 9.74610669e-01 -2.26694460e-02 5.11774968e+01] [ 1.08394454e-01 -1.65157867e-03 9.94106591e-01 3.13457967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.845099893 meters 0.05457783094501927 Centerline is valid? [True, True] Translation: X:297.39, Y:51.18, Z:31.35 [[ 9.67397446e-01 -2.30416249e-01 -1.05121517e-01 2.97391451e+02] [ 2.29328059e-01 9.73089322e-01 -2.24902851e-02 5.11769520e+01] [ 1.07474753e-01 -2.35026905e-03 9.94205036e-01 3.13524664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.905099893 meters 0.05492959319961348 Centerline is valid? [True, True] Translation: X:297.45, Y:51.19, Z:31.36 [[ 9.65819880e-01 -2.36974014e-01 -1.05048921e-01 2.97451118e+02] [ 2.35925806e-01 9.71511119e-01 -2.24757766e-02 5.11857282e+01] [ 1.07382369e-01 -3.07619943e-03 9.94213037e-01 3.13591410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.965099893 meters 0.05611094606320107 Centerline is valid? [True, True] Translation: X:297.51, Y:51.18, Z:31.36 [[ 9.62838688e-01 -2.48057151e-01 -1.06814374e-01 2.97513243e+02] [ 2.47041055e-01 9.68735483e-01 -2.28534646e-02 5.11810741e+01] [ 1.09143840e-01 -4.38333581e-03 9.94016302e-01 3.13630787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.02509989299995 meters 0.05877732841984584 Centerline is valid? [True, True] Translation: X:297.57, Y:51.18, Z:31.37 [[ 9.61072919e-01 -2.54227052e-01 -1.08200972e-01 2.97574318e+02] [ 2.53223172e-01 9.67130852e-01 -2.31503657e-02 5.11829323e+01] [ 1.10529947e-01 -5.14980378e-03 9.93859452e-01 3.13683727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.08509989299995 meters 0.05524567170977261 Centerline is valid? [True, True] Translation: X:297.63, Y:51.21, Z:31.38 [[ 9.59718512e-01 -2.59055265e-01 -1.08769243e-01 2.97629685e+02] [ 2.58071518e-01 9.65845473e-01 -2.32725909e-02 5.12099281e+01] [ 1.11083168e-01 -5.73510725e-03 9.93794565e-01 3.13771973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.14509989299995 meters 0.05753134108484943 Centerline is valid? [True, True] Translation: X:297.69, Y:51.21, Z:31.38 [[ 9.60047471e-01 -2.58257068e-01 -1.07759646e-01 2.97689180e+02] [ 2.57286575e-01 9.66060059e-01 -2.30560574e-02 5.12097137e+01] [ 1.10056680e-01 -5.59020067e-03 9.93909592e-01 3.13826623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.20509989299995 meters 0.05925905232674774 Centerline is valid? [True, True] Translation: X:297.75, Y:51.22, Z:31.39 [[ 9.60517396e-01 -2.56487162e-01 -1.07799199e-01 2.97748609e+02] [ 2.55504480e-01 9.66532631e-01 -2.30680093e-02 5.12168338e+01] [ 1.10108091e-01 -5.38595402e-03 9.93905026e-01 3.13873713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.26509989299996 meters 0.05536361824860508 Centerline is valid? [True, True] Translation: X:297.80, Y:51.24, Z:31.39 [[ 9.61108354e-01 -2.53945393e-01 -1.08547083e-01 2.97803920e+02] [ 2.52932874e-01 9.67204951e-01 -2.32280985e-02 5.12430773e+01] [ 1.10885944e-01 -5.13040611e-03 9.93819896e-01 3.13943294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.32509989299996 meters 0.05284548792898718 Centerline is valid? [True, True] Translation: X:297.86, Y:51.27, Z:31.40 [[ 9.61369595e-01 -2.52751197e-01 -1.09019884e-01 2.97859817e+02] [ 2.51722087e-01 9.67518317e-01 -2.33301693e-02 5.12666186e+01] [ 1.11375463e-01 -5.01379725e-03 9.93765751e-01 3.14019801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.38509989299996 meters 0.05498222242353958 Centerline is valid? [True, True] Translation: X:297.92, Y:51.27, Z:31.41 [[ 9.62041342e-01 -2.50109616e-01 -1.09186247e-01 2.97919446e+02] [ 2.49060320e-01 9.68206050e-01 -2.33666728e-02 5.12726391e+01] [ 1.11559014e-01 -4.71425632e-03 9.93746629e-01 3.14071642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.44509989299996 meters 0.05411623497047116 Centerline is valid? [True, True] Translation: X:297.98, Y:51.29, Z:31.41 [[ 9.63110153e-01 -2.46542840e-01 -1.07867793e-01 2.97976395e+02] [ 2.45496456e-01 9.69122584e-01 -2.30847786e-02 5.12917626e+01] [ 1.10228502e-01 -4.24797636e-03 9.93897194e-01 3.14143113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.50509989299997 meters 0.053709144161943924 Centerline is valid? [True, True] Translation: X:298.03, Y:51.31, Z:31.42 [[ 9.65419581e-01 -2.37742848e-01 -1.06973692e-01 2.98033872e+02] [ 2.36659725e-01 9.71322815e-01 -2.28946057e-02 5.13117067e+01] [ 1.09349016e-01 -3.21346379e-03 9.93998222e-01 3.14208903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.56509989299997 meters 0.05438541724971396 Centerline is valid? [True, True] Translation: X:298.09, Y:51.33, Z:31.43 [[ 9.68198533e-01 -2.25926508e-01 -1.07465411e-01 2.98091397e+02] [ 2.24760819e-01 9.74142521e-01 -2.29983087e-02 5.13279576e+01] [ 1.09882554e-01 -1.88708512e-03 9.93942787e-01 3.14258406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.62509989299997 meters 0.05452774234124433 Centerline is valid? [True, True] Translation: X:298.15, Y:51.34, Z:31.43 [[ 9.69134565e-01 -2.21684501e-01 -1.07861846e-01 2.98148212e+02] [ 2.20483899e-01 9.75117425e-01 -2.30837180e-02 5.13415791e+01] [ 1.10295268e-01 -1.41057141e-03 9.93897864e-01 3.14310381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.685099893 meters 0.053884609835612086 Centerline is valid? [True, True] Translation: X:298.21, Y:51.36, Z:31.44 [[ 9.70933565e-01 -2.13497685e-01 -1.08197738e-01 2.98205226e+02] [ 2.12238493e-01 9.76943453e-01 -2.31584239e-02 5.13608408e+01] [ 1.10647342e-01 -4.78433783e-04 9.93859616e-01 3.14377255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.745099893 meters 0.05399280835311984 Centerline is valid? [True, True] Translation: X:298.26, Y:51.38, Z:31.44 [[ 9.72961524e-01 -2.04449533e-01 -1.07453528e-01 2.98258916e+02] [ 2.03152185e-01 9.78876951e-01 -2.30022767e-02 5.13788665e+01] [ 1.09886587e-01 5.50911121e-04 9.93943980e-01 3.14436191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.805099893 meters 0.054257239154179834 Centerline is valid? [True, True] Translation: X:298.32, Y:51.39, Z:31.45 [[ 9.73505631e-01 -2.02229588e-01 -1.06723849e-01 2.98316383e+02] [ 2.00934915e-01 9.79337805e-01 -2.28609617e-02 5.13902958e+01] [ 1.09141863e-01 8.10727402e-04 9.94025853e-01 3.14511317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.865099893 meters 0.05385758598560396 Centerline is valid? [True, True] Translation: X:298.37, Y:51.40, Z:31.46 [[ 9.73027531e-01 -2.05094724e-01 -1.05610502e-01 2.98373730e+02] [ 2.03842460e-01 9.78742003e-01 -2.26350114e-02 5.13985029e+01] [ 1.08007756e-01 4.96584685e-04 9.94149927e-01 3.14559366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.925099893 meters 0.05413340577592005 Centerline is valid? [True, True] Translation: X:298.43, Y:51.40, Z:31.46 [[ 9.71308698e-01 -2.13435758e-01 -1.04902762e-01 2.98433014e+02] [ 2.12248188e-01 9.76957010e-01 -2.24879558e-02 5.14003115e+01] [ 1.07285223e-01 -4.22674107e-04 9.94228194e-01 3.14604011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.985099893 meters 0.05395618257888563 Centerline is valid? [True, True] Translation: X:298.49, Y:51.40, Z:31.47 [[ 9.69726486e-01 -2.20631328e-01 -1.04653526e-01 2.98492795e+02] [ 2.19489894e-01 9.75356534e-01 -2.24459118e-02 5.14046839e+01] [ 1.07026771e-01 -1.20399605e-03 9.94255410e-01 3.14657973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.045099893 meters 0.05463374378176184 Centerline is valid? [True, True] Translation: X:298.55, Y:51.40, Z:31.47 [[ 9.66959602e-01 -2.32591405e-01 -1.04356915e-01 2.98552844e+02] [ 2.31525581e-01 9.72571283e-01 -2.23831520e-02 5.14049774e+01] [ 1.06700667e-01 -2.51769156e-03 9.94288001e-01 3.14714467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.105099893 meters 0.05504967833174429 Centerline is valid? [True, True] Translation: X:298.61, Y:51.41, Z:31.48 [[ 9.65444458e-01 -2.39455411e-01 -1.02849913e-01 2.98612415e+02] [ 2.38458914e-01 9.70901998e-01 -2.20602990e-02 5.14113291e+01] [ 1.05139644e-01 -3.22748529e-03 9.94452230e-01 3.14777902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.165099893 meters 0.0551412633754672 Centerline is valid? [True, True] Translation: X:298.67, Y:51.42, Z:31.48 [[ 9.64271151e-01 -2.45073507e-01 -1.00598822e-01 2.98672029e+02] [ 2.44150648e-01 9.69497229e-01 -2.15773794e-02 5.14182644e+01] [ 1.02818323e-01 -3.75482313e-03 9.94693065e-01 3.14845892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.225099893 meters 0.05709012824051519 Centerline is valid? [True, True] Translation: X:298.73, Y:51.42, Z:31.49 [[ 9.64353378e-01 -2.44930982e-01 -1.00156755e-01 2.98730528e+02] [ 2.44015393e-01 9.69533371e-01 -2.14832486e-02 5.14215916e+01] [ 1.02367229e-01 -3.72234650e-03 9.94739712e-01 3.14896834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.285099893 meters 0.054950085637352084 Centerline is valid? [True, True] Translation: X:298.79, Y:51.44, Z:31.49 [[ 9.64870152e-01 -2.43174903e-01 -9.94563083e-02 2.98787233e+02] [ 2.42262379e-01 9.69976117e-01 -2.13370982e-02 5.14399938e+01] [ 1.01658890e-01 -3.50699275e-03 9.94813134e-01 3.14941183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.345099893 meters 0.054075749663698526 Centerline is valid? [True, True] Translation: X:298.84, Y:51.46, Z:31.50 [[ 9.65849841e-01 -2.38434579e-01 -1.01405303e-01 2.98844212e+02] [ 2.37459732e-01 9.71153720e-01 -2.17560995e-02 5.14562854e+01] [ 1.03667543e-01 -3.06655072e-03 9.94607278e-01 3.14978171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.405099893 meters 0.053601006691432945 Centerline is valid? [True, True] Translation: X:298.90, Y:51.47, Z:31.50 [[ 9.66597281e-01 -2.35499468e-01 -1.01141964e-01 2.98902615e+02] [ 2.34513442e-01 9.71870609e-01 -2.17017321e-02 5.14710058e+01] [ 1.03407649e-01 -2.74231491e-03 9.94635279e-01 3.15030171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.465099893 meters 0.05362775645374213 Centerline is valid? [True, True] Translation: X:298.96, Y:51.48, Z:31.51 [[ 9.67683647e-01 -2.30326563e-01 -1.02654925e-01 2.98960408e+02] [ 2.29281712e-01 9.73110855e-01 -2.20263735e-02 5.14834037e+01] [ 1.04967880e-01 -2.22233537e-03 9.94473130e-01 3.15077657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.52509989299995 meters 0.05352142241690019 Centerline is valid? [True, True] Translation: X:299.02, Y:51.50, Z:31.51 [[ 9.69262672e-01 -2.23379560e-01 -1.03108898e-01 2.99017499e+02] [ 2.22286063e-01 9.74730423e-01 -2.21248615e-02 5.15020070e+01] [ 1.05445621e-01 -1.47486852e-03 9.94423977e-01 3.15131083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.58509989299995 meters 0.0533992741790603 Centerline is valid? [True, True] Translation: X:299.08, Y:51.52, Z:31.52 [[ 9.70398814e-01 -2.18194776e-01 -1.03523824e-01 2.99075332e+02] [ 2.17062953e-01 9.75904813e-01 -2.22142022e-02 5.15173690e+01] [ 1.05876421e-01 -9.14551589e-04 9.94378875e-01 3.15192254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.64509989299995 meters 0.053839697303853074 Centerline is valid? [True, True] Translation: X:299.13, Y:51.53, Z:31.53 [[ 9.72043059e-01 -2.10563634e-01 -1.03900181e-01 2.99130657e+02] [ 2.09379992e-01 9.77580150e-01 -2.22950587e-02 5.15332027e+01] [ 1.06265283e-01 -8.28620066e-05 9.94337811e-01 3.15256088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.70509989299995 meters 0.054080204490730484 Centerline is valid? [True, True] Translation: X:299.19, Y:51.55, Z:31.53 [[ 9.73071880e-01 -2.06468293e-01 -1.02479073e-01 2.99187528e+02] [ 2.05293748e-01 9.78453224e-01 -2.19946778e-02 5.15481024e+01] [ 1.04812183e-01 3.64089497e-04 9.94491968e-01 3.15330259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.76509989299996 meters 0.05377111430179515 Centerline is valid? [True, True] Translation: X:299.24, Y:51.56, Z:31.54 [[ 9.73122683e-01 -2.06688943e-01 -1.01547648e-01 2.99244133e+02] [ 2.05535640e-01 9.78406643e-01 -2.18069205e-02 5.15595477e+01] [ 1.03862142e-01 3.49148258e-04 9.94591642e-01 3.15400931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.82509989299996 meters 0.053427119792700914 Centerline is valid? [True, True] Translation: X:299.30, Y:51.57, Z:31.55 [[ 9.72263697e-01 -2.11130834e-01 -1.00633372e-01 2.99301897e+02] [ 2.10020587e-01 9.77457804e-01 -2.16239252e-02 5.15666633e+01] [ 1.02930352e-01 -1.10922463e-04 9.94688559e-01 3.15464068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.88509989299996 meters 0.05430440262070669 Centerline is valid? [True, True] Translation: X:299.36, Y:51.58, Z:31.55 [[ 9.71201363e-01 -2.15939241e-01 -1.00688417e-01 2.99358862e+02] [ 2.14852093e-01 9.76406614e-01 -2.16495347e-02 5.15764926e+01] [ 1.02987820e-01 -6.07059541e-04 9.94682432e-01 3.15520784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.94509989299996 meters 0.054345836949389145 Centerline is valid? [True, True] Translation: X:299.42, Y:51.58, Z:31.56 [[ 9.69143189e-01 -2.24759258e-01 -1.01216378e-01 2.99419279e+02] [ 2.23708036e-01 9.74413097e-01 -2.17676816e-02 5.15785888e+01] [ 1.03519052e-01 -1.54691674e-03 9.94626268e-01 3.15585521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.00509989299997 meters 0.054439400898547784 Centerline is valid? [True, True] Translation: X:299.48, Y:51.59, Z:31.56 [[ 9.67540377e-01 -2.31257257e-01 -1.01910258e-01 2.99478658e+02] [ 2.30227415e-01 9.72890018e-01 -2.19169067e-02 5.15865065e+01] [ 1.04215917e-01 -2.25704311e-03 9.94552135e-01 3.15642455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.06509989299997 meters 0.054939317241789985 Centerline is valid? [True, True] Translation: X:299.54, Y:51.59, Z:31.57 [[ 9.65325636e-01 -2.40177191e-01 -1.02280658e-01 2.99538445e+02] [ 2.39189683e-01 9.70723687e-01 -2.19959103e-02 5.15925203e+01] [ 1.04569174e-01 -3.23126210e-03 9.94512366e-01 3.15701656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.12509989299997 meters 0.05490971826089089 Centerline is valid? [True, True] Translation: X:299.60, Y:51.60, Z:31.58 [[ 9.63826323e-01 -2.45854013e-01 -1.02930191e-01 2.99597139e+02] [ 2.44886043e-01 9.69299139e-01 -2.21360574e-02 5.16049413e+01] [ 1.05212384e-01 -3.87085230e-03 9.94442241e-01 3.15760822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.185099893 meters 0.05419190929512893 Centerline is valid? [True, True] Translation: X:299.65, Y:51.62, Z:31.58 [[ 9.63359800e-01 -2.47393839e-01 -1.03605907e-01 2.99654745e+02] [ 2.46421872e-01 9.68906479e-01 -2.22822061e-02 5.16202763e+01] [ 1.05896915e-01 -4.06497987e-03 9.94368805e-01 3.15821189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.245099893 meters 0.05471191100308427 Centerline is valid? [True, True] Translation: X:299.71, Y:51.63, Z:31.59 [[ 9.63370461e-01 -2.47153818e-01 -1.04078550e-01 2.99712275e+02] [ 2.46171363e-01 9.68967772e-01 -2.23856430e-02 5.16338857e+01] [ 1.06381457e-01 -4.05549121e-03 9.94317122e-01 3.15873831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.305099893 meters 0.054162775881761833 Centerline is valid? [True, True] Translation: X:299.77, Y:51.65, Z:31.59 [[ 9.63452455e-01 -2.46928619e-01 -1.03853856e-01 2.99769069e+02] [ 2.45948903e-01 9.69025334e-01 -2.23392067e-02 5.16500586e+01] [ 1.06153207e-01 -4.01997833e-03 9.94341660e-01 3.15943880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.365099893 meters 0.05623462528106865 Centerline is valid? [True, True] Translation: X:299.83, Y:51.65, Z:31.60 [[ 9.63747374e-01 -2.45827123e-01 -1.03730545e-01 2.99826852e+02] [ 2.44842657e-01 9.69305893e-01 -2.23194700e-02 5.16546890e+01] [ 1.06033359e-01 -3.88733164e-03 9.94354975e-01 3.15998755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.425099893 meters 0.05361945654259059 Centerline is valid? [True, True] Translation: X:299.88, Y:51.68, Z:31.61 [[ 9.63628544e-01 -2.46044813e-01 -1.04316724e-01 2.99880639e+02] [ 2.45049940e-01 9.69250490e-01 -2.24502731e-02 5.16827011e+01] [ 1.06632809e-01 -3.92908305e-03 9.94290705e-01 3.16065923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.485099893 meters 0.05751374495245551 Centerline is valid? [True, True] Translation: X:299.94, Y:51.68, Z:31.61 [[ 9.63555359e-01 -2.46004549e-01 -1.05084882e-01 2.99939381e+02] [ 2.44993326e-01 9.69260660e-01 -2.26283622e-02 5.16805415e+01] [ 1.07421322e-01 -3.94141513e-03 9.94205776e-01 3.16108700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.545099893 meters 0.054560293002327176 Centerline is valid? [True, True] Translation: X:299.99, Y:51.71, Z:31.62 [[ 9.63755058e-01 -2.45077012e-01 -1.05420334e-01 2.99993746e+02] [ 2.44053096e-01 9.69495993e-01 -2.27069635e-02 5.17059046e+01] [ 1.07769546e-01 -3.84420799e-03 9.94168470e-01 3.16177656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.605099893 meters 0.05689697900980415 Centerline is valid? [True, True] Translation: X:300.05, Y:51.71, Z:31.62 [[ 9.64408925e-01 -2.42049549e-01 -1.06430455e-01 3.00052236e+02] [ 2.40987127e-01 9.70257445e-01 -2.29280389e-02 5.17133410e+01] [ 1.08814663e-01 -3.53636423e-03 9.94055765e-01 3.16224241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.665099893 meters 0.05353119026378178 Centerline is valid? [True, True] Translation: X:300.11, Y:51.74, Z:31.63 [[ 9.66237805e-01 -2.35106861e-01 -1.05400517e-01 3.00107069e+02] [ 2.34023562e-01 9.71965708e-01 -2.27076096e-02 5.17436067e+01] [ 1.07784403e-01 -2.72525346e-03 9.94170557e-01 3.16319746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.725099893 meters 0.05405748352120463 Centerline is valid? [True, True] Translation: X:300.16, Y:51.76, Z:31.64 [[ 9.67542737e-01 -2.30148674e-01 -1.04367813e-01 3.00164242e+02] [ 2.29057839e-01 9.73153101e-01 -2.24844013e-02 5.17644427e+01] [ 1.06740616e-01 -2.15164637e-03 9.94284573e-01 3.16395703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.785099893 meters 0.05323059756297366 Centerline is valid? [True, True] Translation: X:300.22, Y:51.78, Z:31.65 [[ 9.68714573e-01 -2.24937834e-01 -1.04857265e-01 3.00221752e+02] [ 2.23806222e-01 9.74371829e-01 -2.25901352e-02 5.17815589e+01] [ 1.07251341e-01 -1.58431517e-03 9.94230677e-01 3.16460693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.845099893 meters 0.05377439080659928 Centerline is valid? [True, True] Translation: X:300.28, Y:51.80, Z:31.65 [[ 9.69046586e-01 -2.23242213e-01 -1.05411709e-01 3.00279010e+02] [ 2.22088130e-01 9.74761999e-01 -2.27136198e-02 5.17954615e+01] [ 1.07821967e-01 -1.40013357e-03 9.94169233e-01 3.16517557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.905099893 meters 0.053211222598577655 Centerline is valid? [True, True] Translation: X:300.34, Y:51.80, Z:31.66 [[ 9.69135334e-01 -2.22626801e-01 -1.05896234e-01 3.00335769e+02] [ 2.21456983e-01 9.74902842e-01 -2.28309768e-02 5.18043139e+01] [ 1.08321327e-01 -1.32515415e-03 9.94115051e-01 3.16561774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.965099893 meters 0.05443897846266633 Centerline is valid? [True, True] Translation: X:300.39, Y:51.82, Z:31.66 [[ 9.68606900e-01 -2.24973539e-01 -1.05771361e-01 3.00391710e+02] [ 2.23819886e-01 9.74363591e-01 -2.28089982e-02 5.18198761e+01] [ 1.08191184e-01 -1.58078097e-03 9.94128849e-01 3.16640609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.02509989299995 meters 0.053872277189989166 Centerline is valid? [True, True] Translation: X:300.45, Y:51.83, Z:31.67 [[ 9.67875583e-01 -2.27598438e-01 -1.06844781e-01 3.00449800e+02] [ 2.26435789e-01 9.73753260e-01 -2.30525955e-02 5.18282319e+01] [ 1.09287188e-01 -1.88143798e-03 9.94008436e-01 3.16698800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.08509989299995 meters 0.05390911093866425 Centerline is valid? [True, True] Translation: X:300.51, Y:51.84, Z:31.68 [[ 9.67655030e-01 -2.28582287e-01 -1.06742124e-01 3.00507675e+02] [ 2.27427475e-01 9.73522567e-01 -2.30337823e-02 5.18391553e+01] [ 1.09180981e-01 -1.98733649e-03 9.94019901e-01 3.16757372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.14509989299995 meters 0.05474561833590757 Centerline is valid? [True, True] Translation: X:300.56, Y:51.85, Z:31.68 [[ 9.67616522e-01 -2.28831075e-01 -1.06557994e-01 3.00562989e+02] [ 2.27680382e-01 9.73464093e-01 -2.30065865e-02 5.18495043e+01] [ 1.08995003e-01 -1.99961162e-03 9.94040286e-01 3.16813881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.20509989299995 meters 0.05430320496213707 Centerline is valid? [True, True] Translation: X:300.62, Y:51.87, Z:31.69 [[ 9.67233824e-01 -2.30317477e-01 -1.06829724e-01 3.00618780e+02] [ 2.29168815e-01 9.73113139e-01 -2.30753578e-02 5.18657263e+01] [ 1.09272066e-01 -2.16277462e-03 9.94009526e-01 3.16884799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.26509989299996 meters 0.05358810882911787 Centerline is valid? [True, True] Translation: X:300.68, Y:51.87, Z:31.69 [[ 9.66930899e-01 -2.31526055e-01 -1.06959443e-01 3.00675961e+02] [ 2.30380531e-01 9.72826009e-01 -2.31163702e-02 5.18743271e+01] [ 1.09404970e-01 -2.28944053e-03 9.93994623e-01 3.16936332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.32509989299996 meters 0.05500844369115628 Centerline is valid? [True, True] Translation: X:300.73, Y:51.88, Z:31.70 [[ 9.66650595e-01 -2.32629608e-01 -1.07098518e-01 3.00733128e+02] [ 2.31487031e-01 9.72562417e-01 -2.31538049e-02 5.18840347e+01] [ 1.09546254e-01 -2.41027854e-03 9.93978777e-01 3.16986788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.38509989299996 meters 0.05405552369042837 Centerline is valid? [True, True] Translation: X:300.79, Y:51.90, Z:31.71 [[ 9.66400800e-01 -2.33832546e-01 -1.06732540e-01 3.00789507e+02] [ 2.32704557e-01 9.72273585e-01 -2.30795458e-02 5.18991959e+01] [ 1.09169978e-01 -2.53305680e-03 9.94019869e-01 3.17066907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.44509989299996 meters 0.054981886950401154 Centerline is valid? [True, True] Translation: X:300.85, Y:51.91, Z:31.71 [[ 9.66049876e-01 -2.35091541e-01 -1.07142918e-01 3.00846523e+02] [ 2.33961258e-01 9.71969555e-01 -2.31800391e-02 5.19066776e+01] [ 1.09589086e-01 -2.67421800e-03 9.93973380e-01 3.17116851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.50509989299997 meters 0.054336792192917385 Centerline is valid? [True, True] Translation: X:300.90, Y:51.93, Z:31.72 [[ 9.65465277e-01 -2.36937537e-01 -1.08339297e-01 3.00903016e+02] [ 2.35792874e-01 9.71520522e-01 -2.34434491e-02 5.19251746e+01] [ 1.10808484e-01 -2.91179826e-03 9.93837513e-01 3.17191364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.56509989299997 meters 0.054256483079293344 Centerline is valid? [True, True] Translation: X:300.96, Y:51.93, Z:31.72 [[ 9.64480034e-01 -2.40005190e-01 -1.10343888e-01 3.00961579e+02] [ 2.38837432e-01 9.70765917e-01 -2.38792002e-02 5.19342170e+01] [ 1.12849218e-01 -3.32323907e-03 9.93606567e-01 3.17244894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.62509989299997 meters 0.05524378616316953 Centerline is valid? [True, True] Translation: X:301.02, Y:51.94, Z:31.73 [[ 9.64142013e-01 -2.41064887e-01 -1.10986026e-01 3.01019428e+02] [ 2.39890199e-01 9.70502814e-01 -2.40204307e-02 5.19374430e+01] [ 1.13502733e-01 -3.46535357e-03 9.93531641e-01 3.17279762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.685099893 meters 0.055424375390493705 Centerline is valid? [True, True] Translation: X:301.08, Y:51.95, Z:31.74 [[ 9.63965493e-01 -2.42081114e-01 -1.10305320e-01 3.01075574e+02] [ 2.40926748e-01 9.70249496e-01 -2.38792369e-02 5.19536992e+01] [ 1.12804393e-01 -3.55674161e-03 9.93610849e-01 3.17366276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.745099893 meters 0.05471949594522236 Centerline is valid? [True, True] Translation: X:301.13, Y:51.97, Z:31.74 [[ 9.63846186e-01 -2.42774790e-01 -1.09822266e-01 3.01132873e+02] [ 2.41633613e-01 9.70075962e-01 -2.37870876e-02 5.19657902e+01] [ 1.12310846e-01 -3.60965726e-03 9.93666566e-01 3.17445215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.805099893 meters 0.0564370020566545 Centerline is valid? [True, True] Translation: X:301.19, Y:51.98, Z:31.75 [[ 9.63807410e-01 -2.42929991e-01 -1.09819383e-01 3.01189852e+02] [ 2.41788535e-01 9.70037084e-01 -2.37983274e-02 5.19759103e+01] [ 1.12310202e-01 -3.61606357e-03 9.93666615e-01 3.17502763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.865099893 meters 0.05492877668966636 Centerline is valid? [True, True] Translation: X:301.25, Y:52.00, Z:31.76 [[ 9.63428064e-01 -2.43736691e-01 -1.11349856e-01 3.01245063e+02] [ 2.42567999e-01 9.69834162e-01 -2.41343145e-02 5.19986314e+01] [ 1.13873312e-01 -3.75823575e-03 9.93488170e-01 3.17593159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.925099893 meters 0.05557828722665736 Centerline is valid? [True, True] Translation: X:301.30, Y:52.01, Z:31.76 [[ 9.63116908e-01 -2.45044397e-01 -1.11171332e-01 3.01302875e+02] [ 2.43887891e-01 9.69503996e-01 -2.40976735e-02 5.20065180e+01] [ 1.13686051e-01 -3.90446500e-03 9.93509052e-01 3.17643138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.985099893 meters 0.05474180525425206 Centerline is valid? [True, True] Translation: X:301.36, Y:52.02, Z:31.77 [[ 9.61779104e-01 -2.50128300e-01 -1.11430643e-01 3.01360641e+02] [ 2.48999884e-01 9.68202187e-01 -2.41574662e-02 5.20220779e+01] [ 1.13929858e-01 -4.51207088e-03 9.93478550e-01 3.17721943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.045099893 meters 0.053872077454810346 Centerline is valid? [True, True] Translation: X:301.42, Y:52.04, Z:31.78 [[ 9.59696577e-01 -2.57364301e-01 -1.12898610e-01 3.01417348e+02] [ 2.56255500e-01 9.66299133e-01 -2.44765981e-02 5.20411636e+01] [ 1.15393232e-01 -5.44078245e-03 9.93304988e-01 3.17803181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.105099893 meters 0.05938700211949583 Centerline is valid? [True, True] Translation: X:301.48, Y:52.03, Z:31.78 [[ 9.58564468e-01 -2.61389536e-01 -1.13268139e-01 3.01479830e+02] [ 2.60301239e-01 9.65215097e-01 -2.45577231e-02 5.20342186e+01] [ 1.15747250e-01 -5.94367625e-03 9.93260916e-01 3.17817155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.165099893 meters 0.05483412540032856 Centerline is valid? [True, True] Translation: X:301.53, Y:52.07, Z:31.79 [[ 9.57410860e-01 -2.65289345e-01 -1.13956169e-01 3.01534129e+02] [ 2.64215158e-01 9.64147244e-01 -2.47071259e-02 5.20651970e+01] [ 1.16425064e-01 -6.45407655e-03 9.93178508e-01 3.17931321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.225099893 meters 0.05462847325989377 Centerline is valid? [True, True] Translation: X:301.59, Y:52.08, Z:31.80 [[ 9.57228470e-01 -2.66143377e-01 -1.13496073e-01 3.01591913e+02] [ 2.65083794e-01 9.63911329e-01 -2.46075636e-02 5.20830122e+01] [ 1.15949291e-01 -6.53090924e-03 9.93233663e-01 3.18010331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.285099893 meters 0.06114415119709898 Centerline is valid? [True, True] Translation: X:301.65, Y:52.08, Z:31.81 [[ 9.57751124e-01 -2.65277754e-01 -1.11087793e-01 3.01653930e+02] [ 2.64257085e-01 9.64151522e-01 -2.40839232e-02 5.20759791e+01] [ 1.13494394e-01 -6.28933189e-03 9.93518730e-01 3.18051206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.345099893 meters 0.05396054428037678 Centerline is valid? [True, True] Translation: X:301.71, Y:52.12, Z:31.82 [[ 9.58272266e-01 -2.62826049e-01 -1.12413222e-01 3.01705655e+02] [ 2.61763899e-01 9.64824142e-01 -2.43728681e-02 5.21207629e+01] [ 1.14864815e-01 -6.06987978e-03 9.93362588e-01 3.18168052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.405099893 meters 0.05991484874953101 Centerline is valid? [True, True] Translation: X:301.77, Y:52.12, Z:31.82 [[ 9.59691783e-01 -2.57855543e-01 -1.11813245e-01 3.01768143e+02] [ 2.56771248e-01 9.66168134e-01 -2.42417731e-02 5.21151645e+01] [ 1.14281270e-01 -5.44579601e-03 9.93433508e-01 3.18176881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.465099893 meters 0.055067675360209845 Centerline is valid? [True, True] Translation: X:301.82, Y:52.15, Z:31.83 [[ 9.60147825e-01 -2.55834103e-01 -1.12539176e-01 3.01821912e+02] [ 2.54721806e-01 9.66706504e-01 -2.43995326e-02 5.21497993e+01] [ 1.15034586e-01 -5.23902389e-03 9.93347672e-01 3.18284027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.52509989299995 meters 0.0533403263185886 Centerline is valid? [True, True] Translation: X:301.88, Y:52.18, Z:31.84 [[ 9.61553434e-01 -2.50666978e-01 -1.12165324e-01 3.01875566e+02] [ 2.49527138e-01 9.68062423e-01 -2.43177287e-02 5.21785706e+01] [ 1.14678687e-01 -4.60549675e-03 9.93391961e-01 3.18380587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.58509989299995 meters 0.05446836215134049 Centerline is valid? [True, True] Translation: X:301.94, Y:52.19, Z:31.84 [[ 9.63649118e-01 -2.41848561e-01 -1.13532597e-01 3.01936000e+02] [ 2.40619568e-01 9.70307337e-01 -2.46149495e-02 5.21878031e+01] [ 1.16114602e-01 -3.59799009e-03 9.93229306e-01 3.18405435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.64509989299995 meters 0.05420375365056213 Centerline is valid? [True, True] Translation: X:301.99, Y:52.21, Z:31.85 [[ 9.65890377e-01 -2.32671257e-01 -1.13665591e-01 3.01992602e+02] [ 2.31375843e-01 9.72552240e-01 -2.46446806e-02 5.22082118e+01] [ 1.16279834e-01 -2.49541216e-03 9.93213357e-01 3.18462985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.70509989299995 meters 0.05387596487333961 Centerline is valid? [True, True] Translation: X:302.05, Y:52.23, Z:31.85 [[ 9.67107530e-01 -2.27487291e-01 -1.13809305e-01 3.02048563e+02] [ 2.26152755e-01 9.73779247e-01 -2.46761105e-02 5.22288286e+01] [ 1.16438641e-01 -1.87383557e-03 9.93196119e-01 3.18545182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.76509989299996 meters 0.05442381827657682 Centerline is valid? [True, True] Translation: X:302.10, Y:52.25, Z:31.86 [[ 9.68330493e-01 -2.22857443e-01 -1.12563834e-01 3.02104760e+02] [ 2.21520716e-01 9.74850177e-01 -2.44070758e-02 5.22458379e+01] [ 1.15172172e-01 -1.30110537e-03 9.93344692e-01 3.18609313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.82509989299996 meters 0.05431164627787874 Centerline is valid? [True, True] Translation: X:302.16, Y:52.26, Z:31.87 [[ 9.68327619e-01 -2.22929270e-01 -1.12446264e-01 3.02159077e+02] [ 2.21595463e-01 9.74833748e-01 -2.43846980e-02 5.22630807e+01] [ 1.15052476e-01 -1.30520550e-03 9.93358558e-01 3.18715732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.88509989299996 meters 0.05412949463858654 Centerline is valid? [True, True] Translation: X:302.22, Y:52.27, Z:31.88 [[ 9.67245578e-01 -2.27491905e-01 -1.12620710e-01 3.02216164e+02] [ 2.26183144e-01 9.73778239e-01 -2.44361893e-02 5.22719798e+01] [ 1.15226632e-01 -1.83711022e-03 9.93337530e-01 3.18769871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.94509989299996 meters 0.05501138135970539 Centerline is valid? [True, True] Translation: X:302.28, Y:52.28, Z:31.88 [[ 9.65284416e-01 -2.35521591e-01 -1.12940584e-01 3.02276801e+02] [ 2.34259721e-01 9.71865083e-01 -2.45080449e-02 5.22772068e+01] [ 1.15535184e-01 -2.80019581e-03 9.93299441e-01 3.18834698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.00509989299997 meters 0.055759493710330246 Centerline is valid? [True, True] Translation: X:302.34, Y:52.28, Z:31.89 [[ 9.63766193e-01 -2.41290775e-01 -1.13725494e-01 3.02336396e+02] [ 2.40051193e-01 9.70446496e-01 -2.46783925e-02 5.22849152e+01] [ 1.16319175e-01 -3.51574004e-03 9.93205663e-01 3.18901035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.06509989299997 meters 0.057068699707785345 Centerline is valid? [True, True] Translation: X:302.40, Y:52.29, Z:31.90 [[ 9.61922741e-01 -2.48261340e-01 -1.14328246e-01 3.02396515e+02] [ 2.47057367e-01 9.68683189e-01 -2.48100211e-02 5.22893282e+01] [ 1.16907219e-01 -4.38031199e-03 9.93133181e-01 3.18955402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.12509989299997 meters 0.05438593227879393 Centerline is valid? [True, True] Translation: X:302.45, Y:52.31, Z:31.91 [[ 9.61118157e-01 -2.51224078e-01 -1.14622642e-01 3.02451702e+02] [ 2.50034740e-01 9.67917290e-01 -2.48746724e-02 5.23143963e+01] [ 1.17194354e-01 -4.75214323e-03 9.93097629e-01 3.19070676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.185099893 meters 0.05629263644123871 Centerline is valid? [True, True] Translation: X:302.51, Y:52.32, Z:31.91 [[ 9.61122161e-01 -2.51820938e-01 -1.13271389e-01 3.02513514e+02] [ 2.50663741e-01 9.67762100e-01 -2.45806373e-02 5.23176583e+01] [ 1.15809676e-01 -4.76803477e-03 9.93259978e-01 3.19109057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.245099893 meters 0.0551792171361735 Centerline is valid? [True, True] Translation: X:302.57, Y:52.34, Z:31.92 [[ 9.61701667e-01 -2.50059701e-01 -1.12249942e-01 3.02571218e+02] [ 2.48911990e-01 9.68219872e-01 -2.43536530e-02 5.23354476e+01] [ 1.14772492e-01 -4.51940773e-03 9.93381523e-01 3.19198326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.305099893 meters 0.05583531487052554 Centerline is valid? [True, True] Translation: X:302.63, Y:52.35, Z:31.93 [[ 9.62608249e-01 -2.47173592e-01 -1.10862859e-01 3.02629388e+02] [ 2.46035140e-01 9.68962441e-01 -2.40519860e-02 5.23455034e+01] [ 1.13366962e-01 -4.12351894e-03 9.93544628e-01 3.19260938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.365099893 meters 0.05589735026235526 Centerline is valid? [True, True] Translation: X:302.69, Y:52.36, Z:31.93 [[ 9.63061992e-01 -2.45132935e-01 -1.11451535e-01 3.02687207e+02] [ 2.43968620e-01 9.69481619e-01 -2.41806403e-02 5.23588935e+01] [ 1.13977686e-01 -3.90322156e-03 9.93475642e-01 3.19318400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.425099893 meters 0.05735467866132293 Centerline is valid? [True, True] Translation: X:302.75, Y:52.37, Z:31.94 [[ 9.63020144e-01 -2.44770085e-01 -1.12604656e-01 3.02745511e+02] [ 2.43578688e-01 9.69573315e-01 -2.44337985e-02 5.23651831e+01] [ 1.15159132e-01 -3.89785417e-03 9.93339409e-01 3.19350728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.485099893 meters 0.055593516058062724 Centerline is valid? [True, True] Translation: X:302.80, Y:52.39, Z:31.94 [[ 9.62699200e-01 -2.45657898e-01 -1.13412733e-01 3.02801048e+02] [ 2.44453905e-01 9.69348252e-01 -2.46222358e-02 5.23865350e+01] [ 1.15985081e-01 -4.02037881e-03 9.93242819e-01 3.19431324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.545099893 meters 0.05469164278111517 Centerline is valid? [True, True] Translation: X:302.86, Y:52.40, Z:31.95 [[ 9.62424877e-01 -2.46484871e-01 -1.13945448e-01 3.02859225e+02] [ 2.45275028e-01 9.69137807e-01 -2.47400736e-02 5.24046653e+01] [ 1.16526895e-01 -4.13751061e-03 9.93178918e-01 3.19502084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.605099893 meters 0.054864325318822786 Centerline is valid? [True, True] Translation: X:302.92, Y:52.43, Z:31.96 [[ 9.62416070e-01 -2.46601702e-01 -1.13766905e-01 3.02917472e+02] [ 2.45396706e-01 9.69108045e-01 -2.46992759e-02 5.24255618e+01] [ 1.16343307e-01 -4.14704381e-03 9.93200401e-01 3.19583127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.665099893 meters 0.05413300174970182 Centerline is valid? [True, True] Translation: X:302.98, Y:52.44, Z:31.96 [[ 9.62852379e-01 -2.45342406e-01 -1.12793621e-01 3.02976164e+02] [ 2.44149777e-01 9.69428385e-01 -2.44845240e-02 5.24378755e+01] [ 1.15352430e-01 -3.96355538e-03 9.93316720e-01 3.19632216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.725099893 meters 0.05560175062467322 Centerline is valid? [True, True] Translation: X:303.03, Y:52.45, Z:31.97 [[ 9.64292401e-01 -2.40812758e-01 -1.10224233e-01 3.03034463e+02] [ 2.39644538e-01 9.70565835e-01 -2.39260293e-02 5.24476469e+01] [ 1.12741567e-01 -3.34294713e-03 9.93618721e-01 3.19677766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.785099893 meters 0.05486930628252873 Centerline is valid? [True, True] Translation: X:303.09, Y:52.47, Z:31.98 [[ 9.65485327e-01 -2.36658864e-01 -1.08768864e-01 3.03091886e+02] [ 2.35494972e-01 9.71588719e-01 -2.36110063e-02 5.24666972e+01] [ 1.11266355e-01 -2.81844034e-03 9.93786624e-01 3.19755571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.845099893 meters 0.054175524634664345 Centerline is valid? [True, True] Translation: X:303.15, Y:52.48, Z:31.98 [[ 9.67087622e-01 -2.30832927e-01 -1.07040610e-01 3.03149411e+02] [ 2.29670190e-01 9.72991108e-01 -2.32359232e-02 5.24846633e+01] [ 1.09513177e-01 -2.11286346e-03 9.93983098e-01 3.19835887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.905099893 meters 0.053888142421791435 Centerline is valid? [True, True] Translation: X:303.21, Y:52.50, Z:31.99 [[ 9.67642782e-01 -2.28785421e-01 -1.06417468e-01 3.03208123e+02] [ 2.27623866e-01 9.73475082e-01 -2.31006694e-02 5.25034838e+01] [ 1.08879849e-01 -1.86995941e-03 9.94053158e-01 3.19913788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.965099893 meters 0.05448833665279663 Centerline is valid? [True, True] Translation: X:303.27, Y:52.51, Z:31.99 [[ 9.67466383e-01 -2.28292178e-01 -1.09048060e-01 3.03269370e+02] [ 2.27069520e-01 9.73590886e-01 -2.36689817e-02 5.25127006e+01] [ 1.11571640e-01 -1.86254648e-03 9.93754648e-01 3.19929466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.02509989299995 meters 0.05394420899790321 Centerline is valid? [True, True] Translation: X:303.33, Y:52.53, Z:32.00 [[ 9.66937801e-01 -2.29996681e-01 -1.10149059e-01 3.03327184e+02] [ 2.28760434e-01 9.73189185e-01 -2.39055249e-02 5.25274128e+01] [ 1.12694065e-01 -2.08259102e-03 9.93627551e-01 3.19985269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.08509989299995 meters 0.053476513750813005 Centerline is valid? [True, True] Translation: X:303.39, Y:52.54, Z:32.01 [[ 9.66614339e-01 -2.31363116e-01 -1.10126416e-01 3.03386764e+02] [ 2.30136152e-01 9.72864886e-01 -2.39011424e-02 5.25445537e+01] [ 1.12667965e-01 -2.24088255e-03 9.93630167e-01 3.20071754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.14509989299995 meters 0.054938458018383735 Centerline is valid? [True, True] Translation: X:303.45, Y:52.55, Z:32.01 [[ 9.66155040e-01 -2.33263052e-01 -1.10148930e-01 3.03448257e+02] [ 2.32048301e-01 9.72410543e-01 -2.39023242e-02 5.25508540e+01] [ 1.12685510e-01 -2.46652103e-03 9.93627643e-01 3.20112361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.20509989299995 meters 0.05396047958905267 Centerline is valid? [True, True] Translation: X:303.51, Y:52.56, Z:32.02 [[ 9.65879104e-01 -2.35519546e-01 -1.07740890e-01 3.03507655e+02] [ 2.34371719e-01 9.71865940e-01 -2.33771867e-02 5.25633926e+01] [ 1.10215486e-01 -2.67188147e-03 9.93904124e-01 3.20197112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.26509989299996 meters 0.05457895214037825 Centerline is valid? [True, True] Translation: X:303.57, Y:52.57, Z:32.03 [[ 9.65174574e-01 -2.39701514e-01 -1.04791346e-01 3.03567365e+02] [ 2.38640452e-01 9.70841801e-01 -2.27361554e-02 5.25733215e+01] [ 1.07185710e-01 -3.06309518e-03 9.94234299e-01 3.20277375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.32509989299996 meters 0.05490594049523317 Centerline is valid? [True, True] Translation: X:303.63, Y:52.58, Z:32.03 [[ 9.64318137e-01 -2.43469342e-01 -1.03986585e-01 3.03625945e+02] [ 2.42446499e-01 9.69902436e-01 -2.25601378e-02 5.25815182e+01] [ 1.06349544e-01 -3.45603335e-03 9.94322800e-01 3.20338792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.38509989299996 meters 0.05454670864779798 Centerline is valid? [True, True] Translation: X:303.69, Y:52.59, Z:32.04 [[ 9.62975002e-01 -2.48455004e-01 -1.04638693e-01 3.03685565e+02] [ 2.47448470e-01 9.68635051e-01 -2.27022605e-02 5.25944599e+01] [ 1.06997195e-01 -4.03097500e-03 9.94251151e-01 3.20401292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.44509989299996 meters 0.05390485214753509 Centerline is valid? [True, True] Translation: X:303.75, Y:52.61, Z:32.05 [[ 9.61325611e-01 -2.54602573e-01 -1.05026664e-01 3.03745064e+02] [ 2.53625158e-01 9.67034189e-01 -2.27850048e-02 5.26050799e+01] [ 1.07365496e-01 -4.73359562e-03 9.94208350e-01 3.20457534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.50509989299997 meters 0.054814517328442246 Centerline is valid? [True, True] Translation: X:303.81, Y:52.61, Z:32.05 [[ 9.58818689e-01 -2.63501678e-01 -1.05988621e-01 3.03805867e+02] [ 2.62560210e-01 9.64641610e-01 -2.29934765e-02 5.26100072e+01] [ 1.08299854e-01 -5.78181963e-03 9.94101460e-01 3.20513312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.56509989299997 meters 0.05569692191748785 Centerline is valid? [True, True] Translation: X:303.86, Y:52.62, Z:32.06 [[ 9.57617218e-01 -2.67826436e-01 -1.06010677e-01 3.03864795e+02] [ 2.66910919e-01 9.63446760e-01 -2.29978755e-02 5.26159025e+01] [ 1.08295082e-01 -6.27224557e-03 9.94099006e-01 3.20569634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.62509989299997 meters 0.054993894607617375 Centerline is valid? [True, True] Translation: X:303.92, Y:52.63, Z:32.06 [[ 9.56827483e-01 -2.70581630e-01 -1.06144949e-01 3.03923216e+02] [ 2.69680910e-01 9.62674446e-01 -2.30243111e-02 5.26312461e+01] [ 1.08412986e-01 -6.59497284e-03 9.94084066e-01 3.20622656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.685099893 meters 0.052550084179647176 Centerline is valid? [True, True] Translation: X:303.98, Y:52.65, Z:32.07 [[ 9.57175981e-01 -2.69429733e-01 -1.05932809e-01 3.03979844e+02] [ 2.68525760e-01 9.62998432e-01 -2.29768604e-02 5.26531059e+01] [ 1.08203779e-01 -6.45278918e-03 9.94107793e-01 3.20689517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.745099893 meters 0.054231325826192694 Centerline is valid? [True, True] Translation: X:304.04, Y:52.66, Z:32.08 [[ 9.57799912e-01 -2.67477206e-01 -1.05239120e-01 3.04039550e+02] [ 2.66573325e-01 9.63544300e-01 -2.28263960e-02 5.26580862e+01] [ 1.07508095e-01 -6.19082215e-03 9.94184934e-01 3.20751040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.805099893 meters 0.0550162878262262 Centerline is valid? [True, True] Translation: X:304.10, Y:52.67, Z:32.08 [[ 9.59056240e-01 -2.62798802e-01 -1.05583705e-01 3.04097766e+02] [ 2.61860783e-01 9.64833909e-01 -2.29010511e-02 5.26722081e+01] [ 1.07889108e-01 -5.68483578e-03 9.94146681e-01 3.20809195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.865099893 meters 0.05360033646002363 Centerline is valid? [True, True] Translation: X:304.15, Y:52.69, Z:32.09 [[ 9.59917506e-01 -2.59690427e-01 -1.05447919e-01 3.04154863e+02] [ 2.58736151e-01 9.65677219e-01 -2.28716580e-02 5.26909663e+01] [ 1.07768204e-01 -5.32828394e-03 9.94161769e-01 3.20877296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.925099893 meters 0.05737689545213351 Centerline is valid? [True, True] Translation: X:304.22, Y:52.69, Z:32.09 [[ 9.61833271e-01 -2.52215476e-01 -1.06132524e-01 3.04215383e+02] [ 2.51203385e-01 9.67660545e-01 -2.30201997e-02 5.26916844e+01] [ 1.08506307e-01 -4.51925525e-03 9.94085488e-01 3.20917314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.985099893 meters 0.05400333811401905 Centerline is valid? [True, True] Translation: X:304.27, Y:52.72, Z:32.10 [[ 9.64487150e-01 -2.42379309e-01 -1.04960988e-01 3.04270051e+02] [ 2.41331336e-01 9.70175703e-01 -2.27660176e-02 5.27220085e+01] [ 1.07348612e-01 -3.37284407e-03 9.94215721e-01 3.20991168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.045099893 meters 0.05406258600020383 Centerline is valid? [True, True] Translation: X:304.33, Y:52.74, Z:32.11 [[ 9.66171806e-01 -2.35612487e-01 -1.04875150e-01 3.04327373e+02] [ 2.34526532e-01 9.71843556e-01 -2.27466126e-02 5.27403549e+01] [ 1.07281625e-01 -2.61886949e-03 9.94225223e-01 3.21055422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.105099893 meters 0.053242878861404504 Centerline is valid? [True, True] Translation: X:304.38, Y:52.76, Z:32.11 [[ 9.67886578e-01 -2.28463661e-01 -1.04880540e-01 3.04384718e+02] [ 2.27335685e-01 9.73550729e-01 -2.27478432e-02 5.27593899e+01] [ 1.07303582e-01 -1.82575733e-03 9.94224626e-01 3.21122035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.165099893 meters 0.05353205621832888 Centerline is valid? [True, True] Translation: X:304.44, Y:52.77, Z:32.12 [[ 9.69298105e-01 -2.22080356e-01 -1.05553303e-01 3.04443079e+02] [ 2.20900135e-01 9.75027716e-01 -2.28928839e-02 5.27726903e+01] [ 1.08001456e-01 -1.12670992e-03 9.94150097e-01 3.21168006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.225099893 meters 0.053992581355313644 Centerline is valid? [True, True] Translation: X:304.50, Y:52.79, Z:32.12 [[ 9.70310023e-01 -2.17924196e-01 -1.04916651e-01 3.04503124e+02] [ 2.16733975e-01 9.75965476e-01 -2.27546621e-02 5.27874915e+01] [ 1.07353821e-01 -6.59926265e-04 9.94220660e-01 3.21235835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.285099893 meters 0.054062931470398874 Centerline is valid? [True, True] Translation: X:304.56, Y:52.80, Z:32.13 [[ 9.71334293e-01 -2.13254087e-01 -1.05035166e-01 3.04562784e+02] [ 2.12034405e-01 9.76996762e-01 -2.27758432e-02 5.28014713e+01] [ 1.07476059e-01 -1.48111347e-04 9.94207662e-01 3.21293919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.345099893 meters 0.05403126822452828 Centerline is valid? [True, True] Translation: X:304.62, Y:52.82, Z:32.14 [[ 9.72766616e-01 -2.06557899e-01 -1.05161517e-01 3.04619567e+02] [ 2.05296445e-01 9.78434201e-01 -2.28009703e-02 5.28154341e+01] [ 1.07603346e-01 5.90737089e-04 9.94193729e-01 3.21365907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.405099893 meters 0.05444361856193026 Centerline is valid? [True, True] Translation: X:304.68, Y:52.83, Z:32.14 [[ 9.73612814e-01 -2.02848665e-01 -1.04549065e-01 3.04680390e+02] [ 2.01579341e-01 9.79209583e-01 -2.26795642e-02 5.28267739e+01] [ 1.06975965e-01 1.00618279e-03 9.94261098e-01 3.21426804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.465099893 meters 0.054018505841201214 Centerline is valid? [True, True] Translation: X:304.74, Y:52.84, Z:32.15 [[ 9.73436074e-01 -2.03350653e-01 -1.05217501e-01 3.04740145e+02] [ 2.02068435e-01 9.79105513e-01 -2.28197899e-02 5.28388192e+01] [ 1.07659454e-01 9.52470935e-04 9.94187374e-01 3.21485135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.52509989299995 meters 0.05408837207191403 Centerline is valid? [True, True] Translation: X:304.80, Y:52.84, Z:32.15 [[ 9.72457633e-01 -2.08169310e-01 -1.04841260e-01 3.04799345e+02] [ 2.06924803e-01 9.78092720e-01 -2.27322924e-02 5.28417427e+01] [ 1.07276639e-01 4.11934095e-04 9.94229125e-01 3.21540953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.58509989299995 meters 0.05414520883296431 Centerline is valid? [True, True] Translation: X:304.86, Y:52.84, Z:32.16 [[ 9.71279367e-01 -2.14420383e-01 -1.03151785e-01 3.04860102e+02] [ 2.13249734e-01 9.76741435e-01 -2.23767875e-02 5.28442423e+01] [ 1.05550661e-01 -2.62978633e-04 9.94413892e-01 3.21607928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.64509989299995 meters 0.05394070392116385 Centerline is valid? [True, True] Translation: X:304.92, Y:52.85, Z:32.17 [[ 9.70383298e-01 -2.18942241e-01 -1.02081094e-01 3.04917998e+02] [ 2.17820753e-01 9.75737535e-01 -2.21445702e-02 5.28485322e+01] [ 1.04452737e-01 -7.46659697e-04 9.94529571e-01 3.21672125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.70509989299995 meters 0.054386051447704115 Centerline is valid? [True, True] Translation: X:304.98, Y:52.85, Z:32.17 [[ 9.68494136e-01 -2.27307376e-01 -1.01737237e-01 3.04979058e+02] [ 2.26238166e-01 9.73821697e-01 -2.20815659e-02 5.28483780e+01] [ 1.04093232e-01 -1.63097888e-03 9.94566206e-01 3.21725203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.76509989299996 meters 0.05402222617210085 Centerline is valid? [True, True] Translation: X:305.04, Y:52.85, Z:32.18 [[ 9.66964160e-01 -2.33563130e-01 -1.02120405e-01 3.05039520e+02] [ 2.32520468e-01 9.72338891e-01 -2.21655608e-02 5.28537683e+01] [ 1.04472699e-01 -2.31178147e-03 9.94525068e-01 3.21771157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.82509989299996 meters 0.05638751367102075 Centerline is valid? [True, True] Translation: X:305.10, Y:52.85, Z:32.18 [[ 9.64557743e-01 -2.42666530e-01 -1.03640319e-01 3.05102312e+02] [ 2.41644740e-01 9.70103995e-01 -2.24957368e-02 5.28468027e+01] [ 1.06000850e-01 -3.34570069e-03 9.94360411e-01 3.21802436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.88509989299996 meters 0.05613781858817651 Centerline is valid? [True, True] Translation: X:305.16, Y:52.86, Z:32.18 [[ 9.62895319e-01 -2.48500779e-01 -1.05261428e-01 3.05161653e+02] [ 2.47481286e-01 9.68623231e-01 -2.28484005e-02 5.28553021e+01] [ 1.07636510e-01 -4.04961572e-03 9.94182067e-01 3.21846203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.94509989299996 meters 0.05439834974178606 Centerline is valid? [True, True] Translation: X:305.22, Y:52.87, Z:32.19 [[ 9.60692005e-01 -2.56505518e-01 -1.06187527e-01 3.05219369e+02] [ 2.55516475e-01 9.66529892e-01 -2.30499355e-02 5.28731131e+01] [ 1.08545855e-01 -4.98877390e-03 9.94078925e-01 3.21903820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.00509989299997 meters 0.05415315068536117 Centerline is valid? [True, True] Translation: X:305.28, Y:52.88, Z:32.20 [[ 9.59250956e-01 -2.61999724e-01 -1.05800513e-01 3.05278673e+02] [ 2.61051033e-01 9.65051765e-01 -2.29662688e-02 5.28841522e+01] [ 1.08120128e-01 -5.58891791e-03 9.94122126e-01 3.21967028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.06509989299997 meters 0.05282491785891415 Centerline is valid? [True, True] Translation: X:305.34, Y:52.90, Z:32.20 [[ 9.58570763e-01 -2.64926727e-01 -1.04670533e-01 3.05336169e+02] [ 2.64015554e-01 9.64250770e-01 -2.27209131e-02 5.29035014e+01] [ 1.06948020e-01 -5.85504583e-03 9.94247373e-01 3.22037156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.12509989299997 meters 0.05405188991668074 Centerline is valid? [True, True] Translation: X:305.40, Y:52.91, Z:32.21 [[ 9.57903306e-01 -2.67272634e-01 -1.04816957e-01 3.05395521e+02] [ 2.66372895e-01 9.63601480e-01 -2.27523205e-02 5.29082300e+01] [ 1.07082848e-01 -6.12587324e-03 9.94231229e-01 3.22105993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.185099893 meters 0.05796224973212105 Centerline is valid? [True, True] Translation: X:305.46, Y:52.91, Z:32.22 [[ 9.57574182e-01 -2.68222048e-01 -1.05397430e-01 3.05455385e+02] [ 2.67317943e-01 9.63336736e-01 -2.28790311e-02 5.29099346e+01] [ 1.07669876e-01 -6.26625457e-03 9.94166954e-01 3.22162220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.245099893 meters 0.05315615379857307 Centerline is valid? [True, True] Translation: X:305.51, Y:52.94, Z:32.22 [[ 9.57458924e-01 -2.68750440e-01 -1.05098101e-01 3.05511919e+02] [ 2.67854636e-01 9.63189190e-01 -2.28139927e-02 5.29399108e+01] [ 1.07360625e-01 -6.30755264e-03 9.94200136e-01 3.22235882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.305099893 meters 0.0527404688931151 Centerline is valid? [True, True] Translation: X:305.57, Y:52.95, Z:32.23 [[ 9.57083905e-01 -2.69868549e-01 -1.05647359e-01 3.05570970e+02] [ 2.68970493e-01 9.62875434e-01 -2.29297378e-02 5.29541045e+01] [ 1.07913262e-01 -6.47033925e-03 9.94139257e-01 3.22308107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.365099893 meters 0.055149539640350104 Centerline is valid? [True, True] Translation: X:305.63, Y:52.96, Z:32.24 [[ 9.57525304e-01 -2.67647261e-01 -1.07285766e-01 3.05630578e+02] [ 2.66707448e-01 9.63496243e-01 -2.32836199e-02 5.29612083e+01] [ 1.09601230e-01 -6.31925755e-03 9.93955551e-01 3.22359193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.425099893 meters 0.05311264510864834 Centerline is valid? [True, True] Translation: X:305.69, Y:52.98, Z:32.24 [[ 9.58752256e-01 -2.63158643e-01 -1.07432027e-01 3.05687425e+02] [ 2.62188123e-01 9.64735062e-01 -2.33162851e-02 5.29848036e+01] [ 1.09779326e-01 -5.81286067e-03 9.93938987e-01 3.22432255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.485099893 meters 0.054117226046350754 Centerline is valid? [True, True] Translation: X:305.74, Y:53.00, Z:32.25 [[ 9.61953922e-01 -2.51082241e-01 -1.07714253e-01 3.05744541e+02] [ 2.50030778e-01 9.67955569e-01 -2.33800641e-02 5.29994377e+01] [ 1.10132930e-01 -4.44133418e-03 9.93906943e-01 3.22497415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.545099893 meters 0.05462872025067868 Centerline is valid? [True, True] Translation: X:305.80, Y:53.02, Z:32.26 [[ 9.64690304e-01 -2.40497733e-01 -1.07393933e-01 3.05801445e+02] [ 2.39387086e-01 9.70644354e-01 -2.33101224e-02 5.30163506e+01] [ 1.09847346e-01 -3.22167158e-03 9.93943249e-01 3.22560958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.605099893 meters 0.05433440990524646 Centerline is valid? [True, True] Translation: X:305.86, Y:53.05, Z:32.26 [[ 9.68589559e-01 -2.24830963e-01 -1.06232316e-01 3.05856705e+02] [ 2.23649950e-01 9.74396741e-01 -2.30584354e-02 5.30452109e+01] [ 1.08696672e-01 -1.42469229e-03 9.94073943e-01 3.22642221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.665099893 meters 0.05422507702915669 Centerline is valid? [True, True] Translation: X:305.91, Y:53.06, Z:32.27 [[ 9.70564565e-01 -2.15899372e-01 -1.06732776e-01 3.05912814e+02] [ 2.14653251e-01 9.76415526e-01 -2.31668320e-02 5.30643486e+01] [ 1.09217244e-01 -4.25631040e-04 9.94017813e-01 3.22709744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.725099893 meters 0.054539590499721465 Centerline is valid? [True, True] Translation: X:305.97, Y:53.08, Z:32.28 [[ 9.72410181e-01 -2.06674464e-01 -1.08185521e-01 3.05971241e+02] [ 2.05336974e-01 9.78409567e-01 -2.34828897e-02 5.30843598e+01] [ 1.10703062e-01 6.20513580e-04 9.93853333e-01 3.22770745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.785099893 meters 0.05438573804112114 Centerline is valid? [True, True] Translation: X:306.03, Y:53.10, Z:32.28 [[ 9.73342315e-01 -2.02245169e-01 -1.08174071e-01 3.06028904e+02] [ 2.00880957e-01 9.79334280e-01 -2.34778274e-02 5.30997466e+01] [ 1.10686854e-01 1.12185193e-03 9.93854699e-01 3.22837406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.845099893 meters 0.054486741214769895 Centerline is valid? [True, True] Translation: X:306.09, Y:53.11, Z:32.29 [[ 9.73230830e-01 -2.02700838e-01 -1.08324153e-01 3.06086852e+02] [ 2.01335631e-01 9.79240125e-01 -2.35104603e-02 5.31137449e+01] [ 1.10840947e-01 1.07159308e-03 9.93837580e-01 3.22883376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.905099893 meters 0.053963546257839154 Centerline is valid? [True, True] Translation: X:306.14, Y:53.12, Z:32.29 [[ 9.72284277e-01 -2.07559272e-01 -1.07621712e-01 3.06143386e+02] [ 2.06241282e-01 9.78222307e-01 -2.33591733e-02 5.31242952e+01] [ 1.10126373e-01 5.15717056e-04 9.93917459e-01 3.22933951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.965099893 meters 0.05379931031980314 Centerline is valid? [True, True] Translation: X:306.20, Y:53.13, Z:32.30 [[ 9.71175836e-01 -2.13279650e-01 -1.06439121e-01 3.06201047e+02] [ 2.12024250e-01 9.76991185e-01 -2.31071902e-02 5.31317461e+01] [ 1.08918377e-01 -1.26530100e-04 9.94050688e-01 3.22992761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.02509989299995 meters 0.05391128745374025 Centerline is valid? [True, True] Translation: X:306.26, Y:53.14, Z:32.31 [[ 9.69179891e-01 -2.22851653e-01 -1.05011811e-01 3.06260685e+02] [ 2.21685227e-01 9.74851654e-01 -2.28016085e-02 5.31360407e+01] [ 1.07452313e-01 -1.18070673e-03 9.94209538e-01 3.23065631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.08509989299995 meters 0.05431931874244803 Centerline is valid? [True, True] Translation: X:306.32, Y:53.14, Z:32.31 [[ 9.67413814e-01 -2.30729829e-01 -1.04279714e-01 3.06320497e+02] [ 2.29625102e-01 9.73015717e-01 -2.26434677e-02 5.31368601e+01] [ 1.06690324e-01 -2.03963649e-03 9.94290206e-01 3.23127413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.14509989299995 meters 0.05344133118839979 Centerline is valid? [True, True] Translation: X:306.38, Y:53.15, Z:32.32 [[ 9.66361223e-01 -2.35413542e-01 -1.03568585e-01 3.06378977e+02] [ 2.34350650e-01 9.71891979e-01 -2.24889873e-02 5.31504352e+01] [ 1.05951689e-01 -2.53887987e-03 9.94368037e-01 3.23198534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.20509989299995 meters 0.05453968782052811 Centerline is valid? [True, True] Translation: X:306.44, Y:53.15, Z:32.33 [[ 9.65148310e-01 -2.40364159e-01 -1.03507535e-01 3.06438722e+02] [ 2.39330762e-01 9.70677902e-01 -2.24765933e-02 5.31545767e+01] [ 1.05875045e-01 -3.07929126e-03 9.94374674e-01 3.23256067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.26509989299996 meters 0.05609916968786977 Centerline is valid? [True, True] Translation: X:306.50, Y:53.15, Z:32.33 [[ 9.64533742e-01 -2.41724150e-01 -1.06038183e-01 3.06498385e+02] [ 2.40647566e-01 9.70339372e-01 -2.30272061e-02 5.31547175e+01] [ 1.08459256e-01 -3.30731333e-03 9.94095394e-01 3.23275003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.32509989299996 meters 0.05382275930278082 Centerline is valid? [True, True] Translation: X:306.55, Y:53.18, Z:32.34 [[ 9.64548457e-01 -2.41630804e-01 -1.06117051e-01 3.06554583e+02] [ 2.40551625e-01 9.70362661e-01 -2.30482422e-02 5.31763402e+01] [ 1.08541189e-01 -3.29548266e-03 9.94086490e-01 3.23352737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.38509989299996 meters 0.05421998556911617 Centerline is valid? [True, True] Translation: X:306.61, Y:53.19, Z:32.34 [[ 9.64959587e-01 -2.39120397e-01 -1.08048285e-01 3.06612706e+02] [ 2.37985610e-01 9.70985083e-01 -2.34695308e-02 5.31886622e+01] [ 1.10525316e-01 -3.06678815e-03 9.93868577e-01 3.23402271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.44509989299996 meters 0.054536597443110436 Centerline is valid? [True, True] Translation: X:306.67, Y:53.20, Z:32.34 [[ 9.65177404e-01 -2.38097871e-01 -1.08360433e-01 3.06669819e+02] [ 2.36949864e-01 9.71236667e-01 -2.35393030e-02 5.31961353e+01] [ 1.10848283e-01 -2.95638639e-03 9.93832943e-01 3.23446451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.50509989299997 meters 0.054814313490984916 Centerline is valid? [True, True] Translation: X:306.73, Y:53.21, Z:32.35 [[ 9.65068387e-01 -2.38735402e-01 -1.07927829e-01 3.06726896e+02] [ 2.37599992e-01 9.71079982e-01 -2.34501977e-02 5.32085658e+01] [ 1.10404947e-01 -3.01260671e-03 9.93882122e-01 3.23519749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.56509989299997 meters 0.05691276990507853 Centerline is valid? [True, True] Translation: X:306.79, Y:53.21, Z:32.36 [[ 9.64448514e-01 -2.41414178e-01 -1.07509342e-01 3.06787572e+02] [ 2.40302897e-01 9.70416579e-01 -2.33705197e-02 5.32137737e+01] [ 1.09970823e-01 -3.29514330e-03 9.93929354e-01 3.23576991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.62509989299997 meters 0.05462580161666794 Centerline is valid? [True, True] Translation: X:306.84, Y:53.24, Z:32.37 [[ 9.63094595e-01 -2.47014787e-01 -1.06922851e-01 3.06842755e+02] [ 2.45949938e-01 9.69003812e-01 -2.32430644e-02 5.32395378e+01] [ 1.09350031e-01 -3.91239882e-03 9.93995606e-01 3.23681001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.685099893 meters 0.05500237736376632 Centerline is valid? [True, True] Translation: X:306.90, Y:53.25, Z:32.38 [[ 9.61938557e-01 -2.51558184e-01 -1.06736560e-01 3.06902326e+02] [ 2.50524783e-01 9.67832084e-01 -2.32032318e-02 5.32485829e+01] [ 1.09140031e-01 -4.42007031e-03 9.94016558e-01 3.23755598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.745099893 meters 0.054579190586779305 Centerline is valid? [True, True] Translation: X:306.96, Y:53.26, Z:32.38 [[ 9.60069630e-01 -2.58472732e-01 -1.07042762e-01 3.06960221e+02] [ 2.57476156e-01 9.66004444e-01 -2.32689281e-02 5.32641172e+01] [ 1.09418168e-01 -5.22116775e-03 9.93982094e-01 3.23830597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.805099893 meters 0.054058895296166684 Centerline is valid? [True, True] Translation: X:307.02, Y:53.28, Z:32.39 [[ 9.58969761e-01 -2.62648710e-01 -1.06736367e-01 3.07017801e+02] [ 2.61683437e-01 9.64874807e-01 -2.32031471e-02 5.32841284e+01] [ 1.09081508e-01 -5.68002297e-03 9.94016580e-01 3.23905958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.865099893 meters 0.05440507128793526 Centerline is valid? [True, True] Translation: X:307.08, Y:53.30, Z:32.40 [[ 9.58112817e-01 -2.66454169e-01 -1.04985744e-01 3.07076236e+02] [ 2.65543087e-01 9.63828838e-01 -2.28219302e-02 5.32966921e+01] [ 1.07269286e-01 -6.01225476e-03 9.94211825e-01 3.23976470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.925099893 meters 0.05898893344886765 Centerline is valid? [True, True] Translation: X:307.14, Y:53.30, Z:32.40 [[ 9.57667632e-01 -2.68665982e-01 -1.03398731e-01 3.07137506e+02] [ 2.67795071e-01 9.63213679e-01 -2.24768417e-02 5.32951623e+01] [ 1.05633835e-01 -6.16432678e-03 9.94385988e-01 3.24043089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.985099893 meters 0.058311612480497724 Centerline is valid? [True, True] Translation: X:307.20, Y:53.31, Z:32.41 [[ 9.57226130e-01 -2.70082563e-01 -1.03795691e-01 3.07195934e+02] [ 2.69213288e-01 9.62816255e-01 -2.25624793e-02 5.33098709e+01] [ 1.06029911e-01 -6.34578459e-03 9.94342692e-01 3.24102475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.045099893 meters 0.053967623642404323 Centerline is valid? [True, True] Translation: X:307.25, Y:53.34, Z:32.42 [[ 9.56397801e-01 -2.72057466e-01 -1.06244913e-01 3.07250713e+02] [ 2.71158752e-01 9.62257532e-01 -2.30948693e-02 5.33406820e+01] [ 1.08518100e-01 -6.72135580e-03 9.94071751e-01 3.24152014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.105099893 meters 0.05700032513525018 Centerline is valid? [True, True] Translation: X:307.31, Y:53.34, Z:32.42 [[ 9.55638652e-01 -2.73816109e-01 -1.08533432e-01 3.07311252e+02] [ 2.72889513e-01 9.61756063e-01 -2.35921438e-02 5.33440390e+01] [ 1.10842596e-01 -7.07207107e-03 9.93812812e-01 3.24190910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.165099893 meters 0.05556787763628824 Centerline is valid? [True, True] Translation: X:307.37, Y:53.36, Z:32.43 [[ 9.55546160e-01 -2.74120631e-01 -1.08579077e-01 3.07369820e+02] [ 2.73195277e-01 9.61669025e-01 -2.36014276e-02 5.33629082e+01] [ 1.10886773e-01 -7.11103750e-03 9.93807605e-01 3.24261530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.225099893 meters 0.058142825348313124 Centerline is valid? [True, True] Translation: X:307.43, Y:53.37, Z:32.43 [[ 9.55990399e-01 -2.72647945e-01 -1.08376454e-01 3.07429312e+02] [ 2.71716909e-01 9.62088916e-01 -2.35550254e-02 5.33703474e+01] [ 1.10690014e-01 -6.92933687e-03 9.93830823e-01 3.24322687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.285099893 meters 0.061532974521261656 Centerline is valid? [True, True] Translation: X:307.49, Y:53.38, Z:32.44 [[ 9.56563193e-01 -2.71003081e-01 -1.07443880e-01 3.07489116e+02] [ 2.70077696e-01 9.62555300e-01 -2.33523615e-02 5.33785533e+01] [ 1.09749238e-01 -6.68018620e-03 9.93936859e-01 3.24384491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.345099893 meters 0.06041072909584055 Centerline is valid? [True, True] Translation: X:307.55, Y:53.40, Z:32.45 [[ 9.57189973e-01 -2.69263423e-01 -1.06228828e-01 3.07546497e+02] [ 2.68348227e-01 9.63045256e-01 -2.30881783e-02 5.33958292e+01] [ 1.08519970e-01 -6.40654477e-03 9.94073625e-01 3.24465264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.405099893 meters 0.052722487418474205 Centerline is valid? [True, True] Translation: X:307.60, Y:53.44, Z:32.46 [[ 9.57889855e-01 -2.67270024e-01 -1.04946466e-01 3.07598486e+02] [ 2.66364920e-01 9.63602336e-01 -2.28093872e-02 5.34408317e+01] [ 1.07222925e-01 -6.10517651e-03 9.94216260e-01 3.24560677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.465099893 meters 0.05233563340465513 Centerline is valid? [True, True] Translation: X:307.66, Y:53.46, Z:32.46 [[ 9.58194065e-01 -2.66368460e-01 -1.04460407e-01 3.07657269e+02] [ 2.65466418e-01 9.63852752e-01 -2.27035959e-02 5.34577310e+01] [ 1.06731973e-01 -5.97627923e-03 9.94269868e-01 3.24628815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.52509989299995 meters 0.059357086331653784 Centerline is valid? [True, True] Translation: X:307.72, Y:53.44, Z:32.47 [[ 9.58232989e-01 -2.65955920e-01 -1.05152210e-01 3.07723235e+02] [ 2.65039644e-01 9.63966691e-01 -2.28518071e-02 5.34434311e+01] [ 1.07440801e-01 -5.97214883e-03 9.94193546e-01 3.24665998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.58509989299995 meters 0.05295643814044801 Centerline is valid? [True, True] Translation: X:307.78, Y:53.48, Z:32.47 [[ 9.58316547e-01 -2.64439549e-01 -1.08171722e-01 3.07777029e+02] [ 2.63461533e-01 9.64383710e-01 -2.34964038e-02 5.34839182e+01] [ 1.10532425e-01 -5.98209516e-03 9.93854515e-01 3.24722579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.64509989299995 meters 0.05406928901349907 Centerline is valid? [True, True] Translation: X:307.84, Y:53.49, Z:32.48 [[ 9.59134765e-01 -2.60962718e-01 -1.09357045e-01 3.07836421e+02] [ 2.59940843e-01 9.65332375e-01 -2.37521194e-02 5.34926775e+01] [ 1.11764314e-01 -5.64487909e-03 9.93718709e-01 3.24767040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.70509989299995 meters 0.05686025824713761 Centerline is valid? [True, True] Translation: X:307.90, Y:53.50, Z:32.48 [[ 9.61828200e-01 -2.51783909e-01 -1.07197840e-01 3.07895745e+02] [ 2.50745245e-01 9.67773085e-01 -2.32825834e-02 5.34997902e+01] [ 1.09605364e-01 -4.48550327e-03 9.93965062e-01 3.24838165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.76509989299996 meters 0.05399976625716668 Centerline is valid? [True, True] Translation: X:307.95, Y:53.53, Z:32.49 [[ 9.65093612e-01 -2.40259274e-01 -1.04258342e-01 3.07950300e+02] [ 2.39209650e-01 9.70703849e-01 -2.26446883e-02 5.35313472e+01] [ 1.06644570e-01 -3.08535745e-03 9.94292420e-01 3.24943666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.82509989299996 meters 0.0533739901005791 Centerline is valid? [True, True] Translation: X:308.01, Y:53.55, Z:32.50 [[ 9.67082362e-01 -2.32345216e-01 -1.03766111e-01 3.08007653e+02] [ 2.31259983e-01 9.72630895e-01 -2.25380456e-02 5.35467545e+01] [ 1.06162732e-01 -2.20080258e-03 9.94346333e-01 3.25011648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.88509989299996 meters 0.053610411342316644 Centerline is valid? [True, True] Translation: X:308.07, Y:53.57, Z:32.51 [[ 9.69204330e-01 -2.22888770e-01 -1.04707036e-01 3.08065423e+02] [ 2.21728579e-01 9.74843176e-01 -2.27424777e-02 5.35661061e+01] [ 1.07141983e-01 -1.17443460e-03 9.94243037e-01 3.25068549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.94509989299996 meters 0.054511676850978914 Centerline is valid? [True, True] Translation: X:308.12, Y:53.58, Z:32.51 [[ 9.70612958e-01 -2.15700808e-01 -1.06694176e-01 3.08124510e+02] [ 2.14452782e-01 9.76459426e-01 -2.31731256e-02 5.35813751e+01] [ 1.09180996e-01 -3.88726890e-04 9.94021810e-01 3.25124794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.00509989299997 meters 0.05467754114268997 Centerline is valid? [True, True] Translation: X:308.18, Y:53.60, Z:32.52 [[ 9.71633533e-01 -2.10586931e-01 -1.07617014e-01 3.08183797e+02] [ 2.09286155e-01 9.77575117e-01 -2.33708124e-02 5.35965757e+01] [ 1.10125302e-01 1.85113942e-04 9.93917695e-01 3.25182109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.06509989299997 meters 0.055114156948520746 Centerline is valid? [True, True] Translation: X:308.24, Y:53.61, Z:32.53 [[ 9.73034456e-01 -2.03561126e-01 -1.08474951e-01 3.08243396e+02] [ 2.02196190e-01 9.79061743e-01 -2.35542880e-02 5.36113407e+01] [ 1.10998411e-01 9.85912103e-04 9.93820095e-01 3.25258592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.12509989299997 meters 0.05508290794725288 Centerline is valid? [True, True] Translation: X:308.30, Y:53.62, Z:32.53 [[ 9.74268317e-01 -1.97816698e-01 -1.08026851e-01 3.08303526e+02] [ 1.96428230e-01 9.80237673e-01 -2.34532331e-02 5.36225313e+01] [ 1.10531430e-01 1.63021882e-03 9.93871292e-01 3.25331181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.185099893 meters 0.055796117218031745 Centerline is valid? [True, True] Translation: X:308.36, Y:53.63, Z:32.54 [[ 9.74848203e-01 -1.95662709e-01 -1.06710283e-01 3.08363653e+02] [ 1.94295342e-01 9.80669508e-01 -2.31654131e-02 5.36323753e+01] [ 1.09180129e-01 1.84945042e-03 9.94020261e-01 3.25410175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.245099893 meters 0.055393790583974645 Centerline is valid? [True, True] Translation: X:308.43, Y:53.64, Z:32.55 [[ 9.74726116e-01 -1.96618019e-01 -1.06067686e-01 3.08425521e+02] [ 1.95273082e-01 9.80478641e-01 -2.30229955e-02 5.36368658e+01] [ 1.08523836e-01 1.72895116e-03 9.94092344e-01 3.25494024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.305099893 meters 0.05541175331283848 Centerline is valid? [True, True] Translation: X:308.48, Y:53.65, Z:32.55 [[ 9.73702341e-01 -2.00747746e-01 -1.07722302e-01 3.08484853e+02] [ 1.99385903e-01 9.79642123e-01 -2.33788811e-02 5.36491113e+01] [ 1.10222563e-01 1.28576262e-03 9.93906099e-01 3.25527798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.365099893 meters 0.05477134504731459 Centerline is valid? [True, True] Translation: X:308.55, Y:53.65, Z:32.56 [[ 9.71294035e-01 -2.11519223e-01 -1.08846298e-01 3.08547239e+02] [ 2.10196084e-01 9.77373835e-01 -2.36218549e-02 5.36471489e+01] [ 1.11380000e-01 6.47011436e-05 9.93777888e-01 3.25585382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.425099893 meters 0.05518735840576964 Centerline is valid? [True, True] Translation: X:308.61, Y:53.64, Z:32.56 [[ 9.68295699e-01 -2.24517286e-01 -1.09523638e-01 3.08608874e+02] [ 2.23260293e-01 9.74469046e-01 -2.37680539e-02 5.36421786e+01] [ 1.12063734e-01 -1.43777509e-03 9.93699981e-01 3.25617457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.485099893 meters 0.05479031596835658 Centerline is valid? [True, True] Translation: X:308.67, Y:53.64, Z:32.57 [[ 9.66499518e-01 -2.31899390e-01 -1.10006157e-01 3.08669377e+02] [ 2.30678619e-01 9.72737054e-01 -2.38746242e-02 5.36448195e+01] [ 1.12543576e-01 -2.30125562e-03 9.93644125e-01 3.25676317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.545099893 meters 0.05600212395604822 Centerline is valid? [True, True] Translation: X:308.73, Y:53.65, Z:32.57 [[ 9.64649168e-01 -2.39196882e-01 -1.10620225e-01 3.08729408e+02] [ 2.38010116e-01 9.70965914e-01 -2.40078973e-02 5.36501721e+01] [ 1.13151082e-01 -3.16953433e-03 9.93572739e-01 3.25746645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.605099893 meters 0.055498728303764525 Centerline is valid? [True, True] Translation: X:308.79, Y:53.66, Z:32.58 [[ 9.63727100e-01 -2.42941713e-01 -1.10496159e-01 3.08788590e+02] [ 2.41782010e-01 9.70034192e-01 -2.39817664e-02 5.36583516e+01] [ 1.13011224e-01 -3.60410532e-03 9.93587175e-01 3.25812618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.665099893 meters 0.056321411807914376 Centerline is valid? [True, True] Translation: X:308.85, Y:53.66, Z:32.59 [[ 9.62275757e-01 -2.48958492e-01 -1.09749878e-01 3.08847774e+02] [ 2.47853291e-01 9.68504697e-01 -2.38201259e-02 5.36617852e+01] [ 1.12223495e-01 -4.28033878e-03 9.93673772e-01 3.25874303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.725099893 meters 0.05956280323532827 Centerline is valid? [True, True] Translation: X:308.91, Y:53.66, Z:32.59 [[ 9.60449601e-01 -2.56407985e-01 -1.08588720e-01 3.08908694e+02] [ 2.55373308e-01 9.66555221e-01 -2.35685999e-02 5.36597089e+01] [ 1.11000171e-01 -5.09420824e-03 9.93807331e-01 3.25930549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.785099893 meters 0.054690167751286746 Centerline is valid? [True, True] Translation: X:308.96, Y:53.69, Z:32.60 [[ 9.58611487e-01 -2.62975323e-01 -1.09123764e-01 3.08963933e+02] [ 2.61972475e-01 9.64784632e-01 -2.36861917e-02 5.36857804e+01] [ 1.11509815e-01 -5.88156719e-03 9.93745927e-01 3.26017479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.845099893 meters 0.054052675324341104 Centerline is valid? [True, True] Translation: X:309.02, Y:53.70, Z:32.61 [[ 9.57630550e-01 -2.65976431e-01 -1.10454825e-01 3.09022249e+02] [ 2.64968803e-01 9.63958892e-01 -2.39747369e-02 5.37014389e+01] [ 1.12850625e-01 -6.30814226e-03 9.93591940e-01 3.26076791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.905099893 meters 0.05725208061096807 Centerline is valid? [True, True] Translation: X:309.08, Y:53.70, Z:32.61 [[ 9.57029674e-01 -2.67668522e-01 -1.11569555e-01 3.09084223e+02] [ 2.66651908e-01 9.63488628e-01 -2.42161741e-02 5.36973572e+01] [ 1.13977905e-01 -6.57463762e-03 9.93461530e-01 3.26106557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.965099893 meters 0.05429910476684193 Centerline is valid? [True, True] Translation: X:309.14, Y:53.73, Z:32.62 [[ 9.57312476e-01 -2.66882553e-01 -1.11024889e-01 3.09139531e+02] [ 2.65870539e-01 9.63707487e-01 -2.40984747e-02 5.37276111e+01] [ 1.13426979e-01 -6.44847658e-03 9.93525409e-01 3.26204543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.02509989299995 meters 0.0547552331344088 Centerline is valid? [True, True] Translation: X:309.20, Y:53.74, Z:32.63 [[ 9.58831573e-01 -2.61534661e-01 -1.10641922e-01 3.09198644e+02] [ 2.60494378e-01 9.65176679e-01 -2.40136990e-02 5.37406508e+01] [ 1.13069418e-01 -5.79650592e-03 9.93570182e-01 3.26261105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.08509989299995 meters 0.058396161343251776 Centerline is valid? [True, True] Translation: X:309.26, Y:53.74, Z:32.63 [[ 9.59676605e-01 -2.58282048e-01 -1.10955834e-01 3.09259857e+02] [ 2.57214112e-01 9.66054306e-01 -2.40827305e-02 5.37374796e+01] [ 1.13409498e-01 -5.42777324e-03 9.93533505e-01 3.26286103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.14509989299995 meters 0.05618789726790135 Centerline is valid? [True, True] Translation: X:309.31, Y:53.77, Z:32.64 [[ 9.64290182e-01 -2.41490672e-01 -1.08750636e-01 3.09314472e+02] [ 2.40357953e-01 9.70397265e-01 -2.36051346e-02 5.37694066e+01] [ 1.11231740e-01 -3.37688070e-03 9.93788759e-01 3.26371143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.20509989299995 meters 0.05452912267840264 Centerline is valid? [True, True] Translation: X:309.37, Y:53.80, Z:32.65 [[ 9.66794412e-01 -2.31975693e-01 -1.07218672e-01 3.09369776e+02] [ 2.30816232e-01 9.72718987e-01 -2.32731603e-02 5.37975623e+01] [ 1.09692446e-01 -2.24744858e-03 9.93963036e-01 3.26461735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.26509989299996 meters 0.05469614902777483 Centerline is valid? [True, True] Translation: X:309.43, Y:53.82, Z:32.65 [[ 9.69852097e-01 -2.19482075e-01 -1.05898669e-01 3.09426854e+02] [ 2.18276577e-01 9.75616187e-01 -2.29867736e-02 5.38188967e+01] [ 1.08361640e-01 -8.21428363e-04 9.94111201e-01 3.26532035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.32509989299996 meters 0.055667515893015225 Centerline is valid? [True, True] Translation: X:309.48, Y:53.84, Z:32.66 [[ 9.71745295e-01 -2.10807877e-01 -1.06165536e-01 3.09483360e+02] [ 2.09544384e-01 9.77527502e-01 -2.30463452e-02 5.38383605e+01] [ 1.08638082e-01 1.48785678e-04 9.94081357e-01 3.26592066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.38509989299996 meters 0.05526719592440394 Centerline is valid? [True, True] Translation: X:309.54, Y:53.85, Z:32.67 [[ 9.72059304e-01 -2.09216989e-01 -1.06437589e-01 3.09542186e+02] [ 2.07937388e-01 9.77869185e-01 -2.31062505e-02 5.38521795e+01] [ 1.08916258e-01 3.28291593e-04 9.94050874e-01 3.26654816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.44509989299996 meters 0.05508679257779629 Centerline is valid? [True, True] Translation: X:309.60, Y:53.87, Z:32.67 [[ 9.72553517e-01 -2.06320991e-01 -1.07570002e-01 3.09599111e+02] [ 2.04996351e-01 9.78484141e-01 -2.33512690e-02 5.38676880e+01] [ 1.10073398e-01 6.58900973e-04 9.93923243e-01 3.26691156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.50509989299997 meters 0.05566401212421429 Centerline is valid? [True, True] Translation: X:309.66, Y:53.88, Z:32.68 [[ 9.72414504e-01 -2.07690866e-01 -1.06181625e-01 3.09655488e+02] [ 2.06408228e-01 9.78194385e-01 -2.30518682e-02 5.38760825e+01] [ 1.08653931e-01 4.99210018e-04 9.94079511e-01 3.26780965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.56509989299997 meters 0.0550136299514955 Centerline is valid? [True, True] Translation: X:309.71, Y:53.89, Z:32.68 [[ 9.71818189e-01 -2.10908362e-01 -1.05295161e-01 3.09713488e+02] [ 2.09665469e-01 9.77505827e-01 -2.28636912e-02 5.38867007e+01] [ 1.07748777e-01 1.42591736e-04 9.94178143e-01 3.26843243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.62509989299997 meters 0.05434391327180338 Centerline is valid? [True, True] Translation: X:309.77, Y:53.89, Z:32.69 [[ 9.70019119e-01 -2.19047150e-01 -1.05267543e-01 3.09772342e+02] [ 2.17852388e-01 9.75713980e-01 -2.28597066e-02 5.38896435e+01] [ 1.07718367e-01 -7.58433186e-04 9.94181160e-01 3.26891237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.685099893 meters 0.055235369207938374 Centerline is valid? [True, True] Translation: X:309.83, Y:53.89, Z:32.70 [[ 9.67690172e-01 -2.29629559e-01 -1.04144111e-01 3.09832914e+02] [ 2.28519951e-01 9.73276243e-01 -2.26271425e-02 5.38916565e+01] [ 1.06556850e-01 -1.90294371e-03 9.94304791e-01 3.26959556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.745099893 meters 0.056129034213408056 Centerline is valid? [True, True] Translation: X:309.89, Y:53.90, Z:32.70 [[ 9.66001599e-01 -2.36725614e-01 -1.03932162e-01 3.09892937e+02] [ 2.35661287e-01 9.71572853e-01 -2.25820354e-02 5.38969219e+01] [ 1.06323413e-01 -2.67850461e-03 9.94327993e-01 3.27023125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.805099893 meters 0.05693315943215365 Centerline is valid? [True, True] Translation: X:309.95, Y:53.90, Z:32.71 [[ 9.63650286e-01 -2.45918681e-01 -1.04413260e-01 3.09953668e+02] [ 2.44897996e-01 9.69283371e-01 -2.26873859e-02 5.38966831e+01] [ 1.06785289e-01 -3.70789227e-03 9.94275190e-01 3.27078692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.865099893 meters 0.059483037051711804 Centerline is valid? [True, True] Translation: X:310.02, Y:53.89, Z:32.71 [[ 9.61940421e-01 -2.52061659e-01 -1.05525095e-01 3.10015926e+02] [ 2.51055782e-01 9.67701008e-01 -2.29293032e-02 5.38927007e+01] [ 1.07896339e-01 -4.43606160e-03 9.94152253e-01 3.27120244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.925099893 meters 0.05857868236129378 Centerline is valid? [True, True] Translation: X:310.07, Y:53.90, Z:32.72 [[ 9.61242224e-01 -2.54718972e-01 -1.05506556e-01 3.10074401e+02] [ 2.53729364e-01 9.67003537e-01 -2.29252918e-02 5.39048447e+01] [ 1.07864719e-01 -4.73335275e-03 9.94154313e-01 3.27185642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.985099893 meters 0.058639830756317186 Centerline is valid? [True, True] Translation: X:310.13, Y:53.91, Z:32.72 [[ 9.60408192e-01 -2.57380384e-01 -1.06636965e-01 3.10133413e+02] [ 2.56385724e-01 9.66296779e-01 -2.31710095e-02 5.39148571e+01] [ 1.09006719e-01 -5.08656828e-03 9.94027999e-01 3.27244544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.045099893 meters 0.05575792965548192 Centerline is valid? [True, True] Translation: X:310.19, Y:53.94, Z:32.73 [[ 9.60100522e-01 -2.58240042e-01 -1.07326921e-01 3.10188977e+02] [ 2.57237791e-01 9.66066691e-01 -2.33209423e-02 5.39401801e+01] [ 1.09707365e-01 -5.21809122e-03 9.93950233e-01 3.27315100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.105099893 meters 0.05575200068723271 Centerline is valid? [True, True] Translation: X:310.25, Y:53.95, Z:32.74 [[ 9.59846821e-01 -2.58748990e-01 -1.08365313e-01 3.10246416e+02] [ 2.57730420e-01 9.65929902e-01 -2.35468577e-02 5.39480430e+01] [ 1.10766022e-01 -5.32766103e-03 9.93832232e-01 3.27368916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.165099893 meters 0.05841731137959834 Centerline is valid? [True, True] Translation: X:310.31, Y:53.95, Z:32.74 [[ 9.59213343e-01 -2.60067944e-01 -1.10790014e-01 3.10306064e+02] [ 2.59011453e-01 9.65574082e-01 -2.40782006e-02 5.39543783e+01] [ 1.13237934e-01 -5.59975138e-03 9.93552119e-01 3.27405560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.225099893 meters 0.05860405181015364 Centerline is valid? [True, True] Translation: X:310.36, Y:53.97, Z:32.75 [[ 9.58857953e-01 -2.61384825e-01 -1.10767318e-01 3.10364831e+02] [ 2.60337396e-01 9.65217527e-01 -2.40741768e-02 5.39661640e+01] [ 1.13207181e-01 -5.75315907e-03 9.93554747e-01 3.27468727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.285099893 meters 0.0545506650947099 Centerline is valid? [True, True] Translation: X:310.42, Y:54.00, Z:32.76 [[ 9.58751471e-01 -2.62818439e-01 -1.08268581e-01 3.10419845e+02] [ 2.61826798e-01 9.64827956e-01 -2.35317570e-02 5.39958534e+01] [ 1.10645133e-01 -5.78650914e-03 9.93843132e-01 3.27580422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.345099893 meters 0.05715429357649879 Centerline is valid? [True, True] Translation: X:310.48, Y:54.00, Z:32.76 [[ 9.59552645e-01 -2.60418459e-01 -1.06962366e-01 3.10479748e+02] [ 2.59435980e-01 9.65480497e-01 -2.32461379e-02 5.40006420e+01] [ 1.09323802e-01 -5.44399320e-03 9.93991282e-01 3.27642775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.405099893 meters 0.05550661925450085 Centerline is valid? [True, True] Translation: X:310.54, Y:54.02, Z:32.77 [[ 9.60554075e-01 -2.57323217e-01 -1.05454403e-01 3.10536195e+02] [ 2.56349691e-01 9.66312359e-01 -2.29185791e-02 5.40234123e+01] [ 1.07799375e-01 -5.01866902e-03 9.94160001e-01 3.27723037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.46509989299994 meters 0.05670419670747518 Centerline is valid? [True, True] Translation: X:310.59, Y:54.04, Z:32.78 [[ 9.62428043e-01 -2.50904407e-01 -1.03823120e-01 3.10593947e+02] [ 2.49923521e-01 9.68002622e-01 -2.25645172e-02 5.40380019e+01] [ 1.06162589e-01 -4.23111555e-03 9.94339782e-01 3.27795209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.52509989299995 meters 0.056958861503395186 Centerline is valid? [True, True] Translation: X:310.65, Y:54.05, Z:32.79 [[ 9.63713540e-01 -2.45794088e-01 -1.04122420e-01 3.10651589e+02] [ 2.44777815e-01 9.69315085e-01 -2.26293491e-02 5.40512580e+01] [ 1.06489593e-01 -3.67864828e-03 9.94307012e-01 3.27851414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.58509989299995 meters 0.0553924058612634 Centerline is valid? [True, True] Translation: X:310.71, Y:54.07, Z:32.79 [[ 9.65382908e-01 -2.38976101e-01 -1.04528767e-01 3.10708531e+02] [ 2.37911933e-01 9.71021008e-01 -2.27181570e-02 5.40737963e+01] [ 1.06928726e-01 -2.93692058e-03 9.94262351e-01 3.27914103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.64509989299995 meters 0.05539051161443356 Centerline is valid? [True, True] Translation: X:310.77, Y:54.09, Z:32.80 [[ 9.66944091e-01 -2.32627114e-01 -1.04421028e-01 3.10765911e+02] [ 2.31528077e-01 9.72563442e-01 -2.26958248e-02 5.40930259e+01] [ 1.06835739e-01 -2.23080621e-03 9.94274182e-01 3.27977330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.70509989299995 meters 0.05529988910681071 Centerline is valid? [True, True] Translation: X:310.82, Y:54.11, Z:32.80 [[ 9.67898323e-01 -2.28969546e-01 -1.03661865e-01 3.10822563e+02] [ 2.27865341e-01 9.73431901e-01 -2.25326710e-02 5.41122846e+01] [ 1.06067062e-01 -1.81161175e-03 9.94357328e-01 3.28048852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.76509989299996 meters 0.05462969317476714 Centerline is valid? [True, True] Translation: X:310.88, Y:54.13, Z:32.81 [[ 9.69134808e-01 -2.24238121e-01 -1.02445057e-01 3.10880409e+02] [ 2.23133272e-01 9.74533547e-01 -2.22690173e-02 5.41299968e+01] [ 1.04829708e-01 -1.27722105e-03 9.94489367e-01 3.28120405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.82509989299996 meters 0.05472208641065796 Centerline is valid? [True, True] Translation: X:310.94, Y:54.14, Z:32.82 [[ 9.69476452e-01 -2.23163518e-01 -1.01555172e-01 3.10938807e+02] [ 2.22071865e-01 9.74780345e-01 -2.20763398e-02 5.41417976e+01] [ 1.03920619e-01 -1.15005481e-03 9.94584930e-01 3.28180001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.88509989299996 meters 0.054527465967269054 Centerline is valid? [True, True] Translation: X:311.00, Y:54.15, Z:32.82 [[ 9.68457596e-01 -2.27704937e-01 -1.01194597e-01 3.10997161e+02] [ 2.26645646e-01 9.73728814e-01 -2.19988081e-02 5.41505089e+01] [ 1.03545332e-01 -1.63040195e-03 9.94623399e-01 3.28229989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.94509989299996 meters 0.05543560499082518 Centerline is valid? [True, True] Translation: X:311.06, Y:54.16, Z:32.83 [[ 9.66289103e-01 -2.36558493e-01 -1.01614214e-01 3.11057565e+02] [ 2.35538656e-01 9.71613811e-01 -2.20939836e-02 5.41553328e+01] [ 1.03956293e-01 -2.58489964e-03 9.94578507e-01 3.28269724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.00509989299997 meters 0.055878526447219974 Centerline is valid? [True, True] Translation: X:311.12, Y:54.16, Z:32.83 [[ 9.64753328e-01 -2.42376952e-01 -1.02491119e-01 3.11117040e+02] [ 2.41371986e-01 9.70176749e-01 -2.22854093e-02 5.41640941e+01] [ 1.04835970e-01 -3.23856215e-03 9.94484254e-01 3.28312174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.06509989299997 meters 0.05629637661838737 Centerline is valid? [True, True] Translation: X:311.18, Y:54.17, Z:32.84 [[ 9.64021528e-01 -2.45148841e-01 -1.02783948e-01 3.11175491e+02] [ 2.44153714e-01 9.69478957e-01 -2.23498556e-02 5.41719994e+01] [ 1.05125916e-01 -3.54934075e-03 9.94452585e-01 3.28364125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.12509989299997 meters 0.05504169457825968 Centerline is valid? [True, True] Translation: X:311.23, Y:54.18, Z:32.84 [[ 9.62286992e-01 -2.52359348e-01 -1.01580035e-01 3.11234698e+02] [ 2.51427280e-01 9.67624103e-01 -2.20888642e-02 5.41847108e+01] [ 1.03865622e-01 -4.28416514e-03 9.94582113e-01 3.28422884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.185099893 meters 0.057301336726121026 Centerline is valid? [True, True] Translation: X:311.29, Y:54.19, Z:32.85 [[ 9.61412469e-01 -2.55639273e-01 -1.01659362e-01 3.11294149e+02] [ 2.54723946e-01 9.66761096e-01 -2.21064262e-02 5.41895521e+01] [ 1.03931587e-01 -4.64168019e-03 9.94573617e-01 3.28477201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.245099893 meters 0.057208086490232166 Centerline is valid? [True, True] Translation: X:311.35, Y:54.20, Z:32.85 [[ 9.60785664e-01 -2.57893646e-01 -1.01890994e-01 3.11353836e+02] [ 2.56986659e-01 9.66160907e-01 -2.21576089e-02 5.42005457e+01] [ 1.04157401e-01 -4.89591308e-03 9.94548775e-01 3.28520343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.305099893 meters 0.05750403222030172 Centerline is valid? [True, True] Translation: X:311.41, Y:54.21, Z:32.86 [[ 9.60664787e-01 -2.58372249e-01 -1.01818211e-01 3.11411322e+02] [ 2.57469204e-01 9.66032783e-01 -2.21420574e-02 5.42117989e+01] [ 1.04080623e-01 -4.94395879e-03 9.94556575e-01 3.28570767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.365099893 meters 0.056234703025524774 Centerline is valid? [True, True] Translation: X:311.47, Y:54.23, Z:32.86 [[ 9.60343796e-01 -2.58994305e-01 -1.03255714e-01 3.11467435e+02] [ 2.58067933e-01 9.65865531e-01 -2.24659162e-02 5.42278051e+01] [ 1.05549679e-01 -5.07198538e-03 9.94401096e-01 3.28614419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.425099893 meters 0.05358012911548302 Centerline is valid? [True, True] Translation: X:311.52, Y:54.25, Z:32.87 [[ 9.59705723e-01 -2.60645173e-01 -1.05019135e-01 3.11524927e+02] [ 2.59696246e-01 9.65419895e-01 -2.28535672e-02 5.42500682e+01] [ 1.07344234e-01 -5.34037584e-03 9.94207572e-01 3.28660895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.485099893 meters 0.0561669718541521 Centerline is valid? [True, True] Translation: X:311.59, Y:54.25, Z:32.87 [[ 9.59774942e-01 -2.59946626e-01 -1.06112260e-01 3.11586339e+02] [ 2.58973762e-01 9.65608335e-01 -2.30897096e-02 5.42506601e+01] [ 1.08464975e-01 -5.31936650e-03 9.94086039e-01 3.28703898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.545099893 meters 0.054652896465875504 Centerline is valid? [True, True] Translation: X:311.64, Y:54.27, Z:32.88 [[ 9.60932202e-01 -2.55907442e-01 -1.05454655e-01 3.11643778e+02] [ 2.54922485e-01 9.66689205e-01 -2.29457535e-02 5.42720814e+01] [ 1.07813866e-01 -4.83344931e-03 9.94159347e-01 3.28773421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.605099893 meters 0.05497866775750412 Centerline is valid? [True, True] Translation: X:311.70, Y:54.28, Z:32.88 [[ 9.64193914e-01 -2.43980796e-01 -1.03939732e-01 3.11701907e+02] [ 2.42954839e-01 9.69773937e-01 -2.26154126e-02 5.42844333e+01] [ 1.06315770e-01 -3.44701778e-03 9.94326443e-01 3.28831767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.665099893 meters 0.053841598498520916 Centerline is valid? [True, True] Translation: X:311.76, Y:54.31, Z:32.89 [[ 9.66738308e-01 -2.34008811e-01 -1.03232357e-01 3.11757611e+02] [ 2.32939981e-01 9.72231678e-01 -2.24617181e-02 5.43102553e+01] [ 1.05622008e-01 -2.33233993e-03 9.94403616e-01 3.28898657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.725099893 meters 0.05434566254759804 Centerline is valid? [True, True] Translation: X:311.82, Y:54.33, Z:32.90 [[ 9.70021971e-01 -2.20042040e-01 -1.03144927e-01 3.11815210e+02] [ 2.18896064e-01 9.75490055e-01 -2.24425036e-02 5.43316704e+01] [ 1.05555145e-01 -8.08296967e-04 9.94413122e-01 3.28962188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.785099893 meters 0.05502441358633069 Centerline is valid? [True, True] Translation: X:311.87, Y:54.35, Z:32.90 [[ 9.71892363e-01 -2.11387385e-01 -1.03636906e-01 3.11870042e+02] [ 2.10181410e-01 9.77402351e-01 -2.25481476e-02 5.43481996e+01] [ 1.06061349e-01 1.31821466e-04 9.94359579e-01 3.29025907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.845099893 meters 0.054572444758852014 Centerline is valid? [True, True] Translation: X:311.93, Y:54.36, Z:32.91 [[ 9.72201958e-01 -2.09781178e-01 -1.03996208e-01 3.11925808e+02] [ 2.08556276e-01 9.77748308e-01 -2.26390184e-02 5.43616452e+01] [ 1.06431356e-01 3.20636132e-04 9.94320001e-01 3.29092711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.905099893 meters 0.05480083023398169 Centerline is valid? [True, True] Translation: X:311.99, Y:54.37, Z:32.92 [[ 9.71713097e-01 -2.12305869e-01 -1.03440203e-01 3.11985859e+02] [ 2.11107608e-01 9.77203262e-01 -2.25247143e-02 5.43720225e+01] [ 1.05864233e-01 5.05460513e-05 9.94380592e-01 3.29170098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.96509989299994 meters 0.05465457654411472 Centerline is valid? [True, True] Translation: X:312.05, Y:54.38, Z:32.92 [[ 9.70016003e-01 -2.19563998e-01 -1.04214227e-01 3.12045904e+02] [ 2.18389570e-01 9.75597812e-01 -2.26915064e-02 5.43799716e+01] [ 1.06653409e-01 -7.48175905e-04 9.94295977e-01 3.29233468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.02509989299995 meters 0.054458452597737496 Centerline is valid? [True, True] Translation: X:312.11, Y:54.38, Z:32.93 [[ 9.67600724e-01 -2.29772386e-01 -1.04658921e-01 3.12105928e+02] [ 2.28647366e-01 9.73242577e-01 -2.27874757e-02 5.43847944e+01] [ 1.07094451e-01 -1.88080858e-03 9.94247073e-01 3.29295900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.08509989299995 meters 0.05390075296553131 Centerline is valid? [True, True] Translation: X:312.16, Y:54.39, Z:32.94 [[ 9.65945700e-01 -2.36704356e-01 -1.04498576e-01 3.12164605e+02] [ 2.35623144e-01 9.71578126e-01 -2.27525827e-02 5.43913157e+01] [ 1.06914166e-01 -2.64452362e-03 9.94264737e-01 3.29362695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.14509989299995 meters 0.05617646329476593 Centerline is valid? [True, True] Translation: X:312.22, Y:54.39, Z:32.94 [[ 9.63397260e-01 -2.46923314e-01 -1.04377182e-01 3.12224650e+02] [ 2.45904387e-01 9.69027674e-01 -2.27244378e-02 5.43925303e+01] [ 1.06755571e-01 -3.77414574e-03 9.94278132e-01 3.29425931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.20509989299995 meters 0.05659454964403077 Centerline is valid? [True, True] Translation: X:312.28, Y:54.40, Z:32.95 [[ 9.61808479e-01 -2.52931404e-01 -1.04642987e-01 3.12284565e+02] [ 2.51942448e-01 9.67473979e-01 -2.27838383e-02 5.44011497e+01] [ 1.07002115e-01 -4.45032161e-03 9.94248833e-01 3.29481332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.26509989299996 meters 0.05751931846850619 Centerline is valid? [True, True] Translation: X:312.34, Y:54.41, Z:32.96 [[ 9.59939857e-01 -2.60001136e-01 -1.04474307e-01 3.12344946e+02] [ 2.59056919e-01 9.65594154e-01 -2.27473666e-02 5.44062096e+01] [ 1.06794121e-01 -5.22868829e-03 9.94267407e-01 3.29550610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.32509989299996 meters 0.05791784289731925 Centerline is valid? [True, True] Translation: X:312.40, Y:54.42, Z:32.96 [[ 9.59127376e-01 -2.63008394e-01 -1.04409110e-01 3.12403603e+02] [ 2.62083032e-01 9.64777526e-01 -2.27334276e-02 5.44182393e+01] [ 1.06710645e-01 -5.55960331e-03 9.94274574e-01 3.29622368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.38509989299996 meters 0.06056271927072968 Centerline is valid? [True, True] Translation: X:312.46, Y:54.43, Z:32.97 [[ 9.58641944e-01 -2.64521615e-01 -1.05042554e-01 3.12463437e+02] [ 2.63594010e-01 9.64362536e-01 -2.28713147e-02 5.44252563e+01] [ 1.07349060e-01 -5.76318630e-03 9.94204690e-01 3.29684338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.44509989299996 meters 0.06332840101398761 Centerline is valid? [True, True] Translation: X:312.52, Y:54.43, Z:32.98 [[ 9.58787616e-01 -2.64014111e-01 -1.04989792e-01 3.12521767e+02] [ 2.63084292e-01 9.64501961e-01 -2.28609511e-02 5.44336407e+01] [ 1.07298474e-01 -5.70236825e-03 9.94210501e-01 3.29755058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.50509989299997 meters 0.05448379486742083 Centerline is valid? [True, True] Translation: X:312.57, Y:54.48, Z:32.98 [[ 9.58868154e-01 -2.63018222e-01 -1.06739302e-01 3.12574437e+02] [ 2.62049862e-01 9.64774174e-01 -2.32521784e-02 5.44773446e+01] [ 1.09095068e-01 -5.67524585e-03 9.94015119e-01 3.29826727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.56509989299997 meters 0.05828896758437325 Centerline is valid? [True, True] Translation: X:312.64, Y:54.48, Z:32.99 [[ 9.59033488e-01 -2.61758997e-01 -1.08337420e-01 3.12635336e+02] [ 2.60753582e-01 9.65116921e-01 -2.35986828e-02 5.44771101e+01] [ 1.10735445e-01 -5.61744323e-03 9.93834043e-01 3.29864710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.62509989299997 meters 0.053566773454274505 Centerline is valid? [True, True] Translation: X:312.69, Y:54.51, Z:33.00 [[ 9.59327157e-01 -2.60378540e-01 -1.09061547e-01 3.12689597e+02] [ 2.59350672e-01 9.65490978e-01 -2.37571213e-02 5.45126288e+01] [ 1.11483784e-01 -5.49433384e-03 9.93751064e-01 3.29953271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.685099893 meters 0.05751358165850695 Centerline is valid? [True, True] Translation: X:312.75, Y:54.51, Z:33.00 [[ 9.60536038e-01 -2.55533561e-01 -1.09877747e-01 3.12750531e+02] [ 2.54458858e-01 9.66787408e-01 -2.39331925e-02 5.45119845e+01] [ 1.12344156e-01 -4.97067219e-03 9.93656924e-01 3.29980591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.745099893 meters 0.05509798164875456 Centerline is valid? [True, True] Translation: X:312.81, Y:54.54, Z:33.01 [[ 9.61793774e-01 -2.51194080e-01 -1.08877316e-01 3.12806440e+02] [ 2.50111199e-01 9.67926638e-01 -2.37151961e-02 5.45362394e+01] [ 1.11342372e-01 -4.42230820e-03 9.93772267e-01 3.30069002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.805099893 meters 0.05470576136707421 Centerline is valid? [True, True] Translation: X:312.86, Y:54.56, Z:33.02 [[ 9.64024956e-01 -2.43227516e-01 -1.07220609e-01 3.12862064e+02] [ 2.42128102e-01 9.69963145e-01 -2.33555219e-02 5.45609934e+01] [ 1.09680745e-01 -3.44581669e-03 9.93960895e-01 3.30152636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.865099893 meters 0.055734433705705376 Centerline is valid? [True, True] Translation: X:312.92, Y:54.57, Z:33.02 [[ 9.64826652e-01 -2.40120897e-01 -1.07011616e-01 3.12921751e+02] [ 2.39006768e-01 9.70738083e-01 -2.33096149e-02 5.45651812e+01] [ 1.09477377e-01 -3.08676275e-03 9.93984495e-01 3.30197229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.925099893 meters 0.05479274377727796 Centerline is valid? [True, True] Translation: X:312.98, Y:54.59, Z:33.03 [[ 9.66940142e-01 -2.31699783e-01 -1.06498695e-01 3.12978165e+02] [ 2.30545235e-01 9.72785029e-01 -2.31987593e-02 5.45888828e+01] [ 1.08975483e-01 -2.12095503e-03 9.94042175e-01 3.30277708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.985099893 meters 0.05478227684634156 Centerline is valid? [True, True] Translation: X:313.03, Y:54.61, Z:33.04 [[ 9.68604899e-01 -2.24517788e-01 -1.06753511e-01 3.13034809e+02] [ 2.23314145e-01 9.74469103e-01 -2.32542484e-02 5.46094069e+01] [ 1.09248990e-01 -1.31539003e-03 9.94013545e-01 3.30358786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.045099893 meters 0.05482873433008021 Centerline is valid? [True, True] Translation: X:313.09, Y:54.62, Z:33.04 [[ 9.69634676e-01 -2.19848144e-01 -1.07123244e-01 3.13090946e+02] [ 2.18607764e-01 9.75533785e-01 -2.33340959e-02 5.46234697e+01] [ 1.09632301e-01 -7.92424246e-04 9.93971896e-01 3.30413710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.105099893 meters 0.054580235911631206 Centerline is valid? [True, True] Translation: X:313.15, Y:54.64, Z:33.05 [[ 9.70047018e-01 -2.17988155e-01 -1.07191174e-01 3.13147811e+02] [ 2.16734420e-01 9.75951243e-01 -2.33529789e-02 5.46354574e+01] [ 1.09704032e-01 -5.78529439e-04 9.93964129e-01 3.30464295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.165099893 meters 0.055030120850078454 Centerline is valid? [True, True] Translation: X:313.20, Y:54.65, Z:33.05 [[ 9.70477532e-01 -2.16307391e-01 -1.06698043e-01 3.13204583e+02] [ 2.15053712e-01 9.76325239e-01 -2.32578681e-02 5.46472577e+01] [ 1.09202841e-01 -3.74571784e-04 9.94019416e-01 3.30528460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.225099893 meters 0.05494329222767218 Centerline is valid? [True, True] Translation: X:313.26, Y:54.66, Z:33.06 [[ 9.70583520e-01 -2.15554897e-01 -1.07255384e-01 3.13261508e+02] [ 2.14282116e-01 9.76491684e-01 -2.33915897e-02 5.46590618e+01] [ 1.09776163e-01 -2.79419250e-04 9.93956295e-01 3.30592752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.285099893 meters 0.05543972761144907 Centerline is valid? [True, True] Translation: X:313.32, Y:54.67, Z:33.06 [[ 9.70665328e-01 -2.15178796e-01 -1.07270248e-01 3.13317780e+02] [ 2.13901990e-01 9.76574644e-01 -2.34073315e-02 5.46685092e+01] [ 1.09794166e-01 -2.24634453e-04 9.93954320e-01 3.30644809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.345099893 meters 0.05491722651515781 Centerline is valid? [True, True] Translation: X:313.38, Y:54.67, Z:33.07 [[ 9.70261970e-01 -2.17124446e-01 -1.06998530e-01 3.13375913e+02] [ 2.15865217e-01 9.76143834e-01 -2.33543260e-02 5.46745745e+01] [ 1.09516751e-01 -4.37446572e-04 9.93984854e-01 3.30696747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.405099893 meters 0.05435195179825244 Centerline is valid? [True, True] Translation: X:313.43, Y:54.68, Z:33.08 [[ 9.69993751e-01 -2.18561751e-01 -1.06502977e-01 3.13432678e+02] [ 2.17322290e-01 9.75822940e-01 -2.32510613e-02 5.46831026e+01] [ 1.09009841e-01 -5.92086765e-04 9.94040494e-01 3.30765185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.46509989299994 meters 0.05492067562979314 Centerline is valid? [True, True] Translation: X:313.49, Y:54.69, Z:33.08 [[ 9.69957414e-01 -2.18628550e-01 -1.06696637e-01 3.13490428e+02] [ 2.17383346e-01 9.75807980e-01 -2.33080936e-02 5.46908315e+01] [ 1.09211245e-01 -5.86213812e-04 9.94018390e-01 3.30821894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.52509989299995 meters 0.05488618429231641 Centerline is valid? [True, True] Translation: X:313.55, Y:54.70, Z:33.09 [[ 9.70578417e-01 -2.15717983e-01 -1.06973305e-01 3.13547357e+02] [ 2.14447093e-01 9.76455678e-01 -2.33827424e-02 5.47000362e+01] [ 1.09498770e-01 -2.45329333e-04 9.93986901e-01 3.30876584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.58509989299995 meters 0.05537774212332528 Centerline is valid? [True, True] Translation: X:313.60, Y:54.71, Z:33.09 [[ 9.71080694e-01 -2.13110724e-01 -1.07638772e-01 3.13604301e+02] [ 2.11807374e-01 9.77028053e-01 -2.35333760e-02 5.47106521e+01] [ 1.10181314e-01 5.41215728e-05 9.93911503e-01 3.30928763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.64509989299995 meters 0.054934612875047084 Centerline is valid? [True, True] Translation: X:313.66, Y:54.72, Z:33.10 [[ 9.72137790e-01 -2.08311037e-01 -1.07492457e-01 3.13661335e+02] [ 2.06980424e-01 9.78062441e-01 -2.35152218e-02 5.47196703e+01] [ 1.10032815e-01 6.11201433e-04 9.93927767e-01 3.30995784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.70509989299995 meters 0.05501889646436249 Centerline is valid? [True, True] Translation: X:313.72, Y:54.73, Z:33.11 [[ 9.72787739e-01 -2.05675961e-01 -1.06683708e-01 3.13718628e+02] [ 2.04348999e-01 9.78619730e-01 -2.33433191e-02 5.47293078e+01] [ 1.09203942e-01 9.07385536e-04 9.94018951e-01 3.31059420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.76509989299996 meters 0.05545992090486506 Centerline is valid? [True, True] Translation: X:313.78, Y:54.74, Z:33.11 [[ 9.73148738e-01 -2.03473398e-01 -1.07610922e-01 3.13777929e+02] [ 2.02108569e-01 9.79079769e-01 -2.35569799e-02 5.47351063e+01] [ 1.10152895e-01 1.17535585e-03 9.93913959e-01 3.31128721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.82509989299996 meters 0.05595830879600273 Centerline is valid? [True, True] Translation: X:313.83, Y:54.74, Z:33.12 [[ 9.73025460e-01 -2.03419788e-01 -1.08820238e-01 3.13834789e+02] [ 2.02023405e-01 9.79090883e-01 -2.38240837e-02 5.47438316e+01] [ 1.11391193e-01 1.19720503e-03 9.93775915e-01 3.31169195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.88509989299996 meters 0.055602834360254344 Centerline is valid? [True, True] Translation: X:313.89, Y:54.75, Z:33.12 [[ 9.72673117e-01 -2.05192792e-01 -1.08641269e-01 3.13893622e+02] [ 2.03810729e-01 9.78721058e-01 -2.37965705e-02 5.47504609e+01] [ 1.11212382e-01 1.00402824e-03 9.93796155e-01 3.31245020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.94509989299996 meters 0.05570448698086401 Centerline is valid? [True, True] Translation: X:313.95, Y:54.75, Z:33.13 [[ 9.71094894e-01 -2.12612051e-01 -1.08493422e-01 3.13953143e+02] [ 2.11278632e-01 9.77136678e-01 -2.37750139e-02 5.47528159e+01] [ 1.11067756e-01 1.65452928e-04 9.93812823e-01 3.31290338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.00509989299997 meters 0.056239829968247834 Centerline is valid? [True, True] Translation: X:314.01, Y:54.76, Z:33.13 [[ 9.69911615e-01 -2.17897288e-01 -1.08592042e-01 3.14011500e+02] [ 2.16593121e-01 9.75971613e-01 -2.38082175e-02 5.47576451e+01] [ 1.11170497e-01 -4.28422703e-04 9.93801256e-01 3.31344599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.06509989299997 meters 0.056037207883795105 Centerline is valid? [True, True] Translation: X:314.07, Y:54.76, Z:33.14 [[ 9.68658180e-01 -2.23523586e-01 -1.08344532e-01 3.14070022e+02] [ 2.22258988e-01 9.74697946e-01 -2.37667169e-02 5.47644964e+01] [ 1.10915615e-01 -1.05872131e-03 9.93829264e-01 3.31418999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.12509989299997 meters 0.05578003131986156 Centerline is valid? [True, True] Translation: X:314.13, Y:54.77, Z:33.15 [[ 9.67006972e-01 -2.31043845e-01 -1.07313828e-01 3.14129472e+02] [ 2.29847908e-01 9.72941505e-01 -2.35535039e-02 5.47670354e+01] [ 1.09851970e-01 -1.88945647e-03 9.93946163e-01 3.31480798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.185099893 meters 0.05644872337781786 Centerline is valid? [True, True] Translation: X:314.19, Y:54.77, Z:33.15 [[ 9.65499121e-01 -2.37889634e-01 -1.05924360e-01 3.14188974e+02] [ 2.36765326e-01 9.71288629e-01 -2.32503914e-02 5.47696183e+01] [ 1.08414154e-01 -2.63098326e-03 9.94102333e-01 3.31548743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.245099893 meters 0.05788186689739423 Centerline is valid? [True, True] Translation: X:314.25, Y:54.77, Z:33.16 [[ 9.63916004e-01 -2.44453437e-01 -1.05396654e-01 3.14249597e+02] [ 2.43379239e-01 9.69655243e-01 -2.31355836e-02 5.47668086e+01] [ 1.07853991e-01 -3.35059817e-03 9.94161099e-01 3.31606701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.305099893 meters 0.05729885943500095 Centerline is valid? [True, True] Translation: X:314.31, Y:54.78, Z:33.17 [[ 9.62789096e-01 -2.48985097e-01 -1.05088433e-01 3.14307645e+02] [ 2.47943859e-01 9.68499684e-01 -2.30695614e-02 5.47811255e+01] [ 1.07522092e-01 -3.84490963e-03 9.94195261e-01 3.31680333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.365099893 meters 0.057836807007703515 Centerline is valid? [True, True] Translation: X:314.37, Y:54.79, Z:33.17 [[ 9.61201791e-01 -2.54196259e-01 -1.07123195e-01 3.14367380e+02] [ 2.53146495e-01 9.67142119e-01 -2.35153952e-02 5.47886567e+01] [ 1.09580879e-01 -4.51482135e-03 9.93967629e-01 3.31729011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.425099893 meters 0.05738841105458593 Centerline is valid? [True, True] Translation: X:314.43, Y:54.80, Z:33.18 [[ 9.60230360e-01 -2.57213030e-01 -1.08623722e-01 3.14425358e+02] [ 2.56152688e-01 9.66342167e-01 -2.38456982e-02 5.48030905e+01] [ 1.11101107e-01 -4.92689504e-03 9.93796896e-01 3.31789051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.485099893 meters 0.05819535976217947 Centerline is valid? [True, True] Translation: X:314.48, Y:54.81, Z:33.18 [[ 9.59974550e-01 -2.57660778e-01 -1.09817057e-01 3.14482001e+02] [ 2.56579752e-01 9.66222331e-01 -2.41088724e-02 5.48128031e+01] [ 1.12319604e-01 -5.03292928e-03 9.93659386e-01 3.31836837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.545099893 meters 0.06017067790145614 Centerline is valid? [True, True] Translation: X:314.54, Y:54.82, Z:33.19 [[ 9.60459602e-01 -2.55803935e-01 -1.09916789e-01 3.14541387e+02] [ 2.54708342e-01 9.66716688e-01 -2.41351685e-02 5.48182551e+01] [ 1.12432265e-01 -4.81586867e-03 9.93647721e-01 3.31881850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.605099893 meters 0.058680105562247675 Centerline is valid? [True, True] Translation: X:314.60, Y:54.84, Z:33.20 [[ 9.61233930e-01 -2.53554015e-01 -1.08349863e-01 3.14597352e+02] [ 2.52475072e-01 9.67310831e-01 -2.37927367e-02 5.48399159e+01] [ 1.10840740e-01 -4.48525369e-03 9.93828060e-01 3.31968323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.665099893 meters 0.05973662825258405 Centerline is valid? [True, True] Translation: X:314.66, Y:54.85, Z:33.20 [[ 9.62483780e-01 -2.49346460e-01 -1.07010819e-01 3.14655614e+02] [ 2.48268087e-01 9.68406290e-01 -2.34992486e-02 5.48533945e+01] [ 1.09489404e-01 -3.94972554e-03 9.93980116e-01 3.32031229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.725099893 meters 0.05655581888668437 Centerline is valid? [True, True] Translation: X:314.71, Y:54.88, Z:33.21 [[ 9.63535344e-01 -2.45846822e-01 -1.05636076e-01 3.14709978e+02] [ 2.44774701e-01 9.69302364e-01 -2.32006875e-02 5.48827304e+01] [ 1.08097114e-01 -3.50235661e-03 9.94134170e-01 3.32119724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.785099893 meters 0.05776101815273405 Centerline is valid? [True, True] Translation: X:314.77, Y:54.89, Z:33.22 [[ 9.63907382e-01 -2.44352667e-01 -1.05708718e-01 3.14766892e+02] [ 2.43270070e-01 9.69680690e-01 -2.32170648e-02 5.48913777e+01] [ 1.08176854e-01 -3.33666706e-03 9.94126066e-01 3.32171769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.845099893 meters 0.057096506994648875 Centerline is valid? [True, True] Translation: X:314.82, Y:54.91, Z:33.22 [[ 9.64986719e-01 -2.39973502e-01 -1.05893105e-01 3.14823715e+02] [ 2.38860166e-01 9.70775271e-01 -2.32635810e-02 5.49149448e+01] [ 1.08381051e-01 -2.84459804e-03 9.94105355e-01 3.32235639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.905099893 meters 0.05709084074707867 Centerline is valid? [True, True] Translation: X:314.88, Y:54.93, Z:33.23 [[ 9.66141015e-01 -2.35520941e-01 -1.05363301e-01 3.14880902e+02] [ 2.34392398e-01 9.71866473e-01 -2.31465450e-02 5.49281200e+01] [ 1.07850556e-01 -2.33353031e-03 9.94164379e-01 3.32294831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.96509989299994 meters 0.05551807152919523 Centerline is valid? [True, True] Translation: X:314.94, Y:54.95, Z:33.24 [[ 9.67028359e-01 -2.31660746e-01 -1.05780208e-01 3.14936447e+02] [ 2.30500061e-01 9.72794764e-01 -2.32393730e-02 5.49517302e+01] [ 1.08286083e-01 -1.90921164e-03 9.94117940e-01 3.32359997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.02509989299995 meters 0.055653688846280976 Centerline is valid? [True, True] Translation: X:314.99, Y:54.97, Z:33.24 [[ 9.67411480e-01 -2.30088150e-01 -1.05709372e-01 3.14992836e+02] [ 2.28919538e-01 9.73168252e-01 -2.32249425e-02 5.49695535e+01] [ 1.08216788e-01 -1.73086442e-03 9.94125812e-01 3.32428179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.08509989299995 meters 0.0554937484797657 Centerline is valid? [True, True] Translation: X:315.05, Y:54.98, Z:33.25 [[ 9.67375013e-01 -2.29426211e-01 -1.07467193e-01 3.15049414e+02] [ 2.28213462e-01 9.73324611e-01 -2.36181584e-02 5.49790993e+01] [ 1.10019089e-01 -1.67784397e-03 9.93928058e-01 3.32457650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.14509989299995 meters 0.05530565779496701 Centerline is valid? [True, True] Translation: X:315.11, Y:54.99, Z:33.25 [[ 9.66292878e-01 -2.33785983e-01 -1.07806253e-01 3.15107521e+02] [ 2.32591833e-01 9.72285650e-01 -2.36992265e-02 5.49922540e+01] [ 1.10359020e-01 -2.17446020e-03 9.93889410e-01 3.32520732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.20509989299995 meters 0.05673238304604905 Centerline is valid? [True, True] Translation: X:315.17, Y:55.00, Z:33.26 [[ 9.65169688e-01 -2.38736380e-01 -1.07015957e-01 3.15166711e+02] [ 2.37589993e-01 9.71080606e-01 -2.35255466e-02 5.49962235e+01] [ 1.09537524e-01 -2.71977595e-03 9.93978940e-01 3.32581726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.26509989299996 meters 0.05581692114589128 Centerline is valid? [True, True] Translation: X:315.23, Y:55.01, Z:33.26 [[ 9.62658054e-01 -2.47644503e-01 -1.09369422e-01 3.15225130e+02] [ 2.46504030e-01 9.68843462e-01 -2.40439063e-02 5.50107153e+01] [ 1.11916191e-01 -3.81394330e-03 9.93710330e-01 3.32639000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.32509989299996 meters 0.05623026454270497 Centerline is valid? [True, True] Translation: X:315.28, Y:55.02, Z:33.27 [[ 9.60743555e-01 -2.55331025e-01 -1.08525987e-01 3.15284511e+02] [ 2.54256822e-01 9.66842409e-01 -2.38584384e-02 5.50198035e+01] [ 1.11019326e-01 -4.67163171e-03 9.93807268e-01 3.32699123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.38509989299996 meters 0.057037371529084356 Centerline is valid? [True, True] Translation: X:315.34, Y:55.03, Z:33.28 [[ 9.60150111e-01 -2.57881907e-01 -1.07743616e-01 3.15342990e+02] [ 2.56839041e-01 9.66163869e-01 -2.36872187e-02 5.50336673e+01] [ 1.10206494e-01 -4.92948137e-03 9.93896488e-01 3.32770323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.44509989299996 meters 0.0567268185511853 Centerline is valid? [True, True] Translation: X:315.40, Y:55.05, Z:33.28 [[ 9.60861617e-01 -2.55030038e-01 -1.08187952e-01 3.15400659e+02] [ 2.53960461e-01 9.66922090e-01 -2.37856263e-02 5.50484547e+01] [ 1.10675370e-01 -4.62076693e-03 9.93845869e-01 3.32825670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.50509989299997 meters 0.05671446872992012 Centerline is valid? [True, True] Translation: X:315.46, Y:55.07, Z:33.29 [[ 9.61878414e-01 -2.51712801e-01 -1.06913904e-01 3.15457290e+02] [ 2.50647788e-01 9.67792918e-01 -2.35064847e-02 5.50685474e+01] [ 1.09387402e-01 -4.18735326e-03 9.93990373e-01 3.32901770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.56509989299997 meters 0.05566244540080782 Centerline is valid? [True, True] Translation: X:315.51, Y:55.09, Z:33.30 [[ 9.63550651e-01 -2.45601840e-01 -1.06065451e-01 3.15513929e+02] [ 2.44516836e-01 9.69364600e-01 -2.33193114e-02 5.50864997e+01] [ 1.08543359e-01 -3.46545074e-03 9.94085675e-01 3.32978775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.62509989299997 meters 0.05637214412124625 Centerline is valid? [True, True] Translation: X:315.57, Y:55.10, Z:33.30 [[ 9.64705992e-01 -2.40863616e-01 -1.06428694e-01 3.15572146e+02] [ 2.39742294e-01 9.70554515e-01 -2.34001092e-02 5.51020422e+01] [ 1.08931085e-01 -2.94123368e-03 9.94044953e-01 3.33032984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.685099893 meters 0.0551095892624782 Centerline is valid? [True, True] Translation: X:315.63, Y:55.12, Z:33.31 [[ 9.64978945e-01 -2.39672083e-01 -1.06643934e-01 3.15627824e+02] [ 2.38538960e-01 9.70849825e-01 -2.34474210e-02 5.51217928e+01] [ 1.09154937e-01 -2.81246551e-03 9.94020769e-01 3.33098329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.745099893 meters 0.05596502805868586 Centerline is valid? [True, True] Translation: X:315.68, Y:55.13, Z:33.31 [[ 9.64554880e-01 -2.40715208e-01 -1.08120639e-01 3.15684793e+02] [ 2.39555552e-01 9.70591279e-01 -2.37845892e-02 5.51303597e+01] [ 1.10666262e-01 -2.95935792e-03 9.93853219e-01 3.33139962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.805099893 meters 0.05548754965689577 Centerline is valid? [True, True] Translation: X:315.74, Y:55.15, Z:33.32 [[ 9.63889936e-01 -2.42834267e-01 -1.09305584e-01 3.15741957e+02] [ 2.41662051e-01 9.70062401e-01 -2.40497666e-02 5.51472229e+01] [ 1.11873345e-01 -3.23368366e-03 9.93717212e-01 3.33204093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.865099893 meters 0.055399101762416296 Centerline is valid? [True, True] Translation: X:315.80, Y:55.16, Z:33.33 [[ 9.63936470e-01 -2.43272998e-01 -1.07910751e-01 3.15797607e+02] [ 2.42133034e-01 9.69952449e-01 -2.37453432e-02 5.51604449e+01] [ 1.10444898e-01 -3.23975533e-03 9.93876968e-01 3.33272286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.925099893 meters 0.0553784296059874 Centerline is valid? [True, True] Translation: X:315.85, Y:55.18, Z:33.33 [[ 9.64488756e-01 -2.41495942e-01 -1.06963305e-01 3.15854454e+02] [ 2.40363657e-01 9.70397202e-01 -2.35495912e-02 5.51776250e+01] [ 1.09484023e-01 -2.99677524e-03 9.93984038e-01 3.33348911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.985099893 meters 0.05598841571726736 Centerline is valid? [True, True] Translation: X:315.91, Y:55.19, Z:33.34 [[ 9.65969900e-01 -2.36289913e-01 -1.05210404e-01 3.15912126e+02] [ 2.35163518e-01 9.71679724e-01 -2.31653600e-02 5.51890412e+01] [ 1.07704557e-01 -2.36460826e-03 9.94180133e-01 3.33420108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.045099893 meters 0.05532895979277984 Centerline is valid? [True, True] Translation: X:315.97, Y:55.21, Z:33.35 [[ 9.67378874e-01 -2.31182399e-01 -1.03599288e-01 3.15968002e+02] [ 2.30061067e-01 9.72908821e-01 -2.28107642e-02 5.52130987e+01] [ 1.06066108e-01 -1.76751137e-03 9.94357509e-01 3.33502536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.105099893 meters 0.05516137270607572 Centerline is valid? [True, True] Translation: X:316.02, Y:55.23, Z:33.36 [[ 9.68272051e-01 -2.28014670e-01 -1.02267028e-01 3.16022951e+02] [ 2.26904388e-01 9.73656688e-01 -2.25178264e-02 5.52286790e+01] [ 1.04707370e-01 -1.40145540e-03 9.94502088e-01 3.33584013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.165099893 meters 0.05498455302574696 Centerline is valid? [True, True] Translation: X:316.08, Y:55.24, Z:33.36 [[ 9.67851017e-01 -2.28832637e-01 -1.04403224e-01 3.16081167e+02] [ 2.27679606e-01 9.73464598e-01 -2.29928955e-02 5.52375557e+01] [ 1.06894367e-01 -1.51678768e-03 9.94269226e-01 3.33624441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.225099893 meters 0.054968695642727855 Centerline is valid? [True, True] Translation: X:316.14, Y:55.25, Z:33.37 [[ 9.67519347e-01 -2.29721531e-01 -1.05519338e-01 3.16138290e+02] [ 2.28547692e-01 9.73255049e-01 -2.32500113e-02 5.52494644e+01] [ 1.08038257e-01 -1.62136540e-03 9.94145415e-01 3.33677927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.285099893 meters 0.055201050921002935 Centerline is valid? [True, True] Translation: X:316.20, Y:55.26, Z:33.37 [[ 9.66835646e-01 -2.31908588e-01 -1.06991778e-01 3.16195508e+02] [ 2.30714163e-01 9.72735758e-01 -2.35821791e-02 5.52614421e+01] [ 1.09543638e-01 -1.88442708e-03 9.93980201e-01 3.33726855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.345099893 meters 0.05541249393973403 Centerline is valid? [True, True] Translation: X:316.25, Y:55.27, Z:33.38 [[ 9.65945324e-01 -2.34981574e-01 -1.08320316e-01 3.16253780e+02] [ 2.33775016e-01 9.71997225e-01 -2.38879823e-02 5.52691338e+01] [ 1.10900283e-01 -2.24809894e-03 9.93828996e-01 3.33772733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.405099893 meters 0.05580639399154379 Centerline is valid? [True, True] Translation: X:316.31, Y:55.28, Z:33.38 [[ 9.65483781e-01 -2.37287302e-01 -1.07404867e-01 3.16312046e+02] [ 2.36114998e-01 9.71436330e-01 -2.36889174e-02 5.52772470e+01] [ 1.09958069e-01 -2.48863436e-03 9.93933111e-01 3.33837298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.46509989299994 meters 0.05590439900774127 Centerline is valid? [True, True] Translation: X:316.37, Y:55.29, Z:33.39 [[ 9.65183552e-01 -2.39100749e-01 -1.06073293e-01 3.16368433e+02] [ 2.37968006e-01 9.70991124e-01 -2.33979724e-02 5.52855776e+01] [ 1.08590699e-01 -2.65871200e-03 9.94082990e-01 3.33907910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.52509989299995 meters 0.056332680806975045 Centerline is valid? [True, True] Translation: X:316.43, Y:55.30, Z:33.40 [[ 9.63982442e-01 -2.44603706e-01 -1.04436001e-01 3.16426771e+02] [ 2.43537337e-01 9.69617783e-01 -2.30417284e-02 5.52976707e+01] [ 1.06899095e-01 -3.22224386e-03 9.94264653e-01 3.33991431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.58509989299995 meters 0.057120422431477566 Centerline is valid? [True, True] Translation: X:316.49, Y:55.30, Z:33.41 [[ 9.61966467e-01 -2.52844559e-01 -1.03393158e-01 3.16486287e+02] [ 2.51846637e-01 9.67498250e-01 -2.28124262e-02 5.53036575e+01] [ 1.05800698e-01 -4.09443020e-03 9.94378926e-01 3.34066591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.64509989299995 meters 0.05763135274435593 Centerline is valid? [True, True] Translation: X:316.55, Y:55.31, Z:33.41 [[ 9.59543649e-01 -2.61741927e-01 -1.03764873e-01 3.16546049e+02] [ 2.60788460e-01 9.65124463e-01 -2.28943260e-02 5.53128191e+01] [ 1.06138423e-01 -5.09257640e-03 9.94338323e-01 3.34130017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.70509989299995 meters 0.05904656095366772 Centerline is valid? [True, True] Translation: X:316.61, Y:55.32, Z:33.42 [[ 9.58774461e-01 -2.64266870e-01 -1.04472745e-01 3.16605329e+02] [ 2.63315192e-01 9.64434429e-01 -2.30508588e-02 5.53197831e+01] [ 1.06848691e-01 -5.40868632e-03 9.94260581e-01 3.34188500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.76509989299996 meters 0.05876861631590708 Centerline is valid? [True, True] Translation: X:316.66, Y:55.34, Z:33.43 [[ 9.57667852e-01 -2.67840553e-01 -1.05516460e-01 3.16663397e+02] [ 2.66891282e-01 9.63445396e-01 -2.32811755e-02 5.53365872e+01] [ 1.07894990e-01 -5.86578984e-03 9.94144991e-01 3.34252477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.82509989299996 meters 0.05466270672636584 Centerline is valid? [True, True] Translation: X:316.72, Y:55.37, Z:33.43 [[ 9.57792526e-01 -2.67496030e-01 -1.05258496e-01 3.16719394e+02] [ 2.66549354e-01 9.63541429e-01 -2.32240408e-02 5.53689494e+01] [ 1.07633260e-01 -5.81277146e-03 9.94173673e-01 3.34327454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.88509989299996 meters 0.05812964992314118 Centerline is valid? [True, True] Translation: X:316.78, Y:55.37, Z:33.44 [[ 9.58847290e-01 -2.62983638e-01 -1.07011595e-01 3.16781067e+02] [ 2.61977547e-01 9.64785188e-01 -2.36073270e-02 5.53668288e+01] [ 1.09451542e-01 -5.39881355e-03 9.93977471e-01 3.34361384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.94509989299996 meters 0.055658034325706304 Centerline is valid? [True, True] Translation: X:316.84, Y:55.40, Z:33.44 [[ 9.60954223e-01 -2.54676931e-01 -1.08197235e-01 3.16835566e+02] [ 2.53595938e-01 9.67015716e-01 -2.38685176e-02 5.53981159e+01] [ 1.10707187e-01 -4.50182639e-03 9.93842871e-01 3.34426623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.00509989299997 meters 0.0555902118243976 Centerline is valid? [True, True] Translation: X:316.89, Y:55.42, Z:33.45 [[ 9.63695488e-01 -2.44254409e-01 -1.07846142e-01 3.16891396e+02] [ 2.43115342e-01 9.69705597e-01 -2.37904630e-02 5.54175851e+01] [ 1.10389933e-01 -3.29228981e-03 9.93882902e-01 3.34489736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.06509989299997 meters 0.055705115876055394 Centerline is valid? [True, True] Translation: X:316.95, Y:55.44, Z:33.46 [[ 9.65547001e-01 -2.37158224e-01 -1.07121264e-01 3.16948317e+02] [ 2.35990818e-01 9.71467916e-01 -2.36309698e-02 5.54374281e+01] [ 1.09669150e-01 -2.46282274e-03 9.93965096e-01 3.34563023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.12509989299997 meters 0.05504243195030136 Centerline is valid? [True, True] Translation: X:317.00, Y:55.46, Z:33.46 [[ 9.68095500e-01 -2.26867214e-01 -1.06406624e-01 3.17003872e+02] [ 2.25653245e-01 9.73924849e-01 -2.34734052e-02 5.54603857e+01] [ 1.08957402e-01 -1.28650219e-03 9.94045587e-01 3.34629292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.185099893 meters 0.05540692263198038 Centerline is valid? [True, True] Translation: X:317.06, Y:55.48, Z:33.47 [[ 9.69357580e-01 -2.21421737e-01 -1.06387486e-01 3.17060296e+02] [ 2.20175272e-01 9.75177913e-01 -2.34709726e-02 5.54786305e+01] [ 1.08943710e-01 -6.72128489e-04 9.94047693e-01 3.34698770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.245099893 meters 0.05511577242520145 Centerline is valid? [True, True] Translation: X:317.12, Y:55.49, Z:33.47 [[ 9.70249097e-01 -2.17060463e-01 -1.07244794e-01 3.17115802e+02] [ 2.15766963e-01 9.76158144e-01 -2.36621088e-02 5.54938702e+01] [ 1.09823988e-01 -1.81743882e-04 9.93951034e-01 3.34749371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.305099893 meters 0.055037623055385385 Centerline is valid? [True, True] Translation: X:317.17, Y:55.51, Z:33.48 [[ 9.69890102e-01 -2.17927498e-01 -1.08723482e-01 3.17172852e+02] [ 2.16602872e-01 9.75964921e-01 -2.39930861e-02 5.55054178e+01] [ 1.11339058e-01 -2.79161699e-04 9.93782439e-01 3.34786436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.365099893 meters 0.05510480577296844 Centerline is valid? [True, True] Translation: X:317.23, Y:55.51, Z:33.49 [[ 9.69108014e-01 -2.22122722e-01 -1.07196800e-01 3.17230590e+02] [ 2.20860168e-01 9.75018431e-01 -2.36610490e-02 5.55140786e+01] [ 1.09774513e-01 -7.45391173e-04 9.93956237e-01 3.34867092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.425099893 meters 0.054631802952526495 Centerline is valid? [True, True] Translation: X:317.29, Y:55.52, Z:33.49 [[ 9.67949387e-01 -2.27584352e-01 -1.06204272e-01 3.17289116e+02] [ 2.26376555e-01 9.73757448e-01 -2.34539552e-02 5.55240124e+01] [ 1.08754954e-01 -1.33991570e-03 9.94067686e-01 3.34943104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.485099893 meters 0.05497447578024527 Centerline is valid? [True, True] Translation: X:317.35, Y:55.53, Z:33.50 [[ 9.67150300e-01 -2.31082494e-01 -1.05930064e-01 3.17347397e+02] [ 2.29901631e-01 9.72932628e-01 -2.33953081e-02 5.55317776e+01] [ 1.08469062e-01 -1.72671527e-03 9.94098326e-01 3.34995330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.545099893 meters 0.055333545288857144 Centerline is valid? [True, True] Translation: X:317.41, Y:55.54, Z:33.51 [[ 9.66342760e-01 -2.35334043e-01 -1.03920922e-01 3.17406317e+02] [ 2.34221855e-01 9.71912150e-01 -2.29542026e-02 5.55392472e+01] [ 1.06403912e-01 -2.15892366e-03 9.94320646e-01 3.35072211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.605099893 meters 0.05624383692854312 Centerline is valid? [True, True] Translation: X:317.46, Y:55.55, Z:33.51 [[ 9.65813266e-01 -2.37791170e-01 -1.03247736e-01 3.17464258e+02] [ 2.36707268e-01 9.71313306e-01 -2.28063849e-02 5.55503233e+01] [ 1.05709057e-01 -2.41278055e-03 9.94394174e-01 3.35141498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.665099893 meters 0.055581225757605476 Centerline is valid? [True, True] Translation: X:317.52, Y:55.56, Z:33.52 [[ 9.65914386e-01 -2.37362806e-01 -1.03287450e-01 3.17521795e+02] [ 2.36275348e-01 9.71418194e-01 -2.28177861e-02 5.55580185e+01] [ 1.05751402e-01 -2.36425030e-03 9.94389788e-01 3.35197441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.725099893 meters 0.055601661500047916 Centerline is valid? [True, True] Translation: X:317.58, Y:55.57, Z:33.53 [[ 9.66211110e-01 -2.35753983e-01 -1.04192850e-01 3.17578749e+02] [ 2.34637329e-01 9.71810277e-01 -2.30241200e-02 5.55714602e+01] [ 1.06683710e-01 -2.20137139e-03 9.94290571e-01 3.35252060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.785099893 meters 0.05501197752589304 Centerline is valid? [True, True] Translation: X:317.64, Y:55.59, Z:33.53 [[ 9.67427930e-01 -2.30162909e-01 -1.05395619e-01 3.17636603e+02] [ 2.28985942e-01 9.73150811e-01 -2.33010234e-02 5.55871858e+01] [ 1.07928863e-01 -1.59205420e-03 9.94157345e-01 3.35303594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.845099893 meters 0.0560479695239478 Centerline is valid? [True, True] Translation: X:317.69, Y:55.60, Z:33.54 [[ 9.69444673e-01 -2.21112732e-01 -1.06236462e-01 3.17693310e+02] [ 2.19862564e-01 9.75248078e-01 -2.34869988e-02 5.56027154e+01] [ 1.08800180e-01 -5.88075062e-04 9.94063466e-01 3.35350787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.905099893 meters 0.05558384554604553 Centerline is valid? [True, True] Translation: X:317.75, Y:55.62, Z:33.54 [[ 9.71372804e-01 -2.12391665e-01 -1.06417369e-01 3.17748755e+02] [ 2.11084687e-01 9.77184541e-01 -2.35293115e-02 5.56201212e+01] [ 1.08986838e-01 3.92656137e-04 9.94043115e-01 3.35416404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.96509989299994 meters 0.055827664791132894 Centerline is valid? [True, True] Translation: X:317.81, Y:55.63, Z:33.55 [[ 9.71981812e-01 -2.09582702e-01 -1.06425791e-01 3.17805888e+02] [ 2.08257363e-01 9.77790659e-01 -2.35435373e-02 5.56313570e+01] [ 1.08996463e-01 7.19935477e-04 9.94041877e-01 3.35485852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.02509989299995 meters 0.055402034621532675 Centerline is valid? [True, True] Translation: X:317.86, Y:55.64, Z:33.55 [[ 9.71569991e-01 -2.10799682e-01 -1.07774051e-01 3.17862961e+02] [ 2.09446576e-01 9.77529095e-01 -2.38537375e-02 5.56419178e+01] [ 1.10380631e-01 6.02669591e-04 9.93889206e-01 3.35512001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.08509989299995 meters 0.055487206754131005 Centerline is valid? [True, True] Translation: X:317.92, Y:55.65, Z:33.56 [[ 9.69770521e-01 -2.18220161e-01 -1.09202098e-01 3.17921212e+02] [ 2.16876633e-01 9.75899537e-01 -2.41789165e-02 5.56452826e+01] [ 1.11846604e-01 -2.35382883e-04 9.93725456e-01 3.35593779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.14509989299995 meters 0.05566367728800185 Centerline is valid? [True, True] Translation: X:317.98, Y:55.65, Z:33.56 [[ 9.68255160e-01 -2.25350243e-01 -1.08162899e-01 3.17979949e+02] [ 2.24075004e-01 9.74277269e-01 -2.39623824e-02 5.56503409e+01] [ 1.10780583e-01 -1.03490170e-03 9.93844350e-01 3.35647415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.20509989299995 meters 0.056472554384714164 Centerline is valid? [True, True] Translation: X:318.04, Y:55.64, Z:33.57 [[ 9.64857639e-01 -2.39988133e-01 -1.07030057e-01 3.18042041e+02] [ 2.38827734e-01 9.70772142e-01 -2.37225998e-02 5.56442166e+01] [ 1.09594940e-01 -2.67281418e-03 9.93972739e-01 3.35727835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.26509989299996 meters 0.05725604915404585 Centerline is valid? [True, True] Translation: X:318.10, Y:55.65, Z:33.58 [[ 9.63088360e-01 -2.47343456e-01 -1.06216883e-01 3.18102101e+02] [ 2.46245148e-01 9.68921612e-01 -2.35422548e-02 5.56512982e+01] [ 1.08738856e-01 -3.48212043e-03 9.94064251e-01 3.35804063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.32509989299996 meters 0.05664996052562263 Centerline is valid? [True, True] Translation: X:318.16, Y:55.66, Z:33.59 [[ 9.61426640e-01 -2.53910076e-01 -1.05775656e-01 3.18161211e+02] [ 2.52860491e-01 9.67218679e-01 -2.34435465e-02 5.56615198e+01] [ 1.08260743e-01 -4.20723408e-03 9.94113631e-01 3.35874681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.38509989299996 meters 0.059181310476987124 Centerline is valid? [True, True] Translation: X:318.22, Y:55.66, Z:33.59 [[ 9.59564516e-01 -2.61286070e-01 -1.04716422e-01 3.18221445e+02] [ 2.60301033e-01 9.65248526e-01 -2.32089610e-02 5.56628222e+01] [ 1.07141551e-01 -4.98729753e-03 9.94231268e-01 3.35938334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.44509989299996 meters 0.058219500982709754 Centerline is valid? [True, True] Translation: X:318.28, Y:55.68, Z:33.60 [[ 9.58311934e-01 -2.66006586e-01 -1.04301165e-01 3.18279591e+02] [ 2.65057101e-01 9.63955565e-01 -2.31171536e-02 5.56770138e+01] [ 1.06691003e-01 -5.49232011e-03 9.94277056e-01 3.36001079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.50509989299997 meters 0.05963846396572434 Centerline is valid? [True, True] Translation: X:318.34, Y:55.68, Z:33.61 [[ 9.57526628e-01 -2.68573412e-01 -1.04933690e-01 3.18338309e+02] [ 2.67627671e-01 9.63241675e-01 -2.32573689e-02 5.56842771e+01] [ 1.07322814e-01 -5.81360909e-03 9.94207230e-01 3.36055650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.56509989299997 meters 0.05681788195476392 Centerline is valid? [True, True] Translation: X:318.39, Y:55.71, Z:33.61 [[ 9.56943297e-01 -2.70063445e-01 -1.06420214e-01 3.18394072e+02] [ 2.69100019e-01 9.62823409e-01 -2.35852496e-02 5.57079345e+01] [ 1.08833387e-01 -6.06793512e-03 9.94041485e-01 3.36100115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.62509989299997 meters 0.057788191799505055 Centerline is valid? [True, True] Translation: X:318.45, Y:55.72, Z:33.62 [[ 9.57103292e-01 -2.69455983e-01 -1.06521185e-01 3.18450641e+02] [ 2.68486964e-01 9.62993988e-01 -2.36078343e-02 5.57180591e+01] [ 1.08940533e-01 -6.00441357e-03 9.94030134e-01 3.36153106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.685099893 meters 0.058200004797118454 Centerline is valid? [True, True] Translation: X:318.51, Y:55.74, Z:33.62 [[ 9.59403378e-01 -2.61468472e-01 -1.05732665e-01 3.18507877e+02] [ 2.60464955e-01 9.65198787e-01 -2.34373486e-02 5.57365301e+01] [ 1.08181168e-01 -5.05378261e-03 9.94118350e-01 3.36221071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.745099893 meters 0.05574318529790669 Centerline is valid? [True, True] Translation: X:318.56, Y:55.77, Z:33.63 [[ 9.61127524e-01 -2.54948821e-01 -1.05995196e-01 3.18561785e+02] [ 2.53900621e-01 9.66944860e-01 -2.34970703e-02 5.57685163e+01] [ 1.08482061e-01 -4.32856520e-03 9.94088983e-01 3.36299258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.805099893 meters 0.05594996646183044 Centerline is valid? [True, True] Translation: X:318.62, Y:55.79, Z:33.64 [[ 9.63973790e-01 -2.43732833e-01 -1.06530924e-01 3.18618826e+02] [ 2.42605559e-01 9.69837523e-01 -2.36161255e-02 5.57853453e+01] [ 1.09073713e-01 -3.07966835e-03 9.94028893e-01 3.36352127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.865099893 meters 0.05577756301375319 Centerline is valid? [True, True] Translation: X:318.67, Y:55.81, Z:33.64 [[ 9.66748004e-01 -2.32866083e-01 -1.05696187e-01 3.18674479e+02] [ 2.31691423e-01 9.72507078e-01 -2.34321870e-02 5.58065909e+01] [ 1.08246851e-01 -1.83587985e-03 9.94122351e-01 3.36407226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.925099893 meters 0.05474416015672579 Centerline is valid? [True, True] Translation: X:318.73, Y:55.83, Z:33.65 [[ 9.68896009e-01 -2.23682320e-01 -1.05861905e-01 3.18730568e+02] [ 2.22449174e-01 9.74661769e-01 -2.34691552e-02 5.58295767e+01] [ 1.08429187e-01 -8.09722487e-04 9.94103846e-01 3.36468571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.985099893 meters 0.05534374390999025 Centerline is valid? [True, True] Translation: X:318.79, Y:55.85, Z:33.65 [[ 9.70348585e-01 -2.17010493e-01 -1.06442797e-01 3.18785043e+02] [ 2.15723590e-01 9.76169269e-01 -2.35985380e-02 5.58486531e+01] [ 1.09027317e-01 -6.34143028e-05 9.94038752e-01 3.36520162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.045099893 meters 0.05440374554492727 Centerline is valid? [True, True] Translation: X:318.84, Y:55.86, Z:33.66 [[ 9.70792144e-01 -2.15034793e-01 -1.06407945e-01 3.18841274e+02] [ 2.13736376e-01 9.76606375e-01 -2.35955583e-02 5.58626763e+01] [ 1.08992543e-01 1.63134061e-04 9.94042554e-01 3.36574634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.105099893 meters 0.05494955125460351 Centerline is valid? [True, True] Translation: X:318.90, Y:55.87, Z:33.66 [[ 9.70813147e-01 -2.15218147e-01 -1.05844141e-01 3.18898335e+02] [ 2.13933206e-01 9.76565986e-01 -2.34831401e-02 5.58736505e+01] [ 1.08417786e-01 1.54164691e-04 9.94105407e-01 3.36639327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.165099893 meters 0.05510629825654122 Centerline is valid? [True, True] Translation: X:318.95, Y:55.88, Z:33.67 [[ 9.70119177e-01 -2.18779527e-01 -1.04901385e-01 3.18954935e+02] [ 2.17537209e-01 9.75774290e-01 -2.32830108e-02 5.58803845e+01] [ 1.07453920e-01 -2.32659153e-04 9.94210039e-01 3.36704447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.225099893 meters 0.05503046390753921 Centerline is valid? [True, True] Translation: X:319.01, Y:55.88, Z:33.68 [[ 9.68892823e-01 -2.25324447e-01 -1.02350335e-01 3.19013641e+02] [ 2.24177329e-01 9.74283346e-01 -2.27263700e-02 5.58843822e+01] [ 1.04839033e-01 -9.25207785e-04 9.94488774e-01 3.36783691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.285099893 meters 0.0554899583167307 Centerline is valid? [True, True] Translation: X:319.07, Y:55.89, Z:33.68 [[ 9.67670046e-01 -2.30708392e-01 -1.01923112e-01 3.19072341e+02] [ 2.29599288e-01 9.73021798e-01 -2.26439387e-02 5.58890894e+01] [ 1.04397557e-01 -1.48961282e-03 9.94534530e-01 3.36842915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.345099893 meters 0.056099485516387826 Centerline is valid? [True, True] Translation: X:319.13, Y:55.89, Z:33.69 [[ 9.65578823e-01 -2.39398975e-01 -1.01713654e-01 3.19132913e+02] [ 2.38341997e-01 9.70918265e-01 -2.26012176e-02 5.58874971e+01] [ 1.04166353e-01 -2.41937835e-03 9.94556945e-01 3.36890804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.405099893 meters 0.056627478236144974 Centerline is valid? [True, True] Translation: X:319.19, Y:55.89, Z:33.70 [[ 9.63566936e-01 -2.47511808e-01 -1.01373884e-01 3.19193919e+02] [ 2.46506646e-01 9.68879307e-01 -2.25246873e-02 5.58900731e+01] [ 1.03794184e-01 -3.28529221e-03 9.94593371e-01 3.36951839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.46509989299994 meters 0.05738206420424748 Centerline is valid? [True, True] Translation: X:319.26, Y:55.89, Z:33.70 [[ 9.61714097e-01 -2.54245581e-01 -1.02299464e-01 3.19255436e+02] [ 2.53259787e-01 9.67131221e-01 -2.27306400e-02 5.58921692e+01] [ 1.04716170e-01 -4.04796349e-03 9.94493910e-01 3.36993260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.52509989299995 meters 0.05851261690075541 Centerline is valid? [True, True] Translation: X:319.32, Y:55.90, Z:33.70 [[ 9.60773234e-01 -2.57276090e-01 -1.03555811e-01 3.19315671e+02] [ 2.56283371e-01 9.66327775e-01 -2.30100958e-02 5.59000146e+01] [ 1.05988804e-01 -4.43214825e-03 9.94357446e-01 3.37036795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.58509989299995 meters 0.05802290589068222 Centerline is valid? [True, True] Translation: X:319.38, Y:55.91, Z:33.71 [[ 9.59766073e-01 -2.60806570e-01 -1.04062565e-01 3.19375578e+02] [ 2.59824716e-01 9.65378917e-01 -2.31227892e-02 5.59097611e+01] [ 1.06490382e-01 -4.84555798e-03 9.94301926e-01 3.37091249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.64509989299995 meters 0.058757048883200595 Centerline is valid? [True, True] Translation: X:319.44, Y:55.92, Z:33.71 [[ 9.59310824e-01 -2.62285644e-01 -1.04541779e-01 3.19435442e+02] [ 2.61303455e-01 9.64977155e-01 -2.32291928e-02 5.59187032e+01] [ 1.06973112e-01 -5.03311201e-03 9.94249175e-01 3.37139281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.70509989299995 meters 0.056395500173055016 Centerline is valid? [True, True] Translation: X:319.49, Y:55.94, Z:33.72 [[ 9.58696845e-01 -2.64369823e-01 -1.04923572e-01 3.19492056e+02] [ 2.63392931e-01 9.64406894e-01 -2.33132422e-02 5.59409406e+01] [ 1.07352334e-01 -5.28579536e-03 9.94206989e-01 3.37195518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.76509989299996 meters 0.05517830726519745 Centerline is valid? [True, True] Translation: X:319.55, Y:55.96, Z:33.73 [[ 9.58267877e-01 -2.65597101e-01 -1.05739567e-01 3.19548661e+02] [ 2.64612262e-01 9.64068625e-01 -2.34954726e-02 5.59596038e+01] [ 1.08180528e-01 -5.46502930e-03 9.94116244e-01 3.37251010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.82509989299996 meters 0.05645749605320452 Centerline is valid? [True, True] Translation: X:319.61, Y:55.97, Z:33.73 [[ 9.57719639e-01 -2.66777679e-01 -1.07716126e-01 3.19606809e+02] [ 2.65762840e-01 9.63741227e-01 -2.39365930e-02 5.59686800e+01] [ 1.10196220e-01 -5.70239826e-03 9.93893493e-01 3.37291750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.88509989299996 meters 0.05446760321879163 Centerline is valid? [True, True] Translation: X:319.66, Y:55.99, Z:33.74 [[ 9.57287758e-01 -2.68220784e-01 -1.07971103e-01 3.19663257e+02] [ 2.67209963e-01 9.63339523e-01 -2.39958233e-02 5.59910334e+01] [ 1.10449009e-01 -5.88004651e-03 9.93864398e-01 3.37365791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.94509989299996 meters 0.0556588424261083 Centerline is valid? [True, True] Translation: X:319.72, Y:56.00, Z:33.74 [[ 9.56812755e-01 -2.70036868e-01 -1.07654274e-01 3.19720990e+02] [ 2.69043384e-01 9.62830841e-01 -2.39255117e-02 5.60016399e+01] [ 1.10113625e-01 -6.07143539e-03 9.93900461e-01 3.37426091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.00509989299997 meters 0.05585742362492208 Centerline is valid? [True, True] Translation: X:319.78, Y:56.02, Z:33.75 [[ 9.57102725e-01 -2.69306304e-01 -1.06904107e-01 3.19777151e+02] [ 2.68321898e-01 9.63036236e-01 -2.37606385e-02 5.60174291e+01] [ 1.09351419e-01 -5.94334110e-03 9.93985384e-01 3.37494972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.06509989299997 meters 0.05630889136859696 Centerline is valid? [True, True] Translation: X:319.83, Y:56.03, Z:33.76 [[ 9.57960381e-01 -2.66538465e-01 -1.06156276e-01 3.19834897e+02] [ 2.65550529e-01 9.63808105e-01 -2.35977245e-02 5.60313454e+01] [ 1.08603980e-01 -5.58417005e-03 9.94069410e-01 3.37562147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.12509989299997 meters 0.05584197745633005 Centerline is valid? [True, True] Translation: X:319.89, Y:56.05, Z:33.76 [[ 9.60049663e-01 -2.59790754e-01 -1.03987540e-01 3.19891284e+02] [ 2.58803323e-01 9.65653400e-01 -2.31160548e-02 5.60521397e+01] [ 1.06421259e-01 -4.71976042e-03 9.94309931e-01 3.37646440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.185099893 meters 0.058115131066734896 Centerline is valid? [True, True] Translation: X:319.95, Y:56.06, Z:33.77 [[ 9.62429656e-01 -2.50890178e-01 -1.03842553e-01 3.19949621e+02] [ 2.49853685e-01 9.68008379e-01 -2.30849409e-02 5.60610290e+01] [ 1.06312247e-01 -3.72781287e-03 9.94325807e-01 3.37700436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.245099893 meters 0.053924793454388345 Centerline is valid? [True, True] Translation: X:320.00, Y:56.10, Z:33.78 [[ 9.64867432e-01 -2.41662667e-01 -1.03101860e-01 3.20003729e+02] [ 2.40588273e-01 9.70356595e-01 -2.29207723e-02 5.60965106e+01] [ 1.05584665e-01 -2.68959176e-03 9.94406680e-01 3.37774603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.305099893 meters 0.054990988494477325 Centerline is valid? [True, True] Translation: X:320.06, Y:56.11, Z:33.78 [[ 9.66559891e-01 -2.33786114e-01 -1.05385153e-01 3.20061133e+02] [ 2.32616538e-01 9.72286257e-01 -2.34303430e-02 5.61115094e+01] [ 1.07942225e-01 -1.86749970e-03 9.94155415e-01 3.37804962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.365099893 meters 0.054014924130822456 Centerline is valid? [True, True] Translation: X:320.12, Y:56.13, Z:33.79 [[ 9.67086530e-01 -2.31265585e-01 -1.06112548e-01 3.20116961e+02] [ 2.30064471e-01 9.72889348e-01 -2.35935679e-02 5.61311483e+01] [ 1.08692148e-01 -1.59570545e-03 9.94074178e-01 3.37862825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.425099893 meters 0.05459733517321775 Centerline is valid? [True, True] Translation: X:320.17, Y:56.15, Z:33.79 [[ 9.66996000e-01 -2.31671057e-01 -1.06053084e-01 3.20173054e+02] [ 2.30473309e-01 9.72792806e-01 -2.35841265e-02 5.61481738e+01] [ 1.08631437e-01 -1.63664920e-03 9.94080747e-01 3.37921360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.485099893 meters 0.05485666386703896 Centerline is valid? [True, True] Translation: X:320.23, Y:56.16, Z:33.80 [[ 9.66873747e-01 -2.32010364e-01 -1.06425319e-01 3.20229597e+02] [ 2.30804923e-01 9.72711882e-01 -2.36787341e-02 5.61573997e+01] [ 1.09014884e-01 -1.66914138e-03 9.94038716e-01 3.37969115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.545099893 meters 0.05321343614519786 Centerline is valid? [True, True] Translation: X:320.29, Y:56.18, Z:33.80 [[ 9.66639917e-01 -2.33049888e-01 -1.06278037e-01 3.20285629e+02] [ 2.31853555e-01 9.72463153e-01 -2.36504921e-02 5.61762684e+01] [ 1.08863220e-01 -1.77943097e-03 9.94055146e-01 3.38046912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.605099893 meters 0.05373778333013916 Centerline is valid? [True, True] Translation: X:320.34, Y:56.19, Z:33.81 [[ 9.66346617e-01 -2.34189812e-01 -1.06439413e-01 3.20342136e+02] [ 2.32996491e-01 9.72189019e-01 -2.36885251e-02 5.61862548e+01] [ 1.09026839e-01 -1.90868359e-03 9.94036974e-01 3.38092102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.665099893 meters 0.054450163622127415 Centerline is valid? [True, True] Translation: X:320.40, Y:56.20, Z:33.81 [[ 9.66089021e-01 -2.35067848e-01 -1.06841516e-01 3.20399385e+02] [ 2.33870016e-01 9.71976889e-01 -2.37853362e-02 5.62002914e+01] [ 1.09438652e-01 -2.00827471e-03 9.93991523e-01 3.38145427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.725099893 meters 0.05385944988193899 Centerline is valid? [True, True] Translation: X:320.45, Y:56.22, Z:33.82 [[ 9.66069070e-01 -2.35408836e-01 -1.06269620e-01 3.20454610e+02] [ 2.34224500e-01 9.71894328e-01 -2.36706170e-02 5.62152961e+01] [ 1.08855113e-01 -2.02349763e-03 9.94055567e-01 3.38209769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.785099893 meters 0.054472861659944825 Centerline is valid? [True, True] Translation: X:320.51, Y:56.23, Z:33.83 [[ 9.66393406e-01 -2.34381808e-01 -1.05588602e-01 3.20510288e+02] [ 2.33205013e-01 9.72142802e-01 -2.35328485e-02 5.62293608e+01] [ 1.08162871e-01 -1.88180172e-03 9.94131406e-01 3.38268896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.845099893 meters 0.05357370528281818 Centerline is valid? [True, True] Translation: X:320.57, Y:56.25, Z:33.83 [[ 9.66744632e-01 -2.32763764e-01 -1.05952100e-01 3.20567122e+02] [ 2.31568670e-01 9.72531815e-01 -2.36181974e-02 5.62484383e+01] [ 1.08539248e-01 -1.70242119e-03 9.94090707e-01 3.38334248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.905099893 meters 0.054038837713882786 Centerline is valid? [True, True] Translation: X:320.62, Y:56.27, Z:33.84 [[ 9.68020076e-01 -2.27746283e-01 -1.05208186e-01 3.20622916e+02] [ 2.26538180e-01 9.73719854e-01 -2.34541750e-02 5.62670281e+01] [ 1.07784900e-01 -1.12955863e-03 9.94173596e-01 3.38399932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.96509989299994 meters 0.05426972909202801 Centerline is valid? [True, True] Translation: X:320.68, Y:56.28, Z:33.85 [[ 9.69705096e-01 -2.20677277e-01 -1.04754791e-01 3.20678722e+02] [ 2.19438200e-01 9.75346822e-01 -2.33549217e-02 5.62844381e+01] [ 1.07326153e-01 -3.39816192e-04 9.94223809e-01 3.38455788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.02509989299995 meters 0.05418344149019177 Centerline is valid? [True, True] Translation: X:320.74, Y:56.30, Z:33.85 [[ 9.70682621e-01 -2.16410704e-01 -1.04602368e-01 3.20736442e+02] [ 2.15150247e-01 9.76302407e-01 -2.33234244e-02 5.63018628e+01] [ 1.07170982e-01 1.34417342e-04 9.94240596e-01 3.38535688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.08509989299995 meters 0.05445768159897328 Centerline is valid? [True, True] Translation: X:320.79, Y:56.32, Z:33.86 [[ 9.71580422e-01 -2.12343253e-01 -1.04603187e-01 3.20792053e+02] [ 2.11059241e-01 9.77194966e-01 -2.33236830e-02 5.63185192e+01] [ 1.07170335e-01 5.83364460e-04 9.94240504e-01 3.38597843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.14509989299995 meters 0.054088997723156416 Centerline is valid? [True, True] Translation: X:320.85, Y:56.33, Z:33.87 [[ 9.71479881e-01 -2.12865010e-01 -1.04476445e-01 3.20850256e+02] [ 2.11586852e-01 9.77081475e-01 -2.32979565e-02 5.63297430e+01] [ 1.07041319e-01 5.27653834e-04 9.94254433e-01 3.38660751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.20509989299995 meters 0.05407261245515957 Centerline is valid? [True, True] Translation: X:320.91, Y:56.34, Z:33.87 [[ 9.70528811e-01 -2.16925519e-01 -1.04962595e-01 3.20909483e+02] [ 2.15658959e-01 9.76188154e-01 -2.34072851e-02 5.63394333e+01] [ 1.07540879e-01 8.13207040e-05 9.94200660e-01 3.38725037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.26509989299996 meters 0.054009660776691136 Centerline is valid? [True, True] Translation: X:320.97, Y:56.35, Z:33.88 [[ 9.69402050e-01 -2.21443926e-01 -1.05935140e-01 3.20967162e+02] [ 2.20180568e-01 9.75173015e-01 -2.36243274e-02 5.63478892e+01] [ 1.08536554e-01 -4.23387918e-04 9.94092369e-01 3.38769873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.32509989299996 meters 0.05476314754781222 Centerline is valid? [True, True] Translation: X:321.03, Y:56.35, Z:33.88 [[ 9.67394610e-01 -2.30591962e-01 -1.04761708e-01 3.21027834e+02] [ 2.29409487e-01 9.73049488e-01 -2.33662631e-02 5.63525119e+01] [ 1.07326399e-01 -1.42893264e-03 9.94222813e-01 3.38843363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.38509989299996 meters 0.0544335443518849 Centerline is valid? [True, True] Translation: X:321.09, Y:56.36, Z:33.89 [[ 9.65187165e-01 -2.40548932e-01 -1.02712936e-01 3.21087908e+02] [ 2.39468425e-01 9.70633833e-01 -2.29093064e-02 5.63580783e+01] [ 1.05207460e-01 -2.48473643e-03 9.94447191e-01 3.38924100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.44509989299996 meters 0.05465814319075446 Centerline is valid? [True, True] Translation: X:321.15, Y:56.36, Z:33.90 [[ 9.62749651e-01 -2.50735833e-01 -1.01215866e-01 3.21147079e+02] [ 2.49742550e-01 9.68049063e-01 -2.25758665e-02 5.63633896e+01] [ 1.03642503e-01 -3.54300089e-03 9.94608304e-01 3.38993689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.50509989299997 meters 0.05420716411676742 Centerline is valid? [True, True] Translation: X:321.21, Y:56.37, Z:33.91 [[ 9.61096896e-01 -2.57318200e-01 -1.00399704e-01 3.21207015e+02] [ 2.56376560e-01 9.66317525e-01 -2.23941984e-02 5.63733498e+01] [ 1.02780429e-01 -4.21713624e-03 9.94695129e-01 3.39061437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.56509989299997 meters 0.057203657799230284 Centerline is valid? [True, True] Translation: X:321.27, Y:56.37, Z:33.91 [[ 9.59237569e-01 -2.64023826e-01 -1.00770565e-01 3.21267960e+02] [ 2.63111980e-01 9.64503439e-01 -2.24767150e-02 5.63709227e+01] [ 1.03127944e-01 -4.95343345e-03 9.94655765e-01 3.39122282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.62509989299997 meters 0.05822711316070166 Centerline is valid? [True, True] Translation: X:321.33, Y:56.38, Z:33.92 [[ 9.58581270e-01 -2.66223055e-01 -1.01228624e-01 3.21326390e+02] [ 2.65315045e-01 9.63897352e-01 -2.25792353e-02 5.63783940e+01] [ 1.03585115e-01 -5.21344479e-03 9.94606929e-01 3.39178376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.685099893 meters 0.05808837478756182 Centerline is valid? [True, True] Translation: X:321.38, Y:56.39, Z:33.92 [[ 9.58634881e-01 -2.65796654e-01 -1.01839602e-01 3.21383304e+02] [ 2.64875136e-01 9.64015104e-01 -2.27165513e-02 5.63917889e+01] [ 1.04212898e-01 -5.19789998e-03 9.94541429e-01 3.39228149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.745099893 meters 0.05691616832842189 Centerline is valid? [True, True] Translation: X:321.44, Y:56.41, Z:33.93 [[ 9.58966150e-01 -2.64055443e-01 -1.03240721e-01 3.21440781e+02] [ 2.63097128e-01 9.64494191e-01 -2.30403427e-02 5.64101405e+01] [ 1.05659003e-01 -5.06742834e-03 9.94389509e-01 3.39277579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.805099893 meters 0.0532405492610268 Centerline is valid? [True, True] Translation: X:321.50, Y:56.44, Z:33.93 [[ 9.59146770e-01 -2.62811800e-01 -1.04725503e-01 3.21496302e+02] [ 2.61818232e-01 9.64834153e-01 -2.33724218e-02 5.64444718e+01] [ 1.07185290e-01 -5.00146322e-03 9.94226483e-01 3.39341079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.865099893 meters 0.055391345902980574 Centerline is valid? [True, True] Translation: X:321.56, Y:56.45, Z:33.94 [[ 9.59343256e-01 -2.62032907e-01 -1.04877421e-01 3.21557273e+02] [ 2.61032111e-01 9.65046376e-01 -2.34036295e-02 5.64501749e+01] [ 1.07344096e-01 -4.92426036e-03 9.94209735e-01 3.39399010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.925099893 meters 0.05441956265334384 Centerline is valid? [True, True] Translation: X:321.61, Y:56.47, Z:33.95 [[ 9.60181168e-01 -2.59637323e-01 -1.03153215e-01 3.21614757e+02] [ 2.58655711e-01 9.65695331e-01 -2.30163196e-02 5.64695425e+01] [ 1.05590473e-01 -4.58133145e-03 9.94399147e-01 3.39477667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.985099893 meters 0.05783011996632535 Centerline is valid? [True, True] Translation: X:321.67, Y:56.48, Z:33.96 [[ 9.61719978e-01 -2.54931436e-01 -1.00521873e-01 3.21674132e+02] [ 2.53973693e-01 9.66951027e-01 -2.24293376e-02 5.64755106e+01] [ 1.02917671e-01 -3.95916927e-03 9.94681998e-01 3.39561144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.045099893 meters 0.054845218421460375 Centerline is valid? [True, True] Translation: X:321.73, Y:56.50, Z:33.96 [[ 9.62641417e-01 -2.51176572e-01 -1.01152518e-01 3.21729715e+02] [ 2.50186100e-01 9.67934663e-01 -2.25699560e-02 5.65043763e+01] [ 1.03578072e-01 -3.58017953e-03 9.94614883e-01 3.39618419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.105099893 meters 0.05457193968551459 Centerline is valid? [True, True] Translation: X:321.79, Y:56.52, Z:33.97 [[ 9.64052866e-01 -2.44846602e-01 -1.03209559e-01 3.21786716e+02] [ 2.43779160e-01 9.69557314e-01 -2.30290297e-02 5.65204923e+01] [ 1.05706163e-01 -2.95913749e-03 9.94393006e-01 3.39663263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.165099893 meters 0.053736158898289005 Centerline is valid? [True, True] Translation: X:321.84, Y:56.54, Z:33.97 [[ 9.65120874e-01 -2.40132565e-01 -1.04297889e-01 3.21843826e+02] [ 2.39014967e-01 9.70736967e-01 -2.32720306e-02 5.65401146e+01] [ 1.06834189e-01 -2.46843402e-03 9.94273787e-01 3.39720032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.225099893 meters 0.053922587096955875 Centerline is valid? [True, True] Translation: X:321.90, Y:56.56, Z:33.98 [[ 9.67865598e-01 -2.28973349e-01 -1.03958601e-01 3.21900023e+02] [ 2.27798609e-01 9.73431915e-01 -2.31970057e-02 5.65608112e+01] [ 1.06508116e-01 -1.23004097e-03 9.94311072e-01 3.39780524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.285099893 meters 0.053917489009599445 Centerline is valid? [True, True] Translation: X:321.96, Y:56.58, Z:33.99 [[ 9.69035460e-01 -2.24788181e-01 -1.02179018e-01 3.21955791e+02] [ 2.23630194e-01 9.74407359e-01 -2.27998793e-02 5.65777106e+01] [ 1.04689131e-01 -7.56422129e-04 9.94504708e-01 3.39857728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.345099893 meters 0.05394329878843808 Centerline is valid? [True, True] Translation: X:322.01, Y:56.59, Z:33.99 [[ 9.69677718e-01 -2.22734293e-01 -1.00571156e-01 3.22013939e+02] [ 2.21601195e-01 9.74879050e-01 -2.24443539e-02 5.65933105e+01] [ 1.03043840e-01 -5.22898387e-04 9.94676678e-01 3.39939151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.405099893 meters 0.05380326397292475 Centerline is valid? [True, True] Translation: X:322.07, Y:56.60, Z:34.00 [[ 9.69163515e-01 -2.24518351e-01 -1.01555849e-01 3.22071848e+02] [ 2.23372612e-01 9.74469596e-01 -2.26645869e-02 5.66035294e+01] [ 1.04051703e-01 -7.19104416e-04 9.94571629e-01 3.39996297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.46509989299994 meters 0.053166390779549516 Centerline is valid? [True, True] Translation: X:322.13, Y:56.61, Z:34.01 [[ 9.68080351e-01 -2.28904960e-01 -1.02092863e-01 3.22130209e+02] [ 2.27771601e-01 9.73448037e-01 -2.27819364e-02 5.66134028e+01] [ 1.04596995e-01 -1.19910977e-03 9.94513967e-01 3.40053414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.52509989299995 meters 0.05437888748670305 Centerline is valid? [True, True] Translation: X:322.19, Y:56.62, Z:34.01 [[ 9.66474690e-01 -2.35516398e-01 -1.02267785e-01 3.22188887e+02] [ 2.34415806e-01 9.71868487e-01 -2.28226503e-02 5.66199973e+01] [ 1.04765946e-01 -1.91567136e-03 9.94495061e-01 3.40112055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.58509989299995 meters 0.05465638898262249 Centerline is valid? [True, True] Translation: X:322.25, Y:56.62, Z:34.02 [[ 9.63314748e-01 -2.47993208e-01 -1.02586862e-01 3.22249762e+02] [ 2.46955824e-01 9.68756222e-01 -2.28954831e-02 5.66219108e+01] [ 1.05059585e-01 -3.27886653e-03 9.94460523e-01 3.40160333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.64509989299995 meters 0.05665157871853913 Centerline is valid? [True, True] Translation: X:322.31, Y:56.62, Z:34.02 [[ 9.60628005e-01 -2.58036312e-01 -1.03010186e-01 3.22309727e+02] [ 2.57047695e-01 9.66125227e-01 -2.29897278e-02 5.66247986e+01] [ 1.05452924e-01 -4.39395450e-03 9.94414589e-01 3.40202340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.70509989299995 meters 0.0544089583244995 Centerline is valid? [True, True] Translation: X:322.37, Y:56.64, Z:34.03 [[ 9.59680354e-01 -2.61653749e-01 -1.02717741e-01 3.22367692e+02] [ 2.60691329e-01 9.65149985e-01 -2.29246140e-02 5.66445012e+01] [ 1.05136337e-01 -4.77732277e-03 9.94446342e-01 3.40265013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.76509989299996 meters 0.055263203388680904 Centerline is valid? [True, True] Translation: X:322.43, Y:56.65, Z:34.03 [[ 9.59666646e-01 -2.62079609e-01 -1.01755626e-01 3.22427013e+02] [ 2.61137763e-01 9.65034417e-01 -2.27077549e-02 5.66528097e+01] [ 1.04148921e-01 -4.78036160e-03 9.94550225e-01 3.40333644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.82509989299996 meters 0.05577188100190937 Centerline is valid? [True, True] Translation: X:322.49, Y:56.67, Z:34.04 [[ 9.60146865e-01 -2.60420257e-01 -1.01485404e-01 3.22485544e+02] [ 2.59474273e-01 9.65484455e-01 -2.26466083e-02 5.66659123e+01] [ 1.03880215e-01 -4.58878143e-03 9.94579230e-01 3.40394124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.88509989299996 meters 0.05427412985032579 Centerline is valid? [True, True] Translation: X:322.54, Y:56.69, Z:34.05 [[ 9.61558030e-01 -2.55030319e-01 -1.01812037e-01 3.22542680e+02] [ 2.54047763e-01 9.66924718e-01 -2.27227733e-02 5.66860904e+01] [ 1.04239571e-01 -4.01585512e-03 9.94544109e-01 3.40451011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.94509989299996 meters 0.054892335396869114 Centerline is valid? [True, True] Translation: X:322.60, Y:56.70, Z:34.05 [[ 9.62444752e-01 -2.51085690e-01 -1.03228268e-01 3.22600343e+02] [ 2.50053023e-01 9.67958020e-01 -2.30381509e-02 5.66987907e+01] [ 1.05705180e-01 -3.63959303e-03 9.94390853e-01 3.40494950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.00509989299997 meters 0.05316985623987282 Centerline is valid? [True, True] Translation: X:322.66, Y:56.73, Z:34.05 [[ 9.64097808e-01 -2.43669059e-01 -1.05550016e-01 3.22656107e+02] [ 2.42544870e-01 9.69854135e-01 -2.35572443e-02 5.67254410e+01] [ 1.08108291e-01 -2.88912727e-03 9.94134926e-01 3.40544193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.06509989299997 meters 0.05278385791448921 Centerline is valid? [True, True] Translation: X:322.71, Y:56.74, Z:34.06 [[ 9.65371475e-01 -2.38211017e-01 -1.06364590e-01 3.22714160e+02] [ 2.37036471e-01 9.71210707e-01 -2.37376249e-02 5.67425283e+01] [ 1.08956993e-01 -2.29666124e-03 9.94043811e-01 3.40599860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.12509989299997 meters 0.052884535463919226 Centerline is valid? [True, True] Translation: X:322.77, Y:56.76, Z:34.07 [[ 9.67326777e-01 -2.30300301e-01 -1.06022061e-01 3.22771165e+02] [ 2.29085858e-01 9.73118601e-01 -2.36613223e-02 5.67628190e+01] [ 1.08621249e-01 -1.39992416e-03 9.94082222e-01 3.40665337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.185099893 meters 0.05286613126333716 Centerline is valid? [True, True] Translation: X:322.83, Y:56.78, Z:34.07 [[ 9.68966730e-01 -2.23199698e-01 -1.06232625e-01 3.22828433e+02] [ 2.21937791e-01 9.74772553e-01 -2.37083895e-02 5.67809409e+01] [ 1.08844352e-01 -6.04393364e-04 9.94058621e-01 3.40712292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.245099893 meters 0.05245631008973421 Centerline is valid? [True, True] Translation: X:322.88, Y:56.80, Z:34.08 [[ 9.70003201e-01 -2.19167023e-01 -1.05164658e-01 3.22883177e+02] [ 2.17906730e-01 9.75687344e-01 -2.34704778e-02 5.67976272e+01] [ 1.07751781e-01 -1.49648258e-04 9.94177817e-01 3.40771733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.305099893 meters 0.05205227379387128 Centerline is valid? [True, True] Translation: X:322.94, Y:56.82, Z:34.08 [[ 9.70824603e-01 -2.15973413e-01 -1.04187691e-01 3.22936768e+02] [ 2.14716847e-01 9.76399221e-01 -2.32645014e-02 5.68161203e+01] [ 1.06753294e-01 2.14897897e-04 9.94285516e-01 3.40839982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.365099893 meters 0.05254297416289749 Centerline is valid? [True, True] Translation: X:322.99, Y:56.83, Z:34.09 [[ 9.69827880e-01 -2.20612792e-01 -1.03749114e-01 3.22993336e+02] [ 2.19392597e-01 9.75361427e-01 -2.31727372e-02 5.68261766e+01] [ 1.06305086e-01 -2.88220915e-04 9.94333518e-01 3.40899681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.425099893 meters 0.05320779846371388 Centerline is valid? [True, True] Translation: X:323.05, Y:56.84, Z:34.10 [[ 9.68672614e-01 -2.25992294e-01 -1.02960432e-01 3.23051493e+02] [ 2.24819582e-01 9.74128710e-01 -2.30089312e-02 5.68378591e+01] [ 1.05496554e-01 -8.59399666e-04 9.94419297e-01 3.40978154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.485099893 meters 0.05277520135291969 Centerline is valid? [True, True] Translation: X:323.11, Y:56.84, Z:34.10 [[ 9.67248193e-01 -2.32181665e-01 -1.02579758e-01 3.23111351e+02] [ 2.31052099e-01 9.72671242e-01 -2.29256031e-02 5.68444330e+01] [ 1.05099285e-01 -1.52652028e-03 9.94460562e-01 3.41042930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.545099893 meters 0.05349375145380292 Centerline is valid? [True, True] Translation: X:323.17, Y:56.85, Z:34.11 [[ 9.65310176e-01 -2.40515328e-01 -1.01629923e-01 3.23171618e+02] [ 2.39452665e-01 9.70642346e-01 -2.27124806e-02 5.68515698e+01] [ 1.04109006e-01 -2.41096722e-03 9.94562970e-01 3.41108119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.605099893 meters 0.052982280864072036 Centerline is valid? [True, True] Translation: X:323.23, Y:56.86, Z:34.12 [[ 9.64231299e-01 -2.45362610e-01 -1.00275579e-01 3.23230871e+02] [ 2.44354235e-01 9.69427053e-01 -2.24097502e-02 5.68635454e+01] [ 1.02708374e-01 -2.89457978e-03 9.94707299e-01 3.41170684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.665099893 meters 0.05400533221431993 Centerline is valid? [True, True] Translation: X:323.29, Y:56.87, Z:34.12 [[ 9.63709922e-01 -2.47223193e-01 -1.00716829e-01 3.23289992e+02] [ 2.46216043e-01 9.68953581e-01 -2.25082034e-02 5.68717185e+01] [ 1.03154482e-01 -3.10672005e-03 9.94660495e-01 3.41216033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.725099893 meters 0.053181147719619654 Centerline is valid? [True, True] Translation: X:323.35, Y:56.89, Z:34.13 [[ 9.63873800e-01 -2.46396950e-01 -1.01172331e-01 3.23346455e+02] [ 2.45376034e-01 9.69164256e-01 -2.26107927e-02 5.68866808e+01] [ 1.03623837e-01 -3.03131463e-03 9.94611940e-01 3.41253231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.785099893 meters 0.05257778993073336 Centerline is valid? [True, True] Translation: X:323.40, Y:56.90, Z:34.13 [[ 9.64228909e-01 -2.44874140e-01 -1.01485303e-01 3.23404585e+02] [ 2.43837288e-01 9.69550641e-01 -2.26921275e-02 5.69019543e+01] [ 1.03951856e-01 -2.86549567e-03 9.94578202e-01 3.41313112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.845099893 meters 0.05267596310033376 Centerline is valid? [True, True] Translation: X:323.46, Y:56.92, Z:34.14 [[ 9.64832847e-01 -2.42260685e-01 -1.02016358e-01 3.23462963e+02] [ 2.41198450e-01 9.70207715e-01 -2.28100434e-02 5.69163405e+01] [ 1.04503035e-01 -2.59830840e-03 9.94521174e-01 3.41365497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.905099893 meters 0.052621096610003054 Centerline is valid? [True, True] Translation: X:323.52, Y:56.93, Z:34.14 [[ 9.66091947e-01 -2.36308474e-01 -1.04041603e-01 3.23521177e+02] [ 2.35169105e-01 9.71676043e-01 -2.32628547e-02 5.69343014e+01] [ 1.06591943e-01 -1.99331404e-03 9.94300852e-01 3.41410195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.96509989299994 meters 0.052577110255770804 Centerline is valid? [True, True] Translation: X:323.58, Y:56.96, Z:34.15 [[ 9.67585779e-01 -2.30375749e-01 -1.03463882e-01 3.23578835e+02] [ 2.29215240e-01 9.73100837e-01 -2.31329768e-02 5.69551670e+01] [ 1.06010067e-01 -1.33235928e-03 9.94364164e-01 3.41475777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.02509989299995 meters 0.05227662077907426 Centerline is valid? [True, True] Translation: X:323.64, Y:56.97, Z:34.15 [[ 9.68267351e-01 -2.27277478e-01 -1.03938853e-01 3.23638058e+02] [ 2.26088551e-01 9.73829529e-01 -2.32382516e-02 5.69727087e+01] [ 1.06500255e-01 -9.98544309e-04 9.94312174e-01 3.41537078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.08509989299995 meters 0.05178816201615844 Centerline is valid? [True, True] Translation: X:323.70, Y:56.98, Z:34.16 [[ 9.67762306e-01 -2.29263295e-01 -1.04280685e-01 3.23698079e+02] [ 2.28078294e-01 9.73363675e-01 -2.33119649e-02 5.69847927e+01] [ 1.06847609e-01 -1.22371985e-03 9.94274656e-01 3.41598502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.14509989299995 meters 0.05270275780683396 Centerline is valid? [True, True] Translation: X:323.76, Y:57.00, Z:34.17 [[ 9.66878616e-01 -2.33083330e-01 -1.04009153e-01 3.23757043e+02] [ 2.31926806e-01 9.72455376e-01 -2.32486017e-02 5.69982780e+01] [ 1.06563121e-01 -1.64393475e-03 9.94304580e-01 3.41663262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.20509989299995 meters 0.05280296926821355 Centerline is valid? [True, True] Translation: X:323.82, Y:57.01, Z:34.17 [[ 9.65032320e-01 -2.40133591e-01 -1.05111747e-01 3.23816559e+02] [ 2.38994174e-01 9.70736761e-01 -2.34931088e-02 5.70088323e+01] [ 1.07677321e-01 -2.44948589e-03 9.94182878e-01 3.41723110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.26509989299996 meters 0.05294153046578399 Centerline is valid? [True, True] Translation: X:323.88, Y:57.02, Z:34.18 [[ 9.63881660e-01 -2.44720573e-01 -1.05090372e-01 3.23875306e+02] [ 2.43608767e-01 9.69589126e-01 -2.34882053e-02 5.70186304e+01] [ 1.07642529e-01 -2.96108572e-03 9.94185253e-01 3.41780741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.32509989299996 meters 0.051562187289905345 Centerline is valid? [True, True] Translation: X:323.93, Y:57.04, Z:34.19 [[ 9.63399306e-01 -2.46950623e-01 -1.04293657e-01 3.23933341e+02] [ 2.45868585e-01 9.69022830e-01 -2.33107866e-02 5.70391366e+01] [ 1.06819548e-01 -3.18493819e-03 9.94273323e-01 3.41858986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.38509989299996 meters 0.05305374724848427 Centerline is valid? [True, True] Translation: X:323.99, Y:57.04, Z:34.19 [[ 9.62501627e-01 -2.50855421e-01 -1.03257818e-01 3.23992779e+02] [ 2.49817358e-01 9.68017932e-01 -2.30774948e-02 5.70434353e+01] [ 1.05744534e-01 -3.58346893e-03 9.94386873e-01 3.41926959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.44509989299996 meters 0.05403734910019059 Centerline is valid? [True, True] Translation: X:324.05, Y:57.05, Z:34.20 [[ 9.62430256e-01 -2.51412133e-01 -1.02566770e-01 3.24051263e+02] [ 2.50391013e-01 9.67873360e-01 -2.29237919e-02 5.70542070e+01] [ 1.05034963e-01 -3.61924646e-03 9.94461944e-01 3.41991981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.50509989299997 meters 0.05401744497612842 Centerline is valid? [True, True] Translation: X:324.11, Y:57.07, Z:34.21 [[ 9.63312642e-01 -2.48199216e-01 -1.02107311e-01 3.24108939e+02] [ 2.47169246e-01 9.68703547e-01 -2.28211011e-02 5.70712418e+01] [ 1.04575894e-01 -3.25393198e-03 9.94511586e-01 3.42061652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.56509989299997 meters 0.05336438538786613 Centerline is valid? [True, True] Translation: X:324.17, Y:57.09, Z:34.21 [[ 9.64814849e-01 -2.42329946e-01 -1.02022078e-01 3.24166685e+02] [ 2.41268978e-01 9.70190372e-01 -2.28018084e-02 5.70891986e+01] [ 1.04506399e-01 -2.61523909e-03 9.94520776e-01 3.42125005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.62509989299997 meters 0.05271130130066014 Centerline is valid? [True, True] Translation: X:324.23, Y:57.11, Z:34.22 [[ 9.66203046e-01 -2.35980907e-01 -1.03752999e-01 3.24225102e+02] [ 2.34847086e-01 9.71755712e-01 -2.31879906e-02 5.71065174e+01] [ 1.06294493e-01 -1.96178242e-03 9.94332757e-01 3.42176770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.685099893 meters 0.05233292650484183 Centerline is valid? [True, True] Translation: X:324.28, Y:57.13, Z:34.22 [[ 9.66887413e-01 -2.32234608e-01 -1.05810292e-01 3.24282377e+02] [ 2.31032869e-01 9.72658516e-01 -2.36479485e-02 5.71293662e+01] [ 1.08409153e-01 -1.58075148e-03 9.94105103e-01 3.42236606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.745099893 meters 0.05217010124027011 Centerline is valid? [True, True] Translation: X:324.34, Y:57.14, Z:34.23 [[ 9.66992748e-01 -2.31159400e-01 -1.07193081e-01 3.24341691e+02] [ 2.29919686e-01 9.72914762e-01 -2.39541942e-02 5.71429627e+01] [ 1.09826968e-01 -1.48226747e-03 9.93949616e-01 3.42292507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.805099893 meters 0.05275033876607954 Centerline is valid? [True, True] Translation: X:324.40, Y:57.16, Z:34.24 [[ 9.66921452e-01 -2.31096559e-01 -1.07968910e-01 3.24401622e+02] [ 2.29838713e-01 9.72929681e-01 -2.41247092e-02 5.71579195e+01] [ 1.10621294e-01 -1.48873654e-03 9.93861516e-01 3.42355772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.865099893 meters 0.05308602709452041 Centerline is valid? [True, True] Translation: X:324.46, Y:57.17, Z:34.24 [[ 9.66174310e-01 -2.34077672e-01 -1.08235142e-01 3.24461562e+02] [ 2.32832633e-01 9.72216162e-01 -2.41805642e-02 5.71712339e+01] [ 1.10888084e-01 -1.83803315e-03 9.93831200e-01 3.42425056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.925099893 meters 0.05310943705545051 Centerline is valid? [True, True] Translation: X:324.52, Y:57.18, Z:34.25 [[ 9.65073902e-01 -2.38335854e-01 -1.08758374e-01 3.24520368e+02] [ 2.37105925e-01 9.71179973e-01 -2.42948453e-02 5.71804409e+01] [ 1.11414288e-01 -2.34093379e-03 9.93771290e-01 3.42473108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.985099893 meters 0.05210995137214451 Centerline is valid? [True, True] Translation: X:324.58, Y:57.19, Z:34.25 [[ 9.62603761e-01 -2.47994343e-01 -1.09054138e-01 3.24578898e+02] [ 2.46819285e-01 9.68755277e-01 -2.43609003e-02 5.71948966e+01] [ 1.11688137e-01 -3.46676998e-03 9.93737260e-01 3.42545299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.045099893 meters 0.05402385177649782 Centerline is valid? [True, True] Translation: X:324.64, Y:57.20, Z:34.26 [[ 9.60457852e-01 -2.56915394e-01 -1.07308875e-01 3.24638829e+02] [ 2.55833049e-01 9.66423744e-01 -2.39707681e-02 5.71970564e+01] [ 1.09864304e-01 -4.43024423e-03 9.93936722e-01 3.42601327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.105099893 meters 0.05288132600589385 Centerline is valid? [True, True] Translation: X:324.70, Y:57.22, Z:34.27 [[ 9.59538133e-01 -2.60931840e-01 -1.05835468e-01 3.24696731e+02] [ 2.59903521e-01 9.65345176e-01 -2.36400309e-02 5.72154969e+01] [ 1.08336195e-01 -4.82349969e-03 9.94102612e-01 3.42682467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.165099893 meters 0.0536193962458666 Centerline is valid? [True, True] Translation: X:324.76, Y:57.22, Z:34.27 [[ 9.59499060e-01 -2.61316448e-01 -1.05239098e-01 3.24756903e+02] [ 2.60302261e-01 9.65241044e-01 -2.35044467e-02 5.72231671e+01] [ 1.07723196e-01 -4.84148081e-03 9.94169137e-01 3.42736894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.225099893 meters 0.0537072934822349 Centerline is valid? [True, True] Translation: X:324.82, Y:57.24, Z:34.28 [[ 9.59949144e-01 -2.59859282e-01 -1.04741562e-01 3.24816428e+02] [ 2.58846669e-01 9.65635245e-01 -2.33875073e-02 5.72352242e+01] [ 1.07219605e-01 -4.66118681e-03 9.94224436e-01 3.42804111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.285099893 meters 0.051815647525436 Centerline is valid? [True, True] Translation: X:324.87, Y:57.26, Z:34.29 [[ 9.59925768e-01 -2.59500721e-01 -1.05839011e-01 3.24874435e+02] [ 2.58464682e-01 9.65731617e-01 -2.36315839e-02 5.72582861e+01] [ 1.08344493e-01 -4.67107999e-03 9.94102435e-01 3.42873834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.345099893 meters 0.05180004169150476 Centerline is valid? [True, True] Translation: X:324.93, Y:57.27, Z:34.29 [[ 9.60157164e-01 -2.57872135e-01 -1.07704147e-01 3.24934412e+02] [ 2.56789508e-01 9.66168236e-01 -2.40434581e-02 5.72734899e+01] [ 1.10260464e-01 -4.57179652e-03 9.93892212e-01 3.42923822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.40509989299994 meters 0.05315346760091608 Centerline is valid? [True, True] Translation: X:324.99, Y:57.28, Z:34.30 [[ 9.60904629e-01 -2.54779582e-01 -1.08395841e-01 3.24993411e+02] [ 2.53663799e-01 9.66989824e-01 -2.41941426e-02 5.72815671e+01] [ 1.10981849e-01 -4.24783739e-03 9.93813355e-01 3.42971094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.46509989299994 meters 0.051928069632431295 Centerline is valid? [True, True] Translation: X:325.05, Y:57.30, Z:34.30 [[ 9.61406908e-01 -2.53077850e-01 -1.07927565e-01 3.25052932e+02] [ 2.51961053e-01 9.67437507e-01 -2.40893737e-02 5.72975257e+01] [ 1.10509661e-01 -4.03385248e-03 9.93866864e-01 3.43049230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.52509989299995 meters 0.05249802351726071 Centerline is valid? [True, True] Translation: X:325.11, Y:57.31, Z:34.31 [[ 9.61438377e-01 -2.52932044e-01 -1.07989021e-01 3.25112521e+02] [ 2.51813357e-01 9.67475687e-01 -2.41003911e-02 5.73138627e+01] [ 1.10572513e-01 -4.02203698e-03 9.93859921e-01 3.43116853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.58509989299995 meters 0.05530352854282976 Centerline is valid? [True, True] Translation: X:325.17, Y:57.31, Z:34.31 [[ 9.61009533e-01 -2.54317931e-01 -1.08549841e-01 3.25174324e+02] [ 2.53196751e-01 9.67111520e-01 -2.42221426e-02 5.73111709e+01] [ 1.11139927e-01 -4.20675723e-03 9.93795864e-01 3.43145546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.64509989299995 meters 0.05309022982245954 Centerline is valid? [True, True] Translation: X:325.23, Y:57.33, Z:34.32 [[ 9.59744180e-01 -2.58699579e-01 -1.09387554e-01 3.25230852e+02] [ 2.57589287e-01 9.65946147e-01 -2.44090111e-02 5.73336873e+01] [ 1.11977087e-01 -4.75065562e-03 9.93699433e-01 3.43229820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.70509989299995 meters 0.054687611962375114 Centerline is valid? [True, True] Translation: X:325.29, Y:57.34, Z:34.33 [[ 9.59244278e-01 -2.60654152e-01 -1.09132158e-01 3.25291727e+02] [ 2.59561713e-01 9.65419460e-01 -2.43512338e-02 5.73365357e+01] [ 1.11705560e-01 -4.96774824e-03 9.93728932e-01 3.43281508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.76509989299996 meters 0.05316598186438894 Centerline is valid? [True, True] Translation: X:325.35, Y:57.36, Z:34.34 [[ 9.59530623e-01 -2.60247165e-01 -1.07575079e-01 3.25350844e+02] [ 2.59183205e-01 9.65529852e-01 -2.40035572e-02 5.73560718e+01] [ 1.10113808e-01 -4.84950559e-03 9.93907154e-01 3.43367824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.82509989299996 meters 0.053247351158125594 Centerline is valid? [True, True] Translation: X:325.41, Y:57.37, Z:34.34 [[ 9.60154300e-01 -2.58678584e-01 -1.05778595e-01 3.25409524e+02] [ 2.57640866e-01 9.65952526e-01 -2.35987863e-02 5.73684381e+01] [ 1.08281602e-01 -4.59441275e-03 9.94109645e-01 3.43445064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.88509989299996 meters 0.055748686056697826 Centerline is valid? [True, True] Translation: X:325.47, Y:57.37, Z:34.35 [[ 9.60228605e-01 -2.58690965e-01 -1.05071455e-01 3.25471689e+02] [ 2.57667190e-01 9.65949350e-01 -2.34408368e-02 5.73693635e+01] [ 1.07557636e-01 -4.56490450e-03 9.94188371e-01 3.43508476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.94509989299996 meters 0.057072275670675784 Centerline is valid? [True, True] Translation: X:325.53, Y:57.38, Z:34.36 [[ 9.59894958e-01 -2.60705712e-01 -1.03122264e-01 3.25531883e+02] [ 2.59731754e-01 9.65406850e-01 -2.30006524e-02 5.73784340e+01] [ 1.05551341e-01 -4.70591610e-03 9.94402720e-01 3.43578339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.00509989299997 meters 0.05525713281270673 Centerline is valid? [True, True] Translation: X:325.59, Y:57.39, Z:34.36 [[ 9.59573388e-01 -2.61865707e-01 -1.03175892e-01 3.25590475e+02] [ 2.60897489e-01 9.65092201e-01 -2.30118067e-02 5.73937565e+01] [ 1.05600252e-01 -4.83681386e-03 9.94396899e-01 3.43640811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.06509989299997 meters 0.05489293687876556 Centerline is valid? [True, True] Translation: X:325.65, Y:57.41, Z:34.37 [[ 9.59523552e-01 -2.61997225e-01 -1.03305408e-01 3.25649753e+02] [ 2.61027506e-01 9.65056394e-01 -2.30390383e-02 5.74062928e+01] [ 1.05731709e-01 -4.85905308e-03 9.94382821e-01 3.43702992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.12509989299997 meters 0.053476705252487496 Centerline is valid? [True, True] Translation: X:325.71, Y:57.42, Z:34.38 [[ 9.59153406e-01 -2.63388466e-01 -1.03204938e-01 3.25708290e+02] [ 2.62428813e-01 9.64676851e-01 -2.30150436e-02 5.74219691e+01] [ 1.05621312e-01 -5.00899186e-03 9.94393810e-01 3.43767650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.185099893 meters 0.055397771801881955 Centerline is valid? [True, True] Translation: X:325.77, Y:57.42, Z:34.38 [[ 9.59164405e-01 -2.62518515e-01 -1.05298019e-01 3.25769873e+02] [ 2.61514371e-01 9.64913924e-01 -2.34809227e-02 5.74249640e+01] [ 1.07767701e-01 -5.01487992e-03 9.94163454e-01 3.43808330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.245099893 meters 0.053718329623261105 Centerline is valid? [True, True] Translation: X:325.83, Y:57.44, Z:34.39 [[ 9.59306006e-01 -2.61786362e-01 -1.05829525e-01 3.25829356e+02] [ 2.60767797e-01 9.65113104e-01 -2.35977174e-02 5.74411762e+01] [ 1.08315022e-01 -4.95950014e-03 9.94104250e-01 3.43867499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.305099893 meters 0.05341738759295257 Centerline is valid? [True, True] Translation: X:325.89, Y:57.46, Z:34.39 [[ 9.59955549e-01 -2.59307021e-01 -1.06043447e-01 3.25886778e+02] [ 2.58269525e-01 9.65783546e-01 -2.36430594e-02 5.74587512e+01] [ 1.08545827e-01 -4.69150455e-03 9.94080376e-01 3.43927724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.365099893 meters 0.052058460594880715 Centerline is valid? [True, True] Translation: X:325.95, Y:57.48, Z:34.40 [[ 9.61202755e-01 -2.54617617e-01 -1.06109064e-01 3.25945063e+02] [ 2.53550378e-01 9.67032847e-01 -2.36575208e-02 5.74769121e+01] [ 1.08634571e-01 -4.16431903e-03 9.94073030e-01 3.43991613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.425099893 meters 0.05188340040984197 Centerline is valid? [True, True] Translation: X:326.00, Y:57.49, Z:34.41 [[ 9.62289522e-01 -2.50847614e-01 -1.05234742e-01 3.26002501e+02] [ 2.49775454e-01 9.68019489e-01 -2.34625589e-02 5.74942292e+01] [ 1.07754808e-01 -3.70728094e-03 9.94170588e-01 3.44060576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.485099893 meters 0.05347707455147992 Centerline is valid? [True, True] Translation: X:326.06, Y:57.50, Z:34.41 [[ 9.62427260e-01 -2.50086615e-01 -1.05784945e-01 3.26064577e+02] [ 2.48998657e-01 9.68216620e-01 -2.35848420e-02 5.74975498e+01] [ 1.08320995e-01 -3.64161441e-03 9.94109300e-01 3.44107520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.545099893 meters 0.05350863185964278 Centerline is valid? [True, True] Translation: X:326.12, Y:57.51, Z:34.41 [[ 9.61926386e-01 -2.51282900e-01 -1.07492010e-01 3.26123424e+02] [ 2.50167198e-01 9.67906067e-01 -2.39628498e-02 5.75078915e+01] [ 1.10063623e-01 -3.84047745e-03 9.93917124e-01 3.44137436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.605099893 meters 0.05193361694964419 Centerline is valid? [True, True] Translation: X:326.18, Y:57.53, Z:34.42 [[ 9.61746319e-01 -2.52158496e-01 -1.07051910e-01 3.26180469e+02] [ 2.51057174e-01 9.67677996e-01 -2.38661287e-02 5.75324228e+01] [ 1.09609825e-01 -3.92298856e-03 9.93966949e-01 3.44226898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.665099893 meters 0.05340844264704408 Centerline is valid? [True, True] Translation: X:326.24, Y:57.54, Z:34.43 [[ 9.62246010e-01 -2.50517465e-01 -1.06412480e-01 3.26240995e+02] [ 2.49419679e-01 9.68104945e-01 -2.37200162e-02 5.75377947e+01] [ 1.08960726e-01 -3.71687577e-03 9.94039106e-01 3.44295228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.725099893 meters 0.053347402529824804 Centerline is valid? [True, True] Translation: X:326.30, Y:57.55, Z:34.44 [[ 9.62740736e-01 -2.49314105e-01 -1.04750906e-01 3.26299560e+02] [ 2.48243481e-01 9.68416257e-01 -2.33479653e-02 5.75535672e+01] [ 1.07263457e-01 -3.52569220e-03 9.94224381e-01 3.44369718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.785099893 meters 0.05326958899835353 Centerline is valid? [True, True] Translation: X:326.36, Y:57.57, Z:34.44 [[ 9.62739001e-01 -2.49053547e-01 -1.05384757e-01 3.26358773e+02] [ 2.47968187e-01 9.68483332e-01 -2.34907261e-02 5.75667965e+01] [ 1.07913829e-01 -3.51662898e-03 9.94154032e-01 3.44424336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.845099893 meters 0.05173309667171449 Centerline is valid? [True, True] Translation: X:326.42, Y:57.59, Z:34.45 [[ 9.62470551e-01 -2.49451506e-01 -1.06884914e-01 3.26417160e+02] [ 2.48337520e-01 9.68380549e-01 -2.38241005e-02 5.75902329e+01] [ 1.09448230e-01 -3.61353934e-03 9.93985929e-01 3.44492335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.90509989299994 meters 0.05308195661515669 Centerline is valid? [True, True] Translation: X:326.48, Y:57.59, Z:34.45 [[ 9.61978519e-01 -2.50918283e-01 -1.07876521e-01 3.26477260e+02] [ 2.49793059e-01 9.68000738e-01 -2.40416185e-02 5.75945607e+01] [ 1.10457034e-01 -3.81928558e-03 9.93873562e-01 3.44533877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.96509989299994 meters 0.05307953559804945 Centerline is valid? [True, True] Translation: X:326.54, Y:57.61, Z:34.46 [[ 9.60819967e-01 -2.54629750e-01 -1.09492836e-01 3.26535454e+02] [ 2.53494444e-01 9.67029014e-01 -2.44018924e-02 5.76074196e+01] [ 1.12096197e-01 -4.31000004e-03 9.93688013e-01 3.44594679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.02509989299995 meters 0.05328792642805877 Centerline is valid? [True, True] Translation: X:326.59, Y:57.62, Z:34.47 [[ 9.60016367e-01 -2.57201391e-01 -1.10526105e-01 3.26594057e+02] [ 2.56061387e-01 9.66346620e-01 -2.46328359e-02 5.76225852e+01] [ 1.13142128e-01 -4.65354223e-03 9.93567916e-01 3.44652746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.08509989299995 meters 0.05280777896959026 Centerline is valid? [True, True] Translation: X:326.65, Y:57.64, Z:34.47 [[ 9.59665795e-01 -2.58762301e-01 -1.09925580e-01 3.26652557e+02] [ 2.57644978e-01 9.65929043e-01 -2.44979293e-02 5.76406246e+01] [ 1.12519451e-01 -4.81194886e-03 9.93637871e-01 3.44732329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.14509989299995 meters 0.052814524713999146 Centerline is valid? [True, True] Translation: X:326.71, Y:57.66, Z:34.48 [[ 9.59948144e-01 -2.57809046e-01 -1.09699846e-01 3.26711640e+02] [ 2.56690324e-01 9.66184495e-01 -2.44458275e-02 5.76550202e+01] [ 1.12292646e-01 -4.69216225e-03 9.93664101e-01 3.44803263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.20509989299995 meters 0.05404626191462841 Centerline is valid? [True, True] Translation: X:326.77, Y:57.67, Z:34.48 [[ 9.60621974e-01 -2.54830929e-01 -1.10754776e-01 3.26769918e+02] [ 2.53671108e-01 9.66975666e-01 -2.46785474e-02 5.76679648e+01] [ 1.13386031e-01 -4.38853182e-03 9.93541317e-01 3.44849632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.26509989299996 meters 0.05299902382164953 Centerline is valid? [True, True] Translation: X:326.83, Y:57.69, Z:34.49 [[ 9.61086952e-01 -2.53186891e-01 -1.10491036e-01 3.26826901e+02] [ 2.52021712e-01 9.67408339e-01 -2.46203729e-02 5.76881256e+01] [ 1.13123505e-01 -4.18382084e-03 9.93572125e-01 3.44930444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.32509989299996 meters 0.05175654481507265 Centerline is valid? [True, True] Translation: X:326.88, Y:57.71, Z:34.50 [[ 9.61352352e-01 -2.52388652e-01 -1.10007380e-01 3.26884233e+02] [ 2.51228588e-01 9.67617373e-01 -2.45115466e-02 5.77124345e+01] [ 1.12631488e-01 -4.07276574e-03 9.93628482e-01 3.45023631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.38509989299996 meters 0.051905688323187676 Centerline is valid? [True, True] Translation: X:326.94, Y:57.73, Z:34.51 [[ 9.61974886e-01 -2.49921699e-01 -1.10197382e-01 3.26943136e+02] [ 2.48741883e-01 9.68258618e-01 -2.45504410e-02 5.77253607e+01] [ 1.12835253e-01 -3.79379660e-03 9.93606468e-01 3.45081230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.44509989299996 meters 0.05204694677996907 Centerline is valid? [True, True] Translation: X:327.00, Y:57.74, Z:34.52 [[ 9.62593557e-01 -2.47405606e-01 -1.10472211e-01 3.27001172e+02] [ 2.46203573e-01 9.68905646e-01 -2.46099493e-02 5.77443162e+01] [ 1.13125789e-01 -3.50927445e-03 9.93574477e-01 3.45154127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.50509989299997 meters 0.05260509570223063 Centerline is valid? [True, True] Translation: X:327.06, Y:57.75, Z:34.52 [[ 9.62752977e-01 -2.46420826e-01 -1.11281092e-01 3.27063343e+02] [ 2.45194663e-01 9.69156892e-01 -2.47890305e-02 5.77482221e+01] [ 1.13957371e-01 -3.41981692e-03 9.93479754e-01 3.45187585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.56509989299997 meters 0.05300133373014314 Centerline is valid? [True, True] Translation: X:327.12, Y:57.76, Z:34.53 [[ 9.62501828e-01 -2.47104252e-01 -1.11936228e-01 3.27122953e+02] [ 2.45868515e-01 9.68982490e-01 -2.49320419e-02 5.77646125e+01] [ 1.14625058e-01 -3.52445819e-03 9.93402574e-01 3.45255664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.62509989299997 meters 0.055713725707322186 Centerline is valid? [True, True] Translation: X:327.18, Y:57.77, Z:34.53 [[ 9.62000058e-01 -2.49247178e-01 -1.11497680e-01 3.27183563e+02] [ 2.48035804e-01 9.68432573e-01 -2.48312573e-02 5.77662577e+01] [ 1.14167106e-01 -3.76774569e-03 9.93454416e-01 3.45296990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.685099893 meters 0.05228093895452265 Centerline is valid? [True, True] Translation: X:327.24, Y:57.79, Z:34.54 [[ 9.61714178e-01 -2.50558136e-01 -1.11024593e-01 3.27240808e+02] [ 2.49365655e-01 9.68093676e-01 -2.47266032e-02 5.77923338e+01] [ 1.13677658e-01 -3.90579541e-03 9.93510007e-01 3.45405208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.745099893 meters 0.052144543170272936 Centerline is valid? [True, True] Translation: X:327.30, Y:57.81, Z:34.55 [[ 9.61988926e-01 -2.50385990e-01 -1.09014505e-01 3.27300562e+02] [ 2.49235680e-01 9.68138565e-01 -2.42753820e-02 5.78057602e+01] [ 1.11619362e-01 -3.81765577e-03 9.93743701e-01 3.45489230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.805099893 meters 0.051748670279997376 Centerline is valid? [True, True] Translation: X:327.36, Y:57.82, Z:34.56 [[ 9.62352156e-01 -2.49420165e-01 -1.08018099e-01 3.27358985e+02] [ 2.48285255e-01 9.68388389e-01 -2.40491357e-02 5.78220322e+01] [ 1.10601812e-01 -3.67556371e-03 9.93858003e-01 3.45562105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.865099893 meters 0.052302066722400904 Centerline is valid? [True, True] Translation: X:327.42, Y:57.83, Z:34.56 [[ 9.62915252e-01 -2.47703488e-01 -1.06944844e-01 3.27419347e+02] [ 2.46580712e-01 9.68829765e-01 -2.38083877e-02 5.78269058e+01] [ 1.09508769e-01 -3.44507624e-03 9.93979859e-01 3.45613210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.925099893 meters 0.053656094492519964 Centerline is valid? [True, True] Translation: X:327.48, Y:57.83, Z:34.57 [[ 9.63282718e-01 -2.46368991e-01 -1.06717972e-01 3.27479202e+02] [ 2.45242924e-01 9.69170529e-01 -2.37569631e-02 5.78336033e+01] [ 1.09280892e-01 -3.28715546e-03 9.94005473e-01 3.45665099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.985099893 meters 0.05186717209659876 Centerline is valid? [True, True] Translation: X:327.54, Y:57.86, Z:34.57 [[ 9.63389168e-01 -2.45590037e-01 -1.07549265e-01 3.27537417e+02] [ 2.44441605e-01 9.69368419e-01 -2.39409557e-02 5.78570863e+01] [ 1.10134521e-01 -3.22505753e-03 9.93911458e-01 3.45740843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.045099893 meters 0.05272497807336248 Centerline is valid? [True, True] Translation: X:327.60, Y:57.87, Z:34.58 [[ 9.63734654e-01 -2.43901324e-01 -1.08294322e-01 3.27597423e+02] [ 2.42726767e-01 9.69795233e-01 -2.41023210e-02 5.78657600e+01] [ 1.10901905e-01 -3.05768860e-03 9.93826654e-01 3.45789753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.105099893 meters 0.052453044089299745 Centerline is valid? [True, True] Translation: X:327.66, Y:57.88, Z:34.59 [[ 9.64326791e-01 -2.41346791e-01 -1.08745422e-01 3.27656472e+02] [ 2.40146521e-01 9.70434958e-01 -2.42000052e-02 5.78816784e+01] [ 1.11370953e-01 -2.77812149e-03 9.93775021e-01 3.45859627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.165099893 meters 0.053293505147639 Centerline is valid? [True, True] Translation: X:327.72, Y:57.89, Z:34.59 [[ 9.65735078e-01 -2.35591007e-01 -1.08869811e-01 3.27715239e+02] [ 2.34351677e-01 9.71849984e-01 -2.42260123e-02 5.78919637e+01] [ 1.11512555e-01 -2.11791288e-03 9.93760768e-01 3.45909540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.225099893 meters 0.05288099832439783 Centerline is valid? [True, True] Translation: X:327.77, Y:57.91, Z:34.60 [[ 9.66719085e-01 -2.31820518e-01 -1.08228731e-01 3.27773509e+02] [ 2.30572123e-01 9.72757139e-01 -2.40840995e-02 5.79092282e+01] [ 1.10863460e-01 -1.67196972e-03 9.93834241e-01 3.45996639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.285099893 meters 0.05302473406333507 Centerline is valid? [True, True] Translation: X:327.83, Y:57.92, Z:34.60 [[ 9.67419599e-01 -2.28742979e-01 -1.08517134e-01 3.27833049e+02] [ 2.27468702e-01 9.73485951e-01 -2.41473020e-02 5.79208644e+01] [ 1.11163432e-01 -1.32367840e-03 9.93801257e-01 3.46049625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.345099893 meters 0.052446193502870796 Centerline is valid? [True, True] Translation: X:327.89, Y:57.93, Z:34.61 [[ 9.67873736e-01 -2.27117983e-01 -1.07878876e-01 3.27890900e+02] [ 2.25848804e-01 9.73866593e-01 -2.40036893e-02 5.79323402e+01] [ 1.10511303e-01 -1.13177470e-03 9.93874223e-01 3.46121809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.40509989299994 meters 0.0528624898573366 Centerline is valid? [True, True] Translation: X:327.95, Y:57.94, Z:34.62 [[ 9.67554432e-01 -2.29024093e-01 -1.06707013e-01 3.27949780e+02] [ 2.27793776e-01 9.73419842e-01 -2.37446302e-02 5.79406259e+01] [ 1.09308816e-01 -1.33297120e-03 9.94006945e-01 3.46194789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.46509989299994 meters 0.05284440392504517 Centerline is valid? [True, True] Translation: X:328.01, Y:57.95, Z:34.62 [[ 9.66827982e-01 -2.31573509e-01 -1.07783875e-01 3.28007857e+02] [ 2.30333737e-01 9.72816033e-01 -2.39861531e-02 5.79471085e+01] [ 1.10408439e-01 -1.63577873e-03 9.93884954e-01 3.46244830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.52509989299995 meters 0.05333877282954005 Centerline is valid? [True, True] Translation: X:328.07, Y:57.96, Z:34.63 [[ 9.65127837e-01 -2.37740989e-01 -1.09578654e-01 3.28068047e+02] [ 2.36498638e-01 9.71325678e-01 -2.43889476e-02 5.79557453e+01] [ 1.12234813e-01 -2.37675021e-03 9.93678871e-01 3.46305016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.58509989299995 meters 0.05433476789570961 Centerline is valid? [True, True] Translation: X:328.13, Y:57.96, Z:34.63 [[ 9.62946544e-01 -2.45106918e-01 -1.12501345e-01 3.28128325e+02] [ 2.43847180e-01 9.69490365e-01 -2.50396627e-02 5.79574073e+01] [ 1.15206365e-01 -3.32127922e-03 9.93336027e-01 3.46329826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.64509989299995 meters 0.05307987170323478 Centerline is valid? [True, True] Translation: X:328.19, Y:57.98, Z:34.64 [[ 9.61458131e-01 -2.50580753e-01 -1.13170441e-01 3.28185217e+02] [ 2.49343504e-01 9.68087440e-01 -2.51898015e-02 5.79772705e+01] [ 1.15870962e-01 -3.99937479e-03 9.93256223e-01 3.46432986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.70509989299995 meters 0.05274614121274949 Centerline is valid? [True, True] Translation: X:328.24, Y:57.99, Z:34.65 [[ 9.59783459e-01 -2.57304785e-01 -1.12294075e-01 3.28244851e+02] [ 2.56132447e-01 9.66318511e-01 -2.49941157e-02 5.79867798e+01] [ 1.14942949e-01 -4.77321744e-03 9.93360627e-01 3.46510810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.76509989299996 meters 0.05352113020923385 Centerline is valid? [True, True] Translation: X:328.30, Y:57.99, Z:34.66 [[ 9.58834222e-01 -2.61123883e-01 -1.11585181e-01 3.28304167e+02] [ 2.59992085e-01 9.65291303e-01 -2.48357796e-02 5.79937736e+01] [ 1.14197420e-01 -5.19786843e-03 9.93444478e-01 3.46571086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.82509989299996 meters 0.058415105497745375 Centerline is valid? [True, True] Translation: X:328.37, Y:57.99, Z:34.66 [[ 9.58289674e-01 -2.63354756e-01 -1.11018797e-01 3.28365562e+02] [ 2.62249738e-01 9.64683724e-01 -2.47060056e-02 5.79880586e+01] [ 1.13604470e-01 -5.43914032e-03 9.93511168e-01 3.46604122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.88509989299996 meters 0.0521642373954237 Centerline is valid? [True, True] Translation: X:328.42, Y:58.02, Z:34.67 [[ 9.58080320e-01 -2.64387332e-01 -1.10369554e-01 3.28419924e+02] [ 2.63301942e-01 9.64400737e-01 -2.45622859e-02 5.80230919e+01] [ 1.12934436e-01 -5.52787514e-03 9.93587065e-01 3.46718052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.94509989299996 meters 0.05216927201638173 Centerline is valid? [True, True] Translation: X:328.48, Y:58.04, Z:34.68 [[ 9.57097953e-01 -2.68239546e-01 -1.09594957e-01 3.28478957e+02] [ 2.67195065e-01 9.63333900e-01 -2.43843197e-02 5.80375776e+01] [ 1.12117376e-01 -5.94504909e-03 9.93677186e-01 3.46793918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.00509989299997 meters 0.052752485893705944 Centerline is valid? [True, True] Translation: X:328.54, Y:58.05, Z:34.68 [[ 9.55519180e-01 -2.73153929e-01 -1.11220624e-01 3.28538108e+02] [ 2.72111322e-01 9.61947560e-01 -2.47451214e-02 5.80461689e+01] [ 1.13747635e-01 -6.61995290e-03 9.93487620e-01 3.46849346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.06509989299997 meters 0.05202939529296631 Centerline is valid? [True, True] Translation: X:328.60, Y:58.06, Z:34.69 [[ 9.54080500e-01 -2.76892487e-01 -1.14284510e-01 3.28597603e+02] [ 2.75818147e-01 9.60873462e-01 -2.54271345e-02 5.80588019e+01] [ 1.16853535e-01 -7.26220854e-03 9.93122607e-01 3.46899763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.12509989299997 meters 0.05408525961477447 Centerline is valid? [True, True] Translation: X:328.66, Y:58.06, Z:34.69 [[ 9.53622213e-01 -2.78255259e-01 -1.14798457e-01 3.28658222e+02] [ 2.77181084e-01 9.60478166e-01 -2.55409524e-02 5.80637310e+01] [ 1.17368316e-01 -7.46354122e-03 9.93060408e-01 3.46947315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.185099893 meters 0.05444392274020578 Centerline is valid? [True, True] Translation: X:328.72, Y:58.08, Z:34.70 [[ 9.53939938e-01 -2.77407908e-01 -1.14207910e-01 3.28718112e+02] [ 2.76338876e-01 9.60724331e-01 -2.54083646e-02 5.80768337e+01] [ 1.16770799e-01 -7.32203182e-03 9.93131899e-01 3.47017619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.245099893 meters 0.05409471156789673 Centerline is valid? [True, True] Translation: X:328.78, Y:58.09, Z:34.71 [[ 9.55204146e-01 -2.73532982e-01 -1.12981180e-01 3.28775770e+02] [ 2.72460189e-01 9.61838756e-01 -2.51326936e-02 5.80929816e+01] [ 1.15544298e-01 -6.77602045e-03 9.93279216e-01 3.47093170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.305099893 meters 0.05608321294244443 Centerline is valid? [True, True] Translation: X:328.84, Y:58.10, Z:34.71 [[ 9.56105651e-01 -2.70362486e-01 -1.12987214e-01 3.28835782e+02] [ 2.69267573e-01 9.62737376e-01 -2.51340150e-02 5.80993582e+01] [ 1.15572308e-01 -6.39301896e-03 9.93278496e-01 3.47145340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.365099893 meters 0.054998717448658335 Centerline is valid? [True, True] Translation: X:328.89, Y:58.12, Z:34.72 [[ 9.57039612e-01 -2.67086464e-01 -1.12871613e-01 3.28893898e+02] [ 2.65971183e-01 9.63653944e-01 -2.51078789e-02 5.81154082e+01] [ 1.15475149e-01 -5.99136166e-03 9.93292300e-01 3.47209053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.425099893 meters 0.05373629154147309 Centerline is valid? [True, True] Translation: X:328.95, Y:58.13, Z:34.73 [[ 9.57637020e-01 -2.64762783e-01 -1.13278446e-01 3.28951316e+02] [ 2.63623157e-01 9.64296544e-01 -2.51993408e-02 5.81338313e+01] [ 1.15905861e-01 -5.73099977e-03 9.93243670e-01 3.47285103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.485099893 meters 0.05268081095697053 Centerline is valid? [True, True] Translation: X:329.01, Y:58.16, Z:34.74 [[ 9.57830541e-01 -2.63890157e-01 -1.13677793e-01 3.29008893e+02] [ 2.62736561e-01 9.64536207e-01 -2.52864535e-02 5.81596237e+01] [ 1.16319193e-01 -5.64717485e-03 9.93195829e-01 3.47385756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.545099893 meters 0.05284365623228389 Centerline is valid? [True, True] Translation: X:329.07, Y:58.17, Z:34.74 [[ 9.57649945e-01 -2.64277785e-01 -1.14297135e-01 3.29069814e+02] [ 2.63115807e-01 9.64429534e-01 -2.54115130e-02 5.81670126e+01] [ 1.16947231e-01 -5.73804880e-03 9.93121554e-01 3.47440899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.605099893 meters 0.05354212035724133 Centerline is valid? [True, True] Translation: X:329.13, Y:58.17, Z:34.75 [[ 9.57400856e-01 -2.64866284e-01 -1.15019359e-01 3.29130456e+02] [ 2.63694127e-01 9.64267405e-01 -2.55691040e-02 5.81745281e+01] [ 1.17681813e-01 -5.85004753e-03 9.93034122e-01 3.47489481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.665099893 meters 0.052915182335801315 Centerline is valid? [True, True] Translation: X:329.19, Y:58.20, Z:34.76 [[ 9.57462516e-01 -2.65049042e-01 -1.14081271e-01 3.29188757e+02] [ 2.63897585e-01 9.64217327e-01 -2.53576546e-02 5.81953268e+01] [ 1.16720160e-01 -5.82676795e-03 9.93147750e-01 3.47576942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.725099893 meters 0.054542850107226946 Centerline is valid? [True, True] Translation: X:329.25, Y:58.20, Z:34.76 [[ 9.58042424e-01 -2.63654550e-01 -1.12432167e-01 3.29248562e+02] [ 2.62527018e-01 9.64601044e-01 -2.49878139e-02 5.81991815e+01] [ 1.15040336e-01 -5.57709571e-03 9.93345165e-01 3.47629261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.785099893 meters 0.05407289519232136 Centerline is valid? [True, True] Translation: X:329.31, Y:58.22, Z:34.77 [[ 9.58492417e-01 -2.62464555e-01 -1.11376138e-01 3.29306292e+02] [ 2.61350049e-01 9.64926626e-01 -2.47539369e-02 5.82164965e+01] [ 1.13966832e-01 -5.38169822e-03 9.93469979e-01 3.47713467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.845099893 meters 0.052768763332123075 Centerline is valid? [True, True] Translation: X:329.36, Y:58.24, Z:34.78 [[ 9.58803138e-01 -2.61463160e-01 -1.11056558e-01 3.29364338e+02] [ 2.60348433e-01 9.65199190e-01 -2.46823375e-02 5.82377941e+01] [ 1.13645222e-01 -5.24789830e-03 9.93507535e-01 3.47798216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.90509989299994 meters 0.055868634734317295 Centerline is valid? [True, True] Translation: X:329.43, Y:58.24, Z:34.78 [[ 9.58892720e-01 -2.61304053e-01 -1.10656874e-01 3.29427849e+02] [ 2.60196785e-01 9.65242459e-01 -2.45892015e-02 5.82355083e+01] [ 1.13235971e-01 -5.21415650e-03 9.93554441e-01 3.47838455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.96509989299994 meters 0.05368587724026502 Centerline is valid? [True, True] Translation: X:329.49, Y:58.26, Z:34.79 [[ 9.58807479e-01 -2.61168535e-01 -1.11710403e-01 3.29486509e+02] [ 2.60039983e-01 9.65278911e-01 -2.48159340e-02 5.82564367e+01] [ 1.14312838e-01 -5.25546828e-03 9.93430901e-01 3.47911442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.02509989299995 meters 0.054758479308737486 Centerline is valid? [True, True] Translation: X:329.55, Y:58.27, Z:34.80 [[ 9.58716758e-01 -2.60995136e-01 -1.12888073e-01 3.29547039e+02] [ 2.59841949e-01 9.65325593e-01 -2.50730985e-02 5.82672168e+01] [ 1.15517702e-01 -5.29505706e-03 9.93291308e-01 3.47961927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.08509989299995 meters 0.053229368175523054 Centerline is valid? [True, True] Translation: X:329.61, Y:58.29, Z:34.80 [[ 9.58704369e-01 -2.60596921e-01 -1.13908636e-01 3.29605737e+02] [ 2.59420314e-01 9.65433154e-01 -2.52967548e-02 5.82868743e+01] [ 1.16563430e-01 -5.29810478e-03 9.93169118e-01 3.48037547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.14509989299995 meters 0.054196529228167645 Centerline is valid? [True, True] Translation: X:329.67, Y:58.30, Z:34.81 [[ 9.58715303e-01 -2.60073199e-01 -1.15008254e-01 3.29665538e+02] [ 2.58870525e-01 9.65574412e-01 -2.55363581e-02 5.82990939e+01] [ 1.17690350e-01 -5.29014987e-03 9.93036251e-01 3.48090089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.20509989299995 meters 0.053537346827761935 Centerline is valid? [True, True] Translation: X:329.72, Y:58.32, Z:34.82 [[ 9.59233044e-01 -2.57892496e-01 -1.15600296e-01 3.29722779e+02] [ 2.56661934e-01 9.66160414e-01 -2.56652653e-02 5.83182905e+01] [ 1.18307309e-01 -5.05122505e-03 9.92964181e-01 3.48163760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.26509989299996 meters 0.05614447740922394 Centerline is valid? [True, True] Translation: X:329.78, Y:58.32, Z:34.82 [[ 9.60495736e-01 -2.53564091e-01 -1.14687372e-01 3.29784185e+02] [ 2.52322191e-01 9.67308208e-01 -2.54625909e-02 5.83188893e+01] [ 1.17394435e-01 -4.48145894e-03 9.93075256e-01 3.48178177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.32509989299996 meters 0.053147915609939866 Centerline is valid? [True, True] Translation: X:329.84, Y:58.35, Z:34.83 [[ 9.61611519e-01 -2.49950837e-01 -1.13260166e-01 3.29838388e+02] [ 2.48714742e-01 9.68250312e-01 -2.51457714e-02 5.83503211e+01] [ 1.15949398e-01 -3.98900958e-03 9.93247112e-01 3.48303819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.38509989299996 meters 0.053446994193285295 Centerline is valid? [True, True] Translation: X:329.90, Y:58.36, Z:34.84 [[ 9.62592986e-01 -2.46368857e-01 -1.12770252e-01 3.29897746e+02] [ 2.45118997e-01 9.69169666e-01 -2.50367094e-02 5.83629011e+01] [ 1.15461773e-01 -3.54197023e-03 9.93305609e-01 3.48363427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.44509989299996 meters 0.05354665928967798 Centerline is valid? [True, True] Translation: X:329.96, Y:58.38, Z:34.84 [[ 9.63429747e-01 -2.43552252e-01 -1.11738189e-01 3.29955561e+02] [ 2.42306334e-01 9.69882582e-01 -2.48076098e-02 5.83810021e+01] [ 1.14414872e-01 -3.17448165e-03 9.93427984e-01 3.48447627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.50509989299997 meters 0.053474837618576986 Centerline is valid? [True, True] Translation: X:330.02, Y:58.39, Z:34.85 [[ 9.63225763e-01 -2.44524337e-01 -1.11373143e-01 3.30015550e+02] [ 2.43293165e-01 9.69637607e-01 -2.47254333e-02 5.83917473e+01] [ 1.14037558e-01 -3.28015003e-03 9.93471024e-01 3.48506786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.56509989299997 meters 0.05349505333147386 Centerline is valid? [True, True] Translation: X:330.08, Y:58.40, Z:34.86 [[ 9.62913341e-01 -2.45582333e-01 -1.11746208e-01 3.30075875e+02] [ 2.44350303e-01 9.69369704e-01 -2.48053694e-02 5.84001041e+01] [ 1.14415149e-01 -3.41979876e-03 9.93427138e-01 3.48556150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.62509989299997 meters 0.053130294433009845 Centerline is valid? [True, True] Translation: X:330.14, Y:58.42, Z:34.86 [[ 9.62760171e-01 -2.46200102e-01 -1.11706596e-01 3.30135190e+02] [ 2.44973421e-01 9.69212720e-01 -2.47936748e-02 5.84177091e+01] [ 1.14371659e-01 -3.49478429e-03 9.93431885e-01 3.48633518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.685099893 meters 0.0530540741459253 Centerline is valid? [True, True] Translation: X:330.20, Y:58.43, Z:34.87 [[ 9.63019917e-01 -2.45043539e-01 -1.12010284e-01 3.30195044e+02] [ 2.43802820e-01 9.69506217e-01 -2.48572152e-02 5.84331978e+01] [ 1.14685767e-01 -3.37042971e-03 9.93396102e-01 3.48700561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.745099893 meters 0.053524137057395116 Centerline is valid? [True, True] Translation: X:330.25, Y:58.44, Z:34.88 [[ 9.63879725e-01 -2.42654646e-01 -1.09793438e-01 3.30253807e+02] [ 2.41447604e-01 9.70108013e-01 -2.43618021e-02 5.84446511e+01] [ 1.12422999e-01 -3.02751550e-03 9.93655828e-01 3.48765221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.805099893 meters 0.054283080593975776 Centerline is valid? [True, True] Translation: X:330.31, Y:58.45, Z:34.88 [[ 9.65247618e-01 -2.38049317e-01 -1.07840433e-01 3.30312880e+02] [ 2.36856255e-01 9.71249989e-01 -2.39285050e-02 5.84506420e+01] [ 1.10436183e-01 -2.44574863e-03 9.93880208e-01 3.48824772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.865099893 meters 0.05345222457693848 Centerline is valid? [True, True] Translation: X:330.37, Y:58.47, Z:34.89 [[ 9.66250963e-01 -2.34748432e-01 -1.06076621e-01 3.30369642e+02] [ 2.33574237e-01 9.72054031e-01 -2.35379751e-02 5.84684124e+01] [ 1.08637710e-01 -2.03317477e-03 9.94079330e-01 3.48916502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.925099893 meters 0.054134426881473525 Centerline is valid? [True, True] Translation: X:330.43, Y:58.48, Z:34.90 [[ 9.66992594e-01 -2.31934883e-01 -1.05506080e-01 3.30428560e+02] [ 2.30756517e-01 9.72729817e-01 -2.34122367e-02 5.84829227e+01] [ 1.08059024e-01 -1.70675604e-03 9.94143015e-01 3.48983132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.985099893 meters 0.05416259574361538 Centerline is valid? [True, True] Translation: X:330.49, Y:58.49, Z:34.90 [[ 9.66654069e-01 -2.32696383e-01 -1.06921959e-01 3.30486475e+02] [ 2.31490549e-01 9.72547737e-01 -2.37281423e-02 5.84909016e+01] [ 1.09508162e-01 -1.81451777e-03 9.93984240e-01 3.49023673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.045099893 meters 0.05443613318653155 Centerline is valid? [True, True] Translation: X:330.54, Y:58.50, Z:34.91 [[ 9.65855684e-01 -2.35775614e-01 -1.07390210e-01 3.30544692e+02] [ 2.34577735e-01 9.71805100e-01 -2.38355544e-02 5.85011273e+01] [ 1.09982197e-01 -2.16964662e-03 9.93931189e-01 3.49087792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.105099893 meters 0.05439340079127119 Centerline is valid? [True, True] Translation: X:330.61, Y:58.50, Z:34.91 [[ 9.64456573e-01 -2.41130534e-01 -1.08072127e-01 3.30605569e+02] [ 2.39950528e-01 9.70488667e-01 -2.39894082e-02 5.85022405e+01] [ 1.10667353e-01 -2.79522155e-03 9.93853573e-01 3.49134030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.165099893 meters 0.05503349516718154 Centerline is valid? [True, True] Translation: X:330.66, Y:58.51, Z:34.92 [[ 9.63636207e-01 -2.44369870e-01 -1.08113953e-01 3.30664271e+02] [ 2.43209241e-01 9.69676920e-01 -2.39986824e-02 5.85133693e+01] [ 1.10700160e-01 -3.16831324e-03 9.93848800e-01 3.49200077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.225099893 meters 0.05404742738021253 Centerline is valid? [True, True] Translation: X:330.72, Y:58.53, Z:34.93 [[ 9.62500805e-01 -2.48614899e-01 -1.08548756e-01 3.30722233e+02] [ 2.47471659e-01 9.68595458e-01 -2.40960016e-02 5.85297987e+01] [ 1.11130457e-01 -3.67031972e-03 9.93799049e-01 3.49274296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.285099893 meters 0.05412626852778953 Centerline is valid? [True, True] Translation: X:330.78, Y:58.54, Z:34.93 [[ 9.61666783e-01 -2.52115203e-01 -1.07865302e-01 3.30782313e+02] [ 2.51008253e-01 9.67688758e-01 -2.39442035e-02 5.85390478e+01] [ 1.10416738e-01 -4.04873586e-03 9.93877131e-01 3.49338332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.345099893 meters 0.05775684836425672 Centerline is valid? [True, True] Translation: X:330.85, Y:58.53, Z:34.94 [[ 9.61530021e-01 -2.52815099e-01 -1.07445545e-01 3.30845029e+02] [ 2.51721135e-01 9.67505870e-01 -2.38508159e-02 5.85344647e+01] [ 1.09984042e-01 -4.11303903e-03 9.93924843e-01 3.49379924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.40509989299994 meters 0.05420159164057853 Centerline is valid? [True, True] Translation: X:330.90, Y:58.56, Z:34.95 [[ 9.61860300e-01 -2.52668218e-01 -1.04802364e-01 3.30901410e+02] [ 2.51626742e-01 9.67544733e-01 -2.32631247e-02 5.85638369e+01] [ 1.07278827e-01 -3.99520115e-03 9.94220947e-01 3.49480637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.46509989299994 meters 0.05354711015518353 Centerline is valid? [True, True] Translation: X:330.96, Y:58.58, Z:34.95 [[ 9.62090054e-01 -2.51816044e-01 -1.04744485e-01 3.30962429e+02] [ 2.50771209e-01 9.67767250e-01 -2.32454659e-02 5.85759423e+01] [ 1.07221864e-01 -3.90266962e-03 9.94227459e-01 3.49547736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.52509989299995 meters 0.057019069518796074 Centerline is valid? [True, True] Translation: X:331.03, Y:58.57, Z:34.96 [[ 9.61857735e-01 -2.52186758e-01 -1.05978941e-01 3.31025192e+02] [ 2.51119841e-01 9.67670334e-01 -2.35148882e-02 5.85716728e+01] [ 1.08482821e-01 -3.99543780e-03 9.94090295e-01 3.49589009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.58509989299995 meters 0.05463678048383297 Centerline is valid? [True, True] Translation: X:331.08, Y:58.59, Z:34.97 [[ 9.61685863e-01 -2.52813834e-01 -1.06044643e-01 3.31081733e+02] [ 2.51749663e-01 9.67506378e-01 -2.35269227e-02 5.85937938e+01] [ 1.08546800e-01 -4.07119436e-03 9.94083003e-01 3.49658522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.64509989299995 meters 0.05627364149891466 Centerline is valid? [True, True] Translation: X:331.14, Y:58.60, Z:34.97 [[ 9.61292393e-01 -2.53291602e-01 -1.08444910e-01 3.31139654e+02] [ 2.52181712e-01 9.67380770e-01 -2.40588853e-02 5.85985757e+01] [ 1.11001434e-01 -4.22019960e-03 9.93811286e-01 3.49694858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.70509989299995 meters 0.05379131503490275 Centerline is valid? [True, True] Translation: X:331.20, Y:58.63, Z:34.98 [[ 9.60927249e-01 -2.54359475e-01 -1.09179113e-01 3.31196281e+02] [ 2.53240911e-01 9.67099873e-01 -2.42255520e-02 5.86285706e+01] [ 1.11749105e-01 -4.36962502e-03 9.93726846e-01 3.49787695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.76509989299996 meters 0.053664815124745954 Centerline is valid? [True, True] Translation: X:331.26, Y:58.64, Z:34.98 [[ 9.60529180e-01 -2.55180556e-01 -1.10754586e-01 3.31256812e+02] [ 2.54035388e-01 9.66882784e-01 -2.45703924e-02 5.86408881e+01] [ 1.13356588e-01 -4.53500522e-03 9.93544019e-01 3.49833380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.82509989299996 meters 0.054335163099785734 Centerline is valid? [True, True] Translation: X:331.32, Y:58.66, Z:34.99 [[ 9.60587342e-01 -2.55522863e-01 -1.09453300e-01 3.31316869e+02] [ 2.54407126e-01 9.66792426e-01 -2.42779698e-02 5.86565313e+01] [ 1.12022198e-01 -4.52458909e-03 9.93695404e-01 3.49906388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.88509989299996 meters 0.057221184713613454 Centerline is valid? [True, True] Translation: X:331.38, Y:58.66, Z:35.00 [[ 9.60213265e-01 -2.58276643e-01 -1.06224584e-01 3.31377848e+02] [ 2.57243001e-01 9.66059544e-01 -2.35583280e-02 5.86582695e+01] [ 1.08703839e-01 -4.70451182e-03 9.94063048e-01 3.49981268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.94509989299996 meters 0.05479133380076293 Centerline is valid? [True, True] Translation: X:331.44, Y:58.68, Z:35.01 [[ 9.59879847e-01 -2.59565255e-01 -1.06096924e-01 3.31435399e+02] [ 2.58542033e-01 9.65713415e-01 -2.35290687e-02 5.86795883e+01] [ 1.08566551e-01 -4.84543541e-03 9.94077374e-01 3.50052018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.00509989299997 meters 0.06086067459289815 Centerline is valid? [True, True] Translation: X:331.50, Y:58.67, Z:35.01 [[ 9.59013551e-01 -2.62624114e-01 -1.06402930e-01 3.31497629e+02] [ 2.61613860e-01 9.64884163e-01 -2.35953230e-02 5.86747430e+01] [ 1.08863203e-01 -5.20824675e-03 9.94043096e-01 3.50094551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.06509989299997 meters 0.059402088794769235 Centerline is valid? [True, True] Translation: X:331.55, Y:58.69, Z:35.02 [[ 9.57943325e-01 -2.66813455e-01 -1.05618019e-01 3.31554833e+02] [ 2.65843337e-01 9.63731682e-01 -2.34214719e-02 5.86933203e+01] [ 1.08036595e-01 -5.64140396e-03 9.94130911e-01 3.50171162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.12509989299997 meters 0.05902541132600421 Centerline is valid? [True, True] Translation: X:331.61, Y:58.71, Z:35.02 [[ 9.56274041e-01 -2.72627675e-01 -1.05896690e-01 3.31613875e+02] [ 2.71687807e-01 9.62098892e-01 -2.34831402e-02 5.87074254e+01] [ 1.08285242e-01 -6.31452196e-03 9.94099811e-01 3.50230775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.185099893 meters 0.05276258090033561 Centerline is valid? [True, True] Translation: X:331.67, Y:58.74, Z:35.03 [[ 9.55450459e-01 -2.75362781e-01 -1.06253277e-01 3.31668237e+02] [ 2.74433363e-01 9.61317407e-01 -2.35621156e-02 5.87418676e+01] [ 1.08631254e-01 -6.64700987e-03 9.94059892e-01 3.50301474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.245099893 meters 0.05658466822281293 Centerline is valid? [True, True] Translation: X:331.73, Y:58.74, Z:35.04 [[ 9.55666459e-01 -2.74841102e-01 -1.05659771e-01 3.31730896e+02] [ 2.73918949e-01 9.61467343e-01 -2.34298443e-02 5.87423930e+01] [ 1.08027903e-01 -6.55109701e-03 9.94126277e-01 3.50355451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.305099893 meters 0.05312450692296124 Centerline is valid? [True, True] Translation: X:331.79, Y:58.77, Z:35.04 [[ 9.56356674e-01 -2.72750876e-01 -1.04827823e-01 3.31786448e+02] [ 2.71831060e-01 9.62064279e-01 -2.32421718e-02 5.87693718e+01] [ 1.07190426e-01 -6.26765206e-03 9.94218753e-01 3.50427666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.365099893 meters 0.05325692363504242 Centerline is valid? [True, True] Translation: X:331.85, Y:58.79, Z:35.05 [[ 9.56741338e-01 -2.71205972e-01 -1.05324892e-01 3.31845015e+02] [ 2.70268133e-01 9.62501853e-01 -2.33520755e-02 5.87868731e+01] [ 1.07708626e-01 -6.12406590e-03 9.94163642e-01 3.50486097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.425099893 meters 0.05201385613421395 Centerline is valid? [True, True] Translation: X:331.90, Y:58.81, Z:35.05 [[ 9.57252798e-01 -2.69138020e-01 -1.05980217e-01 3.31902257e+02] [ 2.68176047e-01 9.63083361e-01 -2.34956789e-02 5.88073999e+01] [ 1.08391364e-01 -5.93005129e-03 9.94090613e-01 3.50545395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.485099893 meters 0.05376998514598285 Centerline is valid? [True, True] Translation: X:331.96, Y:58.81, Z:35.06 [[ 9.57800704e-01 -2.67311107e-01 -1.05653126e-01 3.31962296e+02] [ 2.66344140e-01 9.63593383e-01 -2.34220147e-02 5.88138049e+01] [ 1.08067618e-01 -5.70646870e-03 9.94127168e-01 3.50600760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.545099893 meters 0.05346577713300041 Centerline is valid? [True, True] Translation: X:332.02, Y:58.83, Z:35.07 [[ 9.58190862e-01 -2.65286328e-01 -1.07207448e-01 3.32020032e+02] [ 2.64278063e-01 9.64153647e-01 -2.37665900e-02 5.88317333e+01] [ 1.09669404e-01 -5.55964743e-03 9.93952570e-01 3.50651542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.605099893 meters 0.05356016017471359 Centerline is valid? [True, True] Translation: X:332.08, Y:58.85, Z:35.07 [[ 9.58583077e-01 -2.63882611e-01 -1.07165533e-01 3.32077342e+02] [ 2.62866427e-01 9.64539704e-01 -2.37571422e-02 5.88459482e+01] [ 1.09634508e-01 -5.39702635e-03 9.93957316e-01 3.50714966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.665099893 meters 0.05407763691072059 Centerline is valid? [True, True] Translation: X:332.14, Y:58.86, Z:35.08 [[ 9.58923861e-01 -2.63596781e-01 -1.04793923e-01 3.32137162e+02] [ 2.62623772e-01 9.64618683e-01 -2.32282371e-02 5.88589822e+01] [ 1.07209064e-01 -5.24726451e-03 9.94222652e-01 3.50798084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.725099893 meters 0.053143172955028774 Centerline is valid? [True, True] Translation: X:332.20, Y:58.88, Z:35.09 [[ 9.59150027e-01 -2.62923591e-01 -1.04414609e-01 3.32196481e+02] [ 2.61954004e-01 9.64802881e-01 -2.31408903e-02 5.88766218e+01] [ 1.06823802e-01 -5.15623943e-03 9.94264597e-01 3.50856326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.785099893 meters 0.05282261335469124 Centerline is valid? [True, True] Translation: X:332.26, Y:58.89, Z:35.09 [[ 9.59344829e-01 -2.61938727e-01 -1.05098061e-01 3.32256040e+02] [ 2.60950959e-01 9.65071115e-01 -2.32882136e-02 5.88923936e+01] [ 1.07527188e-01 -5.08401257e-03 9.94189145e-01 3.50918091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.845099893 meters 0.055201427714810146 Centerline is valid? [True, True] Translation: X:332.32, Y:58.90, Z:35.10 [[ 9.59398125e-01 -2.61172459e-01 -1.06509080e-01 3.32316470e+02] [ 2.60153648e-01 9.65278844e-01 -2.35973066e-02 5.89002931e+01] [ 1.08973928e-01 -5.06951404e-03 9.94031681e-01 3.50963983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.90509989299994 meters 0.05228102938558626 Centerline is valid? [True, True] Translation: X:332.37, Y:58.92, Z:35.10 [[ 9.59016568e-01 -2.62169332e-01 -1.07491695e-01 3.32373851e+02] [ 2.61138114e-01 9.65007695e-01 -2.38124876e-02 5.89240158e+01] [ 1.09973217e-01 -5.23360846e-03 9.93920772e-01 3.51033852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.96509989299994 meters 0.05364337086275474 Centerline is valid? [True, True] Translation: X:332.43, Y:58.93, Z:35.11 [[ 9.58520698e-01 -2.63411508e-01 -1.08868951e-01 3.32432910e+02] [ 2.62361813e-01 9.64668183e-01 -2.41158996e-02 5.89330167e+01] [ 1.11374819e-01 -5.44746645e-03 9.93763541e-01 3.51082250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.02509989299995 meters 0.052555420520122194 Centerline is valid? [True, True] Translation: X:332.49, Y:58.95, Z:35.12 [[ 9.59339876e-01 -2.60960098e-01 -1.07549197e-01 3.32490282e+02] [ 2.59920401e-01 9.65336120e-01 -2.38235430e-02 5.89529237e+01] [ 1.10038119e-01 -5.09935561e-03 9.93914287e-01 3.51160043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.08509989299995 meters 0.05305445876385763 Centerline is valid? [True, True] Translation: X:332.55, Y:58.96, Z:35.12 [[ 9.60307361e-01 -2.58415687e-01 -1.05029071e-01 3.32549882e+02] [ 2.57409085e-01 9.66022412e-01 -2.32650441e-02 5.89622620e+01] [ 1.07472489e-01 -4.69384402e-03 9.94196978e-01 3.51230894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.14509989299995 meters 0.05276870553921553 Centerline is valid? [True, True] Translation: X:332.61, Y:58.97, Z:35.13 [[ 9.61186033e-01 -2.56057401e-01 -1.02742485e-01 3.32607630e+02] [ 2.55080884e-01 9.66651866e-01 -2.27576848e-02 5.89744671e+01] [ 1.05143489e-01 -4.33327519e-03 9.94447620e-01 3.51302104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.20509989299995 meters 0.054682235562000435 Centerline is valid? [True, True] Translation: X:332.67, Y:58.98, Z:35.14 [[ 9.61272786e-01 -2.55982281e-01 -1.02116123e-01 3.32669323e+02] [ 2.55017183e-01 9.66671919e-01 -2.26193975e-02 5.89792301e+01] [ 1.04502954e-01 -4.29795476e-03 9.94515289e-01 3.51362576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.26509989299996 meters 0.05265699797390637 Centerline is valid? [True, True] Translation: X:332.73, Y:59.00, Z:35.14 [[ 9.59912674e-01 -2.59706872e-01 -1.05451405e-01 3.32727723e+02] [ 2.58700216e-01 9.65675262e-01 -2.33556391e-02 5.89969739e+01] [ 1.07897433e-01 -4.86092740e-03 9.94150147e-01 3.51396352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.32509989299996 meters 0.05781432548982352 Centerline is valid? [True, True] Translation: X:332.79, Y:58.99, Z:35.14 [[ 9.58441984e-01 -2.63295181e-01 -1.09839025e-01 3.32790965e+02] [ 2.62226369e-01 9.64699716e-01 -2.43267302e-02 5.89882252e+01] [ 1.12366787e-01 -5.48692922e-03 9.93651649e-01 3.51395541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.38509989299996 meters 0.052873305229712536 Centerline is valid? [True, True] Translation: X:332.85, Y:59.02, Z:35.15 [[ 9.57815959e-01 -2.65242270e-01 -1.10612504e-01 3.32845671e+02] [ 2.64171396e-01 9.64164607e-01 -2.44965991e-02 5.90178596e+01] [ 1.13146195e-01 -5.75742607e-03 9.93561669e-01 3.51487109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.44509989299996 meters 0.05587856391045842 Centerline is valid? [True, True] Translation: X:332.91, Y:59.02, Z:35.15 [[ 9.57957292e-01 -2.65023477e-01 -1.09910799e-01 3.32907422e+02] [ 2.63964868e-01 9.64225136e-01 -2.43399915e-02 5.90193863e+01] [ 1.12429425e-01 -5.69591727e-03 9.93643387e-01 3.51538548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.50509989299997 meters 0.05136889474800129 Centerline is valid? [True, True] Translation: X:332.96, Y:59.05, Z:35.16 [[ 9.58843406e-01 -2.62959945e-01 -1.07104578e-01 3.32962422e+02] [ 2.61942219e-01 9.64792111e-01 -2.37161746e-02 5.90495395e+01] [ 1.09570055e-01 -5.31511309e-03 9.93964865e-01 3.51648075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.56509989299997 meters 0.053210374141227534 Centerline is valid? [True, True] Translation: X:333.02, Y:59.06, Z:35.17 [[ 9.60082527e-01 -2.58645807e-01 -1.06507686e-01 3.33022003e+02] [ 2.57612962e-01 9.65960327e-01 -2.35840725e-02 5.90551528e+01] [ 1.08982121e-01 -4.79510465e-03 9.94032144e-01 3.51702218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.62509989299997 meters 0.0530559936154947 Centerline is valid? [True, True] Translation: X:333.08, Y:59.07, Z:35.18 [[ 9.61941180e-01 -2.51945057e-01 -1.05796283e-01 3.33080353e+02] [ 2.50885566e-01 9.67733241e-01 -2.34266248e-02 5.90707682e+01] [ 1.08284802e-01 -4.00772513e-03 9.94111835e-01 3.51759098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.685099893 meters 0.0526270203985991 Centerline is valid? [True, True] Translation: X:333.14, Y:59.09, Z:35.18 [[ 9.62939913e-01 -2.48061514e-01 -1.05887724e-01 3.33138190e+02] [ 2.46976831e-01 9.68737689e-01 -2.34464363e-02 5.90866729e+01] [ 1.08393588e-01 -3.57430519e-03 9.94101632e-01 3.51822601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.745099893 meters 0.05175707512363605 Centerline is valid? [True, True] Translation: X:333.20, Y:59.11, Z:35.19 [[ 9.63292079e-01 -2.46351846e-01 -1.06673046e-01 3.33196544e+02] [ 2.45240640e-01 9.69174470e-01 -2.36193969e-02 5.91051415e+01] [ 1.09203474e-01 -3.40818812e-03 9.94013574e-01 3.51888836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.805099893 meters 0.05176310817446159 Centerline is valid? [True, True] Translation: X:333.26, Y:59.11, Z:35.19 [[ 9.63712368e-01 -2.44438352e-01 -1.07277043e-01 3.33256756e+02] [ 2.43302899e-01 9.69659517e-01 -2.37512263e-02 5.91130735e+01] [ 1.09827916e-01 -3.21146513e-03 9.93945429e-01 3.51939944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.865099893 meters 0.052784651327084736 Centerline is valid? [True, True] Translation: X:333.32, Y:59.13, Z:35.20 [[ 9.63808904e-01 -2.44094911e-01 -1.07191748e-01 3.33316321e+02] [ 2.42959461e-01 9.69746157e-01 -2.37295333e-02 5.91286536e+01] [ 1.09741044e-01 -3.17251396e-03 9.93955149e-01 3.52009591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.925099893 meters 0.05340860630239685 Centerline is valid? [True, True] Translation: X:333.38, Y:59.14, Z:35.21 [[ 9.64493814e-01 -2.41333206e-01 -1.07284507e-01 3.33375684e+02] [ 2.40179149e-01 9.70438087e-01 -2.37464975e-02 5.91361750e+01] [ 1.09843790e-01 -2.86415159e-03 9.93944736e-01 3.52054964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.985099893 meters 0.05353454470730277 Centerline is valid? [True, True] Translation: X:333.43, Y:59.15, Z:35.21 [[ 9.65474628e-01 -2.38079838e-01 -1.05720069e-01 3.33434349e+02] [ 2.36939817e-01 9.71242480e-01 -2.34001893e-02 5.91493032e+01] [ 1.08250936e-01 -2.45700490e-03 9.94120565e-01 3.52126299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.045099893 meters 0.05305405689576403 Centerline is valid? [True, True] Translation: X:333.49, Y:59.16, Z:35.22 [[ 9.66049035e-01 -2.36633689e-01 -1.03700338e-01 3.33492749e+02] [ 2.35528685e-01 9.71596330e-01 -2.29523356e-02 5.91609970e+01] [ 1.06186164e-01 -2.25132259e-03 9.94343718e-01 3.52204077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.105099893 meters 0.05272814015057886 Centerline is valid? [True, True] Translation: X:333.55, Y:59.18, Z:35.23 [[ 9.66008227e-01 -2.36729022e-01 -1.03862775e-01 3.33552836e+02] [ 2.35621103e-01 9.71573074e-01 -2.29882131e-02 5.91758526e+01] [ 1.06352252e-01 -2.26545846e-03 9.94325936e-01 3.52269015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.165099893 meters 0.05215167022159453 Centerline is valid? [True, True] Translation: X:333.61, Y:59.19, Z:35.23 [[ 9.64930379e-01 -2.40343914e-01 -1.05565936e-01 3.33611482e+02] [ 2.39221184e-01 9.70684013e-01 -2.33617704e-02 5.91908674e+01] [ 1.08086026e-01 -2.71112624e-03 9.94137848e-01 3.52317694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.225099893 meters 0.05469034315741782 Centerline is valid? [True, True] Translation: X:333.67, Y:59.18, Z:35.23 [[ 9.64079208e-01 -2.43019702e-01 -1.07204038e-01 3.33674082e+02] [ 2.41878346e-01 9.70016529e-01 -2.37233862e-02 5.91848669e+01] [ 1.09754939e-01 -3.05911203e-03 9.93953970e-01 3.52334549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.285099893 meters 0.053647676657509386 Centerline is valid? [True, True] Translation: X:333.73, Y:59.20, Z:35.24 [[ 9.62820651e-01 -2.47370986e-01 -1.08554089e-01 3.33732184e+02] [ 2.46228156e-01 9.68914152e-01 -2.40220838e-02 5.92006831e+01] [ 1.11121960e-01 -3.60011495e-03 9.93800256e-01 3.52399797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.345099893 meters 0.052271394875968304 Centerline is valid? [True, True] Translation: X:333.79, Y:59.22, Z:35.25 [[ 9.62298164e-01 -2.49450003e-01 -1.08429420e-01 3.33789617e+02] [ 2.48323036e-01 9.68380079e-01 -2.39935971e-02 5.92198475e+01] [ 1.10986093e-01 -3.83652840e-03 9.93814554e-01 3.52478452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.40509989299994 meters 0.05280790440025889 Centerline is valid? [True, True] Translation: X:333.85, Y:59.23, Z:35.25 [[ 9.62327175e-01 -2.49651851e-01 -1.07704978e-01 3.33850340e+02] [ 2.48541297e-01 9.68328068e-01 -2.38322344e-02 5.92309334e+01] [ 1.10243515e-01 -3.83472830e-03 9.93897209e-01 3.52542879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.46509989299994 meters 0.051756773589396926 Centerline is valid? [True, True] Translation: X:333.91, Y:59.25, Z:35.26 [[ 9.62763610e-01 -2.48340232e-01 -1.06833328e-01 3.33908870e+02] [ 2.47239952e-01 9.68665964e-01 -2.36359018e-02 5.92479603e+01] [ 1.09355554e-01 -3.65768062e-03 9.93995968e-01 3.52619352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.52509989299995 meters 0.052545408657378355 Centerline is valid? [True, True] Translation: X:333.97, Y:59.26, Z:35.27 [[ 9.63997581e-01 -2.43799668e-01 -1.06162070e-01 3.33968228e+02] [ 2.42685931e-01 9.69820583e-01 -2.34856552e-02 5.92551753e+01] [ 1.08683955e-01 -3.12392588e-03 9.94071446e-01 3.52675280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.58509989299995 meters 0.05303462861073123 Centerline is valid? [True, True] Translation: X:334.03, Y:59.27, Z:35.27 [[ 9.65042372e-01 -2.39555978e-01 -1.06330395e-01 3.34026268e+02] [ 2.38413012e-01 9.70878937e-01 -2.35228548e-02 5.92713412e+01] [ 1.08868981e-01 -2.64999817e-03 9.94052575e-01 3.52739636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.64509989299995 meters 0.05335805530716326 Centerline is valid? [True, True] Translation: X:334.08, Y:59.29, Z:35.28 [[ 9.66640370e-01 -2.32455294e-01 -1.07568261e-01 3.34084101e+02] [ 2.31241749e-01 9.72605279e-01 -2.37954575e-02 5.92871327e+01] [ 1.10152839e-01 -1.87262313e-03 9.93912896e-01 3.52797174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.70509989299995 meters 0.05286039029749011 Centerline is valid? [True, True] Translation: X:334.14, Y:59.30, Z:35.29 [[ 9.68188903e-01 -2.25160536e-01 -1.09146605e-01 3.34142183e+02] [ 2.23864751e-01 9.74321104e-01 -2.41445409e-02 5.93039236e+01] [ 1.11780238e-01 -1.05760084e-03 9.93732388e-01 3.52864748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.76509989299996 meters 0.05302850584916741 Centerline is valid? [True, True] Translation: X:334.20, Y:59.32, Z:35.29 [[ 9.69143336e-01 -2.19859781e-01 -1.11457936e-01 3.34201234e+02] [ 2.18473520e-01 9.75531377e-01 -2.46546740e-02 5.93187781e+01] [ 1.14151285e-01 -4.56694591e-04 9.93463273e-01 3.52903246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.82509989299996 meters 0.05262981828916548 Centerline is valid? [True, True] Translation: X:334.26, Y:59.34, Z:35.29 [[ 9.70389840e-01 -2.13793905e-01 -1.12408736e-01 3.34256514e+02] [ 2.12343356e-01 9.76878754e-01 -2.48636234e-02 5.93351938e+01] [ 1.15125397e-01 2.58159378e-04 9.93350933e-01 3.52928957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.88509989299996 meters 0.05417275754921669 Centerline is valid? [True, True] Translation: X:334.31, Y:59.35, Z:35.31 [[ 9.72537038e-01 -2.05025845e-01 -1.10164026e-01 3.34314604e+02] [ 2.03575337e-01 9.78755719e-01 -2.43787670e-02 5.93507921e+01] [ 1.12821948e-01 1.28257510e-03 9.93614394e-01 3.53054034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.94509989299996 meters 0.05440494022309933 Centerline is valid? [True, True] Translation: X:334.37, Y:59.37, Z:35.31 [[ 9.73549889e-01 -2.00505357e-01 -1.09536364e-01 3.34371550e+02] [ 1.99043169e-01 9.79690964e-01 -2.42369893e-02 5.93713978e+01] [ 1.12171432e-01 1.79345329e-03 9.93687251e-01 3.53092568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.00509989299997 meters 0.053860481527059016 Centerline is valid? [True, True] Translation: X:334.43, Y:59.38, Z:35.32 [[ 9.73494230e-01 -2.01102588e-01 -1.08934532e-01 3.34428801e+02] [ 1.99660212e-01 9.79568685e-01 -2.41037781e-02 5.93802732e+01] [ 1.11556188e-01 1.71499726e-03 9.93756648e-01 3.53172419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.06509989299997 meters 0.05341083823715118 Centerline is valid? [True, True] Translation: X:334.49, Y:59.38, Z:35.33 [[ 9.72493809e-01 -2.06085203e-01 -1.08557270e-01 3.34487971e+02] [ 2.04682361e-01 9.78533373e-01 -2.40326553e-02 5.93844317e+01] [ 1.11179687e-01 1.15185002e-03 9.93799653e-01 3.53262154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.12509989299997 meters 0.05392924115333852 Centerline is valid? [True, True] Translation: X:334.55, Y:59.39, Z:35.33 [[ 9.71337402e-01 -2.11834894e-01 -1.07840758e-01 3.34547377e+02] [ 2.10485672e-01 9.77305344e-01 -2.38756521e-02 5.93945311e+01] [ 1.10451045e-01 4.92379550e-04 9.93881444e-01 3.53309922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.185099893 meters 0.053709550394273525 Centerline is valid? [True, True] Translation: X:334.61, Y:59.40, Z:35.34 [[ 9.69154141e-01 -2.21680224e-01 -1.07694616e-01 3.34605402e+02] [ 2.20395198e-01 9.75119215e-01 -2.38426673e-02 5.93976306e+01] [ 1.10300537e-01 -6.28156449e-04 9.93898082e-01 3.53362453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.245099893 meters 0.0531375181313171 Centerline is valid? [True, True] Translation: X:334.66, Y:59.41, Z:35.34 [[ 9.67844857e-01 -2.27785476e-01 -1.06724454e-01 3.34664941e+02] [ 2.26560020e-01 9.73710464e-01 -2.36323610e-02 5.94053503e+01] [ 1.09301826e-01 -1.30703531e-03 9.94007748e-01 3.53441033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.305099893 meters 0.05408624098576611 Centerline is valid? [True, True] Translation: X:334.73, Y:59.41, Z:35.35 [[ 9.66189919e-01 -2.34812580e-01 -1.06489871e-01 3.34725777e+02] [ 2.33634984e-01 9.72038403e-01 -2.35804512e-02 5.94058271e+01] [ 1.09049231e-01 -2.09656506e-03 9.94034139e-01 3.53489035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.365099893 meters 0.05325621833580738 Centerline is valid? [True, True] Translation: X:334.78, Y:59.42, Z:35.36 [[ 9.65370067e-01 -2.38356040e-01 -1.06052026e-01 3.34784583e+02] [ 2.37209346e-01 9.71174660e-01 -2.34841697e-02 5.94202527e+01] [ 1.08592634e-01 -2.48561734e-03 9.94083227e-01 3.53559231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.425099893 meters 0.05355842118217271 Centerline is valid? [True, True] Translation: X:334.84, Y:59.42, Z:35.36 [[ 9.64539116e-01 -2.42017985e-01 -1.05316612e-01 3.34843615e+02] [ 2.40908995e-01 9.70267494e-01 -2.33204906e-02 5.94247401e+01] [ 1.07829263e-01 -2.87819370e-03 9.94165261e-01 3.53611135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.485099893 meters 0.05402536038022119 Centerline is valid? [True, True] Translation: X:334.90, Y:59.44, Z:35.37 [[ 9.64211558e-01 -2.43154489e-01 -1.05697523e-01 3.34900889e+02] [ 2.42044084e-01 9.69982889e-01 -2.34063265e-02 5.94352420e+01] [ 1.08216142e-01 -3.01480945e-03 9.94122818e-01 3.53666712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.545099893 meters 0.0538745346326455 Centerline is valid? [True, True] Translation: X:334.96, Y:59.45, Z:35.37 [[ 9.64518564e-01 -2.41880896e-01 -1.05818578e-01 3.34957674e+02] [ 2.40759024e-01 9.70301722e-01 -2.34448608e-02 5.94467668e+01] [ 1.08346812e-01 -2.86377399e-03 9.94109032e-01 3.53723184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.605099893 meters 0.05362282565709 Centerline is valid? [True, True] Translation: X:335.01, Y:59.47, Z:35.38 [[ 9.65951289e-01 -2.36262892e-01 -1.05441706e-01 3.35014439e+02] [ 2.35115258e-01 9.71686631e-01 -2.33646421e-02 5.94673864e+01] [ 1.07976494e-01 -2.22184766e-03 9.94150965e-01 3.53793327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.665099893 meters 0.053733949700883236 Centerline is valid? [True, True] Translation: X:335.07, Y:59.48, Z:35.39 [[ 9.67426739e-01 -2.30204498e-01 -1.05315688e-01 3.35071612e+02] [ 2.29023719e-01 9.73141053e-01 -2.33372482e-02 5.94800960e+01] [ 1.07859359e-01 -1.54271249e-03 9.94164966e-01 3.53850534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.725099893 meters 0.054014636556969156 Centerline is valid? [True, True] Translation: X:335.13, Y:59.50, Z:35.39 [[ 9.69058934e-01 -2.24067853e-01 -1.03529605e-01 3.35127302e+02] [ 2.22891706e-01 9.74573182e-01 -2.29433976e-02 5.95013438e+01] [ 1.06038055e-01 -8.42385985e-04 9.94361716e-01 3.53935713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.785099893 meters 0.05408273216160955 Centerline is valid? [True, True] Translation: X:335.18, Y:59.52, Z:35.40 [[ 9.70795230e-01 -2.16084900e-01 -1.04230212e-01 3.35183250e+02] [ 2.14846672e-01 9.76374577e-01 -2.30996215e-02 5.95187614e+01] [ 1.06759208e-01 3.14882263e-05 9.94284904e-01 3.54008143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.845099893 meters 0.0538566166184892 Centerline is valid? [True, True] Translation: X:335.24, Y:59.53, Z:35.40 [[ 9.71215771e-01 -2.13809807e-01 -1.05001391e-01 3.35239836e+02] [ 2.12539536e-01 9.76875265e-01 -2.32736206e-02 5.95325512e+01] [ 1.07549391e-01 2.86760363e-04 9.94199701e-01 3.54044511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.90509989299994 meters 0.05360225932155819 Centerline is valid? [True, True] Translation: X:335.30, Y:59.54, Z:35.41 [[ 9.71166384e-01 -2.13831110e-01 -1.05413997e-01 3.35296803e+02] [ 2.12549545e-01 9.76870599e-01 -2.33778358e-02 5.95433508e+01] [ 1.07974743e-01 2.98071098e-04 9.94153593e-01 3.54109992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.96509989299994 meters 0.05374374816428225 Centerline is valid? [True, True] Translation: X:335.35, Y:59.55, Z:35.42 [[ 9.70408615e-01 -2.17371569e-01 -1.05150946e-01 3.35354923e+02] [ 2.16115562e-01 9.76088927e-01 -2.33338763e-02 5.95521164e+01] [ 1.07708795e-01 -8.13611264e-05 9.94182483e-01 3.54166883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.02509989299995 meters 0.05367828246298354 Centerline is valid? [True, True] Translation: X:335.41, Y:59.56, Z:35.42 [[ 9.69553794e-01 -2.21090642e-01 -1.05282330e-01 3.35412890e+02] [ 2.19852052e-01 9.75253144e-01 -2.33747910e-02 5.95614185e+01] [ 1.07844871e-01 -4.83419047e-04 9.94167617e-01 3.54235161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.08509989299995 meters 0.054121576418231634 Centerline is valid? [True, True] Translation: X:335.47, Y:59.57, Z:35.43 [[ 9.67850354e-01 -2.28221210e-01 -1.05739164e-01 3.35471794e+02] [ 2.27012778e-01 9.73608477e-01 -2.34889961e-02 5.95669731e+01] [ 1.08309233e-01 -1.27030813e-03 9.94116440e-01 3.54288782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.14509989299995 meters 0.053844440260544496 Centerline is valid? [True, True] Translation: X:335.53, Y:59.58, Z:35.44 [[ 9.66488570e-01 -2.33885411e-01 -1.05818043e-01 3.35531207e+02] [ 2.32708539e-01 9.72262308e-01 -2.35104211e-02 5.95774164e+01] [ 1.08381640e-01 -1.90220901e-03 9.94107540e-01 3.54352294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.20509989299995 meters 0.054704927839105535 Centerline is valid? [True, True] Translation: X:335.59, Y:59.58, Z:35.44 [[ 9.64799691e-01 -2.41188303e-01 -1.04832051e-01 3.35591448e+02] [ 2.40076193e-01 9.70474592e-01 -2.32913825e-02 5.95805635e+01] [ 1.07354451e-01 -2.69616109e-03 9.94217156e-01 3.54414650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.26509989299996 meters 0.05433692048142386 Centerline is valid? [True, True] Translation: X:335.65, Y:59.59, Z:35.45 [[ 9.63628609e-01 -2.46263334e-01 -1.03799197e-01 3.35650827e+02] [ 2.45202283e-01 9.69197581e-01 -2.30627320e-02 5.95902026e+01] [ 1.06281436e-01 -3.22789179e-03 9.94330849e-01 3.54486535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.32509989299996 meters 0.06057193084494934 Centerline is valid? [True, True] Translation: X:335.71, Y:59.58, Z:35.46 [[ 9.61493625e-01 -2.54941882e-01 -1.02638426e-01 3.35713164e+02] [ 2.53953602e-01 9.66947521e-01 -2.28048221e-02 5.95805439e+01] [ 1.05059876e-01 -4.13870706e-03 9.94457286e-01 3.54552719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.38509989299996 meters 0.0548604190468689 Centerline is valid? [True, True] Translation: X:335.77, Y:59.61, Z:35.46 [[ 9.59797549e-01 -2.61303393e-01 -1.02514399e-01 3.35768134e+02] [ 2.60353556e-01 9.65244644e-01 -2.27772423e-02 5.96095377e+01] [ 1.04903245e-01 -4.82844701e-03 9.94470711e-01 3.54615585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.44509989299996 meters 0.05344564776659697 Centerline is valid? [True, True] Translation: X:335.83, Y:59.63, Z:35.47 [[ 9.57814829e-01 -2.68015017e-01 -1.03724173e-01 3.35825232e+02] [ 2.67081763e-01 9.63398285e-01 -2.30451050e-02 5.96287346e+01] [ 1.06104125e-01 -5.62989175e-03 9.94339087e-01 3.54665378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.50509989299997 meters 0.05661718450535222 Centerline is valid? [True, True] Translation: X:335.89, Y:59.62, Z:35.47 [[ 9.57009725e-01 -2.70551236e-01 -1.04567756e-01 3.35886409e+02] [ 2.69617748e-01 9.62687132e-01 -2.32326548e-02 5.96248447e+01] [ 1.06951656e-01 -5.95944625e-03 9.94246362e-01 3.54719114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.56509989299997 meters 0.0540425464123929 Centerline is valid? [True, True] Translation: X:335.94, Y:59.65, Z:35.48 [[ 9.56459243e-01 -2.72061607e-01 -1.05679700e-01 3.35942744e+02] [ 2.71117128e-01 9.62259909e-01 -2.34812808e-02 5.96495744e+01] [ 1.08079694e-01 -6.19268886e-03 9.94122945e-01 3.54780293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.62509989299997 meters 0.05353501179094596 Centerline is valid? [True, True] Translation: X:336.00, Y:59.67, Z:35.48 [[ 9.56410052e-01 -2.71820205e-01 -1.06740757e-01 3.36001341e+02] [ 2.70855269e-01 9.62327894e-01 -2.37159977e-02 5.96707989e+01] [ 1.09166095e-01 -6.22907791e-03 9.94004005e-01 3.54839845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.685099893 meters 0.05331403708734675 Centerline is valid? [True, True] Translation: X:336.06, Y:59.69, Z:35.49 [[ 9.57043231e-01 -2.69297404e-01 -1.07457722e-01 3.36059578e+02] [ 2.68304118e-01 9.63038461e-01 -2.38709430e-02 5.96851214e+01] [ 1.09914303e-01 -5.98582508e-03 9.93923043e-01 3.54898522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.745099893 meters 0.05328136605075472 Centerline is valid? [True, True] Translation: X:336.12, Y:59.70, Z:35.50 [[ 9.58522277e-01 -2.64413738e-01 -1.06397464e-01 3.36116780e+02] [ 2.63410121e-01 9.64394379e-01 -2.36345257e-02 5.97033116e+01] [ 1.08858410e-01 -5.37194954e-03 9.94042750e-01 3.54970664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.805099893 meters 0.05314169111103106 Centerline is valid? [True, True] Translation: X:336.17, Y:59.72, Z:35.50 [[ 9.59984469e-01 -2.59721340e-01 -1.04759939e-01 3.36174628e+02] [ 2.58720612e-01 9.65671853e-01 -2.32705235e-02 5.97171641e+01] [ 1.07207576e-01 -4.76421446e-03 9.94225245e-01 3.55041601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.865099893 meters 0.05555185945952911 Centerline is valid? [True, True] Translation: X:336.23, Y:59.73, Z:35.51 [[ 9.62403993e-01 -2.50961258e-01 -1.03908621e-01 3.36232762e+02] [ 2.49925846e-01 9.67989844e-01 -2.30810130e-02 5.97273984e+01] [ 1.06374930e-01 -3.75619102e-03 9.94318996e-01 3.55107525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.925099893 meters 0.05469902916277893 Centerline is valid? [True, True] Translation: X:336.29, Y:59.75, Z:35.52 [[ 9.64082176e-01 -2.44592927e-01 -1.03536748e-01 3.36288998e+02] [ 2.43528211e-01 9.69621087e-01 -2.29991023e-02 5.97491057e+01] [ 1.06016832e-01 -3.04109433e-03 9.94359685e-01 3.55171631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.985099893 meters 0.053541742861591864 Centerline is valid? [True, True] Translation: X:336.35, Y:59.77, Z:35.52 [[ 9.65686515e-01 -2.38072086e-01 -1.03784567e-01 3.36345591e+02] [ 2.36964634e-01 9.71244693e-01 -2.30544705e-02 5.97716773e+01] [ 1.06288836e-01 -2.32988061e-03 9.94332568e-01 3.55235024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.045099893 meters 0.053450597684560425 Centerline is valid? [True, True] Translation: X:336.40, Y:59.79, Z:35.53 [[ 9.68162278e-01 -2.27040643e-01 -1.05424619e-01 3.36403104e+02] [ 2.25832504e-01 9.73884622e-01 -2.34184274e-02 5.97876457e+01] [ 1.07988350e-01 -1.13546773e-03 9.94151511e-01 3.55270422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.105099893 meters 0.053984464897679704 Centerline is valid? [True, True] Translation: X:336.46, Y:59.81, Z:35.53 [[ 9.70640934e-01 -2.15560818e-01 -1.06722591e-01 3.36460090e+02] [ 2.14253310e-01 9.76490406e-01 -2.37066720e-02 5.98108563e+01] [ 1.09323816e-01 1.44997954e-04 9.94006178e-01 3.55339560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.165099893 meters 0.05411020103750596 Centerline is valid? [True, True] Translation: X:336.52, Y:59.83, Z:35.54 [[ 9.72349626e-01 -2.07886868e-01 -1.06391984e-01 3.36516831e+02] [ 2.06541887e-01 9.78152363e-01 -2.36305736e-02 5.98291214e+01] [ 1.08980057e-01 1.00277818e-03 9.94043430e-01 3.55396590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.225099893 meters 0.054331778995454466 Centerline is valid? [True, True] Translation: X:336.57, Y:59.85, Z:35.55 [[ 9.74212660e-01 -1.99301292e-01 -1.05776598e-01 3.36574673e+02] [ 1.97921239e-01 9.79936314e-01 -2.34947654e-02 5.98452913e+01] [ 1.08336867e-01 1.95346248e-03 9.94112321e-01 3.55470052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.285099893 meters 0.05520253206728263 Centerline is valid? [True, True] Translation: X:336.63, Y:59.86, Z:35.55 [[ 9.74923981e-01 -1.95977117e-01 -1.05433399e-01 3.36630593e+02] [ 1.94586692e-01 9.80605737e-01 -2.34181270e-02 5.98595108e+01] [ 1.07978013e-01 2.31495731e-03 9.94150587e-01 3.55532489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.345099893 meters 0.055219059446664845 Centerline is valid? [True, True] Translation: X:336.69, Y:59.87, Z:35.56 [[ 9.74555172e-01 -1.97446695e-01 -1.06099104e-01 3.36690329e+02] [ 1.96046893e-01 9.80311224e-01 -2.35694598e-02 5.98676151e+01] [ 1.08663854e-01 2.16933936e-03 9.94076185e-01 3.55608296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.40509989299994 meters 0.05473178022345323 Centerline is valid? [True, True] Translation: X:336.75, Y:59.87, Z:35.57 [[ 9.72755640e-01 -2.06365817e-01 -1.05639076e-01 3.36750620e+02] [ 2.05030575e-01 9.78474213e-01 -2.34665226e-02 5.98719993e+01] [ 1.08207799e-01 1.16795175e-03 9.94127612e-01 3.55690295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.46509989299994 meters 0.05385759924886008 Centerline is valid? [True, True] Translation: X:336.81, Y:59.88, Z:35.57 [[ 9.70716840e-01 -2.15665299e-01 -1.05817276e-01 3.36810186e+02] [ 2.14380455e-01 9.76467338e-01 -2.35065788e-02 5.98787112e+01] [ 1.08396667e-01 1.33076084e-04 9.94107713e-01 3.55744449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.52509989299995 meters 0.054699434018408245 Centerline is valid? [True, True] Translation: X:336.87, Y:59.87, Z:35.58 [[ 9.66997279e-01 -2.31615284e-01 -1.06163186e-01 3.36872919e+02] [ 2.30417219e-01 9.72806056e-01 -2.35856468e-02 5.98749676e+01] [ 1.08738987e-01 -1.65456978e-03 9.94068959e-01 3.55810397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.58509989299995 meters 0.0554543834633447 Centerline is valid? [True, True] Translation: X:336.93, Y:59.88, Z:35.59 [[ 9.64447902e-01 -2.41935104e-01 -1.06337430e-01 3.36932991e+02] [ 2.40795508e-01 9.70288330e-01 -2.36237192e-02 5.98753716e+01] [ 1.08893374e-01 -2.82172898e-03 9.94049431e-01 3.55869281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.64509989299995 meters 0.05464075711252017 Centerline is valid? [True, True] Translation: X:336.99, Y:59.89, Z:35.59 [[ 9.61907923e-01 -2.51813862e-01 -1.06409240e-01 3.36991724e+02] [ 2.50732754e-01 9.67767662e-01 -2.36397759e-02 5.98877448e+01] [ 1.08932245e-01 -3.94099413e-03 9.94041365e-01 3.55948347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.70509989299995 meters 0.05410992508426294 Centerline is valid? [True, True] Translation: X:337.05, Y:59.90, Z:35.60 [[ 9.59563207e-01 -2.60619214e-01 -1.06377053e-01 3.37051037e+02] [ 2.59592590e-01 9.65429042e-01 -2.36316024e-02 5.98981021e+01] [ 1.08858346e-01 -4.93867855e-03 9.94045004e-01 3.56020558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.76509989299996 meters 0.05487376077869374 Centerline is valid? [True, True] Translation: X:337.11, Y:59.90, Z:35.61 [[ 9.56485249e-01 -2.71176201e-01 -1.07700683e-01 3.37111346e+02] [ 2.70190186e-01 9.62509656e-01 -2.39254293e-02 5.98989987e+01] [ 1.10150954e-01 -6.21534730e-03 9.93895436e-01 3.56071843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.82509989299996 meters 0.05344012458231967 Centerline is valid? [True, True] Translation: X:337.17, Y:59.93, Z:35.62 [[ 9.55053693e-01 -2.75680373e-01 -1.08962270e-01 3.37167212e+02] [ 2.74700336e-01 9.61225197e-01 -2.42042488e-02 5.99258635e+01] [ 1.11409916e-01 -6.81561508e-03 9.93751165e-01 3.56150336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.88509989299996 meters 0.05353122969883424 Centerline is valid? [True, True] Translation: X:337.23, Y:59.93, Z:35.62 [[ 9.54695711e-01 -2.76774329e-01 -1.09325525e-01 3.37227085e+02] [ 2.75794921e-01 9.60909688e-01 -2.42844091e-02 5.99334468e+01] [ 1.11773258e-01 -6.96720346e-03 9.93709312e-01 3.56206722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.94509989299996 meters 0.06113701121041123 Centerline is valid? [True, True] Translation: X:337.29, Y:59.92, Z:35.62 [[ 9.55545011e-01 -2.73563612e-01 -1.09984916e-01 3.37290781e+02] [ 2.72551304e-01 9.61831045e-01 -2.44300404e-02 5.99212397e+01] [ 1.12470076e-01 -6.63252901e-03 9.93632976e-01 3.56229462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.00509989299997 meters 0.05451585177768038 Centerline is valid? [True, True] Translation: X:337.34, Y:59.96, Z:35.63 [[ 9.56305390e-01 -2.70285228e-01 -1.11471506e-01 3.37343647e+02] [ 2.69223114e-01 9.62759475e-01 -2.47610307e-02 5.99617053e+01] [ 1.14012789e-01 -6.33159885e-03 9.93459106e-01 3.56330085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.06509989299997 meters 0.05771833741351068 Centerline is valid? [True, True] Translation: X:337.41, Y:59.96, Z:35.64 [[ 9.57299816e-01 -2.66333498e-01 -1.12443455e-01 3.37405434e+02] [ 2.65225846e-01 9.63862796e-01 -2.49751924e-02 5.99614684e+01] [ 1.15031793e-01 -5.91416331e-03 9.93344205e-01 3.56356880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.12509989299997 meters 0.05620128647998617 Centerline is valid? [True, True] Translation: X:337.46, Y:59.99, Z:35.64 [[ 9.59239398e-01 -2.59086795e-01 -1.12844186e-01 3.37461044e+02] [ 2.57921310e-01 9.65840775e-01 -2.50638354e-02 5.99863024e+01] [ 1.15483225e-01 -5.06270187e-03 9.93296529e-01 3.56433879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.185099893 meters 0.054206147145143435 Centerline is valid? [True, True] Translation: X:337.52, Y:60.02, Z:35.65 [[ 9.61660871e-01 -2.50391343e-01 -1.11859482e-01 3.37515764e+02] [ 2.49187399e-01 9.68136524e-01 -2.48457504e-02 6.00169685e+01] [ 1.14516411e-01 -3.98078752e-03 9.93413381e-01 3.56536861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.245099893 meters 0.05431430777625319 Centerline is valid? [True, True] Translation: X:337.57, Y:60.04, Z:35.66 [[ 9.63314389e-01 -2.44397996e-01 -1.10882858e-01 3.37573049e+02] [ 2.43175413e-01 9.69669599e-01 -2.46289835e-02 6.00354010e+01] [ 1.13539011e-01 -3.23853073e-03 9.93528261e-01 3.56610370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.305099893 meters 0.05486306850318594 Centerline is valid? [True, True] Translation: X:337.63, Y:60.05, Z:35.66 [[ 9.65329399e-01 -2.36397257e-01 -1.10704505e-01 3.37630972e+02] [ 2.35126088e-01 9.71653787e-01 -2.45894693e-02 6.00496819e+01] [ 1.13379335e-01 -2.29257962e-03 9.93549128e-01 3.56649144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.365099893 meters 0.05503700687248856 Centerline is valid? [True, True] Translation: X:337.69, Y:60.07, Z:35.67 [[ 9.66416135e-01 -2.31760348e-01 -1.11027005e-01 3.37687328e+02] [ 2.30451195e-01 9.72771334e-01 -2.46612913e-02 6.00652656e+01] [ 1.13719397e-01 -1.75323608e-03 9.93511361e-01 3.56689209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.425099893 meters 0.05475042073688367 Centerline is valid? [True, True] Translation: X:337.74, Y:60.09, Z:35.68 [[ 9.67842606e-01 -2.25628399e-01 -1.11231810e-01 3.37742985e+02] [ 2.24273818e-01 9.74212892e-01 -2.47082075e-02 6.00886842e+01] [ 1.13938336e-01 -1.03272664e-03 9.93487287e-01 3.56777732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.485099893 meters 0.054652984444681155 Centerline is valid? [True, True] Translation: X:337.80, Y:60.11, Z:35.68 [[ 9.69037160e-01 -2.20667392e-01 -1.10783048e-01 3.37798467e+02] [ 2.19290837e-01 9.75349018e-01 -2.46134586e-02 6.01053753e+01] [ 1.13483525e-01 -4.42351307e-04 9.93539780e-01 3.56830011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.545099893 meters 0.05473530295728127 Centerline is valid? [True, True] Translation: X:337.85, Y:60.12, Z:35.69 [[ 9.69584380e-01 -2.18791529e-01 -1.09710511e-01 3.37854892e+02] [ 2.17428789e-01 9.75771603e-01 -2.43823754e-02 6.01199310e+01] [ 1.12387059e-01 -2.13453332e-04 9.93664482e-01 3.56903136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.605099893 meters 0.053980096351993884 Centerline is valid? [True, True] Translation: X:337.91, Y:60.13, Z:35.70 [[ 9.70147001e-01 -2.16697868e-01 -1.08889070e-01 3.37911079e+02] [ 2.15341129e-01 9.76238717e-01 -2.42108588e-02 6.01340462e+01] [ 1.11548167e-01 3.97967438e-05 9.93759028e-01 3.56984759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.665099893 meters 0.054526298196382474 Centerline is valid? [True, True] Translation: X:337.97, Y:60.15, Z:35.70 [[ 9.70390704e-01 -2.16283491e-01 -1.07532939e-01 3.37967785e+02] [ 2.14956610e-01 9.76330601e-01 -2.39209989e-02 6.01462953e+01] [ 1.10161417e-01 9.77988448e-05 9.93913705e-01 3.57048748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.725099893 meters 0.05454853364007741 Centerline is valid? [True, True] Translation: X:338.02, Y:60.16, Z:35.71 [[ 9.70262662e-01 -2.17178486e-01 -1.06882514e-01 3.38024681e+02] [ 2.15871883e-01 9.76131910e-01 -2.37870731e-02 6.01550795e+01] [ 1.09497473e-01 6.77928996e-06 9.93987074e-01 3.57113855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.785099893 meters 0.05447163711410909 Centerline is valid? [True, True] Translation: X:338.08, Y:60.16, Z:35.72 [[ 9.69649921e-01 -2.19914245e-01 -1.06849218e-01 3.38082537e+02] [ 2.18624492e-01 9.75519162e-01 -2.37843518e-02 6.01640819e+01] [ 1.09463977e-01 -2.97361162e-04 9.93990719e-01 3.57174124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.845099893 meters 0.054868760501054145 Centerline is valid? [True, True] Translation: X:338.14, Y:60.17, Z:35.72 [[ 9.67922094e-01 -2.26826570e-01 -1.08057977e-01 3.38142135e+02] [ 2.25548924e-01 9.73934568e-01 -2.40653262e-02 6.01700877e+01] [ 1.10700055e-01 -1.07899957e-03 9.93853276e-01 3.57229072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.90509989299994 meters 0.05484594979585264 Centerline is valid? [True, True] Translation: X:338.20, Y:60.17, Z:35.73 [[ 9.66471862e-01 -2.32578304e-01 -1.08809340e-01 3.38201717e+02] [ 2.31318847e-01 9.72576104e-01 -2.42345336e-02 6.01727904e+01] [ 1.11461791e-01 -1.74765643e-03 9.93767183e-01 3.57265954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.96509989299994 meters 0.05556594007543101 Centerline is valid? [True, True] Translation: X:338.26, Y:60.17, Z:35.73 [[ 9.64894963e-01 -2.39770337e-01 -1.07181599e-01 3.38263396e+02] [ 2.38592483e-01 9.70826319e-01 -2.38722785e-02 6.01744306e+01] [ 1.09778581e-01 -2.53848250e-03 9.93952825e-01 3.57333053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.02509989299995 meters 0.05517295676467662 Centerline is valid? [True, True] Translation: X:338.32, Y:60.19, Z:35.74 [[ 9.64058175e-01 -2.43394789e-01 -1.06540188e-01 3.38321476e+02] [ 2.42253136e-01 9.69922867e-01 -2.37286619e-02 6.01873566e+01] [ 1.09111197e-01 -2.93388404e-03 9.94025221e-01 3.57406256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.08509989299995 meters 0.05521794716920585 Centerline is valid? [True, True] Translation: X:338.38, Y:60.20, Z:35.75 [[ 9.62723664e-01 -2.48466740e-01 -1.06899135e-01 3.38380988e+02] [ 2.47348379e-01 9.68634034e-01 -2.38093908e-02 6.01965450e+01] [ 1.09461982e-01 -3.51946373e-03 9.93984752e-01 3.57462680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.14509989299995 meters 0.054915379064455296 Centerline is valid? [True, True] Translation: X:338.44, Y:60.20, Z:35.75 [[ 9.61072697e-01 -2.54932035e-01 -1.06531352e-01 3.38440839e+02] [ 2.53860942e-01 9.66949673e-01 -2.37266044e-02 6.02049568e+01] [ 1.09059128e-01 -4.24115784e-03 9.94026217e-01 3.57526251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.20509989299995 meters 0.06040508487145462 Centerline is valid? [True, True] Translation: X:338.50, Y:60.20, Z:35.76 [[ 9.59603909e-01 -2.60221533e-01 -1.06981737e-01 3.38502724e+02] [ 2.59173980e-01 9.65536697e-01 -2.38271942e-02 6.01986919e+01] [ 1.09495142e-01 -4.86221386e-03 9.93975439e-01 3.57569175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.26509989299996 meters 0.06007011064035554 Centerline is valid? [True, True] Translation: X:338.56, Y:60.21, Z:35.76 [[ 9.57402807e-01 -2.68028266e-01 -1.07427717e-01 3.38561921e+02] [ 2.67020717e-01 9.63393721e-01 -2.39264538e-02 6.02094188e+01] [ 1.09908154e-01 -5.77817203e-03 9.93924952e-01 3.57628628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.32509989299996 meters 0.05550190950709866 Centerline is valid? [True, True] Translation: X:338.62, Y:60.24, Z:35.77 [[ 9.56096733e-01 -2.72170875e-01 -1.08637246e-01 3.38617892e+02] [ 2.71166983e-01 9.62228149e-01 -2.41962201e-02 6.02364517e+01] [ 1.11119322e-01 -6.32490725e-03 9.93786945e-01 3.57699882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.38509989299996 meters 0.055647989618526475 Centerline is valid? [True, True] Translation: X:338.68, Y:60.25, Z:35.77 [[ 9.55440916e-01 -2.73835573e-01 -1.10212227e-01 3.38676788e+02] [ 2.72813319e-01 9.61753780e-01 -2.45470895e-02 6.02477594e+01] [ 1.12718892e-01 -6.61406970e-03 9.93604904e-01 3.57748442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.44509989299996 meters 0.053954779968469 Centerline is valid? [True, True] Translation: X:338.73, Y:60.27, Z:35.78 [[ 9.55855616e-01 -2.72801676e-01 -1.09175488e-01 3.38734011e+02] [ 2.71791878e-01 9.62048802e-01 -2.43162026e-02 6.02735968e+01] [ 1.11665648e-01 -6.43023197e-03 9.93725030e-01 3.57828451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.50509989299997 meters 0.05532409436152263 Centerline is valid? [True, True] Translation: X:338.79, Y:60.28, Z:35.79 [[ 9.56783741e-01 -2.69685416e-01 -1.08787172e-01 3.38792801e+02] [ 2.68663046e-01 9.62929494e-01 -2.42271928e-02 6.02811083e+01] [ 1.11288097e-01 -6.04690878e-03 9.93769789e-01 3.57891331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.56509989299997 meters 0.062406821192035535 Centerline is valid? [True, True] Translation: X:338.85, Y:60.28, Z:35.79 [[ 9.57161673e-01 -2.68358057e-01 -1.08745048e-01 3.38854288e+02] [ 2.67327844e-01 9.63301236e-01 -2.42188578e-02 6.02763983e+01] [ 1.11253565e-01 -5.88921689e-03 9.93774603e-01 3.57925903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.62509989299997 meters 0.053755241159716964 Centerline is valid? [True, True] Translation: X:338.90, Y:60.32, Z:35.80 [[ 9.58448376e-01 -2.64146242e-01 -1.07719422e-01 3.38904842e+02] [ 2.63108736e-01 9.64467820e-01 -2.39920401e-02 6.03249498e+01] [ 1.10229324e-01 -5.34678924e-03 9.93891799e-01 3.58036246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.685099893 meters 0.05491095109698805 Centerline is valid? [True, True] Translation: X:338.96, Y:60.33, Z:35.81 [[ 9.59846639e-01 -2.59262240e-01 -1.07133191e-01 3.38963669e+02] [ 2.58205755e-01 9.65795236e-01 -2.38610454e-02 6.03332943e+01] [ 1.09654994e-01 -4.75946237e-03 9.93958314e-01 3.58094865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.745099893 meters 0.0561387558935918 Centerline is valid? [True, True] Translation: X:339.02, Y:60.35, Z:35.82 [[ 9.60767946e-01 -2.56098163e-01 -1.06483264e-01 3.39021913e+02] [ 2.55035153e-01 9.66640896e-01 -2.37160035e-02 6.03456309e+01] [ 1.09004702e-01 -4.37139951e-03 9.94031622e-01 3.58152369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.805099893 meters 0.05828881362732131 Centerline is valid? [True, True] Translation: X:339.08, Y:60.36, Z:35.82 [[ 9.61646223e-01 -2.52605967e-01 -1.06896058e-01 3.39081375e+02] [ 2.51513079e-01 9.67561009e-01 -2.38089384e-02 6.03554800e+01] [ 1.09442737e-01 -3.98998097e-03 9.93985094e-01 3.58198389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.865099893 meters 0.054734202210206 Centerline is valid? [True, True] Translation: X:339.14, Y:60.39, Z:35.83 [[ 9.61895488e-01 -2.51809727e-01 -1.06531363e-01 3.39137153e+02] [ 2.50719437e-01 9.67768960e-01 -2.37276839e-02 6.03884078e+01] [ 1.09072608e-01 -3.88593120e-03 9.94026190e-01 3.58274651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.925099893 meters 0.05766162915616595 Centerline is valid? [True, True] Translation: X:339.20, Y:60.39, Z:35.83 [[ 9.61822547e-01 -2.51017048e-01 -1.09031324e-01 3.39198398e+02] [ 2.49870195e-01 9.67974851e-01 -2.42811172e-02 6.03879521e+01] [ 1.11634554e-01 -3.88955224e-03 9.93741716e-01 3.58292537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.985099893 meters 0.05513473120433585 Centerline is valid? [True, True] Translation: X:339.25, Y:60.42, Z:35.84 [[ 9.62355445e-01 -2.49247880e-01 -1.08385845e-01 3.39253239e+02] [ 2.48103322e-01 9.68432800e-01 -2.41382000e-02 6.04153973e+01] [ 1.10980803e-01 -3.66136009e-03 9.93815806e-01 3.58374870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.045099893 meters 0.054676671124757575 Centerline is valid? [True, True] Translation: X:339.31, Y:60.44, Z:35.84 [[ 9.63970287e-01 -2.43426384e-01 -1.07260807e-01 3.39309294e+02] [ 2.42269565e-01 9.69914862e-01 -2.38876161e-02 6.04387209e+01] [ 1.09848726e-01 -2.95907685e-03 9.93943912e-01 3.58449822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.105099893 meters 0.053989701306299966 Centerline is valid? [True, True] Translation: X:339.37, Y:60.45, Z:35.85 [[ 9.65465243e-01 -2.38085432e-01 -1.05793156e-01 3.39365911e+02] [ 2.36928187e-01 9.71241448e-01 -2.35602232e-02 6.04546491e+01] [ 1.08360044e-01 -2.31880401e-03 9.94109010e-01 3.58517365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.165099893 meters 0.05493379448222471 Centerline is valid? [True, True] Translation: X:339.42, Y:60.47, Z:35.86 [[ 9.66877300e-01 -2.32724696e-01 -1.04821287e-01 3.39422488e+02] [ 2.31557217e-01 9.72541167e-01 -2.33438282e-02 6.04735555e+01] [ 1.07375702e-01 -1.70150781e-03 9.94217061e-01 3.58586122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.225099893 meters 0.054346431480540226 Centerline is valid? [True, True] Translation: X:339.48, Y:60.49, Z:35.87 [[ 9.68326745e-01 -2.27204051e-01 -1.03545327e-01 3.39480275e+02] [ 2.26033273e-01 9.73846582e-01 -2.30606754e-02 6.04913227e+01] [ 1.06076741e-01 -1.07442036e-03 9.94357366e-01 3.58654718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.285099893 meters 0.05380014220862658 Centerline is valid? [True, True] Translation: X:339.54, Y:60.51, Z:35.87 [[ 9.68714151e-01 -2.25020723e-01 -1.04683176e-01 3.39537574e+02] [ 2.23811468e-01 9.74353611e-01 -2.33124118e-02 6.05055794e+01] [ 1.07244207e-01 -8.46232183e-04 9.94232349e-01 3.58716177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.34509989299994 meters 0.054231847825105484 Centerline is valid? [True, True] Translation: X:339.59, Y:60.52, Z:35.88 [[ 9.69088506e-01 -2.22849099e-01 -1.05857202e-01 3.39594787e+02] [ 2.21599423e-01 9.74852761e-01 -2.35752035e-02 6.05199910e+01] [ 1.08448899e-01 -6.11436131e-04 9.94101837e-01 3.58764968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.40509989299994 meters 0.05457036119829748 Centerline is valid? [True, True] Translation: X:339.65, Y:60.53, Z:35.88 [[ 9.69265679e-01 -2.22072435e-01 -1.05867258e-01 3.39654150e+02] [ 2.20816652e-01 9.75030035e-01 -2.35889012e-02 6.05342134e+01] [ 1.08462201e-01 -5.13341050e-04 9.94100441e-01 3.58834753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.46509989299994 meters 0.05399631398839103 Centerline is valid? [True, True] Translation: X:339.71, Y:60.55, Z:35.89 [[ 9.69221182e-01 -2.22297075e-01 -1.05803171e-01 3.39712643e+02] [ 2.21044334e-01 9.74978830e-01 -2.35729309e-02 6.05453137e+01] [ 1.08396046e-01 -5.39807595e-04 9.94107643e-01 3.58893792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.52509989299995 meters 0.054011235076977096 Centerline is valid? [True, True] Translation: X:339.77, Y:60.55, Z:35.90 [[ 9.68678693e-01 -2.25238640e-01 -1.04542551e-01 3.39770505e+02] [ 2.24032595e-01 9.74303249e-01 -2.32932627e-02 6.05534015e+01] [ 1.07102690e-01 -8.57251612e-04 9.94247594e-01 3.58968730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.58509989299995 meters 0.05391710126067716 Centerline is valid? [True, True] Translation: X:339.83, Y:60.56, Z:35.90 [[ 9.67947747e-01 -2.28660196e-01 -1.03882984e-01 3.39827733e+02] [ 2.27487719e-01 9.73505540e-01 -2.31581936e-02 6.05607644e+01] [ 1.06426017e-01 -1.21618170e-03 9.94319880e-01 3.59030672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.64509989299995 meters 0.053955987983421536 Centerline is valid? [True, True] Translation: X:339.89, Y:60.57, Z:35.91 [[ 9.66339371e-01 -2.35208789e-01 -1.04235532e-01 3.39887204e+02] [ 2.34065548e-01 9.71942937e-01 -2.32431972e-02 6.05692068e+01] [ 1.06777994e-01 -1.93713038e-03 9.94281000e-01 3.59100572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.70509989299995 meters 0.055062221092202 Centerline is valid? [True, True] Translation: X:339.95, Y:60.57, Z:35.92 [[ 9.64692483e-01 -2.41420101e-01 -1.05284134e-01 3.39947133e+02] [ 2.40290400e-01 9.70417082e-01 -2.34778705e-02 6.05719580e+01] [ 1.07837552e-01 -2.64984164e-03 9.94164997e-01 3.59151805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.76509989299996 meters 0.05488610971645992 Centerline is valid? [True, True] Translation: X:340.01, Y:60.58, Z:35.92 [[ 9.61611668e-01 -2.53034963e-01 -1.06189960e-01 3.40005866e+02] [ 2.51956014e-01 9.67448930e-01 -2.36798418e-02 6.05837788e+01] [ 1.08725191e-01 -3.98438696e-03 9.94063860e-01 3.59220399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.82509989299996 meters 0.05398320058607561 Centerline is valid? [True, True] Translation: X:340.07, Y:60.59, Z:35.93 [[ 9.58745414e-01 -2.63007612e-01 -1.07862077e-01 3.40065962e+02] [ 2.61957008e-01 9.64779771e-01 -2.40524242e-02 6.05929334e+01] [ 1.10389121e-01 -5.19507562e-03 9.93874868e-01 3.59275932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.88509989299996 meters 0.05699500612535444 Centerline is valid? [True, True] Translation: X:340.13, Y:60.59, Z:35.93 [[ 9.57179668e-01 -2.68164617e-01 -1.09063383e-01 3.40128270e+02] [ 2.67123684e-01 9.63355315e-01 -2.43202595e-02 6.05879168e+01] [ 1.11588622e-01 -5.85455465e-03 9.93737241e-01 3.59312413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.94509989299996 meters 0.0563221796012409 Centerline is valid? [True, True] Translation: X:340.19, Y:60.61, Z:35.94 [[ 9.57135039e-01 -2.68462900e-01 -1.08720690e-01 3.40185791e+02] [ 2.67430441e-01 9.63272135e-01 -2.42436401e-02 6.06060291e+01] [ 1.11236129e-01 -5.87078447e-03 9.93776664e-01 3.59386671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.00509989299997 meters 0.05497395003815083 Centerline is valid? [True, True] Translation: X:340.24, Y:60.62, Z:35.95 [[ 9.57720106e-01 -2.66982119e-01 -1.07204231e-01 3.40243959e+02] [ 2.65969072e-01 9.63685106e-01 -2.39054388e-02 6.06238870e+01] [ 1.09693446e-01 -5.61829055e-03 9.93949588e-01 3.59467180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.06509989299997 meters 0.062058423499412485 Centerline is valid? [True, True] Translation: X:340.31, Y:60.62, Z:35.95 [[ 9.59001449e-01 -2.62863044e-01 -1.05920917e-01 3.40305928e+02] [ 2.61849199e-01 9.64819756e-01 -2.36185340e-02 6.06155051e+01] [ 1.08403033e-01 -5.08509879e-03 9.94094022e-01 3.59524917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.12509989299997 meters 0.05438478499817464 Centerline is valid? [True, True] Translation: X:340.36, Y:60.65, Z:35.96 [[ 9.60759477e-01 -2.56247109e-01 -1.06200974e-01 3.40359085e+02] [ 2.55187399e-01 9.66601529e-01 -2.36827914e-02 6.06540408e+01] [ 1.08722671e-01 -4.34768408e-03 9.94062613e-01 3.59601509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.185099893 meters 0.05427223949246103 Centerline is valid? [True, True] Translation: X:340.42, Y:60.68, Z:35.97 [[ 9.63164929e-01 -2.46506867e-01 -1.07460151e-01 3.40416047e+02] [ 2.45361246e-01 9.69135477e-01 -2.39642691e-02 6.06760049e+01] [ 1.10050802e-01 -3.28501292e-03 9.93920535e-01 3.59665418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.245099893 meters 0.054295229154391444 Centerline is valid? [True, True] Translation: X:340.47, Y:60.69, Z:35.97 [[ 9.64971943e-01 -2.39054391e-01 -1.08083980e-01 3.40474125e+02] [ 2.37848804e-01 9.71003090e-01 -2.41028272e-02 6.06907185e+01] [ 1.10711765e-01 -2.44909338e-03 9.93849539e-01 3.59722616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.305099893 meters 0.054270913788453196 Centerline is valid? [True, True] Translation: X:340.53, Y:60.71, Z:35.98 [[ 9.66680304e-01 -2.31821907e-01 -1.08571604e-01 3.40531287e+02] [ 2.30559848e-01 9.72756884e-01 -2.42115909e-02 6.07095557e+01] [ 1.11226553e-01 -1.62738455e-03 9.93793744e-01 3.59786220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.365099893 meters 0.05434252487947749 Centerline is valid? [True, True] Translation: X:340.59, Y:60.73, Z:35.98 [[ 9.68529664e-01 -2.22791074e-01 -1.10970389e-01 3.40587457e+02] [ 2.21413371e-01 9.74866028e-01 -2.47456239e-02 6.07281770e+01] [ 1.13694367e-01 -6.03457159e-04 9.93515590e-01 3.59820742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.425099893 meters 0.05491274502854297 Centerline is valid? [True, True] Translation: X:340.64, Y:60.75, Z:35.99 [[ 9.69568988e-01 -2.17586042e-01 -1.12215378e-01 3.40641909e+02] [ 2.16142190e-01 9.76041144e-01 -2.50247731e-02 6.07454353e+01] [ 1.14971867e-01 8.76633395e-06 9.93368748e-01 3.59870008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.485099893 meters 0.05461584163252106 Centerline is valid? [True, True] Translation: X:340.70, Y:60.76, Z:35.99 [[ 9.69737189e-01 -2.16996495e-01 -1.11903111e-01 3.40698231e+02] [ 2.15555941e-01 9.76172379e-01 -2.49624146e-02 6.07589838e+01] [ 1.14653483e-01 8.56013753e-05 9.93405542e-01 3.59917914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.545099893 meters 0.054834461440824246 Centerline is valid? [True, True] Translation: X:340.75, Y:60.77, Z:36.00 [[ 9.69867873e-01 -2.17322968e-01 -1.10122825e-01 3.40754940e+02] [ 2.15928634e-01 9.76099751e-01 -2.45784648e-02 6.07719102e+01] [ 1.12832327e-01 5.91920588e-05 9.93614041e-01 3.60010529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.605099893 meters 0.05431938131321162 Centerline is valid? [True, True] Translation: X:340.81, Y:60.78, Z:36.01 [[ 9.68968410e-01 -2.22270899e-01 -1.08147435e-01 3.40811768e+02] [ 2.20955595e-01 9.74984822e-01 -2.41500066e-02 6.07818696e+01] [ 1.10809951e-01 -4.95187242e-04 9.93841491e-01 3.60106745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.665099893 meters 0.054445132386891006 Centerline is valid? [True, True] Translation: X:340.87, Y:60.79, Z:36.02 [[ 9.67496224e-01 -2.28849260e-01 -1.07606104e-01 3.40869458e+02] [ 2.27586283e-01 9.73461095e-01 -2.40412153e-02 6.07908202e+01] [ 1.10252171e-01 -1.22988828e-03 9.93902886e-01 3.60177827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.725099893 meters 0.05465149704005266 Centerline is valid? [True, True] Translation: X:340.93, Y:60.79, Z:36.02 [[ 9.63944186e-01 -2.43171385e-01 -1.08070740e-01 3.40930731e+02] [ 2.41986541e-01 9.69979079e-01 -2.41474843e-02 6.07928299e+01] [ 1.10698334e-01 -2.87483740e-03 9.93849895e-01 3.60233690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.785099893 meters 0.05782203869767306 Centerline is valid? [True, True] Translation: X:340.99, Y:60.79, Z:36.03 [[ 9.59824414e-01 -2.58735615e-01 -1.08595472e-01 3.40992079e+02] [ 2.57638070e-01 9.65936795e-01 -2.42638138e-02 6.07886154e+01] [ 1.11174275e-01 -4.68932703e-03 9.93789863e-01 3.60285112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.84509989299994 meters 0.0558168963464934 Centerline is valid? [True, True] Translation: X:341.05, Y:60.81, Z:36.04 [[ 9.57368437e-01 -2.67489171e-01 -1.09065204e-01 3.41049147e+02] [ 2.66438458e-01 9.63543833e-01 -2.43686429e-02 6.08063850e+01] [ 1.11607453e-01 -5.72939521e-03 9.93735855e-01 3.60362270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.90509989299994 meters 0.05744551588586747 Centerline is valid? [True, True] Translation: X:341.11, Y:60.81, Z:36.04 [[ 9.55016633e-01 -2.75546974e-01 -1.09622520e-01 3.41108992e+02] [ 2.74538071e-01 9.61264231e-01 -2.44933811e-02 6.08111044e+01] [ 1.12125284e-01 -6.70396865e-03 9.93671464e-01 3.60414485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.96509989299994 meters 0.05613441739106245 Centerline is valid? [True, True] Translation: X:341.17, Y:60.83, Z:36.05 [[ 9.54306066e-01 -2.78099112e-01 -1.09365516e-01 3.41167706e+02] [ 2.77111555e-01 9.60526973e-01 -2.44360388e-02 6.08282553e+01] [ 1.11844169e-01 -6.98698823e-03 9.93701194e-01 3.60490256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.02509989299995 meters 0.053297927421593685 Centerline is valid? [True, True] Translation: X:341.22, Y:60.86, Z:36.06 [[ 9.54148402e-01 -2.79078939e-01 -1.08239423e-01 3.41223841e+02] [ 2.78118126e-01 9.60242431e-01 -2.41822551e-02 6.08569441e+01] [ 1.10684845e-01 -7.02988533e-03 9.93830693e-01 3.60576397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.08509989299995 meters 0.05852363436868285 Centerline is valid? [True, True] Translation: X:341.29, Y:60.85, Z:36.06 [[ 9.54139991e-01 -2.78981658e-01 -1.08563858e-01 3.41288813e+02] [ 2.78014661e-01 9.60270612e-01 -2.42528382e-02 6.08468232e+01] [ 1.11016780e-01 -7.04174131e-03 9.93793584e-01 3.60612669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.14509989299995 meters 0.05884734385973617 Centerline is valid? [True, True] Translation: X:341.35, Y:60.86, Z:36.07 [[ 9.53924879e-01 -2.79703992e-01 -1.08595590e-01 3.41347917e+02] [ 2.78741374e-01 9.60059807e-01 -2.42572374e-02 6.08604920e+01] [ 1.11043107e-01 -7.13050166e-03 9.93790010e-01 3.60670952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.20509989299995 meters 0.0598913982962052 Centerline is valid? [True, True] Translation: X:341.41, Y:60.87, Z:36.07 [[ 9.53621108e-01 -2.80457867e-01 -1.09316822e-01 3.41406451e+02] [ 2.79487497e-01 9.59838818e-01 -2.44168385e-02 6.08690960e+01] [ 1.11774424e-01 -7.26827248e-03 9.93707024e-01 3.60723464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.26509989299996 meters 0.05373802135055205 Centerline is valid? [True, True] Translation: X:341.46, Y:60.90, Z:36.08 [[ 9.53067756e-01 -2.81419179e-01 -1.11647200e-01 3.41460906e+02] [ 2.80413345e-01 9.59555319e-01 -2.49388463e-02 6.09032046e+01] [ 1.14149934e-01 -7.53895449e-03 9.93434928e-01 3.60792042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.32509989299996 meters 0.057716682956876555 Centerline is valid? [True, True] Translation: X:341.52, Y:60.90, Z:36.08 [[ 9.52889339e-01 -2.81814237e-01 -1.12172387e-01 3.41523408e+02] [ 2.80801761e-01 9.59438699e-01 -2.50550082e-02 6.09024595e+01] [ 1.14683388e-01 -7.62355376e-03 9.93372841e-01 3.60830905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.38509989299996 meters 0.06360184833896075 Centerline is valid? [True, True] Translation: X:341.58, Y:60.90, Z:36.09 [[ 9.53227100e-01 -2.81274914e-01 -1.10645917e-01 3.41583799e+02] [ 2.80286557e-01 9.59598255e-01 -2.47110362e-02 6.09040663e+01] [ 1.13126224e-01 -7.45733388e-03 9.93552639e-01 3.60885021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.44509989299996 meters 0.05340129156452428 Centerline is valid? [True, True] Translation: X:341.63, Y:60.95, Z:36.10 [[ 9.53794314e-01 -2.79721111e-01 -1.09692786e-01 3.41634737e+02] [ 2.78739350e-01 9.60054240e-01 -2.44996163e-02 6.09506348e+01] [ 1.12164084e-01 -7.20810117e-03 9.93663556e-01 3.60999567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.50509989299997 meters 0.053657719627492134 Centerline is valid? [True, True] Translation: X:341.69, Y:60.96, Z:36.11 [[ 9.54726732e-01 -2.76848447e-01 -1.08865993e-01 3.41693466e+02] [ 2.75863019e-01 9.60889399e-01 -2.43137320e-02 6.09611630e+01] [ 1.11339397e-01 -6.81913162e-03 9.93759044e-01 3.61061682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.56509989299997 meters 0.05397473725562461 Centerline is valid? [True, True] Translation: X:341.75, Y:60.97, Z:36.11 [[ 9.56672591e-01 -2.71184987e-01 -1.06001210e-01 3.41752000e+02] [ 2.70216240e-01 9.62508574e-01 -2.36733668e-02 6.09728116e+01] [ 1.08446935e-01 -5.99558730e-03 9.94084159e-01 3.61140078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.62509989299997 meters 0.0585756889806779 Centerline is valid? [True, True] Translation: X:341.81, Y:60.97, Z:36.12 [[ 9.58671912e-01 -2.64436007e-01 -1.04984590e-01 3.41813315e+02] [ 2.63445483e-01 9.64389319e-01 -2.34460735e-02 6.09715780e+01] [ 1.07446003e-01 -5.18062387e-03 9.94197424e-01 3.61198206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.685099893 meters 0.05721190317902165 Centerline is valid? [True, True] Translation: X:341.87, Y:60.99, Z:36.13 [[ 9.59524029e-01 -2.60936455e-01 -1.05951895e-01 3.41870258e+02] [ 2.59906318e-01 9.65343880e-01 -2.36621842e-02 6.09887575e+01] [ 1.08454340e-01 -4.83313264e-03 9.94089683e-01 3.61252091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.745099893 meters 0.05389472286600915 Centerline is valid? [True, True] Translation: X:341.93, Y:61.01, Z:36.13 [[ 9.60760517e-01 -2.55362137e-01 -1.08302392e-01 3.41927085e+02] [ 2.54250362e-01 9.66835928e-01 -2.41876384e-02 6.10118776e+01] [ 1.10887251e-01 -4.29739446e-03 9.93823702e-01 3.61301278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.805099893 meters 0.05429924496111251 Centerline is valid? [True, True] Translation: X:341.99, Y:61.03, Z:36.14 [[ 9.62823896e-01 -2.47223890e-01 -1.08859974e-01 3.41985420e+02] [ 2.46048706e-01 9.68952500e-01 -2.43122713e-02 6.10285567e+01] [ 1.11490719e-01 -3.37641996e-03 9.93759739e-01 3.61355285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.865099893 meters 0.054429376112370934 Centerline is valid? [True, True] Translation: X:342.04, Y:61.05, Z:36.14 [[ 9.64710593e-01 -2.40115747e-01 -1.08064335e-01 3.42043400e+02] [ 2.38913054e-01 9.70740958e-01 -2.41359523e-02 6.10467418e+01] [ 1.10697899e-01 -2.53377158e-03 9.93850872e-01 3.61432769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.925099893 meters 0.05440735309817326 Centerline is valid? [True, True] Translation: X:342.10, Y:61.06, Z:36.15 [[ 9.67223988e-01 -2.30097500e-01 -1.07391326e-01 3.42101155e+02] [ 2.28848164e-01 9.73166606e-01 -2.39848907e-02 6.10602113e+01] [ 1.10028515e-01 -1.37754615e-03 9.93927476e-01 3.61491233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.985099893 meters 0.05438585669981002 Centerline is valid? [True, True] Translation: X:342.16, Y:61.07, Z:36.15 [[ 9.68217492e-01 -2.25996780e-01 -1.07146368e-01 3.42157573e+02] [ 2.24727956e-01 9.74127626e-01 -2.39314607e-02 6.10733813e+01] [ 1.09782670e-01 -9.07925398e-04 9.93955201e-01 3.61547858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.045099893 meters 0.054110845531633894 Centerline is valid? [True, True] Translation: X:342.22, Y:61.09, Z:36.16 [[ 9.68937033e-01 -2.23393647e-01 -1.06095730e-01 3.42215218e+02] [ 2.22133394e-01 9.74728125e-01 -2.37031082e-02 6.10856613e+01] [ 1.08709616e-01 -6.00585237e-04 9.94073367e-01 3.61613236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.105099893 meters 0.05474782280374819 Centerline is valid? [True, True] Translation: X:342.27, Y:61.09, Z:36.17 [[ 9.68396464e-01 -2.26095696e-01 -1.05304442e-01 3.42273231e+02] [ 2.24868940e-01 9.74104692e-01 -2.35373939e-02 6.10936365e+01] [ 1.07899255e-01 -8.86169276e-04 9.94161438e-01 3.61678454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.165099893 meters 0.05428328941949983 Centerline is valid? [True, True] Translation: X:342.33, Y:61.10, Z:36.17 [[ 9.67398285e-01 -2.30673407e-01 -1.04548251e-01 3.42331798e+02] [ 2.29489640e-01 9.73030261e-01 -2.33798415e-02 6.11016513e+01] [ 1.07121719e-01 -1.37512179e-03 9.94244963e-01 3.61742647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.225099893 meters 0.05569897430832935 Centerline is valid? [True, True] Translation: X:342.39, Y:61.10, Z:36.18 [[ 9.64834446e-01 -2.41018513e-01 -1.04902664e-01 3.42394134e+02] [ 2.39887210e-01 9.70517225e-01 -2.34615153e-02 6.10965067e+01] [ 1.07464502e-01 -2.52832932e-03 9.94205707e-01 3.61792599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.285099893 meters 0.05715968242728271 Centerline is valid? [True, True] Translation: X:342.45, Y:61.10, Z:36.19 [[ 9.62748324e-01 -2.49133572e-01 -1.05110077e-01 3.42454216e+02] [ 2.48045868e-01 9.68463024e-01 -2.35078174e-02 6.11043076e+01] [ 1.07651810e-01 -3.44000853e-03 9.94182707e-01 3.61853341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.34509989299994 meters 0.05393959964245545 Centerline is valid? [True, True] Translation: X:342.51, Y:61.13, Z:36.19 [[ 9.61641476e-01 -2.53408776e-01 -1.05022209e-01 3.42510160e+02] [ 2.52348241e-01 9.67351366e-01 -2.34882789e-02 6.11305467e+01] [ 1.07545513e-01 -3.91486646e-03 9.94192454e-01 3.61926793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.40509989299994 meters 0.05432330769036994 Centerline is valid? [True, True] Translation: X:342.57, Y:61.13, Z:36.20 [[ 9.58841913e-01 -2.63645001e-01 -1.05420583e-01 3.42570516e+02] [ 2.62637805e-01 9.64606397e-01 -2.35771662e-02 6.11323463e+01] [ 1.07905371e-01 -5.08065544e-03 9.94148187e-01 3.61970211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.46509989299994 meters 0.05704811062272751 Centerline is valid? [True, True] Translation: X:342.63, Y:61.13, Z:36.20 [[ 9.56858812e-01 -2.70503398e-01 -1.06061890e-01 3.42631542e+02] [ 2.69525868e-01 9.62700998e-01 -2.37190734e-02 6.11312510e+01] [ 1.08521978e-01 -5.89061869e-03 9.94076597e-01 3.62027008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.52509989299995 meters 0.05715245330490068 Centerline is valid? [True, True] Translation: X:342.69, Y:61.14, Z:36.21 [[ 9.55926514e-01 -2.73459650e-01 -1.06884615e-01 3.42690313e+02] [ 2.72485317e-01 9.61863002e-01 -2.39022284e-02 6.11415464e+01] [ 1.09344651e-01 -6.27571429e-03 9.93984086e-01 3.62083381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.58509989299995 meters 0.05558016196123738 Centerline is valid? [True, True] Translation: X:342.75, Y:61.16, Z:36.21 [[ 9.55112976e-01 -2.75871055e-01 -1.07955380e-01 3.42748138e+02] [ 2.74892314e-01 9.61171873e-01 -2.41422159e-02 6.11594237e+01] [ 1.10423813e-01 -6.61756049e-03 9.93862561e-01 3.62147264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.64509989299995 meters 0.05664002447207454 Centerline is valid? [True, True] Translation: X:342.80, Y:61.17, Z:36.22 [[ 9.55071838e-01 -2.76105227e-01 -1.07720417e-01 3.42804954e+02] [ 2.75132290e-01 9.61104541e-01 -2.40890769e-02 6.11685528e+01] [ 1.10181702e-01 -6.63056605e-03 9.93889344e-01 3.62207587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.70509989299995 meters 0.05394618083307359 Centerline is valid? [True, True] Translation: X:342.86, Y:61.20, Z:36.23 [[ 9.55604696e-01 -2.74808530e-01 -1.06301158e-01 3.42860705e+02] [ 2.73852435e-01 9.61477747e-01 -2.37778446e-02 6.11963320e+01] [ 1.08740553e-01 -6.38861113e-03 9.94049636e-01 3.62295480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.76509989299996 meters 0.05784576812907423 Centerline is valid? [True, True] Translation: X:342.92, Y:61.20, Z:36.23 [[ 9.56392481e-01 -2.71700457e-01 -1.07202066e-01 3.42921646e+02] [ 2.70708844e-01 9.62362609e-01 -2.39776929e-02 6.11950828e+01] [ 1.09682010e-01 -6.08846210e-03 9.93948081e-01 3.62343477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.82509989299996 meters 0.061864194159089884 Centerline is valid? [True, True] Translation: X:342.98, Y:61.20, Z:36.24 [[ 9.56842475e-01 -2.69772834e-01 -1.08051363e-01 3.42982391e+02] [ 2.68753104e-01 9.62905835e-01 -2.41686075e-02 6.11999073e+01] [ 1.10563321e-01 -5.91358885e-03 9.93851489e-01 3.62390780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.88509989299996 meters 0.056958804151951536 Centerline is valid? [True, True] Translation: X:343.04, Y:61.23, Z:36.25 [[ 9.57381003e-01 -2.67719634e-01 -1.08387328e-01 3.43037421e+02] [ 2.66680438e-01 9.63480034e-01 -2.42439517e-02 6.12295227e+01] [ 1.10919609e-01 -5.69408137e-03 9.93813070e-01 3.62476362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.94509989299996 meters 0.054295416269953 Centerline is valid? [True, True] Translation: X:343.09, Y:61.26, Z:36.26 [[ 9.58474240e-01 -2.63825696e-01 -1.08273423e-01 3.43092692e+02] [ 2.62763941e-01 9.64556152e-01 -2.42185852e-02 6.12567771e+01] [ 1.10825282e-01 -5.23746141e-03 9.93826104e-01 3.62558158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.00509989299997 meters 0.054478764268968416 Centerline is valid? [True, True] Translation: X:343.15, Y:61.27, Z:36.26 [[ 9.59838844e-01 -2.59026182e-01 -1.07772128e-01 3.43149514e+02] [ 2.57944191e-01 9.65859051e-01 -2.41057526e-02 6.12721393e+01] [ 1.10336706e-01 -4.66155662e-03 9.93883334e-01 3.62623976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.06509989299997 meters 0.054234255886249166 Centerline is valid? [True, True] Translation: X:343.21, Y:61.29, Z:36.27 [[ 9.62273664e-01 -2.50109550e-01 -1.07119601e-01 3.43206693e+02] [ 2.48985384e-01 9.68210799e-01 -2.39609651e-02 6.12924576e+01] [ 1.09707221e-01 -3.61420931e-03 9.93957375e-01 3.62695156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.12509989299997 meters 0.05472085530443902 Centerline is valid? [True, True] Translation: X:343.26, Y:61.30, Z:36.27 [[ 9.64560102e-01 -2.40645676e-01 -1.08228774e-01 3.43264581e+02] [ 2.39438721e-01 9.70609645e-01 -2.42077638e-02 6.13048377e+01] [ 1.10873385e-01 -2.56431602e-03 9.93831232e-01 3.62741948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.185099893 meters 0.05415467216636701 Centerline is valid? [True, True] Translation: X:343.32, Y:61.32, Z:36.28 [[ 9.65901386e-01 -2.35034864e-01 -1.08596154e-01 3.43322420e+02] [ 2.33784285e-01 9.71985032e-01 -2.42900422e-02 6.13239220e+01] [ 1.11262843e-01 -1.92628881e-03 9.93789147e-01 3.62810032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.245099893 meters 0.05466237168026758 Centerline is valid? [True, True] Translation: X:343.38, Y:61.34, Z:36.29 [[ 9.67271753e-01 -2.29101503e-01 -1.09077302e-01 3.43380280e+02] [ 2.27802056e-01 9.73401738e-01 -2.43983644e-02 6.13413318e+01] [ 1.11765737e-01 -1.24818483e-03 9.93733798e-01 3.62879651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.305099893 meters 0.054666059556508384 Centerline is valid? [True, True] Translation: X:343.44, Y:61.36, Z:36.29 [[ 9.68782323e-01 -2.21798545e-01 -1.10752955e-01 3.43436659e+02] [ 2.20411150e-01 9.75092424e-01 -2.47727489e-02 6.13569790e+01] [ 1.13488927e-01 -4.11785012e-04 9.93539176e-01 3.62930367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.365099893 meters 0.05548181376525119 Centerline is valid? [True, True] Translation: X:343.49, Y:61.37, Z:36.30 [[ 9.69753966e-01 -2.17050447e-01 -1.11652802e-01 3.43492402e+02] [ 2.15608683e-01 9.76160377e-01 -2.49762695e-02 6.13723337e+01] [ 1.14412152e-01 1.47522807e-04 9.93433359e-01 3.62990623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.425099893 meters 0.05561205576245889 Centerline is valid? [True, True] Translation: X:343.55, Y:61.39, Z:36.31 [[ 9.70196147e-01 -2.15627788e-01 -1.10562626e-01 3.43549412e+02] [ 2.14204312e-01 9.76475579e-01 -2.47377581e-02 6.13852888e+01] [ 1.13295852e-01 3.17486433e-04 9.93561246e-01 3.63068470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.485099893 meters 0.055189794952270305 Centerline is valid? [True, True] Translation: X:343.61, Y:61.40, Z:36.32 [[ 9.69996554e-01 -2.16584275e-01 -1.10444276e-01 3.43605267e+02] [ 2.15168702e-01 9.76263901e-01 -2.47229644e-02 6.13955598e+01] [ 1.13177365e-01 2.17038888e-04 9.93574777e-01 3.63170463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.545099893 meters 0.05484122412123898 Centerline is valid? [True, True] Translation: X:343.66, Y:61.41, Z:36.32 [[ 9.69194688e-01 -2.20185550e-01 -1.10362946e-01 3.43663478e+02] [ 2.18793787e-01 9.75457989e-01 -2.47182383e-02 6.14057874e+01] [ 1.13097016e-01 -1.89941650e-04 9.93583931e-01 3.63212968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.605099893 meters 0.05510635334006738 Centerline is valid? [True, True] Translation: X:343.72, Y:61.41, Z:36.33 [[ 9.68419726e-01 -2.23765548e-01 -1.09964605e-01 3.43720322e+02] [ 2.22406287e-01 9.74642816e-01 -2.46338119e-02 6.14138103e+01] [ 1.12688411e-01 -6.00950142e-04 9.93630193e-01 3.63269890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.665099893 meters 0.05509867809911282 Centerline is valid? [True, True] Translation: X:343.78, Y:61.42, Z:36.33 [[ 9.67145111e-01 -2.29556084e-01 -1.09244396e-01 3.43779300e+02] [ 2.28250585e-01 9.73294620e-01 -2.44796389e-02 6.14183087e+01] [ 1.11946432e-01 -1.25973413e-03 9.93713444e-01 3.63334564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.725099893 meters 0.05559955008821232 Centerline is valid? [True, True] Translation: X:343.84, Y:61.43, Z:36.34 [[ 9.66213771e-01 -2.33364483e-01 -1.09416480e-01 3.43838966e+02] [ 2.32078794e-01 9.72387848e-01 -2.45215482e-02 6.14301074e+01] [ 1.12117714e-01 -1.70018700e-03 9.93693478e-01 3.63417086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.785099893 meters 0.055556971247061264 Centerline is valid? [True, True] Translation: X:343.90, Y:61.43, Z:36.34 [[ 9.65402369e-01 -2.36870776e-01 -1.09043577e-01 3.43900181e+02] [ 2.35616419e-01 9.71538890e-01 -2.44353814e-02 6.14300040e+01] [ 1.11728103e-01 -2.10248201e-03 9.93736590e-01 3.63449371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.84509989299994 meters 0.05453061350375154 Centerline is valid? [True, True] Translation: X:343.96, Y:61.44, Z:36.35 [[ 9.65105178e-01 -2.38190964e-01 -1.08798258e-01 3.43957111e+02] [ 2.36950494e-01 9.71215736e-01 -2.43814878e-02 6.14444111e+01] [ 1.11474031e-01 -2.24910099e-03 9.93764802e-01 3.63532807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.90509989299994 meters 0.05516260192825436 Centerline is valid? [True, True] Translation: X:344.02, Y:61.45, Z:36.36 [[ 9.65153746e-01 -2.38019500e-01 -1.08742646e-01 3.44015485e+02] [ 2.36778827e-01 9.71257828e-01 -2.43725059e-02 6.14520067e+01] [ 1.11418278e-01 -2.22474090e-03 9.93771109e-01 3.63593197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.96509989299994 meters 0.055628064925692375 Centerline is valid? [True, True] Translation: X:344.07, Y:61.46, Z:36.37 [[ 9.65898263e-01 -2.34961634e-01 -1.08782242e-01 3.44073217e+02] [ 2.33699320e-01 9.72002865e-01 -2.43938109e-02 6.14630554e+01] [ 1.11468260e-01 -1.86039628e-03 9.93766253e-01 3.63660341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.02509989299995 meters 0.05601538046617705 Centerline is valid? [True, True] Translation: X:344.13, Y:61.47, Z:36.37 [[ 9.66829445e-01 -2.31022422e-01 -1.08947076e-01 3.44130220e+02] [ 2.29729990e-01 9.72947424e-01 -2.44426209e-02 6.14745165e+01] [ 1.11646570e-01 -1.39656510e-03 9.93746996e-01 3.63718267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.08509989299995 meters 0.056643487710955835 Centerline is valid? [True, True] Translation: X:344.19, Y:61.49, Z:36.38 [[ 9.68354789e-01 -2.24372879e-01 -1.09296905e-01 3.44188144e+02] [ 2.23029563e-01 9.74503163e-01 -2.45234286e-02 6.14879943e+01] [ 1.12012572e-01 -6.29061334e-04 9.93706591e-01 3.63789899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.14509989299995 meters 0.05652634355203644 Centerline is valid? [True, True] Translation: X:344.24, Y:61.50, Z:36.39 [[ 9.69802027e-01 -2.18057565e-01 -1.09247089e-01 3.44244420e+02] [ 2.16675114e-01 9.75935903e-01 -2.45154501e-02 6.14987509e+01] [ 1.11963936e-01 1.04007728e-04 9.93712265e-01 3.63850052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.20509989299995 meters 0.056586473952140136 Centerline is valid? [True, True] Translation: X:344.30, Y:61.51, Z:36.39 [[ 9.70492244e-01 -2.15230936e-01 -1.08721886e-01 3.44301380e+02] [ 2.13843281e-01 9.76563083e-01 -2.44048427e-02 6.15099144e+01] [ 1.11426457e-01 4.35265743e-04 9.93772587e-01 3.63899283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.26509989299996 meters 0.056006793146135464 Centerline is valid? [True, True] Translation: X:344.36, Y:61.52, Z:36.40 [[ 9.70552355e-01 -2.15009554e-01 -1.08623282e-01 3.44357690e+02] [ 2.13622428e-01 9.76611834e-01 -2.43881835e-02 6.15202048e+01] [ 1.11326475e-01 4.65639761e-04 9.93783779e-01 3.63980296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.32509989299996 meters 0.05647739716179596 Centerline is valid? [True, True] Translation: X:344.42, Y:61.53, Z:36.41 [[ 9.70311005e-01 -2.16347562e-01 -1.08121626e-01 3.44415945e+02] [ 2.14979847e-01 9.76316356e-01 -2.42907234e-02 6.15274156e+01] [ 1.10816151e-01 3.25585562e-04 9.93840870e-01 3.64054845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.38509989299996 meters 0.05682864331073758 Centerline is valid? [True, True] Translation: X:344.47, Y:61.54, Z:36.41 [[ 9.69628272e-01 -2.19690399e-01 -1.07504152e-01 3.44473475e+02] [ 2.18357295e-01 9.75569642e-01 -2.41653675e-02 6.15352680e+01] [ 1.10186686e-01 -4.28921836e-05 9.93910908e-01 3.64113463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.44509989299996 meters 0.057201323712994905 Centerline is valid? [True, True] Translation: X:344.53, Y:61.54, Z:36.42 [[ 9.67830828e-01 -2.27674877e-01 -1.07087062e-01 3.44532667e+02] [ 2.26399296e-01 9.73736760e-01 -2.40848880e-02 6.15386181e+01] [ 1.09758133e-01 -9.34338380e-04 9.93957886e-01 3.64185406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.50509989299997 meters 0.056662141798281954 Centerline is valid? [True, True] Translation: X:344.59, Y:61.54, Z:36.42 [[ 9.65763270e-01 -2.36373301e-01 -1.06906353e-01 3.44593224e+02] [ 2.35153687e-01 9.71660449e-01 -2.40565089e-02 6.15392805e+01] [ 1.09562992e-01 -1.90653047e-03 9.93978026e-01 3.64239280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.56509989299997 meters 0.05783306312007701 Centerline is valid? [True, True] Translation: X:344.65, Y:61.54, Z:36.43 [[ 9.63600532e-01 -2.44963961e-01 -1.07082553e-01 3.44653282e+02] [ 2.43792932e-01 9.69527890e-01 -2.40972369e-02 6.15433882e+01] [ 1.09722476e-01 -2.88585912e-03 9.93958073e-01 3.64300249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.62509989299997 meters 0.059194454670042446 Centerline is valid? [True, True] Translation: X:344.71, Y:61.54, Z:36.43 [[ 9.62157606e-01 -2.50653391e-01 -1.06890684e-01 3.44713558e+02] [ 2.49521413e-01 9.68070471e-01 -2.40546806e-02 6.15439712e+01] [ 1.09507102e-01 -3.52712061e-03 9.93979755e-01 3.64347935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.685099893 meters 0.05979260918569873 Centerline is valid? [True, True] Translation: X:344.77, Y:61.55, Z:36.44 [[ 9.60619737e-01 -2.56654399e-01 -1.06481172e-01 3.44773212e+02] [ 2.55567853e-01 9.66494138e-01 -2.39614942e-02 6.15532930e+01] [ 1.09063252e-01 -4.19528043e-03 9.94025959e-01 3.64414437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.745099893 meters 0.05662857234990907 Centerline is valid? [True, True] Translation: X:344.83, Y:61.57, Z:36.45 [[ 9.58249782e-01 -2.65415699e-01 -1.06357238e-01 3.44829871e+02] [ 2.64385175e-01 9.64120133e-01 -2.39342645e-02 6.15730884e+01] [ 1.08893684e-01 -5.18427331e-03 9.94039883e-01 3.64484085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.805099893 meters 0.05769357285083799 Centerline is valid? [True, True] Translation: X:344.89, Y:61.58, Z:36.45 [[ 9.56441782e-01 -2.71794345e-01 -1.06522074e-01 3.44889462e+02] [ 2.70799875e-01 9.62337155e-01 -2.39713830e-02 6.15829166e+01] [ 1.09025436e-01 -5.91893201e-03 9.94021338e-01 3.64546188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.865099893 meters 0.05947040776350938 Centerline is valid? [True, True] Translation: X:344.95, Y:61.59, Z:36.46 [[ 9.55817955e-01 -2.74230893e-01 -1.05874714e-01 3.44949131e+02] [ 2.73263341e-01 9.61644158e-01 -2.38255991e-02 6.15888127e+01] [ 1.08347515e-01 -6.15874256e-03 9.94094003e-01 3.64605410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.925099893 meters 0.061295471187664534 Centerline is valid? [True, True] Translation: X:345.01, Y:61.60, Z:36.47 [[ 9.55983252e-01 -2.73768687e-01 -1.05578064e-01 3.45005662e+02] [ 2.72803636e-01 9.61776295e-01 -2.37599159e-02 6.15985611e+01] [ 1.08047200e-01 -6.08799807e-03 9.94127124e-01 3.64661211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.985099893 meters 0.061343016250197765 Centerline is valid? [True, True] Translation: X:345.06, Y:61.61, Z:36.47 [[ 9.56289503e-01 -2.72446566e-01 -1.06222669e-01 3.45063810e+02] [ 2.71461114e-01 9.62152386e-01 -2.39092125e-02 6.16126803e+01] [ 1.08716377e-01 -5.97119513e-03 9.94054875e-01 3.64716291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.045099893 meters 0.05963992617754589 Centerline is valid? [True, True] Translation: X:345.12, Y:61.64, Z:36.48 [[ 9.56814615e-01 -2.69913197e-01 -1.07947478e-01 3.45120049e+02] [ 2.68879191e-01 9.62867342e-01 -2.42994321e-02 6.16370946e+01] [ 1.10497839e-01 -5.77477886e-03 9.93859587e-01 3.64770827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.105099893 meters 0.05768083546963821 Centerline is valid? [True, True] Translation: X:345.18, Y:61.66, Z:36.48 [[ 9.57332137e-01 -2.68207989e-01 -1.07608803e-01 3.45175997e+02] [ 2.67169726e-01 9.63344986e-01 -2.42234553e-02 6.16606449e+01] [ 1.10161325e-01 -5.55992217e-03 9.93898169e-01 3.64841525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.165099893 meters 0.0572158347288202 Centerline is valid? [True, True] Translation: X:345.23, Y:61.68, Z:36.49 [[ 9.58548789e-01 -2.64376246e-01 -1.06251680e-01 3.45232623e+02] [ 2.63340500e-01 9.64406381e-01 -2.39188805e-02 6.16810665e+01] [ 1.08793382e-01 -5.05295656e-03 9.94051542e-01 3.64912377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.225099893 meters 0.05645652733969498 Centerline is valid? [True, True] Translation: X:345.29, Y:61.70, Z:36.50 [[ 9.59483516e-01 -2.61247829e-01 -1.05550717e-01 3.45289747e+02] [ 2.60206678e-01 9.65260488e-01 -2.37628758e-02 6.17014901e+01] [ 1.08091937e-01 -4.66491386e-03 9.94129957e-01 3.64982203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.285099893 meters 0.057265368550410596 Centerline is valid? [True, True] Translation: X:345.35, Y:61.72, Z:36.50 [[ 9.61275444e-01 -2.55152634e-01 -1.04147267e-01 3.45346414e+02] [ 2.54103326e-01 9.66892821e-01 -2.34472123e-02 6.17224667e+01] [ 1.06681862e-01 -3.92493735e-03 9.94285460e-01 3.65047339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.34509989299994 meters 0.05737100573508314 Centerline is valid? [True, True] Translation: X:345.40, Y:61.74, Z:36.51 [[ 9.63035644e-01 -2.48202446e-01 -1.04679966e-01 3.45404176e+02] [ 2.47101361e-01 9.68702996e-01 -2.35673998e-02 6.17354624e+01] [ 1.07253283e-01 -3.17031600e-03 9.94226676e-01 3.65103298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.40509989299994 meters 0.05566336316101281 Centerline is valid? [True, True] Translation: X:345.46, Y:61.76, Z:36.52 [[ 9.64239936e-01 -2.43443254e-01 -1.04769884e-01 3.45459960e+02] [ 2.42312135e-01 9.69911544e-01 -2.35887001e-02 6.17600952e+01] [ 1.07360030e-01 -2.64184770e-03 9.94216699e-01 3.65169149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.46509989299994 meters 0.055392662599551425 Centerline is valid? [True, True] Translation: X:345.52, Y:61.78, Z:36.52 [[ 9.65632022e-01 -2.37521330e-01 -1.05538696e-01 3.45516641e+02] [ 2.36338136e-01 9.71380271e-01 -2.37624786e-02 6.17798168e+01] [ 1.08162302e-01 -1.99700838e-03 9.94131243e-01 3.65233899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.52509989299995 meters 0.05631111302444917 Centerline is valid? [True, True] Translation: X:345.57, Y:61.79, Z:36.53 [[ 9.66411379e-01 -2.34199583e-01 -1.05828175e-01 3.45573169e+02] [ 2.32990075e-01 9.72187172e-01 -2.38270217e-02 6.17942386e+01] [ 1.08465073e-01 -1.63020965e-03 9.94098924e-01 3.65283182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.58509989299995 meters 0.05580260491723096 Centerline is valid? [True, True] Translation: X:345.63, Y:61.81, Z:36.53 [[ 9.66557543e-01 -2.33761402e-01 -1.05461472e-01 3.45629818e+02] [ 2.32557360e-01 9.72292720e-01 -2.37474298e-02 6.18082438e+01] [ 1.08090654e-01 -1.57258419e-03 9.94139798e-01 3.65340977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.64509989299995 meters 0.056505256702924535 Centerline is valid? [True, True] Translation: X:345.69, Y:61.82, Z:36.54 [[ 9.66357146e-01 -2.34440011e-01 -1.05791053e-01 3.45686440e+02] [ 2.33231681e-01 9.72129194e-01 -2.38288309e-02 6.18205245e+01] [ 1.08429003e-01 -1.64666410e-03 9.94102832e-01 3.65395055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.70509989299995 meters 0.05603343147797324 Centerline is valid? [True, True] Translation: X:345.74, Y:61.83, Z:36.54 [[ 9.65477822e-01 -2.37898648e-01 -1.06098108e-01 3.45744203e+02] [ 2.36703288e-01 9.71287855e-01 -2.39051668e-02 6.18296769e+01] [ 1.08738811e-01 -2.03386271e-03 9.94068275e-01 3.65448722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.76509989299996 meters 0.056379521919288654 Centerline is valid? [True, True] Translation: X:345.80, Y:61.84, Z:36.55 [[ 9.64680094e-01 -2.41270105e-01 -1.05740497e-01 3.45801816e+02] [ 2.40102683e-01 9.70455029e-01 -2.38272668e-02 6.18424520e+01] [ 1.08365204e-01 -2.40288711e-03 9.94108248e-01 3.65515660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.82509989299996 meters 0.05546848712225323 Centerline is valid? [True, True] Translation: X:345.86, Y:61.86, Z:36.56 [[ 9.63603216e-01 -2.46317503e-01 -1.03906354e-01 3.45858998e+02] [ 2.45219349e-01 9.69184803e-01 -2.34155798e-02 6.18593655e+01] [ 1.06472127e-01 -2.91652063e-03 9.94311410e-01 3.65598680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.88509989299996 meters 0.05587320183268334 Centerline is valid? [True, True] Translation: X:345.92, Y:61.87, Z:36.57 [[ 9.62679899e-01 -2.49920681e-01 -1.03860797e-01 3.45917992e+02] [ 2.48844436e-01 9.68260642e-01 -2.34046190e-02 6.18661275e+01] [ 1.06413620e-01 -3.31402532e-03 9.94316428e-01 3.65658794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.94509989299996 meters 0.05570296828051366 Centerline is valid? [True, True] Translation: X:345.98, Y:61.88, Z:36.57 [[ 9.62422028e-01 -2.50939939e-01 -1.03793000e-01 3.45975274e+02] [ 2.49870806e-01 9.67996608e-01 -2.33911830e-02 6.18823025e+01] [ 1.06341054e-01 -3.42265080e-03 9.94323823e-01 3.65721647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.00509989299997 meters 0.05740762723931912 Centerline is valid? [True, True] Translation: X:346.03, Y:61.89, Z:36.58 [[ 9.62827238e-01 -2.49099239e-01 -1.04466637e-01 3.46034154e+02] [ 2.48005170e-01 9.68472550e-01 -2.35447667e-02 6.18879136e+01] [ 1.07038054e-01 -3.23872334e-03 9.94249650e-01 3.65777687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.06509989299997 meters 0.05701975912916621 Centerline is valid? [True, True] Translation: X:346.09, Y:61.90, Z:36.58 [[ 9.63730587e-01 -2.45892681e-01 -1.03731121e-01 3.46091359e+02] [ 2.44795290e-01 9.69292839e-01 -2.33807006e-02 6.19047722e+01] [ 1.06294976e-01 -2.86019348e-03 9.94330527e-01 3.65842746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.12509989299997 meters 0.0560842886085371 Centerline is valid? [True, True] Translation: X:346.15, Y:61.93, Z:36.59 [[ 9.64302639e-01 -2.43578482e-01 -1.03874655e-01 3.46148068e+02] [ 2.42464576e-01 9.69877684e-01 -2.34138293e-02 6.19254687e+01] [ 1.06448815e-01 -2.60790683e-03 9.94314763e-01 3.65903369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.185099893 meters 0.056149819333510466 Centerline is valid? [True, True] Translation: X:346.20, Y:61.94, Z:36.59 [[ 9.64638100e-01 -2.41542033e-01 -1.05502524e-01 3.46204534e+02] [ 2.40380701e-01 9.70387338e-01 -2.37809316e-02 6.19358503e+01] [ 1.08122408e-01 -2.42077801e-03 9.94134641e-01 3.65944855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.245099893 meters 0.056354145353738214 Centerline is valid? [True, True] Translation: X:346.26, Y:61.95, Z:36.60 [[ 9.64868737e-01 -2.40146762e-01 -1.06573225e-01 3.46260321e+02] [ 2.38952648e-01 9.70733909e-01 -2.40272854e-02 6.19539123e+01] [ 1.09224318e-01 -2.28277793e-03 9.94014506e-01 3.66000148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.305099893 meters 0.05629999116700451 Centerline is valid? [True, True] Translation: X:346.32, Y:61.97, Z:36.60 [[ 9.64982093e-01 -2.38906252e-01 -1.08320650e-01 3.46317346e+02] [ 2.37663311e-01 9.71040223e-01 -2.44343187e-02 6.19674766e+01] [ 1.11021219e-01 -2.16516420e-03 9.93815678e-01 3.66049735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.365099893 meters 0.055838718734269654 Centerline is valid? [True, True] Translation: X:346.37, Y:61.98, Z:36.61 [[ 9.65043478e-01 -2.38787750e-01 -1.08034695e-01 3.46373871e+02] [ 2.37549206e-01 9.71069441e-01 -2.43826777e-02 6.19824611e+01] [ 1.10731476e-01 -2.13321186e-03 9.93848072e-01 3.66122084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.425099893 meters 0.05578785401974132 Centerline is valid? [True, True] Translation: X:346.43, Y:62.00, Z:36.62 [[ 9.65327322e-01 -2.38490048e-01 -1.06139801e-01 3.46430555e+02] [ 2.37291484e-01 9.71142779e-01 -2.39677820e-02 6.19960068e+01] [ 1.08792979e-01 -2.04931608e-03 9.94062316e-01 3.66204895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.485099893 meters 0.0559759525564217 Centerline is valid? [True, True] Translation: X:346.49, Y:62.01, Z:36.63 [[ 9.65042076e-01 -2.40218067e-01 -1.04828772e-01 3.46487051e+02] [ 2.39057810e-01 9.70716448e-01 -2.36841796e-02 6.20055240e+01] [ 1.07448381e-01 -2.20390674e-03 9.94208222e-01 3.66271944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.545099893 meters 0.05568826370233747 Centerline is valid? [True, True] Translation: X:346.55, Y:62.02, Z:36.63 [[ 9.64291608e-01 -2.43784383e-01 -1.03493328e-01 3.46545138e+02] [ 2.42673555e-01 9.69826069e-01 -2.33867911e-02 6.20230889e+01] [ 1.06071862e-01 -2.56340738e-03 9.94355162e-01 3.66347527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.605099893 meters 0.05815427476519484 Centerline is valid? [True, True] Translation: X:346.61, Y:62.02, Z:36.64 [[ 9.62021570e-01 -2.52335988e-01 -1.04120355e-01 3.46607392e+02] [ 2.51261610e-01 9.67633247e-01 -2.35266465e-02 6.20171213e+01] [ 1.06686936e-01 -3.52830665e-03 9.94286402e-01 3.66398788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.665099893 meters 0.056714946003024215 Centerline is valid? [True, True] Translation: X:346.66, Y:62.03, Z:36.65 [[ 9.58949897e-01 -2.63468522e-01 -1.04878180e-01 3.46664939e+02] [ 2.62444396e-01 9.64656058e-01 -2.36987245e-02 6.20331792e+01] [ 1.07415239e-01 -4.79880106e-03 9.94202664e-01 3.66458935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.725099893 meters 0.05666915490087544 Centerline is valid? [True, True] Translation: X:346.72, Y:62.05, Z:36.65 [[ 9.57313109e-01 -2.69027526e-01 -1.05715664e-01 3.46723669e+02] [ 2.68020542e-01 9.63116983e-01 -2.38886169e-02 6.20461761e+01] [ 1.08243247e-01 -5.46508346e-03 9.94109417e-01 3.66519718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.785099893 meters 0.05950819311182188 Centerline is valid? [True, True] Translation: X:346.78, Y:62.05, Z:36.66 [[ 9.56466858e-01 -2.71932886e-01 -1.05941756e-01 3.46784459e+02] [ 2.70939288e-01 9.62298703e-01 -2.39397001e-02 6.20471851e+01] [ 1.08457606e-01 -5.80625414e-03 9.94084119e-01 3.66575286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.84509989299994 meters 0.05411861806915592 Centerline is valid? [True, True] Translation: X:346.84, Y:62.08, Z:36.66 [[ 9.56541277e-01 -2.71727732e-01 -1.05796148e-01 3.46840786e+02] [ 2.70735553e-01 9.62356845e-01 -2.39074086e-02 6.20793005e+01] [ 1.08309953e-01 -5.77435554e-03 9.94100403e-01 3.66649461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.90509989299994 meters 0.05483861442306555 Centerline is valid? [True, True] Translation: X:346.90, Y:62.10, Z:36.67 [[ 9.57746550e-01 -2.67598073e-01 -1.05417349e-01 3.46897748e+02] [ 2.66588571e-01 9.63516095e-01 -2.38173978e-02 6.21003946e+01] [ 1.07944802e-01 -5.29202986e-03 9.94142804e-01 3.66718593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.96509989299994 meters 0.055533185267149766 Centerline is valid? [True, True] Translation: X:346.96, Y:62.11, Z:36.68 [[ 9.58905225e-01 -2.63485459e-01 -1.05243441e-01 3.46956653e+02] [ 2.62454706e-01 9.64651319e-01 -2.37773178e-02 6.21081854e+01] [ 1.07788201e-01 -4.82144205e-03 9.94162189e-01 3.66776666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.02509989299995 meters 0.05536180002877374 Centerline is valid? [True, True] Translation: X:347.01, Y:62.13, Z:36.68 [[ 9.60840934e-01 -2.56436642e-01 -1.04999752e-01 3.47013821e+02] [ 2.55368683e-01 9.66552681e-01 -2.37223442e-02 6.21293183e+01] [ 1.07571070e-01 -4.02024906e-03 9.94189269e-01 3.66844086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.08509989299995 meters 0.05542518272558734 Centerline is valid? [True, True] Translation: X:347.07, Y:62.14, Z:36.69 [[ 9.62160054e-01 -2.51656407e-01 -1.04484843e-01 3.47070616e+02] [ 2.50570841e-01 9.67810427e-01 -2.36057256e-02 6.21448818e+01] [ 1.07062053e-01 -3.46836880e-03 9.94246291e-01 3.66908155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.14509989299995 meters 0.05745448772054006 Centerline is valid? [True, True] Translation: X:347.13, Y:62.15, Z:36.70 [[ 9.63912411e-01 -2.44851187e-01 -1.04502444e-01 3.47129303e+02] [ 2.43725235e-01 9.69556881e-01 -2.36106843e-02 6.21531703e+01] [ 1.07102168e-01 -2.71125101e-03 9.94244324e-01 3.66956190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.20509989299995 meters 0.05647914753530822 Centerline is valid? [True, True] Translation: X:347.19, Y:62.17, Z:36.70 [[ 9.64945417e-01 -2.40577282e-01 -1.04894773e-01 3.47186088e+02] [ 2.39417545e-01 9.70627393e-01 -2.37002936e-02 6.21731163e+01] [ 1.07515492e-01 -2.24415930e-03 9.94200876e-01 3.67017508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.26509989299996 meters 0.05540994511295392 Centerline is valid? [True, True] Translation: X:347.24, Y:62.19, Z:36.71 [[ 9.66600802e-01 -2.33554534e-01 -1.05523313e-01 3.47243155e+02] [ 2.32339001e-01 9.72342592e-01 -2.38426617e-02 6.21919557e+01] [ 1.08173374e-01 -1.47084532e-03 9.94130956e-01 3.67069007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.32509989299996 meters 0.05573971963331603 Centerline is valid? [True, True] Translation: X:347.30, Y:62.21, Z:36.71 [[ 9.68423789e-01 -2.25744139e-01 -1.05806180e-01 3.47299820e+02] [ 2.24475425e-01 9.74186443e-01 -2.39072850e-02 6.22126292e+01] [ 1.08471875e-01 -5.98503611e-04 9.94099338e-01 3.67131570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.38509989299996 meters 0.055765605720450084 Centerline is valid? [True, True] Translation: X:347.36, Y:62.23, Z:36.72 [[ 9.69417014e-01 -2.21751163e-01 -1.05152626e-01 3.47356087e+02] [ 2.20474626e-01 9.75103276e-01 -2.37600500e-02 6.22294784e+01] [ 1.07803489e-01 -1.50089133e-04 9.94172211e-01 3.67205993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.44509989299996 meters 0.05684146429418614 Centerline is valid? [True, True] Translation: X:347.42, Y:62.24, Z:36.73 [[ 9.70072473e-01 -2.19366566e-01 -1.04104306e-01 3.47415332e+02] [ 2.18100452e-01 9.75642503e-01 -2.35350492e-02 6.22435985e+01] [ 1.06731388e-01 1.25507223e-04 9.94287883e-01 3.67285538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.50509989299997 meters 0.05552426158750521 Centerline is valid? [True, True] Translation: X:347.47, Y:62.25, Z:36.73 [[ 9.69237303e-01 -2.23095976e-01 -1.03957855e-01 3.47474180e+02] [ 2.21855000e-01 9.74796442e-01 -2.35001207e-02 6.22525937e+01] [ 1.06580530e-01 -2.86376340e-04 9.94304032e-01 3.67345336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.56509989299997 meters 0.055704591892778085 Centerline is valid? [True, True] Translation: X:347.53, Y:62.26, Z:36.74 [[ 9.67822009e-01 -2.29059973e-01 -1.04173353e-01 3.47533580e+02] [ 2.27848125e-01 9.73411854e-01 -2.35498138e-02 6.22611266e+01] [ 1.06797896e-01 -9.43674996e-04 9.94280302e-01 3.67409097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.62509989299997 meters 0.05607843293839199 Centerline is valid? [True, True] Translation: X:347.59, Y:62.26, Z:36.74 [[ 9.64868207e-01 -2.40724276e-01 -1.05267121e-01 3.47594472e+02] [ 2.39555538e-01 9.70590924e-01 -2.37992174e-02 6.22621190e+01] [ 1.07900361e-01 -2.25421357e-03 9.94159158e-01 3.67448554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.685099893 meters 0.055741371200813225 Centerline is valid? [True, True] Translation: X:347.65, Y:62.27, Z:36.75 [[ 9.62770816e-01 -2.48863130e-01 -1.05543817e-01 3.47653373e+02] [ 2.47736797e-01 9.68533465e-01 -2.38622372e-02 6.22742094e+01] [ 1.08161150e-01 -3.17322158e-03 9.94128310e-01 3.67513064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.745099893 meters 0.05544551673138236 Centerline is valid? [True, True] Translation: X:347.71, Y:62.28, Z:36.76 [[ 9.60144694e-01 -2.59094191e-01 -1.04844492e-01 3.47713557e+02] [ 2.58043253e-01 9.65842513e-01 -2.37048597e-02 6.22805653e+01] [ 1.07405059e-01 -4.29431844e-03 9.94206071e-01 3.67575514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.805099893 meters 0.05623084078210914 Centerline is valid? [True, True] Translation: X:347.77, Y:62.28, Z:36.76 [[ 9.58872252e-01 -2.63912189e-01 -1.04471817e-01 3.47773086e+02] [ 2.62897149e-01 9.64534686e-01 -2.36205224e-02 6.22848979e+01] [ 1.07000435e-01 -4.81627924e-03 9.94247309e-01 3.67629760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.865099893 meters 0.05549922132495065 Centerline is valid? [True, True] Translation: X:347.83, Y:62.30, Z:36.77 [[ 9.57686669e-01 -2.68865991e-01 -1.02700164e-01 3.47830621e+02] [ 2.67913260e-01 9.63163146e-01 -2.32215423e-02 6.23012993e+01] [ 1.05160496e-01 -5.27577423e-03 9.94441268e-01 3.67698276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.925099893 meters 0.058511218040173125 Centerline is valid? [True, True] Translation: X:347.89, Y:62.30, Z:36.78 [[ 9.57107079e-01 -2.70848512e-01 -1.02893746e-01 3.47892202e+02] [ 2.69903618e-01 9.62606246e-01 -2.32648350e-02 6.22990914e+01] [ 1.05347408e-01 -5.50445596e-03 9.94420245e-01 3.67757966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.985099893 meters 0.054876595985766385 Centerline is valid? [True, True] Translation: X:347.95, Y:62.33, Z:36.78 [[ 9.56620323e-01 -2.72604766e-01 -1.02782291e-01 3.47948722e+02] [ 2.71671908e-01 9.62109275e-01 -2.32404358e-02 6.23253906e+01] [ 1.05223249e-01 -5.69078776e-03 9.94432342e-01 3.67812294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.045099893 meters 0.0554673587488971 Centerline is valid? [True, True] Translation: X:348.01, Y:62.34, Z:36.79 [[ 9.56689399e-01 -2.71883213e-01 -1.04042842e-01 3.48008016e+02] [ 2.70923258e-01 9.62313475e-01 -2.35236880e-02 6.23354327e+01] [ 1.06517525e-01 -5.68276287e-03 9.94294586e-01 3.67858327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.105099893 meters 0.05479248412869401 Centerline is valid? [True, True] Translation: X:348.07, Y:62.35, Z:36.79 [[ 9.56903088e-01 -2.70927470e-01 -1.04569528e-01 3.48066553e+02] [ 2.69952180e-01 9.62583441e-01 -2.36418974e-02 6.23509326e+01] [ 1.07062135e-01 -5.60576732e-03 9.94236528e-01 3.67919740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.165099893 meters 0.056312569020091 Centerline is valid? [True, True] Translation: X:348.13, Y:62.36, Z:36.80 [[ 9.58012648e-01 -2.66031992e-01 -1.06952073e-01 3.48125514e+02] [ 2.64981324e-01 9.63950309e-01 -2.41805658e-02 6.23594200e+01] [ 1.09529288e-01 -5.17501406e-03 9.93970097e-01 3.67961959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.225099893 meters 0.05556473974556602 Centerline is valid? [True, True] Translation: X:348.18, Y:62.38, Z:36.80 [[ 9.58950218e-01 -2.62330558e-01 -1.07690104e-01 3.48182623e+02] [ 2.61241964e-01 9.64966212e-01 -2.43484423e-02 6.23789943e+01] [ 1.10304652e-01 -4.78423018e-03 9.93886309e-01 3.68021461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.285099893 meters 0.0554200640317545 Centerline is valid? [True, True] Translation: X:348.24, Y:62.40, Z:36.81 [[ 9.60981305e-01 -2.54702359e-01 -1.07896427e-01 3.48240624e+02] [ 2.53561581e-01 9.67011573e-01 -2.43955242e-02 6.23972557e+01] [ 1.10550691e-01 -3.91474586e-03 9.93862777e-01 3.68083969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.34509989299994 meters 0.05530184635916551 Centerline is valid? [True, True] Translation: X:348.30, Y:62.42, Z:36.82 [[ 9.62772907e-01 -2.48157395e-01 -1.07173861e-01 3.48298042e+02] [ 2.46991577e-01 9.68714629e-01 -2.42307253e-02 6.24171799e+01] [ 1.09833920e-01 -3.14235494e-03 9.93944986e-01 3.68155980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.40509989299994 meters 0.05558527828821836 Centerline is valid? [True, True] Translation: X:348.35, Y:62.43, Z:36.82 [[ 9.65699365e-01 -2.36940630e-01 -1.06225578e-01 3.48354748e+02] [ 2.35727678e-01 9.71522373e-01 -2.40154396e-02 6.24338701e+01] [ 1.08890759e-01 -1.84861421e-03 9.94052003e-01 3.68217005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.46509989299994 meters 0.054812945896124794 Centerline is valid? [True, True] Translation: X:348.41, Y:62.46, Z:36.83 [[ 9.67901742e-01 -2.28438456e-01 -1.04795466e-01 3.48410932e+02] [ 2.27208219e-01 9.73557959e-01 -2.36923073e-02 6.24558226e+01] [ 1.07436694e-01 -8.78565595e-04 9.94211539e-01 3.68303826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.52509989299995 meters 0.05512054281402554 Centerline is valid? [True, True] Translation: X:348.47, Y:62.47, Z:36.84 [[ 9.68544842e-01 -2.25887667e-01 -1.04382236e-01 3.48467401e+02] [ 2.24652396e-01 9.74153176e-01 -2.35985387e-02 6.24692352e+01] [ 1.07014905e-01 -5.93476478e-04 9.94257239e-01 3.68360716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.58509989299995 meters 0.05519425802525279 Centerline is valid? [True, True] Translation: X:348.53, Y:62.48, Z:36.84 [[ 9.68474283e-01 -2.26007948e-01 -1.04775813e-01 3.48526994e+02] [ 2.24762661e-01 9.74125275e-01 -2.37001004e-02 6.24834263e+01] [ 1.07421179e-01 -5.96752857e-04 9.94213425e-01 3.68431353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.64509989299995 meters 0.05559654774522294 Centerline is valid? [True, True] Translation: X:348.59, Y:62.49, Z:36.85 [[ 9.68210950e-01 -2.26780857e-01 -1.05536722e-01 3.48585038e+02] [ 2.25522148e-01 9.73945567e-01 -2.38703404e-02 6.24941907e+01] [ 1.08200359e-01 -6.89343255e-04 9.94128868e-01 3.68481158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.70509989299995 meters 0.05559280369971636 Centerline is valid? [True, True] Translation: X:348.64, Y:62.50, Z:36.85 [[ 9.67890684e-01 -2.27694506e-01 -1.06502750e-01 3.48642648e+02] [ 2.26417931e-01 9.73732292e-01 -2.40903310e-02 6.25035337e+01] [ 1.09190403e-01 -7.97325298e-04 9.94020533e-01 3.68525770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.76509989299996 meters 0.05507724511475254 Centerline is valid? [True, True] Translation: X:348.70, Y:62.52, Z:36.86 [[ 9.67643609e-01 -2.28802015e-01 -1.06374264e-01 3.48699780e+02] [ 2.27533919e-01 9.73472552e-01 -2.40729226e-02 6.25162383e+01] [ 1.09060360e-01 -9.09743480e-04 9.94034713e-01 3.68599300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.82509989299996 meters 0.05566403263736143 Centerline is valid? [True, True] Translation: X:348.76, Y:62.53, Z:36.87 [[ 9.67279884e-01 -2.30762839e-01 -1.05442585e-01 3.48757111e+02] [ 2.29527142e-01 9.73009396e-01 -2.38748216e-02 6.25253661e+01] [ 1.08106047e-01 -1.10830040e-03 9.94138750e-01 3.68672459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.88509989299996 meters 0.05579029187679404 Centerline is valid? [True, True] Translation: X:348.81, Y:62.53, Z:36.87 [[ 9.66648236e-01 -2.33976110e-01 -1.04145899e-01 3.48814381e+02] [ 2.32788779e-01 9.72241273e-01 -2.35858366e-02 6.25305029e+01] [ 1.06773464e-01 -1.44478943e-03 9.94282324e-01 3.68734452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.94509989299996 meters 0.05633321154081869 Centerline is valid? [True, True] Translation: X:348.87, Y:62.54, Z:36.88 [[ 9.66048020e-01 -2.37052184e-01 -1.02749618e-01 3.48872785e+02] [ 2.35913318e-01 9.71495332e-01 -2.32749935e-02 6.25359677e+01] [ 1.05338163e-01 -1.75524205e-03 9.94434910e-01 3.68802641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.00509989299997 meters 0.05611267300926144 Centerline is valid? [True, True] Translation: X:348.93, Y:62.54, Z:36.89 [[ 9.64497698e-01 -2.43617944e-01 -1.01953358e-01 3.48932929e+02] [ 2.42532938e-01 9.69868185e-01 -2.30971603e-02 6.25438576e+01] [ 1.04508201e-01 -2.44988948e-03 9.94521007e-01 3.68877149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.06509989299997 meters 0.05648471895454291 Centerline is valid? [True, True] Translation: X:348.99, Y:62.55, Z:36.89 [[ 9.62114051e-01 -2.52221340e-01 -1.03542016e-01 3.48993237e+02] [ 2.51151706e-01 9.67663468e-01 -2.34570638e-02 6.25488371e+01] [ 1.06110199e-01 -3.43638336e-03 9.94348438e-01 3.68922390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.12509989299997 meters 0.05669788405008536 Centerline is valid? [True, True] Translation: X:349.05, Y:62.56, Z:36.90 [[ 9.60478817e-01 -2.58009397e-01 -1.04458567e-01 3.49053058e+02] [ 2.56954821e-01 9.66133655e-01 -2.36639183e-02 6.25569001e+01] [ 1.07026451e-01 -4.11244022e-03 9.94247669e-01 3.68979683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.185099893 meters 0.05620982494749 Centerline is valid? [True, True] Translation: X:349.11, Y:62.57, Z:36.90 [[ 9.58592223e-01 -2.64747848e-01 -1.04926295e-01 3.49112088e+02] [ 2.63723785e-01 9.64305301e-01 -2.37708175e-02 6.25697015e+01] [ 1.07474255e-01 -4.88503883e-03 9.94195866e-01 3.69038251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.245099893 meters 0.05886674277929525 Centerline is valid? [True, True] Translation: X:349.17, Y:62.57, Z:36.91 [[ 9.58035640e-01 -2.66538792e-01 -1.05474099e-01 3.49172299e+02] [ 2.65514735e-01 9.63810633e-01 -2.38953726e-02 6.25705060e+01] [ 1.08026101e-01 -5.11230874e-03 9.94134913e-01 3.69088316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.305099893 meters 0.0555810423820146 Centerline is valid? [True, True] Translation: X:349.23, Y:62.60, Z:36.92 [[ 9.58345113e-01 -2.66238805e-01 -1.03399922e-01 3.49227835e+02] [ 2.65252772e-01 9.63894257e-01 -2.34270733e-02 6.26005908e+01] [ 1.05903787e-01 -4.97589476e-03 9.94363932e-01 3.69176084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.365099893 meters 0.06068738661250741 Centerline is valid? [True, True] Translation: X:349.29, Y:62.59, Z:36.92 [[ 9.59115013e-01 -2.63644559e-01 -1.02907422e-01 3.49290136e+02] [ 2.62653322e-01 9.64608596e-01 -2.33128307e-02 6.25925322e+01] [ 1.05411685e-01 -4.66929039e-03 9.94417706e-01 3.69239851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.425099893 meters 0.05893280412539165 Centerline is valid? [True, True] Translation: X:349.35, Y:62.61, Z:36.93 [[ 9.59353710e-01 -2.62869662e-01 -1.02664497e-01 3.49345589e+02] [ 2.61878569e-01 9.64820520e-01 -2.32589441e-02 6.26118463e+01] [ 1.05166884e-01 -4.57207722e-03 9.94444077e-01 3.69306421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.485099893 meters 0.059345668995238327 Centerline is valid? [True, True] Translation: X:349.40, Y:62.62, Z:36.94 [[ 9.59260741e-01 -2.62877285e-01 -1.03510211e-01 3.49401358e+02] [ 2.61869207e-01 9.64818285e-01 -2.34562497e-02 6.26204842e+01] [ 1.06034659e-01 -4.60547734e-03 9.94351769e-01 3.69359032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.545099893 meters 0.05851961737401403 Centerline is valid? [True, True] Translation: X:349.46, Y:62.64, Z:36.94 [[ 9.59018325e-01 -2.63381061e-01 -1.04471380e-01 3.49457389e+02] [ 2.62356112e-01 9.64680448e-01 -2.36834303e-02 6.26362434e+01] [ 1.07019265e-01 -4.69586139e-03 9.94245858e-01 3.69418101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.605099893 meters 0.06032254720397529 Centerline is valid? [True, True] Translation: X:349.52, Y:62.64, Z:36.95 [[ 9.59245746e-01 -2.61747002e-01 -1.06471148e-01 3.49516328e+02] [ 2.60671071e-01 9.65125610e-01 -2.41485046e-02 6.26435975e+01] [ 1.09078830e-01 -4.58959777e-03 9.94022507e-01 3.69455456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.665099893 meters 0.0570011466861551 Centerline is valid? [True, True] Translation: X:349.57, Y:62.67, Z:36.95 [[ 9.60815911e-01 -2.56079101e-01 -1.06095616e-01 3.49571547e+02] [ 2.54976128e-01 9.66647842e-01 -2.40649852e-02 6.26709085e+01] [ 1.08719638e-01 -3.92982868e-03 9.94064684e-01 3.69529655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.725099893 meters 0.05639682459584207 Centerline is valid? [True, True] Translation: X:349.63, Y:62.69, Z:36.96 [[ 9.62422349e-01 -2.50080820e-01 -1.05843306e-01 3.49628908e+02] [ 2.48946817e-01 9.68219535e-01 -2.40086409e-02 6.26883057e+01] [ 1.08483657e-01 -3.24290155e-03 9.94092943e-01 3.69595156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.785099893 meters 0.05620741812383404 Centerline is valid? [True, True] Translation: X:349.69, Y:62.71, Z:36.97 [[ 9.65160743e-01 -2.39889488e-01 -1.04488152e-01 3.49685331e+02] [ 2.38724658e-01 9.70798001e-01 -2.37018958e-02 6.27066907e+01] [ 1.07122725e-01 -2.06775899e-03 9.94243655e-01 3.69666305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.84509989299994 meters 0.05585112625989909 Centerline is valid? [True, True] Translation: X:349.74, Y:62.73, Z:36.97 [[ 9.66597843e-01 -2.34367308e-01 -1.03733194e-01 3.49741169e+02] [ 2.33187427e-01 9.72147047e-01 -2.35317384e-02 6.27279042e+01] [ 1.06358989e-01 -1.44354910e-03 9.94326748e-01 3.69741883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.90509989299994 meters 0.05572993039585443 Centerline is valid? [True, True] Translation: X:349.80, Y:62.74, Z:36.98 [[ 9.67843349e-01 -2.29017529e-01 -1.04068354e-01 3.49798005e+02] [ 2.27799014e-01 9.73421921e-01 -2.36087362e-02 6.27414035e+01] [ 1.06709231e-01 -8.57110134e-04 9.94289900e-01 3.69796826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.96509989299994 meters 0.05559389769282841 Centerline is valid? [True, True] Translation: X:349.85, Y:62.76, Z:36.99 [[ 9.67872372e-01 -2.28935271e-01 -1.03979391e-01 3.49854133e+02] [ 2.27718044e-01 9.73441282e-01 -2.35916003e-02 6.27555378e+01] [ 1.06618781e-01 -8.44325373e-04 9.94299614e-01 3.69862621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.02509989299995 meters 0.05593676008350236 Centerline is valid? [True, True] Translation: X:349.91, Y:62.76, Z:36.99 [[ 9.67123121e-01 -2.31841671e-01 -1.04509850e-01 3.49911421e+02] [ 2.30627270e-01 9.72752848e-01 -2.37267582e-02 6.27638686e+01] [ 1.07163105e-01 -1.15612494e-03 9.94240782e-01 3.69917839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.08509989299995 meters 0.055701402682415815 Centerline is valid? [True, True] Translation: X:349.97, Y:62.77, Z:37.00 [[ 9.66238422e-01 -2.35360575e-01 -1.04827055e-01 3.49969934e+02] [ 2.34158622e-01 9.71906897e-01 -2.38059600e-02 6.27716042e+01] [ 1.07485122e-01 -1.54392550e-03 9.94205494e-01 3.69970277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.14509989299995 meters 0.05648605046812579 Centerline is valid? [True, True] Translation: X:350.03, Y:62.78, Z:37.00 [[ 9.65112846e-01 -2.40014417e-01 -1.04643559e-01 3.50030198e+02] [ 2.38843535e-01 9.70767149e-01 -2.37678044e-02 6.27760105e+01] [ 1.07289145e-01 -2.05482421e-03 9.94225737e-01 3.70022596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.20509989299995 meters 0.056287031418433664 Centerline is valid? [True, True] Translation: X:350.09, Y:62.79, Z:37.01 [[ 9.64446978e-01 -2.42857493e-01 -1.04222187e-01 3.50086551e+02] [ 2.41712569e-01 9.70059103e-01 -2.36721700e-02 6.27923378e+01] [ 1.06850645e-01 -2.36125966e-03 9.94272279e-01 3.70095081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.26509989299996 meters 0.056064790169070476 Centerline is valid? [True, True] Translation: X:350.15, Y:62.80, Z:37.02 [[ 9.63580923e-01 -2.46268151e-01 -1.04229563e-01 3.50145465e+02] [ 2.45142641e-01 9.69197868e-01 -2.36765293e-02 6.27997184e+01] [ 1.06849846e-01 -2.73685848e-03 9.94271402e-01 3.70154691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.32509989299996 meters 0.05642931993708999 Centerline is valid? [True, True] Translation: X:350.20, Y:62.81, Z:37.02 [[ 9.63203580e-01 -2.47846414e-01 -1.03976051e-01 3.50203260e+02] [ 2.46735351e-01 9.68794987e-01 -2.36207337e-02 6.28094791e+01] [ 1.06585791e-01 -2.90299218e-03 9.94299272e-01 3.70217605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.38509989299996 meters 0.05784280543281393 Centerline is valid? [True, True] Translation: X:350.26, Y:62.82, Z:37.03 [[ 9.61901174e-01 -2.52865980e-01 -1.03946754e-01 3.50261843e+02] [ 2.51784433e-01 9.67495146e-01 -2.36165813e-02 6.28168619e+01] [ 1.06539810e-01 -3.45535714e-03 9.94302434e-01 3.70275655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.44509989299996 meters 0.05793005897266399 Centerline is valid? [True, True] Translation: X:350.32, Y:62.82, Z:37.03 [[ 9.60821733e-01 -2.57174443e-01 -1.03358132e-01 3.50321580e+02] [ 2.56130057e-01 9.66357080e-01 -2.34816421e-02 6.28244197e+01] [ 1.05919741e-01 -3.91145218e-03 9.94366989e-01 3.70336980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.50509989299997 meters 0.05796968392135889 Centerline is valid? [True, True] Translation: X:350.38, Y:62.84, Z:37.04 [[ 9.60250018e-01 -2.58903673e-01 -1.04349366e-01 3.50378978e+02] [ 2.57849278e-01 9.65894266e-01 -2.37068913e-02 6.28374411e+01] [ 1.06928256e-01 -4.14186589e-03 9.94258112e-01 3.70387178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.56509989299997 meters 0.056494320890290675 Centerline is valid? [True, True] Translation: X:350.44, Y:62.85, Z:37.04 [[ 9.60484360e-01 -2.58020280e-01 -1.04380696e-01 3.50435251e+02] [ 2.56959664e-01 9.66131049e-01 -2.37176581e-02 6.28536243e+01] [ 1.06965068e-01 -4.04118888e-03 9.94254566e-01 3.70445474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.62509989299997 meters 0.05589376461788564 Centerline is valid? [True, True] Translation: X:350.49, Y:62.87, Z:37.05 [[ 9.61469067e-01 -2.54469631e-01 -1.04030960e-01 3.50491566e+02] [ 2.53395045e-01 9.67073952e-01 -2.36415612e-02 6.28718025e+01] [ 1.06621691e-01 -3.63029988e-03 9.94293033e-01 3.70516002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.685099893 meters 0.055108347191857164 Centerline is valid? [True, True] Translation: X:350.55, Y:62.89, Z:37.06 [[ 9.62363236e-01 -2.50766078e-01 -1.04753881e-01 3.50547080e+02] [ 2.49654489e-01 9.68042286e-01 -2.38069047e-02 6.28934617e+01] [ 1.07376150e-01 -3.24138673e-03 9.94213184e-01 3.70581481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.745099893 meters 0.05705544836358511 Centerline is valid? [True, True] Translation: X:350.61, Y:62.90, Z:37.06 [[ 9.64199799e-01 -2.43418875e-01 -1.05195049e-01 3.50607503e+02] [ 2.42254136e-01 9.69918212e-01 -2.39080675e-02 6.28994968e+01] [ 1.07850269e-01 -2.43178184e-03 9.94164175e-01 3.70618825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.805099893 meters 0.05616940364752356 Centerline is valid? [True, True] Translation: X:350.66, Y:62.92, Z:37.07 [[ 9.65556716e-01 -2.38004278e-01 -1.05138915e-01 3.50664197e+02] [ 2.36808808e-01 9.71262389e-01 -2.38947544e-02 6.29202884e+01] [ 1.07804527e-01 -1.82608047e-03 9.94170433e-01 3.70684213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.865099893 meters 0.055408146750465175 Centerline is valid? [True, True] Translation: X:350.72, Y:62.94, Z:37.08 [[ 9.67419529e-01 -2.30116104e-01 -1.05574781e-01 3.50720450e+02] [ 2.28863816e-01 9.73162718e-01 -2.39933114e-02 6.29440822e+01] [ 1.08262688e-01 -9.50649310e-04 9.94121867e-01 3.70755492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.925099893 meters 0.05555015005428547 Centerline is valid? [True, True] Translation: X:350.78, Y:62.96, Z:37.08 [[ 9.68978530e-01 -2.24032605e-01 -1.04355166e-01 3.50776400e+02] [ 2.22773844e-01 9.74581613e-01 -2.37169475e-02 6.29614051e+01] [ 1.07015996e-01 -2.66388604e-04 9.94257263e-01 3.70825784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.985099893 meters 0.054875375546802406 Centerline is valid? [True, True] Translation: X:350.83, Y:62.98, Z:37.09 [[ 9.69589507e-01 -2.21512387e-01 -1.04059844e-01 3.50832006e+02] [ 2.20244983e-01 9.75157558e-01 -2.36619028e-02 6.29753235e+01] [ 1.06716148e-01 2.36742186e-05 9.94289527e-01 3.70889011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.045099893 meters 0.05511026263437787 Centerline is valid? [True, True] Translation: X:350.89, Y:62.99, Z:37.10 [[ 9.69667657e-01 -2.21333623e-01 -1.03711439e-01 3.50887718e+02] [ 2.20072129e-01 9.75198146e-01 -2.35973341e-02 6.29855602e+01] [ 1.06362086e-01 5.75745438e-05 9.94327463e-01 3.70951600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.105099893 meters 0.05584190518308007 Centerline is valid? [True, True] Translation: X:350.95, Y:62.99, Z:37.10 [[ 9.69109125e-01 -2.23647634e-01 -1.03967497e-01 3.50945108e+02] [ 2.22392442e-01 9.74670047e-01 -2.36622553e-02 6.29948305e+01] [ 1.06626013e-01 -1.90277964e-04 9.94299179e-01 3.71001121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.165099893 meters 0.05532905481815756 Centerline is valid? [True, True] Translation: X:351.00, Y:63.00, Z:37.11 [[ 9.67666171e-01 -2.29306195e-01 -1.05075454e-01 3.51003023e+02] [ 2.28055813e-01 9.73354003e-01 -2.39276355e-02 6.30020732e+01] [ 1.07762369e-01 -8.09104755e-04 9.94176351e-01 3.71058066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.225099893 meters 0.05564107636997421 Centerline is valid? [True, True] Translation: X:351.06, Y:63.00, Z:37.11 [[ 9.65717519e-01 -2.37501289e-01 -1.04798911e-01 3.51062777e+02] [ 2.36304192e-01 9.71385725e-01 -2.38768119e-02 6.30045273e+01] [ 1.07470939e-01 -1.70616632e-03 9.94206762e-01 3.71110746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.285099893 meters 0.05599887782641869 Centerline is valid? [True, True] Translation: X:351.12, Y:63.01, Z:37.12 [[ 9.64105047e-01 -2.44252107e-01 -1.04126685e-01 3.51122603e+02] [ 2.43109437e-01 9.69708693e-01 -2.37245264e-02 6.30117173e+01] [ 1.06767317e-01 -2.44124412e-03 9.94281037e-01 3.71180395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.34509989299994 meters 0.056477745007543136 Centerline is valid? [True, True] Translation: X:351.18, Y:63.02, Z:37.12 [[ 9.61378201e-01 -2.54794893e-01 -1.04074570e-01 3.51182887e+02] [ 2.53714726e-01 9.66988388e-01 -2.37127675e-02 6.30181525e+01] [ 1.06680793e-01 -3.60831329e-03 9.94286774e-01 3.71237163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.40509989299994 meters 0.06259661651479863 Centerline is valid? [True, True] Translation: X:351.25, Y:63.01, Z:37.13 [[ 9.58437407e-01 -2.65887459e-01 -1.03448517e-01 3.51245954e+02] [ 2.64884402e-01 9.63992069e-01 -2.35700083e-02 6.30086559e+01] [ 1.05990519e-01 -4.81152080e-03 9.94355499e-01 3.71286217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.46509989299994 meters 0.06490441529992247 Centerline is valid? [True, True] Translation: X:351.31, Y:63.01, Z:37.13 [[ 9.56490790e-01 -2.72795361e-01 -1.03479752e-01 3.51306533e+02] [ 2.71831818e-01 9.62055913e-01 -2.35771674e-02 6.30138919e+01] [ 1.05985049e-01 -5.57774560e-03 9.94352080e-01 3.71344330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.52509989299995 meters 0.06417371572223253 Centerline is valid? [True, True] Translation: X:351.36, Y:63.03, Z:37.14 [[ 9.54381134e-01 -2.80047323e-01 -1.03586432e-01 3.51364713e+02] [ 2.79124091e-01 9.59964941e-01 -2.36019841e-02 6.30293372e+01] [ 1.06049016e-01 -6.38818041e-03 9.94340383e-01 3.71413112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.58509989299995 meters 0.06342646321078514 Centerline is valid? [True, True] Translation: X:351.42, Y:63.05, Z:37.15 [[ 9.53963395e-01 -2.81641337e-01 -1.03111580e-01 3.51421834e+02] [ 2.80735744e-01 9.59497503e-01 -2.34943161e-02 6.30454470e+01] [ 1.05552274e-01 -6.53438853e-03 9.94392286e-01 3.71479760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.64509989299995 meters 0.061575136751628165 Centerline is valid? [True, True] Translation: X:351.48, Y:63.07, Z:37.15 [[ 9.54335876e-01 -2.80222618e-01 -1.03529323e-01 3.51478310e+02] [ 2.79301252e-01 9.59913690e-01 -2.35906304e-02 6.30661861e+01] [ 1.05989843e-01 -6.40248456e-03 9.94346600e-01 3.71538077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.70509989299995 meters 0.055337721619069476 Centerline is valid? [True, True] Translation: X:351.53, Y:63.11, Z:37.16 [[ 9.55246603e-01 -2.76241954e-01 -1.05803168e-01 3.51530576e+02] [ 2.75255266e-01 9.61068815e-01 -2.41095697e-02 6.31055875e+01] [ 1.08344200e-01 -6.09229461e-03 9.94094773e-01 3.71594254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.76509989299996 meters 0.0564180995052497 Centerline is valid? [True, True] Translation: X:351.59, Y:63.12, Z:37.16 [[ 9.56105820e-01 -2.72739212e-01 -1.07121353e-01 3.51588745e+02] [ 2.71705866e-01 9.62070718e-01 -2.44101572e-02 6.31169548e+01] [ 1.09715924e-01 -5.76680673e-03 9.93946256e-01 3.71641670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.82509989299996 meters 0.05803201624372582 Centerline is valid? [True, True] Translation: X:351.65, Y:63.13, Z:37.17 [[ 9.57416854e-01 -2.68028583e-01 -1.07301662e-01 3.51646151e+02] [ 2.66962134e-01 9.63396743e-01 -2.44527167e-02 6.31312566e+01] [ 1.09928099e-01 -5.23403763e-03 9.93925761e-01 3.71694708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.88509989299996 meters 0.05665203188030713 Centerline is valid? [True, True] Translation: X:351.70, Y:63.15, Z:37.18 [[ 9.57873846e-01 -2.66531275e-01 -1.06952205e-01 3.51702442e+02] [ 2.65462457e-01 9.63813065e-01 -2.43733179e-02 6.31536980e+01] [ 1.09578184e-01 -5.04523153e-03 9.93965375e-01 3.71767383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.94509989299996 meters 0.05497105076863658 Centerline is valid? [True, True] Translation: X:351.76, Y:63.18, Z:37.18 [[ 9.59689949e-01 -2.60077855e-01 -1.06558491e-01 3.51758436e+02] [ 2.58977157e-01 9.65578117e-01 -2.42844131e-02 6.31794132e+01] [ 1.09206385e-01 -4.29070787e-03 9.94009837e-01 3.71831717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.00509989299997 meters 0.05511790819116981 Centerline is valid? [True, True] Translation: X:351.82, Y:63.20, Z:37.19 [[ 9.61545842e-01 -2.53485908e-01 -1.05709450e-01 3.51815597e+02] [ 2.52362975e-01 9.67332702e-01 -2.40909309e-02 6.31969056e+01] [ 1.08362920e-01 -3.51261697e-03 9.94105195e-01 3.71893301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.06509989299997 meters 0.05477202552626002 Centerline is valid? [True, True] Translation: X:351.87, Y:63.22, Z:37.20 [[ 9.64583995e-01 -2.42229784e-01 -1.04414792e-01 3.51870479e+02] [ 2.41068318e-01 9.70216374e-01 -2.37960723e-02 6.32201860e+01] [ 1.07069059e-01 -2.21778787e-03 9.94249113e-01 3.71958685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.12509989299997 meters 0.054660434157627884 Centerline is valid? [True, True] Translation: X:351.93, Y:63.24, Z:37.20 [[ 9.66219348e-01 -2.35621125e-01 -1.04416746e-01 3.51925541e+02] [ 2.34421035e-01 9.71843857e-01 -2.37969783e-02 6.32426852e+01] [ 1.07083844e-01 -1.48438083e-03 9.94248886e-01 3.72026885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.185099893 meters 0.05460913925436952 Centerline is valid? [True, True] Translation: X:351.98, Y:63.26, Z:37.21 [[ 9.67430998e-01 -2.30293477e-01 -1.05081769e-01 3.51981171e+02] [ 2.29046522e-01 9.73120808e-01 -2.39496247e-02 6.32643735e+01] [ 1.07772698e-01 -8.99004355e-04 9.94175154e-01 3.72086154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.245099893 meters 0.0550358294316059 Centerline is valid? [True, True] Translation: X:352.04, Y:63.28, Z:37.21 [[ 9.67295568e-01 -2.30689637e-01 -1.05458875e-01 3.52037913e+02] [ 2.29435704e-01 9.73026927e-01 -2.40386512e-02 6.32789700e+01] [ 1.08159793e-01 -9.43550522e-04 9.94133074e-01 3.72149633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.305099893 meters 0.05421548616685447 Centerline is valid? [True, True] Translation: X:352.09, Y:63.29, Z:37.22 [[ 9.66349127e-01 -2.34398253e-01 -1.05956707e-01 3.52094801e+02] [ 2.33153233e-01 9.72139717e-01 -2.41648535e-02 6.32897791e+01] [ 1.08668922e-01 -1.35246361e-03 9.94077078e-01 3.72205171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.365099893 meters 0.05436281839136162 Centerline is valid? [True, True] Translation: X:352.15, Y:63.30, Z:37.23 [[ 9.65033030e-01 -2.39940095e-01 -1.05546207e-01 3.52153524e+02] [ 2.38737333e-01 9.70785708e-01 -2.40747941e-02 6.33002099e+01] [ 1.08239258e-01 -1.96484847e-03 9.94122931e-01 3.72268361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.425099893 meters 0.055459825912486646 Centerline is valid? [True, True] Translation: X:352.21, Y:63.31, Z:37.23 [[ 9.64048388e-01 -2.43784969e-01 -1.05733599e-01 3.52212449e+02] [ 2.42600942e-01 9.69826338e-01 -2.41175577e-02 6.33077890e+01] [ 1.08422727e-01 -2.40057815e-03 9.94101981e-01 3.72320893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.485099893 meters 0.05576337814739016 Centerline is valid? [True, True] Translation: X:352.27, Y:63.32, Z:37.24 [[ 9.62388153e-01 -2.50059161e-01 -1.06204796e-01 3.52272286e+02] [ 2.48902481e-01 9.68225531e-01 -2.42255033e-02 6.33167580e+01] [ 1.08888004e-01 -3.12029983e-03 9.94049127e-01 3.72377781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.545099893 meters 0.054903158578870605 Centerline is valid? [True, True] Translation: X:352.33, Y:63.33, Z:37.24 [[ 9.60583985e-01 -2.56852288e-01 -1.06326430e-01 3.52329519e+02] [ 2.55734324e-01 9.66442827e-01 -2.42531939e-02 6.33340434e+01] [ 1.08987904e-01 -3.89408811e-03 9.94035448e-01 3.72448484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.605099893 meters 0.05705354683159087 Centerline is valid? [True, True] Translation: X:352.39, Y:63.34, Z:37.25 [[ 9.59693003e-01 -2.60238716e-01 -1.06137419e-01 3.52388830e+02] [ 2.59145291e-01 9.65534864e-01 -2.42104172e-02 6.33386336e+01] [ 1.08779866e-01 -4.27044419e-03 9.94056691e-01 3.72500936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.665099893 meters 0.05555962551900863 Centerline is valid? [True, True] Translation: X:352.45, Y:63.36, Z:37.26 [[ 9.58648157e-01 -2.64223818e-01 -1.05733085e-01 3.52445300e+02] [ 2.63162722e-01 9.64449922e-01 -2.41190614e-02 6.33594798e+01] [ 1.08347096e-01 -4.70331259e-03 9.94102000e-01 3.72574211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.725099893 meters 0.05866338256872367 Centerline is valid? [True, True] Translation: X:352.50, Y:63.36, Z:37.26 [[ 9.58202081e-01 -2.65785800e-01 -1.05861609e-01 3.52504944e+02] [ 2.64731507e-01 9.64019732e-01 -2.41492185e-02 6.33613999e+01] [ 1.08471200e-01 -4.88507186e-03 9.94087589e-01 3.72622697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.785099893 meters 0.05492318576918689 Centerline is valid? [True, True] Translation: X:352.56, Y:63.39, Z:37.27 [[ 9.57498671e-01 -2.68283152e-01 -1.05926606e-01 3.52560184e+02] [ 2.67242573e-01 9.63326231e-01 -2.41656859e-02 6.33885016e+01] [ 1.08525125e-01 -5.16948662e-03 9.94080265e-01 3.72688358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.84509989299994 meters 0.056470189459616245 Centerline is valid? [True, True] Translation: X:352.62, Y:63.40, Z:37.27 [[ 9.57021084e-01 -2.69728204e-01 -1.06570826e-01 3.52618392e+02] [ 2.68683818e-01 9.62921544e-01 -2.43126588e-02 6.33998950e+01] [ 1.09177154e-01 -5.36612932e-03 9.94007824e-01 3.72740933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.90509989299994 meters 0.05573649138450994 Centerline is valid? [True, True] Translation: X:352.68, Y:63.42, Z:37.28 [[ 9.56717069e-01 -2.70471911e-01 -1.07412266e-01 3.52676017e+02] [ 2.69415504e-01 9.62712192e-01 -2.45055310e-02 6.34151362e+01] [ 1.10035156e-01 -5.49366996e-03 9.93912513e-01 3.72794258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.96509989299994 meters 0.05566722544755391 Centerline is valid? [True, True] Translation: X:352.73, Y:63.43, Z:37.28 [[ 9.56292703e-01 -2.71377593e-01 -1.08896595e-01 3.52733346e+02] [ 2.70297391e-01 9.62456234e-01 -2.48458947e-02 6.34310990e+01] [ 1.11550825e-01 -5.67451759e-03 9.93742529e-01 3.72847345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.02509989299995 meters 0.05471302190487311 Centerline is valid? [True, True] Translation: X:352.79, Y:63.45, Z:37.29 [[ 9.56311729e-01 -2.70936532e-01 -1.09823825e-01 3.52791069e+02] [ 2.69834775e-01 9.62580514e-01 -2.50589065e-02 6.34516857e+01] [ 1.12503647e-01 -5.67016105e-03 9.93635134e-01 3.72915178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.08509989299995 meters 0.05517682883594914 Centerline is valid? [True, True] Translation: X:352.85, Y:63.47, Z:37.30 [[ 9.57360022e-01 -2.66949753e-01 -1.10451879e-01 3.52849394e+02] [ 2.65809116e-01 9.63696241e-01 -2.52005898e-02 6.34657811e+01] [ 1.13169351e-01 -5.23307893e-03 9.93561932e-01 3.72970150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.14509989299995 meters 0.05329580620614733 Centerline is valid? [True, True] Translation: X:352.91, Y:63.49, Z:37.31 [[ 9.58759172e-01 -2.62318904e-01 -1.09405864e-01 3.52906056e+02] [ 2.61169798e-01 9.64970078e-01 -2.49616747e-02 6.34890905e+01] [ 1.12121304e-01 -4.64127278e-03 9.93683688e-01 3.73055386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.20509989299995 meters 0.054528023172592845 Centerline is valid? [True, True] Translation: X:352.96, Y:63.50, Z:37.31 [[ 9.61397890e-01 -2.53319012e-01 -1.07441033e-01 3.52963868e+02] [ 2.52154834e-01 9.67376376e-01 -2.45130084e-02 6.35001213e+01] [ 1.10145528e-01 -3.52502124e-03 9.93909220e-01 3.73113054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.26509989299996 meters 0.054399156676260864 Centerline is valid? [True, True] Translation: X:353.02, Y:63.52, Z:37.32 [[ 9.63864333e-01 -2.44061583e-01 -1.06768402e-01 3.53020494e+02] [ 2.42855205e-01 9.69756641e-01 -2.43599320e-02 6.35204726e+01] [ 1.09484691e-01 -2.44959258e-03 9.93985464e-01 3.73172827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.32509989299996 meters 0.053937538945723874 Centerline is valid? [True, True] Translation: X:353.08, Y:63.54, Z:37.32 [[ 9.65298362e-01 -2.38381205e-01 -1.06646486e-01 3.53076598e+02] [ 2.37142995e-01 9.71169991e-01 -2.43320613e-02 6.35424653e+01] [ 1.09372173e-01 -1.80276808e-03 9.93999234e-01 3.73244122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.38509989299996 meters 0.05341813575402015 Centerline is valid? [True, True] Translation: X:353.13, Y:63.56, Z:37.33 [[ 9.66912920e-01 -2.31372884e-01 -1.07452283e-01 3.53133696e+02] [ 2.30072715e-01 9.72864612e-01 -2.45151612e-02 6.35624245e+01] [ 1.10208668e-01 -1.01781246e-03 9.93907950e-01 3.73309578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.44509989299996 meters 0.054381646424101565 Centerline is valid? [True, True] Translation: X:353.19, Y:63.58, Z:37.34 [[ 9.67675421e-01 -2.27790553e-01 -1.08239291e-01 3.53193129e+02] [ 2.26448988e-01 9.73709960e-01 -2.46935314e-02 6.35781726e+01] [ 1.11018629e-01 -6.15354403e-04 9.93818135e-01 3.73360891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.50509989299997 meters 0.05392158985265544 Centerline is valid? [True, True] Translation: X:353.25, Y:63.59, Z:37.34 [[ 9.68378960e-01 -2.24323535e-01 -1.09183980e-01 3.53251192e+02] [ 2.22936594e-01 9.74514701e-01 -2.49072793e-02 6.35929139e+01] [ 1.11988683e-01 -2.21419391e-04 9.93709458e-01 3.73402596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.56509989299997 meters 0.05422684103453892 Centerline is valid? [True, True] Translation: X:353.31, Y:63.61, Z:37.35 [[ 9.68369507e-01 -2.24623221e-01 -1.08650386e-01 3.53311452e+02] [ 2.23251761e-01 9.74445660e-01 -2.47852326e-02 6.36059262e+01] [ 1.11441236e-01 -2.55126563e-04 9.93770993e-01 3.73490217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.62509989299997 meters 0.05379979985858091 Centerline is valid? [True, True] Translation: X:353.37, Y:63.62, Z:37.36 [[ 9.67917178e-01 -2.27063180e-01 -1.07604127e-01 3.53370895e+02] [ 2.25733610e-01 9.73879883e-01 -2.45420333e-02 6.36161355e+01] [ 1.10366087e-01 -5.35212448e-04 9.93890859e-01 3.73554390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.685099893 meters 0.05385488899851711 Centerline is valid? [True, True] Translation: X:353.43, Y:63.62, Z:37.36 [[ 9.66371319e-01 -2.33951087e-01 -1.06739694e-01 3.53430580e+02] [ 2.32684764e-01 9.72247483e-01 -2.43440269e-02 6.36232913e+01] [ 1.09472711e-01 -1.31133113e-03 9.93988937e-01 3.73628322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.745099893 meters 0.05396805571677873 Centerline is valid? [True, True] Translation: X:353.49, Y:63.63, Z:37.37 [[ 9.64966894e-01 -2.39849232e-01 -1.06354313e-01 3.53490030e+02] [ 2.38627609e-01 9.70808147e-01 -2.42570928e-02 6.36267177e+01] [ 1.09067678e-01 -1.97178388e-03 9.94032371e-01 3.73678174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.805099893 meters 0.05450529476072475 Centerline is valid? [True, True] Translation: X:353.55, Y:63.63, Z:37.37 [[ 9.63273531e-01 -2.46523114e-01 -1.06444632e-01 3.53550520e+02] [ 2.45339753e-01 9.69133074e-01 -2.42794174e-02 6.36320723e+01] [ 1.09144451e-01 -2.72737952e-03 9.94022158e-01 3.73732553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.865099893 meters 0.0544297453363623 Centerline is valid? [True, True] Translation: X:353.61, Y:63.64, Z:37.38 [[ 9.61666654e-01 -2.52787700e-01 -1.06280884e-01 3.53609423e+02] [ 2.51646035e-01 9.67515683e-01 -2.42420257e-02 6.36443471e+01] [ 1.08956508e-01 -3.43241535e-03 9.94040592e-01 3.73793381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.925099893 meters 0.05793329712006264 Centerline is valid? [True, True] Translation: X:353.67, Y:63.64, Z:37.38 [[ 9.59933458e-01 -2.59362054e-01 -1.06108816e-01 3.53671782e+02] [ 2.58264018e-01 9.65771156e-01 -2.42026968e-02 6.36374121e+01] [ 1.08754095e-01 -4.17111078e-03 9.94059932e-01 3.73827972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.985099893 meters 0.057886385235011224 Centerline is valid? [True, True] Translation: X:353.73, Y:63.65, Z:37.39 [[ 9.59525004e-01 -2.61098401e-01 -1.05543314e-01 3.53729903e+02] [ 2.60022510e-01 9.65302415e-01 -2.40736892e-02 6.36474126e+01] [ 1.08166818e-01 -4.34433074e-03 9.94123265e-01 3.73894353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.045099893 meters 0.05477687367399761 Centerline is valid? [True, True] Translation: X:353.79, Y:63.67, Z:37.40 [[ 9.59915499e-01 -2.60138112e-01 -1.04357069e-01 3.53785261e+02] [ 2.59080404e-01 9.65562346e-01 -2.38054782e-02 6.36713742e+01] [ 1.06955968e-01 -4.18562410e-03 9.94254948e-01 3.73967931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.105099893 meters 0.05574438639678327 Centerline is valid? [True, True] Translation: X:353.85, Y:63.67, Z:37.40 [[ 9.60840689e-01 -2.57076894e-01 -1.03424567e-01 3.53845392e+02] [ 2.56020191e-01 9.66383447e-01 -2.35943745e-02 6.36749745e+01] [ 1.06013358e-01 -3.80834234e-03 9.94357413e-01 3.74025295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.165099893 meters 0.05603146561338331 Centerline is valid? [True, True] Translation: X:353.90, Y:63.69, Z:37.41 [[ 9.62760805e-01 -2.50347913e-01 -1.02066427e-01 3.53902872e+02] [ 2.49281076e-01 9.68151211e-01 -2.32846993e-02 6.36908972e+01] [ 1.04645011e-01 -3.02563291e-03 9.94505036e-01 3.74092205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.225099893 meters 0.05578756573771371 Centerline is valid? [True, True] Translation: X:353.96, Y:63.70, Z:37.42 [[ 9.63844343e-01 -2.46100679e-01 -1.02169168e-01 3.53961856e+02] [ 2.45007855e-01 9.69240872e-01 -2.33084187e-02 6.37044894e+01] [ 1.04762751e-01 -2.56656130e-03 9.94493931e-01 3.74153079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.28509989299994 meters 0.05463544593157636 Centerline is valid? [True, True] Translation: X:354.02, Y:63.72, Z:37.42 [[ 9.64616428e-01 -2.42442300e-01 -1.03618906e-01 3.54018356e+02] [ 2.41297091e-01 9.70163332e-01 -2.36394239e-02 6.37245756e+01] [ 1.06258460e-01 -2.19996412e-03 9.94336110e-01 3.74198215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.34509989299994 meters 0.05419058019780223 Centerline is valid? [True, True] Translation: X:354.08, Y:63.74, Z:37.42 [[ 9.64588782e-01 -2.41949003e-01 -1.05019812e-01 3.54075470e+02] [ 2.40769495e-01 9.70286532e-01 -2.39602895e-02 6.37369929e+01] [ 1.07696477e-01 -2.17374065e-03 9.94181444e-01 3.74249222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.40509989299994 meters 0.05461510129388203 Centerline is valid? [True, True] Translation: X:354.13, Y:63.75, Z:37.43 [[ 9.64341740e-01 -2.42652293e-01 -1.05663968e-01 3.54132941e+02] [ 2.41461115e-01 9.70110706e-01 -2.41194351e-02 6.37452515e+01] [ 1.08358383e-01 -2.25436145e-03 9.94109339e-01 3.74297649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.46509989299994 meters 0.054159374889044605 Centerline is valid? [True, True] Translation: X:354.19, Y:63.76, Z:37.44 [[ 9.63949437e-01 -2.44620637e-01 -1.04700653e-01 3.54190502e+02] [ 2.43462230e-01 9.69615774e-01 -2.39038542e-02 6.37573336e+01] [ 1.07366780e-01 -2.44854752e-03 9.94216465e-01 3.74367672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.52509989299995 meters 0.05414457882460914 Centerline is valid? [True, True] Translation: X:354.25, Y:63.77, Z:37.45 [[ 9.63529244e-01 -2.47607009e-01 -1.01499585e-01 3.54247347e+02] [ 2.46534631e-01 9.68856812e-01 -2.31765660e-02 6.37674797e+01] [ 1.04077245e-01 -2.69186355e-03 9.94565574e-01 3.74460588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.58509989299995 meters 0.05512723310624064 Centerline is valid? [True, True] Translation: X:354.31, Y:63.78, Z:37.45 [[ 9.62344090e-01 -2.51084507e-01 -1.04165360e-01 3.54306976e+02] [ 2.49974841e-01 9.67960058e-01 -2.37887487e-02 6.37754904e+01] [ 1.06800894e-01 -3.14575749e-03 9.94275451e-01 3.74495438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.64509989299995 meters 0.05521827233582232 Centerline is valid? [True, True] Translation: X:354.37, Y:63.78, Z:37.46 [[ 9.61500654e-01 -2.54833069e-01 -1.02842595e-01 3.54365672e+02] [ 2.53772803e-01 9.66978667e-01 -2.34866280e-02 6.37842299e+01] [ 1.05431765e-01 -3.51624552e-03 9.94420323e-01 3.74570531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.70509989299995 meters 0.0657444848294804 Centerline is valid? [True, True] Translation: X:354.43, Y:63.77, Z:37.46 [[ 9.60122356e-01 -2.60157842e-01 -1.02386322e-01 3.54430641e+02] [ 2.59137098e-01 9.65557473e-01 -2.33822956e-02 6.37690493e+01] [ 1.04942965e-01 -4.08222949e-03 9.94469864e-01 3.74636466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.76509989299996 meters 0.0599648844954948 Centerline is valid? [True, True] Translation: X:354.49, Y:63.79, Z:37.47 [[ 9.57259598e-01 -2.69932334e-01 -1.03877796e-01 3.54487410e+02] [ 2.68938595e-01 9.62865107e-01 -2.37237874e-02 6.37918019e+01] [ 1.06424123e-01 -5.22692537e-03 9.94307088e-01 3.74683549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.82509989299996 meters 0.0546602848048007 Centerline is valid? [True, True] Translation: X:354.54, Y:63.82, Z:37.47 [[ 9.54546922e-01 -2.78709002e-01 -1.05647838e-01 3.54542824e+02] [ 2.77734329e-01 9.60354867e-01 -2.41282519e-02 6.38204699e+01] [ 1.08184176e-01 -6.31048280e-03 9.94110840e-01 3.74740335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.88509989299996 meters 0.05253129533727057 Centerline is valid? [True, True] Translation: X:354.60, Y:63.85, Z:37.48 [[ 9.53312880e-01 -2.82875811e-01 -1.05715788e-01 3.54597917e+02] [ 2.81925258e-01 9.59132531e-01 -2.41440979e-02 6.38500324e+01] [ 1.08225232e-01 -6.78707132e-03 9.94103231e-01 3.74812393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.94509989299996 meters 0.054749452850915974 Centerline is valid? [True, True] Translation: X:354.66, Y:63.85, Z:37.49 [[ 9.52708943e-01 -2.84624632e-01 -1.06463553e-01 3.54659455e+02] [ 2.83671462e-01 9.58613223e-01 -2.43143959e-02 6.38469168e+01] [ 1.08977846e-01 -7.03612941e-03 9.94019276e-01 3.74855453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.00509989299997 meters 0.05274423273978064 Centerline is valid? [True, True] Translation: X:354.71, Y:63.88, Z:37.49 [[ 9.52709133e-01 -2.84890497e-01 -1.05748348e-01 3.54714725e+02] [ 2.83951702e-01 9.58534375e-01 -2.41512497e-02 6.38824584e+01] [ 1.08243889e-01 -7.01830731e-03 9.94099595e-01 3.74941958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.06509989299997 meters 0.053094522122408117 Centerline is valid? [True, True] Translation: X:354.77, Y:63.89, Z:37.50 [[ 9.53817685e-01 -2.81220398e-01 -1.05578936e-01 3.54772562e+02] [ 2.80263618e-01 9.59620493e-01 -2.41000832e-02 6.38945512e+01] [ 1.08093145e-01 -6.60284898e-03 9.94118843e-01 3.75007770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.12509989299997 meters 0.05380146839927768 Centerline is valid? [True, True] Translation: X:354.83, Y:63.90, Z:37.51 [[ 9.54953443e-01 -2.77198199e-01 -1.05948478e-01 3.54831040e+02] [ 2.76210029e-01 9.60792958e-01 -2.41849498e-02 6.39034794e+01] [ 1.08498576e-01 -6.16853123e-03 9.94077466e-01 3.75060683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.185099893 meters 0.053906714608558476 Centerline is valid? [True, True] Translation: X:354.89, Y:63.93, Z:37.51 [[ 9.57101091e-01 -2.69919317e-01 -1.05361588e-01 3.54887959e+02] [ 2.68898148e-01 9.62868288e-01 -2.40508967e-02 6.39250089e+01] [ 1.07941133e-01 -5.31239628e-03 9.94143093e-01 3.75126522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.245099893 meters 0.05351184621661023 Centerline is valid? [True, True] Translation: X:354.94, Y:63.94, Z:37.52 [[ 9.59396554e-01 -2.62188727e-01 -1.03996751e-01 3.54944560e+02] [ 2.61148616e-01 9.65006662e-01 -2.37390697e-02 6.39419357e+01] [ 1.06581674e-01 -4.38342596e-03 9.94294289e-01 3.75196344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.305099893 meters 0.058639477128745725 Centerline is valid? [True, True] Translation: X:355.01, Y:63.94, Z:37.52 [[ 9.60892068e-01 -2.56452655e-01 -1.04491476e-01 3.55005896e+02] [ 2.55368705e-01 9.66549465e-01 -2.38527885e-02 6.39418506e+01] [ 1.07113291e-01 -3.76389766e-03 9.94239697e-01 3.75242724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.365099893 meters 0.0541423624696983 Centerline is valid? [True, True] Translation: X:355.06, Y:63.98, Z:37.53 [[ 9.63023783e-01 -2.48056318e-01 -1.05134472e-01 3.55059814e+02] [ 2.46908964e-01 9.68741432e-01 -2.40000104e-02 6.39776050e+01] [ 1.07801473e-01 -2.84606284e-03 9.94168367e-01 3.75311317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.425099893 meters 0.05394157103119268 Centerline is valid? [True, True] Translation: X:355.12, Y:64.00, Z:37.54 [[ 9.66188888e-01 -2.35352642e-01 -1.05300364e-01 3.55115792e+02] [ 2.34126375e-01 9.71908992e-01 -2.40364546e-02 6.40033321e+01] [ 1.07999414e-01 -1.42983709e-03 9.94149929e-01 3.75374775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.485099893 meters 0.05420184432965938 Centerline is valid? [True, True] Translation: X:355.17, Y:64.03, Z:37.54 [[ 9.68344299e-01 -2.25929296e-01 -1.06137989e-01 3.55170532e+02] [ 2.24626744e-01 9.74143629e-01 -2.42284300e-02 6.40250798e+01] [ 1.08867557e-01 -3.79968791e-04 9.94056191e-01 3.75438198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.545099893 meters 0.053175821190474364 Centerline is valid? [True, True] Translation: X:355.23, Y:64.04, Z:37.55 [[ 9.68289416e-01 -2.26029798e-01 -1.06424325e-01 3.55225470e+02] [ 2.24720559e-01 9.74120310e-01 -2.42959310e-02 6.40373512e+01] [ 1.09161700e-01 -3.90240796e-04 9.94023929e-01 3.75492402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.605099893 meters 0.054511861495715436 Centerline is valid? [True, True] Translation: X:355.28, Y:64.05, Z:37.56 [[ 9.67891055e-01 -2.27656290e-01 -1.06581049e-01 3.55283581e+02] [ 2.26351995e-01 9.73741390e-01 -2.43409218e-02 6.40502189e+01] [ 1.09323743e-01 -5.65472595e-04 9.94006036e-01 3.75569580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.665099893 meters 0.054451353263810454 Centerline is valid? [True, True] Translation: X:355.34, Y:64.06, Z:37.56 [[ 9.67302693e-01 -2.30225081e-01 -1.06404476e-01 3.55340194e+02] [ 2.28940564e-01 9.73137032e-01 -2.43009297e-02 6.40597575e+01] [ 1.09140819e-01 -8.53945965e-04 9.94025931e-01 3.75624205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.725099893 meters 0.05412099524630377 Centerline is valid? [True, True] Translation: X:355.40, Y:64.07, Z:37.57 [[ 9.66818330e-01 -2.32264036e-01 -1.06375439e-01 3.55397430e+02] [ 2.30991713e-01 9.72652178e-01 -2.43016430e-02 6.40719114e+01] [ 1.09110700e-01 -1.07657099e-03 9.94029022e-01 3.75694635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.78509989299994 meters 0.054012806853130535 Centerline is valid? [True, True] Translation: X:355.46, Y:64.08, Z:37.58 [[ 9.65096016e-01 -2.39406321e-01 -1.06180477e-01 3.55456852e+02] [ 2.38180405e-01 9.70917670e-01 -2.42687512e-02 6.40840016e+01] [ 1.08902594e-01 -1.86843408e-03 9.94050670e-01 3.75777234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.84509989299994 meters 0.0544286471581257 Centerline is valid? [True, True] Translation: X:355.52, Y:64.09, Z:37.58 [[ 9.63704797e-01 -2.44984613e-01 -1.06092427e-01 3.55516569e+02] [ 2.43794472e-01 9.69523751e-01 -2.42477191e-02 6.40912624e+01] [ 1.08799446e-01 -2.49710406e-03 9.94060584e-01 3.75834803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.90509989299994 meters 0.05359815678463538 Centerline is valid? [True, True] Translation: X:355.58, Y:64.10, Z:37.59 [[ 9.62151135e-01 -2.50941542e-01 -1.06271046e-01 3.55575900e+02] [ 2.49783551e-01 9.67997034e-01 -2.42882845e-02 6.41037723e+01] [ 1.08964996e-01 -3.17575863e-03 9.94040514e-01 3.75904747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.96509989299994 meters 0.05583558401143779 Centerline is valid? [True, True] Translation: X:355.64, Y:64.10, Z:37.60 [[ 9.59636236e-01 -2.60093564e-01 -1.07002955e-01 3.55637462e+02] [ 2.58976190e-01 9.65574091e-01 -2.44541976e-02 6.41007195e+01] [ 1.09679661e-01 -4.24408357e-03 9.93957927e-01 3.75953119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.02509989299995 meters 0.05388226293253088 Centerline is valid? [True, True] Translation: X:355.69, Y:64.12, Z:37.60 [[ 9.57076582e-01 -2.69105097e-01 -1.07642294e-01 3.55694625e+02] [ 2.68030992e-01 9.63096189e-01 -2.45991357e-02 6.41220092e+01] [ 1.10289636e-01 -5.30821404e-03 9.93885315e-01 3.76029609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.08509989299995 meters 0.055578894178268265 Centerline is valid? [True, True] Translation: X:355.76, Y:64.12, Z:37.61 [[ 9.55663507e-01 -2.74015663e-01 -1.07808529e-01 3.55755047e+02] [ 2.72969276e-01 9.61707230e-01 -2.46369035e-02 6.41234684e+01] [ 1.10431139e-01 -5.88382658e-03 9.93866361e-01 3.76080888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.14509989299995 meters 0.05828507769357502 Centerline is valid? [True, True] Translation: X:355.81, Y:64.13, Z:37.61 [[ 9.53926951e-01 -2.79740102e-01 -1.08484320e-01 3.55813952e+02] [ 2.78717178e-01 9.60053171e-01 -2.47920085e-02 6.41303001e+01] [ 1.11086034e-01 -6.58667836e-03 9.93788966e-01 3.76135408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.20509989299995 meters 0.053059644429550246 Centerline is valid? [True, True] Translation: X:355.87, Y:64.17, Z:37.62 [[ 9.53014854e-01 -2.82272657e-01 -1.09931048e-01 3.55867597e+02] [ 2.81238988e-01 9.59308865e-01 -2.51223763e-02 6.41669587e+01] [ 1.12549188e-01 -6.97489883e-03 9.93621674e-01 3.76225741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.26509989299996 meters 0.05415946360624907 Centerline is valid? [True, True] Translation: X:355.93, Y:64.17, Z:37.63 [[ 9.52238998e-01 -2.84298992e-01 -1.11422500e-01 3.55927920e+02] [ 2.83251027e-01 9.58707761e-01 -2.54614337e-02 6.41702982e+01] [ 1.14060276e-01 -7.31516749e-03 9.93446899e-01 3.76268567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.32509989299996 meters 0.05271323186556857 Centerline is valid? [True, True] Translation: X:355.98, Y:64.20, Z:37.64 [[ 9.52248342e-01 -2.84135753e-01 -1.11758531e-01 3.55984976e+02] [ 2.83080822e-01 9.58756102e-01 -2.55340078e-02 6.41990122e+01] [ 1.14404298e-01 -7.32198030e-03 9.93407291e-01 3.76358769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.38509989299996 meters 0.05701578237943192 Centerline is valid? [True, True] Translation: X:356.05, Y:64.19, Z:37.64 [[ 9.52956535e-01 -2.81707942e-01 -1.11868128e-01 3.56047973e+02] [ 2.80634817e-01 9.59474363e-01 -2.55547748e-02 6.41921347e+01] [ 1.14533584e-01 -7.04150193e-03 9.93394421e-01 3.76382324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.44509989299996 meters 0.05979398425359225 Centerline is valid? [True, True] Translation: X:356.11, Y:64.20, Z:37.64 [[ 9.54743674e-01 -2.75573637e-01 -1.11909281e-01 3.56106934e+02] [ 2.74457690e-01 9.61259279e-01 -2.55651045e-02 6.42036233e+01] [ 1.14618904e-01 -6.30624105e-03 9.93389520e-01 3.76427204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.50509989299997 meters 0.05738749347522103 Centerline is valid? [True, True] Translation: X:356.16, Y:64.23, Z:37.65 [[ 9.57035534e-01 -2.67602508e-01 -1.11677593e-01 3.56161905e+02] [ 2.66437073e-01 9.63514606e-01 -2.55125398e-02 6.42305216e+01] [ 1.14430211e-01 -5.33864378e-03 9.93416944e-01 3.76507657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.56509989299997 meters 0.05708979690980688 Centerline is valid? [True, True] Translation: X:356.22, Y:64.25, Z:37.66 [[ 9.58799732e-01 -2.61587530e-01 -1.10792775e-01 3.56218708e+02] [ 2.60400384e-01 9.65168882e-01 -2.53114398e-02 6.42506166e+01] [ 1.13554895e-01 -4.58187937e-03 9.93521158e-01 3.76583490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.62509989299997 meters 0.05458759712645847 Centerline is valid? [True, True] Translation: X:356.27, Y:64.28, Z:37.67 [[ 9.61166988e-01 -2.53027297e-01 -1.10159919e-01 3.56273678e+02] [ 2.51797627e-01 9.67452631e-01 -2.51666685e-02 6.42788812e+01] [ 1.12942358e-01 -3.54863536e-03 9.93595205e-01 3.76668873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.685099893 meters 0.05448067464152053 Centerline is valid? [True, True] Translation: X:356.33, Y:64.30, Z:37.67 [[ 9.62419573e-01 -2.48205714e-01 -1.10192960e-01 3.56330419e+02] [ 2.46943797e-01 9.68702753e-01 -2.51741618e-02 6.43009915e+01] [ 1.12992595e-01 -2.98336190e-03 9.93591351e-01 3.76747640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.745099893 meters 0.05394723202752334 Centerline is valid? [True, True] Translation: X:356.39, Y:64.32, Z:37.68 [[ 9.63593129e-01 -2.43560021e-01 -1.10303211e-01 3.56387234e+02] [ 2.42265303e-01 9.69882753e-01 -2.51985668e-02 6.43183294e+01] [ 1.13118545e-01 -2.44147490e-03 9.93578499e-01 3.76806952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.805099893 meters 0.05407795925757866 Centerline is valid? [True, True] Translation: X:356.45, Y:64.34, Z:37.69 [[ 9.64095426e-01 -2.41019402e-01 -1.11488377e-01 3.56446246e+02] [ 2.39679664e-01 9.70517880e-01 -2.54696644e-02 6.43358787e+01] [ 1.14340146e-01 -2.16630977e-03 9.93439298e-01 3.76872605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.865099893 meters 0.053628655267398156 Centerline is valid? [True, True] Translation: X:356.51, Y:64.35, Z:37.70 [[ 9.65050301e-01 -2.37146214e-01 -1.11532913e-01 3.56505197e+02] [ 2.35779934e-01 9.71472463e-01 -2.54769689e-02 6.43543022e+01] [ 1.14392920e-01 -1.71066628e-03 9.93434111e-01 3.76950009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.925099893 meters 0.05434098159377061 Centerline is valid? [True, True] Translation: X:356.56, Y:64.37, Z:37.70 [[ 9.65858629e-01 -2.34227612e-01 -1.10700199e-01 3.56563701e+02] [ 2.32863000e-01 9.72180838e-01 -2.52832279e-02 6.43673805e+01] [ 1.13542643e-01 -1.35795667e-03 9.93532196e-01 3.77009466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.985099893 meters 0.05390479978576625 Centerline is valid? [True, True] Translation: X:356.62, Y:64.38, Z:37.71 [[ 9.66087092e-01 -2.33582716e-01 -1.10067460e-01 3.56620583e+02] [ 2.32229606e-01 9.72336098e-01 -2.51380582e-02 6.43798958e+01] [ 1.12894381e-01 -1.27536939e-03 9.93606176e-01 3.77068778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.045099893 meters 0.05428415402430461 Centerline is valid? [True, True] Translation: X:356.68, Y:64.39, Z:37.71 [[ 9.65540601e-01 -2.35747989e-01 -1.10246245e-01 3.56681038e+02] [ 2.34404285e-01 9.71813021e-01 -2.51810066e-02 6.43941180e+01] [ 1.13075108e-01 -1.52890794e-03 9.93585267e-01 3.77145566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.105099893 meters 0.05435996923899271 Centerline is valid? [True, True] Translation: X:356.74, Y:64.40, Z:37.72 [[ 9.64052819e-01 -2.41485612e-01 -1.10846120e-01 3.56740999e+02] [ 2.40165422e-01 9.70401866e-01 -2.53138002e-02 6.43994191e+01] [ 1.13678200e-01 -2.21756475e-03 9.93515148e-01 3.77184269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.165099893 meters 0.05427713760563627 Centerline is valid? [True, True] Translation: X:356.80, Y:64.41, Z:37.73 [[ 9.62067310e-01 -2.49555945e-01 -1.10219428e-01 3.56799878e+02] [ 2.48303268e-01 9.68355254e-01 -2.51711844e-02 6.44118827e+01] [ 1.13013181e-01 -3.15147038e-03 9.93588491e-01 3.77277691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.225099893 meters 0.05499785150683865 Centerline is valid? [True, True] Translation: X:356.86, Y:64.42, Z:37.73 [[ 9.61416696e-01 -2.52226631e-01 -1.09816493e-01 3.56860216e+02] [ 2.51000537e-01 9.67662029e-01 -2.50784435e-02 6.44170318e+01] [ 1.12590702e-01 -3.45316441e-03 9.93635451e-01 3.77324398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.28509989299994 meters 0.055021182558033434 Centerline is valid? [True, True] Translation: X:356.92, Y:64.43, Z:37.74 [[ 9.59887232e-01 -2.57549155e-01 -1.10837420e-01 3.56919877e+02] [ 2.56335395e-01 9.66256434e-01 -2.53114472e-02 6.44284070e+01] [ 1.13616312e-01 -4.11541888e-03 9.93516179e-01 3.77382666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.34509989299994 meters 0.05374597924326882 Centerline is valid? [True, True] Translation: X:356.98, Y:64.45, Z:37.75 [[ 9.59700568e-01 -2.58645782e-01 -1.09896226e-01 3.56979458e+02] [ 2.57459955e-01 9.65963059e-01 -2.50946372e-02 6.44454392e+01] [ 1.12646316e-01 -4.21053968e-03 9.93626227e-01 3.77464385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.40509989299994 meters 0.055020599137235504 Centerline is valid? [True, True] Translation: X:357.04, Y:64.45, Z:37.75 [[ 9.60185176e-01 -2.57216099e-01 -1.09015165e-01 3.57040349e+02] [ 2.56040554e-01 9.66345572e-01 -2.48891511e-02 6.44489058e+01] [ 1.11748213e-01 -4.01410936e-03 9.93728446e-01 3.77506686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.46509989299994 meters 0.055927323914278515 Centerline is valid? [True, True] Translation: X:357.10, Y:64.46, Z:37.75 [[ 9.61420573e-01 -2.52200505e-01 -1.09842553e-01 3.57099297e+02] [ 2.50974441e-01 9.67668823e-01 -2.50774831e-02 6.44600713e+01] [ 1.12615768e-01 -3.45766520e-03 9.93632595e-01 3.77549911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.52509989299995 meters 0.05448934585349951 Centerline is valid? [True, True] Translation: X:357.15, Y:64.49, Z:37.76 [[ 9.63349736e-01 -2.44184134e-01 -1.11046817e-01 3.57154903e+02] [ 2.42877410e-01 9.69725547e-01 -2.53560062e-02 6.44886449e+01] [ 1.13876470e-01 -2.54406141e-03 9.93491659e-01 3.77642792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.58509989299995 meters 0.053688908993540875 Centerline is valid? [True, True] Translation: X:357.21, Y:64.50, Z:37.77 [[ 9.64011939e-01 -2.41273291e-01 -1.11661008e-01 3.57214259e+02] [ 2.39932612e-01 9.70454689e-01 -2.54958641e-02 6.45035245e+01] [ 1.14513419e-01 -2.21279975e-03 9.93419237e-01 3.77708440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.64509989299995 meters 0.05425333604529746 Centerline is valid? [True, True] Translation: X:357.27, Y:64.52, Z:37.78 [[ 9.66117713e-01 -2.32168616e-01 -1.12757695e-01 3.57272169e+02] [ 2.30739691e-01 9.72674880e-01 -2.57443918e-02 6.45209765e+01] [ 1.15653618e-01 -1.14556278e-03 9.93288945e-01 3.77766350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.70509989299995 meters 0.05461332458391118 Centerline is valid? [True, True] Translation: X:357.33, Y:64.54, Z:37.78 [[ 9.67420174e-01 -2.26936019e-01 -1.12241932e-01 3.57331182e+02] [ 2.25485185e-01 9.73909531e-01 -2.56253128e-02 6.45375711e+01] [ 1.15128794e-01 -5.18448198e-04 9.93350438e-01 3.77840063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.76509989299996 meters 0.054857448581105216 Centerline is valid? [True, True] Translation: X:357.39, Y:64.55, Z:37.79 [[ 9.68695588e-01 -2.21681643e-01 -1.11741253e-01 3.57390325e+02] [ 2.20209219e-01 9.75119089e-01 -2.55080658e-02 6.45538640e+01] [ 1.14615699e-01 1.03096791e-04 9.93409901e-01 3.77915732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.82509989299996 meters 0.055347691577162225 Centerline is valid? [True, True] Translation: X:357.45, Y:64.57, Z:37.80 [[ 9.68854408e-01 -2.20859589e-01 -1.11991866e-01 3.57450025e+02] [ 2.19375407e-01 9.75305595e-01 -2.55622445e-02 6.45674880e+01] [ 1.14871960e-01 1.97832207e-04 9.93380287e-01 3.77991002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.88509989299996 meters 0.05522416805087223 Centerline is valid? [True, True] Translation: X:357.51, Y:64.58, Z:37.81 [[ 9.68114631e-01 -2.23941558e-01 -1.12268607e-01 3.57510190e+02] [ 2.22471093e-01 9.74602560e-01 -2.56215464e-02 6.45775805e+01] [ 1.15155001e-01 -1.71925857e-04 9.93347520e-01 3.78067334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.94509989299996 meters 0.055419270109879896 Centerline is valid? [True, True] Translation: X:357.57, Y:64.59, Z:37.81 [[ 9.67213205e-01 -2.28127908e-01 -1.11607678e-01 3.57570400e+02] [ 2.26702754e-01 9.73630942e-01 -2.54686149e-02 6.45861541e+01] [ 1.14474790e-01 -6.68187230e-04 9.93425929e-01 3.78131597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.00509989299997 meters 0.05545028037765347 Centerline is valid? [True, True] Translation: X:357.63, Y:64.59, Z:37.82 [[ 9.65581999e-01 -2.35014684e-01 -1.11442815e-01 3.57631075e+02] [ 2.33639714e-01 9.71990687e-01 -2.54281219e-02 6.45932742e+01] [ 1.14297360e-01 -1.48453061e-03 9.93445474e-01 3.78211421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.06509989299997 meters 0.05523956354164511 Centerline is valid? [True, True] Translation: X:357.69, Y:64.60, Z:37.83 [[ 9.64214544e-01 -2.40428885e-01 -1.11733001e-01 3.57691254e+02] [ 2.39083111e-01 9.70664412e-01 -2.54924625e-02 6.46012917e+01] [ 1.14584372e-01 -2.13327027e-03 9.93411230e-01 3.78277372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.12509989299997 meters 0.05558273943030414 Centerline is valid? [True, True] Translation: X:357.75, Y:64.61, Z:37.83 [[ 9.63544955e-01 -2.42994224e-01 -1.11959492e-01 3.57751334e+02] [ 2.41660326e-01 9.70024656e-01 -2.55431678e-02 6.46079274e+01] [ 1.14810310e-01 -2.44417687e-03 9.93384426e-01 3.78327891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.185099893 meters 0.05563294024748995 Centerline is valid? [True, True] Translation: X:357.81, Y:64.62, Z:37.84 [[ 9.63645717e-01 -2.42671088e-01 -1.11793005e-01 3.57809989e+02] [ 2.41339069e-01 9.70105649e-01 -2.55045738e-02 6.46150577e+01] [ 1.14640249e-01 -2.40264647e-03 9.93404168e-01 3.78368821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.245099893 meters 0.05508551814491505 Centerline is valid? [True, True] Translation: X:357.87, Y:64.63, Z:37.85 [[ 9.65202914e-01 -2.37129489e-01 -1.10240378e-01 3.57867014e+02] [ 2.35797964e-01 9.71476535e-01 -2.51527782e-02 6.46317597e+01] [ 1.13060406e-01 -1.71692178e-03 9.93586633e-01 3.78463478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.305099893 meters 0.0550940573010975 Centerline is valid? [True, True] Translation: X:357.93, Y:64.65, Z:37.85 [[ 9.66143497e-01 -2.33432685e-01 -1.09890516e-01 3.57926154e+02] [ 2.32085873e-01 9.72372121e-01 -2.50720248e-02 6.46457395e+01] [ 1.12707104e-01 -1.28086265e-03 9.93627429e-01 3.78529871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.365099893 meters 0.055106482111333926 Centerline is valid? [True, True] Translation: X:357.98, Y:64.66, Z:37.86 [[ 9.66902491e-01 -2.30014313e-01 -1.10421863e-01 3.57984070e+02] [ 2.28632467e-01 9.73186840e-01 -2.51906679e-02 6.46575456e+01] [ 1.13255318e-01 -8.89103523e-04 9.93565520e-01 3.78577247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.425099893 meters 0.05554520102432306 Centerline is valid? [True, True] Translation: X:358.04, Y:64.67, Z:37.86 [[ 9.67599597e-01 -2.27187930e-01 -1.10166530e-01 3.58041614e+02] [ 2.25793990e-01 9.73850777e-01 -2.51343879e-02 6.46685812e+01] [ 1.12995990e-01 -5.54916704e-04 9.93595289e-01 3.78641855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.485099893 meters 0.055044690797376936 Centerline is valid? [True, True] Translation: X:358.10, Y:64.68, Z:37.87 [[ 9.67697495e-01 -2.27077958e-01 -1.09531541e-01 3.58099467e+02] [ 2.25697866e-01 9.73876442e-01 -2.50029807e-02 6.46782131e+01] [ 1.12347813e-01 -5.25713101e-04 9.93668804e-01 3.78712780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.545099893 meters 0.05588746685524935 Centerline is valid? [True, True] Translation: X:358.16, Y:64.69, Z:37.88 [[ 9.67598456e-01 -2.27538888e-01 -1.09449910e-01 3.58156084e+02] [ 2.26162253e-01 9.73768830e-01 -2.49980178e-02 6.46879988e+01] [ 1.12266932e-01 -5.65394854e-04 9.93677924e-01 3.78772692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.605099893 meters 0.056067223438741376 Centerline is valid? [True, True] Translation: X:358.21, Y:64.70, Z:37.88 [[ 9.67213070e-01 -2.29530252e-01 -1.08695634e-01 3.58214533e+02] [ 2.28183414e-01 9.73301218e-01 -2.48408646e-02 6.46954769e+01] [ 1.11495323e-01 -7.76132050e-04 9.93764656e-01 3.78841238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.665099893 meters 0.055700094360064095 Centerline is valid? [True, True] Translation: X:358.27, Y:64.70, Z:37.89 [[ 9.66647933e-01 -2.32721593e-01 -1.06922561e-01 3.58272511e+02] [ 2.31436465e-01 9.72542761e-01 -2.44487197e-02 6.47037243e+01] [ 1.09676508e-01 -1.11247529e-03 9.93966713e-01 3.78913021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.725099893 meters 0.05619340541740924 Centerline is valid? [True, True] Translation: X:358.33, Y:64.71, Z:37.90 [[ 9.65252210e-01 -2.38937841e-01 -1.05815304e-01 3.58332413e+02] [ 2.37715063e-01 9.71033220e-01 -2.42081358e-02 6.47065200e+01] [ 1.08534415e-01 -1.78693496e-03 9.94091086e-01 3.78980783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.78509989299994 meters 0.056155822971528005 Centerline is valid? [True, True] Translation: X:358.39, Y:64.71, Z:37.90 [[ 9.63913667e-01 -2.44244122e-01 -1.05902086e-01 3.58392455e+02] [ 2.43051109e-01 9.69710844e-01 -2.42288790e-02 6.47111725e+01] [ 1.08612163e-01 -2.38507184e-03 9.94081340e-01 3.79034097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.84509989299994 meters 0.05732527396598703 Centerline is valid? [True, True] Translation: X:358.45, Y:64.71, Z:37.91 [[ 9.61466957e-01 -2.53970171e-01 -1.05263679e-01 3.58453782e+02] [ 2.52849465e-01 9.67205858e-01 -2.40826811e-02 6.47102673e+01] [ 1.07927930e-01 -3.46116283e-03 9.94152696e-01 3.79087094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.90509989299994 meters 0.05632519154310409 Centerline is valid? [True, True] Translation: X:358.51, Y:64.72, Z:37.92 [[ 9.58617785e-01 -2.64880323e-01 -1.04356874e-01 3.58513119e+02] [ 2.63843024e-01 9.64270100e-01 -2.38753832e-02 6.47220780e+01] [ 1.06952333e-01 -4.64646627e-03 9.94253292e-01 3.79156148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.96509989299994 meters 0.05591096915890375 Centerline is valid? [True, True] Translation: X:358.57, Y:64.73, Z:37.92 [[ 9.56639268e-01 -2.71844714e-01 -1.04602882e-01 3.58572657e+02] [ 2.70843798e-01 9.62325773e-01 -2.39320583e-02 6.47307722e+01] [ 1.07167853e-01 -5.43669510e-03 9.94226078e-01 3.79215697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.02509989299995 meters 0.05970844793985652 Centerline is valid? [True, True] Translation: X:358.63, Y:64.73, Z:37.93 [[ 9.54420517e-01 -2.79637602e-01 -1.04327796e-01 3.58634385e+02] [ 2.78687992e-01 9.60085004e-01 -2.38702556e-02 6.47260751e+01] [ 1.06838573e-01 -6.29264222e-03 9.94256467e-01 3.79275234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.08509989299995 meters 0.06839001360118141 Centerline is valid? [True, True] Translation: X:358.70, Y:64.72, Z:37.93 [[ 9.53420837e-01 -2.82856730e-01 -1.04789206e-01 3.58698480e+02] [ 2.81918013e-01 9.59138888e-01 -2.39755727e-02 6.47152698e+01] [ 1.07289055e-01 -6.68315418e-03 9.94205408e-01 3.79321291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.14509989299995 meters 0.05562810766594912 Centerline is valid? [True, True] Translation: X:358.75, Y:64.77, Z:37.94 [[ 9.52841142e-01 -2.85530380e-01 -1.02791831e-01 3.58748561e+02] [ 2.84642510e-01 9.58345185e-01 -2.35190892e-02 6.47688580e+01] [ 1.05225470e-01 -6.84896892e-03 9.94424805e-01 3.79406396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.20509989299995 meters 0.05531731624026993 Centerline is valid? [True, True] Translation: X:358.81, Y:64.78, Z:37.95 [[ 9.53017272e-01 -2.85132633e-01 -1.02261729e-01 3.58808585e+02] [ 2.84251795e-01 9.58464154e-01 -2.33962188e-02 6.47820109e+01] [ 1.04685227e-01 -6.77107937e-03 9.94482356e-01 3.79476177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.26509989299996 meters 0.05589621133382079 Centerline is valid? [True, True] Translation: X:358.87, Y:64.79, Z:37.95 [[ 9.53412161e-01 -2.83867888e-01 -1.02099330e-01 3.58867678e+02] [ 2.82983013e-01 9.58840515e-01 -2.33555515e-02 6.47932208e+01] [ 1.04526865e-01 -6.62490920e-03 9.94499998e-01 3.79536508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.32509989299996 meters 0.05697917470067307 Centerline is valid? [True, True] Translation: X:358.93, Y:64.80, Z:37.96 [[ 9.53947722e-01 -2.81557495e-01 -1.03484883e-01 3.58926905e+02] [ 2.80635024e-01 9.59522612e-01 -2.36714908e-02 6.47998725e+01] [ 1.05960971e-01 -6.46011780e-03 9.94349305e-01 3.79587283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.38509989299996 meters 0.06527709430509787 Centerline is valid? [True, True] Translation: X:358.99, Y:64.79, Z:37.96 [[ 9.54452668e-01 -2.79547378e-01 -1.04275445e-01 3.58989884e+02] [ 2.78598726e-01 9.60111333e-01 -2.38532464e-02 6.47912851e+01] [ 1.06784149e-01 -6.28421167e-03 9.94262367e-01 3.79637069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.44509989299996 meters 0.05542076473370109 Centerline is valid? [True, True] Translation: X:359.04, Y:64.84, Z:37.97 [[ 9.55414502e-01 -2.76519151e-01 -1.03538826e-01 3.59040943e+02] [ 2.75566078e-01 9.60990283e-01 -2.36857056e-02 6.48390034e+01] [ 1.06049357e-01 -5.90212164e-03 9.94343351e-01 3.79710936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.50509989299997 meters 0.07076564066004157 Centerline is valid? [True, True] Translation: X:359.11, Y:64.81, Z:37.98 [[ 9.55637342e-01 -2.75312853e-01 -1.04690511e-01 3.59107507e+02] [ 2.74331322e-01 9.61336985e-01 -2.39484268e-02 6.48114206e+01] [ 1.07236170e-01 -5.83387524e-03 9.94216460e-01 3.79752992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.56509989299997 meters 0.05616775931389959 Centerline is valid? [True, True] Translation: X:359.16, Y:64.87, Z:37.98 [[ 9.56622621e-01 -2.72363213e-01 -1.03399425e-01 3.59155986e+02] [ 2.71388442e-01 9.62179176e-01 -2.36547581e-02 6.48696163e+01] [ 1.05931459e-01 -5.43273201e-03 9.94358593e-01 3.79834855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.62509989299997 meters 0.05616701987719348 Centerline is valid? [True, True] Translation: X:359.21, Y:64.89, Z:37.99 [[ 9.57326650e-01 -2.69808662e-01 -1.03580751e-01 3.59213233e+02] [ 2.68815670e-01 9.62900131e-01 -2.36954359e-02 6.48862392e+01] [ 1.06131153e-01 -5.15985683e-03 9.94338752e-01 3.79896043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.685099893 meters 0.057366749116349765 Centerline is valid? [True, True] Translation: X:359.27, Y:64.90, Z:38.00 [[ 9.58272825e-01 -2.66582178e-01 -1.03184953e-01 3.59271711e+02] [ 2.65578060e-01 9.63800324e-01 -2.36056914e-02 6.48954071e+01] [ 1.05742548e-01 -4.78296705e-03 9.94382038e-01 3.79959928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.745099893 meters 0.05740840866718855 Centerline is valid? [True, True] Translation: X:359.33, Y:64.91, Z:38.00 [[ 9.59231893e-01 -2.63459476e-01 -1.02290177e-01 3.59328716e+02] [ 2.62455020e-01 9.64660432e-01 -2.34011354e-02 6.49092866e+01] [ 1.04840537e-01 -4.39945507e-03 9.94479314e-01 3.80027171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.805099893 meters 0.0557751109367988 Centerline is valid? [True, True] Translation: X:359.39, Y:64.93, Z:38.01 [[ 9.59655558e-01 -2.61859691e-01 -1.02424174e-01 3.59386137e+02] [ 2.60843422e-01 9.65096687e-01 -2.34327600e-02 6.49338460e+01] [ 1.04985326e-01 -4.22929363e-03 9.94464778e-01 3.80088581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.865099893 meters 0.058225906393959366 Centerline is valid? [True, True] Translation: X:359.45, Y:64.94, Z:38.01 [[ 9.59585132e-01 -2.61696595e-01 -1.03495250e-01 3.59447168e+02] [ 2.60658268e-01 9.65140796e-01 -2.36751115e-02 6.49388887e+01] [ 1.06083184e-01 -4.25860759e-03 9.94348139e-01 3.80139933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.925099893 meters 0.057720306566643696 Centerline is valid? [True, True] Translation: X:359.50, Y:64.95, Z:38.02 [[ 9.59072912e-01 -2.63269360e-01 -1.04251587e-01 3.59504311e+02] [ 2.62225203e-01 9.64712025e-01 -2.38464246e-02 6.49529322e+01] [ 1.06850793e-01 -4.46693368e-03 9.94265032e-01 3.80187598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.985099893 meters 0.06382642486186098 Centerline is valid? [True, True] Translation: X:359.57, Y:64.95, Z:38.02 [[ 9.57847398e-01 -2.67136533e-01 -1.05671356e-01 3.59565510e+02] [ 2.66086897e-01 9.63645907e-01 -2.41729115e-02 6.49492107e+01] [ 1.08287237e-01 -4.96380272e-03 9.94107255e-01 3.80226769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.045099893 meters 0.056357889089143465 Centerline is valid? [True, True] Translation: X:359.62, Y:64.99, Z:38.03 [[ 9.56886599e-01 -2.71178837e-01 -1.04067644e-01 3.59618244e+02] [ 2.70184448e-01 9.62514188e-01 -2.38075967e-02 6.49883871e+01] [ 1.06622700e-01 -5.33628875e-03 9.94285233e-01 3.80320129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.105099893 meters 0.057923831586742414 Centerline is valid? [True, True] Translation: X:359.68, Y:64.99, Z:38.04 [[ 9.55441102e-01 -2.76528008e-01 -1.03269368e-01 3.59677892e+02] [ 2.75579911e-01 9.60987826e-01 -2.36243811e-02 6.49942137e+01] [ 1.05773408e-01 -5.88725845e-03 9.94372831e-01 3.80390896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.165099893 meters 0.061972926068772485 Centerline is valid? [True, True] Translation: X:359.74, Y:64.99, Z:38.05 [[ 9.54665692e-01 -2.79403869e-01 -1.02698072e-01 3.59738454e+02] [ 2.78482699e-01 9.60153844e-01 -2.34943055e-02 6.49940726e+01] [ 1.05170348e-01 -6.17042873e-03 9.94435078e-01 3.80453862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.225099893 meters 0.05613366774069091 Centerline is valid? [True, True] Translation: X:359.79, Y:65.03, Z:38.05 [[ 9.53635458e-01 -2.83510812e-01 -1.01000161e-01 3.59793437e+02] [ 2.82642676e-01 9.58946930e-01 -2.31063489e-02 6.50250027e+01] [ 1.03404694e-01 -6.51192228e-03 9.94618049e-01 3.80528158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.28509989299994 meters 0.055169994185998314 Centerline is valid? [True, True] Translation: X:359.85, Y:65.04, Z:38.06 [[ 9.52902085e-01 -2.85981111e-01 -1.00957516e-01 3.59851499e+02] [ 2.85127569e-01 9.58211283e-01 -2.30955811e-02 6.50440437e+01] [ 1.03343531e-01 -6.77794381e-03 9.94622629e-01 3.80587796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.34509989299994 meters 0.05958716384222122 Centerline is valid? [True, True] Translation: X:359.91, Y:65.04, Z:38.06 [[ 9.51708954e-01 -2.89133766e-01 -1.03207225e-01 3.59912209e+02] [ 2.88260266e-01 9.57261010e-01 -2.36088559e-02 6.50433463e+01] [ 1.05622370e-01 -7.28178260e-03 9.94379651e-01 3.80637345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.40509989299994 meters 0.06475775881171945 Centerline is valid? [True, True] Translation: X:359.97, Y:65.05, Z:38.07 [[ 9.51188544e-01 -2.90532789e-01 -1.04072341e-01 3.59973944e+02] [ 2.89653000e-01 9.56835634e-01 -2.38056485e-02 6.50452174e+01] [ 1.06496446e-01 -7.50120562e-03 9.94284788e-01 3.80689020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.46509989299994 meters 0.05500059666017889 Centerline is valid? [True, True] Translation: X:360.03, Y:65.09, Z:38.08 [[ 9.51018921e-01 -2.91166245e-01 -1.03851963e-01 3.60026048e+02] [ 2.90294012e-01 9.56642626e-01 -2.37544192e-02 6.50914248e+01] [ 1.06265700e-01 -7.55670087e-03 9.94309055e-01 3.80763230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.52509989299995 meters 0.055553057203038686 Centerline is valid? [True, True] Translation: X:360.08, Y:65.10, Z:38.08 [[ 9.51323959e-01 -2.90136764e-01 -1.03939323e-01 3.60083790e+02] [ 2.89258145e-01 9.56956126e-01 -2.37633814e-02 6.51034582e+01] [ 1.06360002e-01 -7.45862165e-03 9.94299713e-01 3.80825687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.58509989299995 meters 0.054279490985496025 Centerline is valid? [True, True] Translation: X:360.14, Y:65.13, Z:38.09 [[ 9.52482382e-01 -2.86651602e-01 -1.02995977e-01 3.60140263e+02] [ 2.85768534e-01 9.58009296e-01 -2.35485487e-02 6.51265644e+01] [ 1.05421333e-01 -7.00343165e-03 9.94402984e-01 3.80886315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.64509989299995 meters 0.0557457824870083 Centerline is valid? [True, True] Translation: X:360.20, Y:65.13, Z:38.09 [[ 9.52987956e-01 -2.84986920e-01 -1.02938869e-01 3.60199072e+02] [ 2.84095185e-01 9.58507176e-01 -2.35355016e-02 6.51341366e+01] [ 1.05374954e-01 -6.81538744e-03 9.94409206e-01 3.80945282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.70509989299995 meters 0.054678578693039666 Centerline is valid? [True, True] Translation: X:360.26, Y:65.16, Z:38.10 [[ 9.53204832e-01 -2.84257914e-01 -1.02946527e-01 3.60256749e+02] [ 2.83361772e-01 9.58724194e-01 -2.35377487e-02 6.51583775e+01] [ 1.05388117e-01 -6.73481451e-03 9.94408360e-01 3.81006466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.76509989299996 meters 0.05481115228343106 Centerline is valid? [True, True] Translation: X:360.32, Y:65.17, Z:38.11 [[ 9.53026348e-01 -2.84744870e-01 -1.03252787e-01 3.60316679e+02] [ 2.83846587e-01 9.58579131e-01 -2.36043430e-02 6.51676003e+01] [ 1.05697183e-01 -6.81239049e-03 9.94375028e-01 3.81066250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.82509989299996 meters 0.05521961182487274 Centerline is valid? [True, True] Translation: X:360.38, Y:65.18, Z:38.11 [[ 9.52768364e-01 -2.85420093e-01 -1.03768080e-01 3.60376599e+02] [ 2.84516980e-01 9.58377500e-01 -2.37203781e-02 6.51811181e+01] [ 1.06219266e-01 -6.92375492e-03 9.94318626e-01 3.81124912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.88509989299996 meters 0.06308607440947174 Centerline is valid? [True, True] Translation: X:360.44, Y:65.17, Z:38.12 [[ 9.52724751e-01 -2.85013478e-01 -1.05275195e-01 3.60441207e+02] [ 2.84081761e-01 9.58498079e-01 -2.40621313e-02 6.51710551e+01] [ 1.07764104e-01 -6.98217466e-03 9.94151974e-01 3.81168969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.94509989299996 meters 0.057793022355542914 Centerline is valid? [True, True] Translation: X:360.50, Y:65.20, Z:38.12 [[ 9.53221329e-01 -2.83144623e-01 -1.05821647e-01 3.60495345e+02] [ 2.82192433e-01 9.59053030e-01 -2.41808996e-02 6.52029648e+01] [ 1.08335263e-01 -6.81231884e-03 9.94091074e-01 3.81234815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.00509989299997 meters 0.05555339892186511 Centerline is valid? [True, True] Translation: X:360.55, Y:65.23, Z:38.13 [[ 9.55024183e-01 -2.76853750e-01 -1.06211163e-01 3.60551209e+02] [ 2.75855915e-01 9.60892569e-01 -2.42690248e-02 6.52272505e+01] [ 1.08776488e-01 -6.12147197e-03 9.94047385e-01 3.81304820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.06509989299997 meters 0.05888305645712825 Centerline is valid? [True, True] Translation: X:360.61, Y:65.23, Z:38.14 [[ 9.56766019e-01 -2.70826190e-01 -1.06075256e-01 3.60611692e+02] [ 2.69794051e-01 9.62612957e-01 -2.42376911e-02 6.52307630e+01] [ 1.08673617e-01 -5.42867377e-03 9.94062661e-01 3.81365077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.12509989299997 meters 0.05893554058306997 Centerline is valid? [True, True] Translation: X:360.67, Y:65.25, Z:38.14 [[ 9.59646476e-01 -2.60857131e-01 -1.05034273e-01 3.60669448e+02] [ 2.59785547e-01 9.65368042e-01 -2.40002830e-02 6.52479116e+01] [ 1.07657375e-01 -4.25459900e-03 9.94178952e-01 3.81439210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.185099893 meters 0.05638651322560433 Centerline is valid? [True, True] Translation: X:360.73, Y:65.27, Z:38.15 [[ 9.61648333e-01 -2.53836082e-01 -1.03921738e-01 3.60725139e+02] [ 2.52746197e-01 9.67241168e-01 -2.37462250e-02 6.52719551e+01] [ 1.06545032e-01 -3.43030651e-03 9.94301961e-01 3.81513473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.245099893 meters 0.0545212760863474 Centerline is valid? [True, True] Translation: X:360.78, Y:65.30, Z:38.16 [[ 9.64029440e-01 -2.45037989e-01 -1.02973890e-01 3.60781535e+02] [ 2.43917867e-01 9.69510421e-01 -2.35290615e-02 6.52970824e+01] [ 1.05599774e-01 -2.43446377e-03 9.94405733e-01 3.81579096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.305099893 meters 0.055209816954796855 Centerline is valid? [True, True] Translation: X:360.84, Y:65.31, Z:38.16 [[ 9.65221773e-01 -2.40224096e-01 -1.03147040e-01 3.60840068e+02] [ 2.39072759e-01 9.70715578e-01 -2.35686865e-02 6.53124381e+01] [ 1.05788205e-01 -1.91063797e-03 9.94386849e-01 3.81637719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.365099893 meters 0.05576987661802303 Centerline is valid? [True, True] Translation: X:360.90, Y:65.32, Z:38.17 [[ 9.66653980e-01 -2.34060415e-01 -1.03902866e-01 3.60898976e+02] [ 2.32856647e-01 9.72221256e-01 -2.37405008e-02 6.53225248e+01] [ 1.06573286e-01 -1.24562348e-03 9.94304070e-01 3.81677522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.425099893 meters 0.055603127991567886 Centerline is valid? [True, True] Translation: X:360.96, Y:65.34, Z:38.17 [[ 9.67126495e-01 -2.32071808e-01 -1.03966426e-01 3.60955948e+02] [ 2.30855162e-01 9.72698113e-01 -2.37544564e-02 6.53366803e+01] [ 1.06640686e-01 -1.02762202e-03 9.94297092e-01 3.81737101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.485099893 meters 0.05539178210260021 Centerline is valid? [True, True] Translation: X:361.01, Y:65.35, Z:38.18 [[ 9.68308160e-01 -2.27048076e-01 -1.04059979e-01 3.61014359e+02] [ 2.25799035e-01 9.73883441e-01 -2.37873739e-02 6.53535734e+01] [ 1.06743168e-01 -4.63134588e-04 9.94286519e-01 3.81797187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.545099893 meters 0.05495495292416331 Centerline is valid? [True, True] Translation: X:361.07, Y:65.37, Z:38.18 [[ 9.68761238e-01 -2.24942651e-01 -1.04414883e-01 3.61070812e+02] [ 2.23672586e-01 9.74371978e-01 -2.38709687e-02 6.53651708e+01] [ 1.07108535e-01 -2.29477770e-04 9.94247308e-01 3.81846677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.605099893 meters 0.05519069752582822 Centerline is valid? [True, True] Translation: X:361.13, Y:65.37, Z:38.19 [[ 9.68632372e-01 -2.25904361e-01 -1.03530423e-01 3.61127695e+02] [ 2.24660768e-01 9.74149430e-01 -2.36733457e-02 6.53739640e+01] [ 1.06202014e-01 -3.28455272e-04 9.94344520e-01 3.81902268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.665099893 meters 0.05546380064303888 Centerline is valid? [True, True] Translation: X:361.19, Y:65.38, Z:38.20 [[ 9.68002447e-01 -2.29197776e-01 -1.02174563e-01 3.61185445e+02] [ 2.28003607e-01 9.73379645e-01 -2.33756811e-02 6.53825915e+01] [ 1.04812294e-01 -6.68452418e-04 9.94491798e-01 3.81973849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.725099893 meters 0.054567351098500506 Centerline is valid? [True, True] Translation: X:361.25, Y:65.39, Z:38.20 [[ 9.65941452e-01 -2.37823625e-01 -1.01965847e-01 3.61245916e+02] [ 2.36680898e-01 9.71307058e-01 -2.33399263e-02 6.53873351e+01] [ 1.04590933e-01 -1.58836600e-03 9.94514059e-01 3.82031591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.78509989299994 meters 0.05548262006227326 Centerline is valid? [True, True] Translation: X:361.31, Y:65.39, Z:38.21 [[ 9.63052880e-01 -2.49314111e-01 -1.01841168e-01 3.61306764e+02] [ 2.48237937e-01 9.68418538e-01 -2.33122536e-02 6.53854278e+01] [ 1.04436949e-01 -2.82990842e-03 9.94527483e-01 3.82086622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.84509989299994 meters 0.05780195394072589 Centerline is valid? [True, True] Translation: X:361.37, Y:65.39, Z:38.21 [[ 9.60984094e-01 -2.57302603e-01 -1.01513255e-01 3.61367570e+02] [ 2.56277674e-01 9.66323854e-01 -2.32371095e-02 6.53872950e+01] [ 1.04073649e-01 -3.68508836e-03 9.94562766e-01 3.82149903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.90509989299994 meters 0.05518892467645692 Centerline is valid? [True, True] Translation: X:361.43, Y:65.41, Z:38.22 [[ 9.58200832e-01 -2.67242432e-01 -1.02140332e-01 3.61425457e+02] [ 2.66260839e-01 9.63617410e-01 -2.33806044e-02 6.54058988e+01] [ 1.04672491e-01 -4.79265575e-03 9.94495199e-01 3.82204911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.96509989299994 meters 0.05873955380182868 Centerline is valid? [True, True] Translation: X:361.49, Y:65.40, Z:38.23 [[ 9.57253433e-01 -2.70526564e-01 -1.02377945e-01 3.61487057e+02] [ 2.69559081e-01 9.62698661e-01 -2.34347812e-02 6.54024281e+01] [ 1.04898841e-01 -5.16388002e-03 9.94469490e-01 3.82261924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.02509989299995 meters 0.0579356829425395 Centerline is valid? [True, True] Translation: X:361.54, Y:65.42, Z:38.23 [[ 9.56880958e-01 -2.71815943e-01 -1.02444748e-01 3.61544352e+02] [ 2.70854460e-01 9.62334619e-01 -2.34508526e-02 6.54161179e+01] [ 1.04960443e-01 -5.30794256e-03 9.94462232e-01 3.82319618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.08509989299995 meters 0.058785074486164476 Centerline is valid? [True, True] Translation: X:361.60, Y:65.42, Z:38.24 [[ 9.57311406e-01 -2.70049692e-01 -1.03092362e-01 3.61603322e+02] [ 2.69065431e-01 9.62832648e-01 -2.36026641e-02 6.54242605e+01] [ 1.05634584e-01 -5.14349126e-03 9.94391713e-01 3.82369935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.14509989299995 meters 0.05518317173724087 Centerline is valid? [True, True] Translation: X:361.66, Y:65.45, Z:38.24 [[ 9.58850647e-01 -2.64551699e-01 -1.03042887e-01 3.61658519e+02] [ 2.63536580e-01 9.64360848e-01 -2.35928970e-02 6.54542945e+01] [ 1.05612066e-01 -4.53350541e-03 9.94397073e-01 3.82434940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.20509989299995 meters 0.055151886695294784 Centerline is valid? [True, True] Translation: X:361.72, Y:65.47, Z:38.25 [[ 9.60906199e-01 -2.56459603e-01 -1.04344378e-01 3.61716692e+02] [ 2.55371140e-01 9.66547905e-01 -2.38899416e-02 6.54685076e+01] [ 1.06980645e-01 -3.69054981e-03 9.94254254e-01 3.82492489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.26509989299996 meters 0.05570704614483146 Centerline is valid? [True, True] Translation: X:361.77, Y:65.48, Z:38.26 [[ 9.62273921e-01 -2.50731865e-01 -1.05652414e-01 3.61774412e+02] [ 2.49581466e-01 9.68051636e-01 -2.41892862e-02 6.54849265e+01] [ 1.08342017e-01 -3.09216510e-03 9.94108870e-01 3.82551565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.32509989299996 meters 0.05627788489404067 Centerline is valid? [True, True] Translation: X:361.83, Y:65.50, Z:38.26 [[ 9.63559892e-01 -2.45475339e-01 -1.06274141e-01 3.61833076e+02] [ 2.44279224e-01 9.69399577e-01 -2.43335535e-02 6.55006060e+01] [ 1.08995395e-01 -2.51372856e-03 9.94039076e-01 3.82607815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.38509989299996 meters 0.05627196471823068 Centerline is valid? [True, True] Translation: X:361.89, Y:65.52, Z:38.27 [[ 9.64952814e-01 -2.40142314e-01 -1.05819357e-01 3.61890007e+02] [ 2.38924131e-01 9.70735834e-01 -2.42322078e-02 6.55152426e+01] [ 1.08541820e-01 -1.89986070e-03 9.94090068e-01 3.82673444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.44509989299996 meters 0.05535682840974555 Centerline is valid? [True, True] Translation: X:361.95, Y:65.53, Z:38.27 [[ 9.65206097e-01 -2.39353979e-01 -1.05294169e-01 3.61946123e+02] [ 2.38143047e-01 9.70930703e-01 -2.41134591e-02 6.55311595e+01] [ 1.08004994e-01 -1.80061642e-03 9.94148721e-01 3.82746498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.50509989299997 meters 0.05624352401371832 Centerline is valid? [True, True] Translation: X:362.00, Y:65.54, Z:38.28 [[ 9.64577144e-01 -2.41756510e-01 -1.05568566e-01 3.62004080e+02] [ 2.40552226e-01 9.70334754e-01 -2.41886817e-02 6.55380117e+01] [ 1.08284620e-01 -2.06290399e-03 9.94117793e-01 3.82806959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.56509989299997 meters 0.057022702372425856 Centerline is valid? [True, True] Translation: X:362.06, Y:65.55, Z:38.29 [[ 9.63532706e-01 -2.45964514e-01 -1.05385873e-01 3.62062962e+02] [ 2.44789079e-01 9.69275538e-01 -2.41503202e-02 6.55470845e+01] [ 1.08088070e-01 -2.52768734e-03 9.94138109e-01 3.82873433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.62509989299997 meters 0.05673706874809062 Centerline is valid? [True, True] Translation: X:362.12, Y:65.56, Z:38.30 [[ 9.61473179e-01 -2.54254983e-01 -1.04516647e-01 3.62121667e+02] [ 2.53147476e-01 9.67131143e-01 -2.39522063e-02 6.55569048e+01] [ 1.07171272e-01 -3.42872144e-03 9.94234662e-01 3.82955060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.685099893 meters 0.0574947052527657 Centerline is valid? [True, True] Translation: X:362.18, Y:65.56, Z:38.30 [[ 9.58550430e-01 -2.64342896e-01 -1.06319831e-01 3.62180570e+02] [ 2.63258340e-01 9.64417628e-01 -2.43656671e-02 6.55629261e+01] [ 1.08977610e-01 -4.63386140e-03 9.94033404e-01 3.83001469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.745099893 meters 0.05636186507351694 Centerline is valid? [True, True] Translation: X:362.24, Y:65.58, Z:38.31 [[ 9.55359850e-01 -2.75326695e-01 -1.07157682e-01 3.62238411e+02] [ 2.74293523e-01 9.61332420e-01 -2.45568944e-02 6.55798182e+01] [ 1.09775322e-01 -5.93198710e-03 9.93938726e-01 3.83070293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.805099893 meters 0.055910592769849644 Centerline is valid? [True, True] Translation: X:362.30, Y:65.60, Z:38.31 [[ 9.54464269e-01 -2.78536138e-01 -1.06843713e-01 3.62296823e+02] [ 2.77529066e-01 9.60405198e-01 -2.44841444e-02 6.55957784e+01] [ 1.09432977e-01 -6.28299503e-03 9.93974319e-01 3.83136509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.865099893 meters 0.056793501553454945 Centerline is valid? [True, True] Translation: X:362.36, Y:65.60, Z:38.32 [[ 9.52563036e-01 -2.84955421e-01 -1.06883440e-01 3.62355710e+02] [ 2.83987724e-01 9.58515043e-01 -2.44925649e-02 6.56021268e+01] [ 1.09428674e-01 -7.02287277e-03 9.93969841e-01 3.83201822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.925099893 meters 0.06031750308093716 Centerline is valid? [True, True] Translation: X:362.41, Y:65.60, Z:38.33 [[ 9.52318026e-01 -2.85646203e-01 -1.07222314e-01 3.62414931e+02] [ 2.84676904e-01 9.58308643e-01 -2.45683746e-02 6.56038016e+01] [ 1.09769933e-01 -7.12681046e-03 9.93931472e-01 3.83251566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.985099893 meters 0.05456916218703231 Centerline is valid? [True, True] Translation: X:362.47, Y:65.64, Z:38.33 [[ 9.53147039e-01 -2.83312510e-01 -1.06041237e-01 3.62466949e+02] [ 2.82349742e-01 9.59003690e-01 -2.43011378e-02 6.56446657e+01] [ 1.08578754e-01 -6.77815844e-03 9.94064742e-01 3.83345349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.045099893 meters 0.05900233171364673 Centerline is valid? [True, True] Translation: X:362.53, Y:65.64, Z:38.34 [[ 9.54199140e-01 -2.79811735e-01 -1.05874426e-01 3.62529496e+02] [ 2.78830668e-01 9.60033756e-01 -2.42620185e-02 6.56394323e+01] [ 1.08431820e-01 -6.37023972e-03 9.94083478e-01 3.83396930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.105099893 meters 0.056616124245712954 Centerline is valid? [True, True] Translation: X:362.59, Y:65.67, Z:38.35 [[ 9.55271221e-01 -2.76002940e-01 -1.06203918e-01 3.62585116e+02] [ 2.74992413e-01 9.61138331e-01 -2.43368360e-02 6.56652238e+01] [ 1.08793695e-01 -5.95699260e-03 9.94046501e-01 3.83471588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.165099893 meters 0.060345481089733755 Centerline is valid? [True, True] Translation: X:362.64, Y:65.67, Z:38.35 [[ 9.55785613e-01 -2.73806688e-01 -1.07255584e-01 3.62644673e+02] [ 2.72762219e-01 9.61767476e-01 -2.45783252e-02 6.56702127e+01] [ 1.09884642e-01 -5.76366144e-03 9.93927636e-01 3.83514456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.225099893 meters 0.06175284942260401 Centerline is valid? [True, True] Translation: X:362.70, Y:65.68, Z:38.36 [[ 9.56801845e-01 -2.69661674e-01 -1.08686757e-01 3.62703284e+02] [ 2.68562375e-01 9.62940224e-01 -2.49073308e-02 6.56832892e+01] [ 1.11375402e-01 -5.35779338e-03 9.93763963e-01 3.83562582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.28509989299994 meters 0.05626324955657757 Centerline is valid? [True, True] Translation: X:362.76, Y:65.72, Z:38.37 [[ 9.58007080e-01 -2.65585335e-01 -1.08105800e-01 3.62757367e+02] [ 2.64471916e-01 9.64075121e-01 -2.47743081e-02 6.57181206e+01] [ 1.10801806e-01 -4.85698562e-03 9.93830654e-01 3.83657262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.34509989299994 meters 0.0558980669329661 Centerline is valid? [True, True] Translation: X:362.81, Y:65.74, Z:38.37 [[ 9.59692747e-01 -2.59621642e-01 -1.07640299e-01 3.62814381e+02] [ 2.58480374e-01 9.65701500e-01 -2.46679856e-02 6.57384473e+01] [ 1.10352741e-01 -4.14921786e-03 9.93883824e-01 3.83729519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.40509989299994 meters 0.057864673412110205 Centerline is valid? [True, True] Translation: X:362.87, Y:65.75, Z:38.38 [[ 9.61611548e-01 -2.52555859e-01 -1.07325528e-01 3.62873172e+02] [ 2.51377337e-01 9.67576595e-01 -2.45960884e-02 6.57475021e+01] [ 1.10057555e-01 -3.32732269e-03 9.93919646e-01 3.83777576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.46509989299994 meters 0.056361475078822276 Centerline is valid? [True, True] Translation: X:362.93, Y:65.77, Z:38.39 [[ 9.63543363e-01 -2.45367505e-01 -1.06672279e-01 3.62929224e+02] [ 2.44159326e-01 9.69426938e-01 -2.44465637e-02 6.57730820e+01] [ 1.09409373e-01 -2.48970749e-03 9.93993657e-01 3.83859010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.52509989299995 meters 0.05549349393478267 Centerline is valid? [True, True] Translation: X:362.99, Y:65.80, Z:38.39 [[ 9.65895263e-01 -2.35879857e-01 -1.06803718e-01 3.62985108e+02] [ 2.34610763e-01 9.71781194e-01 -2.44765330e-02 6.57965769e+01] [ 1.09563366e-01 -1.41553449e-03 9.93978805e-01 3.83934053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.58509989299995 meters 0.05588980314263602 Centerline is valid? [True, True] Translation: X:363.04, Y:65.81, Z:38.40 [[ 9.67503627e-01 -2.29734028e-01 -1.05636205e-01 3.63043037e+02] [ 2.28456058e-01 9.73253189e-01 -2.42086567e-02 6.58111235e+01] [ 1.08372325e-01 -7.11267757e-04 9.94110121e-01 3.83996626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.64509989299995 meters 0.05604800253984026 Centerline is valid? [True, True] Translation: X:363.10, Y:65.82, Z:38.41 [[ 9.67950372e-01 -2.28280762e-01 -1.04689880e-01 3.63099581e+02] [ 2.27017151e-01 9.73595192e-01 -2.39919780e-02 6.58227388e+01] [ 1.07402471e-01 -5.43354300e-04 9.94215477e-01 3.84055066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.70509989299995 meters 0.056366762833941444 Centerline is valid? [True, True] Translation: X:363.16, Y:65.84, Z:38.41 [[ 9.67686984e-01 -2.29256027e-01 -1.04993215e-01 3.63156920e+02] [ 2.27990104e-01 9.73365941e-01 -2.40677662e-02 6.58351063e+01] [ 1.07714500e-01 -6.47349942e-04 9.94181657e-01 3.84115045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.76509989299996 meters 0.05580767539349654 Centerline is valid? [True, True] Translation: X:363.22, Y:65.85, Z:38.42 [[ 9.66854656e-01 -2.32498137e-01 -1.05530515e-01 3.63216600e+02] [ 2.31237210e-01 9.72596325e-01 -2.42021023e-02 6.58459265e+01] [ 1.08265535e-01 -1.00266658e-03 9.94121506e-01 3.84176047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.82509989299996 meters 0.05594101370809813 Centerline is valid? [True, True] Translation: X:363.27, Y:65.85, Z:38.42 [[ 9.66311185e-01 -2.34849991e-01 -1.05300409e-01 3.63274163e+02] [ 2.33608571e-01 9.72030804e-01 -2.41485329e-02 6.58548481e+01] [ 1.08026524e-01 -1.26408070e-03 9.94147209e-01 3.84237523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.88509989299996 meters 0.056328749042018685 Centerline is valid? [True, True] Translation: X:363.33, Y:65.87, Z:38.43 [[ 9.65939264e-01 -2.36827674e-01 -1.04278430e-01 3.63332836e+02] [ 2.35621489e-01 9.71550564e-01 -2.39168613e-02 6.58650951e+01] [ 1.06975942e-01 -1.46800351e-03 9.94260526e-01 3.84313535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.94509989299996 meters 0.05609643877187389 Centerline is valid? [True, True] Translation: X:363.39, Y:65.87, Z:38.44 [[ 9.65975663e-01 -2.36723443e-01 -1.04177877e-01 3.63391638e+02] [ 2.35518939e-01 9.71575985e-01 -2.38942245e-02 6.58719452e+01] [ 1.06873047e-01 -1.45462379e-03 9.94271611e-01 3.84374409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.00509989299997 meters 0.056118998856652544 Centerline is valid? [True, True] Translation: X:363.45, Y:65.89, Z:38.44 [[ 9.66347892e-01 -2.35319551e-01 -1.03906018e-01 3.63448622e+02] [ 2.34113120e-01 9.71917194e-01 -2.38330569e-02 6.58854713e+01] [ 1.06596430e-01 -1.29473787e-03 9.94301526e-01 3.84449337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.06509989299997 meters 0.05630401287312218 Centerline is valid? [True, True] Translation: X:363.51, Y:65.89, Z:38.45 [[ 9.66721819e-01 -2.33673060e-01 -1.04143295e-01 3.63506486e+02] [ 2.32450244e-01 9.72314601e-01 -2.38998214e-02 6.58927842e+01] [ 1.06844791e-01 -1.10365545e-03 9.94275099e-01 3.84501176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.12509989299997 meters 0.05648892188709948 Centerline is valid? [True, True] Translation: X:363.56, Y:65.91, Z:38.46 [[ 9.67560880e-01 -2.30266591e-01 -1.03938635e-01 3.63563999e+02] [ 2.29027795e-01 9.73127322e-01 -2.38638517e-02 6.59072692e+01] [ 1.06640573e-01 -7.15107068e-04 9.94297378e-01 3.84578243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.185099893 meters 0.056388669860921295 Centerline is valid? [True, True] Translation: X:363.62, Y:65.92, Z:38.46 [[ 9.68170074e-01 -2.27387656e-01 -1.04601918e-01 3.63621137e+02] [ 2.26115953e-01 9.73804239e-01 -2.40183381e-02 6.59187794e+01] [ 1.07323265e-01 -3.98326274e-04 9.94224099e-01 3.84638897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.245099893 meters 0.05717082792331882 Centerline is valid? [True, True] Translation: X:363.68, Y:65.93, Z:38.47 [[ 9.69025422e-01 -2.22636760e-01 -1.06876590e-01 3.63677472e+02] [ 2.21278749e-01 9.74901458e-01 -2.45532598e-02 6.59295279e+01] [ 1.09660602e-01 1.43214833e-04 9.93969080e-01 3.84692493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.305099893 meters 0.05693368546889503 Centerline is valid? [True, True] Translation: X:363.73, Y:65.94, Z:38.47 [[ 9.69444165e-01 -2.20023843e-01 -1.08478196e-01 3.63734025e+02] [ 2.18607751e-01 9.75494390e-01 -2.49268135e-02 6.59419851e+01] [ 1.11304365e-01 4.50979407e-04 9.93786262e-01 3.84729869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.365099893 meters 0.05747230554457809 Centerline is valid? [True, True] Translation: X:363.79, Y:65.95, Z:38.48 [[ 9.70231776e-01 -2.16531649e-01 -1.08463566e-01 3.63790909e+02] [ 2.15092703e-01 9.76275216e-01 -2.49365499e-02 6.59525434e+01] [ 1.11289844e-01 8.64511440e-04 9.93787615e-01 3.84803544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.425099893 meters 0.05749543513165061 Centerline is valid? [True, True] Translation: X:363.85, Y:65.96, Z:38.49 [[ 9.70488802e-01 -2.15584947e-01 -1.08049131e-01 3.63849363e+02] [ 2.14150351e-01 9.76484602e-01 -2.48485462e-02 6.59593138e+01] [ 1.10865286e-01 9.76476386e-04 9.93834964e-01 3.84892544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.485099893 meters 0.05717070301115644 Centerline is valid? [True, True] Translation: X:363.91, Y:65.97, Z:38.50 [[ 9.70186326e-01 -2.17269328e-01 -1.07389627e-01 3.63906711e+02] [ 2.15861155e-01 9.76111373e-01 -2.47092881e-02 6.59689986e+01] [ 1.10192807e-01 7.91364533e-04 9.93909915e-01 3.84952272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.545099893 meters 0.05751846426567031 Centerline is valid? [True, True] Translation: X:363.96, Y:65.97, Z:38.50 [[ 9.68995500e-01 -2.22627832e-01 -1.07166084e-01 3.63964492e+02] [ 2.21256824e-01 9.74903488e-01 -2.46699635e-02 6.59745552e+01] [ 1.09968810e-01 1.93856288e-04 9.93935020e-01 3.85004634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.605099893 meters 0.057210487756675484 Centerline is valid? [True, True] Translation: X:364.02, Y:65.98, Z:38.51 [[ 9.67841054e-01 -2.27962986e-01 -1.06379372e-01 3.64022550e+02] [ 2.26643616e-01 9.73669715e-01 -2.44940347e-02 6.59797219e+01] [ 1.09162106e-01 -4.03872981e-04 9.94023879e-01 3.85057694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.665099893 meters 0.05672167023383935 Centerline is valid? [True, True] Translation: X:364.08, Y:65.98, Z:38.51 [[ 9.66622454e-01 -2.33269782e-01 -1.05953950e-01 3.64080851e+02] [ 2.31991275e-01 9.72411557e-01 -2.44092445e-02 6.59841474e+01] [ 1.08724785e-01 -9.85868290e-04 9.94071400e-01 3.85119571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.725099893 meters 0.05705894471021349 Centerline is valid? [True, True] Translation: X:364.14, Y:65.99, Z:38.52 [[ 9.65023552e-01 -2.39906213e-01 -1.05709763e-01 3.64141073e+02] [ 2.38672756e-01 9.70794538e-01 -2.43573607e-02 6.59882150e+01] [ 1.08465942e-01 -1.72461361e-03 9.94098670e-01 3.85191279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.78509989299994 meters 0.05763373453044739 Centerline is valid? [True, True] Translation: X:364.20, Y:66.00, Z:38.53 [[ 9.64179893e-01 -2.43278081e-01 -1.05701979e-01 3.64199040e+02] [ 2.42064860e-01 9.69954305e-01 -2.43567015e-02 6.59984275e+01] [ 1.08451541e-01 -2.10249295e-03 9.94099513e-01 3.85255421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.84509989299994 meters 0.05798250429078272 Centerline is valid? [True, True] Translation: X:364.26, Y:66.01, Z:38.53 [[ 9.63999716e-01 -2.44008718e-01 -1.05661216e-01 3.64256503e+02] [ 2.42800580e-01 9.69770584e-01 -2.43493929e-02 6.60051471e+01] [ 1.08408603e-01 -2.18179664e-03 9.94104026e-01 3.85309544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.90509989299994 meters 0.05775369506176299 Centerline is valid? [True, True] Translation: X:364.31, Y:66.01, Z:38.54 [[ 9.64469924e-01 -2.42637590e-01 -1.04521599e-01 3.64312956e+02] [ 2.41446670e-01 9.70114944e-01 -2.40935926e-02 6.60144327e+01] [ 1.07243977e-01 -1.99884664e-03 9.94230725e-01 3.85383270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.96509989299994 meters 0.05795961336994523 Centerline is valid? [True, True] Translation: X:364.37, Y:66.03, Z:38.54 [[ 9.64602991e-01 -2.41734893e-01 -1.05381738e-01 3.64369987e+02] [ 2.40518370e-01 9.70340453e-01 -2.42964972e-02 6.60255517e+01] [ 1.08129475e-01 -1.90976994e-03 9.94134986e-01 3.85442646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.02509989299995 meters 0.05791918554101125 Centerline is valid? [True, True] Translation: X:364.43, Y:66.04, Z:38.55 [[ 9.64337607e-01 -2.41429406e-01 -1.08465767e-01 3.64426807e+02] [ 2.40137678e-01 9.70416478e-01 -2.50150855e-02 6.60352806e+01] [ 1.11296345e-01 -1.92372977e-03 9.93785401e-01 3.85466586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.08509989299995 meters 0.05795644060611356 Centerline is valid? [True, True] Translation: X:364.49, Y:66.04, Z:38.55 [[ 9.64405893e-01 -2.41794042e-01 -1.07036975e-01 3.64485249e+02] [ 2.40537634e-01 9.70325671e-01 -2.46929116e-02 6.60431903e+01] [ 1.09831323e-01 -1.93243112e-03 9.93948362e-01 3.85536069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.14509989299995 meters 0.058309689908638454 Centerline is valid? [True, True] Translation: X:364.54, Y:66.05, Z:38.56 [[ 9.64351101e-01 -2.42114168e-01 -1.06806759e-01 3.64541294e+02] [ 2.40863792e-01 9.70245802e-01 -2.46519269e-02 6.60544600e+01] [ 1.09597391e-01 -1.95276825e-03 9.93974144e-01 3.85604903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.20509989299995 meters 0.0575374814474623 Centerline is valid? [True, True] Translation: X:364.60, Y:66.06, Z:38.57 [[ 9.64224255e-01 -2.42296911e-01 -1.07535082e-01 3.64598924e+02] [ 2.41028852e-01 9.70200142e-01 -2.48349890e-02 6.60640736e+01] [ 1.10347993e-01 -1.97255845e-03 9.93891055e-01 3.85661178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.26509989299996 meters 0.057956929057645976 Centerline is valid? [True, True] Translation: X:364.66, Y:66.07, Z:38.57 [[ 9.64244879e-01 -2.42473539e-01 -1.06950439e-01 3.64656541e+02] [ 2.41218955e-01 9.70156020e-01 -2.47125827e-02 6.60720213e+01] [ 1.09750760e-01 -1.96949175e-03 9.93957188e-01 3.85714565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.32509989299996 meters 0.05739912043936685 Centerline is valid? [True, True] Translation: X:364.71, Y:66.09, Z:38.58 [[ 9.64187017e-01 -2.42959092e-01 -1.06368583e-01 3.64711493e+02] [ 2.41719625e-01 9.70034472e-01 -2.45915701e-02 6.60868970e+01] [ 1.09155938e-01 -2.00050140e-03 9.94022625e-01 3.85799412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.38509989299996 meters 0.05806744986279704 Centerline is valid? [True, True] Translation: X:364.77, Y:66.09, Z:38.58 [[ 9.63941000e-01 -2.44072896e-01 -1.06047960e-01 3.64770739e+02] [ 2.42847104e-01 9.69754580e-01 -2.45221931e-02 6.60915883e+01] [ 1.08825698e-01 -2.11549270e-03 9.94058596e-01 3.85842313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.44509989299996 meters 0.05827417176240716 Centerline is valid? [True, True] Translation: X:364.83, Y:66.10, Z:38.59 [[ 9.63314018e-01 -2.47013359e-01 -1.04930949e-01 3.64828900e+02] [ 2.45829900e-01 9.69009067e-01 -2.42711632e-02 6.61001122e+01] [ 1.07674343e-01 -2.41441300e-03 9.94183286e-01 3.85914508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.50509989299997 meters 0.05922714985343114 Centerline is valid? [True, True] Translation: X:364.89, Y:66.10, Z:38.60 [[ 9.62692566e-01 -2.49573492e-01 -1.04575785e-01 3.64887063e+02] [ 2.48412782e-01 9.68352128e-01 -2.41918604e-02 6.61046418e+01] [ 1.07303831e-01 -2.68863749e-03 9.94222641e-01 3.85974121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.56509989299997 meters 0.059317652375940694 Centerline is valid? [True, True] Translation: X:364.95, Y:66.11, Z:38.60 [[ 9.61940842e-01 -2.52482878e-01 -1.04509392e-01 3.64947181e+02] [ 2.51340351e-01 9.67596688e-01 -2.41801056e-02 6.61122571e+01] [ 1.07228004e-01 -3.00759623e-03 9.94229908e-01 3.86035623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.62509989299997 meters 0.05929593161370988 Centerline is valid? [True, True] Translation: X:365.00, Y:66.12, Z:38.61 [[ 9.61614744e-01 -2.53731970e-01 -1.04485272e-01 3.65003652e+02] [ 2.52597390e-01 9.67269448e-01 -2.41738194e-02 6.61237384e+01] [ 1.07199082e-01 -3.14680580e-03 9.94232596e-01 3.86093434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.685099893 meters 0.05926066989233786 Centerline is valid? [True, True] Translation: X:365.06, Y:66.14, Z:38.62 [[ 9.62085215e-01 -2.51911525e-01 -1.04559185e-01 3.65062142e+02] [ 2.50764170e-01 9.67745797e-01 -2.41950956e-02 6.61358666e+01] [ 1.07281735e-01 -2.94195347e-03 9.94224308e-01 3.86152296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.745099893 meters 0.0577694616110361 Centerline is valid? [True, True] Translation: X:365.12, Y:66.16, Z:38.62 [[ 9.63255131e-01 -2.47469158e-01 -1.04396213e-01 3.65119514e+02] [ 2.46299273e-01 9.68892694e-01 -2.41581636e-02 6.61558667e+01] [ 1.07127128e-01 -2.44223617e-03 9.94242332e-01 3.86213824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.805099893 meters 0.05859121925931165 Centerline is valid? [True, True] Translation: X:365.18, Y:66.17, Z:38.63 [[ 9.64184473e-01 -2.43855100e-01 -1.04321578e-01 3.65177602e+02] [ 2.42665847e-01 9.69809533e-01 -2.41403452e-02 6.61709323e+01] [ 1.07058808e-01 -2.03953816e-03 9.94250598e-01 3.86266199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.865099893 meters 0.0585909681507118 Centerline is valid? [True, True] Translation: X:365.24, Y:66.18, Z:38.63 [[ 9.65313704e-01 -2.38575824e-01 -1.06070865e-01 3.65235158e+02] [ 2.37314436e-01 9.71122748e-01 -2.45452153e-02 6.61829259e+01] [ 1.08863725e-01 -1.47831471e-03 9.94055584e-01 3.86315768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.925099893 meters 0.05804877838299246 Centerline is valid? [True, True] Translation: X:365.29, Y:66.20, Z:38.64 [[ 9.65186140e-01 -2.38719440e-01 -1.06905309e-01 3.65290757e+02] [ 2.37438690e-01 9.71087415e-01 -2.47406862e-02 6.61998300e+01] [ 1.09720483e-01 -1.50408915e-03 9.93961344e-01 3.86382447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.985099893 meters 0.058550499822130404 Centerline is valid? [True, True] Translation: X:365.35, Y:66.21, Z:38.64 [[ 9.64760325e-01 -2.40588415e-01 -1.06558577e-01 3.65347790e+02] [ 2.39326003e-01 9.70625740e-01 -2.46725820e-02 6.62096368e+01] [ 1.09364435e-01 -1.69911012e-03 9.94000268e-01 3.86436245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.045099893 meters 0.05869540899127519 Centerline is valid? [True, True] Translation: X:365.40, Y:66.22, Z:38.65 [[ 9.64404036e-01 -2.42289022e-01 -1.05928683e-01 3.65403846e+02] [ 2.41051187e-01 9.70202305e-01 -2.45318771e-02 6.62239750e+01] [ 1.08716057e-01 -1.87559362e-03 9.94071074e-01 3.86509383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.105099893 meters 0.05946424643441924 Centerline is valid? [True, True] Translation: X:365.46, Y:66.23, Z:38.66 [[ 9.64079971e-01 -2.43599335e-01 -1.05873386e-01 3.65461223e+02] [ 2.42369243e-01 9.69873871e-01 -2.45321084e-02 6.62300698e+01] [ 1.08659836e-01 -2.00953803e-03 9.94076960e-01 3.86556568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.165099893 meters 0.059535022113329526 Centerline is valid? [True, True] Translation: X:365.52, Y:66.24, Z:38.66 [[ 9.63164748e-01 -2.47634615e-01 -1.04836857e-01 3.65519701e+02] [ 2.46451618e-01 9.68850440e-01 -2.42986610e-02 6.62433739e+01] [ 1.07588424e-01 -2.43359923e-03 9.94192541e-01 3.86639242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.225099893 meters 0.06024506144562535 Centerline is valid? [True, True] Translation: X:365.58, Y:66.25, Z:38.67 [[ 9.61411249e-01 -2.54498225e-01 -1.04494328e-01 3.65578751e+02] [ 2.53363365e-01 9.67067976e-01 -2.42184911e-02 6.62520736e+01] [ 1.07216681e-01 -3.19110467e-03 9.94230557e-01 3.86702551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.28509989299994 meters 0.06031868773062534 Centerline is valid? [True, True] Translation: X:365.64, Y:66.26, Z:38.68 [[ 9.60132586e-01 -2.59229446e-01 -1.04620801e-01 3.65637414e+02] [ 2.58119693e-01 9.65808591e-01 -2.42485100e-02 6.62630805e+01] [ 1.07329596e-01 -3.72290430e-03 9.94216525e-01 3.86766342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.34509989299994 meters 0.06128099252677636 Centerline is valid? [True, True] Translation: X:365.70, Y:66.28, Z:38.68 [[ 9.58991206e-01 -2.63121530e-01 -1.05370429e-01 3.65695930e+02] [ 2.62019146e-01 9.64753605e-01 -2.44222973e-02 6.62750675e+01] [ 1.08082533e-01 -4.18830144e-03 9.94133102e-01 3.86820802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.40509989299994 meters 0.0617334132428332 Centerline is valid? [True, True] Translation: X:365.75, Y:66.29, Z:38.69 [[ 9.57745284e-01 -2.67235259e-01 -1.06345130e-01 3.65753532e+02] [ 2.66137499e-01 9.63619879e-01 -2.46487388e-02 6.62859526e+01] [ 1.09063293e-01 -4.69521345e-03 9.94023719e-01 3.86873758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.46509989299994 meters 0.06186224092052547 Centerline is valid? [True, True] Translation: X:365.81, Y:66.30, Z:38.69 [[ 9.57068668e-01 -2.69677346e-01 -1.06271788e-01 3.65811248e+02] [ 2.68596095e-01 9.62937914e-01 -2.46315108e-02 6.63015594e+01] [ 1.08975695e-01 -4.97014001e-03 9.94031989e-01 3.86937403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.52509989299995 meters 0.06046073963301638 Centerline is valid? [True, True] Translation: X:365.87, Y:66.32, Z:38.70 [[ 9.56110946e-01 -2.72769706e-01 -1.06997882e-01 3.65867975e+02] [ 2.71692885e-01 9.62064428e-01 -2.47994638e-02 6.63209017e+01] [ 1.09703398e-01 -5.35952431e-03 9.93949918e-01 3.87000614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.58509989299995 meters 0.06307453667036204 Centerline is valid? [True, True] Translation: X:365.93, Y:66.33, Z:38.70 [[ 9.55416825e-01 -2.75093172e-01 -1.07249420e-01 3.65926935e+02] [ 2.74025763e-01 9.61401034e-01 -2.48582681e-02 6.63306012e+01] [ 1.09948043e-01 -5.63909670e-03 9.93921339e-01 3.87049262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.64509989299995 meters 0.05897533406931549 Centerline is valid? [True, True] Translation: X:365.98, Y:66.36, Z:38.71 [[ 9.54597270e-01 -2.78171763e-01 -1.06604514e-01 3.65981765e+02] [ 2.77136198e-01 9.60512878e-01 -2.47091107e-02 6.63600235e+01] [ 1.09268385e-01 -5.95671992e-03 9.93994435e-01 3.87137350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.70509989299995 meters 0.06372429553098033 Centerline is valid? [True, True] Translation: X:366.04, Y:66.36, Z:38.72 [[ 9.54215563e-01 -2.79519123e-01 -1.06497508e-01 3.66041361e+02] [ 2.78493977e-01 9.60120717e-01 -2.46842706e-02 6.63628353e+01] [ 1.09150190e-01 -6.10479946e-03 9.94006523e-01 3.87196963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.76509989299996 meters 0.058100157513098154 Centerline is valid? [True, True] Translation: X:366.09, Y:66.40, Z:38.73 [[ 9.53837004e-01 -2.81042026e-01 -1.05878934e-01 3.66093741e+02] [ 2.80038052e-01 9.59675163e-01 -2.45411993e-02 6.64006918e+01] [ 1.08506491e-01 -6.24182620e-03 9.94076144e-01 3.87282951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.82509989299996 meters 0.06604160297623986 Centerline is valid? [True, True] Translation: X:366.16, Y:66.39, Z:38.73 [[ 9.54102992e-01 -2.80069571e-01 -1.06059020e-01 3.66156613e+02] [ 2.79056195e-01 9.59960059e-01 -2.45830239e-02 6.63917674e+01] [ 1.08697380e-01 -6.14168993e-03 9.94055914e-01 3.87322965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.88509989299996 meters 0.057900722775746066 Centerline is valid? [True, True] Translation: X:366.21, Y:66.43, Z:38.74 [[ 9.54739689e-01 -2.78250695e-01 -1.05112690e-01 3.66207395e+02] [ 2.77244187e-01 9.60490492e-01 -2.43654542e-02 6.64348741e+01] [ 1.07739444e-01 -5.87921625e-03 9.94161781e-01 3.87416624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.94509989299996 meters 0.060279068600789146 Centerline is valid? [True, True] Translation: X:366.27, Y:66.45, Z:38.75 [[ 9.56375174e-01 -2.72558928e-01 -1.05157777e-01 3.66265261e+02] [ 2.71517255e-01 9.62124826e-01 -2.43762156e-02 6.64462204e+01] [ 1.07818863e-01 -5.23934368e-03 9.94156749e-01 3.87472120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.00509989299997 meters 0.06055640627316179 Centerline is valid? [True, True] Translation: X:366.32, Y:66.46, Z:38.75 [[ 9.58260789e-01 -2.65804888e-01 -1.05280684e-01 3.66322028e+02] [ 2.64719983e-01 9.64016426e-01 -2.44061755e-02 6.64624741e+01] [ 1.07979589e-01 -4.48241986e-03 9.94143006e-01 3.87525622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.06509989299997 meters 0.06183040685006937 Centerline is valid? [True, True] Translation: X:366.38, Y:66.48, Z:38.76 [[ 9.59539853e-01 -2.61106931e-01 -1.05387101e-01 3.66379607e+02] [ 2.59991500e-01 9.65301774e-01 -2.44316213e-02 6.64790031e+01] [ 1.08109621e-01 -3.95663620e-03 9.94131105e-01 3.87569776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.12509989299997 meters 0.05817640463793426 Centerline is valid? [True, True] Translation: X:366.43, Y:66.51, Z:38.76 [[ 9.61027847e-01 -2.55711131e-01 -1.05058528e-01 3.66433918e+02] [ 2.54570375e-01 9.66747474e-01 -2.43566154e-02 6.65090129e+01] [ 1.07793324e-01 -3.33740318e-03 9.94167723e-01 3.87639997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.185099893 meters 0.05722581742656946 Centerline is valid? [True, True] Translation: X:366.49, Y:66.53, Z:38.77 [[ 9.62680897e-01 -2.49433520e-01 -1.05016235e-01 3.66489336e+02] [ 2.48256462e-01 9.68388344e-01 -2.43463300e-02 6.65331779e+01] [ 1.07769289e-01 -2.63321217e-03 9.94172443e-01 3.87698406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.245099893 meters 0.05776100477362574 Centerline is valid? [True, True] Translation: X:366.55, Y:66.55, Z:38.77 [[ 9.64256435e-01 -2.43371360e-01 -1.04785060e-01 3.66545950e+02] [ 2.42163602e-01 9.69931225e-01 -2.42942026e-02 6.65491761e+01] [ 1.07546815e-01 -1.94928630e-03 9.94198111e-01 3.87749436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.305099893 meters 0.05690294262434457 Centerline is valid? [True, True] Translation: X:366.60, Y:66.57, Z:38.78 [[ 9.65841523e-01 -2.36915925e-01 -1.04980936e-01 3.66601927e+02] [ 2.35665441e-01 9.71529376e-01 -2.43407356e-02 6.65732739e+01] [ 1.07758771e-01 -1.23108547e-03 9.94176308e-01 3.87816582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.365099893 meters 0.056571221985883054 Centerline is valid? [True, True] Translation: X:366.66, Y:66.59, Z:38.79 [[ 9.66137124e-01 -2.35942082e-01 -1.04452816e-01 3.66657368e+02] [ 2.34698307e-01 9.71766480e-01 -2.42201138e-02 6.65924051e+01] [ 1.07218289e-01 -1.11494790e-03 9.94234879e-01 3.87893211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.425099893 meters 0.05703014583099716 Centerline is valid? [True, True] Translation: X:366.71, Y:66.60, Z:38.79 [[ 9.65329724e-01 -2.39206215e-01 -1.04493593e-01 3.66713961e+02] [ 2.37979742e-01 9.70967674e-01 -2.42367411e-02 6.66021988e+01] [ 1.07257480e-01 -1.47091166e-03 9.94230189e-01 3.87948399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.485099893 meters 0.05694756207887863 Centerline is valid? [True, True] Translation: X:366.77, Y:66.61, Z:38.80 [[ 9.64059262e-01 -2.44250314e-01 -1.04553922e-01 3.66774324e+02] [ 2.43051199e-01 9.69710100e-01 -2.42576882e-02 6.66087882e+01] [ 1.07311943e-01 -2.02610723e-03 9.94223336e-01 3.88007926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.545099893 meters 0.058642785733071426 Centerline is valid? [True, True] Translation: X:366.83, Y:66.61, Z:38.81 [[ 9.61399639e-01 -2.54162396e-01 -1.05414475e-01 3.66834184e+02] [ 2.53002263e-01 9.67156415e-01 -2.44606566e-02 6.66149537e+01] [ 1.08169264e-01 -3.15363422e-03 9.94127489e-01 3.88068374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.605099893 meters 0.058270133561690016 Centerline is valid? [True, True] Translation: X:366.89, Y:66.63, Z:38.81 [[ 9.59578193e-01 -2.61227508e-01 -1.04737195e-01 3.66891894e+02] [ 2.60124082e-01 9.65269287e-01 -2.43036325e-02 6.66299647e+01] [ 1.07448375e-01 -3.92343098e-03 9.94202924e-01 3.88143288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.665099893 meters 0.06101604900303936 Centerline is valid? [True, True] Translation: X:366.95, Y:66.63, Z:38.82 [[ 9.57906607e-01 -2.67196186e-01 -1.04981571e-01 3.66953402e+02] [ 2.66123207e-01 9.63631159e-01 -2.43603915e-02 6.66289382e+01] [ 1.07672517e-01 -4.60305246e-03 9.94175760e-01 3.88192593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.725099893 meters 0.05716359515696608 Centerline is valid? [True, True] Translation: X:367.01, Y:66.66, Z:38.83 [[ 9.56294918e-01 -2.72960583e-01 -1.04845363e-01 3.67008435e+02] [ 2.71924795e-01 9.62010922e-01 -2.43288138e-02 6.66571656e+01] [ 1.07503192e-01 -5.24453282e-03 9.94190907e-01 3.88260803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.78509989299994 meters 0.05932009325750025 Centerline is valid? [True, True] Translation: X:367.07, Y:66.66, Z:38.83 [[ 9.55864312e-01 -2.74481109e-01 -1.04802375e-01 3.67067511e+02] [ 2.73455352e-01 9.61577250e-01 -2.43179461e-02 6.66630896e+01] [ 1.07450396e-01 -5.41411339e-03 9.94195705e-01 3.88308757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.84509989299994 meters 0.05953050046431811 Centerline is valid? [True, True] Translation: X:367.12, Y:66.68, Z:38.84 [[ 9.55844151e-01 -2.74791025e-01 -1.04172221e-01 3.67123743e+02] [ 2.73779325e-01 9.61488726e-01 -2.41725214e-02 6.66776624e+01] [ 1.06802808e-01 -5.41503707e-03 9.94265476e-01 3.88371847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.90509989299994 meters 0.057770057222642085 Centerline is valid? [True, True] Translation: X:367.18, Y:66.70, Z:38.84 [[ 9.55648639e-01 -2.75263793e-01 -1.04716393e-01 3.67178728e+02] [ 2.74243134e-01 9.61353080e-01 -2.43096419e-02 6.67038394e+01] [ 1.07360991e-01 -5.48627545e-03 9.94204968e-01 3.88432845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.96509989299994 meters 0.062072968112842956 Centerline is valid? [True, True] Translation: X:367.24, Y:66.70, Z:38.85 [[ 9.54534724e-01 -2.78473279e-01 -1.06377134e-01 3.67240261e+02] [ 2.77439538e-01 9.60425614e-01 -2.46970086e-02 6.67018600e+01] [ 1.09044782e-01 -5.93907070e-03 9.94019096e-01 3.88471640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.02509989299995 meters 0.05647560391510143 Centerline is valid? [True, True] Translation: X:367.29, Y:66.73, Z:38.85 [[ 9.53286030e-01 -2.82456475e-01 -1.07070470e-01 3.67294631e+02] [ 2.81434039e-01 9.59258527e-01 -2.48588095e-02 6.67339547e+01] [ 1.09729793e-01 -6.43571896e-03 9.93940619e-01 3.88544057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.08509989299995 meters 0.05466967426660221 Centerline is valid? [True, True] Translation: X:367.35, Y:66.76, Z:38.86 [[ 9.51443634e-01 -2.88710377e-01 -1.06777004e-01 3.67350365e+02] [ 2.87732542e-01 9.57389886e-01 -2.47909186e-02 6.67592411e+01] [ 1.09384619e-01 -7.13605700e-03 9.93973884e-01 3.88610064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.14509989299995 meters 0.05592987543678284 Centerline is valid? [True, True] Translation: X:367.41, Y:66.77, Z:38.87 [[ 9.50555984e-01 -2.91403365e-01 -1.07365734e-01 3.67409476e+02] [ 2.90431793e-01 9.56570965e-01 -2.49271325e-02 6.67698102e+01] [ 1.09966795e-01 -7.48778780e-03 9.93907057e-01 3.88669517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.20509989299995 meters 0.054565459088244485 Centerline is valid? [True, True] Translation: X:367.47, Y:66.79, Z:38.87 [[ 9.50320279e-01 -2.92481391e-01 -1.06517617e-01 3.67466447e+02] [ 2.91531908e-01 9.56241391e-01 -2.47294980e-02 6.67909614e+01] [ 1.09089472e-01 -7.55234077e-03 9.94003244e-01 3.88744151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.26509989299996 meters 0.05649021107039491 Centerline is valid? [True, True] Translation: X:367.52, Y:66.80, Z:38.88 [[ 9.51052005e-01 -2.90548659e-01 -1.05268991e-01 3.67524604e+02] [ 2.89609788e-01 9.56832785e-01 -2.44375208e-02 6.68008806e+01] [ 1.07825111e-01 -7.24557704e-03 9.94143474e-01 3.88811337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.32509989299996 meters 0.056228159040381594 Centerline is valid? [True, True] Translation: X:367.58, Y:66.82, Z:38.89 [[ 9.52368443e-01 -2.86576047e-01 -1.04252187e-01 3.67581720e+02] [ 2.85631486e-01 9.58033873e-01 -2.42023337e-02 6.68198751e+01] [ 1.06812936e-01 -6.72816835e-03 9.94256370e-01 3.88887831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.38509989299996 meters 0.06562084081380952 Centerline is valid? [True, True] Translation: X:367.64, Y:66.81, Z:38.90 [[ 9.55473572e-01 -2.76623112e-01 -1.02712742e-01 3.67643670e+02] [ 2.75648935e-01 9.60962580e-01 -2.38450139e-02 6.68138194e+01] [ 1.05299184e-01 -5.52937739e-03 9.94425215e-01 3.88956283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.44509989299996 meters 0.05706972238745113 Centerline is valid? [True, True] Translation: X:367.70, Y:66.86, Z:38.90 [[ 9.58992781e-01 -2.64147866e-01 -1.02755779e-01 3.67695830e+02] [ 2.63101245e-01 9.64473235e-01 -2.38561036e-02 6.68570671e+01] [ 1.05406737e-01 -4.15734212e-03 9.94420503e-01 3.89014829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.50509989299997 meters 0.056378471601106796 Centerline is valid? [True, True] Translation: X:367.75, Y:66.88, Z:38.91 [[ 9.61161402e-01 -2.55863279e-01 -1.03454058e-01 3.67752856e+02] [ 2.54754359e-01 9.66707451e-01 -2.40191784e-02 6.68789973e+01] [ 1.06155434e-01 -3.26906501e-03 9.94344174e-01 3.89071322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.56509989299997 meters 0.05626229294547374 Centerline is valid? [True, True] Translation: X:367.81, Y:66.90, Z:38.91 [[ 9.62984518e-01 -2.48801875e-01 -1.03722923e-01 3.67809023e+02] [ 2.47646270e-01 9.68551184e-01 -2.40817182e-02 6.68978043e+01] [ 1.06452537e-01 -2.49627330e-03 9.94314651e-01 3.89128673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.62509989299997 meters 0.05496402590888726 Centerline is valid? [True, True] Translation: X:367.86, Y:66.92, Z:38.92 [[ 9.65445648e-01 -2.39332628e-01 -1.03124165e-01 3.67864406e+02] [ 2.38136331e-01 9.70936565e-01 -2.39431315e-02 6.69248455e+01] [ 1.05857395e-01 -1.44181819e-03 9.94380276e-01 3.89198713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.685099893 meters 0.05526923873021316 Centerline is valid? [True, True] Translation: X:367.92, Y:66.94, Z:38.93 [[ 9.66712977e-01 -2.33811325e-01 -1.03914791e-01 3.67920192e+02] [ 2.32564749e-01 9.72281622e-01 -2.41264284e-02 6.69449996e+01] [ 1.06675473e-01 -8.43585820e-04 9.94293534e-01 3.89260582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.745099893 meters 0.05565904884527576 Centerline is valid? [True, True] Translation: X:367.98, Y:66.96, Z:38.93 [[ 9.68038064e-01 -2.28265493e-01 -1.03909434e-01 3.67977567e+02] [ 2.26986964e-01 9.73598897e-01 -2.41268913e-02 6.69617883e+01] [ 1.06673447e-01 -2.30337757e-04 9.94294083e-01 3.89311780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.805099893 meters 0.05532105205489856 Centerline is valid? [True, True] Translation: X:368.03, Y:66.98, Z:38.94 [[ 9.68362421e-01 -2.26687998e-01 -1.04339703e-01 3.68033476e+02] [ 2.25389579e-01 9.73967427e-01 -2.42278622e-02 6.69758120e+01] [ 1.07115638e-01 -5.57305315e-05 9.94246567e-01 3.89367286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.865099893 meters 0.05517433063597482 Centerline is valid? [True, True] Translation: X:368.09, Y:66.99, Z:38.94 [[ 9.68031492e-01 -2.27938404e-01 -1.04685787e-01 3.68089266e+02] [ 2.26637663e-01 9.73675536e-01 -2.43170742e-02 6.69866744e+01] [ 1.07472785e-01 -1.86048504e-04 9.94208009e-01 3.89427369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.925099893 meters 0.05477229326919391 Centerline is valid? [True, True] Translation: X:368.15, Y:67.00, Z:38.95 [[ 9.67230869e-01 -2.31627689e-01 -1.03985862e-01 3.68146581e+02] [ 2.30364532e-01 9.72804335e-01 -2.41641766e-02 6.69964216e+01] [ 1.06754989e-01 -5.82316840e-04 9.94285187e-01 3.89497358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.985099893 meters 0.05633589301346754 Centerline is valid? [True, True] Translation: X:368.21, Y:67.00, Z:38.96 [[ 9.65524413e-01 -2.39310754e-01 -1.02435207e-01 3.68206681e+02] [ 2.38126921e-01 9.70942021e-01 -2.38151737e-02 6.69985095e+01] [ 1.05157874e-01 -1.39844887e-03 9.94454557e-01 3.89566868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.045099893 meters 0.05554320264088072 Centerline is valid? [True, True] Translation: X:368.26, Y:67.01, Z:38.96 [[ 9.64854488e-01 -2.42089526e-01 -1.02217796e-01 3.68264667e+02] [ 2.40926257e-01 9.70252431e-01 -2.37646498e-02 6.70096995e+01] [ 1.04930238e-01 -1.69752202e-03 9.94478136e-01 3.89629499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.105099893 meters 0.05611150643661212 Centerline is valid? [True, True] Translation: X:368.33, Y:67.01, Z:38.97 [[ 9.63077412e-01 -2.49127116e-01 -1.02066537e-01 3.68325734e+02] [ 2.48006356e-01 9.68467677e-01 -2.37319706e-02 6.70137826e+01] [ 1.04760419e-01 -2.45742497e-03 9.94494452e-01 3.89688712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.165099893 meters 0.0554190581289318 Centerline is valid? [True, True] Translation: X:368.39, Y:67.03, Z:38.98 [[ 9.62427563e-01 -2.51681685e-01 -1.01928972e-01 3.68385131e+02] [ 2.50578221e-01 9.67806214e-01 -2.36999569e-02 6.70272413e+01] [ 1.04612337e-01 -2.73168863e-03 9.94509325e-01 3.89752638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.22509989299994 meters 0.05616852428339349 Centerline is valid? [True, True] Translation: X:368.44, Y:67.03, Z:38.98 [[ 9.62299733e-01 -2.51756237e-01 -1.02946693e-01 3.68444222e+02] [ 2.50631190e-01 9.67786717e-01 -2.39348592e-02 6.70339954e+01] [ 1.05656192e-01 -2.76914357e-03 9.94398864e-01 3.89803497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.28509989299994 meters 0.05600701531985945 Centerline is valid? [True, True] Translation: X:368.50, Y:67.04, Z:38.99 [[ 9.62668659e-01 -2.50047142e-01 -1.03660407e-01 3.68501728e+02] [ 2.48896428e-01 9.68230176e-01 -2.41017593e-02 6.70422321e+01] [ 1.06393711e-01 -2.59869679e-03 9.94320685e-01 3.89852627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.34509989299994 meters 0.05606323153162045 Centerline is valid? [True, True] Translation: X:368.56, Y:67.06, Z:38.99 [[ 9.63760235e-01 -2.45557471e-01 -1.04248441e-01 3.68559975e+02] [ 2.44366972e-01 9.69379736e-01 -2.42427214e-02 6.70558110e+01] [ 1.07009307e-01 -2.11070499e-03 9.94255778e-01 3.89906587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.40509989299994 meters 0.05579803683332871 Centerline is valid? [True, True] Translation: X:368.62, Y:67.07, Z:39.00 [[ 9.64869449e-01 -2.41233379e-01 -1.04083637e-01 3.68616685e+02] [ 2.40021350e-01 9.70465770e-01 -2.42062025e-02 6.70729528e+01] [ 1.06848951e-01 -1.62646976e-03 9.94273934e-01 3.89972631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.46509989299994 meters 0.05593329407860574 Centerline is valid? [True, True] Translation: X:368.67, Y:67.08, Z:39.00 [[ 9.65357815e-01 -2.38980460e-01 -1.04750314e-01 3.68673032e+02] [ 2.37739380e-01 9.71023390e-01 -2.43631496e-02 6.70833155e+01] [ 1.07537322e-01 -1.38411793e-03 9.94200085e-01 3.90023248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.52509989299995 meters 0.055959611547169864 Centerline is valid? [True, True] Translation: X:368.73, Y:67.10, Z:39.01 [[ 9.65586174e-01 -2.37571638e-01 -1.05844497e-01 3.68728215e+02] [ 2.36295485e-01 9.71369235e-01 -2.46222261e-02 6.70979850e+01] [ 1.08663631e-01 -1.23569566e-03 9.94077808e-01 3.90087824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.58509989299995 meters 0.05604788276727551 Centerline is valid? [True, True] Translation: X:368.79, Y:67.11, Z:39.02 [[ 9.65502917e-01 -2.38159872e-01 -1.05280541e-01 3.68786449e+02] [ 2.36900310e-01 9.71225108e-01 -2.44955752e-02 6.71062596e+01] [ 1.08084968e-01 -1.29044349e-03 9.94140822e-01 3.90151485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.64509989299995 meters 0.05584361474785172 Centerline is valid? [True, True] Translation: X:368.84, Y:67.12, Z:39.02 [[ 9.65115444e-01 -2.39940650e-01 -1.04788669e-01 3.68843893e+02] [ 2.38702169e-01 9.70786442e-01 -2.43917630e-02 6.71152384e+01] [ 1.07579995e-01 -1.47241547e-03 9.94195341e-01 3.90213737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.70509989299995 meters 0.055921423112498626 Centerline is valid? [True, True] Translation: X:368.90, Y:67.12, Z:39.03 [[ 9.63760872e-01 -2.44575111e-01 -1.06526977e-01 3.68903057e+02] [ 2.43321977e-01 9.69628264e-01 -2.48081674e-02 6.71242796e+01] [ 1.09359029e-01 -2.01121376e-03 9.94000281e-01 3.90265774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.76509989299996 meters 0.05596151378250701 Centerline is valid? [True, True] Translation: X:368.96, Y:67.13, Z:39.03 [[ 9.62696424e-01 -2.48434931e-01 -1.07217906e-01 3.68963004e+02] [ 2.47189161e-01 9.68645452e-01 -2.49701297e-02 6.71322304e+01] [ 1.10059589e-01 -2.46444952e-03 9.93921935e-01 3.90316879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.82509989299996 meters 0.05665615404379721 Centerline is valid? [True, True] Translation: X:369.02, Y:67.14, Z:39.04 [[ 9.61433181e-01 -2.53752683e-01 -1.06093418e-01 3.69021486e+02] [ 2.52565179e-01 9.67264355e-01 -2.47082436e-02 6.71405341e+01] [ 1.08890165e-01 -3.04017794e-03 9.94049138e-01 3.90386620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.88509989299996 meters 0.056676740984711635 Centerline is valid? [True, True] Translation: X:369.08, Y:67.15, Z:39.05 [[ 9.60797686e-01 -2.56534598e-01 -1.05156101e-01 3.69081217e+02] [ 2.55384605e-01 9.66529328e-01 -2.44900172e-02 6.71491392e+01] [ 1.07918993e-01 -3.32529763e-03 9.94154130e-01 3.90455295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.94509989299996 meters 0.05747811840920716 Centerline is valid? [True, True] Translation: X:369.14, Y:67.16, Z:39.05 [[ 9.60209878e-01 -2.59508894e-01 -1.03209132e-01 3.69138753e+02] [ 2.58417931e-01 9.65734053e-01 -2.40397907e-02 6.71601795e+01] [ 1.05911113e-01 -3.58784588e-03 9.94369128e-01 3.90535832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.00509989299997 meters 0.05486179924723271 Centerline is valid? [True, True] Translation: X:369.19, Y:67.19, Z:39.06 [[ 9.60026602e-01 -2.60561973e-01 -1.02256455e-01 3.69192493e+02] [ 2.59496947e-01 9.65450154e-01 -2.38187899e-02 6.71854802e+01] [ 1.04929781e-01 -3.66856587e-03 9.94472867e-01 3.90606402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.06509989299997 meters 0.05794215283973732 Centerline is valid? [True, True] Translation: X:369.25, Y:67.18, Z:39.07 [[ 9.59815846e-01 -2.61394648e-01 -1.02109648e-01 3.69252796e+02] [ 2.60336198e-01 9.65224754e-01 -2.37957544e-02 6.71825078e+01] [ 1.04778843e-01 -3.74329537e-03 9.94488503e-01 3.90662494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.12509989299997 meters 0.05762311834572065 Centerline is valid? [True, True] Translation: X:369.31, Y:67.20, Z:39.07 [[ 9.59493852e-01 -2.62272546e-01 -1.02881776e-01 3.69309531e+02] [ 2.61201808e-01 9.64986131e-01 -2.39871532e-02 6.71971319e+01] [ 1.05570658e-01 -3.85737978e-03 9.94404323e-01 3.90711981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.185099893 meters 0.060515164203069266 Centerline is valid? [True, True] Translation: X:369.37, Y:67.20, Z:39.08 [[ 9.58793188e-01 -2.64203754e-01 -1.04460515e-01 3.69369515e+02] [ 2.63110082e-01 9.64458076e-01 -2.43660465e-02 6.72016167e+01] [ 1.07185388e-01 -4.12261515e-03 9.94230505e-01 3.90759935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.245099893 meters 0.05685028653386269 Centerline is valid? [True, True] Translation: X:369.42, Y:67.23, Z:39.08 [[ 9.58099782e-01 -2.66344871e-01 -1.05381299e-01 3.69424849e+02] [ 2.65244589e-01 9.63867755e-01 -2.45816820e-02 6.72275757e+01] [ 1.08120841e-01 -4.40011514e-03 9.94128021e-01 3.90831244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.305099893 meters 0.05563967956976811 Centerline is valid? [True, True] Translation: X:369.48, Y:67.25, Z:39.09 [[ 9.57153963e-01 -2.68984137e-01 -1.07255887e-01 3.69482008e+02] [ 2.67860680e-01 9.63132736e-01 -2.50197588e-02 6.72463702e+01] [ 1.10031574e-01 -4.78187360e-03 9.93916589e-01 3.90882118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.365099893 meters 0.060284407108736525 Centerline is valid? [True, True] Translation: X:369.54, Y:67.24, Z:39.09 [[ 9.56978004e-01 -2.69423227e-01 -1.07722904e-01 3.69542396e+02] [ 2.68292753e-01 9.63009638e-01 -2.51283700e-02 6.72434643e+01] [ 1.10508362e-01 -4.85397716e-03 9.93863341e-01 3.90909097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.425099893 meters 0.05948075875167488 Centerline is valid? [True, True] Translation: X:369.60, Y:67.26, Z:39.10 [[ 9.57012507e-01 -2.69624567e-01 -1.06909557e-01 3.69596820e+02] [ 2.68511568e-01 9.62953393e-01 -2.49459743e-02 6.72617426e+01] [ 1.09674968e-01 -4.83284342e-03 9.93955756e-01 3.90983533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.485099893 meters 0.07527639046798336 Centerline is valid? [True, True] Translation: X:369.66, Y:67.24, Z:39.10 [[ 9.57127786e-01 -2.69246731e-01 -1.06829764e-01 3.69661538e+02] [ 2.68131552e-01 9.63059406e-01 -2.49409736e-02 6.72442074e+01] [ 1.09598685e-01 -4.77273151e-03 9.93964461e-01 3.91009835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.545099893 meters 0.05567660314105268 Centerline is valid? [True, True] Translation: X:369.71, Y:67.31, Z:39.11 [[ 9.56946599e-01 -2.70788808e-01 -1.04530515e-01 3.69706388e+02] [ 2.69729137e-01 9.62626659e-01 -2.44153149e-02 6.73083235e+01] [ 1.07235254e-01 -4.83077303e-03 9.94221939e-01 3.91146179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.605099893 meters 0.057836092609592854 Centerline is valid? [True, True] Translation: X:369.76, Y:67.32, Z:39.12 [[ 9.56674669e-01 -2.71882690e-01 -1.04179557e-01 3.69764723e+02] [ 2.70836393e-01 9.62317749e-01 -2.43351134e-02 6.73152991e+01] [ 1.06870133e-01 -4.93482901e-03 9.94260742e-01 3.91205085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.665099893 meters 0.05581402324189056 Centerline is valid? [True, True] Translation: X:369.82, Y:67.34, Z:39.13 [[ 9.56105659e-01 -2.73850542e-01 -1.04248975e-01 3.69821068e+02] [ 2.72814207e-01 9.61758441e-01 -2.43538403e-02 6.73405688e+01] [ 1.06931644e-01 -5.15575692e-03 9.94253007e-01 3.91269778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.72509989299994 meters 0.05806077292348281 Centerline is valid? [True, True] Translation: X:369.88, Y:67.35, Z:39.13 [[ 9.55913972e-01 -2.74130375e-01 -1.05266401e-01 3.69878538e+02] [ 2.73075535e-01 9.61678264e-01 -2.45900282e-02 6.73477704e+01] [ 1.07973283e-01 -5.23972721e-03 9.94139988e-01 3.91316338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.78509989299994 meters 0.06011895295517089 Centerline is valid? [True, True] Translation: X:369.94, Y:67.36, Z:39.14 [[ 9.56049743e-01 -2.73279964e-01 -1.06240056e-01 3.69935626e+02] [ 2.72199782e-01 9.61920553e-01 -2.48219268e-02 6.73599619e+01] [ 1.08977828e-01 -5.18752319e-03 9.94030645e-01 3.91366707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.84509989299994 meters 0.05690703084802487 Centerline is valid? [True, True] Translation: X:369.99, Y:67.39, Z:39.14 [[ 9.56982324e-01 -2.70096296e-01 -1.05985006e-01 3.69990153e+02] [ 2.69001507e-01 9.62821300e-01 -2.47655768e-02 6.73903741e+01] [ 1.08733711e-01 -4.80990692e-03 9.94059276e-01 3.91442073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.90509989299994 meters 0.05631572973811726 Centerline is valid? [True, True] Translation: X:370.05, Y:67.41, Z:39.15 [[ 9.57927916e-01 -2.66777687e-01 -1.05847881e-01 3.70047033e+02] [ 2.65665344e-01 9.63747935e-01 -2.47354604e-02 6.74071877e+01] [ 1.08609546e-01 -4.42532577e-03 9.94074637e-01 3.91504335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.96509989299994 meters 0.05438675896275971 Centerline is valid? [True, True] Translation: X:370.10, Y:67.44, Z:39.16 [[ 9.58449843e-01 -2.64974381e-01 -1.05652616e-01 3.70103102e+02] [ 2.63855047e-01 9.64246256e-01 -2.46915401e-02 6.74355992e+01] [ 1.08417765e-01 -4.21137317e-03 9.94096501e-01 3.91579754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.02509989299995 meters 0.055075025127353294 Centerline is valid? [True, True] Translation: X:370.16, Y:67.45, Z:39.16 [[ 9.60080896e-01 -2.59364077e-01 -1.04761390e-01 3.70161403e+02] [ 2.58230653e-01 9.65773096e-01 -2.44797390e-02 6.74490388e+01] [ 1.07524897e-01 -3.55007240e-03 9.94196054e-01 3.91632738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.08509989299995 meters 0.056062518522232624 Centerline is valid? [True, True] Translation: X:370.22, Y:67.46, Z:39.17 [[ 9.60972287e-01 -2.56367519e-01 -1.03961329e-01 3.70218845e+02] [ 2.55233880e-01 9.66574116e-01 -2.42929083e-02 6.74628496e+01] [ 1.06714242e-01 -3.18964166e-03 9.94284616e-01 3.91695899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.14509989299995 meters 0.054271861597056964 Centerline is valid? [True, True] Translation: X:370.27, Y:67.49, Z:39.18 [[ 9.62140261e-01 -2.52515188e-01 -1.02577768e-01 3.70274131e+02] [ 2.51389616e-01 9.67589097e-01 -2.39708137e-02 6.74905211e+01] [ 1.05306125e-01 -2.72370084e-03 9.94436122e-01 3.91760587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.20509989299995 meters 0.05408229835256971 Centerline is valid? [True, True] Translation: X:370.33, Y:67.50, Z:39.18 [[ 9.62918308e-01 -2.49290260e-01 -1.03163460e-01 3.70331560e+02] [ 2.48133463e-01 9.68425874e-01 -2.41062467e-02 6.75048526e+01] [ 1.05915616e-01 -2.38596018e-03 9.94372259e-01 3.91812162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.26509989299996 meters 0.05436032287676234 Centerline is valid? [True, True] Translation: X:370.39, Y:67.52, Z:39.19 [[ 9.64383853e-01 -2.43314441e-01 -1.03739417e-01 3.70388850e+02] [ 2.42110050e-01 9.69945907e-01 -2.42417323e-02 6.75214726e+01] [ 1.06519986e-01 -1.73802018e-03 9.94309042e-01 3.91856390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.32509989299996 meters 0.05395403685581936 Centerline is valid? [True, True] Translation: X:370.45, Y:67.54, Z:39.19 [[ 9.65708573e-01 -2.38289243e-01 -1.03078559e-01 3.70447330e+02] [ 2.37071546e-01 9.71193521e-01 -2.40878961e-02 6.75420511e+01] [ 1.05849115e-01 -1.17510547e-03 9.94381508e-01 3.91918965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.38509989299996 meters 0.054060145658875035 Centerline is valid? [True, True] Translation: X:370.50, Y:67.56, Z:39.20 [[ 9.67726983e-01 -2.30440528e-01 -1.01988479e-01 3.70504785e+02] [ 2.29205241e-01 9.73086360e-01 -2.38305210e-02 6.75594292e+01] [ 1.04735115e-01 -3.14855551e-04 9.94500104e-01 3.91981113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.44509989299996 meters 0.054335445330550805 Centerline is valid? [True, True] Translation: X:370.56, Y:67.57, Z:39.20 [[ 9.68681264e-01 -2.26935492e-01 -1.00781402e-01 3.70563988e+02] [ 2.25710504e-01 9.73909790e-01 -2.35476078e-02 6.75748369e+01] [ 1.03495782e-01 6.27056074e-05 9.94629891e-01 3.92046426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.50509989299997 meters 0.053789004315242604 Centerline is valid? [True, True] Translation: X:370.62, Y:67.59, Z:39.21 [[ 9.68894406e-01 -2.26082238e-01 -1.00650143e-01 3.70622190e+02] [ 2.24856023e-01 9.74108207e-01 -2.35153152e-02 6.75855708e+01] [ 1.03360526e-01 1.52066313e-04 9.94643946e-01 3.92093460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.56509989299997 meters 0.05419405478113929 Centerline is valid? [True, True] Translation: X:370.68, Y:67.59, Z:39.21 [[ 9.67810203e-01 -2.30475513e-01 -1.01116013e-01 3.70683704e+02] [ 2.29261693e-01 9.73078073e-01 -2.36249737e-02 6.75930607e+01] [ 1.03838753e-01 -3.17537663e-04 9.94594094e-01 3.92137366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.62509989299997 meters 0.05461492925294101 Centerline is valid? [True, True] Translation: X:370.74, Y:67.60, Z:39.22 [[ 9.66509983e-01 -2.35570980e-01 -1.01807497e-01 3.70742984e+02] [ 2.34368886e-01 9.71856754e-01 -2.37839021e-02 6.75988555e+01] [ 1.04545101e-01 -8.73131016e-04 9.94519763e-01 3.92191235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.685099893 meters 0.05443916010873382 Centerline is valid? [True, True] Translation: X:370.80, Y:67.60, Z:39.22 [[ 9.64079685e-01 -2.45084922e-01 -1.02390148e-01 3.70804508e+02] [ 2.43922265e-01 9.69499726e-01 -2.39208977e-02 6.76018357e+01] [ 1.05129872e-01 -1.91358541e-03 9.94456660e-01 3.92239992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.745099893 meters 0.05497740145102622 Centerline is valid? [True, True] Translation: X:370.87, Y:67.61, Z:39.23 [[ 9.62557925e-01 -2.50984145e-01 -1.02416793e-01 3.70865089e+02] [ 2.49854106e-01 9.67987818e-01 -2.39271810e-02 6.76087442e+01] [ 1.05143551e-01 -2.55795869e-03 9.94453765e-01 3.92297977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.805099893 meters 0.05592666955004986 Centerline is valid? [True, True] Translation: X:370.92, Y:67.61, Z:39.24 [[ 9.61156051e-01 -2.56506077e-01 -1.01900335e-01 3.70924640e+02] [ 2.55418299e-01 9.66537500e-01 -2.38065823e-02 6.76140926e+01] [ 1.04597029e-01 -3.14536973e-03 9.94509713e-01 3.92351603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.865099893 meters 0.05807721341259646 Centerline is valid? [True, True] Translation: X:370.99, Y:67.61, Z:39.24 [[ 9.59484275e-01 -2.63222663e-01 -1.00517440e-01 3.70986136e+02] [ 2.62200880e-01 9.64727532e-01 -2.34837670e-02 6.76126998e+01] [ 1.03153402e-01 -3.82345621e-03 9.94658111e-01 3.92421048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.925099893 meters 0.056091909839659684 Centerline is valid? [True, True] Translation: X:371.04, Y:67.63, Z:39.25 [[ 9.58498734e-01 -2.67707416e-01 -9.80454782e-02 3.71043427e+02] [ 2.66758671e-01 9.63491105e-01 -2.29063624e-02 6.76309126e+01] [ 1.00598149e-01 -4.19876214e-03 9.94918279e-01 3.92490839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.985099893 meters 0.056375663780424 Centerline is valid? [True, True] Translation: X:371.10, Y:67.64, Z:39.26 [[ 9.57080165e-01 -2.72689636e-01 -9.81729134e-02 3.71102628e+02] [ 2.71764479e-01 9.62090435e-01 -2.29360458e-02 6.76402680e+01] [ 1.00705643e-01 -4.72827618e-03 9.94905029e-01 3.92554388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.045099893 meters 0.059915359011313105 Centerline is valid? [True, True] Translation: X:371.16, Y:67.64, Z:39.26 [[ 9.56319912e-01 -2.74928798e-01 -9.93296633e-02 3.71163689e+02] [ 2.73993651e-01 9.61451470e-01 -2.32066919e-02 6.76383234e+01] [ 1.01880839e-01 -5.02267556e-03 9.94783930e-01 3.92611261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.105099893 meters 0.056501807878074815 Centerline is valid? [True, True] Translation: X:371.22, Y:67.66, Z:39.27 [[ 9.55799528e-01 -2.76460182e-01 -1.00085115e-01 3.71220130e+02] [ 2.75519078e-01 9.61011166e-01 -2.33832657e-02 6.76600014e+01] [ 1.02647455e-01 -5.22564438e-03 9.94704073e-01 3.92652062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.165099893 meters 0.056607626940285045 Centerline is valid? [True, True] Translation: X:371.28, Y:67.67, Z:39.27 [[ 9.56404693e-01 -2.73809162e-01 -1.01580544e-01 3.71278368e+02] [ 2.72824723e-01 9.61770967e-01 -2.37334530e-02 6.76742847e+01] [ 1.04195655e-01 -5.01489796e-03 9.94544175e-01 3.92696871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.22509989299994 meters 0.05577686827305946 Centerline is valid? [True, True] Translation: X:371.34, Y:67.69, Z:39.28 [[ 9.57537987e-01 -2.69516552e-01 -1.02380815e-01 3.71335228e+02] [ 2.68492148e-01 9.62984845e-01 -2.39197547e-02 6.76937377e+01] [ 1.05037943e-01 -4.58437109e-03 9.94457648e-01 3.92755288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.28509989299994 meters 0.0542285121073762 Centerline is valid? [True, True] Translation: X:371.39, Y:67.72, Z:39.28 [[ 9.60039527e-01 -2.60320931e-01 -1.02747841e-01 3.71390903e+02] [ 2.59236504e-01 9.65515475e-01 -2.40063095e-02 6.77210102e+01] [ 1.05453975e-01 -3.58898494e-03 9.94417708e-01 3.92820506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.34509989299994 meters 0.05461316284705046 Centerline is valid? [True, True] Translation: X:371.45, Y:67.73, Z:39.29 [[ 9.61947709e-01 -2.53311269e-01 -1.02420730e-01 3.71448917e+02] [ 2.52194117e-01 9.67380742e-01 -2.39296239e-02 6.77349687e+01] [ 1.05141485e-01 -2.81085872e-03 9.94453301e-01 3.92891717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.40509989299994 meters 0.054662180567047254 Centerline is valid? [True, True] Translation: X:371.51, Y:67.75, Z:39.30 [[ 9.63821933e-01 -2.46520061e-01 -1.01366369e-01 3.71505625e+02] [ 2.45388416e-01 9.69135524e-01 -2.36825168e-02 6.77514591e+01] [ 1.04075965e-01 -2.04840376e-03 9.94567241e-01 3.92962626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.46509989299994 meters 0.054933317912306205 Centerline is valid? [True, True] Translation: X:371.56, Y:67.77, Z:39.30 [[ 9.65889584e-01 -2.38602241e-01 -1.00629434e-01 3.71561932e+02] [ 2.37443960e-01 9.71116661e-01 -2.35116453e-02 6.77690892e+01] [ 1.03332851e-01 -1.18419802e-03 9.94646128e-01 3.93038148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.52509989299995 meters 0.054155914084174916 Centerline is valid? [True, True] Translation: X:371.62, Y:67.79, Z:39.31 [[ 9.66597346e-01 -2.35469834e-01 -1.01210312e-01 3.71620615e+02] [ 2.34280866e-01 9.71881284e-01 -2.36483845e-02 6.77894187e+01] [ 1.03932889e-01 -8.53173934e-04 9.94583947e-01 3.93096280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.58509989299995 meters 0.054327212467503015 Centerline is valid? [True, True] Translation: X:371.68, Y:67.80, Z:39.31 [[ 9.66774181e-01 -2.34128939e-01 -1.02622229e-01 3.71678678e+02] [ 2.32899303e-01 9.72205286e-01 -2.39749145e-02 6.78023878e+01] [ 1.05383095e-01 -7.22317352e-04 9.94431436e-01 3.93148643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.64509989299995 meters 0.054912257914073725 Centerline is valid? [True, True] Translation: X:371.74, Y:67.81, Z:39.32 [[ 9.66284574e-01 -2.35494820e-01 -1.04097611e-01 3.71736848e+02] [ 2.34236939e-01 9.71875206e-01 -2.43236655e-02 6.78137995e+01] [ 1.06897984e-01 -8.79922929e-04 9.94269605e-01 3.93208465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.70509989299995 meters 0.05464831512339587 Centerline is valid? [True, True] Translation: X:371.79, Y:67.82, Z:39.33 [[ 9.65882477e-01 -2.36885701e-01 -1.04671890e-01 3.71794980e+02] [ 2.35621796e-01 9.71536972e-01 -2.44597880e-02 6.78233709e+01] [ 1.07486785e-01 -1.03769815e-03 9.94205972e-01 3.93268085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.76509989299996 meters 0.05473294791975802 Centerline is valid? [True, True] Translation: X:371.85, Y:67.83, Z:39.33 [[ 9.65420772e-01 -2.38794526e-01 -1.04594017e-01 3.71852528e+02] [ 2.37543334e-01 9.71069319e-01 -2.44446984e-02 6.78349273e+01] [ 1.07405301e-01 -1.24619175e-03 9.94214538e-01 3.93337149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.82509989299996 meters 0.054647107950760866 Centerline is valid? [True, True] Translation: X:371.91, Y:67.85, Z:39.34 [[ 9.65018482e-01 -2.40610658e-01 -1.04143366e-01 3.71908885e+02] [ 2.39379443e-01 9.70620661e-01 -2.43519006e-02 6.78452207e+01] [ 1.06943029e-01 -1.42974664e-03 9.94264122e-01 3.93402151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.88509989299996 meters 0.05442828749317445 Centerline is valid? [True, True] Translation: X:371.97, Y:67.85, Z:39.35 [[ 9.64596712e-01 -2.42434510e-01 -1.03820480e-01 3.71965754e+02] [ 2.41220980e-01 9.70166417e-01 -2.42809155e-02 6.78529075e+01] [ 1.06609675e-01 -1.62238673e-03 9.94299625e-01 3.93462939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.94509989299996 meters 0.05555483656024214 Centerline is valid? [True, True] Translation: X:372.02, Y:67.86, Z:39.35 [[ 9.64063777e-01 -2.44514099e-01 -1.03893640e-01 3.72023270e+02] [ 2.43310386e-01 9.69643974e-01 -2.43026722e-02 6.78634653e+01] [ 1.06682188e-01 -1.84907558e-03 9.94291452e-01 3.93523191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.00509989299997 meters 0.054629601655643095 Centerline is valid? [True, True] Translation: X:372.08, Y:67.88, Z:39.36 [[ 9.62955045e-01 -2.48542171e-01 -1.04615348e-01 3.72081599e+02] [ 2.47344098e-01 9.68618345e-01 -2.44826360e-02 6.78766381e+01] [ 1.07417313e-01 -2.30031100e-03 9.94211361e-01 3.93598349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.06509989299997 meters 0.055590132075341206 Centerline is valid? [True, True] Translation: X:372.14, Y:67.88, Z:39.36 [[ 9.61573596e-01 -2.53603707e-01 -1.05173089e-01 3.72141876e+02] [ 2.52422800e-01 9.67303917e-01 -2.46142772e-02 6.78776068e+01] [ 1.07976613e-01 -2.87964661e-03 9.94149264e-01 3.93646608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.12509989299997 meters 0.05574734839044152 Centerline is valid? [True, True] Translation: X:372.20, Y:67.89, Z:39.37 [[ 9.60741806e-01 -2.56626530e-01 -1.05441957e-01 3.72201076e+02] [ 2.55457570e-01 9.66505258e-01 -2.46782578e-02 6.78858300e+01] [ 1.08243301e-01 -3.22651205e-03 9.94119197e-01 3.93706484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.185099893 meters 0.05555551438689373 Centerline is valid? [True, True] Translation: X:372.26, Y:67.90, Z:39.38 [[ 9.59978991e-01 -2.59393988e-01 -1.05617688e-01 3.72259963e+02] [ 2.58237697e-01 9.65765086e-01 -2.47202297e-02 6.78976831e+01] [ 1.08414154e-01 -3.54356732e-03 9.94099499e-01 3.93767691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.245099893 meters 0.05905324056517057 Centerline is valid? [True, True] Translation: X:372.32, Y:67.89, Z:39.38 [[ 9.59799895e-01 -2.60015327e-01 -1.05717508e-01 3.72320284e+02] [ 2.58860576e-01 9.65597715e-01 -2.47437875e-02 6.78930241e+01] [ 1.08514348e-01 -3.61701038e-03 9.94088303e-01 3.93805315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.305099893 meters 0.055314163470475394 Centerline is valid? [True, True] Translation: X:372.38, Y:67.92, Z:39.39 [[ 9.59091970e-01 -2.62337478e-01 -1.06403199e-01 3.72375244e+02] [ 2.61181398e-01 9.64968306e-01 -2.49087497e-02 6.79201188e+01] [ 1.09210213e-01 -3.90075444e-03 9.94011023e-01 3.93894778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.365099893 meters 0.05538138527394572 Centerline is valid? [True, True] Translation: X:372.43, Y:67.93, Z:39.40 [[ 9.58582632e-01 -2.64459597e-01 -1.05737695e-01 3.72434299e+02] [ 2.63330805e-01 9.64387981e-01 -2.47529568e-02 6.79321587e+01] [ 1.08518319e-01 -4.11623797e-03 9.94085927e-01 3.93968362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.425099893 meters 0.05758578875669021 Centerline is valid? [True, True] Translation: X:372.49, Y:67.93, Z:39.40 [[ 9.57930304e-01 -2.66940544e-01 -1.05414795e-01 3.72494330e+02] [ 2.65833583e-01 9.63703030e-01 -2.46774376e-02 6.79331257e+01] [ 1.08175966e-01 -4.38352735e-03 9.94122098e-01 3.94020650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.485099893 meters 0.059601059184847364 Centerline is valid? [True, True] Translation: X:372.55, Y:67.94, Z:39.41 [[ 9.56609582e-01 -2.71418796e-01 -1.05971429e-01 3.72554250e+02] [ 2.70327204e-01 9.62448799e-01 -2.48095290e-02 6.79394376e+01] [ 1.08725847e-01 -4.91392691e-03 9.94059628e-01 3.94071881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.545099893 meters 0.05706409450944417 Centerline is valid? [True, True] Translation: X:372.61, Y:67.96, Z:39.41 [[ 9.55516918e-01 -2.75450509e-01 -1.05425029e-01 3.72610145e+02] [ 2.74394457e-01 9.61300402e-01 -2.46823702e-02 6.79624768e+01] [ 1.08143895e-01 -5.34362138e-03 9.94120890e-01 3.94145549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.605099893 meters 0.06264692892650468 Centerline is valid? [True, True] Translation: X:372.67, Y:67.96, Z:39.42 [[ 9.55103605e-01 -2.77206724e-01 -1.04563554e-01 3.72672004e+02] [ 2.76178260e-01 9.60794582e-01 -2.44814426e-02 6.79577132e+01] [ 1.07250516e-01 -5.49586621e-03 9.94216839e-01 3.94203265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.665099893 meters 0.05650614084159082 Centerline is valid? [True, True] Translation: X:372.73, Y:67.99, Z:39.43 [[ 9.54734507e-01 -2.78774161e-01 -1.03764096e-01 3.72725337e+02] [ 2.77770505e-01 9.60340200e-01 -2.42949876e-02 6.79904680e+01] [ 1.06421648e-01 -5.62734229e-03 9.94305167e-01 3.94280562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.72509989299994 meters 0.05495212978332381 Centerline is valid? [True, True] Translation: X:372.78, Y:68.01, Z:39.44 [[ 9.54130524e-01 -2.80938136e-01 -1.03482884e-01 3.72782542e+02] [ 2.79952562e-01 9.59708035e-01 -2.42291420e-02 6.80121461e+01] [ 1.06120245e-01 -5.85253457e-03 9.94336081e-01 3.94350287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.78509989299994 meters 0.06010507018803688 Centerline is valid? [True, True] Translation: X:372.84, Y:68.01, Z:39.44 [[ 9.53637161e-01 -2.82620004e-01 -1.03450951e-01 3.72843434e+02] [ 2.81644884e-01 9.59212947e-01 -2.42215232e-02 6.80088608e+01] [ 1.06076978e-01 -6.03788641e-03 9.94339589e-01 3.94399290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.84509989299994 meters 0.05454409076412915 Centerline is valid? [True, True] Translation: X:372.90, Y:68.04, Z:39.45 [[ 9.53199023e-01 -2.84006079e-01 -1.03692665e-01 3.72897809e+02] [ 2.83034444e-01 9.58802396e-01 -2.42789954e-02 6.80439149e+01] [ 1.06316157e-01 -6.20588092e-03 9.94313010e-01 3.94468877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.90509989299994 meters 0.054923304300013374 Centerline is valid? [True, True] Translation: X:372.96, Y:68.06, Z:39.45 [[ 9.52701754e-01 -2.85879514e-01 -1.03112905e-01 3.72955600e+02] [ 2.84929798e-01 9.58244330e-01 -2.41415461e-02 6.80612721e+01] [ 1.05708930e-01 -6.38024591e-03 9.94376646e-01 3.94528149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.96509989299994 meters 0.055352930895294285 Centerline is valid? [True, True] Translation: X:373.01, Y:68.08, Z:39.46 [[ 9.52208509e-01 -2.87182343e-01 -1.04044494e-01 3.73014231e+02] [ 2.86223143e-01 9.57853298e-01 -2.43592136e-02 6.80758546e+01] [ 1.06654898e-01 -6.58489176e-03 9.94274294e-01 3.94583682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.02509989299995 meters 0.05772247961036353 Centerline is valid? [True, True] Translation: X:373.07, Y:68.08, Z:39.46 [[ 9.51432773e-01 -2.88901896e-01 -1.06354942e-01 3.73073833e+02] [ 2.87910462e-01 9.57333612e-01 -2.48981961e-02 6.80800998e+01] [ 1.09010297e-01 -6.93174074e-03 9.94016452e-01 3.94623114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.08509989299995 meters 0.06022998258797585 Centerline is valid? [True, True] Translation: X:373.13, Y:68.09, Z:39.47 [[ 9.51259539e-01 -2.89599018e-01 -1.06008012e-01 3.73131764e+02] [ 2.88618252e-01 9.57122553e-01 -2.48178050e-02 6.80892485e+01] [ 1.08649871e-01 -6.98767329e-03 9.94055521e-01 3.94684550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.14509989299995 meters 0.061928340956333816 Centerline is valid? [True, True] Translation: X:373.19, Y:68.10, Z:39.48 [[ 9.51634773e-01 -2.88751905e-01 -1.04945687e-01 3.73190130e+02] [ 2.87785327e-01 9.57379676e-01 -2.45715707e-02 6.81025084e+01] [ 1.07567956e-01 -6.81866785e-03 9.94174351e-01 3.94756688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.20509989299995 meters 0.061730799727734084 Centerline is valid? [True, True] Translation: X:373.25, Y:68.12, Z:39.48 [[ 9.52138845e-01 -2.87277197e-01 -1.04419496e-01 3.73247130e+02] [ 2.86311264e-01 9.57824638e-01 -2.44504245e-02 6.81201371e+01] [ 1.07039616e-01 -6.61627905e-03 9.94232742e-01 3.94821452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.26509989299996 meters 0.05513527139454376 Centerline is valid? [True, True] Translation: X:373.30, Y:68.16, Z:39.49 [[ 9.52166865e-01 -2.87043719e-01 -1.04805367e-01 3.73302031e+02] [ 2.86069219e-01 9.57894644e-01 -2.45408251e-02 6.81572524e+01] [ 1.07436790e-01 -6.61462913e-03 9.94189913e-01 3.94893403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.32509989299996 meters 0.05772750014478093 Centerline is valid? [True, True] Translation: X:373.36, Y:68.17, Z:39.49 [[ 9.51992407e-01 -2.87268629e-01 -1.05769526e-01 3.73361712e+02] [ 2.86277943e-01 9.57826584e-01 -2.47623461e-02 6.81674233e+01] [ 1.08422309e-01 -6.70591675e-03 9.94082307e-01 3.94942449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.38509989299996 meters 0.0553095931701401 Centerline is valid? [True, True] Translation: X:373.42, Y:68.20, Z:39.50 [[ 9.51696105e-01 -2.88400001e-01 -1.05356367e-01 3.73417959e+02] [ 2.87424027e-01 9.57485813e-01 -2.46646898e-02 6.81952498e+01] [ 1.07990523e-01 -6.80866197e-03 9.94128608e-01 3.95015222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.44509989299996 meters 0.056705331016732474 Centerline is valid? [True, True] Translation: X:373.48, Y:68.21, Z:39.51 [[ 9.51618230e-01 -2.88855455e-01 -1.04810643e-01 3.73477805e+02] [ 2.87892590e-01 9.57348380e-01 -2.45343827e-02 6.82070105e+01] [ 1.07427189e-01 -6.82684150e-03 9.94189516e-01 3.95075141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.50509989299997 meters 0.054663279129257315 Centerline is valid? [True, True] Translation: X:373.54, Y:68.23, Z:39.51 [[ 9.51603730e-01 -2.89024173e-01 -1.04476637e-01 3.73535882e+02] [ 2.88068727e-01 9.57297461e-01 -2.44536194e-02 6.82306994e+01] [ 1.07082907e-01 -6.82629650e-03 9.94226661e-01 3.95140943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.56509989299997 meters 0.05594775147811314 Centerline is valid? [True, True] Translation: X:373.59, Y:68.24, Z:39.52 [[ 9.51876509e-01 -2.88160533e-01 -1.04377289e-01 3.73594314e+02] [ 2.87202108e-01 9.57558494e-01 -2.44270147e-02 6.82446525e+01] [ 1.06986261e-01 -6.72587590e-03 9.94237750e-01 3.95201958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.62509989299997 meters 0.05560610442704447 Centerline is valid? [True, True] Translation: X:373.65, Y:68.26, Z:39.53 [[ 9.52137409e-01 -2.87448899e-01 -1.03959057e-01 3.73652027e+02] [ 2.86494030e-01 9.57773099e-01 -2.43282210e-02 6.82647599e+01] [ 1.06562308e-01 -6.61983983e-03 9.94283990e-01 3.95266507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.685099893 meters 0.055073472850558636 Centerline is valid? [True, True] Translation: X:373.71, Y:68.28, Z:39.53 [[ 9.52427960e-01 -2.86510473e-01 -1.03888060e-01 3.73711266e+02] [ 2.85551735e-01 9.58054968e-01 -2.43081402e-02 6.82810819e+01] [ 1.06495008e-01 -6.51366335e-03 9.94291901e-01 3.95328338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.745099893 meters 0.05315162742027821 Centerline is valid? [True, True] Translation: X:373.77, Y:68.31, Z:39.54 [[ 9.52492339e-01 -2.86173897e-01 -1.04224973e-01 3.73768720e+02] [ 2.85207326e-01 9.58155645e-01 -2.43832354e-02 6.83051061e+01] [ 1.06841592e-01 -6.50088102e-03 9.94254803e-01 3.95398636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.805099893 meters 0.05679279594760654 Centerline is valid? [True, True] Translation: X:373.83, Y:68.31, Z:39.55 [[ 9.52751477e-01 -2.84995921e-01 -1.05080674e-01 3.73829272e+02] [ 2.84007578e-01 9.58507141e-01 -2.45714657e-02 6.83094962e+01] [ 1.07723344e-01 -6.43320756e-03 9.94160095e-01 3.95452015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.865099893 meters 0.05329039079986663 Centerline is valid? [True, True] Translation: X:373.88, Y:68.34, Z:39.55 [[ 9.53633954e-01 -2.81903964e-01 -1.05415546e-01 3.73884015e+02] [ 2.80890614e-01 9.59423209e-01 -2.46489146e-02 6.83416963e+01] [ 1.08086748e-01 -6.10419563e-03 9.94122726e-01 3.95529657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.925099893 meters 0.05338963973933617 Centerline is valid? [True, True] Translation: X:373.94, Y:68.36, Z:39.56 [[ 9.54594503e-01 -2.78785553e-01 -1.05014050e-01 3.73943173e+02] [ 2.77761213e-01 9.60336290e-01 -2.45543925e-02 6.83558148e+01] [ 1.07694213e-01 -5.72934185e-03 9.94167557e-01 3.95590861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.985099893 meters 0.053268555226424916 Centerline is valid? [True, True] Translation: X:374.00, Y:68.38, Z:39.57 [[ 9.56178584e-01 -2.73247389e-01 -1.05158832e-01 3.73999678e+02] [ 2.72186826e-01 9.61930213e-01 -2.45885756e-02 6.83793957e+01] [ 1.07874222e-01 -5.11177922e-03 9.94151408e-01 3.95658565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.045099893 meters 0.05568714778642875 Centerline is valid? [True, True] Translation: X:374.06, Y:68.38, Z:39.57 [[ 9.57199987e-01 -2.69544729e-01 -1.05422123e-01 3.74060317e+02] [ 2.68456516e-01 9.62976369e-01 -2.46497704e-02 6.83830637e+01] [ 1.08163229e-01 -4.70649604e-03 9.94122007e-01 3.95715949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.105099893 meters 0.05278805806275987 Centerline is valid? [True, True] Translation: X:374.12, Y:68.42, Z:39.58 [[ 9.58445129e-01 -2.65016169e-01 -1.05590553e-01 3.74115001e+02] [ 2.63897136e-01 9.64234811e-01 -2.46886773e-02 6.84151712e+01] [ 1.08356985e-01 -4.20230195e-03 9.94103166e-01 3.95798774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.165099893 meters 0.054287763648286906 Centerline is valid? [True, True] Translation: X:374.17, Y:68.42, Z:39.59 [[ 9.59120799e-01 -2.62427426e-01 -1.05920439e-01 3.74174342e+02] [ 2.61285737e-01 9.64943759e-01 -2.47650184e-02 6.84231370e+01] [ 1.08706287e-01 -3.92285588e-03 9.94066172e-01 3.95850833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.22509989299994 meters 0.055347108945313354 Centerline is valid? [True, True] Translation: X:374.23, Y:68.43, Z:39.59 [[ 9.59701728e-01 -2.60460754e-01 -1.05512028e-01 3.74232723e+02] [ 2.59316024e-01 9.65477401e-01 -2.46695622e-02 6.84332518e+01] [ 1.08294931e-01 -3.68553809e-03 9.94111978e-01 3.95898619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.28509989299994 meters 0.05348826182385327 Centerline is valid? [True, True] Translation: X:374.29, Y:68.46, Z:39.60 [[ 9.59775342e-01 -2.60174943e-01 -1.05547583e-01 3.74289683e+02] [ 2.59027686e-01 9.65554579e-01 -2.46781798e-02 6.84608114e+01] [ 1.08332596e-01 -3.65423773e-03 9.94107990e-01 3.95981557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.34509989299994 meters 0.05551242861733786 Centerline is valid? [True, True] Translation: X:374.35, Y:68.46, Z:39.60 [[ 9.59375458e-01 -2.61390853e-01 -1.06176990e-01 3.74351470e+02] [ 2.60238600e-01 9.65225456e-01 -2.48130903e-02 6.84626454e+01] [ 1.08970648e-01 -3.82628141e-03 9.94037604e-01 3.96025273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.40509989299994 meters 0.05527495953120837 Centerline is valid? [True, True] Translation: X:374.41, Y:68.48, Z:39.61 [[ 9.58801335e-01 -2.63284836e-01 -1.06682216e-01 3.74410934e+02] [ 2.62133903e-01 9.64709571e-01 -2.49251056e-02 6.84758009e+01] [ 1.09479757e-01 -4.06680106e-03 9.93980706e-01 3.96087211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.46509989299994 meters 0.05310687010569828 Centerline is valid? [True, True] Translation: X:374.47, Y:68.50, Z:39.62 [[ 9.57888633e-01 -2.66732270e-01 -1.06316808e-01 3.74466876e+02] [ 2.65610501e-01 9.63760408e-01 -2.48382324e-02 6.85018114e+01] [ 1.09089088e-01 -4.44660012e-03 9.94022031e-01 3.96169170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.52509989299995 meters 0.055500813377460226 Centerline is valid? [True, True] Translation: X:374.53, Y:68.50, Z:39.62 [[ 9.57347559e-01 -2.68775412e-01 -1.06044468e-01 3.74527580e+02] [ 2.67671899e-01 9.63191566e-01 -2.47742392e-02 6.85049619e+01] [ 1.08799843e-01 -4.66756651e-03 9.94052719e-01 3.96223284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.58509989299995 meters 0.05380880052292938 Centerline is valid? [True, True] Translation: X:374.59, Y:68.52, Z:39.63 [[ 9.56895191e-01 -2.70678610e-01 -1.05283826e-01 3.74585891e+02] [ 2.69602693e-01 9.62657547e-01 -2.45933869e-02 6.85235488e+01] [ 1.08009173e-01 -4.85150937e-03 9.94138060e-01 3.96292792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.64509989299995 meters 0.0529180205292866 Centerline is valid? [True, True] Translation: X:374.64, Y:68.54, Z:39.64 [[ 9.56765608e-01 -2.71254357e-01 -1.04979261e-01 3.74644222e+02] [ 2.70188427e-01 9.62495203e-01 -2.45193470e-02 6.85432450e+01] [ 1.07693015e-01 -4.90491354e-03 9.94172096e-01 3.96364418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.70509989299995 meters 0.05474607774463247 Centerline is valid? [True, True] Translation: X:374.70, Y:68.55, Z:39.64 [[ 9.56883915e-01 -2.70825923e-01 -1.05007106e-01 3.74704809e+02] [ 2.69758123e-01 9.62616024e-01 -2.45141864e-02 6.85499531e+01] [ 1.07720600e-01 -4.86928916e-03 9.94169283e-01 3.96426304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.76509989299996 meters 0.05243666512981575 Centerline is valid? [True, True] Translation: X:374.76, Y:68.57, Z:39.65 [[ 9.57124269e-01 -2.70046956e-01 -1.04822588e-01 3.74762469e+02] [ 2.68979515e-01 9.62835267e-01 -2.44595282e-02 6.85736500e+01] [ 1.07532105e-01 -4.78432080e-03 9.94190101e-01 3.96503537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.82509989299996 meters 0.05666943863471514 Centerline is valid? [True, True] Translation: X:374.83, Y:68.57, Z:39.65 [[ 9.57290234e-01 -2.69160898e-01 -1.05583232e-01 3.74826681e+02] [ 2.68073849e-01 9.63083604e-01 -2.46248375e-02 6.85688286e+01] [ 1.08313523e-01 -4.73098707e-03 9.94105527e-01 3.96541764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.88509989299996 meters 0.05576444443259617 Centerline is valid? [True, True] Translation: X:374.89, Y:68.59, Z:39.66 [[ 9.57449956e-01 -2.68668392e-01 -1.05389169e-01 3.74886329e+02] [ 2.67582756e-01 9.63221411e-01 -2.45760509e-02 6.85867965e+01] [ 1.08115912e-01 -4.66998555e-03 9.94127326e-01 3.96606140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.94509989299996 meters 0.05375013724134319 Centerline is valid? [True, True] Translation: X:374.94, Y:68.61, Z:39.67 [[ 9.57409489e-01 -2.68727085e-01 -1.05606928e-01 3.74944275e+02] [ 2.67637748e-01 9.63204939e-01 -2.46227805e-02 6.86101112e+01] [ 1.08337923e-01 -4.69031670e-03 9.94103061e-01 3.96672287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.00509989299997 meters 0.053140300344748204 Centerline is valid? [True, True] Translation: X:375.00, Y:68.63, Z:39.67 [[ 9.57270403e-01 -2.68971053e-01 -1.06244755e-01 3.75002726e+02] [ 2.67870370e-01 9.63136548e-01 -2.47680339e-02 6.86313420e+01] [ 1.08990090e-01 -4.75011597e-03 9.94031487e-01 3.96743356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.06509989299997 meters 0.0541225496280215 Centerline is valid? [True, True] Translation: X:375.06, Y:68.64, Z:39.68 [[ 9.57122360e-01 -2.69248213e-01 -1.06874633e-01 3.75063589e+02] [ 2.68136675e-01 9.63058780e-01 -2.49100194e-02 6.86403178e+01] [ 1.09633532e-01 -4.81507221e-03 9.93960414e-01 3.96798329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.12509989299997 meters 0.053624778061499 Centerline is valid? [True, True] Translation: X:375.12, Y:68.66, Z:39.69 [[ 9.57048921e-01 -2.69936802e-01 -1.05789818e-01 3.75123469e+02] [ 2.68853136e-01 9.62865805e-01 -2.46461597e-02 6.86570478e+01] [ 1.08514304e-01 -4.85434369e-03 9.94083035e-01 3.96875005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.185099893 meters 0.05475921063030533 Centerline is valid? [True, True] Translation: X:375.18, Y:68.66, Z:39.69 [[ 9.57051206e-01 -2.70220501e-01 -1.05042232e-01 3.75183838e+02] [ 2.69154202e-01 9.62786222e-01 -2.44684616e-02 6.86638238e+01] [ 1.07745093e-01 -4.85498747e-03 9.94166698e-01 3.96938648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.245099893 meters 0.053181369629431534 Centerline is valid? [True, True] Translation: X:375.24, Y:68.69, Z:39.70 [[ 9.56824790e-01 -2.71171858e-01 -1.04652492e-01 3.75241746e+02] [ 2.70119763e-01 9.62518223e-01 -2.43717928e-02 6.86876394e+01] [ 1.07338875e-01 -4.94917074e-03 9.94210175e-01 3.97009741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.305099893 meters 0.054010626444267025 Centerline is valid? [True, True] Translation: X:375.30, Y:68.69, Z:39.71 [[ 9.56440679e-01 -2.72224200e-01 -1.05428707e-01 3.75302093e+02] [ 2.71163147e-01 9.62220290e-01 -2.45491498e-02 6.86929967e+01] [ 1.08128513e-01 -5.10857432e-03 9.94123799e-01 3.97065890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.365099893 meters 0.05585298284590705 Centerline is valid? [True, True] Translation: X:375.36, Y:68.70, Z:39.71 [[ 9.55850233e-01 -2.74509533e-01 -1.04856327e-01 3.75361525e+02] [ 2.73473825e-01 9.61569556e-01 -2.44142642e-02 6.86976976e+01] [ 1.07528600e-01 -5.33908077e-03 9.94187656e-01 3.97127162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.425099893 meters 0.053499363301411015 Centerline is valid? [True, True] Translation: X:375.42, Y:68.72, Z:39.72 [[ 9.55248394e-01 -2.76560042e-01 -1.04952600e-01 3.75418018e+02] [ 2.75534661e-01 9.60980473e-01 -2.44372960e-02 6.87213740e+01] [ 1.07615779e-01 -5.57439132e-03 9.94176931e-01 3.97199717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.485099893 meters 0.053050204291187446 Centerline is valid? [True, True] Translation: X:375.48, Y:68.74, Z:39.73 [[ 9.54589939e-01 -2.78532877e-01 -1.05723627e-01 3.75476367e+02] [ 2.77504503e-01 9.60408934e-01 -2.46156577e-02 6.87366761e+01] [ 1.08394186e-01 -5.84092341e-03 9.94090833e-01 3.97261092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.545099893 meters 0.05584967241174403 Centerline is valid? [True, True] Translation: X:375.54, Y:68.74, Z:39.73 [[ 9.53529205e-01 -2.81585169e-01 -1.07200032e-01 3.75538021e+02] [ 2.80547125e-01 9.59515711e-01 -2.49581667e-02 6.87370680e+01] [ 1.09887965e-01 -6.27632004e-03 9.93924164e-01 3.97303521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.605099893 meters 0.05355660605651586 Centerline is valid? [True, True] Translation: X:375.60, Y:68.76, Z:39.74 [[ 9.52704649e-01 -2.84352147e-01 -1.07227366e-01 3.75595380e+02] [ 2.83331033e-01 9.58697204e-01 -2.49639185e-02 6.87558019e+01] [ 1.09897119e-01 -6.59759910e-03 9.93921071e-01 3.97374549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.665099893 meters 0.06093451499758588 Centerline is valid? [True, True] Translation: X:375.66, Y:68.74, Z:39.74 [[ 9.52538006e-01 -2.84805684e-01 -1.07503814e-01 3.75660183e+02] [ 2.83782230e-01 9.58562080e-01 -2.50276662e-02 6.87446966e+01] [ 1.10177101e-01 -6.66786865e-03 9.93889605e-01 3.97415508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.72509989299994 meters 0.05569591761348838 Centerline is valid? [True, True] Translation: X:375.72, Y:68.77, Z:39.75 [[ 9.52448057e-01 -2.85479208e-01 -1.06509723e-01 3.75716528e+02] [ 2.84478993e-01 9.58361592e-01 -2.47943912e-02 6.87730557e+01] [ 1.09153111e-01 -6.68440899e-03 9.94002473e-01 3.97508333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.78509989299994 meters 0.05491562486105854 Centerline is valid? [True, True] Translation: X:375.78, Y:68.79, Z:39.76 [[ 9.52667605e-01 -2.85011914e-01 -1.05795288e-01 3.75777402e+02] [ 2.84022586e-01 9.58501326e-01 -2.46247337e-02 6.87863747e+01] [ 1.08423266e-01 -6.58906519e-03 9.94082984e-01 3.97584241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.84509989299994 meters 0.05488200053521757 Centerline is valid? [True, True] Translation: X:375.84, Y:68.80, Z:39.77 [[ 9.53298996e-01 -2.83094382e-01 -1.05254910e-01 3.75835390e+02] [ 2.82104181e-01 9.59071075e-01 -2.44929329e-02 6.88023016e+01] [ 1.07880751e-01 -6.34376168e-03 9.94143601e-01 3.97653252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.90509989299994 meters 0.05385278414212408 Centerline is valid? [True, True] Translation: X:375.89, Y:68.82, Z:39.77 [[ 9.53830115e-01 -2.81319439e-01 -1.05202116e-01 3.75892888e+02] [ 2.80319504e-01 9.59594537e-01 -2.44806128e-02 6.88229557e+01] [ 1.07838248e-01 -6.13985939e-03 9.94149493e-01 3.97719416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.96509989299994 meters 0.05461922943114177 Centerline is valid? [True, True] Translation: X:375.95, Y:68.83, Z:39.78 [[ 9.54242752e-01 -2.79821111e-01 -1.05455755e-01 3.75952170e+02] [ 2.78807273e-01 9.60033501e-01 -2.45394032e-02 6.88306581e+01] [ 1.08107701e-01 -5.98528386e-03 9.94121170e-01 3.97776511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.02509989299995 meters 0.05343309857403552 Centerline is valid? [True, True] Translation: X:376.01, Y:68.85, Z:39.78 [[ 9.54039526e-01 -2.80255922e-01 -1.06137651e-01 3.76011730e+02] [ 2.79231621e-01 9.59906100e-01 -2.46977914e-02 6.88467364e+01] [ 1.08803881e-01 -6.07431908e-03 9.94044676e-01 3.97842116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.08509989299995 meters 0.053207576518139336 Centerline is valid? [True, True] Translation: X:376.07, Y:68.86, Z:39.79 [[ 9.53398438e-01 -2.82095730e-01 -1.07020644e-01 3.76069749e+02] [ 2.81066486e-01 9.59365293e-01 -2.48970971e-02 6.88619442e+01] [ 1.09695256e-01 -6.34306280e-03 9.93945027e-01 3.97906033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.14509989299995 meters 0.05238678532207385 Centerline is valid? [True, True] Translation: X:376.13, Y:68.88, Z:39.80 [[ 9.52530679e-01 -2.84775527e-01 -1.07648523e-01 3.76126814e+02] [ 2.83751272e-01 9.58570871e-01 -2.50419889e-02 6.88831791e+01] [ 1.10320084e-01 -6.69214269e-03 9.93873581e-01 3.97964233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.20509989299995 meters 0.05422691960797401 Centerline is valid? [True, True] Translation: X:376.19, Y:68.88, Z:39.80 [[ 9.52017774e-01 -2.86104173e-01 -1.08657994e-01 3.76189176e+02] [ 2.85069270e-01 9.58173591e-01 -2.52761051e-02 6.88794657e+01] [ 1.11344819e-01 -6.91175371e-03 9.93757797e-01 3.98005178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.26509989299996 meters 0.05261801910438393 Centerline is valid? [True, True] Translation: X:376.25, Y:68.90, Z:39.81 [[ 9.51549191e-01 -2.87851370e-01 -1.08146775e-01 3.76246883e+02] [ 2.86837744e-01 9.57648885e-01 -2.51539672e-02 6.88990489e+01] [ 1.10807242e-01 -7.08533974e-03 9.93816660e-01 3.98081804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.32509989299996 meters 0.051839459343811733 Centerline is valid? [True, True] Translation: X:376.30, Y:68.92, Z:39.82 [[ 9.51103383e-01 -2.89315169e-01 -1.08162325e-01 3.76302657e+02] [ 2.88310733e-01 9.57206383e-01 -2.51567550e-02 6.89238897e+01] [ 1.10811899e-01 -7.25768453e-03 9.93814897e-01 3.98166585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.38509989299996 meters 0.05255027875699576 Centerline is valid? [True, True] Translation: X:376.36, Y:68.92, Z:39.82 [[ 9.50200282e-01 -2.92035872e-01 -1.08786362e-01 3.76364951e+02] [ 2.91037590e-01 9.56377010e-01 -2.53009094e-02 6.89204078e+01] [ 1.11429549e-01 -7.61998945e-03 9.93743121e-01 3.98215112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.44509989299996 meters 0.051961645214438815 Centerline is valid? [True, True] Translation: X:376.42, Y:68.94, Z:39.83 [[ 9.49851623e-01 -2.93293334e-01 -1.08447751e-01 3.76422209e+02] [ 2.92309535e-01 9.55991133e-01 -2.52208125e-02 6.89401301e+01] [ 1.11072185e-01 -7.74428204e-03 9.93782167e-01 3.98292265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.50509989299997 meters 0.05872445282859864 Centerline is valid? [True, True] Translation: X:376.49, Y:68.92, Z:39.83 [[ 9.50385039e-01 -2.91630211e-01 -1.08259397e-01 3.76487182e+02] [ 2.90639210e-01 9.56501442e-01 -2.51761965e-02 6.89229893e+01] [ 1.10892409e-01 -7.53734520e-03 9.93803835e-01 3.98325326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.56509989299997 meters 0.05228781818589794 Centerline is valid? [True, True] Translation: X:376.54, Y:68.97, Z:39.84 [[ 9.51198147e-01 -2.89074530e-01 -1.07972228e-01 3.76538310e+02] [ 2.88072368e-01 9.57279373e-01 -2.51100030e-02 6.89695220e+01] [ 1.10618249e-01 -7.21922715e-03 9.93836750e-01 3.98422597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.62509989299997 meters 0.056105460135983436 Centerline is valid? [True, True] Translation: X:376.60, Y:68.96, Z:39.85 [[ 9.52516769e-01 -2.84423807e-01 -1.08696378e-01 3.76602742e+02] [ 2.83378146e-01 9.58675062e-01 -2.52775098e-02 6.89566272e+01] [ 1.11394032e-01 -6.72492599e-03 9.93753564e-01 3.98450134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.685099893 meters 0.053574427811203085 Centerline is valid? [True, True] Translation: X:376.66, Y:68.98, Z:39.85 [[ 9.53402271e-01 -2.81545619e-01 -1.08425889e-01 3.76658248e+02] [ 2.80486706e-01 9.59526682e-01 -2.52141849e-02 6.89841059e+01] [ 1.11136477e-01 -6.37275933e-03 9.93784721e-01 3.98527661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.745099893 meters 0.053044915315791884 Centerline is valid? [True, True] Translation: X:376.72, Y:69.00, Z:39.86 [[ 9.54670442e-01 -2.77333425e-01 -1.08122699e-01 3.76716914e+02] [ 2.76253643e-01 9.60755827e-01 -2.51428902e-02 6.89978579e+01] [ 1.10852477e-01 -5.86611540e-03 9.93819560e-01 3.98589399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.805099893 meters 0.05495370023071748 Centerline is valid? [True, True] Translation: X:376.78, Y:69.00, Z:39.86 [[ 9.55499009e-01 -2.74748885e-01 -1.07399690e-01 3.76776785e+02] [ 2.73667285e-01 9.61500122e-01 -2.49746227e-02 6.90043633e+01] [ 1.10126565e-01 -5.52855451e-03 9.93902196e-01 3.98643361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.865099893 meters 0.05972598399354353 Centerline is valid? [True, True] Translation: X:376.84, Y:69.00, Z:39.87 [[ 9.56174916e-01 -2.72593784e-01 -1.06874502e-01 3.76837892e+02] [ 2.71509350e-01 9.62114871e-01 -2.48525433e-02 6.90020319e+01] [ 1.09600197e-01 -5.25404815e-03 9.93961866e-01 3.98688812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.925099893 meters 0.05922250109806128 Centerline is valid? [True, True] Translation: X:376.90, Y:69.01, Z:39.88 [[ 9.57287891e-01 -2.69019113e-01 -1.05965139e-01 3.76896446e+02] [ 2.67931190e-01 9.63122867e-01 -2.46418313e-02 6.90143503e+01] [ 1.08686572e-01 -4.80203918e-03 9.94064469e-01 3.98752479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.985099893 meters 0.05412330750868214 Centerline is valid? [True, True] Translation: X:376.95, Y:69.05, Z:39.88 [[ 9.57813637e-01 -2.67237032e-01 -1.05723246e-01 3.76950308e+02] [ 2.66143100e-01 9.63619906e-01 -2.45871471e-02 6.90483599e+01] [ 1.08447621e-01 -4.58760774e-03 9.94091579e-01 3.98844457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.045099893 meters 0.05447586067807432 Centerline is valid? [True, True] Translation: X:377.01, Y:69.06, Z:39.89 [[ 9.58131208e-01 -2.65983910e-01 -1.06005410e-01 3.77010861e+02] [ 2.64876596e-01 9.63967157e-01 -2.46517706e-02 6.90599785e+01] [ 1.08742708e-01 -4.45872143e-03 9.94059929e-01 3.98907820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.105099893 meters 0.053913852602177084 Centerline is valid? [True, True] Translation: X:377.07, Y:69.08, Z:39.90 [[ 9.58046265e-01 -2.66179754e-01 -1.06281200e-01 3.77070313e+02] [ 2.65068261e-01 9.63912922e-01 -2.47122508e-02 6.90758325e+01] [ 1.09023723e-01 -4.49629314e-03 9.94028979e-01 3.98967450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.165099893 meters 0.059265199852194105 Centerline is valid? [True, True] Translation: X:377.14, Y:69.06, Z:39.90 [[ 9.57681021e-01 -2.67085501e-01 -1.07295838e-01 3.77135491e+02] [ 2.65958732e-01 9.63661629e-01 -2.49442900e-02 6.90649403e+01] [ 1.10059140e-01 -4.64759179e-03 9.93914174e-01 3.98998403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.22509989299994 meters 0.05355903684680236 Centerline is valid? [True, True] Translation: X:377.19, Y:69.10, Z:39.91 [[ 9.57450920e-01 -2.68347534e-01 -1.06194808e-01 3.77190014e+02] [ 2.67252095e-01 9.63310468e-01 -2.46831727e-02 6.91018373e+01] [ 1.08922238e-01 -4.74785845e-03 9.94038935e-01 3.99098157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.28509989299994 meters 0.05483080093926279 Centerline is valid? [True, True] Translation: X:377.25, Y:69.11, Z:39.92 [[ 9.57166046e-01 -2.69842744e-01 -1.04966918e-01 3.77250280e+02] [ 2.68781841e-01 9.62892122e-01 -2.43943540e-02 6.91079538e+01] [ 1.07654457e-01 -4.86375394e-03 9.94176474e-01 3.99150277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.34509989299994 meters 0.05318165990647787 Centerline is valid? [True, True] Translation: X:377.31, Y:69.13, Z:39.92 [[ 9.57122618e-01 -2.70452042e-01 -1.03788189e-01 3.77308435e+02] [ 2.69418619e-01 9.62721091e-01 -2.41186472e-02 6.91306920e+01] [ 1.06442016e-01 -4.87796785e-03 9.94306946e-01 3.99219383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.40509989299994 meters 0.054057525481420725 Centerline is valid? [True, True] Translation: X:377.37, Y:69.14, Z:39.93 [[ 9.57168116e-01 -2.70677346e-01 -1.02776318e-01 3.77368936e+02] [ 2.69665676e-01 9.62657869e-01 -2.38799119e-02 6.91372777e+01] [ 1.05402182e-01 -4.85815503e-03 9.94417809e-01 3.99280958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.46509989299994 meters 0.055719264807643686 Centerline is valid? [True, True] Translation: X:377.43, Y:69.14, Z:39.93 [[ 9.57185774e-01 -2.70478035e-01 -1.03135967e-01 3.77430325e+02] [ 2.69458768e-01 9.62713883e-01 -2.39573030e-02 6.91412519e+01] [ 1.05770351e-01 -4.85930095e-03 9.94378711e-01 3.99337384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.52509989299995 meters 0.05296315867211329 Centerline is valid? [True, True] Translation: X:377.49, Y:69.17, Z:39.94 [[ 9.57119281e-01 -2.71166710e-01 -1.01937719e-01 3.77486748e+02] [ 2.70175170e-01 9.62520027e-01 -2.36764646e-02 6.91711014e+01] [ 1.04537365e-01 -4.87983974e-03 9.94508988e-01 3.99404477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.58509989299995 meters 0.05451495384981233 Centerline is valid? [True, True] Translation: X:377.55, Y:69.17, Z:39.95 [[ 9.56992170e-01 -2.71533381e-01 -1.02154832e-01 3.77548774e+02] [ 2.70540170e-01 9.62416370e-01 -2.37222854e-02 6.91746867e+01] [ 1.04756875e-01 -4.93494440e-03 9.94485617e-01 3.99469562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.64509989299995 meters 0.05490663240156393 Centerline is valid? [True, True] Translation: X:377.61, Y:69.19, Z:39.95 [[ 9.56819454e-01 -2.72048573e-01 -1.02401695e-01 3.77609000e+02] [ 2.71054725e-01 9.62270453e-01 -2.37678626e-02 6.91858620e+01] [ 1.05004138e-01 -5.01490992e-03 9.94459140e-01 3.99534031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.70509989299995 meters 0.057423288211813146 Centerline is valid? [True, True] Translation: X:377.67, Y:69.19, Z:39.96 [[ 9.57002519e-01 -2.71279691e-01 -1.02730269e-01 3.77669627e+02] [ 2.70275301e-01 9.62487837e-01 -2.38416561e-02 6.91890937e+01] [ 1.05344391e-01 -4.94892938e-03 9.94423485e-01 3.99596725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.76509989299996 meters 0.05527007470209787 Centerline is valid? [True, True] Translation: X:377.73, Y:69.21, Z:39.97 [[ 9.57764372e-01 -2.69050781e-01 -1.01484407e-01 3.77726342e+02] [ 2.68058262e-01 9.63114783e-01 -2.35517187e-02 6.92104848e+01] [ 1.04077741e-01 -4.64673663e-03 9.94558310e-01 3.99666293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.82509989299996 meters 0.05854130115874521 Centerline is valid? [True, True] Translation: X:377.79, Y:69.21, Z:39.97 [[ 9.59359475e-01 -2.62996373e-01 -1.02285415e-01 3.77785903e+02] [ 2.61953826e-01 9.64788441e-01 -2.37372632e-02 6.92138873e+01] [ 1.04926600e-01 -4.02148750e-03 9.94471838e-01 3.99726094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.88509989299996 meters 0.055822214869207576 Centerline is valid? [True, True] Translation: X:377.84, Y:69.24, Z:39.98 [[ 9.60595032e-01 -2.57997210e-01 -1.03414821e-01 3.77842173e+02] [ 2.56902563e-01 9.66139272e-01 -2.39995672e-02 6.92374537e+01] [ 1.06104941e-01 -3.51366752e-03 9.94348729e-01 3.99780591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.94509989299996 meters 0.054510500293853015 Centerline is valid? [True, True] Translation: X:377.90, Y:69.26, Z:39.98 [[ 9.62330646e-01 -2.50894314e-01 -1.04746221e-01 3.77898547e+02] [ 2.49729210e-01 9.68010536e-01 -2.43089200e-02 6.92613222e+01] [ 1.07494416e-01 -2.76497245e-03 9.94201843e-01 3.99837268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.00509989299997 meters 0.05468606463366879 Centerline is valid? [True, True] Translation: X:377.96, Y:69.27, Z:39.99 [[ 9.63327755e-01 -2.46807705e-01 -1.05288149e-01 3.77957690e+02] [ 2.45606165e-01 9.69061696e-01 -2.44344436e-02 6.92695206e+01] [ 1.08061321e-01 -2.32104071e-03 9.94141521e-01 3.99887809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.06509989299997 meters 0.05407800929523574 Centerline is valid? [True, True] Translation: X:378.01, Y:69.28, Z:40.00 [[ 9.64196915e-01 -2.43596995e-01 -1.04808464e-01 3.78014396e+02] [ 2.42387474e-01 9.69874577e-01 -2.43232078e-02 6.92835970e+01] [ 1.07576125e-01 -1.95189691e-03 9.94194934e-01 3.99952649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.12509989299997 meters 0.05450407239890358 Centerline is valid? [True, True] Translation: X:378.07, Y:69.29, Z:40.00 [[ 9.65003951e-01 -2.41169326e-01 -1.02979277e-01 3.78071717e+02] [ 2.39987685e-01 9.70481652e-01 -2.39013312e-02 6.92944627e+01] [ 1.05703767e-01 -1.64887923e-03 9.94396297e-01 4.00025468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.185099893 meters 0.054358901425163704 Centerline is valid? [True, True] Translation: X:378.13, Y:69.31, Z:40.01 [[ 9.64809388e-01 -2.42092372e-01 -1.02635898e-01 3.78129207e+02] [ 2.40922645e-01 9.70251658e-01 -2.38327495e-02 6.93062648e+01] [ 1.05352377e-01 -1.73325146e-03 9.94433443e-01 4.00087801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.245099893 meters 0.054564656939403024 Centerline is valid? [True, True] Translation: X:378.19, Y:69.31, Z:40.02 [[ 9.63448497e-01 -2.47674183e-01 -1.02100410e-01 3.78188855e+02] [ 2.46546570e-01 9.68840607e-01 -2.37206055e-02 6.93122008e+01] [ 1.04794005e-01 -2.31892421e-03 9.94491246e-01 4.00154628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.305099893 meters 0.05634418302991154 Centerline is valid? [True, True] Translation: X:378.25, Y:69.31, Z:40.02 [[ 9.61784105e-01 -2.53862199e-01 -1.02592980e-01 3.78249079e+02] [ 2.52758682e-01 9.67235722e-01 -2.38350107e-02 6.93139091e+01] [ 1.05282404e-01 -3.00713203e-03 9.94437817e-01 4.00214611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.365099893 meters 0.05671967279207285 Centerline is valid? [True, True] Translation: X:378.31, Y:69.32, Z:40.03 [[ 9.59885849e-01 -2.61061799e-01 -1.02302953e-01 3.78309144e+02] [ 2.60005145e-01 9.65314670e-01 -2.37678899e-02 6.93222764e+01] [ 1.04959430e-01 -3.78483307e-03 9.94469302e-01 4.00283207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.425099893 meters 0.057332877391512695 Centerline is valid? [True, True] Translation: X:378.37, Y:69.33, Z:40.03 [[ 9.57115962e-01 -2.70851974e-01 -1.02801963e-01 3.78370080e+02] [ 2.69840991e-01 9.62608638e-01 -2.38840828e-02 6.93267352e+01] [ 1.05427109e-01 -4.88034676e-03 9.94415058e-01 4.00342469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.485099893 meters 0.059037960586935834 Centerline is valid? [True, True] Translation: X:378.43, Y:69.33, Z:40.04 [[ 9.55358016e-01 -2.76424569e-01 -1.04309727e-01 3.78431528e+02] [ 2.75416598e-01 9.61019443e-01 -2.42348550e-02 6.93286236e+01] [ 1.06942785e-01 -5.57566703e-03 9.94249542e-01 4.00389549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.545099893 meters 0.05436111843010631 Centerline is valid? [True, True] Translation: X:378.49, Y:69.36, Z:40.05 [[ 9.55352830e-01 -2.76768951e-01 -1.03440409e-01 3.78487384e+02] [ 2.75779703e-01 9.60920372e-01 -2.40332001e-02 6.93597596e+01] [ 1.06049640e-01 -5.56657951e-03 9.94345255e-01 4.00459780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.605099893 meters 0.05452684897208589 Centerline is valid? [True, True] Translation: X:378.55, Y:69.37, Z:40.05 [[ 9.56227300e-01 -2.74071988e-01 -1.02537291e-01 3.78545695e+02] [ 2.73084989e-01 9.61694985e-01 -2.38189910e-02 6.93710804e+01] [ 1.05137717e-01 -5.22502555e-03 9.94443945e-01 4.00528610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.665099893 meters 0.058101979324977786 Centerline is valid? [True, True] Translation: X:378.61, Y:69.37, Z:40.06 [[ 9.58389897e-01 -2.66833435e-01 -1.01433348e-01 3.78606816e+02] [ 2.65827085e-01 9.63732705e-01 -2.35634137e-02 6.93707236e+01] [ 1.04042141e-01 -4.38079349e-03 9.94563242e-01 4.00598637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.72509989299994 meters 0.056947338223869166 Centerline is valid? [True, True] Translation: X:378.66, Y:69.39, Z:40.07 [[ 9.59824279e-01 -2.61714637e-01 -1.01206731e-01 3.78663450e+02] [ 2.60684316e-01 9.65137756e-01 -2.35116976e-02 6.93913891e+01] [ 1.03831793e-01 -3.81590921e-03 9.94587552e-01 4.00663548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.78509989299994 meters 0.056863794997929505 Centerline is valid? [True, True] Translation: X:378.72, Y:69.40, Z:40.07 [[ 9.61147490e-01 -2.56158064e-01 -1.02852070e-01 3.78720903e+02] [ 2.55062161e-01 9.66629384e-01 -2.38940858e-02 6.94043363e+01] [ 1.05540495e-01 -3.26793054e-03 9.94409636e-01 4.00705757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.84509989299994 meters 0.054839755328825165 Centerline is valid? [True, True] Translation: X:378.78, Y:69.43, Z:40.08 [[ 9.61572014e-01 -2.54111890e-01 -1.03953878e-01 3.78776829e+02] [ 2.52980215e-01 9.67169941e-01 -2.41519368e-02 6.94266480e+01] [ 1.06678360e-01 -3.07444779e-03 9.94288829e-01 4.00761277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.90509989299994 meters 0.05661773352303943 Centerline is valid? [True, True] Translation: X:378.84, Y:69.43, Z:40.08 [[ 9.62002133e-01 -2.51715687e-01 -1.05788044e-01 3.78835327e+02] [ 2.50528911e-01 9.67797011e-01 -2.45806853e-02 6.94337145e+01] [ 1.08568697e-01 -2.85629164e-03 9.94084845e-01 4.00804721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.96509989299994 meters 0.05619520324610947 Centerline is valid? [True, True] Translation: X:378.89, Y:69.45, Z:40.09 [[ 9.62201483e-01 -2.50677046e-01 -1.06439302e-01 3.78891955e+02] [ 2.49468972e-01 9.68066855e-01 -2.47345139e-02 6.94503451e+01] [ 1.09240735e-01 -2.75371723e-03 9.94011508e-01 4.00867651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.02509989299995 meters 0.055173819157840864 Centerline is valid? [True, True] Translation: X:378.95, Y:69.47, Z:40.10 [[ 9.62684068e-01 -2.49319060e-01 -1.05258692e-01 3.78946995e+02] [ 2.48128442e-01 9.68418016e-01 -2.44708673e-02 6.94709210e+01] [ 1.08035467e-01 -2.55996120e-03 9.94143744e-01 4.00956676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.08509989299995 meters 0.05523946627584295 Centerline is valid? [True, True] Translation: X:379.00, Y:69.48, Z:40.10 [[ 9.62853243e-01 -2.49165424e-01 -1.04068364e-01 3.79003377e+02] [ 2.48000071e-01 9.68457693e-01 -2.42004276e-02 6.94816502e+01] [ 1.06815717e-01 -2.50750135e-03 9.94275674e-01 4.01026488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.14509989299995 meters 0.054762741401157056 Centerline is valid? [True, True] Translation: X:379.06, Y:69.49, Z:40.11 [[ 9.62475782e-01 -2.50752966e-01 -1.03746420e-01 3.79060605e+02] [ 2.49603301e-01 9.68047431e-01 -2.41322209e-02 6.94947451e+01] [ 1.06482681e-01 -2.66877077e-03 9.94310976e-01 4.01091790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.20509989299995 meters 0.054715084423595586 Centerline is valid? [True, True] Translation: X:379.12, Y:69.51, Z:40.12 [[ 9.61770612e-01 -2.53372706e-01 -1.03920944e-01 3.79119016e+02] [ 2.52233178e-01 9.67364230e-01 -2.41841009e-02 6.95066045e+01] [ 1.06656995e-01 -2.95275242e-03 9.94291490e-01 4.01150143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.26509989299996 meters 0.05654225888234418 Centerline is valid? [True, True] Translation: X:379.18, Y:69.51, Z:40.12 [[ 9.60591707e-01 -2.57585173e-01 -1.04467466e-01 3.79178957e+02] [ 2.56458201e-01 9.66249485e-01 -2.43130260e-02 6.95113330e+01] [ 1.07204311e-01 -3.43664736e-03 9.94231072e-01 4.01200005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.32509989299996 meters 0.05615774297855514 Centerline is valid? [True, True] Translation: X:379.24, Y:69.52, Z:40.13 [[ 9.60025770e-01 -2.59502986e-01 -1.04922452e-01 3.79237040e+02] [ 2.58377562e-01 9.65735344e-01 -2.44188681e-02 6.95249494e+01] [ 1.07664089e-01 -3.66686470e-03 9.94180566e-01 4.01257439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.38509989299996 meters 0.05582504136888327 Centerline is valid? [True, True] Translation: X:379.29, Y:69.54, Z:40.13 [[ 9.59872684e-01 -2.60101138e-01 -1.04841925e-01 3.79293002e+02] [ 2.58980867e-01 9.65574174e-01 -2.44013203e-02 6.95423267e+01] [ 1.07579466e-01 -3.72989190e-03 9.94189492e-01 4.01327971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.44509989299996 meters 0.055275743925524846 Centerline is valid? [True, True] Translation: X:379.35, Y:69.56, Z:40.14 [[ 9.60304057e-01 -2.58828899e-01 -1.04037103e-01 3.79349638e+02] [ 2.57717107e-01 9.65916669e-01 -2.42256335e-02 6.95605121e+01] [ 1.06761466e-01 -3.54816705e-03 9.94278331e-01 4.01392496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.50509989299997 meters 0.0554658363735392 Centerline is valid? [True, True] Translation: X:379.41, Y:69.57, Z:40.14 [[ 9.60997323e-01 -2.56212275e-01 -1.04112512e-01 3.79407772e+02] [ 2.55083462e-01 9.66615048e-01 -2.42441223e-02 6.95695989e+01] [ 1.06848363e-01 -3.25884340e-03 9.94269987e-01 4.01446853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.56509989299997 meters 0.0556697709519525 Centerline is valid? [True, True] Translation: X:379.47, Y:69.59, Z:40.15 [[ 9.62316192e-01 -2.50908837e-01 -1.04844182e-01 3.79465405e+02] [ 2.49732474e-01 9.68006992e-01 -2.44162829e-02 6.95870955e+01] [ 1.07616163e-01 -2.68681258e-03 9.94188887e-01 4.01496193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.62509989299997 meters 0.05729689730340671 Centerline is valid? [True, True] Translation: X:379.53, Y:69.59, Z:40.15 [[ 9.62897140e-01 -2.48274391e-01 -1.05777715e-01 3.79525108e+02] [ 2.47061055e-01 9.68686741e-01 -2.46339919e-02 6.95918031e+01] [ 1.08581460e-01 -2.41355359e-03 9.94084625e-01 4.01528473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.685099893 meters 0.054531420448159854 Centerline is valid? [True, True] Translation: X:379.58, Y:69.62, Z:40.16 [[ 9.62886073e-01 -2.48298257e-01 -1.05822425e-01 3.79579678e+02] [ 2.47083848e-01 9.68680619e-01 -2.46461275e-02 6.96190700e+01] [ 1.08627723e-01 -2.41559914e-03 9.94079566e-01 4.01620898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.745099893 meters 0.054597935471539114 Centerline is valid? [True, True] Translation: X:379.64, Y:69.63, Z:40.17 [[ 9.62290701e-01 -2.50429871e-01 -1.06214344e-01 3.79637003e+02] [ 2.49219244e-01 9.68131074e-01 -2.47384555e-02 6.96324047e+01] [ 1.09024656e-01 -2.66507290e-03 9.94035473e-01 4.01681687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.805099893 meters 0.055081795726656405 Centerline is valid? [True, True] Translation: X:379.70, Y:69.64, Z:40.17 [[ 9.61496694e-01 -2.53277789e-01 -1.06651158e-01 3.79696637e+02] [ 2.52074285e-01 9.67388948e-01 -2.48430655e-02 6.96368637e+01] [ 1.09465349e-01 -2.99748920e-03 9.93986093e-01 4.01728324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.865099893 meters 0.05599665645183022 Centerline is valid? [True, True] Translation: X:379.76, Y:69.65, Z:40.18 [[ 9.60165183e-01 -2.58108911e-01 -1.07063586e-01 3.79756193e+02] [ 2.56925734e-01 9.66109267e-01 -2.49409418e-02 6.96478014e+01] [ 1.09872602e-01 -3.55996646e-03 9.93939303e-01 4.01791768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.925099893 meters 0.056054279831345526 Centerline is valid? [True, True] Translation: X:379.82, Y:69.66, Z:40.19 [[ 9.59029632e-01 -2.62479291e-01 -1.06615137e-01 3.79815454e+02] [ 2.61332885e-01 9.64929155e-01 -2.48364343e-02 6.96589390e+01] [ 1.09395104e-01 -4.04316498e-03 9.93990123e-01 4.01861364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.985099893 meters 0.0557193960045764 Centerline is valid? [True, True] Translation: X:379.87, Y:69.68, Z:40.19 [[ 9.58596212e-01 -2.64474658e-01 -1.05576786e-01 3.79873449e+02] [ 2.63362563e-01 9.64383364e-01 -2.45944749e-02 6.96751415e+01] [ 1.08321111e-01 -4.22880245e-03 9.94106963e-01 4.01932137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.045099893 meters 0.0572152642869834 Centerline is valid? [True, True] Translation: X:379.93, Y:69.68, Z:40.20 [[ 9.58280656e-01 -2.65543250e-01 -1.05759005e-01 3.79931143e+02] [ 2.64433858e-01 9.64089099e-01 -2.46362171e-02 6.96828629e+01] [ 1.08503085e-01 -4.35785149e-03 9.94086560e-01 4.01988922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.105099893 meters 0.055811441709177734 Centerline is valid? [True, True] Translation: X:379.99, Y:69.70, Z:40.21 [[ 9.58335483e-01 -2.65135816e-01 -1.06283120e-01 3.79986920e+02] [ 2.64012448e-01 9.64201356e-01 -2.47623181e-02 6.97005259e+01] [ 1.09043706e-01 -4.32945874e-03 9.94027528e-01 4.02050262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.165099893 meters 0.05696220957624007 Centerline is valid? [True, True] Translation: X:380.04, Y:69.71, Z:40.21 [[ 9.58743984e-01 -2.63603694e-01 -1.06409892e-01 3.80044296e+02] [ 2.62466958e-01 9.64622144e-01 -2.48035518e-02 6.97129285e+01] [ 1.09183646e-01 -4.14882455e-03 9.94012937e-01 4.02110044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.22509989299994 meters 0.055085351210949506 Centerline is valid? [True, True] Translation: X:380.10, Y:69.74, Z:40.22 [[ 9.59846616e-01 -2.59760399e-01 -1.05919826e-01 3.80100193e+02] [ 2.58610624e-01 9.65666040e-01 -2.46909713e-02 6.97371538e+01] [ 1.08696916e-01 -3.69244710e-03 9.94068079e-01 4.02182432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.28509989299994 meters 0.05749962849344484 Centerline is valid? [True, True] Translation: X:380.16, Y:69.74, Z:40.22 [[ 9.60502551e-01 -2.57252130e-01 -1.06095201e-01 3.80160145e+02] [ 2.56083264e-01 9.66338288e-01 -2.47320751e-02 6.97406634e+01] [ 1.08886234e-01 -3.41398418e-03 9.94048355e-01 4.02228424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.34509989299994 meters 0.05680087212268331 Centerline is valid? [True, True] Translation: X:380.22, Y:69.76, Z:40.23 [[ 9.61039693e-01 -2.55097962e-01 -1.06431852e-01 3.80216802e+02] [ 2.53908294e-01 9.66909990e-01 -2.48122998e-02 6.97619727e+01] [ 1.09239588e-01 -3.17832477e-03 9.94010368e-01 4.02294102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.40509989299994 meters 0.05568607295903997 Centerline is valid? [True, True] Translation: X:380.27, Y:69.78, Z:40.24 [[ 9.60990962e-01 -2.54849414e-01 -1.07462306e-01 3.80270935e+02] [ 2.53634821e-01 9.66975526e-01 -2.50541379e-02 6.97821922e+01] [ 1.10298452e-01 -3.17938265e-03 9.93893426e-01 4.02358227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.46509989299994 meters 0.05603040474926474 Centerline is valid? [True, True] Translation: X:380.33, Y:69.80, Z:40.24 [[ 9.61170720e-01 -2.53871485e-01 -1.08167077e-01 3.80327646e+02] [ 2.52633162e-01 9.67233074e-01 -2.52322538e-02 6.97962556e+01] [ 1.11028524e-01 -3.07408721e-03 9.93812466e-01 4.02408753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.52509989299995 meters 0.054403445373954695 Centerline is valid? [True, True] Translation: X:380.38, Y:69.82, Z:40.25 [[ 9.61743533e-01 -2.52051647e-01 -1.07328212e-01 3.80383106e+02] [ 2.50820041e-01 9.67709642e-01 -2.50470628e-02 6.98194819e+01] [ 1.10175699e-01 -2.83121580e-03 9.93908094e-01 4.02489804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.58509989299995 meters 0.05522631971879844 Centerline is valid? [True, True] Translation: X:380.44, Y:69.83, Z:40.25 [[ 9.62589780e-01 -2.48977320e-01 -1.06916836e-01 3.80440839e+02] [ 2.47736141e-01 9.68506169e-01 -2.49520403e-02 6.98323539e+01] [ 1.09762107e-01 -2.46858529e-03 9.93954821e-01 4.02546294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.64509989299995 meters 0.054481276161739735 Centerline is valid? [True, True] Translation: X:380.50, Y:69.86, Z:40.26 [[ 9.64070503e-01 -2.43535838e-01 -1.06105424e-01 3.80497444e+02] [ 2.42280390e-01 9.69890168e-01 -2.47643985e-02 6.98553977e+01] [ 1.08941626e-01 -1.83263738e-03 9.94046459e-01 4.02621972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.70509989299995 meters 0.05466441342477254 Centerline is valid? [True, True] Translation: X:380.55, Y:69.87, Z:40.27 [[ 9.65166055e-01 -2.39640525e-01 -1.05009070e-01 3.80553909e+02] [ 2.38388014e-01 9.70860710e-01 -2.45078921e-02 6.98727335e+01] [ 1.07822265e-01 -1.37871808e-03 9.94169230e-01 4.02686589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.76509989299996 meters 0.05416854215298247 Centerline is valid? [True, True] Translation: X:380.61, Y:69.89, Z:40.27 [[ 9.66601712e-01 -2.34371164e-01 -1.03688420e-01 3.80611923e+02] [ 2.33119571e-01 9.72146877e-01 -2.42015323e-02 6.98881022e+01] [ 1.06472515e-01 -7.78557511e-04 9.94315341e-01 4.02746074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.82509989299996 meters 0.05442513850404999 Centerline is valid? [True, True] Translation: X:380.67, Y:69.90, Z:40.28 [[ 9.67207673e-01 -2.31695192e-01 -1.04051213e-01 3.80668715e+02] [ 2.30418846e-01 9.72788316e-01 -2.42909126e-02 6.99040259e+01] [ 1.06847892e-01 -4.81003406e-04 9.94275262e-01 4.02807266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.88509989299996 meters 0.05442365507515933 Centerline is valid? [True, True] Translation: X:380.73, Y:69.92, Z:40.29 [[ 9.67430246e-01 -2.30483044e-01 -1.04672274e-01 3.80728859e+02] [ 2.29183039e-01 9.73076283e-01 -2.44475377e-02 6.99176687e+01] [ 1.07488850e-01 -3.37822435e-04 9.94206233e-01 4.02864645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.94509989299996 meters 0.054730533013619014 Centerline is valid? [True, True] Translation: X:380.79, Y:69.93, Z:40.29 [[ 9.67114905e-01 -2.31303743e-01 -1.05770218e-01 3.80788346e+02] [ 2.29981536e-01 9.72881487e-01 -2.47003185e-02 6.99272716e+01] [ 1.08615163e-01 -4.37151083e-04 9.94083777e-01 4.02898021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.00509989299997 meters 0.05390928419801566 Centerline is valid? [True, True] Translation: X:380.85, Y:69.94, Z:40.30 [[ 9.66232311e-01 -2.34724906e-01 -1.06298353e-01 3.80845734e+02] [ 2.33410286e-01 9.72061486e-01 -2.48214649e-02 6.99362476e+01] [ 1.09154751e-01 -8.27827478e-04 9.94024424e-01 4.02957562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.06509989299997 meters 0.054580528405995817 Centerline is valid? [True, True] Translation: X:380.90, Y:69.95, Z:40.30 [[ 9.65497276e-01 -2.37799309e-01 -1.06143760e-01 3.80902968e+02] [ 2.36505667e-01 9.71313616e-01 -2.47977773e-02 6.99469254e+01] [ 1.08995774e-01 -1.16141440e-03 9.94041535e-01 4.03024267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.12509989299997 meters 0.0546578634433824 Centerline is valid? [True, True] Translation: X:380.96, Y:69.96, Z:40.31 [[ 9.64380079e-01 -2.42544671e-01 -1.05561098e-01 3.80960836e+02] [ 2.41292194e-01 9.70138791e-01 -2.46739441e-02 6.99570186e+01] [ 1.08393450e-01 -1.67600877e-03 9.94106660e-01 4.03091912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.185099893 meters 0.05478403670253004 Centerline is valid? [True, True] Translation: X:381.02, Y:69.96, Z:40.31 [[ 9.63654914e-01 -2.45392692e-01 -1.05601291e-01 3.81019383e+02] [ 2.44155978e-01 9.69421709e-01 -2.46862042e-02 6.99635506e+01] [ 1.08429998e-01 -1.99420452e-03 9.94102087e-01 4.03146390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.245099893 meters 0.05586989845597754 Centerline is valid? [True, True] Translation: X:381.08, Y:69.97, Z:40.32 [[ 9.62469068e-01 -2.50177629e-01 -1.05187675e-01 3.81078990e+02] [ 2.48978745e-01 9.68196676e-01 -2.45923097e-02 6.99651920e+01] [ 1.07994803e-01 -2.52015806e-03 9.94148264e-01 4.03201975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.305099893 meters 0.055751256073796454 Centerline is valid? [True, True] Translation: X:381.14, Y:69.97, Z:40.33 [[ 9.61048665e-01 -2.56148609e-01 -1.03794765e-01 3.81138477e+02] [ 2.55015801e-01 9.66632294e-01 -2.42682955e-02 6.99749056e+01] [ 1.06547662e-01 -3.14629211e-03 9.94302618e-01 4.03278113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.365099893 meters 0.056610628789650036 Centerline is valid? [True, True] Translation: X:381.20, Y:69.98, Z:40.33 [[ 9.60556907e-01 -2.58099855e-01 -1.03512772e-01 3.81196815e+02] [ 2.56984571e-01 9.66112423e-01 -2.42015705e-02 6.99847203e+01] [ 1.06251396e-01 -3.35419959e-03 9.94333641e-01 4.03343720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.425099893 meters 0.05584412511220481 Centerline is valid? [True, True] Translation: X:381.25, Y:70.00, Z:40.34 [[ 9.59873019e-01 -2.60551247e-01 -1.03715163e-01 3.81254995e+02] [ 2.59445454e-01 9.65453198e-01 -2.42524116e-02 6.99984311e+01] [ 1.06451131e-01 -3.62919190e-03 9.94311312e-01 4.03403161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.485099893 meters 0.05526827873795913 Centerline is valid? [True, True] Translation: X:381.31, Y:70.02, Z:40.35 [[ 9.59705721e-01 -2.61052712e-01 -1.04001979e-01 3.81311472e+02] [ 2.59943710e-01 9.65317475e-01 -2.43195269e-02 7.00165544e+01] [ 1.06743606e-01 -3.69507108e-03 9.94279714e-01 4.03466332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.545099893 meters 0.05532854580931355 Centerline is valid? [True, True] Translation: X:381.37, Y:70.02, Z:40.35 [[ 9.60222090e-01 -2.59104325e-01 -1.04108053e-01 3.81369975e+02] [ 2.57981447e-01 9.65843071e-01 -2.43461687e-02 7.00227856e+01] [ 1.06860239e-01 -3.48021720e-03 9.94267961e-01 4.03529829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.605099893 meters 0.059427457404529926 Centerline is valid? [True, True] Translation: X:381.43, Y:70.02, Z:40.36 [[ 9.60830570e-01 -2.56534366e-01 -1.04855781e-01 3.81430632e+02] [ 2.55379724e-01 9.66529763e-01 -2.45237298e-02 7.00221357e+01] [ 1.07637413e-01 -3.21489099e-03 9.94185019e-01 4.03571600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.665099893 meters 0.055246100832217676 Centerline is valid? [True, True] Translation: X:381.49, Y:70.05, Z:40.36 [[ 9.61643005e-01 -2.53165006e-01 -1.05594562e-01 3.81485412e+02] [ 2.51973565e-01 9.67418897e-01 -2.46981925e-02 7.00502454e+01] [ 1.08406893e-01 -2.85619433e-03 9.94102504e-01 4.03642330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.72509989299994 meters 0.055163474366506184 Centerline is valid? [True, True] Translation: X:381.54, Y:70.07, Z:40.37 [[ 9.62372828e-01 -2.49907409e-01 -1.06699706e-01 3.81541660e+02] [ 2.48670872e-01 9.68266471e-01 -2.49567257e-02 7.00695248e+01] [ 1.09550619e-01 -2.51543421e-03 9.93978035e-01 4.03703050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.78509989299994 meters 0.055481224998328964 Centerline is valid? [True, True] Translation: X:381.60, Y:70.08, Z:40.38 [[ 9.62925831e-01 -2.47623669e-01 -1.07034402e-01 3.81598736e+02] [ 2.46365157e-01 9.68853654e-01 -2.50360943e-02 7.00813138e+01] [ 1.09900201e-01 -2.26164528e-03 9.93940054e-01 4.03755174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.84509989299994 meters 0.05503475723079012 Centerline is valid? [True, True] Translation: X:381.66, Y:70.10, Z:40.38 [[ 9.63832758e-01 -2.44676106e-01 -1.05640985e-01 3.81655921e+02] [ 2.43432179e-01 9.69603015e-01 -2.47137199e-02 7.00968230e+01] [ 1.08476675e-01 -1.89652249e-03 9.94097186e-01 4.03834339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.90509989299994 meters 0.05539180602446686 Centerline is valid? [True, True] Translation: X:381.71, Y:70.11, Z:40.39 [[ 9.64147692e-01 -2.44234673e-01 -1.03772116e-01 3.81712608e+02] [ 2.43031729e-01 9.69714464e-01 -2.42783338e-02 7.01057479e+01] [ 1.06558933e-01 -1.81201734e-03 9.94304737e-01 4.03909236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.96509989299994 meters 0.05511390201156503 Centerline is valid? [True, True] Translation: X:381.77, Y:70.12, Z:40.40 [[ 9.63863238e-01 -2.46049370e-01 -1.02114474e-01 3.81768093e+02] [ 2.44894335e-01 9.69255283e-01 -2.38948033e-02 7.01228309e+01] [ 1.04854294e-01 -1.97593373e-03 9.94485632e-01 4.03988186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.02509989299995 meters 0.05563491255634098 Centerline is valid? [True, True] Translation: X:381.83, Y:70.13, Z:40.41 [[ 9.62557523e-01 -2.51042860e-01 -1.02276574e-01 3.81827414e+02] [ 2.49911738e-01 9.67972694e-01 -2.39371472e-02 7.01322131e+01] [ 1.05010180e-01 -2.51923517e-03 9.94467956e-01 4.04050662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.08509989299995 meters 0.055729021942931806 Centerline is valid? [True, True] Translation: X:381.89, Y:70.14, Z:40.41 [[ 9.61383917e-01 -2.55150067e-01 -1.03147506e-01 3.81885203e+02] [ 2.54022992e-01 9.66896835e-01 -2.41418681e-02 7.01433077e+01] [ 1.05892796e-01 -2.99223439e-03 9.94373050e-01 4.04105323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.14509989299995 meters 0.057661701770212265 Centerline is valid? [True, True] Translation: X:381.95, Y:70.14, Z:40.42 [[ 9.59614776e-01 -2.61558237e-01 -1.03570124e-01 3.81945937e+02] [ 2.60458830e-01 9.65180557e-01 -2.42423450e-02 7.01442962e+01] [ 1.06304655e-01 -3.71244095e-03 9.94326676e-01 4.04164097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.20509989299995 meters 0.0577490611327341 Centerline is valid? [True, True] Translation: X:382.00, Y:70.16, Z:40.42 [[ 9.58752931e-01 -2.64990449e-01 -1.02824508e-01 3.82004426e+02] [ 2.63926506e-01 9.64242476e-01 -2.40675663e-02 7.01583591e+01] [ 1.05525434e-01 -4.06326348e-03 9.94408303e-01 4.04235757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.26509989299996 meters 0.06239126883712599 Centerline is valid? [True, True] Translation: X:382.07, Y:70.16, Z:40.43 [[ 9.58024441e-01 -2.67112654e-01 -1.04115328e-01 3.82066232e+02] [ 2.66034242e-01 9.63655486e-01 -2.43697822e-02 7.01585836e+01] [ 1.06840785e-01 -4.35139550e-03 9.94266620e-01 4.04275048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.32509989299996 meters 0.056670277199803096 Centerline is valid? [True, True] Translation: X:382.12, Y:70.19, Z:40.43 [[ 9.58243057e-01 -2.66597411e-01 -1.03421775e-01 3.82119164e+02] [ 2.65530256e-01 9.63798546e-01 -2.42083740e-02 7.01910611e+01] [ 1.06131646e-01 -4.26410395e-03 9.94342944e-01 4.04345634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.38509989299996 meters 0.055456414334391683 Centerline is valid? [True, True] Translation: X:382.18, Y:70.21, Z:40.44 [[ 9.59223788e-01 -2.63486226e-01 -1.02297281e-01 3.82175714e+02] [ 2.62423950e-01 9.64655391e-01 -2.39509135e-02 7.02120882e+01] [ 1.04992360e-01 -3.87097061e-03 9.94465495e-01 4.04413303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.44509989299996 meters 0.05773476551866526 Centerline is valid? [True, True] Translation: X:382.23, Y:70.22, Z:40.45 [[ 9.60295716e-01 -2.59313772e-01 -1.02900462e-01 3.82234691e+02] [ 2.58215008e-01 9.65787021e-01 -2.40923040e-02 7.02183627e+01] [ 1.05627397e-01 -3.43470734e-03 9.94399847e-01 4.04471770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.50509989299997 meters 0.05605014968306263 Centerline is valid? [True, True] Translation: X:382.29, Y:70.24, Z:40.45 [[ 9.60702215e-01 -2.57771440e-01 -1.02981251e-01 3.82290738e+02] [ 2.56662008e-01 9.66200400e-01 -2.41122411e-02 7.02420173e+01] [ 1.05715973e-01 -3.26669117e-03 9.94391001e-01 4.04536960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.56509989299997 meters 0.055162907124479625 Centerline is valid? [True, True] Translation: X:382.35, Y:70.26, Z:40.46 [[ 9.60659263e-01 -2.57379702e-01 -1.04352624e-01 3.82346590e+02] [ 2.56238125e-01 9.66304827e-01 -2.44336964e-02 7.02590099e+01] [ 1.07125182e-01 -3.26666393e-03 9.94240174e-01 4.04590041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.62509989299997 meters 0.05552662912409287 Centerline is valid? [True, True] Translation: X:382.40, Y:70.27, Z:40.46 [[ 9.60599412e-01 -2.57517937e-01 -1.04562337e-01 3.82403000e+02] [ 2.56371244e-01 9.66267962e-01 -2.44951061e-02 7.02731676e+01] [ 1.07343166e-01 -3.27679199e-03 9.94216630e-01 4.04647518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.685099893 meters 0.05502836818691971 Centerline is valid? [True, True] Translation: X:382.46, Y:70.29, Z:40.47 [[ 9.61059635e-01 -2.55672536e-01 -1.04861491e-01 3.82460191e+02] [ 2.54506840e-01 9.66758580e-01 -2.45787745e-02 7.02912666e+01] [ 1.07659864e-01 -3.06629863e-03 9.94183057e-01 4.04712646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.745099893 meters 0.05449257158261822 Centerline is valid? [True, True] Translation: X:382.52, Y:70.31, Z:40.48 [[ 9.61745042e-01 -2.52917556e-01 -1.05257699e-01 3.82516909e+02] [ 2.51726091e-01 9.67483886e-01 -2.46760082e-02 7.03104568e+01] [ 1.08076123e-01 -2.76408059e-03 9.94138779e-01 4.04780165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.805099893 meters 0.05543040375103535 Centerline is valid? [True, True] Translation: X:382.57, Y:70.32, Z:40.48 [[ 9.63017555e-01 -2.47772118e-01 -1.05859178e-01 3.82574290e+02] [ 2.46535843e-01 9.68815848e-01 -2.48179606e-02 7.03235530e+01] [ 1.08707248e-01 -2.19794999e-03 9.94071377e-01 4.04830953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.865099893 meters 0.055213564369528484 Centerline is valid? [True, True] Translation: X:382.63, Y:70.34, Z:40.49 [[ 9.63637607e-01 -2.45289137e-01 -1.05999066e-01 3.82631076e+02] [ 2.44034459e-01 9.69448068e-01 -2.48520871e-02 7.03399548e+01] [ 1.08856537e-01 -1.91901906e-03 9.94055618e-01 4.04889984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.925099893 meters 0.05522104492510443 Centerline is valid? [True, True] Translation: X:382.69, Y:70.35, Z:40.49 [[ 9.63751730e-01 -2.44746431e-01 -1.06215761e-01 3.82688161e+02] [ 2.43482680e-01 9.69585345e-01 -2.49087179e-02 7.03526110e+01] [ 1.09081565e-01 -1.85587810e-03 9.94031070e-01 4.04938848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.985099893 meters 0.0549669368662204 Centerline is valid? [True, True] Translation: X:382.74, Y:70.37, Z:40.50 [[ 9.63149902e-01 -2.46984133e-01 -1.06494627e-01 3.82744796e+02] [ 2.45726161e-01 9.69017239e-01 -2.49848707e-02 7.03684530e+01] [ 1.09365996e-01 -2.10434010e-03 9.93999321e-01 4.05008384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.045099893 meters 0.054477959383375636 Centerline is valid? [True, True] Translation: X:382.80, Y:70.38, Z:40.51 [[ 9.61252226e-01 -2.53523114e-01 -1.08259824e-01 3.82802461e+02] [ 2.52263943e-01 9.67325004e-01 -2.54015783e-02 7.03843947e+01] [ 1.11162322e-01 -2.89272636e-03 9.93798053e-01 4.05080254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.105099893 meters 0.055864985082932944 Centerline is valid? [True, True] Translation: X:382.86, Y:70.39, Z:40.51 [[ 9.59835090e-01 -2.58428603e-01 -1.09230293e-01 3.82861693e+02] [ 2.57178315e-01 9.66024049e-01 -2.56291071e-02 7.03897119e+01] [ 1.12142384e-01 -3.49194622e-03 9.93686013e-01 4.05120744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.16509989299993 meters 0.054961146782626064 Centerline is valid? [True, True] Translation: X:382.92, Y:70.41, Z:40.52 [[ 9.57784283e-01 -2.65885977e-01 -1.09333959e-01 3.82919026e+02] [ 2.64681777e-01 9.63994580e-01 -2.56516388e-02 7.04056534e+01] [ 1.12217755e-01 -4.36997022e-03 9.93674030e-01 4.05205444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.22509989299994 meters 0.05553947041273374 Centerline is valid? [True, True] Translation: X:382.98, Y:70.42, Z:40.53 [[ 9.56738485e-01 -2.69825681e-01 -1.08837368e-01 3.82977352e+02] [ 2.68657731e-01 9.62897176e-01 -2.55353077e-02 7.04171886e+01] [ 1.11689277e-01 -4.80938885e-03 9.93731541e-01 4.05275431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.28509989299994 meters 0.054639596407603366 Centerline is valid? [True, True] Translation: X:383.03, Y:70.44, Z:40.54 [[ 9.55694995e-01 -2.73716151e-01 -1.08289171e-01 3.83034537e+02] [ 2.72584701e-01 9.61796262e-01 -2.54073106e-02 7.04391978e+01] [ 1.11106511e-01 -5.23633169e-03 9.93794709e-01 4.05355016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.34509989299994 meters 0.053544788563166315 Centerline is valid? [True, True] Translation: X:383.09, Y:70.46, Z:40.54 [[ 9.54818882e-01 -2.76750737e-01 -1.08304811e-01 3.83091224e+02] [ 2.75638614e-01 9.60925468e-01 -2.54086415e-02 7.04594168e+01] [ 1.11104712e-01 -5.59233737e-03 9.93792971e-01 4.05432319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.40509989299994 meters 0.056565706498993396 Centerline is valid? [True, True] Translation: X:383.15, Y:70.46, Z:40.55 [[ 9.54003285e-01 -2.79510517e-01 -1.08404812e-01 3.83152942e+02] [ 2.78414042e-01 9.60124385e-01 -2.54320083e-02 7.04576254e+01] [ 1.11190617e-01 -5.91920237e-03 9.93781470e-01 4.05481657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.46509989299994 meters 0.053736820732483766 Centerline is valid? [True, True] Translation: X:383.21, Y:70.49, Z:40.56 [[ 9.53761049e-01 -2.80797335e-01 -1.07204094e-01 3.83207493e+02] [ 2.79733052e-01 9.59748327e-01 -2.51509334e-02 7.04898457e+01] [ 1.09951265e-01 -6.00054788e-03 9.93918866e-01 4.05574633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.52509989299995 meters 0.05376408859697632 Centerline is valid? [True, True] Translation: X:383.27, Y:70.50, Z:40.56 [[ 9.53727495e-01 -2.80992880e-01 -1.06990028e-01 3.83267039e+02] [ 2.79934304e-01 9.59691016e-01 -2.50986038e-02 7.05024451e+01] [ 1.09729898e-01 -6.01295048e-03 9.93943255e-01 4.05639394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.58509989299995 meters 0.05364447494358666 Centerline is valid? [True, True] Translation: X:383.33, Y:70.52, Z:40.57 [[ 9.53795545e-01 -2.80358367e-01 -1.08042795e-01 3.83326034e+02] [ 2.79275554e-01 9.59876615e-01 -2.53386758e-02 7.05207119e+01] [ 1.10811662e-01 -6.00579518e-03 9.93823277e-01 4.05703069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.64509989299995 meters 0.05335014426137958 Centerline is valid? [True, True] Translation: X:383.39, Y:70.53, Z:40.58 [[ 9.53907413e-01 -2.79240357e-01 -1.09933937e-01 3.83386163e+02] [ 2.78112302e-01 9.60202592e-01 -2.57784698e-02 7.05348618e+01] [ 1.12757241e-01 -5.98370696e-03 9.93604549e-01 4.05753720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.70509989299995 meters 0.05626785037672898 Centerline is valid? [True, True] Translation: X:383.45, Y:70.54, Z:40.58 [[ 9.54680258e-01 -2.75922468e-01 -1.11590307e-01 3.83445625e+02] [ 2.74737867e-01 9.61163115e-01 -2.61642942e-02 7.05403455e+01] [ 1.14475803e-01 -5.67954766e-03 9.93409801e-01 4.05788050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.76509989299996 meters 0.05405233229432036 Centerline is valid? [True, True] Translation: X:383.50, Y:70.57, Z:40.59 [[ 9.55786983e-01 -2.72360492e-01 -1.10864810e-01 3.83500711e+02] [ 2.71167403e-01 9.62181135e-01 -2.59942959e-02 7.05698296e+01] [ 1.13751848e-01 -5.21791301e-03 9.93495491e-01 4.05886448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.82509989299996 meters 0.05484610884272404 Centerline is valid? [True, True] Translation: X:383.56, Y:70.58, Z:40.60 [[ 9.58364212e-01 -2.63893499e-01 -1.09079138e-01 3.83558393e+02] [ 2.62683822e-01 9.64542931e-01 -2.55762460e-02 7.05826674e+01] [ 1.11960916e-01 -4.14196600e-03 9.93703979e-01 4.05952810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.88509989299996 meters 0.0547416387958539 Centerline is valid? [True, True] Translation: X:383.61, Y:70.61, Z:40.60 [[ 9.61318835e-01 -2.53823400e-01 -1.06956907e-01 3.83613555e+02] [ 2.52598096e-01 9.67246208e-01 -2.50793862e-02 7.06095253e+01] [ 1.09819397e-01 -2.90782465e-03 9.93947305e-01 4.06042138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.94509989299996 meters 0.05403387929549803 Centerline is valid? [True, True] Translation: X:383.67, Y:70.63, Z:40.61 [[ 9.63051802e-01 -2.47230455e-01 -1.06809778e-01 3.83670333e+02] [ 2.45968094e-01 9.68954317e-01 -2.50445283e-02 7.06255205e+01] [ 1.09685565e-01 -2.15261939e-03 9.93964005e-01 4.06097682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.00509989299997 meters 0.054180308805274774 Centerline is valid? [True, True] Translation: X:383.73, Y:70.65, Z:40.62 [[ 9.64935320e-01 -2.39231002e-01 -1.08020162e-01 3.83726948e+02] [ 2.37889637e-01 9.70961869e-01 -2.53292278e-02 7.06484993e+01] [ 1.10942995e-01 -1.25581055e-03 9.93825978e-01 4.06163566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.06509989299997 meters 0.05387375181726177 Centerline is valid? [True, True] Translation: X:383.79, Y:70.66, Z:40.62 [[ 9.65687507e-01 -2.35588817e-01 -1.09295688e-01 3.83785515e+02] [ 2.34192262e-01 9.71852453e-01 -2.56279830e-02 7.06626642e+01] [ 1.12256948e-01 -8.47581330e-04 9.93678851e-01 4.06199837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.12509989299997 meters 0.054343947094039606 Centerline is valid? [True, True] Translation: X:383.84, Y:70.68, Z:40.63 [[ 9.66232689e-01 -2.33281874e-01 -1.09425583e-01 3.83844907e+02] [ 2.31867459e-01 9.72408982e-01 -2.56564437e-02 7.06796028e+01] [ 1.12391603e-01 -5.82137206e-04 9.93663821e-01 4.06275116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.185099893 meters 0.05402695173643432 Centerline is valid? [True, True] Translation: X:383.90, Y:70.69, Z:40.63 [[ 9.66549290e-01 -2.31412803e-01 -1.10591970e-01 3.83904183e+02] [ 2.29956217e-01 9.72855578e-01 -2.59260943e-02 7.06929935e+01] [ 1.13589645e-01 -3.72463090e-04 9.93527681e-01 4.06303662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.245099893 meters 0.05444148405728179 Centerline is valid? [True, True] Translation: X:383.96, Y:70.71, Z:40.64 [[ 9.66776675e-01 -2.30489879e-01 -1.10531791e-01 3.83962584e+02] [ 2.29029192e-01 9.73074686e-01 -2.59091569e-02 7.07084432e+01] [ 1.13527486e-01 -2.66638275e-04 9.93534820e-01 4.06389571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.305099893 meters 0.05451497919534307 Centerline is valid? [True, True] Translation: X:384.02, Y:70.72, Z:40.64 [[ 9.67095551e-01 -2.29299776e-01 -1.10217091e-01 3.84019917e+02] [ 2.27839912e-01 9.73355843e-01 -2.58336644e-02 7.07218766e+01] [ 1.13204103e-01 -1.28230458e-04 9.93571746e-01 4.06433826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.365099893 meters 0.05439018900898428 Centerline is valid? [True, True] Translation: X:384.08, Y:70.73, Z:40.65 [[ 9.67057711e-01 -2.29511292e-01 -1.10108815e-01 3.84076366e+02] [ 2.28055165e-01 9.73305987e-01 -2.58127255e-02 7.07338935e+01] [ 1.13093881e-01 -1.48488812e-04 9.93584295e-01 4.06514109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.425099893 meters 0.0547844979912995 Centerline is valid? [True, True] Translation: X:384.13, Y:70.75, Z:40.66 [[ 9.66757362e-01 -2.30803212e-01 -1.10045807e-01 3.84132449e+02] [ 2.29355604e-01 9.73000409e-01 -2.58110721e-02 7.07465015e+01] [ 1.13031894e-01 -2.86578640e-04 9.93591319e-01 4.06621396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.485099893 meters 0.054516587359020444 Centerline is valid? [True, True] Translation: X:384.19, Y:70.75, Z:40.67 [[ 9.65924034e-01 -2.34349114e-01 -1.09869261e-01 3.84192131e+02] [ 2.32928516e-01 9.72152256e-01 -2.57739789e-02 7.07548792e+01] [ 1.12849759e-01 -6.95978221e-04 9.93611819e-01 4.06656566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.545099893 meters 0.05428510799282443 Centerline is valid? [True, True] Translation: X:384.25, Y:70.76, Z:40.67 [[ 9.65347637e-01 -2.36719830e-01 -1.09852906e-01 3.84248668e+02] [ 2.35314776e-01 9.71577469e-01 -2.57716450e-02 7.07635677e+01] [ 1.12831268e-01 -9.71415416e-04 9.93613688e-01 4.06708913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.605099893 meters 0.05483014722253806 Centerline is valid? [True, True] Translation: X:384.30, Y:70.78, Z:40.68 [[ 9.65090851e-01 -2.37407480e-01 -1.10622504e-01 3.84304484e+02] [ 2.35986180e-01 9.71409586e-01 -2.59603480e-02 7.07766756e+01] [ 1.13622942e-01 -1.05128779e-03 9.93523388e-01 4.06796349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.66509989299993 meters 0.054225457436289204 Centerline is valid? [True, True] Translation: X:384.36, Y:70.79, Z:40.68 [[ 9.65433693e-01 -2.36217790e-01 -1.10176861e-01 3.84363296e+02] [ 2.34799505e-01 9.71699719e-01 -2.58621172e-02 7.07866117e+01] [ 1.13167917e-01 -9.01313128e-04 9.93575468e-01 4.06830928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.72509989299994 meters 0.05481878074523809 Centerline is valid? [True, True] Translation: X:384.42, Y:70.80, Z:40.69 [[ 9.66063823e-01 -2.33675904e-01 -1.10073897e-01 3.84419232e+02] [ 2.32243674e-01 9.72314358e-01 -2.58392274e-02 7.07983289e+01] [ 1.13064435e-01 -6.01623437e-04 9.93587476e-01 4.06884158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.78509989299994 meters 0.05452150813825966 Centerline is valid? [True, True] Translation: X:384.48, Y:70.81, Z:40.69 [[ 9.67116985e-01 -2.29294409e-01 -1.10040045e-01 3.84475678e+02] [ 2.27834191e-01 9.73357112e-01 -2.58362973e-02 7.08102697e+01] [ 1.13032379e-01 -8.41628162e-05 9.93591301e-01 4.06937844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.84509989299994 meters 0.054393268159054264 Centerline is valid? [True, True] Translation: X:384.53, Y:70.82, Z:40.70 [[ 9.67637643e-01 -2.27348393e-01 -1.09499316e-01 3.84531737e+02] [ 2.25889259e-01 9.73813476e-01 -2.57168635e-02 7.08219257e+01] [ 1.12478597e-01 1.49885820e-04 9.93654136e-01 4.07006919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.90509989299994 meters 0.05477681303320379 Centerline is valid? [True, True] Translation: X:384.59, Y:70.83, Z:40.71 [[ 9.67820847e-01 -2.26606099e-01 -1.09418846e-01 3.84590734e+02] [ 2.25142780e-01 9.73986454e-01 -2.57121640e-02 7.08316070e+01] [ 1.12399007e-01 2.49905250e-04 9.93663122e-01 4.07082095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.96509989299994 meters 0.05436508094919236 Centerline is valid? [True, True] Translation: X:384.65, Y:70.84, Z:40.71 [[ 9.67224084e-01 -2.28485359e-01 -1.10779112e-01 3.84648037e+02] [ 2.26997324e-01 9.73547348e-01 -2.60341143e-02 7.08396744e+01] [ 1.13797125e-01 3.42603330e-05 9.93504008e-01 4.07117922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.02509989299995 meters 0.054910860766762784 Centerline is valid? [True, True] Translation: X:384.71, Y:70.85, Z:40.72 [[ 9.66532457e-01 -2.31591051e-01 -1.10365735e-01 3.84705236e+02] [ 2.30133632e-01 9.72813178e-01 -2.59428470e-02 7.08481425e+01] [ 1.13373372e-01 -3.24263706e-04 9.93552401e-01 4.07187272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.08509989299995 meters 0.05534983732546318 Centerline is valid? [True, True] Translation: X:384.76, Y:70.85, Z:40.73 [[ 9.65077589e-01 -2.38034795e-01 -1.09383196e-01 3.84762613e+02] [ 2.36642817e-01 9.71256053e-01 -2.57265873e-02 7.08534597e+01] [ 1.12362914e-01 -1.05659479e-03 9.93666674e-01 4.07250685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.14509989299995 meters 0.054839704688545494 Centerline is valid? [True, True] Translation: X:384.82, Y:70.86, Z:40.73 [[ 9.63975381e-01 -2.43015753e-01 -1.08142535e-01 3.84821666e+02] [ 2.41685859e-01 9.70021001e-01 -2.54401852e-02 7.08612537e+01] [ 1.11082896e-01 -1.61280924e-03 9.93809835e-01 4.07316994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.20509989299995 meters 0.05494091787861788 Centerline is valid? [True, True] Translation: X:384.88, Y:70.87, Z:40.74 [[ 9.63404717e-01 -2.45453509e-01 -1.07721525e-01 3.84878902e+02] [ 2.44148874e-01 9.69406533e-01 -2.53436688e-02 7.08722951e+01] [ 1.10646642e-01 -1.88387889e-03 9.93858024e-01 4.07383614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.26509989299996 meters 0.05581524092925987 Centerline is valid? [True, True] Translation: X:384.94, Y:70.88, Z:40.74 [[ 9.61981685e-01 -2.51186949e-01 -1.07221050e-01 3.84938885e+02] [ 2.49928509e-01 9.67935314e-01 -2.52382371e-02 7.08751215e+01] [ 1.10122556e-01 -2.51887524e-03 9.93914824e-01 4.07435522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.32509989299996 meters 0.054737862701838766 Centerline is valid? [True, True] Translation: X:385.00, Y:70.89, Z:40.75 [[ 9.60870244e-01 -2.55511515e-01 -1.06968403e-01 3.84997535e+02] [ 2.54285536e-01 9.66801340e-01 -2.51800544e-02 7.08882434e+01] [ 1.09850990e-01 -3.00575277e-03 9.93943522e-01 4.07514716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.38509989299996 meters 0.05717289418028701 Centerline is valid? [True, True] Translation: X:385.06, Y:70.89, Z:40.76 [[ 9.60267602e-01 -2.57690150e-01 -1.07153718e-01 3.85057916e+02] [ 2.56473355e-01 9.66222106e-01 -2.52241947e-02 7.08900364e+01] [ 1.10034317e-01 -3.26009653e-03 9.93922442e-01 4.07556217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.44509989299996 meters 0.05720674525032151 Centerline is valid? [True, True] Translation: X:385.12, Y:70.90, Z:40.76 [[ 9.59743116e-01 -2.59895261e-01 -1.06525139e-01 3.85116083e+02] [ 2.58706073e-01 9.65630504e-01 -2.50778342e-02 7.09015730e+01] [ 1.09381534e-01 -3.49042167e-03 9.93993711e-01 4.07622078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.50509989299997 meters 0.0553365886792392 Centerline is valid? [True, True] Translation: X:385.17, Y:70.92, Z:40.77 [[ 9.59611120e-01 -2.60080900e-01 -1.07258676e-01 3.85171180e+02] [ 2.58876235e-01 9.65580360e-01 -2.52519974e-02 7.09218488e+01] [ 1.10134433e-01 -3.53462453e-03 9.93910415e-01 4.07690534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.56509989299997 meters 0.055376123928752886 Centerline is valid? [True, True] Translation: X:385.23, Y:70.93, Z:40.77 [[ 9.59586277e-01 -2.59551337e-01 -1.08753301e-01 3.85227874e+02] [ 2.58308016e-01 9.65722930e-01 -2.56162360e-02 7.09348845e+01] [ 1.11674285e-01 -3.51086088e-03 9.93738662e-01 4.07735540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.62509989299997 meters 0.05596311774609781 Centerline is valid? [True, True] Translation: X:385.28, Y:70.95, Z:40.78 [[ 9.59648916e-01 -2.58844612e-01 -1.09879134e-01 3.85284795e+02] [ 2.57569430e-01 9.65912802e-01 -2.58929930e-02 7.09451990e+01] [ 1.12835924e-01 -3.45332325e-03 9.93607633e-01 4.07776317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.685099893 meters 0.055168910819474844 Centerline is valid? [True, True] Translation: X:385.34, Y:70.96, Z:40.78 [[ 9.59892758e-01 -2.58012762e-01 -1.09705552e-01 3.85340132e+02] [ 2.56735613e-01 9.66135718e-01 -2.58573062e-02 7.09632742e+01] [ 1.12661967e-01 -3.34508118e-03 9.93627743e-01 4.07848750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.745099893 meters 0.05563290913911485 Centerline is valid? [True, True] Translation: X:385.40, Y:70.97, Z:40.79 [[ 9.60375696e-01 -2.56402381e-01 -1.09253564e-01 3.85396775e+02] [ 2.55124045e-01 9.66565059e-01 -2.57625509e-02 7.09745251e+01] [ 1.12206257e-01 -3.13148338e-03 9.93680004e-01 4.07906377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.805099893 meters 0.055214344462386586 Centerline is valid? [True, True] Translation: X:385.45, Y:70.99, Z:40.80 [[ 9.60915489e-01 -2.55426369e-01 -1.06765130e-01 3.85452727e+02] [ 2.54199217e-01 9.66824031e-01 -2.51803832e-02 7.09927624e+01] [ 1.09654827e-01 -2.94339228e-03 9.93965369e-01 4.07998661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.865099893 meters 0.05553696780982936 Centerline is valid? [True, True] Translation: X:385.51, Y:71.01, Z:40.81 [[ 9.60899873e-01 -2.56170725e-01 -1.05109437e-01 3.85509343e+02] [ 2.54985163e-01 9.66626976e-01 -2.47962796e-02 7.10072783e+01] [ 1.07953698e-01 -2.97460502e-03 9.94151473e-01 4.08073450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.925099893 meters 0.05469841531335157 Centerline is valid? [True, True] Translation: X:385.57, Y:71.02, Z:40.81 [[ 9.60207219e-01 -2.58485475e-01 -1.05770302e-01 3.85567736e+02] [ 2.57297571e-01 9.66009699e-01 -2.49643853e-02 7.10245584e+01] [ 1.08628069e-01 -3.24345893e-03 9.94077171e-01 4.08135570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.985099893 meters 0.054974167589671295 Centerline is valid? [True, True] Translation: X:385.63, Y:71.04, Z:40.82 [[ 9.59506824e-01 -2.60902366e-01 -1.06191385e-01 3.85626874e+02] [ 2.59719803e-01 9.65358731e-01 -2.50628000e-02 7.10357344e+01] [ 1.09051725e-01 -3.53207807e-03 9.94029801e-01 4.08192343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.045099893 meters 0.056052524605760844 Centerline is valid? [True, True] Translation: X:385.69, Y:71.04, Z:40.82 [[ 9.58785758e-01 -2.63431336e-01 -1.06460325e-01 3.85685603e+02] [ 2.62258422e-01 9.64670543e-01 -2.51249499e-02 7.10414290e+01] [ 1.09317839e-01 -3.83067265e-03 9.93999465e-01 4.08245636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.105099893 meters 0.056789231579903426 Centerline is valid? [True, True] Translation: X:385.74, Y:71.05, Z:40.83 [[ 9.58049941e-01 -2.66087584e-01 -1.06478679e-01 3.85743725e+02] [ 2.64930484e-01 9.63939994e-01 -2.51301907e-02 7.10515799e+01] [ 1.09325889e-01 -4.13347035e-03 9.93997366e-01 4.08301618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.16509989299993 meters 0.05689331149282583 Centerline is valid? [True, True] Translation: X:385.80, Y:71.07, Z:40.84 [[ 9.58133570e-01 -2.65794414e-01 -1.06458405e-01 3.85801137e+02] [ 2.64635712e-01 9.64021028e-01 -2.51276131e-02 7.10655371e+01] [ 1.09306920e-01 -4.09708611e-03 9.93999603e-01 4.08357332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.22509989299994 meters 0.056719359130317976 Centerline is valid? [True, True] Translation: X:385.86, Y:71.08, Z:40.84 [[ 9.59241479e-01 -2.62184144e-01 -1.05428933e-01 3.85858041e+02] [ 2.61024916e-01 9.65011000e-01 -2.48950399e-02 7.10843816e+01] [ 1.08267165e-01 -3.63922344e-03 9.94115173e-01 4.08425460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.28509989299994 meters 0.055967000008057086 Centerline is valid? [True, True] Translation: X:385.91, Y:71.11, Z:40.85 [[ 9.60189262e-01 -2.58807911e-01 -1.05142979e-01 3.85914320e+02] [ 2.57634779e-01 9.65923345e-01 -2.48276602e-02 7.11053858e+01] [ 1.07985653e-01 -3.24923543e-03 9.94147143e-01 4.08491287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.34509989299994 meters 0.056047796927940735 Centerline is valid? [True, True] Translation: X:385.97, Y:71.12, Z:40.85 [[ 9.61272605e-01 -2.54468221e-01 -1.05834322e-01 3.85971533e+02] [ 2.53253322e-01 9.67077142e-01 -2.49911276e-02 7.11223101e+01] [ 1.08709401e-01 -2.77960732e-03 9.94069686e-01 4.08539308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.40509989299994 meters 0.05614813723617356 Centerline is valid? [True, True] Translation: X:386.03, Y:71.14, Z:40.86 [[ 9.61321374e-01 -2.54275540e-01 -1.05854451e-01 3.86028775e+02] [ 2.53058848e-01 9.67127887e-01 -2.49974022e-02 7.11366366e+01] [ 1.08731020e-01 -2.75686854e-03 9.94067385e-01 4.08588939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.46509989299994 meters 0.0548068472422473 Centerline is valid? [True, True] Translation: X:386.08, Y:71.16, Z:40.87 [[ 9.60666411e-01 -2.56620637e-01 -1.06140919e-01 3.86084169e+02] [ 2.55410315e-01 9.66507492e-01 -2.50766388e-02 7.11586563e+01] [ 1.09021177e-01 -3.01920110e-03 9.94034842e-01 4.08652073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.52509989299995 meters 0.054525992551846265 Centerline is valid? [True, True] Translation: X:386.14, Y:71.18, Z:40.87 [[ 9.59535939e-01 -2.59467026e-01 -1.09396725e-01 3.86142025e+02] [ 2.58199251e-01 9.65745828e-01 -2.58484645e-02 7.11768614e+01] [ 1.12356255e-01 -3.44362180e-03 9.93662022e-01 4.08718602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.58509989299995 meters 0.05605881676281497 Centerline is valid? [True, True] Translation: X:386.20, Y:71.18, Z:40.87 [[ 9.58953466e-01 -2.59898832e-01 -1.13405672e-01 3.86200735e+02] [ 2.58539199e-01 9.65629051e-01 -2.67958526e-02 7.11831161e+01] [ 1.16472022e-01 -3.62383585e-03 9.93187362e-01 4.08723681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.64509989299995 meters 0.05478703143723326 Centerline is valid? [True, True] Translation: X:386.26, Y:71.20, Z:40.88 [[ 9.59185373e-01 -2.58179651e-01 -1.15354621e-01 3.86256181e+02] [ 2.56759779e-01 9.66090694e-01 -2.72614486e-02 7.12037466e+01] [ 1.18481378e-01 -3.46964436e-03 9.92950213e-01 4.08781221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.70509989299995 meters 0.05464202343953156 Centerline is valid? [True, True] Translation: X:386.31, Y:71.22, Z:40.89 [[ 9.60070074e-01 -2.55618018e-01 -1.13687647e-01 3.86313246e+02] [ 2.54219774e-01 9.66772901e-01 -2.68786960e-02 7.12222410e+01] [ 1.16780816e-01 -3.09621636e-03 9.93152886e-01 4.08871372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.76509989299996 meters 0.05460979840981691 Centerline is valid? [True, True] Translation: X:386.37, Y:71.24, Z:40.90 [[ 9.61276131e-01 -2.52561543e-01 -1.10276319e-01 3.86371003e+02] [ 2.51226111e-01 9.67577226e-01 -2.60720831e-02 7.12378778e+01] [ 1.13285661e-01 -2.64181972e-03 9.93558946e-01 4.08984971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.82509989299996 meters 0.05549655839450076 Centerline is valid? [True, True] Translation: X:386.43, Y:71.24, Z:40.91 [[ 9.61489144e-01 -2.52842940e-01 -1.07745415e-01 3.86429085e+02] [ 2.51570055e-01 9.67503808e-01 -2.54732964e-02 7.12396809e+01] [ 1.10684842e-01 -2.61322198e-03 9.93852120e-01 4.09057492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.88509989299996 meters 0.055974600330513755 Centerline is valid? [True, True] Translation: X:386.49, Y:71.25, Z:40.92 [[ 9.61424867e-01 -2.55224866e-01 -1.02579199e-01 3.86487253e+02] [ 2.54084419e-01 9.66877832e-01 -2.42562474e-02 7.12461680e+01] [ 1.05372351e-01 -2.74321679e-03 9.94429053e-01 4.09184869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.94509989299996 meters 0.05649506323962155 Centerline is valid? [True, True] Translation: X:386.55, Y:71.25, Z:40.93 [[ 9.60910371e-01 -2.57921650e-01 -1.00636381e-01 3.86547254e+02] [ 2.56837643e-01 9.66161271e-01 -2.38080370e-02 7.12523133e+01] [ 1.03371582e-01 -2.96982130e-03 9.94638375e-01 4.09272989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.00509989299997 meters 0.05663981973208195 Centerline is valid? [True, True] Translation: X:386.60, Y:71.26, Z:40.93 [[ 9.60825864e-01 -2.58563617e-01 -9.97923611e-02 3.86604112e+02] [ 2.57501210e-01 9.65989532e-01 -2.36082704e-02 7.12639804e+01] [ 1.02502616e-01 -3.01321691e-03 9.94728171e-01 4.09325620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.06509989299997 meters 0.05672729634808306 Centerline is valid? [True, True] Translation: X:386.66, Y:71.28, Z:40.94 [[ 9.60916929e-01 -2.58202784e-01 -9.98497810e-02 3.86661826e+02] [ 2.57136553e-01 9.66086176e-01 -2.36282299e-02 7.12757624e+01] [ 1.02564368e-01 -2.97026239e-03 9.94721935e-01 4.09383591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.12509989299997 meters 0.05645153637903153 Centerline is valid? [True, True] Translation: X:386.72, Y:71.28, Z:40.94 [[ 9.62926644e-01 -2.50824016e-01 -9.92954749e-02 3.86721129e+02] [ 2.49729221e-01 9.68030293e-01 -2.35088712e-02 7.12828959e+01] [ 1.02017617e-01 -2.15966312e-03 9.94780248e-01 4.09428627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.185099893 meters 0.05548308295560884 Centerline is valid? [True, True] Translation: X:386.79, Y:71.27, Z:40.94 [[ 9.56980825e-01 -2.69881897e-01 -1.06543242e-01 3.86785362e+02] [ 2.68737834e-01 9.62882960e-01 -2.52266253e-02 7.12741476e+01] [ 1.09396881e-01 -4.49080321e-03 9.93988005e-01 4.09426288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.245099893 meters 0.05548308295560884 Centerline is valid? [True, True] Translation: X:386.84, Y:71.29, Z:40.95 [[ 9.56945477e-01 -2.70007302e-01 -1.06543001e-01 3.86841021e+02] [ 2.68863899e-01 9.62847740e-01 -2.52276415e-02 7.12872915e+01] [ 1.09396335e-01 -4.50408920e-03 9.93988005e-01 4.09486103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.305099893 meters 0.05643729274562426 Centerline is valid? [True, True] Translation: X:386.90, Y:71.30, Z:40.95 [[ 9.57684438e-01 -2.67458504e-01 -1.06331864e-01 3.86899403e+02] [ 2.66302438e-01 9.63560266e-01 -2.51917571e-02 7.12980145e+01] [ 1.09194909e-01 -4.19068102e-03 9.94011524e-01 4.09543727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.365099893 meters 0.05564590403346961 Centerline is valid? [True, True] Translation: X:386.96, Y:71.32, Z:40.96 [[ 9.58467984e-01 -2.64852010e-01 -1.05794789e-01 3.86955216e+02] [ 2.63691653e-01 9.64281296e-01 -2.50658175e-02 7.13198401e+01] [ 1.08654668e-01 -3.87241910e-03 9.94072013e-01 4.09613423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.425099893 meters 0.05564590403346961 Centerline is valid? [True, True] Translation: X:387.01, Y:71.33, Z:40.97 [[ 9.58432387e-01 -2.64980935e-01 -1.05794442e-01 3.87010862e+02] [ 2.63821199e-01 9.64245823e-01 -2.50672808e-02 7.13329834e+01] [ 1.08654200e-01 -3.88552265e-03 9.94072013e-01 4.09673226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.485099893 meters 0.05622999685758221 Centerline is valid? [True, True] Translation: X:387.07, Y:71.34, Z:40.97 [[ 9.59243213e-01 -2.61975103e-01 -1.05931599e-01 3.87068779e+02] [ 2.60792501e-01 9.65068156e-01 -2.51142492e-02 7.13417501e+01] [ 1.08810521e-01 -3.53549346e-03 9.94056221e-01 4.09727169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.545099893 meters 0.05721554042972504 Centerline is valid? [True, True] Translation: X:387.13, Y:71.35, Z:40.98 [[ 9.59982426e-01 -2.59125170e-01 -1.06244478e-01 3.87126431e+02] [ 2.57918123e-01 9.65838376e-01 -2.51887681e-02 7.13518085e+01] [ 1.09142038e-01 -3.22160162e-03 9.94020944e-01 4.09773524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.605099893 meters 0.05721554042972504 Centerline is valid? [True, True] Translation: X:387.18, Y:71.36, Z:40.98 [[ 9.59951251e-01 -2.59240931e-01 -1.06243753e-01 3.87182059e+02] [ 2.58034253e-01 9.65807277e-01 -2.51918246e-02 7.13649931e+01] [ 1.09141742e-01 -3.23160388e-03 9.94020944e-01 4.09833323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.66509989299993 meters 0.05721554042972504 Centerline is valid? [True, True] Translation: X:387.24, Y:71.38, Z:40.99 [[ 9.59920045e-01 -2.59357707e-01 -1.06240706e-01 3.87237684e+02] [ 2.58150321e-01 9.65775925e-01 -2.52046704e-02 7.13781891e+01] [ 1.09141741e-01 -3.23160386e-03 9.94020944e-01 4.09893145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.72509989299994 meters 0.05571472156752958 Centerline is valid? [True, True] Translation: X:387.29, Y:71.40, Z:41.00 [[ 9.60670059e-01 -2.56631707e-01 -1.06081123e-01 3.87293387e+02] [ 2.55409965e-01 9.66504904e-01 -2.51797581e-02 7.14008549e+01] [ 1.08989850e-01 -2.90473624e-03 9.94038619e-01 4.09968200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.78509989299994 meters 0.05511728666447053 Centerline is valid? [True, True] Translation: X:387.35, Y:71.42, Z:41.00 [[ 9.61823789e-01 -2.52266569e-01 -1.06097017e-01 3.87350181e+02] [ 2.51017867e-01 9.67654780e-01 -2.51844572e-02 7.14194854e+01] [ 1.09018482e-01 -2.40923684e-03 9.94036803e-01 4.10032051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.84509989299994 meters 0.05535232137463776 Centerline is valid? [True, True] Translation: X:387.41, Y:71.43, Z:41.01 [[ 9.62598421e-01 -2.49143325e-01 -1.06451321e-01 3.87407681e+02] [ 2.47866965e-01 9.68464434e-01 -2.52707085e-02 7.14318349e+01] [ 1.09390347e-01 -2.06022179e-03 9.93996734e-01 4.10088950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.90509989299994 meters 0.056315333482555144 Centerline is valid? [True, True] Translation: X:387.46, Y:71.44, Z:41.02 [[ 9.62615259e-01 -2.49919498e-01 -1.04461035e-01 3.87464435e+02] [ 2.48694880e-01 9.68264328e-01 -2.48001440e-02 7.14413822e+01] [ 1.07343934e-01 -2.10592762e-03 9.94219717e-01 4.10171841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.96509989299994 meters 0.05780381670628191 Centerline is valid? [True, True] Translation: X:387.52, Y:71.45, Z:41.02 [[ 9.61767852e-01 -2.53199741e-01 -1.04367092e-01 3.87523922e+02] [ 2.51996115e-01 9.67410881e-01 -2.47819765e-02 7.14514842e+01] [ 1.07240650e-01 -2.46559332e-03 9.94230036e-01 4.10228210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.02509989299995 meters 0.056661854050409605 Centerline is valid? [True, True] Translation: X:387.58, Y:71.46, Z:41.03 [[ 9.60637025e-01 -2.57037563e-01 -1.05395437e-01 3.87582609e+02] [ 2.55833122e-01 9.66396992e-01 -2.50253616e-02 7.14645957e+01] [ 1.08286291e-01 -2.92335467e-03 9.94115453e-01 4.10272904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.08509989299995 meters 0.055897519581972144 Centerline is valid? [True, True] Translation: X:387.64, Y:71.49, Z:41.03 [[ 9.60122733e-01 -2.58715184e-01 -1.05975431e-01 3.87638385e+02] [ 2.57507499e-01 9.65948582e-01 -2.51639628e-02 7.14867143e+01] [ 1.08877116e-01 -3.12897540e-03 9.94050292e-01 4.10343676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.14509989299995 meters 0.05649398152417158 Centerline is valid? [True, True] Translation: X:387.69, Y:71.50, Z:41.04 [[ 9.59807554e-01 -2.59964602e-01 -1.05772706e-01 3.87694730e+02] [ 2.58768889e-01 9.65612635e-01 -2.51177359e-02 7.14975725e+01] [ 1.08665183e-01 -3.26249287e-03 9.94073053e-01 4.10401841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.20509989299995 meters 0.056378767102286655 Centerline is valid? [True, True] Translation: X:387.75, Y:71.51, Z:41.05 [[ 9.59592516e-01 -2.61391420e-01 -1.04195629e-01 3.87750934e+02] [ 2.60239053e-01 9.65227011e-01 -2.47477911e-02 7.15134551e+01] [ 1.07041295e-01 -3.36797663e-03 9.94248871e-01 4.10482678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.26509989299996 meters 0.056346205925507056 Centerline is valid? [True, True] Translation: X:387.81, Y:71.53, Z:41.05 [[ 9.59313964e-01 -2.62728116e-01 -1.03395625e-01 3.87808484e+02] [ 2.61599881e-01 9.64863637e-01 -2.45695826e-02 7.15278960e+01] [ 1.06217799e-01 -3.47833943e-03 9.94336804e-01 4.10540295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.32509989299996 meters 0.05800385443748458 Centerline is valid? [True, True] Translation: X:387.87, Y:71.53, Z:41.06 [[ 9.58418557e-01 -2.65808249e-01 -1.03826033e-01 3.87868420e+02] [ 2.64688381e-01 9.64018296e-01 -2.46735794e-02 7.15336800e+01] [ 1.06648636e-01 -3.83392822e-03 9.94289379e-01 4.10578684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.38509989299996 meters 0.05675302783087002 Centerline is valid? [True, True] Translation: X:387.92, Y:71.55, Z:41.06 [[ 9.58065830e-01 -2.67174809e-01 -1.03573582e-01 3.87924400e+02] [ 2.66068207e-01 9.63639881e-01 -2.46148128e-02 7.15548009e+01] [ 1.06384092e-01 -3.97502618e-03 9.94317165e-01 4.10649876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.44509989299996 meters 0.055995705707020726 Centerline is valid? [True, True] Translation: X:387.98, Y:71.57, Z:41.07 [[ 9.57867047e-01 -2.67762927e-01 -1.03892899e-01 3.87980826e+02] [ 2.66652723e-01 9.63476312e-01 -2.46925569e-02 7.15702450e+01] [ 1.06710099e-01 -4.05113785e-03 9.94281923e-01 4.10712058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.50509989299997 meters 0.059360287742147744 Centerline is valid? [True, True] Translation: X:388.04, Y:71.57, Z:41.08 [[ 9.57655206e-01 -2.68166704e-01 -1.04800406e-01 3.88039915e+02] [ 2.67038610e-01 9.63363691e-01 -2.49154673e-02 7.15718443e+01] [ 1.07642404e-01 -4.12532774e-03 9.94181118e-01 4.10754211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.56509989299997 meters 0.058138934683380855 Centerline is valid? [True, True] Translation: X:388.10, Y:71.59, Z:41.08 [[ 9.57279684e-01 -2.69708571e-01 -1.04273170e-01 3.88096359e+02] [ 2.68600219e-01 9.62932526e-01 -2.47966331e-02 7.15915879e+01] [ 1.07095891e-01 -4.27048320e-03 9.94239525e-01 4.10818512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.62509989299997 meters 0.058235856358735065 Centerline is valid? [True, True] Translation: X:388.15, Y:71.61, Z:41.09 [[ 9.57192151e-01 -2.70120867e-01 -1.04009153e-01 3.88152641e+02] [ 2.69020430e-01 9.62816799e-01 -2.47349809e-02 7.16073250e+01] [ 1.06823194e-01 -4.30445749e-03 9.94268715e-01 4.10880117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.685099893 meters 0.05727271583370006 Centerline is valid? [True, True] Translation: X:388.21, Y:71.63, Z:41.09 [[ 9.58611616e-01 -2.65150780e-01 -1.03724800e-01 3.88210243e+02] [ 2.64026123e-01 9.64199752e-01 -2.46788462e-02 7.16261654e+01] [ 1.06555042e-01 -3.72862809e-03 9.94299814e-01 4.10939138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.745099893 meters 0.05509991669394917 Centerline is valid? [True, True] Translation: X:388.27, Y:71.66, Z:41.10 [[ 9.60447315e-01 -2.58831408e-01 -1.02699842e-01 3.88265388e+02] [ 2.57692672e-01 9.65917871e-01 -2.44367278e-02 7.16552732e+01] [ 1.05524605e-01 -2.99480699e-03 9.94412183e-01 4.11014526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.805099893 meters 0.054166123377542987 Centerline is valid? [True, True] Translation: X:388.32, Y:71.68, Z:41.11 [[ 9.63444490e-01 -2.47797436e-01 -1.01838826e-01 3.88320198e+02] [ 2.46616234e-01 9.68810249e-01 -2.42308687e-02 7.16781410e+01] [ 1.04666845e-01 -1.77001081e-03 9.94505766e-01 4.11088861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.865099893 meters 0.05528235114827668 Centerline is valid? [True, True] Translation: X:388.38, Y:71.69, Z:41.11 [[ 9.64881297e-01 -2.42102635e-01 -1.01933300e-01 3.88377443e+02] [ 2.40887462e-01 9.70249960e-01 -2.42537625e-02 7.16921340e+01] [ 1.04772680e-01 -1.15245206e-03 9.94495529e-01 4.11142458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.925099893 meters 0.0544825219184584 Centerline is valid? [True, True] Translation: X:388.43, Y:71.71, Z:41.12 [[ 9.65912836e-01 -2.37700908e-01 -1.02521569e-01 3.88433329e+02] [ 2.36446780e-01 9.71338159e-01 -2.43946974e-02 7.17118333e+01] [ 1.05381754e-01 -6.77743516e-04 9.94431610e-01 4.11200636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.985099893 meters 0.05504932922180373 Centerline is valid? [True, True] Translation: X:388.49, Y:71.72, Z:41.13 [[ 9.65994025e-01 -2.37095848e-01 -1.03155722e-01 3.88491402e+02] [ 2.35821536e-01 9.71486074e-01 -2.45562663e-02 7.17245727e+01] [ 1.06036536e-01 -6.05134224e-04 9.94362050e-01 4.11254089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.045099893 meters 0.05557450627431523 Centerline is valid? [True, True] Translation: X:388.55, Y:71.74, Z:41.13 [[ 9.65808848e-01 -2.37262941e-01 -1.04496728e-01 3.88548358e+02] [ 2.35956030e-01 9.71445263e-01 -2.48767448e-02 7.17356715e+01] [ 1.07415181e-01 -6.30452939e-04 9.94214052e-01 4.11293836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.105099893 meters 0.0551722793330171 Centerline is valid? [True, True] Translation: X:388.60, Y:71.75, Z:41.14 [[ 9.65499397e-01 -2.38213662e-01 -1.05191096e-01 3.88604626e+02] [ 2.36893514e-01 9.71212500e-01 -2.50548013e-02 7.17496117e+01] [ 1.08131303e-01 -7.28692661e-04 9.94136354e-01 4.11367188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.16509989299993 meters 0.05502382583427245 Centerline is valid? [True, True] Translation: X:388.66, Y:71.76, Z:41.14 [[ 9.65080395e-01 -2.39851018e-01 -1.05315341e-01 3.88660966e+02] [ 2.38536132e-01 9.70809290e-01 -2.50965601e-02 7.17613162e+01] [ 1.08260547e-01 -9.01315956e-04 9.94122146e-01 4.11429747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.22509989299994 meters 0.05478222232587229 Centerline is valid? [True, True] Translation: X:388.72, Y:71.77, Z:41.15 [[ 9.64860129e-01 -2.41060310e-01 -1.04569875e-01 3.88718352e+02] [ 2.39770621e-01 9.70509596e-01 -2.49233503e-02 7.17720979e+01] [ 1.07494098e-01 -1.02523689e-03 9.94205194e-01 4.11490644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.28509989299994 meters 0.054832571638981906 Centerline is valid? [True, True] Translation: X:388.78, Y:71.78, Z:41.16 [[ 9.64511959e-01 -2.43110935e-01 -1.03023076e-01 3.88775040e+02] [ 2.41869714e-01 9.69997719e-01 -2.45655709e-02 7.17843445e+01] [ 1.05904307e-01 -1.22437499e-03 9.94375572e-01 4.11562015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.34509989299994 meters 0.0557875023924164 Centerline is valid? [True, True] Translation: X:388.83, Y:71.79, Z:41.16 [[ 9.64481395e-01 -2.43297824e-01 -1.02867915e-01 3.88831279e+02] [ 2.42060116e-01 9.69950851e-01 -2.45407287e-02 7.17948684e+01] [ 1.05747528e-01 -1.23114323e-03 9.94392249e-01 4.11620257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.40509989299994 meters 0.05522331679834358 Centerline is valid? [True, True] Translation: X:388.89, Y:71.81, Z:41.17 [[ 9.64792666e-01 -2.42330452e-01 -1.02230442e-01 3.88887555e+02] [ 2.41102019e-01 9.70193133e-01 -2.43946980e-02 7.18099963e+01] [ 1.05094851e-01 -1.11214038e-03 9.94461581e-01 4.11686742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.46509989299994 meters 0.05469317897737028 Centerline is valid? [True, True] Translation: X:388.94, Y:71.82, Z:41.17 [[ 9.65400863e-01 -2.40042476e-01 -1.01886130e-01 3.88944709e+02] [ 2.38808384e-01 9.70762015e-01 -2.43241869e-02 7.18232658e+01] [ 1.04746023e-01 -8.48671179e-04 9.94498643e-01 4.11745107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.52509989299995 meters 0.05459533943883913 Centerline is valid? [True, True] Translation: X:389.00, Y:71.83, Z:41.18 [[ 9.66193045e-01 -2.36851780e-01 -1.01844169e-01 3.89002243e+02] [ 2.35599898e-01 9.71545672e-01 -2.43247941e-02 7.18348991e+01] [ 1.04707632e-01 -4.92028967e-04 9.94502926e-01 4.11804175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.58509989299995 meters 0.054497319253327306 Centerline is valid? [True, True] Translation: X:389.06, Y:71.85, Z:41.19 [[ 9.66538681e-01 -2.35060176e-01 -1.02711690e-01 3.89059475e+02] [ 2.33775572e-01 9.71980776e-01 -2.45428630e-02 7.18477013e+01] [ 1.05602838e-01 -2.89857673e-04 9.94408345e-01 4.11855414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.64509989299995 meters 0.05477656856209784 Centerline is valid? [True, True] Translation: X:389.12, Y:71.86, Z:41.19 [[ 9.66649659e-01 -2.34038225e-01 -1.03993005e-01 3.89116127e+02] [ 2.32714095e-01 9.72227381e-01 -2.48609992e-02 7.18594913e+01] [ 1.06923271e-01 -1.68761692e-04 9.94267261e-01 4.11895388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.70509989299995 meters 0.05531431957253628 Centerline is valid? [True, True] Translation: X:389.17, Y:71.87, Z:41.19 [[ 9.66356467e-01 -2.34623645e-01 -1.05389388e-01 3.89173806e+02] [ 2.33265701e-01 9.72086259e-01 -2.52074995e-02 7.18703753e+01] [ 1.08361852e-01 -2.24299446e-04 9.94111492e-01 4.11948242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.76509989299996 meters 0.0558229506166508 Centerline is valid? [True, True] Translation: X:389.23, Y:71.88, Z:41.20 [[ 9.65856859e-01 -2.36260021e-01 -1.06309595e-01 3.89230770e+02] [ 2.34887200e-01 9.71689786e-01 -2.54354869e-02 7.18818684e+01] [ 1.09309336e-01 -4.03723554e-04 9.94007699e-01 4.12017144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.82509989299996 meters 0.05482447603815339 Centerline is valid? [True, True] Translation: X:389.29, Y:71.89, Z:41.21 [[ 9.65163042e-01 -2.39344564e-01 -1.05709427e-01 3.89287547e+02] [ 2.38004255e-01 9.70934415e-01 -2.53048732e-02 7.18901846e+01] [ 1.08693505e-01 -7.35965093e-04 9.94075038e-01 4.12079770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.88509989299996 meters 0.055652584653739984 Centerline is valid? [True, True] Translation: X:389.34, Y:71.90, Z:41.22 [[ 9.64463110e-01 -2.43047810e-01 -1.03627557e-01 3.89344942e+02] [ 2.41780490e-01 9.70013659e-01 -2.48132107e-02 7.18995223e+01] [ 1.06550942e-01 -1.12369518e-03 9.94306610e-01 4.12153806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.94509989299996 meters 0.05502875660603232 Centerline is valid? [True, True] Translation: X:389.40, Y:71.91, Z:41.22 [[ 9.63611970e-01 -2.46605376e-01 -1.03139516e-01 3.89403689e+02] [ 2.45369096e-01 9.69114824e-01 -2.47075833e-02 7.19058490e+01] [ 1.06047057e-01 -1.49872671e-03 9.94359983e-01 4.12213568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.00509989299997 meters 0.05620178119486037 Centerline is valid? [True, True] Translation: X:389.46, Y:71.91, Z:41.23 [[ 9.61380956e-01 -2.55270045e-01 -1.02877893e-01 3.89464634e+02] [ 2.54089106e-01 9.66866707e-01 -2.46474801e-02 7.19095575e+01] [ 1.05760973e-01 -2.44453389e-03 9.94388576e-01 4.12273125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.06509989299997 meters 0.05520696893823194 Centerline is valid? [True, True] Translation: X:389.52, Y:71.92, Z:41.23 [[ 9.59192680e-01 -2.63104367e-01 -1.03563967e-01 3.89523841e+02] [ 2.61953078e-01 9.64761629e-01 -2.48109721e-02 7.19215108e+01] [ 1.06442417e-01 -3.33039716e-03 9.94313291e-01 4.12334731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.12509989299997 meters 0.05677664515262086 Centerline is valid? [True, True] Translation: X:389.58, Y:71.93, Z:41.24 [[ 9.56598581e-01 -2.72113153e-01 -1.04276490e-01 3.89584475e+02] [ 2.70999042e-01 9.62255379e-01 -2.49821043e-02 7.19270725e+01] [ 1.07138573e-01 -4.36098336e-03 9.94234534e-01 4.12390784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.185099893 meters 0.054994219962841616 Centerline is valid? [True, True] Translation: X:389.64, Y:71.94, Z:41.25 [[ 9.53260251e-01 -2.83190556e-01 -1.05347061e-01 3.89642448e+02] [ 2.82120456e-01 9.59046952e-01 -2.52386976e-02 7.19446425e+01] [ 1.08180139e-01 -5.66151386e-03 9.94115187e-01 4.12460494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.245099893 meters 0.05843884880274066 Centerline is valid? [True, True] Translation: X:389.70, Y:71.94, Z:41.25 [[ 9.52087140e-01 -2.86546714e-01 -1.06869349e-01 3.89704005e+02] [ 2.85466420e-01 9.58046654e-01 -2.56033495e-02 7.19428732e+01] [ 1.09722378e-01 -6.13099066e-03 9.93943364e-01 4.12503182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.305099893 meters 0.056066197245148566 Centerline is valid? [True, True] Translation: X:389.76, Y:71.97, Z:41.26 [[ 9.52089318e-01 -2.86350170e-01 -1.07375560e-01 3.89757813e+02] [ 2.85258198e-01 9.58105384e-01 -2.57261143e-02 7.19705744e+01] [ 1.10243779e-01 -6.13620017e-03 9.93885635e-01 4.12568691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.365099893 meters 0.055203772565714224 Centerline is valid? [True, True] Translation: X:389.81, Y:71.99, Z:41.26 [[ 9.53450068e-01 -2.81192724e-01 -1.08920240e-01 3.89814858e+02] [ 2.80034301e-01 9.59634925e-01 -2.61075060e-02 7.19915068e+01] [ 1.11864908e-01 -5.60919995e-03 9.93707592e-01 4.12628662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.425099893 meters 0.057766118703706966 Centerline is valid? [True, True] Translation: X:389.87, Y:72.00, Z:41.27 [[ 9.54630033e-01 -2.77208621e-01 -1.08797429e-01 3.89873597e+02] [ 2.76027112e-01 9.60796022e-01 -2.60775399e-02 7.19989018e+01] [ 1.11761056e-01 -5.13663746e-03 9.93721833e-01 4.12679658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.485099893 meters 0.05611773767085059 Centerline is valid? [True, True] Translation: X:389.93, Y:72.02, Z:41.28 [[ 9.56229280e-01 -2.72523194e-01 -1.06567689e-01 3.89928766e+02] [ 2.71360497e-01 9.62138730e-01 -2.55449536e-02 7.20247649e+01] [ 1.09494493e-01 -4.49142837e-03 9.93977255e-01 4.12767480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.545099893 meters 0.056427654000747944 Centerline is valid? [True, True] Translation: X:389.99, Y:72.04, Z:41.28 [[ 9.56921730e-01 -2.70338731e-01 -1.05913991e-01 3.89985913e+02] [ 2.69176905e-01 9.62756048e-01 -2.53887009e-02 7.20396349e+01] [ 1.08832884e-01 -4.21460070e-03 9.94051126e-01 4.12833578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.605099893 meters 0.05594288636960014 Centerline is valid? [True, True] Translation: X:390.04, Y:72.06, Z:41.29 [[ 9.57367113e-01 -2.68816473e-01 -1.05763489e-01 3.90043054e+02] [ 2.67648512e-01 9.63182968e-01 -2.53543627e-02 7.20579494e+01] [ 1.08685261e-01 -4.03400734e-03 9.94068026e-01 4.12896763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.66509989299993 meters 0.05520941884884601 Centerline is valid? [True, True] Translation: X:390.10, Y:72.08, Z:41.30 [[ 9.57776655e-01 -2.66848932e-01 -1.07030492e-01 3.90098237e+02] [ 2.65640430e-01 9.63730657e-01 -2.56589930e-02 7.20832455e+01] [ 1.09995641e-01 -3.85604132e-03 9.93924590e-01 4.12950340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.72509989299994 meters 0.055040188235283914 Centerline is valid? [True, True] Translation: X:390.16, Y:72.10, Z:41.30 [[ 9.58208740e-01 -2.64616249e-01 -1.08693388e-01 3.90155525e+02] [ 2.63355397e-01 9.64346867e-01 -2.60586872e-02 7.20970190e+01] [ 1.11713680e-01 -3.65532853e-03 9.93733713e-01 4.12996734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.78509989299994 meters 0.05553701816703832 Centerline is valid? [True, True] Translation: X:390.21, Y:72.12, Z:41.31 [[ 9.59624187e-01 -2.58842773e-01 -1.10099218e-01 3.90211322e+02] [ 2.57510903e-01 9.65914747e-01 -2.63976535e-02 7.21187977e+01] [ 1.13179300e-01 -3.01992222e-03 9.93569991e-01 4.13052808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.84509989299994 meters 0.054826079535831865 Centerline is valid? [True, True] Translation: X:390.27, Y:72.14, Z:41.31 [[ 9.61730914e-01 -2.50872495e-01 -1.10166426e-01 3.90266967e+02] [ 2.49486620e-01 9.68017904e-01 -2.64152283e-02 7.21420890e+01] [ 1.13269927e-01 -2.08070759e-03 9.93562074e-01 4.13122714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.90509989299994 meters 0.05472582264000048 Centerline is valid? [True, True] Translation: X:390.32, Y:72.16, Z:41.32 [[ 9.62416649e-01 -2.48481418e-01 -1.09595527e-01 3.90322801e+02] [ 2.47094227e-01 9.68635013e-01 -2.62803016e-02 7.21608676e+01] [ 1.12688231e-01 -1.78782222e-03 9.93628787e-01 4.13199071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.96509989299994 meters 0.05514408694015231 Centerline is valid? [True, True] Translation: X:390.38, Y:72.18, Z:41.33 [[ 9.63666137e-01 -2.44073834e-01 -1.08515156e-01 3.90379202e+02] [ 2.42685330e-01 9.69755842e-01 -2.60276253e-02 7.21778578e+01] [ 1.11585869e-01 -1.25309547e-03 9.93754006e-01 4.13259083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.02509989299995 meters 0.054906059658145046 Centerline is valid? [True, True] Translation: X:390.43, Y:72.20, Z:41.33 [[ 9.64366728e-01 -2.41564314e-01 -1.07905038e-01 3.90434740e+02] [ 2.40175467e-01 9.70384342e-01 -2.58838581e-02 7.21971821e+01] [ 1.10961976e-01 -9.54611269e-04 9.93824194e-01 4.13331962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.08509989299995 meters 0.05486550188897175 Centerline is valid? [True, True] Translation: X:390.49, Y:72.21, Z:41.34 [[ 9.64093394e-01 -2.42762964e-01 -1.07657188e-01 3.90490471e+02] [ 2.41386635e-01 9.70085038e-01 -2.58362633e-02 7.22104612e+01] [ 1.10708715e-01 -1.07843536e-03 9.93852312e-01 4.13387212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.14509989299995 meters 0.05489990841876736 Centerline is valid? [True, True] Translation: X:390.55, Y:72.22, Z:41.35 [[ 9.63158250e-01 -2.46380357e-01 -1.07809581e-01 3.90547614e+02] [ 2.45022172e-01 9.69172067e-01 -2.58774151e-02 7.22240274e+01] [ 1.10861721e-01 -1.49169198e-03 9.93834721e-01 4.13457584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.20509989299995 meters 0.05536924960221129 Centerline is valid? [True, True] Translation: X:390.61, Y:72.23, Z:41.35 [[ 9.60880750e-01 -2.54832427e-01 -1.08483262e-01 3.90607064e+02] [ 2.53510524e-01 9.66982051e-01 -2.60408811e-02 7.22301158e+01] [ 1.11537428e-01 -2.47946721e-03 9.93757141e-01 4.13502240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.26509989299996 meters 0.055997599440988526 Centerline is valid? [True, True] Translation: X:390.67, Y:72.24, Z:41.36 [[ 9.58966514e-01 -2.61608548e-01 -1.09289491e-01 3.90666418e+02] [ 2.60310586e-01 9.65168450e-01 -2.62347339e-02 7.22406079e+01] [ 1.12345999e-01 -3.29098010e-03 9.93663699e-01 4.13557546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.32509989299996 meters 0.05440380302567277 Centerline is valid? [True, True] Translation: X:390.72, Y:72.26, Z:41.36 [[ 9.56582993e-01 -2.70355815e-01 -1.08888525e-01 3.90722960e+02] [ 2.69123589e-01 9.62750872e-01 -2.61391035e-02 7.22605199e+01] [ 1.11899381e-01 -4.30024878e-03 9.93710238e-01 4.13637328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.38509989299996 meters 0.05503857958214382 Centerline is valid? [True, True] Translation: X:390.78, Y:72.28, Z:41.37 [[ 9.54896802e-01 -2.76815792e-01 -1.07448196e-01 3.90780791e+02] [ 2.75656543e-01 9.60910056e-01 -2.57940747e-02 7.22759079e+01] [ 1.10388259e-01 -4.98811872e-03 9.93876024e-01 4.13702619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.44509989299996 meters 0.05899597968657717 Centerline is valid? [True, True] Translation: X:390.84, Y:72.27, Z:41.37 [[ 9.54190247e-01 -2.79533015e-01 -1.06687701e-01 3.90841601e+02] [ 2.78407030e-01 9.60121648e-01 -2.56114493e-02 7.22748475e+01] [ 1.09592417e-01 -5.26441075e-03 9.93962669e-01 4.13746960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.50509989299997 meters 0.054873489878386736 Centerline is valid? [True, True] Translation: X:390.90, Y:72.30, Z:41.38 [[ 9.53356236e-01 -2.82866387e-01 -1.05349396e-01 3.90896715e+02] [ 2.81788624e-01 9.59143122e-01 -2.52911566e-02 7.23023041e+01] [ 1.08199167e-01 -5.57477942e-03 9.94113606e-01 4.13829617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.56509989299997 meters 0.05275926097901171 Centerline is valid? [True, True] Translation: X:390.95, Y:72.33, Z:41.39 [[ 9.52860533e-01 -2.84863551e-01 -1.04448847e-01 3.90952581e+02] [ 2.83816092e-01 9.58550822e-01 -2.50748466e-02 7.23287117e+01] [ 1.07262438e-01 -5.75143187e-03 9.94214107e-01 4.13896690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.62509989299997 meters 0.05537883100822356 Centerline is valid? [True, True] Translation: X:391.01, Y:72.33, Z:41.39 [[ 9.52368564e-01 -2.86149922e-01 -1.05415087e-01 3.91013502e+02] [ 2.85090962e-01 9.58166366e-01 -2.53052996e-02 7.23312047e+01] [ 1.08246300e-01 -5.95291663e-03 9.94106283e-01 4.13932943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.685099893 meters 0.057534819647904425 Centerline is valid? [True, True] Translation: X:391.07, Y:72.34, Z:41.40 [[ 9.52702689e-01 -2.84578618e-01 -1.06642380e-01 3.91072020e+02] [ 2.83485462e-01 9.58634880e-01 -2.55960914e-02 7.23396748e+01] [ 1.09515205e-01 -5.84609926e-03 9.93967929e-01 4.13975322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.745099893 meters 0.05524057756379634 Centerline is valid? [True, True] Translation: X:391.13, Y:72.36, Z:41.40 [[ 9.53784891e-01 -2.81099788e-01 -1.06194587e-01 3.91127710e+02] [ 2.79994167e-01 9.59663230e-01 -2.54902246e-02 7.23642268e+01] [ 1.09076337e-01 -5.42167391e-03 9.94018590e-01 4.14046892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.805099893 meters 0.05286443785571545 Centerline is valid? [True, True] Translation: X:391.18, Y:72.40, Z:41.41 [[ 9.56939228e-01 -2.71012351e-01 -1.04017395e-01 3.91180948e+02] [ 2.69892174e-01 9.62566790e-01 -2.49677480e-02 7.23979287e+01] [ 1.06890258e-01 -4.18086341e-03 9.94262034e-01 4.14138803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.865099893 meters 0.05502750599995562 Centerline is valid? [True, True] Translation: X:391.24, Y:72.41, Z:41.42 [[ 9.59735400e-01 -2.61349767e-01 -1.02976997e-01 3.91239703e+02] [ 2.60196431e-01 9.65239277e-01 -2.47175018e-02 7.24086225e+01] [ 1.05857355e-01 -3.07198567e-03 9.94376580e-01 4.14197118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.925099893 meters 0.05396672622153644 Centerline is valid? [True, True] Translation: X:391.29, Y:72.44, Z:41.43 [[ 9.63897354e-01 -2.46397129e-01 -1.00947242e-01 3.91294051e+02] [ 2.45206814e-01 9.69167943e-01 -2.42304769e-02 7.24388171e+01] [ 1.03805151e-01 -1.39725895e-03 9.94596671e-01 4.14268805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.985099893 meters 0.053995460284972395 Centerline is valid? [True, True] Translation: X:391.35, Y:72.47, Z:41.43 [[ 9.67103426e-01 -2.33368871e-01 -1.01241949e-01 3.91349496e+02] [ 2.32100223e-01 9.72388281e-01 -2.43005487e-02 7.24653696e+01] [ 1.04117477e-01 2.86485596e-06 9.94565006e-01 4.14322174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.045099893 meters 0.05443828732075387 Centerline is valid? [True, True] Translation: X:391.41, Y:72.49, Z:41.44 [[ 9.68438358e-01 -2.27670954e-01 -1.01454833e-01 3.91408707e+02] [ 2.26365818e-01 9.73737930e-01 -2.43507646e-02 7.24854860e+01] [ 1.04334380e-01 6.16308340e-04 9.94542084e-01 4.14381101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.105099893 meters 0.054063878035630696 Centerline is valid? [True, True] Translation: X:391.47, Y:72.50, Z:41.44 [[ 9.69167696e-01 -2.24547108e-01 -1.01452321e-01 3.91468009e+02] [ 2.23225425e-01 9.74462774e-01 -2.43456898e-02 7.25017441e+01] [ 1.04328264e-01 9.48318749e-04 9.94542465e-01 4.14439990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.16509989299993 meters 0.05423362287416107 Centerline is valid? [True, True] Translation: X:391.53, Y:72.52, Z:41.45 [[ 9.69068415e-01 -2.24914597e-01 -1.01586567e-01 3.91526778e+02] [ 2.23591702e-01 9.74378058e-01 -2.43751916e-02 7.25153290e+01] [ 1.04466058e-01 9.07314818e-04 9.94528039e-01 4.14509231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.22509989299994 meters 0.05413121729173754 Centerline is valid? [True, True] Translation: X:391.59, Y:72.53, Z:41.46 [[ 9.68364046e-01 -2.28191627e-01 -1.00993343e-01 3.91585472e+02] [ 2.26902210e-01 9.73616085e-01 -2.42302734e-02 7.25294443e+01] [ 1.03857889e-01 5.48112904e-04 9.94591996e-01 4.14570789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.28509989299994 meters 0.0540989275147409 Centerline is valid? [True, True] Translation: X:391.65, Y:72.54, Z:41.46 [[ 9.66274530e-01 -2.36799918e-01 -1.01189580e-01 3.91645245e+02] [ 2.35552532e-01 9.71558365e-01 -2.42765072e-02 7.25365913e+01] [ 1.04060257e-01 -3.77691077e-04 9.94570923e-01 4.14626636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.34509989299994 meters 0.05426457228578093 Centerline is valid? [True, True] Translation: X:391.70, Y:72.54, Z:41.47 [[ 9.64501501e-01 -2.43850394e-01 -1.01359953e-01 3.91704739e+02] [ 2.42637366e-01 9.69812194e-01 -2.43190863e-02 7.25447528e+01] [ 1.04230337e-01 -1.13791670e-03 9.94552534e-01 4.14683778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.40509989299994 meters 0.05399663120631826 Centerline is valid? [True, True] Translation: X:391.76, Y:72.55, Z:41.47 [[ 9.61530245e-01 -2.55128647e-01 -1.01828093e-01 3.91763848e+02] [ 2.53967127e-01 9.66904216e-01 -2.44322605e-02 7.25490549e+01] [ 1.04691382e-01 -2.36863087e-03 9.94501938e-01 4.14743379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.46509989299994 meters 0.05579455713298546 Centerline is valid? [True, True] Translation: X:391.82, Y:72.56, Z:41.48 [[ 9.59570572e-01 -2.62577994e-01 -1.01376109e-01 3.91824015e+02] [ 2.61467960e-01 9.64905582e-01 -2.43253800e-02 7.25550995e+01] [ 1.04205683e-01 -3.16468547e-03 9.94550733e-01 4.14812923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.52509989299995 meters 0.05463145218991027 Centerline is valid? [True, True] Translation: X:391.88, Y:72.57, Z:41.49 [[ 9.57858716e-01 -2.69063048e-01 -1.00557229e-01 3.91881658e+02] [ 2.68006363e-01 9.63114921e-01 -2.41295989e-02 7.25711548e+01] [ 1.03340551e-01 -3.83723053e-03 9.94638631e-01 4.14882672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.58509989299995 meters 0.055363015326969876 Centerline is valid? [True, True] Translation: X:391.94, Y:72.58, Z:41.49 [[ 9.55863343e-01 -2.76238477e-01 -1.00087830e-01 3.91941420e+02] [ 2.75230759e-01 9.61078160e-01 -2.40166408e-02 7.25774342e+01] [ 1.02826548e-01 -4.59062278e-03 9.94688709e-01 4.14942251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.64509989299995 meters 0.0541994551969221 Centerline is valid? [True, True] Translation: X:392.00, Y:72.59, Z:41.50 [[ 9.54479862e-01 -2.80832766e-01 -1.00504483e-01 3.91999886e+02] [ 2.79841940e-01 9.59743132e-01 -2.41165575e-02 7.25937215e+01] [ 1.03231207e-01 -5.10660099e-03 9.94644278e-01 4.14996239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.70509989299995 meters 0.05329713865219073 Centerline is valid? [True, True] Translation: X:392.06, Y:72.62, Z:41.51 [[ 9.53756509e-01 -2.83392985e-01 -1.00184516e-01 3.92056133e+02] [ 2.82422515e-01 9.58988852e-01 -2.40396504e-02 7.26157925e+01] [ 1.02888502e-01 -5.36638993e-03 9.94678419e-01 4.15054858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.76509989299996 meters 0.05641518151287347 Centerline is valid? [True, True] Translation: X:392.12, Y:72.62, Z:41.51 [[ 9.52736341e-01 -2.85843222e-01 -1.02893714e-01 3.92116858e+02] [ 2.84833618e-01 9.58258940e-01 -2.46903742e-02 7.26151108e+01] [ 1.05656398e-01 -5.78417212e-03 9.94385875e-01 4.15107773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.82509989299996 meters 0.05468819391077469 Centerline is valid? [True, True] Translation: X:392.17, Y:72.64, Z:41.52 [[ 9.52437828e-01 -2.86735940e-01 -1.03173080e-01 3.92173938e+02] [ 2.85725886e-01 9.57991501e-01 -2.47588976e-02 7.26360835e+01] [ 1.05938200e-01 -5.89790909e-03 9.94355225e-01 4.15170879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.88509989299996 meters 0.05334498996752483 Centerline is valid? [True, True] Translation: X:392.23, Y:72.66, Z:41.52 [[ 9.51913819e-01 -2.88277976e-01 -1.03710605e-01 3.92231565e+02] [ 2.87266696e-01 9.57527312e-01 -2.48855711e-02 7.26575521e+01] [ 1.06479699e-01 -6.10368388e-03 9.94296142e-01 4.15230354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.94509989299996 meters 0.053240145315406794 Centerline is valid? [True, True] Translation: X:392.29, Y:72.67, Z:41.53 [[ 9.51760844e-01 -2.87972723e-01 -1.05938690e-01 3.92291866e+02] [ 2.86915758e-01 9.57618523e-01 -2.54187457e-02 7.26739984e+01] [ 1.08768757e-01 -6.20291270e-03 9.94047726e-01 4.15280449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.00509989299997 meters 0.05265554513282187 Centerline is valid? [True, True] Translation: X:392.35, Y:72.70, Z:41.53 [[ 9.52637004e-01 -2.85111615e-01 -1.05802197e-01 3.92348648e+02] [ 2.84041313e-01 9.58476278e-01 -2.53723881e-02 7.26953366e+01] [ 1.08642858e-01 -5.88151911e-03 9.94063447e-01 4.15344667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.06509989299997 meters 0.05246065524154322 Centerline is valid? [True, True] Translation: X:392.41, Y:72.71, Z:41.54 [[ 9.53713199e-01 -2.81776481e-01 -1.05038799e-01 3.92406513e+02] [ 2.80701450e-01 9.59464534e-01 -2.51893793e-02 7.27122835e+01] [ 1.07878777e-01 -5.46109958e-03 9.94149056e-01 4.15417806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.12509989299997 meters 0.05440110317574936 Centerline is valid? [True, True] Translation: X:392.47, Y:72.72, Z:41.55 [[ 9.56204902e-01 -2.73824143e-01 -1.03404665e-01 3.92465145e+02] [ 2.72735966e-01 9.61769293e-01 -2.47975721e-02 7.27233895e+01] [ 1.06241605e-01 -4.49061108e-03 9.94330205e-01 4.15492896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.185099893 meters 0.053293058163830266 Centerline is valid? [True, True] Translation: X:392.52, Y:72.75, Z:41.56 [[ 9.57857022e-01 -2.68157794e-01 -1.02962724e-01 3.92521437e+02] [ 2.67046305e-01 9.63367330e-01 -2.46912598e-02 7.27454301e+01] [ 1.05812078e-01 -3.84511837e-03 9.94378710e-01 4.15565695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.245099893 meters 0.054347785009960216 Centerline is valid? [True, True] Translation: X:392.58, Y:72.76, Z:41.56 [[ 9.60279989e-01 -2.59554068e-01 -1.02440370e-01 3.92580344e+02] [ 2.58405076e-01 9.65724278e-01 -2.45649351e-02 7.27560939e+01] [ 1.05305081e-01 -2.88189591e-03 9.94435787e-01 4.15627191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.305099893 meters 0.05429753245446247 Centerline is valid? [True, True] Translation: X:392.64, Y:72.77, Z:41.57 [[ 9.61837081e-01 -2.53944005e-01 -1.01891474e-01 3.92637446e+02] [ 2.52775932e-01 9.67216293e-01 -2.44329942e-02 7.27740763e+01] [ 1.04755706e-01 -2.25515257e-03 9.94495428e-01 4.15694878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.365099893 meters 0.05386038721920082 Centerline is valid? [True, True] Translation: X:392.69, Y:72.79, Z:41.58 [[ 9.64234232e-01 -2.44172754e-01 -1.03111649e-01 3.92694818e+02] [ 2.42920632e-01 9.69730999e-01 -2.47256175e-02 7.27932571e+01] [ 1.06027884e-01 -1.20666004e-03 9.94362425e-01 4.15751541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.425099893 meters 0.05325349000662401 Centerline is valid? [True, True] Translation: X:392.75, Y:72.81, Z:41.58 [[ 9.65879423e-01 -2.37196611e-01 -1.03993789e-01 3.92752690e+02] [ 2.35882529e-01 9.71461564e-01 -2.49371509e-02 7.28128522e+01] [ 1.06940976e-01 -4.44036988e-04 9.94265272e-01 4.15810799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.485099893 meters 0.05426540537805955 Centerline is valid? [True, True] Translation: X:392.81, Y:72.83, Z:41.59 [[ 9.67881763e-01 -2.28526925e-01 -1.04787106e-01 3.92808991e+02] [ 2.27142166e-01 9.73537456e-01 -2.51248582e-02 7.28311543e+01] [ 1.07755879e-01 5.16321893e-04 9.94177250e-01 4.15860627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.545099893 meters 0.054573455275955314 Centerline is valid? [True, True] Translation: X:392.87, Y:72.84, Z:41.59 [[ 9.68784361e-01 -2.24699967e-01 -1.04722424e-01 3.92869169e+02] [ 2.23294626e-01 9.74427544e-01 -2.51091881e-02 7.28438661e+01] [ 1.07686448e-01 9.41434339e-04 9.94184461e-01 4.15934792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.605099893 meters 0.054622869357146206 Centerline is valid? [True, True] Translation: X:392.93, Y:72.86, Z:41.60 [[ 9.69234750e-01 -2.22565246e-01 -1.05112844e-01 3.92929193e+02] [ 2.21137362e-01 9.74917085e-01 -2.51981035e-02 7.28558082e+01] [ 1.08084530e-01 1.17850041e-03 9.94141009e-01 4.16005126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.66509989299993 meters 0.05485251539398153 Centerline is valid? [True, True] Translation: X:392.99, Y:72.87, Z:41.61 [[ 9.68825913e-01 -2.24481867e-01 -1.04805736e-01 3.92989290e+02] [ 2.23073827e-01 9.74477794e-01 -2.51216219e-02 7.28684529e+01] [ 1.07770211e-01 9.59061665e-04 9.94175368e-01 4.16063349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.72509989299994 meters 0.054263259006709884 Centerline is valid? [True, True] Translation: X:393.05, Y:72.87, Z:41.61 [[ 9.67468402e-01 -2.30448335e-01 -1.04395672e-01 3.93049376e+02] [ 2.29086269e-01 9.73084519e-01 -2.50200140e-02 7.28711148e+01] [ 1.07351632e-01 2.90458161e-04 9.94221073e-01 4.16144289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.78509989299994 meters 0.054798246801602175 Centerline is valid? [True, True] Translation: X:393.11, Y:72.87, Z:41.62 [[ 9.65539651e-01 -2.38769130e-01 -1.03549436e-01 3.93108896e+02] [ 2.37476534e-01 9.71076161e-01 -2.48190639e-02 7.28727790e+01] [ 1.06480415e-01 -6.26770839e-04 9.94314602e-01 4.16218062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.84509989299994 meters 0.05432957545657317 Centerline is valid? [True, True] Translation: X:393.17, Y:72.88, Z:41.63 [[ 9.64071796e-01 -2.44685836e-01 -1.03413801e-01 3.93168049e+02] [ 2.43429328e-01 9.69601586e-01 -2.47977111e-02 7.28782292e+01] [ 1.06337834e-01 -1.26717831e-03 9.94329251e-01 4.16281878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.90509989299994 meters 0.054878754820696644 Centerline is valid? [True, True] Translation: X:393.23, Y:72.88, Z:41.63 [[ 9.62134120e-01 -2.51929754e-01 -1.04064086e-01 3.93228545e+02] [ 2.50699224e-01 9.67743294e-01 -2.49562817e-02 7.28780427e+01] [ 1.06994551e-01 -2.07749537e-03 9.94257437e-01 4.16332309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.96509989299994 meters 0.055057986167598015 Centerline is valid? [True, True] Translation: X:393.29, Y:72.89, Z:41.64 [[ 9.61691635e-01 -2.53581603e-01 -1.04142066e-01 3.93286447e+02] [ 2.52358722e-01 9.67311354e-01 -2.49763809e-02 7.28885427e+01] [ 1.07071354e-01 -2.26158211e-03 9.94248767e-01 4.16389857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.02509989299995 meters 0.054429710102962346 Centerline is valid? [True, True] Translation: X:393.35, Y:72.90, Z:41.65 [[ 9.61165939e-01 -2.54884388e-01 -1.05801637e-01 3.93345370e+02] [ 2.53628719e-01 9.66968471e-01 -2.53860030e-02 7.29018123e+01] [ 1.08777343e-01 -2.43417220e-03 9.94063159e-01 4.16454906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.08509989299995 meters 0.055235215249063205 Centerline is valid? [True, True] Translation: X:393.40, Y:72.91, Z:41.65 [[ 9.61952307e-01 -2.51481921e-01 -1.06792332e-01 3.93404821e+02] [ 2.50181844e-01 9.67859782e-01 -2.56220232e-02 7.29052829e+01] [ 1.09803479e-01 -2.07033817e-03 9.93951161e-01 4.16487885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.14509989299995 meters 0.055131320922107194 Centerline is valid? [True, True] Translation: X:393.46, Y:72.92, Z:41.65 [[ 9.62714269e-01 -2.48186193e-01 -1.07632938e-01 3.93462124e+02] [ 2.46844750e-01 9.68710846e-01 -2.58256803e-02 7.29197175e+01] [ 1.10674771e-01 -1.70587462e-03 9.93855213e-01 4.16546990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.20509989299995 meters 0.054959391250172504 Centerline is valid? [True, True] Translation: X:393.52, Y:72.94, Z:41.66 [[ 9.64138441e-01 -2.42137574e-01 -1.08657545e-01 3.93519322e+02] [ 2.40731834e-01 9.70241391e-01 -2.60734874e-02 7.29365178e+01] [ 1.11737418e-01 -1.01887849e-03 9.93737245e-01 4.16615491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.26509989299996 meters 0.05486938824541317 Centerline is valid? [True, True] Translation: X:393.58, Y:72.95, Z:41.67 [[ 9.65227504e-01 -2.37678061e-01 -1.08834756e-01 3.93575565e+02] [ 2.36238916e-01 9.71343858e-01 -2.61205679e-02 7.29482038e+01] [ 1.11924258e-01 -4.98714286e-04 9.93716615e-01 4.16653919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.32509989299996 meters 0.05512690583238842 Centerline is valid? [True, True] Translation: X:393.63, Y:72.96, Z:41.68 [[ 9.66507917e-01 -2.32936182e-01 -1.07718063e-01 3.93631962e+02] [ 2.31496534e-01 9.72492022e-01 -2.58577374e-02 7.29618684e+01] [ 1.10778160e-01 5.53495911e-05 9.93845157e-01 4.16756678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.38509989299996 meters 0.05548146478619004 Centerline is valid? [True, True] Translation: X:393.69, Y:72.97, Z:41.68 [[ 9.67063494e-01 -2.30577307e-01 -1.07806791e-01 3.93688281e+02] [ 2.29119289e-01 9.73053951e-01 -2.58913145e-02 7.29738343e+01] [ 1.10871773e-01 3.37929854e-04 9.93834662e-01 4.16819550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.44509989299996 meters 0.056028040626820694 Centerline is valid? [True, True] Translation: X:393.75, Y:72.98, Z:41.69 [[ 9.67295681e-01 -2.29436440e-01 -1.08157228e-01 3.93748060e+02] [ 2.27961269e-01 9.73323530e-01 -2.59800925e-02 7.29833077e+01] [ 1.11232755e-01 4.74772461e-04 9.93794269e-01 4.16892992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.50509989299997 meters 0.05593349713447949 Centerline is valid? [True, True] Translation: X:393.81, Y:72.99, Z:41.70 [[ 9.67172593e-01 -2.29976073e-01 -1.08111893e-01 3.93805001e+02] [ 2.28505446e-01 9.73196196e-01 -2.59697184e-02 7.29929106e+01] [ 1.11186497e-01 4.13043607e-04 9.93799473e-01 4.16952660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.56509989299997 meters 0.05620518189725006 Centerline is valid? [True, True] Translation: X:393.86, Y:73.00, Z:41.70 [[ 9.66464477e-01 -2.32996768e-01 -1.07976486e-01 3.93863221e+02] [ 2.31547697e-01 9.72477506e-01 -2.59453965e-02 7.30003449e+01] [ 1.11049897e-01 7.35973755e-05 9.93814829e-01 4.17003998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.62509989299997 meters 0.05591709501928273 Centerline is valid? [True, True] Translation: X:393.92, Y:73.01, Z:41.71 [[ 9.65682602e-01 -2.35947409e-01 -1.08563034e-01 3.93920862e+02] [ 2.34499753e-01 9.71765792e-01 -2.60981003e-02 7.30095344e+01] [ 1.11655622e-01 -2.55523166e-04 9.93746928e-01 4.17067497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.685099893 meters 0.056085932048476006 Centerline is valid? [True, True] Translation: X:393.98, Y:73.02, Z:41.71 [[ 9.65001225e-01 -2.38802407e-01 -1.08379179e-01 3.93977963e+02] [ 2.37376220e-01 9.71068011e-01 -2.60662234e-02 7.30183459e+01] [ 1.11468230e-01 -5.72702257e-04 9.93767833e-01 4.17118369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.745099893 meters 0.05597777080534486 Centerline is valid? [True, True] Translation: X:394.04, Y:73.03, Z:41.72 [[ 9.64396676e-01 -2.41285797e-01 -1.08259940e-01 3.94035433e+02] [ 2.39877794e-01 9.70453726e-01 -2.60424463e-02 7.30259101e+01] [ 1.11344935e-01 -8.53906884e-04 9.93781453e-01 4.17161948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.805099893 meters 0.05624663918979488 Centerline is valid? [True, True] Translation: X:394.09, Y:73.03, Z:41.73 [[ 9.63985191e-01 -2.43576362e-01 -1.06785338e-01 3.94092705e+02] [ 2.42220046e-01 9.69881101e-01 -2.56924116e-02 7.30348557e+01] [ 1.09827145e-01 -1.09844501e-03 9.93950095e-01 4.17250368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.865099893 meters 0.05604016192556967 Centerline is valid? [True, True] Translation: X:394.15, Y:73.04, Z:41.73 [[ 9.63697957e-01 -2.45021570e-01 -1.06069210e-01 3.94150795e+02] [ 2.43690835e-01 9.69516831e-01 -2.55321564e-02 7.30406672e+01] [ 1.09091813e-01 -1.24280746e-03 9.94030901e-01 4.17311124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.925099893 meters 0.05630769017498919 Centerline is valid? [True, True] Translation: X:394.21, Y:73.05, Z:41.74 [[ 9.63221804e-01 -2.46479525e-01 -1.07012149e-01 3.94209118e+02] [ 2.45132540e-01 9.69146976e-01 -2.57716380e-02 7.30501622e+01] [ 1.10062681e-01 -1.40835626e-03 9.93923650e-01 4.17364746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.985099893 meters 0.05660228689758381 Centerline is valid? [True, True] Translation: X:394.27, Y:73.06, Z:41.74 [[ 9.62192599e-01 -2.49961391e-01 -1.08188291e-01 3.94268349e+02] [ 2.48605144e-01 9.68254104e-01 -2.60667064e-02 7.30565059e+01] [ 1.11269427e-01 -1.81497373e-03 9.93788620e-01 4.17415746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.045099893 meters 0.05749080922118638 Centerline is valid? [True, True] Translation: X:394.33, Y:73.06, Z:41.75 [[ 9.61525541e-01 -2.52586071e-01 -1.08022733e-01 3.94327035e+02] [ 2.51250283e-01 9.67572121e-01 -2.60285596e-02 7.30642856e+01] [ 1.11094236e-01 -2.11361735e-03 9.93807629e-01 4.17474192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.105099893 meters 0.05755026075296989 Centerline is valid? [True, True] Translation: X:394.39, Y:73.07, Z:41.76 [[ 9.60879669e-01 -2.55384374e-01 -1.07187144e-01 3.94385617e+02] [ 2.54086367e-01 9.66836586e-01 -2.58289612e-02 7.30735566e+01] [ 1.10228766e-01 -2.41626832e-03 9.93903306e-01 4.17551791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.16509989299993 meters 0.0569566991715392 Centerline is valid? [True, True] Translation: X:394.44, Y:73.09, Z:41.76 [[ 9.60561083e-01 -2.56643860e-01 -1.07034271e-01 3.94442279e+02] [ 2.55357090e-01 9.66502665e-01 -2.57944661e-02 7.30882943e+01] [ 1.10068900e-01 -2.55479973e-03 9.93920676e-01 4.17621348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.22509989299994 meters 0.058495267901770794 Centerline is valid? [True, True] Translation: X:394.50, Y:73.10, Z:41.77 [[ 9.60163718e-01 -2.57986881e-01 -1.07370408e-01 3.94501339e+02] [ 2.56699049e-01 9.66144631e-01 -2.58872642e-02 7.30956853e+01] [ 1.10413917e-01 -2.70586969e-03 9.93882008e-01 4.17667792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.28509989299994 meters 0.05769648823437636 Centerline is valid? [True, True] Translation: X:394.56, Y:73.11, Z:41.77 [[ 9.59394346e-01 -2.60831950e-01 -1.07374032e-01 3.94560198e+02] [ 2.59561500e-01 9.65379463e-01 -2.58905411e-02 7.31059450e+01] [ 1.10409765e-01 -3.03092601e-03 9.93881531e-01 4.17724473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.34509989299994 meters 0.059013275367423706 Centerline is valid? [True, True] Translation: X:394.62, Y:73.12, Z:41.78 [[ 9.58651946e-01 -2.63657925e-01 -1.07102498e-01 3.94618678e+02] [ 2.62411454e-01 9.64610435e-01 -2.58251162e-02 7.31170615e+01] [ 1.10121184e-01 -3.34762441e-03 9.93912531e-01 4.17789600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.40509989299994 meters 0.05824507087467072 Centerline is valid? [True, True] Translation: X:394.68, Y:73.14, Z:41.79 [[ 9.58074231e-01 -2.65675727e-01 -1.07285492e-01 3.94675010e+02] [ 2.64437472e-01 9.64055786e-01 -2.58701669e-02 7.31359636e+01] [ 1.10302274e-01 -3.58476393e-03 9.93891623e-01 4.17866347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.46509989299994 meters 0.058994573691939584 Centerline is valid? [True, True] Translation: X:394.73, Y:73.15, Z:41.79 [[ 9.57515543e-01 -2.67476311e-01 -1.07797996e-01 3.94732393e+02] [ 2.66237314e-01 9.63556909e-01 -2.59956779e-02 7.31450916e+01] [ 1.10822732e-01 -3.80858319e-03 9.93832892e-01 4.17919571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.52509989299995 meters 0.05722554958091733 Centerline is valid? [True, True] Translation: X:394.79, Y:73.17, Z:41.80 [[ 9.56718880e-01 -2.70170982e-01 -1.08150936e-01 3.94788275e+02] [ 2.68940588e-01 9.62803498e-01 -2.60841807e-02 7.31688374e+01] [ 1.11175288e-01 -4.13094815e-03 9.93792227e-01 4.18005190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.58509989299995 meters 0.05786195044476368 Centerline is valid? [True, True] Translation: X:394.84, Y:73.18, Z:41.80 [[ 9.56548286e-01 -2.70548417e-01 -1.08714905e-01 3.94844879e+02] [ 2.69307513e-01 9.62697223e-01 -2.62206003e-02 7.31779763e+01] [ 1.11753479e-01 -4.19647033e-03 9.93727100e-01 4.18049578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.64509989299995 meters 0.058104312525694105 Centerline is valid? [True, True] Translation: X:394.90, Y:73.19, Z:41.81 [[ 9.56594433e-01 -2.70390575e-01 -1.08701552e-01 3.94901840e+02] [ 2.69148313e-01 9.62741675e-01 -2.62231439e-02 7.31933973e+01] [ 1.11742006e-01 -4.17192597e-03 9.93728494e-01 4.18109524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.70509989299995 meters 0.05765444906117675 Centerline is valid? [True, True] Translation: X:394.96, Y:73.21, Z:41.82 [[ 9.56899036e-01 -2.69156357e-01 -1.09082952e-01 3.94956874e+02] [ 2.67896662e-01 9.63088036e-01 -2.63213372e-02 7.32138045e+01] [ 1.12141041e-01 -4.03609658e-03 9.93684103e-01 4.18180292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.76509989299996 meters 0.058437684558314405 Centerline is valid? [True, True] Translation: X:395.01, Y:73.23, Z:41.82 [[ 9.57371981e-01 -2.67613275e-01 -1.08729140e-01 3.95014069e+02] [ 2.66351443e-01 9.63518757e-01 -2.62395358e-02 7.32252689e+01] [ 1.11784614e-01 -3.83916681e-03 9.93725043e-01 4.18234847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.82509989299996 meters 0.05827698020610173 Centerline is valid? [True, True] Translation: X:395.07, Y:73.24, Z:41.83 [[ 9.58436039e-01 -2.64245386e-01 -1.07585943e-01 3.95070738e+02] [ 2.62988663e-01 9.64449461e-01 -2.59653596e-02 7.32444857e+01] [ 1.10622431e-01 -3.40774686e-03 9.93856662e-01 4.18310382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.88509989299996 meters 0.05702547784543206 Centerline is valid? [True, True] Translation: X:395.13, Y:73.27, Z:41.84 [[ 9.59146663e-01 -2.61904027e-01 -1.06976449e-01 3.95127173e+02] [ 2.60646981e-01 9.65088882e-01 -2.58186013e-02 7.32655537e+01] [ 1.10003777e-01 -3.11926321e-03 9.93926275e-01 4.18381582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.94509989299996 meters 0.05665081015536395 Centerline is valid? [True, True] Translation: X:395.18, Y:73.28, Z:41.84 [[ 9.60081610e-01 -2.58468877e-01 -1.06944571e-01 3.95183748e+02] [ 2.57191226e-01 9.66015746e-01 -2.58118575e-02 7.32818218e+01] [ 1.09981701e-01 -2.72371552e-03 9.93929880e-01 4.18437757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.00509989299997 meters 0.057321519514019675 Centerline is valid? [True, True] Translation: X:395.24, Y:73.30, Z:41.85 [[ 9.60792353e-01 -2.55798686e-01 -1.06981709e-01 3.95240612e+02] [ 2.54503446e-01 9.66727050e-01 -2.58225866e-02 7.32990970e+01] [ 1.10027496e-01 -2.41706989e-03 9.93925605e-01 4.18494832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.06509989299997 meters 0.056444195542936546 Centerline is valid? [True, True] Translation: X:395.30, Y:73.32, Z:41.85 [[ 9.61971974e-01 -2.51175236e-01 -1.07335556e-01 3.95297611e+02] [ 2.49842493e-01 9.67939781e-01 -2.59096444e-02 7.33181234e+01] [ 1.10402216e-01 -1.89263126e-03 9.93885189e-01 4.18547338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.12509989299997 meters 0.0563934134261242 Centerline is valid? [True, True] Translation: X:395.35, Y:73.34, Z:41.86 [[ 9.62743241e-01 -2.48331707e-01 -1.07036514e-01 3.95354014e+02] [ 2.46988835e-01 9.68673797e-01 -2.58377774e-02 7.33361339e+01] [ 1.10099806e-01 -1.56167841e-03 9.93919310e-01 4.18612587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.185099893 meters 0.056383064673718654 Centerline is valid? [True, True] Translation: X:395.41, Y:73.35, Z:41.87 [[ 9.63553374e-01 -2.45415476e-01 -1.06471309e-01 3.95410339e+02] [ 2.44068419e-01 9.69417229e-01 -2.57068465e-02 7.33544013e+01] [ 1.09523979e-01 -1.21636536e-03 9.93983410e-01 4.18681690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.245099893 meters 0.05582823459814601 Centerline is valid? [True, True] Translation: X:395.47, Y:73.37, Z:41.87 [[ 9.63849392e-01 -2.44206998e-01 -1.06570593e-01 3.95465662e+02] [ 2.42849835e-01 9.69722527e-01 -2.57328114e-02 7.33687462e+01] [ 1.09628037e-01 -1.07809634e-03 9.93972098e-01 4.18742583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.305099893 meters 0.05561370339971513 Centerline is valid? [True, True] Translation: X:395.52, Y:73.38, Z:41.88 [[ 9.63835829e-01 -2.44228448e-01 -1.06644078e-01 3.95522380e+02] [ 2.42868977e-01 9.69717127e-01 -2.57556516e-02 7.33814025e+01] [ 1.09704851e-01 -1.07631814e-03 9.93963625e-01 4.18799160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.365099893 meters 0.056368342931825265 Centerline is valid? [True, True] Translation: X:395.58, Y:73.39, Z:41.89 [[ 9.63656841e-01 -2.44843687e-01 -1.06850647e-01 3.95578979e+02] [ 2.43481245e-01 9.69561900e-01 -2.58186902e-02 7.33925620e+01] [ 1.09919860e-01 -1.13577107e-03 9.93939804e-01 4.18855455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.425099893 meters 0.05644093294680625 Centerline is valid? [True, True] Translation: X:395.64, Y:73.41, Z:41.89 [[ 9.63287955e-01 -2.46760819e-01 -1.05761116e-01 3.95636058e+02] [ 2.45437082e-01 9.69075494e-01 -2.55602194e-02 7.34051700e+01] [ 1.08797766e-01 -1.33584812e-03 9.94063007e-01 4.18934214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.485099893 meters 0.056186602338211565 Centerline is valid? [True, True] Translation: X:395.69, Y:73.41, Z:41.90 [[ 9.63055322e-01 -2.47917961e-01 -1.05171917e-01 3.95693367e+02] [ 2.46614503e-01 9.68779951e-01 -2.54301726e-02 7.34121307e+01] [ 1.08193042e-01 -1.44625712e-03 9.94128852e-01 4.18988868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.545099893 meters 0.05638007542285392 Centerline is valid? [True, True] Translation: X:395.75, Y:73.42, Z:41.91 [[ 9.63064204e-01 -2.48159463e-01 -1.04518997e-01 3.95750382e+02] [ 2.46872278e-01 9.68718108e-01 -2.52845127e-02 7.34223975e+01] [ 1.07524036e-01 -1.45223376e-03 9.94201425e-01 4.19054711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.605099893 meters 0.05673483663812401 Centerline is valid? [True, True] Translation: X:395.81, Y:73.44, Z:41.91 [[ 9.63074095e-01 -2.48339525e-01 -1.03998882e-01 3.95806753e+02] [ 2.47064777e-01 9.68671963e-01 -2.51718933e-02 7.34356664e+01] [ 1.06991977e-01 -1.45206217e-03 9.94258824e-01 4.19122435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.66509989299993 meters 0.05671661352645524 Centerline is valid? [True, True] Translation: X:395.86, Y:73.45, Z:41.92 [[ 9.63202272e-01 -2.48203879e-01 -1.03132040e-01 3.95864012e+02] [ 2.46948678e-01 9.68706781e-01 -2.49704475e-02 7.34465131e+01] [ 1.06102468e-01 -1.41672916e-03 9.94354192e-01 4.19195520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.72509989299994 meters 0.05670694866177415 Centerline is valid? [True, True] Translation: X:395.92, Y:73.46, Z:41.93 [[ 9.63312471e-01 -2.47912532e-01 -1.02803009e-01 3.95921028e+02] [ 2.46662444e-01 9.68781453e-01 -2.49025237e-02 7.34578366e+01] [ 1.05767297e-01 -1.36872999e-03 9.94389967e-01 4.19258625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.78509989299994 meters 0.05624420198017058 Centerline is valid? [True, True] Translation: X:395.98, Y:73.47, Z:41.93 [[ 9.63568272e-01 -2.47165161e-01 -1.02203566e-01 3.95978498e+02] [ 2.45924219e-01 9.68972536e-01 -2.47689797e-02 7.34700754e+01] [ 1.05154477e-01 -1.26772918e-03 9.94455091e-01 4.19316963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.84509989299994 meters 0.0569862266925532 Centerline is valid? [True, True] Translation: X:396.04, Y:73.48, Z:41.94 [[ 9.63594516e-01 -2.46922889e-01 -1.02541187e-01 3.96036057e+02] [ 2.45671119e-01 9.69034346e-01 -2.48623652e-02 7.34777668e+01] [ 1.05505019e-01 -1.23416948e-03 9.94418005e-01 4.19369909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.90509989299994 meters 0.05656510483345788 Centerline is valid? [True, True] Translation: X:396.09, Y:73.49, Z:41.94 [[ 9.63416933e-01 -2.47437308e-01 -1.02968886e-01 3.96093426e+02] [ 2.46177481e-01 9.68903045e-01 -2.49707174e-02 7.34895897e+01] [ 1.05945554e-01 -1.29140906e-03 9.94371094e-01 4.19422634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.96509989299994 meters 0.05668274026178158 Centerline is valid? [True, True] Translation: X:396.15, Y:73.50, Z:41.95 [[ 9.63200231e-01 -2.47718143e-01 -1.04312211e-01 3.96148991e+02] [ 2.46425442e-01 9.68831234e-01 -2.53089334e-02 7.35029651e+01] [ 1.07330410e-01 -1.32761230e-03 9.94222521e-01 4.19472806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.02509989299995 meters 0.0563771637269111 Centerline is valid? [True, True] Translation: X:396.21, Y:73.51, Z:41.95 [[ 9.62843436e-01 -2.48779493e-01 -1.05077504e-01 3.96207663e+02] [ 2.47473487e-01 9.68559061e-01 -2.54993712e-02 7.35087954e+01] [ 1.08117490e-01 -1.45199419e-03 9.94137063e-01 4.19517021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.08509989299995 meters 0.0572131391632523 Centerline is valid? [True, True] Translation: X:396.26, Y:73.52, Z:41.96 [[ 9.62754540e-01 -2.49423981e-01 -1.04361739e-01 3.96264229e+02] [ 2.48138382e-01 9.68393214e-01 -2.53362659e-02 7.35231230e+01] [ 1.07382672e-01 -1.50354802e-03 9.94216627e-01 4.19586745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.14509989299995 meters 0.05692295367306231 Centerline is valid? [True, True] Translation: X:396.32, Y:73.53, Z:41.97 [[ 9.62753228e-01 -2.49901858e-01 -1.03224430e-01 3.96319831e+02] [ 2.48646216e-01 9.68269958e-01 -2.50668792e-02 7.35322411e+01] [ 1.06213374e-01 -1.53314491e-03 9.94342179e-01 4.19653633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.20509989299995 meters 0.057195514066071415 Centerline is valid? [True, True] Translation: X:396.38, Y:73.54, Z:41.97 [[ 9.62618106e-01 -2.50819796e-01 -1.02253660e-01 3.96376909e+02] [ 2.49591907e-01 9.68032457e-01 -2.48403355e-02 7.35441192e+01] [ 1.05215310e-01 -1.60992936e-03 9.94448162e-01 4.19721100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.26509989299996 meters 0.056500666653877506 Centerline is valid? [True, True] Translation: X:396.44, Y:73.55, Z:41.98 [[ 9.61906301e-01 -2.53685874e-01 -1.01881039e-01 3.96435347e+02] [ 2.52481739e-01 9.67284781e-01 -2.47613192e-02 7.35531450e+01] [ 1.04829576e-01 -1.90503308e-03 9.94488376e-01 4.19782694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.32509989299996 meters 0.0572578590724087 Centerline is valid? [True, True] Translation: X:396.49, Y:73.56, Z:41.98 [[ 9.61155713e-01 -2.56460102e-01 -1.02019174e-01 3.96494114e+02] [ 2.55267887e-01 9.66552298e-01 -2.47984035e-02 7.35620345e+01] [ 1.04966669e-01 -2.20709188e-03 9.94473291e-01 4.19835956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.38509989299996 meters 0.05798402552764936 Centerline is valid? [True, True] Translation: X:396.55, Y:73.57, Z:41.99 [[ 9.60383274e-01 -2.59128455e-01 -1.02549550e-01 3.96552196e+02] [ 2.57938753e-01 9.65839605e-01 -2.49290299e-02 7.35688816e+01] [ 1.05506237e-01 -2.51007959e-03 9.94415473e-01 4.19891400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.44509989299996 meters 0.057125499539978655 Centerline is valid? [True, True] Translation: X:396.61, Y:73.59, Z:42.00 [[ 9.59877072e-01 -2.60872140e-01 -1.02867555e-01 3.96608673e+02] [ 2.59684651e-01 9.65369566e-01 -2.50096577e-02 7.35883888e+01] [ 1.05829530e-01 -2.70692820e-03 9.94380603e-01 4.19960177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.50509989299997 meters 0.05875770416186663 Centerline is valid? [True, True] Translation: X:396.67, Y:73.59, Z:42.00 [[ 9.59552694e-01 -2.61597958e-01 -1.04043909e-01 3.96667296e+02] [ 2.60387217e-01 9.65172817e-01 -2.52968422e-02 7.35930004e+01] [ 1.07037955e-01 -2.81805094e-03 9.94250942e-01 4.19998251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.56509989299997 meters 0.05783176516673019 Centerline is valid? [True, True] Translation: X:396.73, Y:73.61, Z:42.01 [[ 9.58868606e-01 -2.63904836e-01 -1.04523843e-01 3.96725259e+02] [ 2.62695230e-01 9.64543810e-01 -2.54254615e-02 7.36063771e+01] [ 1.07527728e-01 -3.07823808e-03 9.94197321e-01 4.20056586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.62509989299997 meters 0.05880686850886072 Centerline is valid? [True, True] Translation: X:396.78, Y:73.62, Z:42.01 [[ 9.58335548e-01 -2.65799762e-01 -1.04611014e-01 3.96782834e+02] [ 2.64599190e-01 9.64022640e-01 -2.54483537e-02 7.36202136e+01] [ 1.07611552e-01 -3.29192764e-03 9.94187566e-01 4.20118395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.685099893 meters 0.058782389558249055 Centerline is valid? [True, True] Translation: X:396.84, Y:73.64, Z:42.02 [[ 9.57512267e-01 -2.68637603e-01 -1.04900412e-01 3.96840498e+02] [ 2.67447223e-01 9.63234516e-01 -2.55195902e-02 7.36383451e+01] [ 1.07899220e-01 -3.62000324e-03 9.94155246e-01 4.20183355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.745099893 meters 0.05995331335605802 Centerline is valid? [True, True] Translation: X:396.90, Y:73.65, Z:42.02 [[ 9.56593618e-01 -2.71846708e-01 -1.05014371e-01 3.96898303e+02] [ 2.70672965e-01 9.62332312e-01 -2.55473624e-02 7.36500208e+01] [ 1.08003688e-01 -3.98610724e-03 9.94142502e-01 4.20240882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.805099893 meters 0.059703148144976674 Centerline is valid? [True, True] Translation: X:396.96, Y:73.66, Z:42.03 [[ 9.55961955e-01 -2.74059579e-01 -1.05014705e-01 3.96956123e+02] [ 2.72898971e-01 9.61703392e-01 -2.55487325e-02 7.36643274e+01] [ 1.07994873e-01 -4.23478862e-03 9.94142431e-01 4.20305215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.865099893 meters 0.06265746166947779 Centerline is valid? [True, True] Translation: X:397.02, Y:73.67, Z:42.04 [[ 9.55616514e-01 -2.75434349e-01 -1.04560979e-01 3.97015310e+02] [ 2.74291859e-01 9.61309951e-01 -2.54392256e-02 7.36723382e+01] [ 1.07522346e-01 -4.37008119e-03 9.94193063e-01 4.20361153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.925099893 meters 0.06235231048083486 Centerline is valid? [True, True] Translation: X:397.07, Y:73.69, Z:42.04 [[ 9.55636290e-01 -2.75688357e-01 -1.03707332e-01 3.97070583e+02] [ 2.74565759e-01 9.61237180e-01 -2.52334685e-02 7.36901876e+01] [ 1.06643917e-01 -4.36046411e-03 9.94287716e-01 4.20431258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.985099893 meters 0.05887822644012505 Centerline is valid? [True, True] Translation: X:397.13, Y:73.72, Z:42.05 [[ 9.56416307e-01 -2.73201286e-01 -1.03096585e-01 3.97125242e+02] [ 2.72076290e-01 9.61948373e-01 -2.50962019e-02 7.37188782e+01] [ 1.06029907e-01 -4.04771955e-03 9.94354703e-01 4.20500502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.045099893 meters 0.05769389162262477 Centerline is valid? [True, True] Translation: X:397.18, Y:73.74, Z:42.06 [[ 9.58345431e-01 -2.66186961e-01 -1.03530363e-01 3.97180738e+02] [ 2.65011661e-01 9.63915821e-01 -2.52013866e-02 7.37430417e+01] [ 1.06502835e-01 -3.28511971e-03 9.94306972e-01 4.20556350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.10509989299993 meters 0.057463851333257376 Centerline is valid? [True, True] Translation: X:397.24, Y:73.77, Z:42.06 [[ 9.60315696e-01 -2.58621915e-01 -1.04443617e-01 3.97236623e+02] [ 2.57380975e-01 9.65975478e-01 -2.54245983e-02 7.37688056e+01] [ 1.07465331e-01 -2.46615922e-03 9.94205774e-01 4.20609947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.16509989299993 meters 0.05672668628187238 Centerline is valid? [True, True] Translation: X:397.29, Y:73.79, Z:42.07 [[ 9.61335847e-01 -2.54646535e-01 -1.04826194e-01 3.97293177e+02] [ 2.53372848e-01 9.67032071e-01 -2.55180940e-02 7.37903817e+01] [ 1.07868385e-01 -2.02865279e-03 9.94163113e-01 4.20670185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.22509989299994 meters 0.05637545514562213 Centerline is valid? [True, True] Translation: X:397.35, Y:73.81, Z:42.07 [[ 9.62170947e-01 -2.51438339e-01 -1.04908672e-01 3.97349848e+02] [ 2.50143527e-01 9.67871879e-01 -2.55390090e-02 7.38092847e+01] [ 1.07959640e-01 -1.66933280e-03 9.94153876e-01 4.20726665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.28509989299994 meters 0.056485410167665534 Centerline is valid? [True, True] Translation: X:397.40, Y:73.83, Z:42.08 [[ 9.62162056e-01 -2.51241240e-01 -1.05460976e-01 3.97404824e+02] [ 2.49931394e-01 9.67923087e-01 -2.56748278e-02 7.38260755e+01] [ 1.08528689e-01 -1.65466378e-03 9.94091940e-01 4.20783241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.34509989299994 meters 0.0561276816796599 Centerline is valid? [True, True] Translation: X:397.46, Y:73.85, Z:42.09 [[ 9.61785447e-01 -2.52477243e-01 -1.05943363e-01 3.97460625e+02] [ 2.51161387e-01 9.67601178e-01 -2.58054031e-02 7.38450736e+01] [ 1.09026200e-01 -1.78962074e-03 9.94037265e-01 4.20859718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.40509989299994 meters 0.05602907950556925 Centerline is valid? [True, True] Translation: X:397.52, Y:73.86, Z:42.09 [[ 9.61480925e-01 -2.53775297e-01 -1.05605538e-01 3.97516740e+02] [ 2.52474308e-01 9.67261297e-01 -2.57353159e-02 7.38612076e+01] [ 1.08679137e-01 -1.91866988e-03 9.94075029e-01 4.20931784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.46509989299994 meters 0.056538016694779925 Centerline is valid? [True, True] Translation: X:397.57, Y:73.88, Z:42.10 [[ 9.61160004e-01 -2.55306865e-01 -1.04832488e-01 3.97572720e+02] [ 2.54032723e-01 9.66857870e-01 -2.55584742e-02 7.38758428e+01] [ 1.07883370e-01 -2.06509933e-03 9.94161412e-01 4.21003642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.52509989299995 meters 0.056492344526636915 Centerline is valid? [True, True] Translation: X:397.63, Y:73.89, Z:42.11 [[ 9.61078237e-01 -2.55421242e-01 -1.05302477e-01 3.97629107e+02] [ 2.54134945e-01 9.66827638e-01 -2.56855463e-02 7.38874966e+01] [ 1.08369979e-01 -2.07521955e-03 9.94108465e-01 4.21062453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.58509989299995 meters 0.056278454091069845 Centerline is valid? [True, True] Translation: X:397.69, Y:73.90, Z:42.11 [[ 9.61060594e-01 -2.55761581e-01 -1.04635315e-01 3.97685593e+02] [ 2.54493063e-01 9.66737618e-01 -2.55275943e-02 7.39006895e+01] [ 1.07683873e-01 -2.09539687e-03 9.94182978e-01 4.21123851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.64509989299995 meters 0.05671908566950071 Centerline is valid? [True, True] Translation: X:397.74, Y:73.92, Z:42.12 [[ 9.61495050e-01 -2.54173505e-01 -1.04513624e-01 3.97742006e+02] [ 2.52897212e-01 9.67156765e-01 -2.55106237e-02 7.39177002e+01] [ 1.07565183e-01 -1.90286567e-03 9.94196213e-01 4.21183711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.70509989299995 meters 0.05597087697092267 Centerline is valid? [True, True] Translation: X:397.80, Y:73.94, Z:42.13 [[ 9.63021345e-01 -2.48544628e-01 -1.03997386e-01 3.97798124e+02] [ 2.47247006e-01 9.68619630e-01 -2.53954598e-02 7.39378705e+01] [ 1.07045814e-01 -1.25667245e-03 9.94253295e-01 4.21251572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.76509989299996 meters 0.055777549890756936 Centerline is valid? [True, True] Translation: X:397.85, Y:73.96, Z:42.13 [[ 9.64130748e-01 -2.44270628e-01 -1.03844889e-01 3.97853737e+02] [ 2.42951883e-01 9.69706787e-01 -2.53599951e-02 7.39557678e+01] [ 1.06893795e-01 -7.78960168e-04 9.94270139e-01 4.21314273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.82509989299996 meters 0.05603442861875343 Centerline is valid? [True, True] Translation: X:397.91, Y:73.97, Z:42.14 [[ 9.65005310e-01 -2.40376655e-01 -1.04803704e-01 3.97910228e+02] [ 2.39010044e-01 9.70679630e-01 -2.55979616e-02 7.39733120e+01] [ 1.07883973e-01 -3.46968984e-04 9.94163431e-01 4.21374726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.88509989299996 meters 0.0554393689753503 Centerline is valid? [True, True] Translation: X:397.97, Y:73.99, Z:42.14 [[ 9.65123094e-01 -2.39360523e-01 -1.06037510e-01 3.97966605e+02] [ 2.37954048e-01 9.70930734e-01 -2.59110313e-02 7.39869212e+01] [ 1.09157156e-01 -2.24720176e-04 9.94024479e-01 4.21419587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.94509989299996 meters 0.055740621463899014 Centerline is valid? [True, True] Translation: X:398.02, Y:74.00, Z:42.15 [[ 9.64565629e-01 -2.41322039e-01 -1.06662182e-01 3.98023505e+02] [ 2.39909358e-01 9.70444993e-01 -2.60771236e-02 7.39993193e+01] [ 1.09802765e-01 -4.36158419e-04 9.93953300e-01 4.21484446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.00509989299997 meters 0.05565110968839371 Centerline is valid? [True, True] Translation: X:398.08, Y:74.01, Z:42.15 [[ 9.63831916e-01 -2.43802482e-01 -1.07649373e-01 3.98080185e+02] [ 2.42377594e-01 9.69824644e-01 -2.63298783e-02 7.40095768e+01] [ 1.10820304e-01 -7.14218844e-04 9.93840204e-01 4.21524811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.06509989299997 meters 0.056491809309720475 Centerline is valid? [True, True] Translation: X:398.14, Y:74.02, Z:42.16 [[ 9.62083370e-01 -2.50766649e-01 -1.07292484e-01 3.98138894e+02] [ 2.49393826e-01 9.68046393e-01 -2.62469170e-02 7.40172157e+01] [ 1.10445953e-01 -1.50636069e-03 9.93880990e-01 4.21593123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.12509989299997 meters 0.056374461357121666 Centerline is valid? [True, True] Translation: X:398.20, Y:74.03, Z:42.17 [[ 9.60498606e-01 -2.57067320e-01 -1.06577771e-01 3.98198069e+02] [ 2.55751178e-01 9.66390963e-01 -2.60737770e-02 7.40279587e+01] [ 1.09698510e-01 -2.21356402e-03 9.93962442e-01 4.21672931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.185099893 meters 0.056854177955388524 Centerline is valid? [True, True] Translation: X:398.26, Y:74.03, Z:42.17 [[ 9.57992784e-01 -2.66343992e-01 -1.06351797e-01 3.98258132e+02] [ 2.65090233e-01 9.63872504e-01 -2.60185560e-02 7.40310273e+01] [ 1.09439459e-01 -3.26723373e-03 9.93988094e-01 4.21735800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.245099893 meters 0.05758232545819421 Centerline is valid? [True, True] Translation: X:398.32, Y:74.04, Z:42.18 [[ 9.56563875e-01 -2.71764593e-01 -1.05496725e-01 3.98317478e+02] [ 2.70563605e-01 9.62356042e-01 -2.58105422e-02 7.40416704e+01] [ 1.08539802e-01 -3.85414186e-03 9.94084633e-01 4.21808465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.305099893 meters 0.0584595119768951 Centerline is valid? [True, True] Translation: X:398.38, Y:74.05, Z:42.19 [[ 9.54491750e-01 -2.79189386e-01 -1.04875093e-01 3.98377443e+02] [ 2.78047053e-01 9.60224704e-01 -2.56584004e-02 7.40486415e+01] [ 1.07867208e-01 -4.66947911e-03 9.94154345e-01 4.21872508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.365099893 meters 0.05588724160693896 Centerline is valid? [True, True] Translation: X:398.43, Y:74.07, Z:42.20 [[ 9.52980888e-01 -2.84437219e-01 -1.04512655e-01 3.98433505e+02] [ 2.83334054e-01 9.58680327e-01 -2.55703744e-02 7.40712788e+01] [ 1.07467393e-01 -5.24391617e-03 9.94194780e-01 4.21952307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.425099893 meters 0.05779700950035417 Centerline is valid? [True, True] Translation: X:398.49, Y:74.08, Z:42.20 [[ 9.52316989e-01 -2.86465035e-01 -1.05024454e-01 3.98493138e+02] [ 2.85363356e-01 9.58074908e-01 -2.56948648e-02 7.40773311e+01] [ 1.07981975e-01 -5.50047449e-03 9.94137635e-01 4.22009254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.485099893 meters 0.05712758658919819 Centerline is valid? [True, True] Translation: X:398.55, Y:74.09, Z:42.21 [[ 9.51698625e-01 -2.88161047e-01 -1.05985557e-01 3.98551369e+02] [ 2.87049435e-01 9.57564729e-01 -2.59309155e-02 7.40926072e+01] [ 1.08960311e-01 -5.74467771e-03 9.94029501e-01 4.22066661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.545099893 meters 0.0578263084946235 Centerline is valid? [True, True] Translation: X:398.61, Y:74.11, Z:42.21 [[ 9.51784063e-01 -2.87341241e-01 -1.07434206e-01 3.98608184e+02] [ 2.86193684e-01 9.57811151e-01 -2.62863922e-02 7.41068878e+01] [ 1.10454845e-01 -5.72802208e-03 9.93864637e-01 4.22111118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.60509989299993 meters 0.0594969517956051 Centerline is valid? [True, True] Translation: X:398.67, Y:74.12, Z:42.22 [[ 9.52714469e-01 -2.84305304e-01 -1.07264321e-01 3.98666075e+02] [ 2.83141859e-01 9.58718792e-01 -2.62481669e-02 7.41192336e+01] [ 1.10298814e-01 -5.36401101e-03 9.93883997e-01 4.22172981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.66509989299993 meters 0.0611916636120264 Centerline is valid? [True, True] Translation: X:398.72, Y:74.13, Z:42.22 [[ 9.54643092e-01 -2.77900735e-01 -1.06900652e-01 3.98724219e+02] [ 2.76705011e-01 9.60598754e-01 -2.61604832e-02 7.41332083e+01] [ 1.09958651e-01 -4.60602164e-03 9.93925490e-01 4.22234409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.72509989299994 meters 0.05783152267225251 Centerline is valid? [True, True] Translation: X:398.78, Y:74.16, Z:42.23 [[ 9.55845670e-01 -2.74200840e-01 -1.05702200e-01 3.98778766e+02] [ 2.73009246e-01 9.61663571e-01 -2.58675149e-02 7.41607171e+01] [ 1.08742850e-01 -4.13232589e-03 9.94061324e-01 4.22320125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.78509989299994 meters 0.05785788501902812 Centerline is valid? [True, True] Translation: X:398.84, Y:74.18, Z:42.24 [[ 9.56931674e-01 -2.70193315e-01 -1.06194840e-01 3.98835575e+02] [ 2.68965559e-01 9.62799020e-01 -2.59918075e-02 7.41794896e+01] [ 1.09267101e-01 -3.69037074e-03 9.94005574e-01 4.22378514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.84509989299994 meters 0.058076062326337094 Centerline is valid? [True, True] Translation: X:398.89, Y:74.20, Z:42.24 [[ 9.57979252e-01 -2.66789826e-01 -1.05351516e-01 3.98893043e+02] [ 2.65561034e-01 9.63749168e-01 -2.57852295e-02 7.41968667e+01] [ 1.08411673e-01 -3.27554257e-03 9.94100689e-01 4.22448284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.90509989299994 meters 0.0579555414559209 Centerline is valid? [True, True] Translation: X:398.95, Y:74.22, Z:42.25 [[ 9.58530888e-01 -2.64903410e-01 -1.05093861e-01 3.98949639e+02] [ 2.63669303e-01 9.64270115e-01 -2.57224386e-02 7.42156800e+01] [ 1.08152831e-01 -3.05427327e-03 9.94129587e-01 4.22521002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.96509989299994 meters 0.05729769949302444 Centerline is valid? [True, True] Translation: X:399.01, Y:74.23, Z:42.26 [[ 9.58927606e-01 -2.63049135e-01 -1.06127276e-01 3.99006279e+02] [ 2.61779116e-01 9.64778163e-01 -2.59767324e-02 7.42330213e+01] [ 1.09222435e-01 -2.87209860e-03 9.94013184e-01 4.22574874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.02509989299995 meters 0.056736388135574155 Centerline is valid? [True, True] Translation: X:399.06, Y:74.25, Z:42.26 [[ 9.59745892e-01 -2.59528805e-01 -1.07390043e-01 3.99063434e+02] [ 2.58205145e-01 9.65732155e-01 -2.62965293e-02 7.42521617e+01] [ 1.10534724e-01 -2.49067555e-03 9.93869142e-01 4.22623445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.08509989299995 meters 0.05596474537908773 Centerline is valid? [True, True] Translation: X:399.12, Y:74.27, Z:42.27 [[ 9.60474264e-01 -2.56950796e-01 -1.07076968e-01 3.99118443e+02] [ 2.55618880e-01 9.66422011e-01 -2.62199192e-02 7.42749167e+01] [ 1.10218768e-01 -2.18733706e-03 9.93904945e-01 4.22705839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.14509989299995 meters 0.05626385522637827 Centerline is valid? [True, True] Translation: X:399.17, Y:74.29, Z:42.28 [[ 9.61733510e-01 -2.52084126e-01 -1.07341745e-01 3.99174802e+02] [ 2.50715239e-01 9.67703947e-01 -2.62857411e-02 7.42915574e+01] [ 1.10501248e-01 -1.63233308e-03 9.93874645e-01 4.22764824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.20509989299995 meters 0.05552997963055056 Centerline is valid? [True, True] Translation: X:399.23, Y:74.31, Z:42.28 [[ 9.62484608e-01 -2.49310517e-01 -1.07087094e-01 3.99230798e+02] [ 2.47930794e-01 9.68422714e-01 -2.62253324e-02 7.43063879e+01] [ 1.10243826e-01 -1.30870950e-03 9.93903711e-01 4.22819135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.26509989299996 meters 0.0560401369216886 Centerline is valid? [True, True] Translation: X:399.29, Y:74.32, Z:42.29 [[ 9.62784191e-01 -2.48087278e-01 -1.07234804e-01 3.99286530e+02] [ 2.46695712e-01 9.68736983e-01 -2.62656368e-02 7.43228314e+01] [ 1.10398491e-01 -1.16622641e-03 9.93886720e-01 4.22888033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.32509989299996 meters 0.055651186317937675 Centerline is valid? [True, True] Translation: X:399.34, Y:74.34, Z:42.30 [[ 9.62297237e-01 -2.49702548e-01 -1.07854834e-01 3.99343154e+02] [ 2.48303503e-01 9.68321653e-01 -2.64300510e-02 7.43364531e+01] [ 1.11037823e-01 -1.34716821e-03 9.93815268e-01 4.22951493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.38509989299996 meters 0.05616012648030624 Centerline is valid? [True, True] Translation: X:399.40, Y:74.35, Z:42.30 [[ 9.61584354e-01 -2.52236599e-01 -1.08315409e-01 3.99400278e+02] [ 2.50840136e-01 9.67664212e-01 -2.65555869e-02 7.43456883e+01] [ 1.11511236e-01 -1.63441510e-03 9.93761829e-01 4.22997423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.44509989299996 meters 0.055578441303042486 Centerline is valid? [True, True] Translation: X:399.46, Y:74.36, Z:42.31 [[ 9.61214695e-01 -2.53722787e-01 -1.08125196e-01 3.99457066e+02] [ 2.52340028e-01 9.67275303e-01 -2.65141037e-02 7.43591671e+01] [ 1.11314064e-01 -1.79856896e-03 9.93783651e-01 4.23062904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.50509989299997 meters 0.056287583589946136 Centerline is valid? [True, True] Translation: X:399.52, Y:74.37, Z:42.31 [[ 9.60035160e-01 -2.58093150e-01 -1.08260881e-01 3.99516189e+02] [ 2.56733280e-01 9.66117307e-01 -2.65588453e-02 7.43683367e+01] [ 1.11447367e-01 -2.29674581e-03 9.93767684e-01 4.23121970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.56509989299997 meters 0.05674937967654214 Centerline is valid? [True, True] Translation: X:399.57, Y:74.38, Z:42.32 [[ 9.59329075e-01 -2.60827636e-01 -1.07966064e-01 3.99574951e+02] [ 2.59492415e-01 9.65381866e-01 -2.64865781e-02 7.43780798e+01] [ 1.11136912e-01 -2.60703024e-03 9.93801686e-01 4.23179388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.62509989299997 meters 0.05646117005843936 Centerline is valid? [True, True] Translation: X:399.63, Y:74.39, Z:42.32 [[ 9.58803893e-01 -2.62756613e-01 -1.07953963e-01 3.99633463e+02] [ 2.61433758e-01 9.64857999e-01 -2.64845731e-02 7.43897777e+01] [ 1.11119241e-01 -2.82929838e-03 9.93803054e-01 4.23245379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.685099893 meters 0.0568647045724982 Centerline is valid? [True, True] Translation: X:399.69, Y:74.40, Z:42.33 [[ 9.59011108e-01 -2.62068138e-01 -1.07786760e-01 3.99690281e+02] [ 2.60744833e-01 9.65045473e-01 -2.64455371e-02 7.44013381e+01] [ 1.10949657e-01 -2.74327688e-03 9.93822242e-01 4.23301223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.745099893 meters 0.05673660990887029 Centerline is valid? [True, True] Translation: X:399.75, Y:74.42, Z:42.34 [[ 9.60117029e-01 -2.58108883e-01 -1.07494633e-01 3.99747913e+02] [ 2.56767542e-01 9.66113155e-01 -2.63780425e-02 7.44185544e+01] [ 1.10660386e-01 -2.27512495e-03 9.93855675e-01 4.23369124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.805099893 meters 0.05686679718436905 Centerline is valid? [True, True] Translation: X:399.81, Y:74.43, Z:42.34 [[ 9.61809410e-01 -2.51736106e-01 -1.07478335e-01 3.99805504e+02] [ 2.50355443e-01 9.67794688e-01 -2.63741148e-02 7.44339876e+01] [ 1.10656278e-01 -1.54091434e-03 9.93857542e-01 4.23429306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.865099893 meters 0.056545623844690515 Centerline is valid? [True, True] Translation: X:399.86, Y:74.45, Z:42.35 [[ 9.63184150e-01 -2.46175429e-01 -1.08046061e-01 3.99862556e+02] [ 2.44745036e-01 9.69224865e-01 -2.65146832e-02 7.44500967e+01] [ 1.11248193e-01 -9.05214679e-04 9.93792242e-01 4.23493909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.925099893 meters 0.05617604107625128 Centerline is valid? [True, True] Translation: X:399.92, Y:74.46, Z:42.36 [[ 9.63462495e-01 -2.44884610e-01 -1.08496770e-01 3.99919218e+02] [ 2.43433755e-01 9.69551935e-01 -2.66280270e-02 7.44645326e+01] [ 1.11714047e-01 -7.56670676e-04 9.93740106e-01 4.23561018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.985099893 meters 0.05596950556226496 Centerline is valid? [True, True] Translation: X:399.98, Y:74.48, Z:42.36 [[ 9.63962293e-01 -2.42839743e-01 -1.08653379e-01 3.99976103e+02] [ 2.41370201e-01 9.70066288e-01 -2.66800293e-02 7.44765942e+01] [ 1.11879952e-01 -5.07145731e-04 9.93721600e-01 4.23607395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.045099893 meters 0.05610038720541107 Centerline is valid? [True, True] Translation: X:400.03, Y:74.49, Z:42.37 [[ 9.64808476e-01 -2.39616788e-01 -1.08297739e-01 4.00032822e+02] [ 2.38135269e-01 9.70867540e-01 -2.66047625e-02 7.44884151e+01] [ 1.11517707e-01 -1.21010909e-04 9.93762440e-01 4.23662380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.10509989299993 meters 0.05649537717169179 Centerline is valid? [True, True] Translation: X:400.09, Y:74.50, Z:42.37 [[ 9.66072395e-01 -2.34422878e-01 -1.08397615e-01 4.00089354e+02] [ 2.32905149e-01 9.72134599e-01 -2.66367028e-02 7.45015797e+01] [ 1.11621324e-01 4.86620695e-04 9.93750695e-01 4.23740941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.16509989299993 meters 0.05724262048604399 Centerline is valid? [True, True] Translation: X:400.15, Y:74.51, Z:42.38 [[ 9.67143082e-01 -2.30265879e-01 -1.07758456e-01 4.00145446e+02] [ 2.28738962e-01 9.73127268e-01 -2.64916666e-02 7.45121896e+01] [ 1.10962818e-01 9.72674802e-04 9.93824082e-01 4.23833033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.22509989299994 meters 0.05732081265105502 Centerline is valid? [True, True] Translation: X:400.20, Y:74.53, Z:42.39 [[ 9.68009365e-01 -2.26885680e-01 -1.07148300e-01 4.00201608e+02] [ 2.25354827e-01 9.73920451e-01 -2.63468541e-02 7.45256483e+01] [ 1.10331644e-01 1.35761504e-03 9.93893900e-01 4.23881422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.28509989299994 meters 0.05760764133778707 Centerline is valid? [True, True] Translation: X:400.26, Y:74.54, Z:42.39 [[ 9.68676034e-01 -2.24514927e-01 -1.06112147e-01 4.00259124e+02] [ 2.22998165e-01 9.74469298e-01 -2.61037552e-02 7.45351350e+01] [ 1.09263712e-01 1.62326799e-03 9.94011472e-01 4.23947511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.34509989299994 meters 0.05736804072979409 Centerline is valid? [True, True] Translation: X:400.32, Y:74.54, Z:42.40 [[ 9.68620299e-01 -2.25161904e-01 -1.05246536e-01 4.00318017e+02] [ 2.23672449e-01 9.74320132e-01 -2.59020594e-02 7.45419153e+01] [ 1.08375976e-01 1.54851013e-03 9.94108772e-01 4.24018537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.40509989299994 meters 0.05714276527235499 Centerline is valid? [True, True] Translation: X:400.38, Y:74.55, Z:42.41 [[ 9.67464761e-01 -2.29633201e-01 -1.06209834e-01 4.00378299e+02] [ 2.28141867e-01 9.73276657e-01 -2.61502836e-02 7.45464390e+01] [ 1.09376525e-01 1.06856816e-03 9.93999816e-01 4.24074828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.46509989299994 meters 0.05721174137850396 Centerline is valid? [True, True] Translation: X:400.44, Y:74.55, Z:42.41 [[ 9.66009646e-01 -2.35758700e-01 -1.06033953e-01 4.00437633e+02] [ 2.34308814e-01 9.71811552e-01 -2.61091285e-02 7.45501137e+01] [ 1.09200475e-01 3.76980204e-04 9.94019675e-01 4.24134637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.52509989299995 meters 0.05784013577045749 Centerline is valid? [True, True] Translation: X:400.50, Y:74.55, Z:42.42 [[ 9.62802537e-01 -2.48182612e-01 -1.06848800e-01 4.00499406e+02] [ 2.46784941e-01 9.68712723e-01 -2.63221174e-02 7.45455326e+01] [ 1.10038484e-01 -1.02567339e-03 9.93926798e-01 4.24175090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.58509989299995 meters 0.05775160678542002 Centerline is valid? [True, True] Translation: X:400.56, Y:74.55, Z:42.43 [[ 9.60205653e-01 -2.57973086e-01 -1.07027991e-01 4.00559851e+02] [ 2.56630855e-01 9.66149718e-01 -2.63690555e-02 7.45507757e+01] [ 1.10207570e-01 -2.14696876e-03 9.93906274e-01 4.24259309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.64509989299995 meters 0.060578963074340964 Centerline is valid? [True, True] Translation: X:400.62, Y:74.55, Z:42.43 [[ 9.56450231e-01 -2.71481046e-01 -1.07242701e-01 4.00622955e+02] [ 2.70217657e-01 9.62436645e-01 -2.64219929e-02 7.45466207e+01] [ 1.10387375e-01 -3.70755008e-03 9.93881724e-01 4.24320067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.70509989299995 meters 0.05975232454915774 Centerline is valid? [True, True] Translation: X:400.68, Y:74.56, Z:42.44 [[ 9.54276848e-01 -2.79011114e-01 -1.07277659e-01 4.00682293e+02] [ 2.77794100e-01 9.60276958e-01 -2.64310903e-02 7.45575621e+01] [ 1.10390832e-01 -4.57852311e-03 9.93877709e-01 4.24394890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.76509989299996 meters 0.06354742487279949 Centerline is valid? [True, True] Translation: X:400.74, Y:74.56, Z:42.45 [[ 9.52211642e-01 -2.86293661e-01 -1.06437438e-01 4.00743462e+02] [ 2.85140819e-01 9.58126823e-01 -2.62241241e-02 7.45568331e+01] [ 1.09488364e-01 -5.37874185e-03 9.93973524e-01 4.24466287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.82509989299996 meters 0.06257621157382946 Centerline is valid? [True, True] Translation: X:400.80, Y:74.57, Z:42.45 [[ 9.51605575e-01 -2.88346559e-01 -1.06316003e-01 4.00801296e+02] [ 2.87209007e-01 9.57509695e-01 -2.61948616e-02 7.45726919e+01] [ 1.09351802e-01 -5.60773723e-03 9.93987292e-01 4.24538429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.88509989299996 meters 0.06246713177117512 Centerline is valid? [True, True] Translation: X:400.86, Y:74.59, Z:42.46 [[ 9.51344160e-01 -2.88882404e-01 -1.07197234e-01 4.00857571e+02] [ 2.87729172e-01 9.57347525e-01 -2.64128763e-02 7.45865845e+01] [ 1.10255222e-01 -5.71603575e-03 9.93886871e-01 4.24598728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.94509989299996 meters 0.062424435923565016 Centerline is valid? [True, True] Translation: X:400.91, Y:74.60, Z:42.47 [[ 9.51197095e-01 -2.89097432e-01 -1.07920165e-01 4.00914089e+02] [ 2.87929453e-01 9.57282254e-01 -2.65954157e-02 7.46002243e+01] [ 1.10998725e-01 -5.77591204e-03 9.93803764e-01 4.24651162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.00509989299997 meters 0.06000786485459911 Centerline is valid? [True, True] Translation: X:400.97, Y:74.63, Z:42.47 [[ 9.51070406e-01 -2.89317186e-01 -1.08446523e-01 4.00967872e+02] [ 2.88138631e-01 9.57215561e-01 -2.67301130e-02 7.46265585e+01] [ 1.11540181e-01 -5.82541342e-03 9.93742850e-01 4.24724604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.06509989299997 meters 0.06356616253500733 Centerline is valid? [True, True] Translation: X:401.03, Y:74.63, Z:42.48 [[ 9.51104024e-01 -2.89009065e-01 -1.08971995e-01 4.01026284e+02] [ 2.87815566e-01 9.57308759e-01 -2.68726526e-02 7.46299981e+01] [ 1.12086285e-01 -5.80514829e-03 9.93681521e-01 4.24765515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.12509989299997 meters 0.06140253518558786 Centerline is valid? [True, True] Translation: X:401.08, Y:74.65, Z:42.48 [[ 9.51269228e-01 -2.88234024e-01 -1.09581036e-01 4.01080435e+02] [ 2.87020620e-01 9.57542827e-01 -2.70351395e-02 7.46529476e+01] [ 1.12720982e-01 -5.73432070e-03 9.93610134e-01 4.24835974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.185099893 meters 0.06277595578055079 Centerline is valid? [True, True] Translation: X:401.14, Y:74.67, Z:42.49 [[ 9.52128599e-01 -2.85227786e-01 -1.09982915e-01 4.01136861e+02] [ 2.83985089e-01 9.58444577e-01 -2.71378560e-02 7.46679082e+01] [ 1.13152999e-01 -5.39477918e-03 9.93562930e-01 4.24885742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.245099893 meters 0.060011232824566975 Centerline is valid? [True, True] Translation: X:401.19, Y:74.70, Z:42.50 [[ 9.53027916e-01 -2.82576790e-01 -1.09032791e-01 4.01192014e+02] [ 2.81337979e-01 9.59231476e-01 -2.69057020e-02 7.46950999e+01] [ 1.12190612e-01 -5.03317988e-03 9.93673957e-01 4.24972534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.305099893 meters 0.062289431121218215 Centerline is valid? [True, True] Translation: X:401.25, Y:74.71, Z:42.50 [[ 9.54059920e-01 -2.79212374e-01 -1.08674374e-01 4.01249634e+02] [ 2.77959601e-01 9.60218266e-01 -2.68205525e-02 7.47066970e+01] [ 1.11839750e-01 -4.61867163e-03 9.93715522e-01 4.25025163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.365099893 meters 0.05988212983936653 Centerline is valid? [True, True] Translation: X:401.30, Y:74.73, Z:42.51 [[ 9.55291495e-01 -2.75030355e-01 -1.08519417e-01 4.01304279e+02] [ 2.73754026e-01 9.61426713e-01 -2.67844914e-02 7.47322904e+01] [ 1.11700015e-01 -4.12063052e-03 9.93733429e-01 4.25104062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.425099893 meters 0.060328105100791875 Centerline is valid? [True, True] Translation: X:401.36, Y:74.75, Z:42.52 [[ 9.56534917e-01 -2.70572211e-01 -1.08773300e-01 4.01362111e+02] [ 2.69260971e-01 9.62692927e-01 -2.68488011e-02 7.47491758e+01] [ 1.11979826e-01 -3.60658857e-03 9.93703935e-01 4.25155084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.485099893 meters 0.05912666896373624 Centerline is valid? [True, True] Translation: X:401.42, Y:74.77, Z:42.52 [[ 9.58425895e-01 -2.63752633e-01 -1.08877697e-01 4.01417176e+02] [ 2.62394518e-01 9.64586266e-01 -2.68784765e-02 7.47747400e+01] [ 1.12111200e-01 -2.80788296e-03 9.93691700e-01 4.25228837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.545099893 meters 0.057693546268477974 Centerline is valid? [True, True] Translation: X:401.47, Y:74.80, Z:42.53 [[ 9.59578591e-01 -2.59688374e-01 -1.08493666e-01 4.01472407e+02] [ 2.58313678e-01 9.65689679e-01 -2.67859559e-02 7.48002012e+01] [ 1.11727215e-01 -2.32216803e-03 9.93736201e-01 4.25317861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.60509989299993 meters 0.058225166105966286 Centerline is valid? [True, True] Translation: X:401.53, Y:74.82, Z:42.54 [[ 9.61131404e-01 -2.53664104e-01 -1.08999756e-01 4.01529628e+02] [ 2.52237743e-01 9.67290997e-01 -2.69118776e-02 7.48201001e+01] [ 1.12261060e-01 -1.62800164e-03 9.93677414e-01 4.25367993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.66509989299993 meters 0.058090071592305614 Centerline is valid? [True, True] Translation: X:401.58, Y:74.84, Z:42.55 [[ 9.61966291e-01 -2.50362808e-01 -1.09267189e-01 4.01584560e+02] [ 2.48907949e-01 9.68151289e-01 -2.69799038e-02 7.48417028e+01] [ 1.12541934e-01 -1.24371394e-03 9.93646198e-01 4.25450578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.72509989299994 meters 0.05774688409792729 Centerline is valid? [True, True] Translation: X:401.64, Y:74.86, Z:42.55 [[ 9.62655791e-01 -2.47817094e-01 -1.08997778e-01 4.01640806e+02] [ 2.46352652e-01 9.68806382e-01 -2.69177510e-02 7.48565676e+01] [ 1.12268422e-01 -9.39362860e-04 9.93677472e-01 4.25492015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.78509989299994 meters 0.05770036639479203 Centerline is valid? [True, True] Translation: X:401.70, Y:74.87, Z:42.56 [[ 9.62621211e-01 -2.48146908e-01 -1.08551903e-01 4.01696474e+02] [ 2.46695191e-01 9.68721935e-01 -2.68196939e-02 7.48725310e+01] [ 1.11811833e-01 -9.62026174e-04 9.93728931e-01 4.25563207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.84509989299994 meters 0.05745716364807926 Centerline is valid? [True, True] Translation: X:401.75, Y:74.88, Z:42.56 [[ 9.61950819e-01 -2.50646143e-01 -1.08752619e-01 4.01753071e+02] [ 2.49203414e-01 9.68077977e-01 -2.68828735e-02 7.48830764e+01] [ 1.12019104e-01 -1.24152176e-03 9.93705278e-01 4.25606285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.90509989299994 meters 0.05744714560575363 Centerline is valid? [True, True] Translation: X:401.81, Y:74.90, Z:42.57 [[ 9.61097883e-01 -2.54170615e-01 -1.08111787e-01 4.01811099e+02] [ 2.52766593e-01 9.67158010e-01 -2.67289017e-02 7.48956357e+01] [ 1.11354882e-01 -1.63795711e-03 9.93779355e-01 4.25682610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.96509989299994 meters 0.05801123773148478 Centerline is valid? [True, True] Translation: X:401.87, Y:74.90, Z:42.58 [[ 9.59338126e-01 -2.60686787e-01 -1.08225499e-01 4.01870316e+02] [ 2.59320948e-01 9.65420459e-01 -2.67578789e-02 7.49042947e+01] [ 1.11458537e-01 -2.39528562e-03 9.93766198e-01 4.25750963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.02509989299995 meters 0.0595094189232434 Centerline is valid? [True, True] Translation: X:401.93, Y:74.91, Z:42.58 [[ 9.58320556e-01 -2.64535636e-01 -1.07900925e-01 4.01930915e+02] [ 2.63202225e-01 9.64371748e-01 -2.66780989e-02 7.49096353e+01] [ 1.11113911e-01 -2.83359287e-03 9.93803637e-01 4.25804719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.08509989299995 meters 0.05907173532897809 Centerline is valid? [True, True] Translation: X:401.99, Y:74.92, Z:42.59 [[ 9.57421810e-01 -2.68177825e-01 -1.06883731e-01 4.01989417e+02] [ 2.66892073e-01 9.63364030e-01 -2.64266495e-02 7.49227562e+01] [ 1.10054983e-01 -3.22496992e-03 9.93920269e-01 4.25886082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.14509989299995 meters 0.06068835222425336 Centerline is valid? [True, True] Translation: X:402.05, Y:74.93, Z:42.59 [[ 9.57058179e-01 -2.69374068e-01 -1.07131943e-01 4.02047326e+02] [ 2.68089623e-01 9.63029730e-01 -2.64894819e-02 7.49314985e+01] [ 1.10306825e-01 -3.36898684e-03 9.93891873e-01 4.25937047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.20509989299995 meters 0.06093428923668766 Centerline is valid? [True, True] Translation: X:402.10, Y:74.95, Z:42.60 [[ 9.57283473e-01 -2.68536352e-01 -1.07222106e-01 4.02104729e+02] [ 2.67243294e-01 9.63264019e-01 -2.65226723e-02 7.49454442e+01] [ 1.10405498e-01 -3.26467292e-03 9.93881264e-01 4.25995001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.26509989299996 meters 0.05946988026855385 Centerline is valid? [True, True] Translation: X:402.16, Y:74.96, Z:42.61 [[ 9.58558469e-01 -2.63765338e-01 -1.07673150e-01 4.02162115e+02] [ 2.62430686e-01 9.64583042e-01 -2.66400246e-02 7.49641680e+01] [ 1.10886410e-01 -2.72071748e-03 9.93829363e-01 4.26054327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.32509989299996 meters 0.058338318620234954 Centerline is valid? [True, True] Translation: X:402.22, Y:74.99, Z:42.61 [[ 9.59845178e-01 -2.59256245e-01 -1.07160788e-01 4.02217603e+02] [ 2.57906201e-01 9.65806094e-01 -2.65137885e-02 7.49872894e+01] [ 1.10370407e-01 -2.18829964e-03 9.93888115e-01 4.26134598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.38509989299996 meters 0.057626963922651354 Centerline is valid? [True, True] Translation: X:402.27, Y:75.01, Z:42.62 [[ 9.61416371e-01 -2.53402481e-01 -1.07078220e-01 4.02273781e+02] [ 2.52018095e-01 9.67359754e-01 -2.64950186e-02 7.50083315e+01] [ 1.10297064e-01 -1.51290431e-03 9.93897514e-01 4.26204776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.44509989299996 meters 0.05766006436292613 Centerline is valid? [True, True] Translation: X:402.33, Y:75.03, Z:42.63 [[ 9.61886146e-01 -2.51300620e-01 -1.07810210e-01 4.02329159e+02] [ 2.49883874e-01 9.67908240e-01 -2.66774765e-02 7.50286208e+01] [ 1.11054457e-01 -1.27933778e-03 9.93813499e-01 4.26283886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.50509989299997 meters 0.05779470463924932 Centerline is valid? [True, True] Translation: X:402.39, Y:75.04, Z:42.63 [[ 9.61609102e-01 -2.51798267e-01 -1.09112641e-01 4.02387920e+02] [ 2.50348734e-01 9.67778815e-01 -2.70125144e-02 7.50377968e+01] [ 1.12398606e-01 -1.34073174e-03 9.93662295e-01 4.26312104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.56509989299997 meters 0.05808697255254883 Centerline is valid? [True, True] Translation: X:402.44, Y:75.05, Z:42.64 [[ 9.61082270e-01 -2.54105997e-01 -1.08402091e-01 4.02444498e+02] [ 2.52688603e-01 9.67175072e-01 -2.68486532e-02 7.50484697e+01] [ 1.11666204e-01 -1.58820839e-03 9.93744503e-01 4.26373077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.62509989299997 meters 0.058343557025294215 Centerline is valid? [True, True] Translation: X:402.50, Y:75.05, Z:42.64 [[ 9.59783543e-01 -2.59425916e-01 -1.07302116e-01 4.02504242e+02] [ 2.58069797e-01 9.65760552e-01 -2.65807564e-02 7.50542614e+01] [ 1.10523888e-01 -2.17966273e-03 9.93871078e-01 4.26434827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.685099893 meters 0.059135857589168304 Centerline is valid? [True, True] Translation: X:402.56, Y:75.06, Z:42.65 [[ 9.58632539e-01 -2.63715249e-01 -1.07135069e-01 4.02563599e+02] [ 2.62389914e-01 9.64596882e-01 -2.65403071e-02 7.50615653e+01] [ 1.10341237e-01 -2.66875949e-03 9.93890180e-01 4.26495258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.745099893 meters 0.060400058986176564 Centerline is valid? [True, True] Translation: X:402.62, Y:75.07, Z:42.65 [[ 9.57406811e-01 -2.68006491e-01 -1.07446355e-01 4.02623251e+02] [ 2.66700214e-01 9.63411886e-01 -2.66182845e-02 7.50695993e+01] [ 1.10648969e-01 -3.17143914e-03 9.93854490e-01 4.26547426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.805099893 meters 0.061973210631730884 Centerline is valid? [True, True] Translation: X:402.68, Y:75.07, Z:42.66 [[ 9.55890386e-01 -2.73698714e-01 -1.06595418e-01 4.02683410e+02] [ 2.72448231e-01 9.61807977e-01 -2.64079021e-02 7.50746354e+01] [ 1.09752132e-01 -3.79867321e-03 9.93951729e-01 4.26615685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.865099893 meters 0.0584893611649735 Centerline is valid? [True, True] Translation: X:402.74, Y:75.10, Z:42.67 [[ 9.55538928e-01 -2.75521473e-01 -1.05039401e-01 4.02736945e+02] [ 2.74318185e-01 9.61286810e-01 -2.60231260e-02 7.51022729e+01] [ 1.08142921e-01 -3.94810796e-03 9.94127518e-01 4.26712905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.925099893 meters 0.05906606396919112 Centerline is valid? [True, True] Translation: X:402.80, Y:75.11, Z:42.68 [[ 9.55997522e-01 -2.73731533e-01 -1.05545179e-01 4.02795150e+02] [ 2.72505540e-01 9.61798781e-01 -2.61502545e-02 7.51124794e+01] [ 1.08671374e-01 -3.76206758e-03 9.94070611e-01 4.26765294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.985099893 meters 0.05815508955484321 Centerline is valid? [True, True] Translation: X:402.85, Y:75.14, Z:42.68 [[ 9.56976289e-01 -2.70169684e-01 -1.05852370e-01 4.02849721e+02] [ 2.68914612e-01 9.62806842e-01 -2.62281628e-02 7.51355193e+01] [ 1.09001440e-01 -3.36551907e-03 9.94035894e-01 4.26830999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.045099893 meters 0.0593570581121112 Centerline is valid? [True, True] Translation: X:402.91, Y:75.14, Z:42.69 [[ 9.58512553e-01 -2.64659532e-01 -1.05872651e-01 4.02909283e+02] [ 2.63370305e-01 9.64338031e-01 -2.62344302e-02 7.51432778e+01] [ 1.09040216e-01 -2.73768181e-03 9.94033569e-01 4.26868248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.10509989299993 meters 0.05766593145092662 Centerline is valid? [True, True] Translation: X:402.96, Y:75.18, Z:42.70 [[ 9.59115046e-01 -2.62558907e-01 -1.05646342e-01 4.02961621e+02] [ 2.61262287e-01 9.64912749e-01 -2.61802376e-02 7.51771413e+01] [ 1.08813357e-01 -2.49154512e-03 9.94059075e-01 4.26969854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.16509989299993 meters 0.05761684557186952 Centerline is valid? [True, True] Translation: X:403.02, Y:75.18, Z:42.70 [[ 9.59242663e-01 -2.61937612e-01 -1.06029245e-01 4.03020306e+02] [ 2.60627515e-01 9.65081755e-01 -2.62774599e-02 7.51796173e+01] [ 1.09209945e-01 -2.42767795e-03 9.94015742e-01 4.27005036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.22509989299994 meters 0.05882260391460965 Centerline is valid? [True, True] Translation: X:403.08, Y:75.19, Z:42.71 [[ 9.59033563e-01 -2.62665338e-01 -1.06120431e-01 4.03077465e+02] [ 2.61356057e-01 9.64883758e-01 -2.63124378e-02 7.51910975e+01] [ 1.09305246e-01 -2.50070652e-03 9.94005085e-01 4.27060307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.28509989299994 meters 0.059060788297475485 Centerline is valid? [True, True] Translation: X:403.14, Y:75.21, Z:42.71 [[ 9.57720286e-01 -2.66876856e-01 -1.07464404e-01 4.03135185e+02] [ 2.65559228e-01 9.63725944e-01 -2.66571063e-02 7.52054618e+01] [ 1.10680398e-01 -3.00811262e-03 9.93851498e-01 4.27129804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.34509989299994 meters 0.06072477241974762 Centerline is valid? [True, True] Translation: X:403.19, Y:75.21, Z:42.72 [[ 9.56664346e-01 -2.70562443e-01 -1.07653581e-01 4.03194353e+02] [ 2.69263425e-01 9.62696279e-01 -2.67036040e-02 7.52116852e+01] [ 1.10862694e-01 -3.44078598e-03 9.93829776e-01 4.27187358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.40509989299994 meters 0.05822448978157653 Centerline is valid? [True, True] Translation: X:403.25, Y:75.23, Z:42.73 [[ 9.55596466e-01 -2.74919887e-01 -1.06086996e-01 4.03249940e+02] [ 2.73685035e-01 9.61459282e-01 -2.63163771e-02 7.52336921e+01] [ 1.09233222e-01 -3.88658622e-03 9.94008550e-01 4.27284148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.46509989299994 meters 0.060490185119894374 Centerline is valid? [True, True] Translation: X:403.31, Y:75.24, Z:42.73 [[ 9.55390048e-01 -2.75744920e-01 -1.05804511e-01 4.03307061e+02] [ 2.74521656e-01 9.61222648e-01 -2.62465479e-02 7.52412466e+01] [ 1.08939045e-01 -3.96993906e-03 9.94040504e-01 4.27336984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.52509989299995 meters 0.06066487430978038 Centerline is valid? [True, True] Translation: X:403.36, Y:75.25, Z:42.74 [[ 9.55450625e-01 -2.75461032e-01 -1.05996805e-01 4.03363645e+02] [ 2.74231065e-01 9.61304163e-01 -2.62988545e-02 7.52529790e+01] [ 1.09139479e-01 -3.94035964e-03 9.94018635e-01 4.27396170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.58509989299995 meters 0.060370558654540246 Centerline is valid? [True, True] Translation: X:403.42, Y:75.27, Z:42.75 [[ 9.56260679e-01 -2.72730071e-01 -1.05753595e-01 4.03420747e+02] [ 2.71488656e-01 9.62083797e-01 -2.62426592e-02 7.52704445e+01] [ 1.08900982e-01 -3.61607813e-03 9.94046025e-01 4.27456214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.64509989299995 meters 0.05909565573054871 Centerline is valid? [True, True] Translation: X:403.48, Y:75.29, Z:42.75 [[ 9.57941545e-01 -2.66787016e-01 -1.05700915e-01 4.03476742e+02] [ 2.65510674e-01 9.63751035e-01 -2.62302183e-02 7.52938191e+01] [ 1.08867248e-01 -2.93770538e-03 9.94051956e-01 4.27524437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.70509989299995 meters 0.058538551249789766 Centerline is valid? [True, True] Translation: X:403.53, Y:75.31, Z:42.76 [[ 9.59137325e-01 -2.62470479e-01 -1.05663804e-01 4.03533154e+02] [ 2.61168769e-01 9.64936924e-01 -2.62222498e-02 7.53144592e+01] [ 1.08841473e-01 -2.44534715e-03 9.94056112e-01 4.27592253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.76509989299996 meters 0.05757751843317746 Centerline is valid? [True, True] Translation: X:403.59, Y:75.33, Z:42.76 [[ 9.59944016e-01 -2.59443186e-01 -1.05814554e-01 4.03590404e+02] [ 2.58119375e-01 9.65756079e-01 -2.62599508e-02 7.53307759e+01] [ 1.09004014e-01 -2.10470393e-03 9.94039081e-01 4.27646788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.82509989299996 meters 0.057348692304384656 Centerline is valid? [True, True] Translation: X:403.65, Y:75.35, Z:42.77 [[ 9.59800541e-01 -2.59471404e-01 -1.07039767e-01 4.03645490e+02] [ 2.58116727e-01 9.65748439e-01 -2.65651688e-02 7.53487552e+01] [ 1.10266389e-01 -2.13149077e-03 9.93899784e-01 4.27711719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.88509989299996 meters 0.057711238662730986 Centerline is valid? [True, True] Translation: X:403.70, Y:75.36, Z:42.78 [[ 9.58999470e-01 -2.62339937e-01 -1.07227671e-01 4.03704401e+02] [ 2.60997837e-01 9.64972383e-01 -2.66163302e-02 7.53572394e+01] [ 1.10454267e-01 -2.46114350e-03 9.93878160e-01 4.27752038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.94509989299996 meters 0.05873350276675723 Centerline is valid? [True, True] Translation: X:403.76, Y:75.37, Z:42.78 [[ 9.58196738e-01 -2.65066955e-01 -1.07696428e-01 4.03761706e+02] [ 2.63729996e-01 9.64225985e-01 -2.67346272e-02 7.53682218e+01] [ 1.10930160e-01 -2.78574591e-03 9.93824300e-01 4.27808163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.00509989299997 meters 0.05882673047155609 Centerline is valid? [True, True] Translation: X:403.82, Y:75.38, Z:42.79 [[ 9.57496069e-01 -2.67654427e-01 -1.07528531e-01 4.03818425e+02] [ 2.66337566e-01 9.63510060e-01 -2.66958034e-02 7.53797613e+01] [ 1.10750071e-01 -3.07776035e-03 9.93843523e-01 4.27868998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.06509989299997 meters 0.05856675730383843 Centerline is valid? [True, True] Translation: X:403.88, Y:75.39, Z:42.79 [[ 9.56955690e-01 -2.70024288e-01 -1.06408138e-01 4.03876160e+02] [ 2.68748987e-01 9.62847811e-01 -2.64211250e-02 7.53932106e+01] [ 1.09589188e-01 -3.31323340e-03 9.93971444e-01 4.27941620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.12509989299997 meters 0.0611186513977604 Centerline is valid? [True, True] Translation: X:403.93, Y:75.40, Z:42.80 [[ 9.57016738e-01 -2.70296640e-01 -1.05160306e-01 4.03933445e+02] [ 2.69052570e-01 9.62771425e-01 -2.61131707e-02 7.53998620e+01] [ 1.08303640e-01 -3.30290902e-03 9.94112374e-01 4.27995631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.185099893 meters 0.05845059259763391 Centerline is valid? [True, True] Translation: X:403.99, Y:75.42, Z:42.81 [[ 9.57177436e-01 -2.70020151e-01 -1.04405332e-01 4.03987834e+02] [ 2.68791634e-01 9.62849213e-01 -2.59316508e-02 7.54227930e+01] [ 1.07528660e-01 -3.24208872e-03 9.94196699e-01 4.28068514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.245099893 meters 0.05697390072067111 Centerline is valid? [True, True] Translation: X:404.04, Y:75.45, Z:42.81 [[ 9.57499833e-01 -2.68682527e-01 -1.04898851e-01 4.04039831e+02] [ 2.67433614e-01 9.63223800e-01 -2.60609565e-02 7.54513546e+01] [ 1.08043194e-01 -3.10011732e-03 9.94141367e-01 4.28144720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.305099893 meters 0.05901523179173891 Centerline is valid? [True, True] Translation: X:404.10, Y:75.45, Z:42.82 [[ 9.58428914e-01 -2.64918586e-01 -1.05981883e-01 4.04101690e+02] [ 2.63620062e-01 9.64267010e-01 -2.63362223e-02 7.54530817e+01] [ 1.09171788e-01 -2.69755365e-03 9.94019237e-01 4.28169004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.365099893 meters 0.0571813348562691 Centerline is valid? [True, True] Translation: X:404.16, Y:75.48, Z:42.83 [[ 9.59174785e-01 -2.62060785e-01 -1.06338500e-01 4.04155483e+02] [ 2.60735667e-01 9.65048441e-01 -2.64276283e-02 7.54827303e+01] [ 1.09547448e-01 -2.37752490e-03 9.93978724e-01 4.28263542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.425099893 meters 0.0575431983403022 Centerline is valid? [True, True] Translation: X:404.21, Y:75.49, Z:42.83 [[ 9.60457255e-01 -2.57175724e-01 -1.06688840e-01 4.04214741e+02] [ 2.55811665e-01 9.66362932e-01 -2.65155909e-02 7.54915265e+01] [ 1.09919306e-01 -1.82515809e-03 9.93938839e-01 4.28295017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.485099893 meters 0.05834595079007263 Centerline is valid? [True, True] Translation: X:404.27, Y:75.51, Z:42.83 [[ 9.61031828e-01 -2.54916248e-01 -1.06937045e-01 4.04270803e+02] [ 2.53531741e-01 9.66961863e-01 -2.65784171e-02 7.55058055e+01] [ 1.10179314e-01 -1.56923033e-03 9.93910487e-01 4.28343742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.545099893 meters 0.05762952500645145 Centerline is valid? [True, True] Translation: X:404.33, Y:75.52, Z:42.84 [[ 9.61037577e-01 -2.54584453e-01 -1.07673261e-01 4.04326366e+02] [ 2.53178087e-01 9.67049324e-01 -2.67667892e-02 7.55225984e+01] [ 1.10939763e-01 -1.53662007e-03 9.93825944e-01 4.28415696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.60509989299993 meters 0.05786842549182428 Centerline is valid? [True, True] Translation: X:404.38, Y:75.53, Z:42.85 [[ 9.60353645e-01 -2.57054116e-01 -1.07907634e-01 4.04383612e+02] [ 2.55655471e-01 9.66395313e-01 -2.68398858e-02 7.55348291e+01] [ 1.11180735e-01 -1.81139487e-03 9.93798553e-01 4.28473666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.66509989299993 meters 0.0582788921150751 Centerline is valid? [True, True] Translation: X:404.44, Y:75.54, Z:42.85 [[ 9.58400309e-01 -2.64502701e-01 -1.07271474e-01 4.04442255e+02] [ 2.63166629e-01 9.64381287e-01 -2.66844134e-02 7.55424509e+01] [ 1.10508702e-01 -2.65592227e-03 9.93871608e-01 4.28543260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.72509989299994 meters 0.05829749821734525 Centerline is valid? [True, True] Translation: X:404.50, Y:75.55, Z:42.86 [[ 9.56744694e-01 -2.70835340e-01 -1.06244098e-01 4.04501231e+02] [ 2.69563525e-01 9.62619850e-01 -2.64297284e-02 7.55512945e+01] [ 1.09430782e-01 -3.35303104e-03 9.93988763e-01 4.28619583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.78509989299994 meters 0.06043751728411672 Centerline is valid? [True, True] Translation: X:404.56, Y:75.56, Z:42.87 [[ 9.54195459e-01 -2.79582258e-01 -1.06511915e-01 4.04561268e+02] [ 2.78358030e-01 9.60111821e-01 -2.64971502e-02 7.55553195e+01] [ 1.09671482e-01 -4.36498653e-03 9.93958305e-01 4.28664702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.84509989299994 meters 0.06080869916955425 Centerline is valid? [True, True] Translation: X:404.62, Y:75.57, Z:42.87 [[ 9.52672476e-01 -2.84465923e-01 -1.07211438e-01 4.04620025e+02] [ 2.83256233e-01 9.58673325e-01 -2.66713721e-02 7.55669478e+01] [ 1.10367842e-01 -4.95922593e-03 9.93878436e-01 4.28718594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.90509989299994 meters 0.06313500390035838 Centerline is valid? [True, True] Translation: X:404.68, Y:75.57, Z:42.88 [[ 9.51105102e-01 -2.89860457e-01 -1.06677081e-01 4.04679981e+02] [ 2.88696445e-01 9.57052792e-01 -2.65389506e-02 7.55748511e+01] [ 1.09788190e-01 -5.55596260e-03 9.93939477e-01 4.28779213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.96509989299994 meters 0.05912225326564952 Centerline is valid? [True, True] Translation: X:404.73, Y:75.61, Z:42.89 [[ 9.50724432e-01 -2.91532314e-01 -1.05508123e-01 4.04733491e+02] [ 2.90403894e-01 9.56544088e-01 -2.62485415e-02 7.56051883e+01] [ 1.08575469e-01 -5.68483995e-03 9.94071954e-01 4.28866640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.02509989299995 meters 0.05933575126779423 Centerline is valid? [True, True] Translation: X:404.79, Y:75.62, Z:42.89 [[ 9.50843366e-01 -2.91252433e-01 -1.05208905e-01 4.04788894e+02] [ 2.90128690e-01 9.56629631e-01 -2.61742816e-02 7.56199228e+01] [ 1.08269279e-01 -5.63647964e-03 9.94105625e-01 4.28924900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.08509989299995 meters 0.05929423718387704 Centerline is valid? [True, True] Translation: X:404.85, Y:75.64, Z:42.90 [[ 9.51429016e-01 -2.89673701e-01 -1.04268761e-01 4.04845868e+02] [ 2.88560087e-01 9.57110209e-01 -2.59446452e-02 7.56391022e+01] [ 1.07312177e-01 -5.40331464e-03 9.94210692e-01 4.28994242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.14509989299995 meters 0.059834473364600384 Centerline is valid? [True, True] Translation: X:404.90, Y:75.65, Z:42.91 [[ 9.51706059e-01 -2.88826923e-01 -1.04089314e-01 4.04902042e+02] [ 2.87712007e-01 9.57366671e-01 -2.59009251e-02 7.56545553e+01] [ 1.07132524e-01 -5.29767802e-03 9.94230636e-01 4.29055648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.20509989299995 meters 0.057677885476409584 Centerline is valid? [True, True] Translation: X:404.96, Y:75.68, Z:42.91 [[ 9.52253806e-01 -2.86878004e-01 -1.04468653e-01 4.04957300e+02] [ 2.85742899e-01 9.57953581e-01 -2.59986937e-02 7.56786615e+01] [ 1.07534574e-01 -5.09382075e-03 9.94188296e-01 4.29124273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.26509989299996 meters 0.05775185188748481 Centerline is valid? [True, True] Translation: X:405.01, Y:75.70, Z:42.92 [[ 9.53017988e-01 -2.83836815e-01 -1.05798759e-01 4.05013884e+02] [ 2.82653821e-01 9.58860531e-01 -2.63305849e-02 7.56996180e+01] [ 1.08919844e-01 -4.81090262e-03 9.94038894e-01 4.29185720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.32509989299996 meters 0.05803138929920386 Centerline is valid? [True, True] Translation: X:405.07, Y:75.72, Z:42.93 [[ 9.53770315e-01 -2.81323978e-01 -1.05730819e-01 4.05070729e+02] [ 2.80127115e-01 9.59602200e-01 -2.63138209e-02 7.57200460e+01] [ 1.08862236e-01 -4.52072810e-03 9.94046567e-01 4.29253281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.38509989299996 meters 0.05731438468640191 Centerline is valid? [True, True] Translation: X:405.13, Y:75.74, Z:42.93 [[ 9.54360428e-01 -2.79334267e-01 -1.05681313e-01 4.05127525e+02] [ 2.78126354e-01 9.60184332e-01 -2.63017235e-02 7.57388863e+01] [ 1.08820513e-01 -4.29143412e-03 9.94052151e-01 4.29322409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.44509989299996 meters 0.057240311574060856 Centerline is valid? [True, True] Translation: X:405.18, Y:75.76, Z:42.94 [[ 9.55771780e-01 -2.75108779e-01 -1.03997427e-01 4.05184134e+02] [ 2.73914087e-01 9.61405802e-01 -2.58835394e-02 7.57585573e+01] [ 1.07104519e-01 -3.74760382e-03 9.94240704e-01 4.29390233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.50509989299997 meters 0.05828321497283136 Centerline is valid? [True, True] Translation: X:405.24, Y:75.77, Z:42.95 [[ 9.56896912e-01 -2.71499812e-01 -1.03131722e-01 4.05242584e+02] [ 2.70303866e-01 9.62432789e-01 -2.56699611e-02 7.57690771e+01] [ 1.06226740e-01 -3.31339656e-03 9.94336412e-01 4.29452074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.56509989299997 meters 0.05741011088650284 Centerline is valid? [True, True] Translation: X:405.30, Y:75.79, Z:42.95 [[ 9.57884460e-01 -2.68552493e-01 -1.01670647e-01 4.05298440e+02] [ 2.67373593e-01 9.63260557e-01 -2.53073438e-02 7.57913168e+01] [ 1.04731674e-01 -2.94253480e-03 9.94496163e-01 4.29531296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.62509989299997 meters 0.05770070858754988 Centerline is valid? [True, True] Translation: X:405.35, Y:75.81, Z:42.96 [[ 9.58843459e-01 -2.65037140e-01 -1.01855462e-01 4.05354789e+02] [ 2.63833847e-01 9.64234805e-01 -2.53562904e-02 7.58100414e+01] [ 1.04932941e-01 -2.56020529e-03 9.94476004e-01 4.29590022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.685099893 meters 0.05714618421366204 Centerline is valid? [True, True] Translation: X:405.41, Y:75.83, Z:42.97 [[ 9.59505400e-01 -2.62748242e-01 -1.01551706e-01 4.05411279e+02] [ 2.61539173e-01 9.64861682e-01 -2.52823148e-02 7.58303898e+01] [ 1.04626233e-01 -2.30123157e-03 9.94508952e-01 4.29653534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.745099893 meters 0.05742464691063525 Centerline is valid? [True, True] Translation: X:405.47, Y:75.85, Z:42.97 [[ 9.60485604e-01 -2.59726073e-01 -1.00048848e-01 4.05468164e+02] [ 2.58536158e-01 9.65680381e-01 -2.49089823e-02 7.58472001e+01] [ 1.03084722e-01 -1.94152603e-03 9.94670684e-01 4.29721048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.805099893 meters 0.05711175234024293 Centerline is valid? [True, True] Translation: X:405.53, Y:75.86, Z:42.98 [[ 9.61189896e-01 -2.56768137e-01 -1.00916336e-01 4.05525499e+02] [ 2.55541094e-01 9.66471646e-01 -2.51258249e-02 7.58628644e+01] [ 1.03984289e-01 -1.63758195e-03 9.94577592e-01 4.29769219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.865099893 meters 0.056428388876019635 Centerline is valid? [True, True] Translation: X:405.58, Y:75.88, Z:42.98 [[ 9.61391694e-01 -2.55610672e-01 -1.01927400e-01 4.05581131e+02] [ 2.54352184e-01 9.66778597e-01 -2.53793431e-02 7.58771937e+01] [ 1.05028460e-01 -1.52596701e-03 9.94468046e-01 4.29814170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.925099893 meters 0.057454617967364036 Centerline is valid? [True, True] Translation: X:405.64, Y:75.89, Z:42.99 [[ 9.61395823e-01 -2.55264883e-01 -1.02751699e-01 4.05638968e+02] [ 2.53983457e-01 9.66870002e-01 -2.55890987e-02 7.58876068e+01] [ 1.05879534e-01 -1.49597908e-03 9.94377839e-01 4.29866197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.985099893 meters 0.05711055094807372 Centerline is valid? [True, True] Translation: X:405.70, Y:75.90, Z:42.99 [[ 9.61024132e-01 -2.56515827e-01 -1.03112790e-01 4.05695389e+02] [ 2.55231345e-01 9.66538658e-01 -2.56901300e-02 7.59029815e+01] [ 1.06252423e-01 -1.62878123e-03 9.94337855e-01 4.29936626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.045099893 meters 0.05720709525413854 Centerline is valid? [True, True] Translation: X:405.75, Y:75.91, Z:43.00 [[ 9.60060796e-01 -2.60159823e-01 -1.02956955e-01 4.05754675e+02] [ 2.58898815e-01 9.65563461e-01 -2.56633199e-02 7.59075814e+01] [ 1.06088038e-01 -2.01708618e-03 9.94354695e-01 4.29994314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.10509989299993 meters 0.05722325568723156 Centerline is valid? [True, True] Translation: X:405.81, Y:75.92, Z:43.01 [[ 9.59462210e-01 -2.62804187e-01 -1.01814665e-01 4.05812445e+02] [ 2.61585719e-01 9.64846492e-01 -2.53802899e-02 7.59187010e+01] [ 1.04905569e-01 -2.28183349e-03 9.94479570e-01 4.30069668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.16509989299993 meters 0.05993903336385527 Centerline is valid? [True, True] Translation: X:405.87, Y:75.92, Z:43.01 [[ 9.58733543e-01 -2.65240427e-01 -1.02359708e-01 4.05871812e+02] [ 2.64022402e-01 9.64178907e-01 -2.55187543e-02 7.59214270e+01] [ 1.05461677e-01 -2.55957032e-03 9.94420074e-01 4.30124263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.22509989299994 meters 0.05831994527047668 Centerline is valid? [True, True] Translation: X:405.93, Y:75.94, Z:43.02 [[ 9.57996358e-01 -2.67918388e-01 -1.02287416e-01 4.05928910e+02] [ 2.66716905e-01 9.63437399e-01 -2.55043205e-02 7.59383216e+01] [ 1.05380598e-01 -2.84873688e-03 9.94427883e-01 4.30181781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.28509989299994 meters 0.05797499235108118 Centerline is valid? [True, True] Translation: X:405.99, Y:75.95, Z:43.02 [[ 9.57409852e-01 -2.69799496e-01 -1.02832911e-01 4.05987228e+02] [ 2.68595847e-01 9.62911626e-01 -2.56412168e-02 7.59490160e+01] [ 1.05936993e-01 -3.07133927e-03 9.94368101e-01 4.30240446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.34509989299994 meters 0.057510739937794986 Centerline is valid? [True, True] Translation: X:406.04, Y:75.97, Z:43.03 [[ 9.56929910e-01 -2.71685802e-01 -1.02332660e-01 4.06043310e+02] [ 2.70504423e-01 9.62380477e-01 -2.55181309e-02 7.59667198e+01] [ 1.05415868e-01 -3.26237453e-03 9.94422874e-01 4.30306220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.40509989299994 meters 0.058420382755458355 Centerline is valid? [True, True] Translation: X:406.10, Y:75.98, Z:43.04 [[ 9.56059646e-01 -2.74952471e-01 -1.01740320e-01 4.06101293e+02] [ 2.73802984e-01 9.61451082e-01 -2.53721077e-02 7.59759493e+01] [ 1.04794465e-01 -3.59955502e-03 9.94487387e-01 4.30369944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.46509989299994 meters 0.05860122206509059 Centerline is valid? [True, True] Translation: X:406.16, Y:75.99, Z:43.04 [[ 9.55426333e-01 -2.77277448e-01 -1.01379188e-01 4.06160079e+02] [ 2.76149010e-01 9.60782221e-01 -2.52833541e-02 7.59886104e+01] [ 1.04413826e-01 -3.83938026e-03 9.94526527e-01 4.30433180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.52509989299995 meters 0.06079490071951166 Centerline is valid? [True, True] Translation: X:406.22, Y:75.99, Z:43.05 [[ 9.54165910e-01 -2.81280932e-01 -1.02217679e-01 4.06219599e+02] [ 2.80156561e-01 9.59615775e-01 -2.54924561e-02 7.59937812e+01] [ 1.05260239e-01 -4.31292080e-03 9.94435358e-01 4.30488922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.58509989299995 meters 0.05944703714924906 Centerline is valid? [True, True] Translation: X:406.28, Y:76.01, Z:43.05 [[ 9.52183613e-01 -2.86887217e-01 -1.05081357e-01 4.06277171e+02] [ 2.85732866e-01 9.57950935e-01 -2.62056488e-02 7.60113344e+01] [ 1.08180850e-01 -5.07260795e-03 9.94118289e-01 4.30519649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.64509989299995 meters 0.06027520327742403 Centerline is valid? [True, True] Translation: X:406.33, Y:76.02, Z:43.06 [[ 9.50840731e-01 -2.91343153e-01 -1.04981288e-01 4.06334662e+02] [ 2.90217937e-01 9.56602375e-01 -2.61810158e-02 7.60240219e+01] [ 1.08053010e-01 -5.57347679e-03 9.94129510e-01 4.30586029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.70509989299995 meters 0.0622206925036997 Centerline is valid? [True, True] Translation: X:406.39, Y:76.03, Z:43.07 [[ 9.48340740e-01 -2.99619564e-01 -1.04297445e-01 4.06394283e+02] [ 2.98558465e-01 9.54036814e-01 -2.60115517e-02 7.60346553e+01] [ 1.07297172e-01 -6.47107097e-03 9.94205935e-01 4.30655629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.76509989299996 meters 0.06534643745259479 Centerline is valid? [True, True] Translation: X:406.45, Y:76.04, Z:43.07 [[ 9.46995432e-01 -3.03486948e-01 -1.05334343e-01 4.06454636e+02] [ 3.02428348e-01 9.52810041e-01 -2.62701354e-02 7.60423914e+01] [ 1.08336263e-01 -6.97839319e-03 9.94089813e-01 4.30709614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.82509989299996 meters 0.06323548533894412 Centerline is valid? [True, True] Translation: X:406.51, Y:76.06, Z:43.08 [[ 9.46172184e-01 -3.06774928e-01 -1.03185961e-01 4.06510501e+02] [ 3.05778458e-01 9.51754835e-01 -2.57346041e-02 7.60647738e+01] [ 1.06102468e-01 -7.20267739e-03 9.94329114e-01 4.30789871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.88509989299996 meters 0.0645718913622767 Centerline is valid? [True, True] Translation: X:406.57, Y:76.08, Z:43.09 [[ 9.46173955e-01 -3.07301130e-01 -1.01591649e-01 4.06567503e+02] [ 3.06338219e-01 9.51585478e-01 -2.53372083e-02 7.60781765e+01] [ 1.04459290e-01 -7.14799812e-03 9.94503476e-01 4.30861239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.94509989299996 meters 0.06711166574871702 Centerline is valid? [True, True] Translation: X:406.62, Y:76.09, Z:43.09 [[ 9.46375759e-01 -3.06677203e-01 -1.01597323e-01 4.06624389e+02] [ 3.05709458e-01 9.51787331e-01 -2.53496483e-02 7.60925864e+01] [ 1.04473204e-01 -7.06897004e-03 9.94502579e-01 4.30920591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.00509989299997 meters 0.06640213671679535 Centerline is valid? [True, True] Translation: X:406.68, Y:76.11, Z:43.10 [[ 9.46716033e-01 -3.05703818e-01 -1.01360386e-01 4.06681292e+02] [ 3.04734509e-01 9.52101365e-01 -2.52956511e-02 7.61112164e+01] [ 1.04238339e-01 -6.94020918e-03 9.94528130e-01 4.30984262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.06509989299997 meters 0.06612826132438343 Centerline is valid? [True, True] Translation: X:406.74, Y:76.13, Z:43.10 [[ 9.47056184e-01 -3.04648887e-01 -1.01358966e-01 4.06738236e+02] [ 3.03673522e-01 9.52440287e-01 -2.52960978e-02 7.61304364e+01] [ 1.04244791e-01 -6.82320836e-03 9.94528264e-01 4.31046671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.12509989299997 meters 0.054676662154473116 Centerline is valid? [True, True] Translation: X:406.79, Y:76.18, Z:43.11 [[ 9.47197956e-01 -3.03921243e-01 -1.02215019e-01 4.06789324e+02] [ 3.02925034e-01 9.52672891e-01 -2.55104989e-02 7.61806585e+01] [ 1.05130660e-01 -6.79999563e-03 9.94435169e-01 4.31104352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.185099893 meters 0.059830070807103335 Centerline is valid? [True, True] Translation: X:406.85, Y:76.18, Z:43.11 [[ 9.47230549e-01 -3.02987050e-01 -1.04657222e-01 4.06851055e+02] [ 3.01937358e-01 9.52969971e-01 -2.61164115e-02 7.61832631e+01] [ 1.07648124e-01 -6.86166208e-03 9.94165378e-01 4.31143532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.245099893 meters 0.05548932043674242 Centerline is valid? [True, True] Translation: X:406.91, Y:76.22, Z:43.12 [[ 9.47522040e-01 -3.01922048e-01 -1.05095479e-01 4.06905180e+02] [ 3.00857230e-01 9.53308571e-01 -2.62239661e-02 7.62178862e+01] [ 1.08106014e-01 -6.77094873e-03 9.94116313e-01 4.31209706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.305099893 meters 0.057006809538197756 Centerline is valid? [True, True] Translation: X:406.96, Y:76.23, Z:43.13 [[ 9.48710681e-01 -2.98950199e-01 -1.02843679e-01 4.06963136e+02] [ 2.97913379e-01 9.54247956e-01 -2.56604166e-02 7.62319666e+01] [ 1.05809557e-01 -6.29419661e-03 9.94366492e-01 4.31281463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.365099893 meters 0.058574147500823084 Centerline is valid? [True, True] Translation: X:407.02, Y:76.25, Z:43.14 [[ 9.49502329e-01 -2.97097165e-01 -1.00889057e-01 4.07020846e+02] [ 2.96089095e-01 9.54828581e-01 -2.51719928e-02 7.62466003e+01] [ 1.03810283e-01 -5.97128372e-03 9.94579192e-01 4.31361621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.425099893 meters 0.05711438463664265 Centerline is valid? [True, True] Translation: X:407.08, Y:76.27, Z:43.14 [[ 9.50060689e-01 -2.95380294e-01 -1.00673573e-01 4.07077148e+02] [ 2.94366873e-01 9.55362331e-01 -2.51189240e-02 7.62713004e+01] [ 1.03599375e-01 -5.77046280e-03 9.94602368e-01 4.31422933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.485099893 meters 0.056818145048234514 Centerline is valid? [True, True] Translation: X:407.14, Y:76.29, Z:43.15 [[ 9.49992692e-01 -2.95550811e-01 -1.00814698e-01 4.07135913e+02] [ 2.94535579e-01 9.55309427e-01 -2.51533557e-02 7.62896757e+01] [ 1.03743326e-01 -5.79801136e-03 9.94587204e-01 4.31475933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.545099893 meters 0.058563963493741114 Centerline is valid? [True, True] Translation: X:407.19, Y:76.30, Z:43.15 [[ 9.48859966e-01 -2.98145732e-01 -1.03797339e-01 4.07194678e+02] [ 2.97085154e-01 9.54499796e-01 -2.58949944e-02 7.63040129e+01] [ 1.06795021e-01 -6.26592499e-03 9.94261315e-01 4.31508099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.60509989299993 meters 0.05601282365648193 Centerline is valid? [True, True] Translation: X:407.25, Y:76.33, Z:43.16 [[ 9.48325909e-01 -2.99184419e-01 -1.05672391e-01 4.07251322e+02] [ 2.98091729e-01 9.54173159e-01 -2.63610174e-02 7.63279032e+01] [ 1.08716565e-01 -6.50123004e-03 9.94051529e-01 4.31556950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.66509989299993 meters 0.053430594872582504 Centerline is valid? [True, True] Translation: X:407.31, Y:76.36, Z:43.16 [[ 9.48185748e-01 -2.99519972e-01 -1.05979123e-01 4.07306829e+02] [ 2.98423126e-01 9.54067478e-01 -2.64364267e-02 7.63619507e+01] [ 1.09029472e-01 -6.55997805e-03 9.94016872e-01 4.31635726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.72509989299994 meters 0.057092072984033716 Centerline is valid? [True, True] Translation: X:407.37, Y:76.36, Z:43.17 [[ 9.48807668e-01 -2.97912139e-01 -1.04939823e-01 4.07369019e+02] [ 2.96827633e-01 9.54572387e-01 -2.61708757e-02 7.63586517e+01] [ 1.07969278e-01 -6.31791167e-03 9.94134155e-01 4.31680997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.78509989299994 meters 0.05626146765572137 Centerline is valid? [True, True] Translation: X:407.43, Y:76.38, Z:43.18 [[ 9.49700520e-01 -2.95506627e-01 -1.03656913e-01 4.07425243e+02] [ 2.94434254e-01 9.55322039e-01 -2.58509452e-02 7.63804246e+01] [ 1.06664859e-01 -5.96948974e-03 9.94277111e-01 4.31752320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.84509989299994 meters 0.05526330271989158 Centerline is valid? [True, True] Translation: X:407.48, Y:76.40, Z:43.18 [[ 9.50867739e-01 -2.92324419e-01 -1.01965563e-01 4.07482511e+02] [ 2.91268586e-01 9.56303283e-01 -2.54291714e-02 7.64021469e+01] [ 1.04943571e-01 -5.51958674e-03 9.94462861e-01 4.31823879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.90509989299994 meters 0.055238325926989115 Centerline is valid? [True, True] Translation: X:407.54, Y:76.42, Z:43.19 [[ 9.51122817e-01 -2.91357096e-01 -1.02354432e-01 4.07540956e+02] [ 2.90287774e-01 9.56598924e-01 -2.55246277e-02 7.64170179e+01] [ 1.05348921e-01 -5.43518438e-03 9.94420466e-01 4.31890708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.96509989299994 meters 0.058185233678805535 Centerline is valid? [True, True] Translation: X:407.60, Y:76.43, Z:43.19 [[ 9.50884989e-01 -2.91964633e-01 -1.02831853e-01 4.07602681e+02] [ 2.90889005e-01 9.56413128e-01 -2.56420504e-02 7.64262287e+01] [ 1.05836306e-01 -5.53001457e-03 9.94368189e-01 4.31948325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.02509989299995 meters 0.05581637117457756 Centerline is valid? [True, True] Translation: X:407.66, Y:76.45, Z:43.20 [[ 9.50557574e-01 -2.92818704e-01 -1.03428741e-01 4.07660151e+02] [ 2.91735898e-01 9.56151221e-01 -2.57877485e-02 7.64470263e+01] [ 1.06444652e-01 -5.66113708e-03 9.94302513e-01 4.32004736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.08509989299995 meters 0.054363872865119345 Centerline is valid? [True, True] Translation: X:407.72, Y:76.47, Z:43.21 [[ 9.50537506e-01 -2.92867522e-01 -1.03474948e-01 4.07718487e+02] [ 2.91784126e-01 9.56136217e-01 -2.57984148e-02 7.64682621e+01] [ 1.06491663e-01 -5.66998647e-03 9.94297429e-01 4.32070219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.14509989299995 meters 0.05525595216830181 Centerline is valid? [True, True] Translation: X:407.78, Y:76.48, Z:43.21 [[ 9.51306003e-01 -2.90332511e-01 -1.03556369e-01 4.07776159e+02] [ 2.89232810e-01 9.56910625e-01 -2.58154668e-02 7.64824991e+01] [ 1.06589259e-01 -5.39349096e-03 9.94288510e-01 4.32129140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.20509989299995 meters 0.056454969385209414 Centerline is valid? [True, True] Translation: X:407.83, Y:76.49, Z:43.22 [[ 9.51926539e-01 -2.88123480e-01 -1.04022713e-01 4.07834747e+02] [ 2.87000621e-01 9.57579315e-01 -2.59325733e-02 7.64944803e+01] [ 1.07081782e-01 -5.16867842e-03 9.94236781e-01 4.32180861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.26509989299996 meters 0.05747380026129281 Centerline is valid? [True, True] Translation: X:407.89, Y:76.51, Z:43.22 [[ 9.52659528e-01 -2.85607084e-01 -1.04251699e-01 4.07893706e+02] [ 2.84464198e-01 9.58334296e-01 -2.59903147e-02 7.65093467e+01] [ 1.07330996e-01 -4.89595496e-03 9.94211289e-01 4.32234286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.32509989299996 meters 0.05335846827945707 Centerline is valid? [True, True] Translation: X:407.95, Y:76.54, Z:43.23 [[ 9.52824313e-01 -2.85212119e-01 -1.03826182e-01 4.07949248e+02] [ 2.84076327e-01 9.58452240e-01 -2.58832886e-02 7.65415805e+01] [ 1.06894664e-01 -4.83233373e-03 9.94258608e-01 4.32309733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.38509989299996 meters 0.05640152432749268 Centerline is valid? [True, True] Translation: X:408.01, Y:76.55, Z:43.24 [[ 9.52500496e-01 -2.86125953e-01 -1.04282040e-01 4.08010713e+02] [ 2.84986054e-01 9.58179174e-01 -2.59926901e-02 7.65461336e+01] [ 1.07358063e-01 -4.96087701e-03 9.94208045e-01 4.32353964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.44509989299996 meters 0.053563056891231774 Centerline is valid? [True, True] Translation: X:408.07, Y:76.57, Z:43.24 [[ 9.51769193e-01 -2.88125690e-01 -1.05446625e-01 4.08066223e+02] [ 2.86972543e-01 9.57578226e-01 -2.62811757e-02 7.65749559e+01] [ 1.08545674e-01 -5.24667271e-03 9.94077617e-01 4.32421545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.50509989299997 meters 0.055746864102769994 Centerline is valid? [True, True] Translation: X:408.13, Y:76.58, Z:43.25 [[ 9.51120748e-01 -2.89966557e-01 -1.06248382e-01 4.08127359e+02] [ 2.88807447e-01 9.57020970e-01 -2.64787170e-02 7.65780658e+01] [ 1.09359872e-01 -5.50086686e-03 9.93987001e-01 4.32465693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.56509989299997 meters 0.05349020086649027 Centerline is valid? [True, True] Translation: X:408.18, Y:76.61, Z:43.25 [[ 9.50579107e-01 -2.91749613e-01 -1.06214517e-01 4.08182739e+02] [ 2.90602310e-01 9.56477718e-01 -2.64702054e-02 7.66065679e+01] [ 1.09314491e-01 -5.70415964e-03 9.93990847e-01 4.32542261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.62509989299997 meters 0.05429053598129454 Centerline is valid? [True, True] Translation: X:408.24, Y:76.62, Z:43.26 [[ 9.50795152e-01 -2.91244641e-01 -1.05665220e-01 4.08243026e+02] [ 2.90106336e-01 9.56632107e-01 -2.63310582e-02 7.66183640e+01] [ 1.08751522e-01 -5.61870736e-03 9.94053085e-01 4.32600228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.685099893 meters 0.054024628550960574 Centerline is valid? [True, True] Translation: X:408.30, Y:76.64, Z:43.27 [[ 9.51727254e-01 -2.88154690e-01 -1.05745492e-01 4.08300187e+02] [ 2.86996976e-01 9.57569311e-01 -2.63391253e-02 7.66369009e+01] [ 1.08848380e-01 -5.28097303e-03 9.94044336e-01 4.32663199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.745099893 meters 0.055578172095326374 Centerline is valid? [True, True] Translation: X:408.36, Y:76.65, Z:43.27 [[ 9.52529427e-01 -2.85534940e-01 -1.05629014e-01 4.08359108e+02] [ 2.84363735e-01 9.58355383e-01 -2.63102065e-02 7.66451374e+01] [ 1.08742617e-01 -4.97581487e-03 9.94057486e-01 4.32716531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.805099893 meters 0.053573008696107795 Centerline is valid? [True, True] Translation: X:408.42, Y:76.67, Z:43.28 [[ 9.53203662e-01 -2.83507175e-01 -1.05006954e-01 4.08416327e+02] [ 2.82337417e-01 9.58958522e-01 -2.61559971e-02 7.66659586e+01] [ 1.08112726e-01 -4.71539985e-03 9.94127458e-01 4.32790346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.865099893 meters 0.055569477592725874 Centerline is valid? [True, True] Translation: X:408.48, Y:76.68, Z:43.28 [[ 9.53429172e-01 -2.82587681e-01 -1.05437261e-01 4.08475941e+02] [ 2.81402802e-01 9.59230293e-01 -2.62622885e-02 7.66783582e+01] [ 1.08560014e-01 -4.63110878e-03 9.94079110e-01 4.32842514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.925099893 meters 0.05514991657065207 Centerline is valid? [True, True] Translation: X:408.54, Y:76.69, Z:43.29 [[ 9.53694669e-01 -2.81788156e-01 -1.05175636e-01 4.08535587e+02] [ 2.80604589e-01 9.59465948e-01 -2.61946594e-02 7.66930122e+01] [ 1.08293786e-01 -4.53105899e-03 9.94108608e-01 4.32901460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.985099893 meters 0.05501081651671923 Centerline is valid? [True, True] Translation: X:408.59, Y:76.71, Z:43.30 [[ 9.54585795e-01 -2.79100743e-01 -1.04253232e-01 4.08592789e+02] [ 2.77922170e-01 9.60252682e-01 -2.59625619e-02 7.67121442e+01] [ 1.07355616e-01 -4.19079167e-03 9.94211853e-01 4.32971010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.045099893 meters 0.05302378972013207 Centerline is valid? [True, True] Translation: X:408.65, Y:76.74, Z:43.30 [[ 9.55017310e-01 -2.77453889e-01 -1.04696117e-01 4.08649380e+02] [ 2.76255426e-01 9.60730532e-01 -2.60726809e-02 7.67365844e+01] [ 1.07818723e-01 -4.02300877e-03 9.94162431e-01 4.33034708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.10509989299993 meters 0.05334641054789882 Centerline is valid? [True, True] Translation: X:408.71, Y:76.75, Z:43.31 [[ 9.55346369e-01 -2.75537700e-01 -1.06734672e-01 4.08709031e+02] [ 2.74280405e-01 9.61282418e-01 -2.65776568e-02 7.67516363e+01] [ 1.09925310e-01 -3.88436112e-03 9.93932260e-01 4.33081711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.16509989299993 meters 0.0543446568325233 Centerline is valid? [True, True] Translation: X:408.77, Y:76.76, Z:43.31 [[ 9.55122145e-01 -2.76354573e-01 -1.06629442e-01 4.08769854e+02] [ 2.75105141e-01 9.61047518e-01 -2.65486200e-02 7.67583088e+01] [ 1.09812793e-01 -3.97713270e-03 9.93944331e-01 4.33133411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.22509989299994 meters 0.052812283696002556 Centerline is valid? [True, True] Translation: X:408.83, Y:76.78, Z:43.32 [[ 9.54829689e-01 -2.77571835e-01 -1.06085536e-01 4.08827486e+02] [ 2.76343315e-01 9.60696128e-01 -2.64068622e-02 7.67805352e+01] [ 1.09245764e-01 -4.10197249e-03 9.94006306e-01 4.33212890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.28509989299994 meters 0.05451222468203884 Centerline is valid? [True, True] Translation: X:408.89, Y:76.79, Z:43.33 [[ 9.54581937e-01 -2.78648432e-01 -1.05491126e-01 4.08888734e+02] [ 2.77441441e-01 9.60383939e-01 -2.62476188e-02 7.67875991e+01] [ 1.08625841e-01 -4.21210709e-03 9.94073782e-01 4.33272102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.34509989299994 meters 0.054865786269121725 Centerline is valid? [True, True] Translation: X:408.95, Y:76.80, Z:43.33 [[ 9.53803619e-01 -2.81299006e-01 -1.05496572e-01 4.08948490e+02] [ 2.80109195e-01 9.59609503e-01 -2.62381560e-02 7.67957757e+01] [ 1.08616280e-01 -4.52451175e-03 9.94073454e-01 4.33328895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.40509989299994 meters 0.05484038379674527 Centerline is valid? [True, True] Translation: X:409.01, Y:76.81, Z:43.34 [[ 9.52982044e-01 -2.83704586e-01 -1.06475032e-01 4.09006793e+02] [ 2.82507508e-01 9.58899497e-01 -2.64813453e-02 7.68119385e+01] [ 1.09611733e-01 -4.84374930e-03 9.93962678e-01 4.33385808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.46509989299994 meters 0.05352439411726147 Centerline is valid? [True, True] Translation: X:409.07, Y:76.83, Z:43.35 [[ 9.52888988e-01 -2.83858224e-01 -1.06897545e-01 4.09065383e+02] [ 2.82652615e-01 9.58853837e-01 -2.65860529e-02 7.68318669e+01] [ 1.10045791e-01 -4.88131363e-03 9.93914532e-01 4.33457288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.52509989299995 meters 0.05465204761110406 Centerline is valid? [True, True] Translation: X:409.13, Y:76.84, Z:43.35 [[ 9.53350101e-01 -2.82626350e-01 -1.06046839e-01 4.09125414e+02] [ 2.81432752e-01 9.59218542e-01 -2.63703507e-02 7.68388412e+01] [ 1.09175050e-01 -4.70487735e-03 9.94011405e-01 4.33517681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.58509989299995 meters 0.05392957620928302 Centerline is valid? [True, True] Translation: X:409.18, Y:76.86, Z:43.36 [[ 9.53872446e-01 -2.81503296e-01 -1.04322822e-01 4.09183763e+02] [ 2.80341670e-01 9.59549700e-01 -2.59407204e-02 7.68579063e+01] [ 1.07405330e-01 -4.50189561e-03 9.94205124e-01 4.33598527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.64509989299995 meters 0.05506966260842509 Centerline is valid? [True, True] Translation: X:409.25, Y:76.87, Z:43.37 [[ 9.54120870e-01 -2.81231001e-01 -1.02773970e-01 4.09245166e+02] [ 2.80102445e-01 9.59629981e-01 -2.55522981e-02 7.68652499e+01] [ 1.05811081e-01 -4.40725938e-03 9.94376484e-01 4.33663951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.70509989299995 meters 0.05495954544798546 Centerline is valid? [True, True] Translation: X:409.31, Y:76.88, Z:43.37 [[ 9.53928645e-01 -2.82004337e-01 -1.02438736e-01 4.09305772e+02] [ 2.80887931e-01 9.59402664e-01 -2.54656480e-02 7.68766489e+01] [ 1.05461420e-01 -4.48139358e-03 9.94413297e-01 4.33723930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.76509989299996 meters 0.055750205808672515 Centerline is valid? [True, True] Translation: X:409.37, Y:76.89, Z:43.38 [[ 9.52793320e-01 -2.85496494e-01 -1.03327831e-01 4.09365885e+02] [ 2.84381266e-01 9.58367162e-01 -2.56842146e-02 7.68861940e+01] [ 1.06358754e-01 -4.91275132e-03 9.94315684e-01 4.33773590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.82509989299996 meters 0.053124698756360056 Centerline is valid? [True, True] Translation: X:409.42, Y:76.91, Z:43.38 [[ 9.51428242e-01 -2.89020244e-01 -1.06073555e-01 4.09422580e+02] [ 2.87866824e-01 9.57307467e-01 -2.63648377e-02 7.69088137e+01] [ 1.09164978e-01 -5.45080608e-03 9.94008700e-01 4.33820798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.88509989299996 meters 0.054313352019155485 Centerline is valid? [True, True] Translation: X:409.48, Y:76.92, Z:43.39 [[ 9.50806446e-01 -2.91218854e-01 -1.05634663e-01 4.09481753e+02] [ 2.90088638e-01 9.56639591e-01 -2.62540496e-02 7.69167837e+01] [ 1.08699975e-01 -5.68089588e-03 9.94058370e-01 4.33873653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.94509989299996 meters 0.05724416797025986 Centerline is valid? [True, True] Translation: X:409.54, Y:76.91, Z:43.39 [[ 9.49868579e-01 -2.94238571e-01 -1.05704049e-01 4.09543978e+02] [ 2.93125381e-01 9.55712982e-01 -2.62717765e-02 7.69148451e+01] [ 1.08752902e-01 -6.02980462e-03 9.94050526e-01 4.33927247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.00509989299997 meters 0.054401132464024025 Centerline is valid? [True, True] Translation: X:409.60, Y:76.94, Z:43.40 [[ 9.49328683e-01 -2.96167525e-01 -1.05165813e-01 4.09600584e+02] [ 2.95077597e-01 9.55115756e-01 -2.61362739e-02 7.69374050e+01] [ 1.08186241e-01 -6.22016094e-03 9.94111184e-01 4.34001451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.06509989299997 meters 0.05563596130185493 Centerline is valid? [True, True] Translation: X:409.66, Y:76.95, Z:43.41 [[ 9.49507974e-01 -2.96393484e-01 -1.02885910e-01 4.09660891e+02] [ 2.95351702e-01 9.55046376e-01 -2.55693579e-02 7.69457419e+01] [ 1.05839407e-01 -6.10921942e-03 9.94364469e-01 4.34075886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.12509989299997 meters 0.054767372742600726 Centerline is valid? [True, True] Translation: X:409.72, Y:76.96, Z:43.41 [[ 9.49856473e-01 -2.95674181e-01 -1.01732296e-01 4.09720225e+02] [ 2.94651816e-01 9.55270234e-01 -2.52801627e-02 7.69599787e+01] [ 1.04656526e-01 -5.96307976e-03 9.94490550e-01 4.34147310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.185099893 meters 0.059057398510234824 Centerline is valid? [True, True] Translation: X:409.78, Y:76.96, Z:43.42 [[ 9.50193341e-01 -2.94961818e-01 -1.00648600e-01 4.09782183e+02] [ 2.93957420e-01 9.55491294e-01 -2.50084569e-02 7.69585276e+01] [ 1.03545401e-01 -5.82353353e-03 9.94607680e-01 4.34216360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.245099893 meters 0.056863001458622595 Centerline is valid? [True, True] Translation: X:409.84, Y:76.98, Z:43.43 [[ 9.49922118e-01 -2.95879401e-01 -1.00515420e-01 4.09840601e+02] [ 2.94882848e-01 9.55206981e-01 -2.49745648e-02 7.69759514e+01] [ 1.03402490e-01 -5.91638191e-03 9.94621999e-01 4.34279970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.305099893 meters 0.054497950596882734 Centerline is valid? [True, True] Translation: X:409.90, Y:77.00, Z:43.43 [[ 9.49547670e-01 -2.97404054e-01 -9.95492410e-02 4.09898317e+02] [ 2.96435145e-01 9.54732697e-01 -2.47322173e-02 7.69952390e+01] [ 1.02398377e-01 -6.02547439e-03 9.94725221e-01 4.34341986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.365099893 meters 0.05328631468413488 Centerline is valid? [True, True] Translation: X:409.96, Y:77.01, Z:43.44 [[ 9.49314563e-01 -2.98446145e-01 -9.86496749e-02 4.09956876e+02] [ 2.97500433e-01 9.54407089e-01 -2.45071603e-02 7.70105441e+01] [ 1.01466017e-01 -6.08331682e-03 9.94820406e-01 4.34397539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.425099893 meters 0.05470760993546593 Centerline is valid? [True, True] Translation: X:410.02, Y:77.01, Z:43.45 [[ 9.49568984e-01 -2.97757593e-01 -9.82810269e-02 4.10019015e+02] [ 2.96815355e-01 9.54622733e-01 -2.44148107e-02 7.70149538e+01] [ 1.01090998e-01 -5.98777083e-03 9.94859164e-01 4.34454320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.485099893 meters 0.052621874538899986 Centerline is valid? [True, True] Translation: X:410.08, Y:77.04, Z:43.45 [[ 9.49858213e-01 -2.96986405e-01 -9.78184553e-02 4.10075628e+02] [ 2.96049084e-01 9.54863611e-01 -2.42986539e-02 7.70441771e+01] [ 1.00619653e-01 -5.87878809e-03 9.94907596e-01 4.34500155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.545099893 meters 0.055141596638022164 Centerline is valid? [True, True] Translation: X:410.14, Y:77.04, Z:43.46 [[ 9.49794553e-01 -2.97033288e-01 -9.82930965e-02 4.10139754e+02] [ 2.96088320e-01 9.54848747e-01 -2.44044540e-02 7.70402218e+01] [ 1.01103975e-01 -5.92422038e-03 9.94858226e-01 4.34565308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.60509989299993 meters 0.05430661616119198 Centerline is valid? [True, True] Translation: X:410.20, Y:77.05, Z:43.46 [[ 9.49594460e-01 -2.97551473e-01 -9.86584111e-02 4.10200464e+02] [ 2.96602913e-01 9.54686872e-01 -2.44885580e-02 7.70543161e+01] [ 1.01474496e-01 -6.00817311e-03 9.94819998e-01 4.34618813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.66509989299993 meters 0.05499322075555385 Centerline is valid? [True, True] Translation: X:410.26, Y:77.06, Z:43.47 [[ 9.50052046e-01 -2.96112272e-01 -9.85831192e-02 4.10260959e+02] [ 2.95158018e-01 9.55135194e-01 -2.44643691e-02 7.70641353e+01] [ 1.01404407e-01 -5.85517417e-03 9.94828057e-01 4.34663603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.72509989299994 meters 0.056048160291747896 Centerline is valid? [True, True] Translation: X:410.32, Y:77.07, Z:43.47 [[ 9.50722665e-01 -2.93892061e-01 -9.87616867e-02 4.10320079e+02] [ 2.92922595e-01 9.55822033e-01 -2.45070504e-02 7.70718961e+01] [ 1.01601024e-01 -5.63012127e-03 9.94809295e-01 4.34709283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.78509989299994 meters 0.05625488605410983 Centerline is valid? [True, True] Translation: X:410.38, Y:77.09, Z:43.48 [[ 9.50978227e-01 -2.93205251e-01 -9.83417176e-02 4.10379385e+02] [ 2.92240282e-01 9.56033513e-01 -2.44036843e-02 7.70852067e+01] [ 1.01173266e-01 -5.53203889e-03 9.94853440e-01 4.34772955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.84509989299994 meters 0.05247106838921295 Centerline is valid? [True, True] Translation: X:410.44, Y:77.12, Z:43.48 [[ 9.51031321e-01 -2.93289050e-01 -9.75754057e-02 4.10436016e+02] [ 2.92339661e-01 9.56008001e-01 -2.42120890e-02 7.71161857e+01] [ 1.00384009e-01 -5.49870612e-03 9.94933573e-01 4.34827106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.90509989299994 meters 0.052247335808878054 Centerline is valid? [True, True] Translation: X:410.50, Y:77.13, Z:43.49 [[ 9.51095904e-01 -2.93157959e-01 -9.73395740e-02 4.10495964e+02] [ 2.92212866e-01 9.56048343e-01 -2.41496920e-02 7.71292148e+01] [ 1.00141013e-01 -5.47520277e-03 9.94958190e-01 4.34888873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.96509989299994 meters 0.054212397167404246 Centerline is valid? [True, True] Translation: X:410.56, Y:77.14, Z:43.49 [[ 9.51029101e-01 -2.93262329e-01 -9.76773031e-02 4.10557254e+02] [ 2.92312495e-01 9.56016089e-01 -2.42207276e-02 7.71358676e+01] [ 1.00484100e-01 -5.51767934e-03 9.94923364e-01 4.34948714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.02509989299995 meters 0.07244560907047401 Centerline is valid? [True, True] Translation: X:410.62, Y:77.11, Z:43.50 [[ 9.50642730e-01 -2.94015475e-01 -9.91629982e-02 4.10624387e+02] [ 2.93041736e-01 9.55783697e-01 -2.45777344e-02 7.71078608e+01] [ 1.02004611e-01 -5.69425266e-03 9.94767629e-01 4.35022038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.08509989299995 meters 0.05327647242648538 Centerline is valid? [True, True] Translation: X:410.67, Y:77.17, Z:43.51 [[ 9.50676932e-01 -2.93845531e-01 -9.93386879e-02 4.10672284e+02] [ 2.92867471e-01 9.55836003e-01 -2.46207129e-02 7.71714354e+01] [ 1.02186181e-01 -5.68672647e-03 9.94749036e-01 4.35056032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.14509989299995 meters 0.05244752500265181 Centerline is valid? [True, True] Translation: X:410.73, Y:77.19, Z:43.51 [[ 9.51006932e-01 -2.92465746e-01 -1.00247705e-01 4.10729908e+02] [ 2.91462526e-01 9.56259638e-01 -2.48415259e-02 7.71861907e+01] [ 1.03128129e-01 -5.59398599e-03 9.94652349e-01 4.35116229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.20509989299995 meters 0.05529444080141224 Centerline is valid? [True, True] Translation: X:410.79, Y:77.19, Z:43.52 [[ 9.51460376e-01 -2.90897256e-01 -1.00508404e-01 4.10788943e+02] [ 2.89880098e-01 9.56738842e-01 -2.49061431e-02 7.71935061e+01] [ 1.03405423e-01 -5.43817775e-03 9.94624424e-01 4.35183587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.26509989299996 meters 0.0532403413452362 Centerline is valid? [True, True] Translation: X:410.85, Y:77.22, Z:43.52 [[ 9.52136858e-01 -2.88210634e-01 -1.01833364e-01 4.10845775e+02] [ 2.87151522e-01 9.57552819e-01 -2.52309942e-02 7.72157801e+01] [ 1.04782666e-01 -5.21824591e-03 9.94481454e-01 4.35236588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.32509989299996 meters 0.05364039403006737 Centerline is valid? [True, True] Translation: X:410.90, Y:77.23, Z:43.53 [[ 9.52786876e-01 -2.86142108e-01 -1.01586725e-01 4.10904041e+02] [ 2.85076432e-01 9.58174258e-01 -2.51698182e-02 7.72310474e+01] [ 1.04539930e-01 -4.97850865e-03 9.94508229e-01 4.35300013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.38509989299996 meters 0.0533550013554269 Centerline is valid? [True, True] Translation: X:410.96, Y:77.25, Z:43.54 [[ 9.53224995e-01 -2.84691609e-01 -1.01551937e-01 4.10962479e+02] [ 2.83618563e-01 9.58607046e-01 -2.51603171e-02 7.72474141e+01] [ 1.04511333e-01 -4.81857114e-03 9.94512022e-01 4.35372349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.44509989299996 meters 0.054263132038308834 Centerline is valid? [True, True] Translation: X:411.02, Y:77.26, Z:43.54 [[ 9.53244237e-01 -2.84369084e-01 -1.02272426e-01 4.11022454e+02] [ 2.83279079e-01 9.58702769e-01 -2.53370238e-02 7.72570968e+01] [ 1.05253924e-01 -4.81926662e-03 9.94433701e-01 4.35432921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.50509989299997 meters 0.052790860076601935 Centerline is valid? [True, True] Translation: X:411.08, Y:77.28, Z:43.55 [[ 9.53104235e-01 -2.84632010e-01 -1.02844236e-01 4.11080009e+02] [ 2.83531572e-01 9.58624442e-01 -2.54760021e-02 7.72805047e+01] [ 1.05840284e-01 -4.87830232e-03 9.94371176e-01 4.35498511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.56509989299997 meters 0.05534998515924419 Centerline is valid? [True, True] Translation: X:411.14, Y:77.28, Z:43.55 [[ 9.53115970e-01 -2.84230224e-01 -1.03841839e-01 4.11141819e+02] [ 2.83106322e-01 9.58743615e-01 -2.57194590e-02 7.72849229e+01] [ 1.06867948e-01 -4.88465411e-03 9.94261224e-01 4.35545145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.62509989299997 meters 0.05512765814477443 Centerline is valid? [True, True] Translation: X:411.20, Y:77.30, Z:43.56 [[ 9.53470984e-01 -2.83048043e-01 -1.03811789e-01 4.11199097e+02] [ 2.81918554e-01 9.59093933e-01 -2.57051685e-02 7.73025171e+01] [ 1.06841055e-01 -4.75733716e-03 9.94264732e-01 4.35611025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.685099893 meters 0.05339629475730392 Centerline is valid? [True, True] Translation: X:411.26, Y:77.33, Z:43.57 [[ 9.54075425e-01 -2.81238406e-01 -1.03174816e-01 4.11255098e+02] [ 2.80112138e-01 9.59627260e-01 -2.55482258e-02 7.73282630e+01] [ 1.06194508e-01 -4.52558392e-03 9.94335077e-01 4.35693012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.745099893 meters 0.055322267101583424 Centerline is valid? [True, True] Translation: X:411.31, Y:77.33, Z:43.58 [[ 9.55165310e-01 -2.78133177e-01 -1.01494663e-01 4.11314265e+02] [ 2.77025932e-01 9.60533721e-01 -2.51317169e-02 7.73347974e+01] [ 1.04479010e-01 -4.11170931e-03 9.94518592e-01 4.35767021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.805099893 meters 0.053331984084226874 Centerline is valid? [True, True] Translation: X:411.37, Y:77.36, Z:43.58 [[ 9.55478950e-01 -2.77079130e-01 -1.01425497e-01 4.11370357e+02] [ 2.75967395e-01 9.60838807e-01 -2.51154156e-02 7.73629735e+01] [ 1.04412511e-01 -3.99287936e-03 9.94526060e-01 4.35838924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.865099893 meters 0.05536157650095851 Centerline is valid? [True, True] Translation: X:411.43, Y:77.37, Z:43.59 [[ 9.55217416e-01 -2.77829116e-01 -1.01836488e-01 4.11431376e+02] [ 2.76712764e-01 9.60621792e-01 -2.52154387e-02 7.73686098e+01] [ 1.04831933e-01 -4.09322986e-03 9.94481529e-01 4.35903423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.925099893 meters 0.056246754811281906 Centerline is valid? [True, True] Translation: X:411.49, Y:77.38, Z:43.60 [[ 9.54082933e-01 -2.81381555e-01 -1.02714061e-01 4.11490337e+02] [ 2.80266912e-01 9.59585285e-01 -2.54271167e-02 7.73811446e+01] [ 1.05717623e-01 -4.52777461e-03 9.94385883e-01 4.35956659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.985099893 meters 0.05927750629716783 Centerline is valid? [True, True] Translation: X:411.55, Y:77.39, Z:43.60 [[ 9.52524075e-01 -2.86310266e-01 -1.03558283e-01 4.11550340e+02] [ 2.85206083e-01 9.58123300e-01 -2.56365472e-02 7.73885268e+01] [ 1.06561611e-01 -5.11602391e-03 9.94292939e-01 4.36011649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.04509989299993 meters 0.05446894739578104 Centerline is valid? [True, True] Translation: X:411.60, Y:77.42, Z:43.61 [[ 9.51317131e-01 -2.89703487e-01 -1.05202686e-01 4.11604902e+02] [ 2.88584489e-01 9.57100157e-01 -2.60438612e-02 7.74174449e+01] [ 1.08234505e-01 -5.58389212e-03 9.94109708e-01 4.36076044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.10509989299993 meters 0.05532694631524954 Centerline is valid? [True, True] Translation: X:411.66, Y:77.43, Z:43.61 [[ 9.49986820e-01 -2.93435237e-01 -1.06868156e-01 4.11662743e+02] [ 2.92303916e-01 9.55959461e-01 -2.64561815e-02 7.74290609e+01] [ 1.09924801e-01 -6.10495690e-03 9.93921158e-01 4.36133484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.16509989299993 meters 0.053140381425490074 Centerline is valid? [True, True] Translation: X:411.72, Y:77.46, Z:43.62 [[ 9.49858393e-01 -2.93943638e-01 -1.06612249e-01 4.11719572e+02] [ 2.92820859e-01 9.55802979e-01 -2.63933521e-02 7.74551676e+01] [ 1.09658463e-01 -6.14834317e-03 9.93950310e-01 4.36215780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.22509989299994 meters 0.05863314898753412 Centerline is valid? [True, True] Translation: X:411.78, Y:77.45, Z:43.63 [[ 9.51004855e-01 -2.90975643e-01 -1.04512875e-01 4.11781084e+02] [ 2.89879215e-01 9.56713522e-01 -2.58704096e-02 7.74542835e+01] [ 1.07516540e-01 -5.69322499e-03 9.94186995e-01 4.36289980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.28509989299994 meters 0.058621845207072545 Centerline is valid? [True, True] Translation: X:411.84, Y:77.47, Z:43.64 [[ 9.51541924e-01 -2.89516487e-01 -1.03673390e-01 4.11839304e+02] [ 2.88429005e-01 9.57157321e-01 -2.56626580e-02 7.74706176e+01] [ 1.06661506e-01 -5.48331758e-03 9.94280270e-01 4.36359019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.34509989299994 meters 0.06443443365590164 Centerline is valid? [True, True] Translation: X:411.90, Y:77.47, Z:43.64 [[ 9.52532017e-01 -2.86509657e-01 -1.02931888e-01 4.11900276e+02] [ 2.85420327e-01 9.58063726e-01 -2.54781060e-02 7.74741971e+01] [ 1.05915032e-01 -5.11014154e-03 9.94362053e-01 4.36428076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.40509989299994 meters 0.055694538544254414 Centerline is valid? [True, True] Translation: X:411.95, Y:77.51, Z:43.65 [[ 9.53785586e-01 -2.81620726e-01 -1.04798962e-01 4.11952555e+02] [ 2.80462139e-01 9.59514529e-01 -2.59394966e-02 7.75129490e+01] [ 1.07861227e-01 -4.65142309e-03 9.94155078e-01 4.36492270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.46509989299994 meters 0.05503584776701249 Centerline is valid? [True, True] Translation: X:412.01, Y:77.53, Z:43.66 [[ 9.54533440e-01 -2.78466449e-01 -1.06406527e-01 4.12009418e+02] [ 2.77252475e-01 9.60436054e-01 -2.63372820e-02 7.75345280e+01] [ 1.09530714e-01 -4.36165654e-03 9.93973842e-01 4.36552660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.52509989299995 meters 0.054912511347329065 Centerline is valid? [True, True] Translation: X:412.07, Y:77.55, Z:43.66 [[ 9.55593158e-01 -2.73684092e-01 -1.09264517e-01 4.12066989e+02] [ 2.72372748e-01 9.61811663e-01 -2.70446140e-02 7.75535639e+01] [ 1.12493567e-01 -3.91702864e-03 9.93644732e-01 4.36602456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.58509989299995 meters 0.052796402208333086 Centerline is valid? [True, True] Translation: X:412.12, Y:77.58, Z:43.67 [[ 9.56347439e-01 -2.70688717e-01 -1.10123541e-01 4.12122821e+02] [ 2.69336934e-01 9.62660222e-01 -2.72564256e-02 7.75785722e+01] [ 1.13389560e-01 -3.59372416e-03 9.93544107e-01 4.36682436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.64509989299995 meters 0.05403734820032759 Centerline is valid? [True, True] Translation: X:412.18, Y:77.60, Z:43.68 [[ 9.57605171e-01 -2.66496946e-01 -1.09415325e-01 4.12180673e+02] [ 2.65135345e-01 9.63830849e-01 -2.70803031e-02 7.75962810e+01] [ 1.12674684e-01 -3.07763175e-03 9.93627165e-01 4.36752829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.70509989299995 meters 0.05392122807339875 Centerline is valid? [True, True] Translation: X:412.24, Y:77.61, Z:43.68 [[ 9.58325947e-01 -2.64273419e-01 -1.08493960e-01 4.12239280e+02] [ 2.62920520e-01 9.64443759e-01 -2.68521270e-02 7.76112041e+01] [ 1.11732626e-01 -2.79219830e-03 9.93734383e-01 4.36814612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.76509989299996 meters 0.0534795240507198 Centerline is valid? [True, True] Translation: X:412.30, Y:77.63, Z:43.69 [[ 9.58753494e-01 -2.62804653e-01 -1.08284126e-01 4.12297246e+02] [ 2.61447869e-01 9.64845512e-01 -2.67983157e-02 7.76326047e+01] [ 1.11520175e-01 -2.61767514e-03 9.93758722e-01 4.36896986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.82509989299996 meters 0.05392500100969694 Centerline is valid? [True, True] Translation: X:412.36, Y:77.64, Z:43.69 [[ 9.58976746e-01 -2.62426533e-01 -1.07219008e-01 4.12357684e+02] [ 2.61094384e-01 9.64948603e-01 -2.65314339e-02 7.76423254e+01] [ 1.10423384e-01 -2.55125258e-03 9.93881365e-01 4.36948000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.88509989299996 meters 0.0537510822236223 Centerline is valid? [True, True] Translation: X:412.42, Y:77.66, Z:43.70 [[ 9.58684110e-01 -2.63775668e-01 -1.06523112e-01 4.12416941e+02] [ 2.62470357e-01 9.64580275e-01 -2.63477639e-02 7.76575644e+01] [ 1.09699992e-01 -2.69997664e-03 9.93961077e-01 4.37018499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.94509989299996 meters 0.05319415128445103 Centerline is valid? [True, True] Translation: X:412.47, Y:77.68, Z:43.71 [[ 9.57201776e-01 -2.69075176e-01 -1.06598827e-01 4.12474927e+02] [ 2.67801213e-01 9.63113476e-01 -2.63617492e-02 7.76759117e+01] [ 1.09760059e-01 -3.31378194e-03 9.93952589e-01 4.37088429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.00509989299997 meters 0.05375150843295551 Centerline is valid? [True, True] Translation: X:412.53, Y:77.69, Z:43.71 [[ 9.55797975e-01 -2.73845608e-01 -1.07045845e-01 4.12534146e+02] [ 2.72590809e-01 9.61765843e-01 -2.64709878e-02 7.76850378e+01] [ 1.10202001e-01 -3.87879702e-03 9.93901642e-01 4.37138195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.06509989299997 meters 0.052740042291553595 Centerline is valid? [True, True] Translation: X:412.59, Y:77.70, Z:43.72 [[ 9.53491921e-01 -2.81515881e-01 -1.07712420e-01 4.12591743e+02] [ 2.80294023e-01 9.59544590e-01 -2.66353085e-02 7.77025313e+01] [ 1.10853132e-01 -4.79459605e-03 9.93825234e-01 4.37199669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.12509989299997 meters 0.05537846534072693 Centerline is valid? [True, True] Translation: X:412.65, Y:77.70, Z:43.72 [[ 9.52575816e-01 -2.84720898e-01 -1.07393320e-01 4.12652159e+02] [ 2.83526597e-01 9.58596611e-01 -2.65557335e-02 7.77038801e+01] [ 1.10507845e-01 -5.15251296e-03 9.93861896e-01 4.37242967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.185099893 meters 0.05241018779473224 Centerline is valid? [True, True] Translation: X:412.71, Y:77.73, Z:43.73 [[ 9.51945389e-01 -2.86698767e-01 -1.07720904e-01 4.12707161e+02] [ 2.85509605e-01 9.58005576e-01 -2.66379704e-02 7.77347751e+01] [ 1.10834300e-01 -5.39745966e-03 9.93824243e-01 4.37326827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.245099893 meters 0.05380355169522614 Centerline is valid? [True, True] Translation: X:412.77, Y:77.74, Z:43.74 [[ 9.51850884e-01 -2.86986712e-01 -1.07789246e-01 4.12768983e+02] [ 2.85798149e-01 9.57919134e-01 -2.66524032e-02 7.77385166e+01] [ 1.10902267e-01 -5.43685358e-03 9.93816446e-01 4.37366079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.305099893 meters 0.05193538672589448 Centerline is valid? [True, True] Translation: X:412.83, Y:77.77, Z:43.75 [[ 9.51818051e-01 -2.87160143e-01 -1.07617141e-01 4.12825322e+02] [ 2.85977818e-01 9.57867028e-01 -2.65978350e-02 7.77674133e+01] [ 1.10720749e-01 -5.45981577e-03 9.93836559e-01 4.37451401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.365099893 meters 0.051988306062950976 Centerline is valid? [True, True] Translation: X:412.89, Y:77.78, Z:43.75 [[ 9.51841673e-01 -2.87142085e-01 -1.07456284e-01 4.12886532e+02] [ 2.85964572e-01 9.57872432e-01 -2.65455941e-02 7.77816900e+01] [ 1.10551769e-01 -5.46148750e-03 9.93855361e-01 4.37526556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.425099893 meters 0.05193516880264443 Centerline is valid? [True, True] Translation: X:412.95, Y:77.80, Z:43.76 [[ 9.51764784e-01 -2.87172938e-01 -1.08053227e-01 4.12946678e+02] [ 2.85983265e-01 9.57862947e-01 -2.66860683e-02 7.77978866e+01] [ 1.11163699e-01 -5.50255459e-03 9.93786876e-01 4.37590870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.485099893 meters 0.05262680329967919 Centerline is valid? [True, True] Translation: X:413.01, Y:77.81, Z:43.77 [[ 9.51747612e-01 -2.87206005e-01 -1.08116576e-01 4.13006395e+02] [ 2.86016609e-01 9.57852919e-01 -2.66886493e-02 7.78095912e+01] [ 1.11224918e-01 -5.52227827e-03 9.93779916e-01 4.37652207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.54509989299993 meters 0.05265010099614036 Centerline is valid? [True, True] Translation: X:413.07, Y:77.83, Z:43.77 [[ 9.51708924e-01 -2.87186489e-01 -1.08508269e-01 4.13065540e+02] [ 2.85989693e-01 9.57858599e-01 -2.67731260e-02 7.78284038e+01] [ 1.11624458e-01 -5.55202346e-03 9.93734952e-01 4.37722291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.60509989299993 meters 0.05291742559938812 Centerline is valid? [True, True] Translation: X:413.13, Y:77.84, Z:43.78 [[ 9.52033022e-01 -2.86196422e-01 -1.08280807e-01 4.13126086e+02] [ 2.84999658e-01 9.58155548e-01 -2.67046827e-02 7.78405831e+01] [ 1.11392641e-01 -5.43625325e-03 9.93761605e-01 4.37781103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.66509989299993 meters 0.052714826841761174 Centerline is valid? [True, True] Translation: X:413.19, Y:77.86, Z:43.79 [[ 9.52186207e-01 -2.85752134e-01 -1.08107105e-01 4.13185322e+02] [ 2.84556782e-01 9.58288465e-01 -2.66581143e-02 7.78607803e+01] [ 1.11215405e-01 -5.37912115e-03 9.93781766e-01 4.37852064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.72509989299994 meters 0.05278121059358214 Centerline is valid? [True, True] Translation: X:413.24, Y:77.87, Z:43.79 [[ 9.52365607e-01 -2.85144188e-01 -1.08132064e-01 4.13244955e+02] [ 2.83944966e-01 9.58469900e-01 -2.66590826e-02 7.78731397e+01] [ 1.11243011e-01 -5.31436197e-03 9.93779025e-01 4.37906756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.78509989299994 meters 0.052630295230106164 Centerline is valid? [True, True] Translation: X:413.31, Y:77.89, Z:43.80 [[ 9.52567150e-01 -2.84393624e-01 -1.08333239e-01 4.13305313e+02] [ 2.83186406e-01 9.58693239e-01 -2.66970455e-02 7.78892705e+01] [ 1.11450814e-01 -5.24777206e-03 9.93756095e-01 4.37968278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.84509989299994 meters 0.05272470968768969 Centerline is valid? [True, True] Translation: X:413.37, Y:77.90, Z:43.80 [[ 9.52673396e-01 -2.84445727e-01 -1.07256836e-01 4.13365619e+02] [ 2.83263409e-01 9.58678005e-01 -2.64258052e-02 7.79027211e+01] [ 1.10341477e-01 -5.20677542e-03 9.93880097e-01 4.38030358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.90509989299994 meters 0.053323345421561134 Centerline is valid? [True, True] Translation: X:413.43, Y:77.91, Z:43.81 [[ 9.52570705e-01 -2.84926107e-01 -1.06893246e-01 4.13426879e+02] [ 2.83756322e-01 9.58535066e-01 -2.63225697e-02 7.79092270e+01] [ 1.09960912e-01 -5.25752544e-03 9.93922007e-01 4.38089722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.96509989299994 meters 0.05375916723218007 Centerline is valid? [True, True] Translation: X:413.49, Y:77.92, Z:43.82 [[ 9.52361934e-01 -2.85838789e-01 -1.06315257e-01 4.13486057e+02] [ 2.84688505e-01 9.58262817e-01 -2.61692257e-02 7.79218918e+01] [ 1.09358138e-01 -5.34415726e-03 9.93988047e-01 4.38151088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.02509989299995 meters 0.05322342738775084 Centerline is valid? [True, True] Translation: X:413.55, Y:77.93, Z:43.82 [[ 9.51516029e-01 -2.88853919e-01 -1.05738637e-01 4.13545171e+02] [ 2.87734779e-01 9.57356447e-01 -2.60255638e-02 7.79341793e+01] [ 1.08747152e-01 -5.66094209e-03 9.94053324e-01 4.38222161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.08509989299995 meters 0.05353623897401013 Centerline is valid? [True, True] Translation: X:413.61, Y:77.94, Z:43.83 [[ 9.50711100e-01 -2.91530851e-01 -1.05632225e-01 4.13605175e+02] [ 2.90430573e-01 9.56542843e-01 -2.59975450e-02 7.79444609e+01] [ 1.08620835e-01 -5.96267294e-03 9.94065370e-01 4.38283245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.14509989299995 meters 0.05203376924764409 Centerline is valid? [True, True] Translation: X:413.66, Y:77.97, Z:43.84 [[ 9.50202021e-01 -2.93357485e-01 -1.05154674e-01 4.13661673e+02] [ 2.92278392e-01 9.55983071e-01 -2.58787408e-02 7.79683960e+01] [ 1.08117810e-01 -6.14440710e-03 9.94119100e-01 4.38353920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.20509989299995 meters 0.05174319742470349 Centerline is valid? [True, True] Translation: X:413.72, Y:77.98, Z:43.84 [[ 9.49516222e-01 -2.95519354e-01 -1.05296040e-01 4.13721520e+02] [ 2.94450713e-01 9.55315311e-01 -2.59120364e-02 7.79773281e+01] [ 1.08248427e-01 -6.40059508e-03 9.94103269e-01 4.38416515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.26509989299996 meters 0.05222674542995498 Centerline is valid? [True, True] Translation: X:413.78, Y:77.99, Z:43.85 [[ 9.48753352e-01 -2.97959293e-01 -1.05296426e-01 4.13780452e+02] [ 2.96905599e-01 9.54555209e-01 -2.59117344e-02 7.79855500e+01] [ 1.08231894e-01 -6.67925372e-03 9.94103236e-01 4.38478299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.32509989299996 meters 0.05825768115323342 Centerline is valid? [True, True] Translation: X:413.85, Y:77.97, Z:43.85 [[ 9.47906576e-01 -3.00466345e-01 -1.05797443e-01 4.13845869e+02] [ 2.99418001e-01 9.53766743e-01 -2.60357378e-02 7.79723921e+01] [ 1.08728946e-01 -6.99821186e-03 9.94046800e-01 4.38518273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.38509989299996 meters 0.05392539704064969 Centerline is valid? [True, True] Translation: X:413.90, Y:78.00, Z:43.86 [[ 9.47781994e-01 -3.00974068e-01 -1.05469910e-01 4.13903518e+02] [ 2.99935402e-01 9.53606376e-01 -2.59544812e-02 7.79953718e+01] [ 1.08388404e-01 -7.03496981e-03 9.94083730e-01 4.38594365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.44509989299996 meters 0.05591820457823115 Centerline is valid? [True, True] Translation: X:413.96, Y:78.00, Z:43.87 [[ 9.48345337e-01 -2.99533448e-01 -1.04502796e-01 4.13962748e+02] [ 2.98505412e-01 9.54061499e-01 -2.57133270e-02 7.80021862e+01] [ 1.07404095e-01 -6.80953634e-03 9.94192130e-01 4.38660300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.50509989299997 meters 0.05236072287025706 Centerline is valid? [True, True] Translation: X:414.02, Y:78.03, Z:43.87 [[ 9.48864321e-01 -2.97993727e-01 -1.04193283e-01 4.14018741e+02] [ 2.96962535e-01 9.54544907e-01 -2.56373494e-02 7.80284369e+01] [ 1.07096936e-01 -6.61513524e-03 9.94226577e-01 4.38728801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.56509989299997 meters 0.052747112515734454 Centerline is valid? [True, True] Translation: X:414.08, Y:78.04, Z:43.88 [[ 9.49287466e-01 -2.96575773e-01 -1.04384471e-01 4.14078228e+02] [ 2.95532457e-01 9.54987417e-01 -2.56826966e-02 7.80379520e+01] [ 1.07302722e-01 -6.46873732e-03 9.94205352e-01 4.38787260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.62509989299997 meters 0.05352803574887443 Centerline is valid? [True, True] Translation: X:414.14, Y:78.04, Z:43.88 [[ 9.49386225e-01 -2.95786241e-01 -1.05718001e-01 4.14140601e+02] [ 2.94711268e-01 9.55232294e-01 -2.60102458e-02 7.80421182e+01] [ 1.08678722e-01 -6.46251709e-03 9.94055920e-01 4.38846013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.685099893 meters 0.05235788380296176 Centerline is valid? [True, True] Translation: X:414.20, Y:78.06, Z:43.89 [[ 9.49430444e-01 -2.95632101e-01 -1.05752036e-01 4.14199481e+02] [ 2.94556851e-01 9.55280034e-01 -2.60061362e-02 7.80643813e+01] [ 1.08711058e-01 -6.45896939e-03 9.94052407e-01 4.38914174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.745099893 meters 0.053361833714743116 Centerline is valid? [True, True] Translation: X:414.26, Y:78.07, Z:43.90 [[ 9.50050205e-01 -2.93558775e-01 -1.05961569e-01 4.14259432e+02] [ 2.92467947e-01 9.55920612e-01 -2.60438894e-02 7.80692481e+01] [ 1.08936260e-01 -6.24736016e-03 9.94029105e-01 4.38966291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.805099893 meters 0.055583760112688334 Centerline is valid? [True, True] Translation: X:414.32, Y:78.07, Z:43.90 [[ 9.50639869e-01 -2.91679328e-01 -1.05863164e-01 4.14320622e+02] [ 2.90578862e-01 9.56497184e-01 -2.60204309e-02 7.80690276e+01] [ 1.08847440e-01 -6.02553878e-03 9.94040204e-01 4.39024973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.865099893 meters 0.05359627969554663 Centerline is valid? [True, True] Translation: X:414.38, Y:78.09, Z:43.91 [[ 9.51888164e-01 -2.88478017e-01 -1.03389349e-01 4.14377102e+02] [ 2.87409597e-01 9.57470579e-01 -2.54128705e-02 7.80900123e+01] [ 1.06323315e-01 -5.52488062e-03 9.94316262e-01 4.39099468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.925099893 meters 0.053757661193728115 Centerline is valid? [True, True] Translation: X:414.44, Y:78.10, Z:43.92 [[ 9.52612026e-01 -2.86192543e-01 -1.03073551e-01 4.14436414e+02] [ 2.85117328e-01 9.58157728e-01 -2.53353228e-02 7.81012162e+01] [ 1.06011500e-01 -5.25332227e-03 9.94351027e-01 4.39159682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.985099893 meters 0.05388808692033214 Centerline is valid? [True, True] Translation: X:414.50, Y:78.11, Z:43.92 [[ 9.53447831e-01 -2.83130348e-01 -1.03799998e-01 4.14496635e+02] [ 2.82021854e-01 9.59068676e-01 -2.55137061e-02 7.81092068e+01] [ 1.06775031e-01 -4.94788022e-03 9.94270894e-01 4.39215533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.04509989299993 meters 0.0544950400323066 Centerline is valid? [True, True] Translation: X:414.56, Y:78.12, Z:43.93 [[ 9.54082702e-01 -2.80905970e-01 -1.04009773e-01 4.14555699e+02] [ 2.79779913e-01 9.59723741e-01 -2.55644519e-02 7.81169625e+01] [ 1.07001856e-01 -4.70924402e-03 9.94247668e-01 4.39269989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.10509989299993 meters 0.05515249797597843 Centerline is valid? [True, True] Translation: X:414.62, Y:78.13, Z:43.93 [[ 9.55289729e-01 -2.76834867e-01 -1.03845991e-01 4.14615552e+02] [ 2.75688294e-01 9.60908130e-01 -2.55250948e-02 7.81273363e+01] [ 1.06852693e-01 -4.24526316e-03 9.94265799e-01 4.39338810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.16509989299993 meters 0.056770643089454925 Centerline is valid? [True, True] Translation: X:414.68, Y:78.13, Z:43.94 [[ 9.56215975e-01 -2.73479368e-01 -1.04211536e-01 4.14675073e+02] [ 2.72304701e-01 9.61870033e-01 -2.56161997e-02 7.81321493e+01] [ 1.07243455e-01 -3.88267170e-03 9.94225209e-01 4.39399394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.22509989299994 meters 0.054883565739146725 Centerline is valid? [True, True] Translation: X:414.73, Y:78.15, Z:43.95 [[ 9.57889451e-01 -2.67695245e-01 -1.03860746e-01 4.14731327e+02] [ 2.66494460e-01 9.63498247e-01 -2.55309920e-02 7.81547674e+01] [ 1.06904171e-01 -3.22244531e-03 9.94264107e-01 4.39465354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.28509989299994 meters 0.054621864042045075 Centerline is valid? [True, True] Translation: X:414.79, Y:78.17, Z:43.95 [[ 9.58830127e-01 -2.64399827e-01 -1.03622000e-01 4.14789643e+02] [ 2.63185381e-01 9.64408948e-01 -2.54722612e-02 7.81694387e+01] [ 1.06668845e-01 -2.84822409e-03 9.94290523e-01 4.39529410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.34509989299994 meters 0.05532050966069124 Centerline is valid? [True, True] Translation: X:414.85, Y:78.17, Z:43.96 [[ 9.59612793e-01 -2.61502290e-01 -1.03729645e-01 4.14849103e+02] [ 2.60268335e-01 9.65199546e-01 -2.54996326e-02 7.81745752e+01] [ 1.06788018e-01 -2.52776825e-03 9.94278598e-01 4.39592012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.40509989299994 meters 0.05565682408310455 Centerline is valid? [True, True] Translation: X:414.91, Y:78.19, Z:43.97 [[ 9.59646933e-01 -2.61308691e-01 -1.03901546e-01 4.14906026e+02] [ 2.60069282e-01 9.65252027e-01 -2.55439353e-02 7.81859342e+01] [ 1.06966030e-01 -2.50844132e-03 9.94259511e-01 4.39654404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.46509989299994 meters 0.055074754622081654 Centerline is valid? [True, True] Translation: X:414.96, Y:78.20, Z:43.97 [[ 9.59346386e-01 -2.62379686e-01 -1.03977937e-01 4.14963315e+02] [ 2.61143447e-01 9.64961162e-01 -2.55745092e-02 7.81979849e+01] [ 1.07044902e-01 -2.61834378e-03 9.94250740e-01 4.39722464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.52509989299995 meters 0.056185686876146265 Centerline is valid? [True, True] Translation: X:415.02, Y:78.21, Z:43.98 [[ 9.58271450e-01 -2.66412618e-01 -1.03634672e-01 4.15023301e+02] [ 2.65206791e-01 9.63854258e-01 -2.55015029e-02 7.82065632e+01] [ 1.06682642e-01 -3.04725668e-03 9.94288453e-01 4.39787114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.58509989299995 meters 0.05591842889391504 Centerline is valid? [True, True] Translation: X:415.08, Y:78.22, Z:43.98 [[ 9.57136248e-01 -2.70399887e-01 -1.03798378e-01 4.15082780e+02] [ 2.69213623e-01 9.62741746e-01 -2.55412596e-02 7.82160628e+01] [ 1.06837386e-01 -3.49747210e-03 9.94270356e-01 4.39842577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.64509989299995 meters 0.05499475994013618 Centerline is valid? [True, True] Translation: X:415.14, Y:78.23, Z:43.99 [[ 9.55202359e-01 -2.76853150e-01 -1.04598217e-01 4.15139974e+02] [ 2.75686939e-01 9.60902836e-01 -2.57381317e-02 7.82346531e+01] [ 1.07634406e-01 -4.25123808e-03 9.94181453e-01 4.39907447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.70509989299995 meters 0.06098435919417886 Centerline is valid? [True, True] Translation: X:415.20, Y:78.22, Z:43.99 [[ 9.53976093e-01 -2.80731328e-01 -1.05449209e-01 4.15203944e+02] [ 2.79569555e-01 9.59774754e-01 -2.59477511e-02 7.82242225e+01] [ 1.08491835e-01 -4.72685414e-03 9.94086102e-01 4.39943857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.76509989299996 meters 0.055570821982786636 Centerline is valid? [True, True] Translation: X:415.26, Y:78.25, Z:44.00 [[ 9.52580879e-01 -2.85489944e-01 -1.05286089e-01 4.15259009e+02] [ 2.84360595e-01 9.58367271e-01 -2.59080097e-02 7.82511846e+01] [ 1.08299218e-01 -5.25974027e-03 9.94104428e-01 4.40019654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.82509989299996 meters 0.055378341940482176 Centerline is valid? [True, True] Translation: X:415.32, Y:78.27, Z:44.01 [[ 9.52198813e-01 -2.86818048e-01 -1.05132425e-01 4.15316254e+02] [ 2.85700005e-01 9.57969844e-01 -2.58705626e-02 7.82676435e+01] [ 1.08133837e-01 -5.40241542e-03 9.94121666e-01 4.40087662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.88509989299996 meters 0.05513897178188693 Centerline is valid? [True, True] Translation: X:415.37, Y:78.28, Z:44.02 [[ 9.52649823e-01 -2.85405801e-01 -1.04889669e-01 4.15373997e+02] [ 2.84284305e-01 9.58392502e-01 -2.58117609e-02 7.82817753e+01] [ 1.07892299e-01 -5.22891723e-03 9.94148837e-01 4.40151581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.94509989299996 meters 0.055306956372868275 Centerline is valid? [True, True] Translation: X:415.43, Y:78.30, Z:44.02 [[ 9.53722312e-01 -2.81900544e-01 -1.04622345e-01 4.15431593e+02] [ 2.80763572e-01 9.59431535e-01 -2.57477357e-02 7.82957116e+01] [ 1.07636278e-01 -4.81795335e-03 9.94178666e-01 4.40215714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.00509989299997 meters 0.05801356685320896 Centerline is valid? [True, True] Translation: X:415.49, Y:78.30, Z:44.03 [[ 9.55991672e-01 -2.74412250e-01 -1.03816377e-01 4.15491337e+02] [ 2.73248651e-01 9.61604064e-01 -2.55499166e-02 7.82997047e+01] [ 1.06841460e-01 -3.94217756e-03 9.94268254e-01 4.40280160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.06509989299997 meters 0.05717872414789397 Centerline is valid? [True, True] Translation: X:415.55, Y:78.32, Z:44.03 [[ 9.57357831e-01 -2.69431116e-01 -1.04272994e-01 4.15548400e+02] [ 2.68227706e-01 9.63013661e-01 -2.56629309e-02 7.83179180e+01] [ 1.07330710e-01 -3.40029820e-03 9.94217560e-01 4.40340905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.12509989299997 meters 0.05532039557903168 Centerline is valid? [True, True] Translation: X:415.60, Y:78.35, Z:44.04 [[ 9.58483321e-01 -2.64796610e-01 -1.05794514e-01 4.15603363e+02] [ 2.63529407e-01 9.64299859e-01 -2.60390864e-02 7.83462029e+01] [ 1.08912696e-01 -2.92193548e-03 9.94047024e-01 4.40400544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.185099893 meters 0.05558700478014022 Centerline is valid? [True, True] Translation: X:415.66, Y:78.36, Z:44.04 [[ 9.58654864e-01 -2.63830130e-01 -1.06651366e-01 4.15659477e+02] [ 2.62536212e-01 9.64564995e-01 -2.62508663e-02 7.83585323e+01] [ 1.09797944e-01 -2.83432492e-03 9.93949887e-01 4.40449608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.245099893 meters 0.055870856734647006 Centerline is valid? [True, True] Translation: X:415.72, Y:78.37, Z:44.05 [[ 9.58393049e-01 -2.64638685e-01 -1.07000606e-01 4.15716564e+02] [ 2.63340707e-01 9.64343182e-01 -2.63419860e-02 7.83727917e+01] [ 1.10156413e-01 -2.93163886e-03 9.93909941e-01 4.40506762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.305099893 meters 0.05492564280000046 Centerline is valid? [True, True] Translation: X:415.77, Y:78.39, Z:44.06 [[ 9.58116634e-01 -2.65781077e-01 -1.06643961e-01 4.15773173e+02] [ 2.64497394e-01 9.64028618e-01 -2.62669478e-02 7.83879583e+01] [ 1.09789088e-01 -3.04025019e-03 9.93950257e-01 4.40574761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.365099893 meters 0.05547843773242037 Centerline is valid? [True, True] Translation: X:415.83, Y:78.40, Z:44.07 [[ 9.58207704e-01 -2.66249210e-01 -1.04639166e-01 4.15829180e+02] [ 2.65014903e-01 9.63899486e-01 -2.57853263e-02 7.83996425e+01] [ 1.07726961e-01 -3.02324010e-03 9.94175921e-01 4.40652336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.425099893 meters 0.05600483418122145 Centerline is valid? [True, True] Translation: X:415.88, Y:78.41, Z:44.07 [[ 9.58202026e-01 -2.66481933e-01 -1.04097347e-01 4.15884576e+02] [ 2.65261263e-01 9.63835155e-01 -2.56565158e-02 7.84145066e+01] [ 1.07169680e-01 -3.02886824e-03 9.94236132e-01 4.40721260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.485099893 meters 0.05580226711305287 Centerline is valid? [True, True] Translation: X:415.94, Y:78.43, Z:44.08 [[ 9.57916822e-01 -2.67845353e-01 -1.03219326e-01 4.15941251e+02] [ 2.66651648e-01 9.63456798e-01 -2.54538274e-02 7.84288363e+01] [ 1.06265051e-01 -3.14095408e-03 9.94332879e-01 4.40784791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.54509989299993 meters 0.05571904725768574 Centerline is valid? [True, True] Translation: X:416.00, Y:78.44, Z:44.08 [[ 9.57693728e-01 -2.68682490e-01 -1.03113737e-01 4.15998004e+02] [ 2.67494772e-01 9.63223421e-01 -2.54398844e-02 7.84420846e+01] [ 1.06156818e-01 -3.21876781e-03 9.94344191e-01 4.40841942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.60509989299993 meters 0.05760379888094262 Centerline is valid? [True, True] Translation: X:416.06, Y:78.45, Z:44.09 [[ 9.57335444e-01 -2.69772636e-01 -1.03593307e-01 4.16055244e+02] [ 2.68578883e-01 9.62918244e-01 -2.55702654e-02 7.84488853e+01] [ 1.06650044e-01 -3.34365345e-03 9.94290998e-01 4.40887494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.66509989299993 meters 0.05490306821760626 Centerline is valid? [True, True] Translation: X:416.11, Y:78.48, Z:44.10 [[ 9.56995064e-01 -2.70395436e-01 -1.05103549e-01 4.16109914e+02] [ 2.69169476e-01 9.62743145e-01 -2.59505329e-02 7.84757743e+01] [ 1.08204627e-01 -3.45613518e-03 9.94122635e-01 4.40958612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.72509989299994 meters 0.05579415898492212 Centerline is valid? [True, True] Translation: X:416.17, Y:78.48, Z:44.10 [[ 9.57603158e-01 -2.68260153e-01 -1.05036570e-01 4.16168460e+02] [ 2.67022899e-01 9.63341150e-01 -2.59345203e-02 7.84844594e+01] [ 1.08143249e-01 -3.21219098e-03 9.94130132e-01 4.41015464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.78509989299994 meters 0.0557100427818582 Centerline is valid? [True, True] Translation: X:416.23, Y:78.50, Z:44.11 [[ 9.58265843e-01 -2.65743038e-01 -1.05390759e-01 4.16226342e+02] [ 2.64482030e-01 9.64039427e-01 -2.60238245e-02 7.85008628e+01] [ 1.08516497e-01 -2.93621962e-03 9.94090312e-01 4.41074401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.84509989299994 meters 0.05659960629074988 Centerline is valid? [True, True] Translation: X:416.28, Y:78.51, Z:44.11 [[ 9.59195610e-01 -2.62107234e-01 -1.06035748e-01 4.16283471e+02] [ 2.60808309e-01 9.65035417e-01 -2.61853074e-02 7.85138741e+01] [ 1.09191610e-01 -2.53817215e-03 9.94017480e-01 4.41123899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.90509989299994 meters 0.05593439290630976 Centerline is valid? [True, True] Translation: X:416.34, Y:78.54, Z:44.12 [[ 9.59447643e-01 -2.61162236e-01 -1.06087259e-01 4.16338846e+02] [ 2.59856041e-01 9.65291864e-01 -2.62002734e-02 7.85351679e+01] [ 1.09247690e-01 -2.42962454e-03 9.94011589e-01 4.41200603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.96509989299994 meters 0.05545564124488511 Centerline is valid? [True, True] Translation: X:416.40, Y:78.55, Z:44.13 [[ 9.59353127e-01 -2.61402175e-01 -1.06350742e-01 4.16395408e+02] [ 2.60089669e-01 9.65226860e-01 -2.62768501e-02 7.85471988e+01] [ 1.09521418e-01 -2.45195098e-03 9.93981412e-01 4.41259605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.02509989299995 meters 0.055282208676389506 Centerline is valid? [True, True] Translation: X:416.45, Y:78.56, Z:44.13 [[ 9.58875765e-01 -2.62978407e-01 -1.06769025e-01 4.16452646e+02] [ 2.61664714e-01 9.64798114e-01 -2.63851658e-02 7.85598656e+01] [ 1.09949283e-01 -2.63759037e-03 9.93933699e-01 4.41329253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.08509989299995 meters 0.056270357203542634 Centerline is valid? [True, True] Translation: X:416.51, Y:78.57, Z:44.14 [[ 9.58495263e-01 -2.64381477e-01 -1.06720505e-01 4.16510055e+02] [ 2.63076363e-01 9.64414160e-01 -2.63847418e-02 7.85657464e+01] [ 1.09898403e-01 -2.78599220e-03 9.93938921e-01 4.41375397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.14509989299995 meters 0.05662642723936419 Centerline is valid? [True, True] Translation: X:416.57, Y:78.58, Z:44.14 [[ 9.57726251e-01 -2.66768644e-01 -1.07679705e-01 4.16567457e+02] [ 2.65454302e-01 9.63755670e-01 -2.66274823e-02 7.85809152e+01] [ 1.10880304e-01 -3.08220226e-03 9.93828988e-01 4.41441404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.20509989299995 meters 0.05595871366880607 Centerline is valid? [True, True] Translation: X:416.62, Y:78.60, Z:44.15 [[ 9.57306285e-01 -2.68267105e-01 -1.07691396e-01 4.16623052e+02] [ 2.66961328e-01 9.63339084e-01 -2.66356551e-02 7.85965677e+01] [ 1.10888801e-01 -3.25095815e-03 9.93827503e-01 4.41506623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.26509989299996 meters 0.05675646066411437 Centerline is valid? [True, True] Translation: X:416.68, Y:78.61, Z:44.16 [[ 9.57187569e-01 -2.68903384e-01 -1.07158425e-01 4.16681095e+02] [ 2.67614042e-01 9.63161489e-01 -2.65079443e-02 7.86065900e+01] [ 1.10338944e-01 -3.30402439e-03 9.93888525e-01 4.41565410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.32509989299996 meters 0.05687628159239511 Centerline is valid? [True, True] Translation: X:416.74, Y:78.62, Z:44.16 [[ 9.57394157e-01 -2.68520884e-01 -1.06268352e-01 4.16737065e+02] [ 2.67249307e-01 9.63268476e-01 -2.62992396e-02 7.86233140e+01] [ 1.09426849e-01 -3.22140522e-03 9.93989631e-01 4.41639644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.38509989299996 meters 0.05595358805467477 Centerline is valid? [True, True] Translation: X:416.79, Y:78.64, Z:44.17 [[ 9.57695754e-01 -2.67515535e-01 -1.06086200e-01 4.16792710e+02] [ 2.66240919e-01 9.63548593e-01 -2.62656147e-02 7.86412425e+01] [ 1.09245669e-01 -3.09001979e-03 9.94009978e-01 4.41705457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.44509989299996 meters 0.05736629082904495 Centerline is valid? [True, True] Translation: X:416.85, Y:78.65, Z:44.17 [[ 9.58007801e-01 -2.66235542e-01 -1.06487978e-01 4.16851028e+02] [ 2.64942035e-01 9.63903507e-01 -2.63770250e-02 7.86484036e+01] [ 1.09666637e-01 -2.94374584e-03 9.93964065e-01 4.41745938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.50509989299997 meters 0.05646085282428047 Centerline is valid? [True, True] Translation: X:416.91, Y:78.67, Z:44.18 [[ 9.57617921e-01 -2.67415328e-01 -1.07037188e-01 4.16906345e+02] [ 2.66115291e-01 9.63576405e-01 -2.65172207e-02 7.86661838e+01] [ 1.10229620e-01 -3.09086659e-03 9.93901342e-01 4.41812984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.56509989299997 meters 0.056834204245646926 Centerline is valid? [True, True] Translation: X:416.96, Y:78.68, Z:44.19 [[ 9.56924800e-01 -2.69438297e-01 -1.08156978e-01 4.16964313e+02] [ 2.68122363e-01 9.63011838e-01 -2.68067005e-02 7.86759062e+01] [ 1.11379202e-01 -3.34730798e-03 9.93772343e-01 4.41854656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.62509989299997 meters 0.05603453417929445 Centerline is valid? [True, True] Translation: X:417.02, Y:78.69, Z:44.19 [[ 9.56052617e-01 -2.72693068e-01 -1.07712040e-01 4.17021490e+02] [ 2.71408225e-01 9.62093935e-01 -2.66989894e-02 7.86944498e+01] [ 1.10909729e-01 -3.70829484e-03 9.93823566e-01 4.41929715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.685099893 meters 0.057012354786068455 Centerline is valid? [True, True] Translation: X:417.08, Y:78.70, Z:44.20 [[ 9.55866259e-01 -2.73534580e-01 -1.07231192e-01 4.17079218e+02] [ 2.72266353e-01 9.61854712e-01 -2.65809273e-02 7.87001390e+01] [ 1.10411630e-01 -3.78763403e-03 9.93878728e-01 4.41982732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.745099893 meters 0.05687614947334718 Centerline is valid? [True, True] Translation: X:417.14, Y:78.72, Z:44.21 [[ 9.56166627e-01 -2.72706362e-01 -1.06661244e-01 4.17135730e+02] [ 2.71445994e-01 9.62090322e-01 -2.64440066e-02 7.87168630e+01] [ 1.09829200e-01 -3.66789093e-03 9.93943707e-01 4.42054046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.805099893 meters 0.05618400153117645 Centerline is valid? [True, True] Translation: X:417.19, Y:78.74, Z:44.21 [[ 9.56344742e-01 -2.72121820e-01 -1.06557257e-01 4.17191192e+02] [ 2.70860050e-01 9.62256094e-01 -2.64204890e-02 7.87352878e+01] [ 1.09724961e-01 -3.59500818e-03 9.93955486e-01 4.42119098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.865099893 meters 0.05869452089115634 Centerline is valid? [True, True] Translation: X:417.25, Y:78.74, Z:44.22 [[ 9.56344201e-01 -2.72637316e-01 -1.05236225e-01 4.17249498e+02] [ 2.71408530e-01 9.62110158e-01 -2.61046751e-02 7.87376747e+01] [ 1.08365949e-01 -3.59695438e-03 9.94104563e-01 4.42174274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.925099893 meters 0.05600561263784648 Centerline is valid? [True, True] Translation: X:417.30, Y:78.76, Z:44.23 [[ 9.55919515e-01 -2.74201271e-01 -1.05031153e-01 4.17304551e+02] [ 2.72986219e-01 9.61664965e-01 -2.60580020e-02 7.87618003e+01] [ 1.08149917e-01 -3.76270460e-03 9.94127475e-01 4.42251749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.985099893 meters 0.05818835468698859 Centerline is valid? [True, True] Translation: X:417.36, Y:78.77, Z:44.23 [[ 9.55352720e-01 -2.76019348e-01 -1.05425330e-01 4.17362414e+02] [ 2.74805955e-01 9.61143832e-01 -2.61576287e-02 7.87691839e+01] [ 1.08548917e-01 -3.98174682e-03 9.94083134e-01 4.42294427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.04509989299993 meters 0.056913435346256806 Centerline is valid? [True, True] Translation: X:417.42, Y:78.79, Z:44.24 [[ 9.55104123e-01 -2.76680839e-01 -1.05942567e-01 4.17418464e+02] [ 2.75459107e-01 9.60953236e-01 -2.62898879e-02 7.87877137e+01] [ 1.09079761e-01 -4.07326469e-03 9.94024655e-01 4.42357005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.10509989299993 meters 0.05890720928256851 Centerline is valid? [True, True] Translation: X:417.48, Y:78.80, Z:44.24 [[ 9.55101580e-01 -2.76636863e-01 -1.06080241e-01 4.17475753e+02] [ 2.75410356e-01 9.60965945e-01 -2.63360845e-02 7.88006759e+01] [ 1.09225031e-01 -4.06196089e-03 9.94008749e-01 4.42418432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.16509989299993 meters 0.057382007146635605 Centerline is valid? [True, True] Translation: X:417.53, Y:78.82, Z:44.25 [[ 9.55036807e-01 -2.76498868e-01 -1.07019034e-01 4.17530489e+02] [ 2.75248300e-01 9.61005622e-01 -2.65813348e-02 7.88182411e+01] [ 1.10195602e-01 -4.07065409e-03 9.93901584e-01 4.42478932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.22509989299994 meters 0.05918967029437826 Centerline is valid? [True, True] Translation: X:417.59, Y:78.83, Z:44.25 [[ 9.54861007e-01 -2.76728636e-01 -1.07989442e-01 4.17588963e+02] [ 2.75455235e-01 9.60939265e-01 -2.68354874e-02 7.88271586e+01] [ 1.11197443e-01 -4.12209653e-03 9.93789785e-01 4.42511873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.28509989299994 meters 0.057551218941283844 Centerline is valid? [True, True] Translation: X:417.64, Y:78.85, Z:44.26 [[ 9.54753496e-01 -2.77102500e-01 -1.07981320e-01 4.17643564e+02] [ 2.75830304e-01 9.60831386e-01 -2.68456841e-02 7.88503161e+01] [ 1.11190848e-01 -4.15350959e-03 9.93790392e-01 4.42585611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.34509989299994 meters 0.055275456555596986 Centerline is valid? [True, True] Translation: X:417.70, Y:78.87, Z:44.27 [[ 9.55115959e-01 -2.76207939e-01 -1.07063899e-01 4.17698173e+02] [ 2.74950465e-01 9.61089562e-01 -2.66288606e-02 7.88736301e+01] [ 1.10253099e-01 -4.00361916e-03 9.93895480e-01 4.42666225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.40509989299994 meters 0.05600324387400581 Centerline is valid? [True, True] Translation: X:417.75, Y:78.89, Z:44.27 [[ 9.55700934e-01 -2.74194216e-01 -1.07019889e-01 4.17754927e+02] [ 2.72924998e-01 9.61666956e-01 -2.66197418e-02 7.88918813e+01] [ 1.10216470e-01 -3.76789081e-03 9.93900464e-01 4.42734634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.46509989299994 meters 0.05519902675447973 Centerline is valid? [True, True] Translation: X:417.81, Y:78.91, Z:44.28 [[ 9.55895481e-01 -2.73540785e-01 -1.06954519e-01 4.17812252e+02] [ 2.72268813e-01 9.61853334e-01 -2.66055944e-02 7.89107399e+01] [ 1.10152276e-01 -3.68821258e-03 9.93907880e-01 4.42803407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.52509989299995 meters 0.055245613873399574 Centerline is valid? [True, True] Translation: X:417.87, Y:78.92, Z:44.29 [[ 9.56210990e-01 -2.72365176e-01 -1.07134274e-01 4.17870105e+02] [ 2.71081560e-01 9.62187376e-01 -2.66503621e-02 7.89245489e+01] [ 1.10341877e-01 -3.55875700e-03 9.93887320e-01 4.42858549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.58509989299995 meters 0.05494638409721762 Centerline is valid? [True, True] Translation: X:417.93, Y:78.94, Z:44.29 [[ 9.56938665e-01 -2.70040779e-01 -1.06519339e-01 4.17927279e+02] [ 2.68757448e-01 9.62843331e-01 -2.64981987e-02 7.89435771e+01] [ 1.09717029e-01 -3.27071474e-03 9.93957482e-01 4.42922284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.64509989299995 meters 0.056620050301623745 Centerline is valid? [True, True] Translation: X:417.99, Y:78.95, Z:44.30 [[ 9.57804099e-01 -2.66886398e-01 -1.06690950e-01 4.17985790e+02] [ 2.65579493e-01 9.63723589e-01 -2.65401149e-02 7.89514155e+01] [ 1.09903781e-01 -2.91469763e-03 9.93937958e-01 4.42959903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.70509989299995 meters 0.055803736725146894 Centerline is valid? [True, True] Translation: X:418.04, Y:78.98, Z:44.30 [[ 9.58828093e-01 -2.63132043e-01 -1.06818616e-01 4.18041165e+02] [ 2.61798566e-01 9.64756628e-01 -2.65736688e-02 7.89753647e+01] [ 1.10046351e-01 -2.48538018e-03 9.93923349e-01 4.43036773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.76509989299996 meters 0.05530133188713949 Centerline is valid? [True, True] Translation: X:418.10, Y:79.00, Z:44.31 [[ 9.60578264e-01 -2.56620623e-01 -1.06935753e-01 4.18097085e+02] [ 2.55243832e-01 9.66510646e-01 -2.66037066e-02 7.89964635e+01] [ 1.10181603e-01 -1.73974906e-03 9.93909949e-01 4.43101036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.82509989299996 meters 0.05569720851452877 Centerline is valid? [True, True] Translation: X:418.15, Y:79.02, Z:44.32 [[ 9.61625349e-01 -2.52592815e-01 -1.07114697e-01 4.18153773e+02] [ 2.51186358e-01 9.67571823e-01 -2.66492046e-02 7.90155157e+01] [ 1.10372560e-01 -1.27919984e-03 9.93889462e-01 4.43167883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.88509989299996 meters 0.05536687357658083 Centerline is valid? [True, True] Translation: X:418.21, Y:79.03, Z:44.32 [[ 9.62544384e-01 -2.48745395e-01 -1.07861194e-01 4.18209587e+02] [ 2.47295073e-01 9.68568540e-01 -2.68352328e-02 7.90293311e+01] [ 1.11146100e-01 -8.43439331e-04 9.93803720e-01 4.43203581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.94509989299996 meters 0.05544475221023931 Centerline is valid? [True, True] Translation: X:418.27, Y:79.04, Z:44.33 [[ 9.62368976e-01 -2.49383567e-01 -1.07952720e-01 4.18266650e+02] [ 2.47934184e-01 9.68404359e-01 -2.68633105e-02 7.90431218e+01] [ 1.11241152e-01 -9.12752802e-04 9.93793023e-01 4.43270530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.00509989299997 meters 0.055095590285369325 Centerline is valid? [True, True] Translation: X:418.32, Y:79.06, Z:44.33 [[ 9.61686981e-01 -2.51556257e-01 -1.08984402e-01 4.18323130e+02] [ 2.50091440e-01 9.67841979e-01 -2.71325413e-02 7.90553495e+01] [ 1.12305040e-01 -1.16305425e-03 9.93673098e-01 4.43329534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.06509989299997 meters 0.05543588668006106 Centerline is valid? [True, True] Translation: X:418.38, Y:79.07, Z:44.34 [[ 9.60224011e-01 -2.56757539e-01 -1.09751610e-01 4.18381074e+02] [ 2.55305278e-01 9.66474211e-01 -2.73279067e-02 7.90686060e+01] [ 1.13088746e-01 -1.77925306e-03 9.93583298e-01 4.43401349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.12509989299997 meters 0.055956626910461105 Centerline is valid? [True, True] Translation: X:418.44, Y:79.08, Z:44.35 [[ 9.59410613e-01 -2.59798831e-01 -1.09707990e-01 4.18438314e+02] [ 2.58367377e-01 9.65660399e-01 -2.73183389e-02 7.90791526e+01] [ 1.13037934e-01 -2.13546131e-03 9.93588378e-01 4.43455149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.185099893 meters 0.05576609894357563 Centerline is valid? [True, True] Translation: X:418.50, Y:79.09, Z:44.35 [[ 9.58769083e-01 -2.62453722e-01 -1.08994905e-01 4.18496409e+02] [ 2.61057535e-01 9.64941524e-01 -2.71443965e-02 7.90921793e+01] [ 1.12297858e-01 -2.42873311e-03 9.93671622e-01 4.43529333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.245099893 meters 0.05522746649676502 Centerline is valid? [True, True] Translation: X:418.55, Y:79.10, Z:44.36 [[ 9.58066169e-01 -2.65870697e-01 -1.06873700e-01 4.18554257e+02] [ 2.64549422e-01 9.64004715e-01 -2.66179079e-02 7.91038629e+01] [ 1.10103673e-01 -2.77165859e-03 9.93916244e-01 4.43599067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.305099893 meters 0.054877511808151536 Centerline is valid? [True, True] Translation: X:418.61, Y:79.12, Z:44.37 [[ 9.57397566e-01 -2.68484349e-01 -1.06329935e-01 4.18612135e+02] [ 2.67192378e-01 9.63279203e-01 -2.64841417e-02 7.91210507e+01] [ 1.09535993e-01 -3.05469541e-03 9.93978136e-01 4.43673968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.365099893 meters 0.057300242519338164 Centerline is valid? [True, True] Translation: X:418.67, Y:79.12, Z:44.37 [[ 9.56450509e-01 -2.71879899e-01 -1.06224973e-01 4.18672993e+02] [ 2.70611411e-01 9.62325040e-01 -2.64571737e-02 7.91207308e+01] [ 1.09416126e-01 -3.44071269e-03 9.93990077e-01 4.43713792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.425099893 meters 0.05561544517691855 Centerline is valid? [True, True] Translation: X:418.73, Y:79.15, Z:44.38 [[ 9.55756897e-01 -2.74342186e-01 -1.06137263e-01 4.18729324e+02] [ 2.73090775e-01 9.61624948e-01 -2.64365056e-02 7.91452052e+01] [ 1.09316889e-01 -3.71823494e-03 9.93999996e-01 4.43796381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.485099893 meters 0.05672160181187319 Centerline is valid? [True, True] Translation: X:418.79, Y:79.15, Z:44.39 [[ 9.55293269e-01 -2.76135391e-01 -1.05659904e-01 4.18788427e+02] [ 2.74906232e-01 9.61110809e-01 -2.63168540e-02 7.91504335e+01] [ 1.08817891e-01 -3.90625263e-03 9.94054027e-01 4.43854755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.54509989299993 meters 0.05699500392254494 Centerline is valid? [True, True] Translation: X:418.84, Y:79.16, Z:44.39 [[ 9.55211359e-01 -2.76126564e-01 -1.06420767e-01 4.18844805e+02] [ 2.74879184e-01 9.61113246e-01 -2.65096721e-02 7.91630990e+01] [ 1.09602433e-01 -3.93051363e-03 9.93967735e-01 4.43912692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.60509989299993 meters 0.057299324080246045 Centerline is valid? [True, True] Translation: X:418.90, Y:79.18, Z:44.40 [[ 9.55425931e-01 -2.74812723e-01 -1.07885392e-01 4.18901679e+02] [ 2.73520944e-01 9.61490184e-01 -2.68871663e-02 7.91790073e+01] [ 1.11119681e-01 -3.82021839e-03 9.93799689e-01 4.43964697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.66509989299993 meters 0.05578841751758826 Centerline is valid? [True, True] Translation: X:418.96, Y:79.21, Z:44.41 [[ 9.56245279e-01 -2.71870918e-01 -1.08079465e-01 4.18956443e+02] [ 2.70555149e-01 9.62327438e-01 -2.69409188e-02 7.92084328e+01] [ 1.11332287e-01 -3.47932953e-03 9.93777146e-01 4.44055222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.72509989299994 meters 0.056494526950572464 Centerline is valid? [True, True] Translation: X:419.02, Y:79.22, Z:44.41 [[ 9.57039742e-01 -2.69104008e-01 -1.07972062e-01 4.19016529e+02] [ 2.67773414e-01 9.63105954e-01 -2.69131992e-02 7.92157504e+01] [ 1.11230985e-01 -3.15504631e-03 9.93789572e-01 4.44098496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.78509989299994 meters 0.05520936217248516 Centerline is valid? [True, True] Translation: X:419.07, Y:79.24, Z:44.42 [[ 9.58476587e-01 -2.64372688e-01 -1.06909842e-01 4.19072461e+02] [ 2.63038939e-01 9.64417142e-01 -2.66475695e-02 7.92382323e+01] [ 1.10150574e-01 -2.58037996e-03 9.93911562e-01 4.44190273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.84509989299994 meters 0.05619385302247161 Centerline is valid? [True, True] Translation: X:419.13, Y:79.25, Z:44.43 [[ 9.59264013e-01 -2.61961785e-01 -1.05776068e-01 4.19129856e+02] [ 2.60641600e-01 9.65075558e-01 -2.63652155e-02 7.92506739e+01] [ 1.08988577e-01 -2.27844121e-03 9.94040391e-01 4.44254342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.90509989299994 meters 0.05555181194633951 Centerline is valid? [True, True] Translation: X:419.19, Y:79.27, Z:44.43 [[ 9.59351437e-01 -2.62107150e-01 -1.04616740e-01 4.19185351e+02] [ 2.60816438e-01 9.65036114e-01 -2.60784296e-02 7.92663411e+01] [ 1.07794275e-01 -2.26738659e-03 9.94170636e-01 4.44332222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.96509989299994 meters 0.05642333454470297 Centerline is valid? [True, True] Translation: X:419.24, Y:79.27, Z:44.44 [[ 9.58596589e-01 -2.64783863e-01 -1.04795446e-01 4.19243383e+02] [ 2.63503171e-01 9.64304389e-01 -2.61366340e-02 7.92735211e+01] [ 1.07975268e-01 -2.55944420e-03 9.94150286e-01 4.44384656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.02509989299995 meters 0.057210434260180305 Centerline is valid? [True, True] Translation: X:419.30, Y:79.28, Z:44.44 [[ 9.56769396e-01 -2.70790321e-01 -1.06136354e-01 4.19302380e+02] [ 2.69512941e-01 9.62632783e-01 -2.64744928e-02 7.92836299e+01] [ 1.09339371e-01 -3.27513653e-03 9.93999082e-01 4.44438830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.08509989299995 meters 0.056312056368899965 Centerline is valid? [True, True] Translation: X:419.36, Y:79.30, Z:44.45 [[ 9.55813023e-01 -2.73861749e-01 -1.06870051e-01 4.19359909e+02] [ 2.72585646e-01 9.61762139e-01 -2.66580868e-02 7.93004702e+01] [ 1.10084199e-01 -3.65109527e-03 9.93915559e-01 4.44505357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.14509989299995 meters 0.056410424906923676 Centerline is valid? [True, True] Translation: X:419.42, Y:79.32, Z:44.46 [[ 9.55158941e-01 -2.76331243e-01 -1.06359963e-01 4.19417231e+02] [ 2.75082474e-01 9.61054478e-01 -2.65315367e-02 7.93168673e+01] [ 1.09549211e-01 -3.91592737e-03 9.93973660e-01 4.44582697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.20509989299995 meters 0.058261416707770845 Centerline is valid? [True, True] Translation: X:419.48, Y:79.32, Z:44.46 [[ 9.55250942e-01 -2.76092507e-01 -1.06153504e-01 4.19476017e+02] [ 2.74847006e-01 9.61123236e-01 -2.64811112e-02 7.93208731e+01] [ 1.09337835e-01 -3.87986617e-03 9.93997075e-01 4.44636094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.26509989299996 meters 0.0578721536545545 Centerline is valid? [True, True] Translation: X:419.53, Y:79.34, Z:44.47 [[ 9.55603990e-01 -2.74745722e-01 -1.06469727e-01 4.19532232e+02] [ 2.73483957e-01 9.61509675e-01 -2.65644461e-02 7.93373751e+01] [ 1.09670141e-01 -3.73267156e-03 9.93961029e-01 4.44694734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.32509989299996 meters 0.05700534677226968 Centerline is valid? [True, True] Translation: X:419.59, Y:79.36, Z:44.48 [[ 9.55810534e-01 -2.73935191e-01 -1.06703955e-01 4.19587601e+02] [ 2.72662396e-01 9.61741250e-01 -2.66267816e-02 7.93557101e+01] [ 1.09915608e-01 -3.64399775e-03 9.93934244e-01 4.44758816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.38509989299996 meters 0.05702243644823287 Centerline is valid? [True, True] Translation: X:419.64, Y:79.37, Z:44.48 [[ 9.55793052e-01 -2.74060789e-01 -1.06537907e-01 4.19642858e+02] [ 2.72791435e-01 9.61705477e-01 -2.65971467e-02 7.93721209e+01] [ 1.09747323e-01 -3.64126041e-03 9.93952849e-01 4.44823393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.44509989299996 meters 0.05801611268903538 Centerline is valid? [True, True] Translation: X:419.70, Y:79.38, Z:44.49 [[ 9.55267223e-01 -2.75846907e-01 -1.06644342e-01 4.19701229e+02] [ 2.74585145e-01 9.61193905e-01 -2.66322313e-02 7.93802146e+01] [ 1.09852310e-01 -3.84205447e-03 9.93940495e-01 4.44885575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.50509989299997 meters 0.0597295694307528 Centerline is valid? [True, True] Translation: X:419.76, Y:79.39, Z:44.49 [[ 9.54275793e-01 -2.78867211e-01 -1.07660530e-01 4.19761326e+02] [ 2.77599940e-01 9.60320372e-01 -2.68897105e-02 7.93886872e+01] [ 1.10887259e-01 -4.22635688e-03 9.93824005e-01 4.44931957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.56509989299997 meters 0.058247973342532205 Centerline is valid? [True, True] Translation: X:419.82, Y:79.41, Z:44.50 [[ 9.53566398e-01 -2.81237870e-01 -1.07779331e-01 4.19818431e+02] [ 2.79982847e-01 9.59627505e-01 -2.69194505e-02 7.94076153e+01] [ 1.10998780e-01 -4.50688056e-03 9.93810323e-01 4.45001981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.62509989299997 meters 0.05579980952799168 Centerline is valid? [True, True] Translation: X:419.87, Y:79.44, Z:44.51 [[ 9.52807947e-01 -2.83635986e-01 -1.08201869e-01 4.19872712e+02] [ 2.82386461e-01 9.58919985e-01 -2.70249619e-02 7.94372393e+01] [ 1.11422187e-01 -4.80514444e-03 9.93761544e-01 4.45085653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.685099893 meters 0.05684793754267374 Centerline is valid? [True, True] Translation: X:419.93, Y:79.45, Z:44.51 [[ 9.52793945e-01 -2.83733085e-01 -1.08070507e-01 4.19932904e+02] [ 2.82487270e-01 9.58891230e-01 -2.69916967e-02 7.94473519e+01] [ 1.11286298e-01 -4.81101713e-03 9.93776742e-01 4.45145827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.745099893 meters 0.05779438288955833 Centerline is valid? [True, True] Translation: X:419.99, Y:79.46, Z:44.52 [[ 9.53340130e-01 -2.82199817e-01 -1.07265373e-01 4.19990404e+02] [ 2.80963141e-01 9.59344625e-01 -2.67881416e-02 7.94597089e+01] [ 1.10464068e-01 -4.59940583e-03 9.93869476e-01 4.45208341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.805099893 meters 0.05602621759729832 Centerline is valid? [True, True] Translation: X:420.05, Y:79.49, Z:44.53 [[ 9.53972241e-01 -2.79978662e-01 -1.07465863e-01 4.20046561e+02] [ 2.78723141e-01 9.59996373e-01 -2.68397866e-02 7.94856092e+01] [ 1.10681406e-01 -4.34881149e-03 9.93846424e-01 4.45289446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.865099893 meters 0.056765995427738004 Centerline is valid? [True, True] Translation: X:420.10, Y:79.50, Z:44.53 [[ 9.55005486e-01 -2.76333924e-01 -1.07722254e-01 4.20104224e+02] [ 2.75049385e-01 9.61053623e-01 -2.69029577e-02 7.94983422e+01] [ 1.10961063e-01 -3.93646757e-03 9.93816958e-01 4.45340624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.925099893 meters 0.056909466814769376 Centerline is valid? [True, True] Translation: X:420.16, Y:79.51, Z:44.54 [[ 9.55574409e-01 -2.74294647e-01 -1.07888810e-01 4.20160727e+02] [ 2.72993186e-01 9.61638558e-01 -2.69444734e-02 7.95134268e+01] [ 1.11140765e-01 -3.70546076e-03 9.93797766e-01 4.45399033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.985099893 meters 0.05539005120710638 Centerline is valid? [True, True] Translation: X:420.22, Y:79.54, Z:44.55 [[ 9.56080176e-01 -2.72667459e-01 -1.07532103e-01 4.20216915e+02] [ 2.71364096e-01 9.62101965e-01 -2.68576981e-02 7.95386572e+01] [ 1.10780068e-01 -3.50223931e-03 9.93838775e-01 4.45485653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.04509989299993 meters 0.0564259991907506 Centerline is valid? [True, True] Translation: X:420.28, Y:79.54, Z:44.55 [[ 9.55869398e-01 -2.72835788e-01 -1.08969385e-01 4.20278010e+02] [ 2.71498683e-01 9.62053986e-01 -2.72138349e-02 7.95445448e+01] [ 1.12259339e-01 -3.57217249e-03 9.93672522e-01 4.45523475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.10509989299993 meters 0.055935286444784994 Centerline is valid? [True, True] Translation: X:420.34, Y:79.56, Z:44.56 [[ 9.55415901e-01 -2.74262864e-01 -1.09363326e-01 4.20335735e+02] [ 2.72925668e-01 9.61647426e-01 -2.73094617e-02 7.95649859e+01] [ 1.12658932e-01 -3.75616476e-03 9.93626618e-01 4.45598278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.16509989299993 meters 0.05713177210793935 Centerline is valid? [True, True] Translation: X:420.39, Y:79.57, Z:44.57 [[ 9.54855660e-01 -2.76411374e-01 -1.08845860e-01 4.20394556e+02] [ 2.75100901e-01 9.61031122e-01 -2.71786150e-02 7.95736745e+01] [ 1.12116737e-01 -3.99193973e-03 9.93687024e-01 4.45651985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.22509989299994 meters 0.059452888733428653 Centerline is valid? [True, True] Translation: X:420.45, Y:79.58, Z:44.57 [[ 9.54624573e-01 -2.77479730e-01 -1.08152322e-01 4.20453120e+02] [ 2.76192577e-01 9.60722789e-01 -2.70070885e-02 7.95796459e+01] [ 1.11398320e-01 -4.08923826e-03 9.93767424e-01 4.45705823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.28509989299994 meters 0.0564225142587409 Centerline is valid? [True, True] Translation: X:420.51, Y:79.61, Z:44.58 [[ 9.54782399e-01 -2.77506363e-01 -1.06680781e-01 4.20508920e+02] [ 2.76253016e-01 9.60715366e-01 -2.66506233e-02 7.96054042e+01] [ 1.09885583e-01 -4.02534140e-03 9.93936092e-01 4.45797604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.34509989299994 meters 0.0576396259460322 Centerline is valid? [True, True] Translation: X:420.57, Y:79.62, Z:44.58 [[ 9.54995994e-01 -2.76888173e-01 -1.06374771e-01 4.20565994e+02] [ 2.75638359e-01 9.60894054e-01 -2.65727497e-02 7.96150332e+01] [ 1.09572565e-01 -3.94409770e-03 9.93970974e-01 4.45849593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.40509989299994 meters 0.05775734863069189 Centerline is valid? [True, True] Translation: X:420.62, Y:79.63, Z:44.59 [[ 9.54715135e-01 -2.77968921e-01 -1.06076810e-01 4.20623740e+02] [ 2.76732289e-01 9.60581520e-01 -2.65025298e-02 7.96288818e+01] [ 1.09262303e-01 -4.05251191e-03 9.94004691e-01 4.45920697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.46509989299994 meters 0.05792819238466456 Centerline is valid? [True, True] Translation: X:420.68, Y:79.64, Z:44.60 [[ 9.54250456e-01 -2.79650365e-01 -1.05838274e-01 4.20681862e+02] [ 2.78429406e-01 9.60092573e-01 -2.64446007e-02 7.96418125e+01] [ 1.09009783e-01 -4.23371539e-03 9.94031661e-01 4.45986462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.52509989299995 meters 0.0595196733577729 Centerline is valid? [True, True] Translation: X:420.74, Y:79.65, Z:44.60 [[ 9.53352620e-01 -2.82497248e-01 -1.06367696e-01 4.20742311e+02] [ 2.81281463e-01 9.59257172e-01 -2.65784834e-02 7.96478699e+01] [ 1.09542324e-01 -4.58059425e-03 9.93971578e-01 4.46040413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.58509989299995 meters 0.05821493503255693 Centerline is valid? [True, True] Translation: X:420.80, Y:79.67, Z:44.61 [[ 9.52778666e-01 -2.84108554e-01 -1.07215405e-01 4.20799601e+02] [ 2.82883412e-01 9.58780084e-01 -2.67904027e-02 7.96654766e+01] [ 1.10407378e-01 -4.80413553e-03 9.93874807e-01 4.46101886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.64509989299995 meters 0.06053980334560238 Centerline is valid? [True, True] Translation: X:420.86, Y:79.67, Z:44.61 [[ 9.52292386e-01 -2.85125329e-01 -1.08824440e-01 4.20858517e+02] [ 2.83869550e-01 9.58477224e-01 -2.71935449e-02 7.96728299e+01] [ 1.12059315e-01 -4.99573902e-03 9.93688962e-01 4.46138913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.70509989299995 meters 0.0570429009591121 Centerline is valid? [True, True] Translation: X:420.91, Y:79.70, Z:44.62 [[ 9.52237660e-01 -2.85342825e-01 -1.08733212e-01 4.20914016e+02] [ 2.84090185e-01 9.58412403e-01 -2.71741257e-02 7.97002639e+01] [ 1.11965201e-01 -5.01381247e-03 9.93699479e-01 4.46230270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.76509989299996 meters 0.0574741379038611 Centerline is valid? [True, True] Translation: X:420.97, Y:79.71, Z:44.63 [[ 9.52929658e-01 -2.83461083e-01 -1.07586625e-01 4.20972634e+02] [ 2.82223075e-01 9.58972009e-01 -2.68853688e-02 7.97134295e+01] [ 1.10793517e-01 -4.74356275e-03 9.93832126e-01 4.46300654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.82509989299996 meters 0.056077914056041435 Centerline is valid? [True, True] Translation: X:421.03, Y:79.73, Z:44.64 [[ 9.53717902e-01 -2.81131727e-01 -1.06710428e-01 4.21030095e+02] [ 2.79898995e-01 9.59658950e-01 -2.66693322e-02 7.97343556e+01] [ 1.09903213e-01 -4.43312205e-03 9.93932408e-01 4.46379920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.88509989299996 meters 0.058833063955657926 Centerline is valid? [True, True] Translation: X:421.09, Y:79.74, Z:44.64 [[ 9.55507806e-01 -2.75136984e-01 -1.06322497e-01 4.21090719e+02] [ 2.73876290e-01 9.61397799e-01 -2.65715912e-02 7.97371951e+01] [ 1.09529042e-01 -3.72984820e-03 9.93976598e-01 4.46419101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.94509989299996 meters 0.056354402835639014 Centerline is valid? [True, True] Translation: X:421.15, Y:79.76, Z:44.65 [[ 9.56810042e-01 -2.70760723e-01 -1.05845046e-01 4.21146222e+02] [ 2.69484568e-01 9.62641318e-01 -2.64529901e-02 7.97610940e+01] [ 1.09053246e-01 -3.21312003e-03 9.94030717e-01 4.46493722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.00509989299997 meters 0.05605149446255333 Centerline is valid? [True, True] Translation: X:421.20, Y:79.78, Z:44.66 [[ 9.58377991e-01 -2.65110610e-01 -1.05962217e-01 4.21202983e+02] [ 2.63796936e-01 9.64214580e-01 -2.64843245e-02 7.97813816e+01] [ 1.09191590e-01 -2.57051446e-03 9.94017399e-01 4.46559389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.06509989299997 meters 0.05665741490123338 Centerline is valid? [True, True] Translation: X:421.26, Y:79.79, Z:44.66 [[ 9.59077955e-01 -2.62600728e-01 -1.05878861e-01 4.21260643e+02] [ 2.61273449e-01 9.64901893e-01 -2.64673639e-02 7.97928466e+01] [ 1.09113062e-01 -2.27906993e-03 9.94026733e-01 4.46614323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.12509989299997 meters 0.05595892444713471 Centerline is valid? [True, True] Translation: X:421.32, Y:79.81, Z:44.67 [[ 9.59744270e-01 -2.60136551e-01 -1.05924079e-01 4.21316691e+02] [ 2.58792974e-01 9.65569771e-01 -2.64804414e-02 7.98125616e+01] [ 1.09165620e-01 -1.99795559e-03 9.94021567e-01 4.46689069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.185099893 meters 0.05598762649078973 Centerline is valid? [True, True] Translation: X:421.37, Y:79.82, Z:44.67 [[ 9.60210846e-01 -2.58242051e-01 -1.06330496e-01 4.21374493e+02] [ 2.56876290e-01 9.66078593e-01 -2.65842640e-02 7.98235792e+01] [ 1.09588791e-01 -1.78728466e-03 9.93975403e-01 4.46732436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.245099893 meters 0.055355881689554104 Centerline is valid? [True, True] Translation: X:421.43, Y:79.84, Z:44.68 [[ 9.61189280e-01 -2.54563306e-01 -1.06361138e-01 4.21431534e+02] [ 2.53173097e-01 9.67055159e-01 -2.66026824e-02 7.98390225e+01] [ 1.09629154e-01 -1.35756558e-03 9.93971632e-01 4.46793498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.305099893 meters 0.05638834058166405 Centerline is valid? [True, True] Translation: X:421.49, Y:79.85, Z:44.69 [[ 9.61534746e-01 -2.53376988e-01 -1.06070894e-01 4.21488111e+02] [ 2.51987022e-01 9.67366849e-01 -2.65315140e-02 7.98540357e+01] [ 1.09331941e-01 -1.21751604e-03 9.94004549e-01 4.46852479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.365099893 meters 0.056036375922945414 Centerline is valid? [True, True] Translation: X:421.54, Y:79.87, Z:44.69 [[ 9.62339728e-01 -2.50003437e-01 -1.06773263e-01 4.21543850e+02] [ 2.48572855e-01 9.68244595e-01 -2.67196428e-02 7.98716439e+01] [ 1.10062637e-01 -8.27561025e-04 9.93924308e-01 4.46935733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.425099893 meters 0.05569529240871645 Centerline is valid? [True, True] Translation: X:421.60, Y:79.88, Z:44.70 [[ 9.62566532e-01 -2.49390520e-01 -1.06160444e-01 4.21601962e+02] [ 2.47971318e-01 9.68402715e-01 -2.65783031e-02 7.98808464e+01] [ 1.09434439e-01 -7.41360176e-04 9.93993739e-01 4.46970279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.485099893 meters 0.05585217024167666 Centerline is valid? [True, True] Translation: X:421.66, Y:79.89, Z:44.70 [[ 9.62230172e-01 -2.50203591e-01 -1.07290540e-01 4.21660090e+02] [ 2.48757675e-01 9.68192890e-01 -2.68728021e-02 7.98913234e+01] [ 1.10601609e-01 -8.31524203e-04 9.93864474e-01 4.47030794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.54509989299993 meters 0.05645300162811342 Centerline is valid? [True, True] Translation: X:421.72, Y:79.90, Z:44.71 [[ 9.61821148e-01 -2.51946813e-01 -1.06877889e-01 4.21717313e+02] [ 2.50521438e-01 9.67740549e-01 -2.67813125e-02 7.99046307e+01] [ 1.10177533e-01 -1.01636963e-03 9.93911404e-01 4.47107810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.60509989299993 meters 0.05582501932080209 Centerline is valid? [True, True] Translation: X:421.77, Y:79.91, Z:44.72 [[ 9.61110548e-01 -2.54434046e-01 -1.07377053e-01 4.21774178e+02] [ 2.53010157e-01 9.67089251e-01 -2.69117199e-02 7.99124617e+01] [ 1.10690451e-01 -1.30234709e-03 9.93854078e-01 4.47169630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.66509989299993 meters 0.05666486028842894 Centerline is valid? [True, True] Translation: X:421.83, Y:79.92, Z:44.72 [[ 9.60534515e-01 -2.56297411e-01 -1.08097559e-01 4.21831237e+02] [ 2.54865064e-01 9.66596778e-01 -2.71010801e-02 7.99217476e+01] [ 1.11432689e-01 -1.51876856e-03 9.93770823e-01 4.47221628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.72509989299994 meters 0.05688266964706301 Centerline is valid? [True, True] Translation: X:421.89, Y:79.93, Z:44.73 [[ 9.59432671e-01 -2.60038433e-01 -1.08944774e-01 4.21889849e+02] [ 2.58606102e-01 9.65596285e-01 -2.73257865e-02 7.99307825e+01] [ 1.12302424e-01 -1.95653091e-03 9.93672148e-01 4.47288282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.78509989299994 meters 0.05734624527319662 Centerline is valid? [True, True] Translation: X:421.95, Y:79.94, Z:44.74 [[ 9.58464591e-01 -2.63642274e-01 -1.08804313e-01 4.21949532e+02] [ 2.62236346e-01 9.64617606e-01 -2.72942014e-02 7.99396207e+01] [ 1.12150461e-01 -2.37191976e-03 9.93688406e-01 4.47355169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.84509989299994 meters 0.05658227793411806 Centerline is valid? [True, True] Translation: X:422.01, Y:79.95, Z:44.74 [[ 9.56981926e-01 -2.69060849e-01 -1.08590295e-01 4.22008312e+02] [ 2.67695165e-01 9.63118506e-01 -2.72404512e-02 7.99515520e+01] [ 1.11914662e-01 -3.00047750e-03 9.93713291e-01 4.47438089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.90509989299994 meters 0.05865143344083211 Centerline is valid? [True, True] Translation: X:422.07, Y:79.96, Z:44.75 [[ 9.56138283e-01 -2.71920900e-01 -1.08897237e-01 4.22067700e+02] [ 2.70566002e-01 9.62313792e-01 -2.73167580e-02 7.99566138e+01] [ 1.12221310e-01 -3.34529188e-03 9.93677607e-01 4.47479695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.96509989299994 meters 0.05727303790998003 Centerline is valid? [True, True] Translation: X:422.12, Y:79.98, Z:44.76 [[ 9.54859790e-01 -2.76038266e-01 -1.09752712e-01 4.22124155e+02] [ 2.74688800e-01 9.61138905e-01 -2.75330476e-02 7.99756169e+01] [ 1.13087777e-01 -3.85764083e-03 9.93577513e-01 4.47567243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.02509989299995 meters 0.05783768189893806 Centerline is valid? [True, True] Translation: X:422.18, Y:79.98, Z:44.76 [[ 9.53565897e-01 -2.79996180e-01 -1.10969454e-01 4.22183321e+02] [ 2.78643187e-01 9.59991145e-01 -2.78384028e-02 7.99827885e+01] [ 1.14324340e-01 -4.37513086e-03 9.93433845e-01 4.47623317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.08509989299995 meters 0.05824215915484564 Centerline is valid? [True, True] Translation: X:422.24, Y:80.00, Z:44.77 [[ 9.52802371e-01 -2.82379636e-01 -1.11487147e-01 4.22241580e+02] [ 2.81030142e-01 9.59291308e-01 -2.79686457e-02 7.99950403e+01] [ 1.14846427e-01 -4.68265680e-03 9.93372222e-01 4.47690021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.14509989299995 meters 0.05853997559370526 Centerline is valid? [True, True] Translation: X:422.30, Y:80.01, Z:44.78 [[ 9.52177332e-01 -2.84660070e-01 -1.11026907e-01 4.22299800e+02] [ 2.83337026e-01 9.58615815e-01 -2.78540734e-02 8.00085148e+01] [ 1.14361091e-01 -4.93601631e-03 9.93426986e-01 4.47761032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.20509989299995 meters 0.05910913134692687 Centerline is valid? [True, True] Translation: X:422.36, Y:80.02, Z:44.78 [[ 9.51266167e-01 -2.87865463e-01 -1.10571941e-01 4.22358778e+02] [ 2.86574679e-01 9.57656203e-01 -2.77407601e-02 8.00202823e+01] [ 1.13875512e-01 -5.29827202e-03 9.93480899e-01 4.47832436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.26509989299996 meters 0.060311314835606825 Centerline is valid? [True, True] Translation: X:422.42, Y:80.03, Z:44.79 [[ 9.50645182e-01 -2.89835238e-01 -1.10766749e-01 4.22416865e+02] [ 2.88553165e-01 9.57060500e-01 -2.77897628e-02 8.00299327e+01] [ 1.14064932e-01 -5.54389182e-03 9.93457828e-01 4.47893345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.32509989299996 meters 0.059266545322512104 Centerline is valid? [True, True] Translation: X:422.47, Y:80.05, Z:44.80 [[ 9.49992929e-01 -2.92189846e-01 -1.10174990e-01 4.22473929e+02] [ 2.90937005e-01 9.56342789e-01 -2.76428875e-02 8.00471855e+01] [ 1.13442028e-01 -5.79343400e-03 9.93527726e-01 4.47974786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.38509989299996 meters 0.061422715091564974 Centerline is valid? [True, True] Translation: X:422.53, Y:80.06, Z:44.80 [[ 9.49798102e-01 -2.92880288e-01 -1.10021374e-01 4.22530824e+02] [ 2.91635573e-01 9.56131113e-01 -2.76041080e-02 8.00553885e+01] [ 1.13279558e-01 -5.86781712e-03 9.93545827e-01 4.48028454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.44509989299996 meters 0.06043053904290003 Centerline is valid? [True, True] Translation: X:422.59, Y:80.07, Z:44.81 [[ 9.49905603e-01 -2.92868756e-01 -1.09120287e-01 4.22586448e+02] [ 2.91643639e-01 9.56134986e-01 -2.73838849e-02 8.00737037e+01] [ 1.12353608e-01 -5.81213184e-03 9.93651290e-01 4.48101618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.50509989299997 meters 0.0629043668668986 Centerline is valid? [True, True] Translation: X:422.64, Y:80.09, Z:44.82 [[ 9.50427695e-01 -2.91349603e-01 -1.08639798e-01 4.22644961e+02] [ 2.90124136e-01 9.56600276e-01 -2.72745008e-02 8.00852012e+01] [ 1.11871276e-01 -5.59658672e-03 9.93706947e-01 4.48159418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.56509989299997 meters 0.06805171715836757 Centerline is valid? [True, True] Translation: X:422.71, Y:80.09, Z:44.82 [[ 9.50868911e-01 -2.89545521e-01 -1.09597926e-01 4.22705059e+02] [ 2.88286282e-01 9.57148834e-01 -2.75159801e-02 8.00904814e+01] [ 1.12868656e-01 -5.43148857e-03 9.93595071e-01 4.48187014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.62509989299997 meters 0.0575258504756254 Centerline is valid? [True, True] Translation: X:422.75, Y:80.14, Z:44.83 [[ 9.51813208e-01 -2.86239567e-01 -1.10084183e-01 4.22753947e+02] [ 2.84946905e-01 9.58144720e-01 -2.76397734e-02 8.01368996e+01] [ 1.13388176e-01 -5.06024587e-03 9.93537878e-01 4.48297837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.685099893 meters 0.05882102915799212 Centerline is valid? [True, True] Translation: X:422.81, Y:80.15, Z:44.83 [[ 9.52778043e-01 -2.83011516e-01 -1.10083980e-01 4.22811511e+02] [ 2.81697249e-01 9.59105120e-01 -2.76410814e-02 8.01494485e+01] [ 1.13404853e-01 -4.67453897e-03 9.93537864e-01 4.48343751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.745099893 meters 0.05814009773533752 Centerline is valid? [True, True] Translation: X:422.87, Y:80.17, Z:44.84 [[ 9.54618745e-01 -2.76910970e-01 -1.09651112e-01 4.22868402e+02] [ 2.75566812e-01 9.60887533e-01 -2.75332825e-02 8.01686221e+01] [ 1.12986654e-01 -3.93241963e-03 9.93588724e-01 4.48405491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.805099893 meters 0.05768082523234224 Centerline is valid? [True, True] Translation: X:422.93, Y:80.19, Z:44.85 [[ 9.55758483e-01 -2.72921362e-01 -1.09725355e-01 4.22925534e+02] [ 2.71549240e-01 9.62030111e-01 -2.75513174e-02 8.01887748e+01] [ 1.13078438e-01 -3.46343138e-03 9.93580028e-01 4.48471739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.865099893 meters 0.05704883660292309 Centerline is valid? [True, True] Translation: X:422.98, Y:80.21, Z:44.85 [[ 9.56718276e-01 -2.69414278e-01 -1.10027669e-01 4.22981509e+02] [ 2.68011424e-01 9.63019523e-01 -2.76274283e-02 8.02108478e+01] [ 1.13402017e-01 -3.05700666e-03 9.93544482e-01 4.48540892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.925099893 meters 0.057075447559995 Centerline is valid? [True, True] Translation: X:423.04, Y:80.22, Z:44.86 [[ 9.56539672e-01 -2.70180535e-01 -1.09701119e-01 4.23037843e+02] [ 2.68790956e-01 9.62804567e-01 -2.75461160e-02 8.02237763e+01] [ 1.13063163e-01 -3.13771591e-03 9.93582848e-01 4.48592128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.985099893 meters 0.05913407127909745 Centerline is valid? [True, True] Translation: X:423.10, Y:80.23, Z:44.86 [[ 9.56105588e-01 -2.71892436e-01 -1.09254786e-01 4.23097121e+02] [ 2.70524809e-01 9.62321914e-01 -2.74383215e-02 8.02315397e+01] [ 1.12598547e-01 -3.32219775e-03 9.93635009e-01 4.48638428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.04509989299993 meters 0.05778685701629369 Centerline is valid? [True, True] Translation: X:423.15, Y:80.25, Z:44.87 [[ 9.54909268e-01 -2.76098152e-01 -1.09170054e-01 4.23153769e+02] [ 2.74759799e-01 9.61121881e-01 -2.74186628e-02 8.02518423e+01] [ 1.12495970e-01 -3.81320697e-03 9.93644864e-01 4.48725010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.10509989299993 meters 0.056924297707284945 Centerline is valid? [True, True] Translation: X:423.21, Y:80.27, Z:44.88 [[ 9.53923372e-01 -2.79495246e-01 -1.09144894e-01 4.23210070e+02] [ 2.78179629e-01 9.60137834e-01 -2.74122803e-02 8.02724771e+01] [ 1.12455745e-01 -4.21267134e-03 9.93647804e-01 4.48802127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.16509989299993 meters 0.05605082634856663 Centerline is valid? [True, True] Translation: X:423.27, Y:80.29, Z:44.89 [[ 9.53444606e-01 -2.81068533e-01 -1.09287981e-01 4.23269076e+02] [ 2.79759837e-01 9.59677590e-01 -2.74473443e-02 8.02879743e+01] [ 1.12595811e-01 -4.40486524e-03 9.93631109e-01 4.48868752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.22509989299994 meters 0.057250216913464075 Centerline is valid? [True, True] Translation: X:423.33, Y:80.30, Z:44.89 [[ 9.51851755e-01 -2.86731971e-01 -1.08457422e-01 4.23327524e+02] [ 2.85479827e-01 9.57997604e-01 -2.72371100e-02 8.02991866e+01] [ 1.11711701e-01 -5.03671514e-03 9.93727894e-01 4.48939417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.28509989299994 meters 0.06506252198327428 Centerline is valid? [True, True] Translation: X:423.39, Y:80.29, Z:44.90 [[ 9.50094116e-01 -2.92497444e-01 -1.08473110e-01 4.23391685e+02] [ 2.91282149e-01 9.56249233e-01 -2.72417820e-02 8.02892252e+01] [ 1.11695480e-01 -5.71402384e-03 9.93726054e-01 4.48968108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.34509989299994 meters 0.059933278873050166 Centerline is valid? [True, True] Translation: X:423.45, Y:80.32, Z:44.91 [[ 9.48935788e-01 -2.96303299e-01 -1.08283082e-01 4.23446440e+02] [ 2.95116776e-01 9.55074098e-01 -2.71947862e-02 8.03165508e+01] [ 1.11476272e-01 -6.15004828e-03 9.93748066e-01 4.49053309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.40509989299994 meters 0.059270181754257946 Centerline is valid? [True, True] Translation: X:423.50, Y:80.33, Z:44.91 [[ 9.47631532e-01 -3.00157677e-01 -1.09086428e-01 4.23503845e+02] [ 2.98978752e-01 9.53866403e-01 -2.73969044e-02 8.03340042e+01] [ 1.12277270e-01 -6.65235352e-03 9.93654649e-01 4.49124984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.46509989299994 meters 0.05564910547244472 Centerline is valid? [True, True] Translation: X:423.56, Y:80.37, Z:44.92 [[ 9.47302039e-01 -3.01108556e-01 -1.09327421e-01 4.23558249e+02] [ 2.99930688e-01 9.53565765e-01 -2.74575087e-02 8.03675412e+01] [ 1.12518576e-01 -6.78009448e-03 9.93626489e-01 4.49209657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.52509989299995 meters 0.05597926394727112 Centerline is valid? [True, True] Translation: X:423.62, Y:80.38, Z:44.93 [[ 9.47655179e-01 -3.00128414e-01 -1.08961450e-01 4.23616815e+02] [ 2.98952220e-01 9.53875676e-01 -2.73635694e-02 8.03823003e+01] [ 1.12148262e-01 -6.64303930e-03 9.93669280e-01 4.49274772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.58509989299995 meters 0.06319538884657136 Centerline is valid? [True, True] Translation: X:423.68, Y:80.38, Z:44.93 [[ 9.48966312e-01 -2.96108614e-01 -1.08547815e-01 4.23678499e+02] [ 2.94915380e-01 9.55134504e-01 -2.72579810e-02 8.03797314e+01] [ 1.11749086e-01 -6.14551436e-03 9.93717452e-01 4.49313491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.64509989299995 meters 0.061808409072262274 Centerline is valid? [True, True] Translation: X:423.74, Y:80.40, Z:44.94 [[ 9.50226914e-01 -2.92215225e-01 -1.08069769e-01 4.23735224e+02] [ 2.91007426e-01 9.56335823e-01 -2.71380209e-02 8.04005373e+01] [ 1.11281134e-01 -5.66182731e-03 9.93772838e-01 4.49387961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.70509989299995 meters 0.057227592218827936 Centerline is valid? [True, True] Translation: X:423.79, Y:80.43, Z:44.95 [[ 9.52817630e-01 -2.84143271e-01 -1.06776242e-01 4.23788598e+02] [ 2.82913682e-01 9.58770507e-01 -2.68134902e-02 8.04347346e+01] [ 1.09992785e-01 -4.66009371e-03 9.93921461e-01 4.49480299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.76509989299996 meters 0.05915918480122054 Centerline is valid? [True, True] Translation: X:423.85, Y:80.45, Z:44.95 [[ 9.54692992e-01 -2.78025024e-01 -1.06129060e-01 4.23846897e+02] [ 2.76772652e-01 9.60565791e-01 -2.66507189e-02 8.04495663e+01] [ 1.09353511e-01 -3.93036686e-03 9.93995152e-01 4.49539616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.82509989299996 meters 0.056557670353030845 Centerline is valid? [True, True] Translation: X:423.90, Y:80.48, Z:44.96 [[ 9.57372246e-01 -2.68575962e-01 -1.06326547e-01 4.23901299e+02] [ 2.67260784e-01 9.63254276e-01 -2.66996943e-02 8.04808588e+01] [ 1.09590397e-01 -2.85537006e-03 9.93972732e-01 4.49609073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.88509989299996 meters 0.05598846754904532 Centerline is valid? [True, True] Translation: X:423.96, Y:80.50, Z:44.97 [[ 9.59266745e-01 -2.62054039e-01 -1.05522474e-01 4.23957984e+02] [ 2.60719307e-01 9.65050931e-01 -2.64979893e-02 8.05018850e+01] [ 1.08778467e-01 -2.09310639e-03 9.94063813e-01 4.49667099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.94509989299996 meters 0.05599002798018458 Centerline is valid? [True, True] Translation: X:424.01, Y:80.53, Z:44.97 [[ 9.62055569e-01 -2.52275237e-01 -1.03953291e-01 4.24013306e+02] [ 2.50923025e-01 9.67655032e-01 -2.61031559e-02 8.05278348e+01] [ 1.07176105e-01 -9.71587849e-04 9.94239578e-01 4.49739561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.00509989299997 meters 0.05620315775954552 Centerline is valid? [True, True] Translation: X:424.07, Y:80.55, Z:44.98 [[ 9.63474227e-01 -2.46680869e-01 -1.04239927e-01 4.24071393e+02] [ 2.45288578e-01 9.69096706e-01 -2.61741808e-02 8.05469114e+01] [ 1.07475239e-01 -3.50714773e-04 9.94207700e-01 4.49800287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.06509989299997 meters 0.055274717462771274 Centerline is valid? [True, True] Translation: X:424.13, Y:80.56, Z:44.98 [[ 9.64569175e-01 -2.42083351e-01 -1.04890214e-01 4.24130241e+02] [ 2.40646751e-01 9.70255443e-01 -2.63346877e-02 8.05647015e+01] [ 1.08145490e-01 1.60138819e-04 9.94135065e-01 4.49830792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.12509989299997 meters 0.055975186973946225 Centerline is valid? [True, True] Translation: X:424.19, Y:80.58, Z:44.99 [[ 9.64584329e-01 -2.42258964e-01 -1.04343982e-01 4.24187802e+02] [ 2.40838715e-01 9.70211614e-01 -2.61942293e-02 8.05774655e+01] [ 1.07581530e-01 1.36472568e-04 9.94196256e-01 4.49903121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.185099893 meters 0.0558829302726666 Centerline is valid? [True, True] Translation: X:424.25, Y:80.59, Z:45.00 [[ 9.63912605e-01 -2.44923089e-01 -1.04332023e-01 4.24249271e+02] [ 2.43518555e-01 9.69542498e-01 -2.61927171e-02 8.05893093e+01] [ 1.07569531e-01 -1.59293254e-04 9.94197551e-01 4.49976363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.245099893 meters 0.055976933011321464 Centerline is valid? [True, True] Translation: X:424.31, Y:80.59, Z:45.00 [[ 9.62001981e-01 -2.52477960e-01 -1.03957048e-01 4.24309561e+02] [ 2.51127961e-01 9.67602124e-01 -2.60936090e-02 8.05943414e+01] [ 1.07177122e-01 -1.00441796e-03 9.94239436e-01 4.50027708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.305099893 meters 0.05560045276278072 Centerline is valid? [True, True] Translation: X:424.37, Y:80.60, Z:45.01 [[ 9.60391120e-01 -2.58335915e-01 -1.04457899e-01 4.24368422e+02] [ 2.57007415e-01 9.66053714e-01 -2.62185135e-02 8.06030772e+01] [ 1.07685125e-01 -1.66642699e-03 9.94183654e-01 4.50091615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.365099893 meters 0.05566123829952178 Centerline is valid? [True, True] Translation: X:424.43, Y:80.61, Z:45.02 [[ 9.58354265e-01 -2.66174978e-01 -1.03479387e-01 4.24428750e+02] [ 2.64916672e-01 9.63921430e-01 -2.59736975e-02 8.06102506e+01] [ 1.06659547e-01 -2.52141119e-03 9.94292403e-01 4.50156616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.425099893 meters 0.0568949510912024 Centerline is valid? [True, True] Translation: X:424.49, Y:80.61, Z:45.02 [[ 9.57557677e-01 -2.69153174e-01 -1.03149714e-01 4.24489590e+02] [ 2.67920227e-01 9.63093181e-01 -2.58897138e-02 8.06126962e+01] [ 1.06311085e-01 -2.84500058e-03 9.94328849e-01 4.50215874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.485099893 meters 0.05616226212103163 Centerline is valid? [True, True] Translation: X:424.55, Y:80.63, Z:45.03 [[ 9.57319092e-01 -2.70175025e-01 -1.02691834e-01 4.24548747e+02] [ 2.68958882e-01 9.62806721e-01 -2.57747597e-02 8.06279886e+01] [ 1.05836085e-01 -2.94521143e-03 9.94379228e-01 4.50289577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.54509989299993 meters 0.05753169732936515 Centerline is valid? [True, True] Translation: X:424.61, Y:80.63, Z:45.03 [[ 9.57549415e-01 -2.69020776e-01 -1.03570936e-01 4.24609531e+02] [ 2.67777134e-01 9.63130176e-01 -2.59936780e-02 8.06317755e+01] [ 1.06745134e-01 -2.84369733e-03 9.94282349e-01 4.50335037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.60509989299993 meters 0.056129987346521276 Centerline is valid? [True, True] Translation: X:424.67, Y:80.65, Z:45.04 [[ 9.58604352e-01 -2.65221390e-01 -1.03611341e-01 4.24667733e+02] [ 2.63954726e-01 9.64184499e-01 -2.60029755e-02 8.06473745e+01] [ 1.06796994e-01 -2.42213765e-03 9.94277896e-01 4.50396840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.66509989299993 meters 0.05707396374956348 Centerline is valid? [True, True] Translation: X:424.73, Y:80.66, Z:45.05 [[ 9.59623492e-01 -2.61376284e-01 -1.03948021e-01 4.24726541e+02] [ 2.60078881e-01 9.65234912e-01 -2.60871685e-02 8.06600504e+01] [ 1.07152826e-01 -2.00082535e-03 9.94240549e-01 4.50458397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.72509989299994 meters 0.05602888957508232 Centerline is valid? [True, True] Translation: X:424.78, Y:80.68, Z:45.05 [[ 9.61348909e-01 -2.54791959e-01 -1.04351963e-01 4.24783595e+02] [ 2.53445602e-01 9.66995059e-01 -2.61893721e-02 8.06799528e+01] [ 1.07580674e-01 -1.27042188e-03 9.94195546e-01 4.50525793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.78509989299994 meters 0.05592597671893824 Centerline is valid? [True, True] Translation: X:424.84, Y:80.70, Z:45.06 [[ 9.62539130e-01 -2.50335371e-01 -1.04166331e-01 4.24842435e+02] [ 2.48967746e-01 9.68158876e-01 -2.61429341e-02 8.06964556e+01] [ 1.07394059e-01 -7.70459609e-04 9.94216235e-01 4.50587743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.84509989299994 meters 0.055863619496418805 Centerline is valid? [True, True] Translation: X:424.90, Y:80.71, Z:45.06 [[ 9.63855935e-01 -2.44574490e-01 -1.05664828e-01 4.24900858e+02] [ 2.43132862e-01 9.69630497e-01 -2.65162238e-02 8.07097344e+01] [ 1.08941032e-01 -1.32772320e-04 9.94048205e-01 4.50628865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.90509989299994 meters 0.05665972499351588 Centerline is valid? [True, True] Translation: X:424.96, Y:80.72, Z:45.07 [[ 9.64469032e-01 -2.42416398e-01 -1.05041786e-01 4.24958879e+02] [ 2.40978998e-01 9.70172293e-01 -2.63599107e-02 8.07224008e+01] [ 1.08298705e-01 1.10453262e-04 9.94118393e-01 4.50700108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.96509989299994 meters 0.05695361107854365 Centerline is valid? [True, True] Translation: X:425.02, Y:80.73, Z:45.08 [[ 9.64814592e-01 -2.41414221e-01 -1.04172821e-01 4.25016915e+02] [ 2.39994645e-01 9.70422137e-01 -2.61428025e-02 8.07326829e+01] [ 1.07402856e-01 2.22038056e-04 9.94215559e-01 4.50768848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.02509989299995 meters 0.056370374368492564 Centerline is valid? [True, True] Translation: X:425.07, Y:80.74, Z:45.08 [[ 9.64087642e-01 -2.44371455e-01 -1.04007738e-01 4.25073473e+02] [ 2.42973316e-01 9.69681690e-01 -2.61033928e-02 8.07393657e+01] [ 1.07233323e-01 -1.05146559e-04 9.94233878e-01 4.50824693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.08509989299995 meters 0.0561111882866989 Centerline is valid? [True, True] Translation: X:425.13, Y:80.75, Z:45.09 [[ 9.63532807e-01 -2.46858312e-01 -1.03273924e-01 4.25130823e+02] [ 2.45493428e-01 9.69051513e-01 -2.59257022e-02 8.07499392e+01] [ 1.06477728e-01 -3.72805096e-04 9.94315018e-01 4.50890758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.14509989299995 meters 0.05643712688526532 Centerline is valid? [True, True] Translation: X:425.19, Y:80.75, Z:45.09 [[ 9.61995328e-01 -2.52776610e-01 -1.03290727e-01 4.25189219e+02] [ 2.51444505e-01 9.67524131e-01 -2.59367934e-02 8.07546197e+01] [ 1.06492486e-01 -1.02081177e-03 9.94312983e-01 4.50945238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.20509989299995 meters 0.05772812860496091 Centerline is valid? [True, True] Translation: X:425.25, Y:80.75, Z:45.10 [[ 9.59013895e-01 -2.63628293e-01 -1.03886820e-01 4.25250707e+02] [ 2.62343604e-01 9.64621758e-01 -2.60901833e-02 8.07524939e+01] [ 1.07089598e-01 -2.23319448e-03 9.94246866e-01 4.50993329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.26509989299996 meters 0.05815196260245685 Centerline is valid? [True, True] Translation: X:425.31, Y:80.76, Z:45.11 [[ 9.56946879e-01 -2.71205568e-01 -1.03441826e-01 4.25310774e+02] [ 2.69975971e-01 9.62516561e-01 -2.59777730e-02 8.07584164e+01] [ 1.06609787e-01 -3.06745851e-03 9.94296205e-01 4.51061703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.32509989299996 meters 0.05753187409088117 Centerline is valid? [True, True] Translation: X:425.37, Y:80.77, Z:45.11 [[ 9.54008755e-01 -2.81020122e-01 -1.04379050e-01 4.25370735e+02] [ 2.79826334e-01 9.59692687e-01 -2.62139113e-02 8.07681369e+01] [ 1.07538447e-01 -4.19970586e-03 9.94192056e-01 4.51117943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.38509989299996 meters 0.06031257898439455 Centerline is valid? [True, True] Translation: X:425.43, Y:80.77, Z:45.12 [[ 9.51423107e-01 -2.89720903e-01 -1.04191506e-01 4.25432689e+02] [ 2.88583139e-01 9.57097200e-01 -2.61671912e-02 8.07681248e+01] [ 1.07302581e-01 -5.17184158e-03 9.94212959e-01 4.51175866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.44509989299996 meters 0.06086208490209954 Centerline is valid? [True, True] Translation: X:425.49, Y:80.78, Z:45.12 [[ 9.50093095e-01 -2.94062376e-01 -1.04165396e-01 4.25491504e+02] [ 2.92951051e-01 9.55769472e-01 -2.61609985e-02 8.07792302e+01] [ 1.07251071e-01 -5.65997828e-03 9.94215858e-01 4.51238775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.50509989299997 meters 0.0654057780405107 Centerline is valid? [True, True] Translation: X:425.55, Y:80.78, Z:45.13 [[ 9.48879188e-01 -2.97747714e-01 -1.04759653e-01 4.25553174e+02] [ 2.96645930e-01 9.54625033e-01 -2.63104435e-02 8.07795655e+01] [ 1.07840062e-01 -6.11109242e-03 9.94149474e-01 4.51288241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.56509989299997 meters 0.06237661252754853 Centerline is valid? [True, True] Translation: X:425.61, Y:80.80, Z:45.14 [[ 9.48640773e-01 -2.98471030e-01 -1.04860518e-01 4.25608845e+02] [ 2.97371445e-01 9.54398564e-01 -2.63363659e-02 8.08015845e+01] [ 1.07939370e-01 -6.19877334e-03 9.94138153e-01 4.51352978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.62509989299997 meters 0.06008029237952529 Centerline is valid? [True, True] Translation: X:425.66, Y:80.82, Z:45.14 [[ 9.48842139e-01 -2.97811124e-01 -1.04914868e-01 4.25663670e+02] [ 2.96706206e-01 9.54605162e-01 -2.63517007e-02 8.08221952e+01] [ 1.08000105e-01 -6.12528854e-03 9.94132012e-01 4.51415703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.685099893 meters 0.05783976353534116 Centerline is valid? [True, True] Translation: X:425.72, Y:80.84, Z:45.15 [[ 9.49200357e-01 -2.96616365e-01 -1.05059098e-01 4.25719688e+02] [ 2.95500773e-01 9.54977904e-01 -2.63912065e-02 8.08448123e+01] [ 1.08157181e-01 -5.99450215e-03 9.94115733e-01 4.51473386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.745099893 meters 0.05661637231236625 Centerline is valid? [True, True] Translation: X:425.78, Y:80.87, Z:45.15 [[ 9.49732701e-01 -2.95017750e-01 -1.04748865e-01 4.25775492e+02] [ 2.93898642e-01 9.55474222e-01 -2.63172623e-02 8.08662422e+01] [ 1.07848900e-01 -5.79118457e-03 9.94150430e-01 4.51538029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.805099893 meters 0.05739530794660993 Centerline is valid? [True, True] Translation: X:425.83, Y:80.88, Z:45.16 [[ 9.50418771e-01 -2.92796718e-01 -1.04758013e-01 4.25832993e+02] [ 2.91663801e-01 9.56158676e-01 -2.63213321e-02 8.08829026e+01] [ 1.07872083e-01 -5.53783219e-03 9.94149358e-01 4.51600486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.865099893 meters 0.05833819612290903 Centerline is valid? [True, True] Translation: X:425.89, Y:80.89, Z:45.17 [[ 9.50643692e-01 -2.92155042e-01 -1.04508385e-01 4.25889773e+02] [ 2.91023633e-01 9.56355432e-01 -2.62589518e-02 8.08920625e+01] [ 1.07618846e-01 -5.45150285e-03 9.94177280e-01 4.51660124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.925099893 meters 0.06290583249211563 Centerline is valid? [True, True] Translation: X:425.95, Y:80.89, Z:45.17 [[ 9.50799514e-01 -2.91564359e-01 -1.04740193e-01 4.25948329e+02] [ 2.90423857e-01 9.56536015e-01 -2.63217707e-02 8.08945074e+01] [ 1.07862257e-01 -5.39232408e-03 9.94151224e-01 4.51706337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.9850998929999 meters 0.0626584852783998 Centerline is valid? [True, True] Translation: X:426.01, Y:80.91, Z:45.18 [[ 9.51226889e-01 -2.90359307e-01 -1.04205940e-01 4.26005654e+02] [ 2.89222784e-01 9.56903432e-01 -2.61916757e-02 8.09123409e+01] [ 1.07320018e-01 -5.22450578e-03 9.94210802e-01 4.51767997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.04509989299993 meters 0.05912579546822598 Centerline is valid? [True, True] Translation: X:426.06, Y:80.94, Z:45.18 [[ 9.51711141e-01 -2.88907950e-01 -1.03817627e-01 4.26059905e+02] [ 2.87771210e-01 9.57343609e-01 -2.60949217e-02 8.09397817e+01] [ 1.06928172e-01 -5.04089650e-03 9.94253969e-01 4.51836986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.10509989299993 meters 0.05615108310695943 Centerline is valid? [True, True] Translation: X:426.11, Y:80.97, Z:45.19 [[ 9.52861416e-01 -2.85160237e-01 -1.03627997e-01 4.26114529e+02] [ 2.84005401e-01 9.58468772e-01 -2.60488896e-02 8.09657032e+01] [ 1.06752306e-01 -4.60992886e-03 9.94274959e-01 4.51900224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.16509989299993 meters 0.05970677169444999 Centerline is valid? [True, True] Translation: X:426.17, Y:80.97, Z:45.20 [[ 9.53867536e-01 -2.81757972e-01 -1.03678196e-01 4.26173640e+02] [ 2.80581928e-01 9.59476185e-01 -2.60620976e-02 8.09733805e+01] [ 1.06819964e-01 -4.23043944e-03 9.94269379e-01 4.51958153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.22509989299994 meters 0.057676852776226244 Centerline is valid? [True, True] Translation: X:426.23, Y:81.00, Z:45.20 [[ 9.55173005e-01 -2.77232262e-01 -1.03859539e-01 4.26229045e+02] [ 2.76025307e-01 9.60795693e-01 -2.61087376e-02 8.09964296e+01] [ 1.07025982e-01 -3.72949975e-03 9.94249229e-01 4.52025864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.28509989299994 meters 0.05652055238702573 Centerline is valid? [True, True] Translation: X:426.28, Y:81.02, Z:45.21 [[ 9.55664218e-01 -2.75681722e-01 -1.03467342e-01 4.26284171e+02] [ 2.74474674e-01 9.61242452e-01 -2.60115912e-02 8.10206676e+01] [ 1.06628122e-01 -3.54081808e-03 9.94292666e-01 4.52092191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.34509989299994 meters 0.05813378145934969 Centerline is valid? [True, True] Translation: X:426.34, Y:81.03, Z:45.21 [[ 9.55747473e-01 -2.75226017e-01 -1.03910572e-01 4.26341636e+02] [ 2.74005603e-01 9.61373170e-01 -2.61257959e-02 8.10287344e+01] [ 1.07087334e-01 -3.50241533e-03 9.94243449e-01 4.52144823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.40509989299994 meters 0.059440879276664894 Centerline is valid? [True, True] Translation: X:426.40, Y:81.04, Z:45.22 [[ 9.55470178e-01 -2.76027960e-01 -1.04332665e-01 4.26398931e+02] [ 2.74801626e-01 9.61142862e-01 -2.62386265e-02 8.10394368e+01] [ 1.07521191e-01 -3.60056088e-03 9.94196273e-01 4.52201748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.46509989299994 meters 0.058071238097660904 Centerline is valid? [True, True] Translation: X:426.45, Y:81.06, Z:45.23 [[ 9.54912361e-01 -2.77680249e-01 -1.05052661e-01 4.26454295e+02] [ 2.76446391e-01 9.60666004e-01 -2.64238868e-02 8.10614282e+01] [ 1.08257912e-01 -3.80893286e-03 9.94115545e-01 4.52266135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.52509989299995 meters 0.06072803335220833 Centerline is valid? [True, True] Translation: X:426.51, Y:81.07, Z:45.23 [[ 9.54724288e-01 -2.78431727e-01 -1.04772649e-01 4.26512678e+02] [ 2.77208640e-01 9.60448183e-01 -2.63563520e-02 8.10690441e+01] [ 1.07967145e-01 -3.88083421e-03 9.94146888e-01 4.52322733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.58509989299995 meters 0.05879687283502583 Centerline is valid? [True, True] Translation: X:426.57, Y:81.09, Z:45.24 [[ 9.54878494e-01 -2.78289924e-01 -1.03738998e-01 4.26567486e+02] [ 2.77088809e-01 9.60489544e-01 -2.61079905e-02 8.10895092e+01] [ 1.06905813e-01 -3.81495662e-03 9.94261833e-01 4.52394155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.64509989299995 meters 0.057383347970439175 Centerline is valid? [True, True] Translation: X:426.62, Y:81.11, Z:45.25 [[ 9.55212723e-01 -2.77190543e-01 -1.03605293e-01 4.26622866e+02] [ 2.75984856e-01 9.60807936e-01 -2.60858073e-02 8.11090170e+01] [ 1.06775527e-01 -3.67599675e-03 9.94276357e-01 4.52455945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.70509989299995 meters 0.05669365991513393 Centerline is valid? [True, True] Translation: X:426.68, Y:81.13, Z:45.25 [[ 9.56285163e-01 -2.73589242e-01 -1.03284137e-01 4.26678714e+02] [ 2.72369742e-01 9.61841098e-01 -2.60081930e-02 8.11326764e+01] [ 1.06458490e-01 -3.26022472e-03 9.94311803e-01 4.52513415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.76509989299996 meters 0.056513465350211234 Centerline is valid? [True, True] Translation: X:426.74, Y:81.15, Z:45.26 [[ 9.57599759e-01 -2.68729653e-01 -1.03860843e-01 4.26736198e+02] [ 2.67468059e-01 9.63211757e-01 -2.61524161e-02 8.11466270e+01] [ 1.07067915e-01 -2.73591088e-03 9.94247945e-01 4.52568823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.82509989299996 meters 0.0560104670639081 Centerline is valid? [True, True] Translation: X:426.79, Y:81.16, Z:45.26 [[ 9.58569538e-01 -2.65076874e-01 -1.04300971e-01 4.26793056e+02] [ 2.63782853e-01 9.64224451e-01 -2.62643341e-02 8.11608043e+01] [ 1.07531614e-01 -2.33661714e-03 9.94198920e-01 4.52625231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.88509989299996 meters 0.05598348386952638 Centerline is valid? [True, True] Translation: X:426.85, Y:81.18, Z:45.27 [[ 9.60310304e-01 -2.58661466e-01 -1.04395236e-01 4.26849184e+02] [ 2.57327066e-01 9.65966682e-01 -2.62897577e-02 8.11829537e+01] [ 1.07642467e-01 -1.61739464e-03 9.94188354e-01 4.52693409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.94509989299996 meters 0.056236373953076346 Centerline is valid? [True, True] Translation: X:426.91, Y:81.20, Z:45.28 [[ 9.62113021e-01 -2.51628594e-01 -1.04983742e-01 4.26907211e+02] [ 2.50237235e-01 9.67823514e-01 -2.64380719e-02 8.12003458e+01] [ 1.08258309e-01 -8.34428042e-04 9.94122448e-01 4.52757598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.00509989299997 meters 0.05581606879959594 Centerline is valid? [True, True] Translation: X:426.96, Y:81.21, Z:45.28 [[ 9.62672381e-01 -2.49401835e-01 -1.05169447e-01 4.26963253e+02] [ 2.47992455e-01 9.68399907e-01 -2.64832296e-02 8.12136255e+01] [ 1.08451049e-01 -5.86555737e-04 9.94101617e-01 4.52809021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.06509989299997 meters 0.05614099962145724 Centerline is valid? [True, True] Translation: X:427.02, Y:81.23, Z:45.29 [[ 9.63527856e-01 -2.46015645e-01 -1.05310842e-01 4.27019282e+02] [ 2.44581729e-01 9.69265837e-01 -2.65238703e-02 8.12300063e+01] [ 1.08599488e-01 -2.00619997e-04 9.94085565e-01 4.52899790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.12509989299997 meters 0.05629354076332831 Centerline is valid? [True, True] Translation: X:427.08, Y:81.24, Z:45.29 [[ 9.64004639e-01 -2.44062609e-01 -1.05491701e-01 4.27077128e+02] [ 2.42610699e-01 9.69759476e-01 -2.65820803e-02 8.12418754e+01] [ 1.08789269e-01 3.18333022e-05 9.94064834e-01 4.52948182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.185099893 meters 0.05633711128563899 Centerline is valid? [True, True] Translation: X:427.13, Y:81.25, Z:45.30 [[ 9.63617987e-01 -2.45403910e-01 -1.05911733e-01 4.27133721e+02] [ 2.43947194e-01 9.69420914e-01 -2.66993895e-02 8.12520944e+01] [ 1.09225184e-01 -1.08858138e-04 9.94017026e-01 4.53000116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.245099893 meters 0.055932903025347695 Centerline is valid? [True, True] Translation: X:427.19, Y:81.26, Z:45.31 [[ 9.62383756e-01 -2.50304841e-01 -1.05664526e-01 4.27191646e+02] [ 2.48882830e-01 9.68166858e-01 -2.66509334e-02 8.12583958e+01] [ 1.08971750e-01 -6.49660975e-04 9.94044635e-01 4.53061231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.305099893 meters 0.056527821433493775 Centerline is valid? [True, True] Translation: X:427.25, Y:81.26, Z:45.31 [[ 9.60284644e-01 -2.58601361e-01 -1.04779473e-01 4.27252276e+02] [ 2.57251771e-01 9.65982849e-01 -2.64322204e-02 8.12623538e+01] [ 1.08050582e-01 -1.57224951e-03 9.94144154e-01 4.53128807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.365099893 meters 0.05709755715674406 Centerline is valid? [True, True] Translation: X:427.31, Y:81.27, Z:45.32 [[ 9.58493968e-01 -2.65109451e-01 -1.04910879e-01 4.27311806e+02] [ 2.63795243e-01 9.64215563e-01 -2.64654114e-02 8.12678505e+01] [ 1.08172933e-01 -2.30805370e-03 9.94129413e-01 4.53183789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.425099893 meters 0.0575254241640721 Centerline is valid? [True, True] Translation: X:427.37, Y:81.27, Z:45.32 [[ 9.55262615e-01 -2.76625427e-01 -1.04650417e-01 4.27370393e+02] [ 2.75386246e-01 9.60971080e-01 -2.64007489e-02 8.12748628e+01] [ 1.07869143e-01 -3.59963710e-03 9.94158584e-01 4.53248968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.4850998929999 meters 0.05858769482912177 Centerline is valid? [True, True] Translation: X:427.43, Y:81.28, Z:45.33 [[ 9.51757380e-01 -2.88470177e-01 -1.04608063e-01 4.27431824e+02] [ 2.87302931e-01 9.57476152e-01 -2.63902246e-02 8.12771325e+01] [ 1.07772519e-01 -4.93711217e-03 9.94163321e-01 4.53304202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.54509989299993 meters 0.06602491316944926 Centerline is valid? [True, True] Translation: X:427.50, Y:81.27, Z:45.34 [[ 9.50685847e-01 -2.91941153e-01 -1.04722409e-01 4.27495176e+02] [ 2.90792364e-01 9.56421392e-01 -2.64182136e-02 8.12715035e+01] [ 1.07871316e-01 -5.33705523e-03 9.94150539e-01 4.53353767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.60509989299993 meters 0.05824887995316098 Centerline is valid? [True, True] Translation: X:427.55, Y:81.31, Z:45.34 [[ 9.47951771e-01 -3.00577634e-01 -1.05073909e-01 4.27548112e+02] [ 2.99473608e-01 9.53736286e-01 -2.65076223e-02 8.13053634e+01] [ 1.08180398e-01 -6.33891513e-03 9.94111070e-01 4.53424752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.66509989299993 meters 0.056598570633912944 Centerline is valid? [True, True] Translation: X:427.61, Y:81.32, Z:45.35 [[ 9.46729765e-01 -3.04098256e-01 -1.05957551e-01 4.27606014e+02] [ 3.02997421e-01 9.52616416e-01 -2.67306422e-02 8.13217766e+01] [ 1.09065644e-01 -6.79817018e-03 9.94011303e-01 4.53481924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.72509989299994 meters 0.06193189000494593 Centerline is valid? [True, True] Translation: X:427.67, Y:81.32, Z:45.35 [[ 9.46820540e-01 -3.03685883e-01 -1.06328497e-01 4.27665662e+02] [ 3.02574681e-01 9.52748128e-01 -2.68247298e-02 8.13219549e+01] [ 1.09450569e-01 -6.77410612e-03 9.93969157e-01 4.53523036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.78509989299994 meters 0.06321598772205889 Centerline is valid? [True, True] Translation: X:427.72, Y:81.34, Z:45.36 [[ 9.47619959e-01 -3.01266080e-01 -1.06090349e-01 4.27723965e+02] [ 3.00144318e-01 9.53518125e-01 -2.67688898e-02 8.13350820e+01] [ 1.09223629e-01 -6.47568116e-03 9.93996109e-01 4.53583095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.84509989299994 meters 0.05801962034740824 Centerline is valid? [True, True] Translation: X:427.78, Y:81.37, Z:45.37 [[ 9.49796674e-01 -2.94549632e-01 -1.05483611e-01 4.27776842e+02] [ 2.93399292e-01 9.55619374e-01 -2.66170479e-02 8.13707014e+01] [ 1.08642224e-01 -5.66803320e-03 9.94064757e-01 4.53662052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.90509989299994 meters 0.05901258971755992 Centerline is valid? [True, True] Translation: X:427.83, Y:81.39, Z:45.37 [[ 9.52687049e-01 -2.85093108e-01 -1.05400693e-01 4.27833734e+02] [ 2.83886848e-01 9.58488866e-01 -2.65960878e-02 8.13859816e+01] [ 1.08607752e-01 -4.58412202e-03 9.94074113e-01 4.53713327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.96509989299994 meters 0.05917157042927916 Centerline is valid? [True, True] Translation: X:427.89, Y:81.41, Z:45.38 [[ 9.54672147e-01 -2.78099610e-01 -1.06121146e-01 4.27890006e+02] [ 2.76833640e-01 9.60544671e-01 -2.67781971e-02 8.14066189e+01] [ 1.09381108e-01 -3.81350431e-03 9.93992571e-01 4.53769262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.02509989299995 meters 0.05673885967987778 Centerline is valid? [True, True] Translation: X:427.94, Y:81.44, Z:45.38 [[ 9.57327398e-01 -2.68881581e-01 -1.05957294e-01 4.27943994e+02] [ 2.67563078e-01 9.63169306e-01 -2.67373776e-02 8.14368892e+01] [ 1.09244002e-01 -2.75383558e-03 9.94011149e-01 4.53833506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.08509989299995 meters 0.056467157431899215 Centerline is valid? [True, True] Translation: X:428.00, Y:81.46, Z:45.39 [[ 9.59023928e-01 -2.62786881e-01 -1.05906375e-01 4.28000688e+02] [ 2.61432523e-01 9.64851709e-01 -2.67247950e-02 8.14584877e+01] [ 1.09206873e-01 -2.05765306e-03 9.94016914e-01 4.53892608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.14509989299995 meters 0.05569685351008666 Centerline is valid? [True, True] Translation: X:428.06, Y:81.49, Z:45.40 [[ 9.61618324e-01 -2.53206269e-01 -1.05720311e-01 4.28055744e+02] [ 2.51798886e-01 9.67411831e-01 -2.66771602e-02 8.14869123e+01] [ 1.09029904e-01 -9.67010450e-04 9.94038000e-01 4.53972920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.20509989299995 meters 0.055863528635260354 Centerline is valid? [True, True] Translation: X:428.11, Y:81.51, Z:45.40 [[ 9.63281219e-01 -2.47297736e-01 -1.04561575e-01 4.28111714e+02] [ 2.45886334e-01 9.68939494e-01 -2.63849837e-02 8.15059993e+01] [ 1.07838786e-01 -2.94103053e-04 9.94168351e-01 4.54030239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.26509989299996 meters 0.0560715357940976 Centerline is valid? [True, True] Translation: X:428.17, Y:81.52, Z:45.41 [[ 9.64585576e-01 -2.42537898e-01 -1.03682375e-01 4.28165889e+02] [ 2.41122528e-01 9.70141903e-01 -2.61651586e-02 8.15249885e+01] [ 1.06932659e-01 2.38378174e-04 9.94266237e-01 4.54100314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.32509989299996 meters 0.05697522296797125 Centerline is valid? [True, True] Translation: X:428.22, Y:81.54, Z:45.42 [[ 9.64023851e-01 -2.45238285e-01 -1.02548515e-01 4.28223281e+02] [ 2.43867639e-01 9.69462831e-01 -2.58919630e-02 8.15383342e+01] [ 1.05766675e-01 -4.77943982e-05 9.94390974e-01 4.54161997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.38509989299996 meters 0.0558038890654336 Centerline is valid? [True, True] Translation: X:428.28, Y:81.55, Z:45.42 [[ 9.62665703e-01 -2.50574022e-01 -1.02408026e-01 4.28281275e+02] [ 2.49235987e-01 9.68097244e-01 -2.58679259e-02 8.15489436e+01] [ 1.05622758e-01 -6.21600492e-04 9.94406077e-01 4.54219346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.44509989299996 meters 0.055906265658259215 Centerline is valid? [True, True] Translation: X:428.34, Y:81.55, Z:45.43 [[ 9.59790920e-01 -2.61183696e-01 -1.02880839e-01 4.28340945e+02] [ 2.59892489e-01 9.65287468e-01 -2.59999601e-02 8.15544371e+01] [ 1.06100350e-01 -1.78343166e-03 9.94353828e-01 4.54273131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.50509989299997 meters 0.05564061414564217 Centerline is valid? [True, True] Translation: X:428.40, Y:81.56, Z:45.43 [[ 9.57718620e-01 -2.68715228e-01 -1.02796749e-01 4.28400457e+02] [ 2.67469169e-01 9.63216121e-01 -2.59797726e-02 8.15602811e+01] [ 1.05996646e-01 -2.61364903e-03 9.94363052e-01 4.54327081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.56509989299997 meters 0.05716160717558347 Centerline is valid? [True, True] Translation: X:428.46, Y:81.57, Z:45.44 [[ 9.55264131e-01 -2.77616287e-01 -1.01978615e-01 4.28460458e+02] [ 2.76440338e-01 9.60685407e-01 -2.57738049e-02 8.15665001e+01] [ 1.05124595e-01 -3.57021139e-03 9.94452650e-01 4.54389696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.62509989299997 meters 0.060275850782061505 Centerline is valid? [True, True] Translation: X:428.52, Y:81.57, Z:45.45 [[ 9.54357986e-01 -2.80854766e-01 -1.01594469e-01 4.28520802e+02] [ 2.79705908e-01 9.59742309e-01 -2.56769361e-02 8.15694260e+01] [ 1.04716000e-01 -3.91158407e-03 9.94494474e-01 4.54450745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.685099893 meters 0.05819643641484925 Centerline is valid? [True, True] Translation: X:428.58, Y:81.59, Z:45.45 [[ 9.54117408e-01 -2.81973980e-01 -1.00750415e-01 4.28577220e+02] [ 2.80850387e-01 9.59413711e-01 -2.54635203e-02 8.15866706e+01] [ 1.03841380e-01 -4.00060495e-03 9.94585825e-01 4.54516953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.745099893 meters 0.056563346541282186 Centerline is valid? [True, True] Translation: X:428.63, Y:81.61, Z:45.46 [[ 9.54651639e-01 -2.80146225e-01 -1.00788597e-01 4.28633567e+02] [ 2.79011293e-01 9.59949817e-01 -2.54763905e-02 8.16067395e+01] [ 1.03889110e-01 -3.80007872e-03 9.94581627e-01 4.54576600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.805099893 meters 0.05726046120933574 Centerline is valid? [True, True] Translation: X:428.69, Y:81.62, Z:45.46 [[ 9.54895702e-01 -2.79543729e-01 -1.00147397e-01 4.28690291e+02] [ 2.78419841e-01 9.60125794e-01 -2.53150432e-02 8.16197353e+01] [ 1.03230760e-01 -3.70979635e-03 9.94650515e-01 4.54632757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.865099893 meters 0.056146098211250904 Centerline is valid? [True, True] Translation: X:428.75, Y:81.64, Z:45.47 [[ 9.54658759e-01 -2.80297382e-01 -1.00299706e-01 4.28747438e+02] [ 2.79173073e-01 9.59905745e-01 -2.53644593e-02 8.16355274e+01] [ 1.03387855e-01 -3.78657383e-03 9.94633909e-01 4.54695128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.925099893 meters 0.056397473503131956 Centerline is valid? [True, True] Translation: X:428.81, Y:81.65, Z:45.48 [[ 9.54382772e-01 -2.81171414e-01 -1.00479652e-01 4.28806676e+02] [ 2.80047701e-01 9.59649691e-01 -2.54117071e-02 8.16511902e+01] [ 1.03570312e-01 -3.88659998e-03 9.94614541e-01 4.54757580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.9850998929999 meters 0.05785365033128634 Centerline is valid? [True, True] Translation: X:428.87, Y:81.66, Z:45.48 [[ 9.53607061e-01 -2.83330549e-01 -1.01771179e-01 4.28865765e+02] [ 2.82190228e-01 9.59013218e-01 -2.57356460e-02 8.16579142e+01] [ 1.04891601e-01 -4.17713850e-03 9.94474888e-01 4.54809110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.04509989299993 meters 0.060056795440845995 Centerline is valid? [True, True] Translation: X:428.93, Y:81.66, Z:45.49 [[ 9.52279666e-01 -2.87354082e-01 -1.02912918e-01 4.28925741e+02] [ 2.86211261e-01 9.57813034e-01 -2.60251129e-02 8.16635026e+01] [ 1.06049757e-01 -4.67165019e-03 9.94349850e-01 4.54860828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.10509989299993 meters 0.05647470864677692 Centerline is valid? [True, True] Translation: X:428.98, Y:81.69, Z:45.49 [[ 9.51840978e-01 -2.88929419e-01 -1.02559954e-01 4.28980416e+02] [ 2.87803539e-01 9.57338215e-01 -2.59357860e-02 8.16911789e+01] [ 1.05678175e-01 -4.83037377e-03 9.94388652e-01 4.54932121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.16509989299993 meters 0.060340469439179846 Centerline is valid? [True, True] Translation: X:429.04, Y:81.69, Z:45.50 [[ 9.51586714e-01 -2.90120787e-01 -1.01551242e-01 4.29039662e+02] [ 2.89023634e-01 9.56977427e-01 -2.56815616e-02 8.16943860e+01] [ 1.04633001e-01 -4.91247608e-03 9.94498770e-01 4.55002966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.22509989299994 meters 0.060966610490748516 Centerline is valid? [True, True] Translation: X:429.10, Y:81.71, Z:45.51 [[ 9.51336726e-01 -2.91083601e-01 -1.01137382e-01 4.29096791e+02] [ 2.90000532e-01 9.56684579e-01 -2.55794262e-02 8.17072515e+01] [ 1.04202325e-01 -4.99524699e-03 9.94543575e-01 4.55076990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.28509989299994 meters 0.06239499091550574 Centerline is valid? [True, True] Translation: X:429.16, Y:81.72, Z:45.51 [[ 9.50880527e-01 -2.92697162e-01 -1.00770011e-01 4.29155210e+02] [ 2.91630715e-01 9.56191320e-01 -2.54889152e-02 8.17211930e+01] [ 1.03815943e-01 -5.15071743e-03 9.94583189e-01 4.55145521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.34509989299994 meters 0.06191426014957162 Centerline is valid? [True, True] Translation: X:429.21, Y:81.74, Z:45.52 [[ 9.50176198e-01 -2.94900800e-01 -1.00988663e-01 4.29213383e+02] [ 2.93841748e-01 9.55512615e-01 -2.55474200e-02 8.17377350e+01] [ 1.04029896e-01 -5.40013472e-03 9.94559510e-01 4.55208400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.40509989299994 meters 0.05524293725981991 Centerline is valid? [True, True] Translation: X:429.27, Y:81.78, Z:45.53 [[ 9.49084396e-01 -2.98550245e-01 -1.00531393e-01 4.29265910e+02] [ 2.97521081e-01 9.54376457e-01 -2.54319596e-02 8.17785658e+01] [ 1.03537512e-01 -5.77313262e-03 9.94608795e-01 4.55258776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.46509989299994 meters 0.05933997107714919 Centerline is valid? [True, True] Translation: X:429.33, Y:81.78, Z:45.53 [[ 9.48735233e-01 -2.99476024e-01 -1.01072095e-01 4.29327530e+02] [ 2.98441073e-01 9.54085540e-01 -2.55677243e-02 8.17784377e+01] [ 1.04088345e-01 -5.90706364e-03 9.94550513e-01 4.55319351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.52509989299995 meters 0.05848001198326889 Centerline is valid? [True, True] Translation: X:429.38, Y:81.80, Z:45.54 [[ 9.49402130e-01 -2.97303858e-01 -1.01222582e-01 4.29384278e+02] [ 2.96253540e-01 9.54766036e-01 -2.56057927e-02 8.18001461e+01] [ 1.04256584e-01 -5.67735398e-03 9.94534229e-01 4.55380068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.58509989299995 meters 0.059127123580887536 Centerline is valid? [True, True] Translation: X:429.44, Y:81.82, Z:45.54 [[ 9.50436593e-01 -2.93992787e-01 -1.01185594e-01 4.29441213e+02] [ 2.92924546e-01 9.55792878e-01 -2.55965833e-02 8.18153829e+01] [ 1.04237681e-01 -5.31181469e-03 9.94538230e-01 4.55443473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.64509989299995 meters 0.05652110416712829 Centerline is valid? [True, True] Translation: X:429.50, Y:81.85, Z:45.55 [[ 9.52162873e-01 -2.88326775e-01 -1.01259736e-01 4.29495674e+02] [ 2.87224985e-01 9.57520568e-01 -2.56158157e-02 8.18451958e+01] [ 1.04344005e-01 -4.69389735e-03 9.94530189e-01 4.55501724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.70509989299995 meters 0.058581890267875435 Centerline is valid? [True, True] Translation: X:429.55, Y:81.85, Z:45.56 [[ 9.53150327e-01 -2.84916596e-01 -1.01621789e-01 4.29554675e+02] [ 2.83787673e-01 9.58542501e-01 -2.57066252e-02 8.18544932e+01] [ 1.04733048e-01 -4.33673282e-03 9.94490916e-01 4.55563134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.76509989299996 meters 0.05483163629957715 Centerline is valid? [True, True] Translation: X:429.61, Y:81.89, Z:45.56 [[ 9.54127537e-01 -2.81631866e-01 -1.01607748e-01 4.29608803e+02] [ 2.80484681e-01 9.59514298e-01 -2.57032081e-02 8.18863605e+01] [ 1.04732930e-01 -3.97527809e-03 9.94492439e-01 4.55625741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.82509989299996 meters 0.056899187756687813 Centerline is valid? [True, True] Translation: X:429.67, Y:81.89, Z:45.57 [[ 9.54421487e-01 -2.80315337e-01 -1.02483836e-01 4.29668922e+02] [ 2.79140790e-01 9.59900189e-01 -2.59238634e-02 8.18940360e+01] [ 1.05641110e-01 -3.86512684e-03 9.94396810e-01 4.55682955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.88509989299996 meters 0.05711963469047562 Centerline is valid? [True, True] Translation: X:429.73, Y:81.91, Z:45.57 [[ 9.54545634e-01 -2.79672658e-01 -1.03081700e-01 4.29725474e+02] [ 2.78480680e-01 9.60087827e-01 -2.60744358e-02 8.19095969e+01] [ 1.06259792e-01 -3.81702290e-03 9.94331075e-01 4.55732885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.94509989299996 meters 0.05682348350455817 Centerline is valid? [True, True] Translation: X:429.78, Y:81.93, Z:45.58 [[ 9.54646794e-01 -2.79207890e-01 -1.03404316e-01 4.29781100e+02] [ 2.78004548e-01 9.60223290e-01 -2.61668800e-02 8.19274093e+01] [ 1.06597232e-01 -3.76674201e-03 9.94295148e-01 4.55793791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.00509989299997 meters 0.057608930118495265 Centerline is valid? [True, True] Translation: X:429.84, Y:81.94, Z:45.58 [[ 9.54677147e-01 -2.79175446e-01 -1.03211511e-01 4.29838974e+02] [ 2.77975163e-01 9.60232809e-01 -2.61297097e-02 8.19383404e+01] [ 1.06401853e-01 -3.74480000e-03 9.94316158e-01 4.55845312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.06509989299997 meters 0.05909112241210615 Centerline is valid? [True, True] Translation: X:429.90, Y:81.95, Z:45.59 [[ 9.54543477e-01 -2.79838804e-01 -1.02649861e-01 4.29896326e+02] [ 2.78654267e-01 9.60039530e-01 -2.59980912e-02 8.19494218e+01] [ 1.05823199e-01 -3.78751336e-03 9.94377748e-01 4.55906296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.12509989299997 meters 0.05650042830907339 Centerline is valid? [True, True] Translation: X:429.95, Y:81.98, Z:45.60 [[ 9.54483685e-01 -2.80318101e-01 -1.01895321e-01 4.29952139e+02] [ 2.79152482e-01 9.59899637e-01 -2.58181950e-02 8.19776554e+01] [ 1.05046589e-01 -3.80128586e-03 9.94460037e-01 4.55983684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.185099893 meters 0.057009166967400826 Centerline is valid? [True, True] Translation: X:430.01, Y:81.99, Z:45.60 [[ 9.54589843e-01 -2.80172541e-01 -1.01299450e-01 4.30011435e+02] [ 2.79019897e-01 9.59942277e-01 -2.56655666e-02 8.19897677e+01] [ 1.04432412e-01 -3.76447279e-03 9.94524862e-01 4.56045235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.245099893 meters 0.05664236157329839 Centerline is valid? [True, True] Translation: X:430.07, Y:82.00, Z:45.61 [[ 9.54479280e-01 -2.80689996e-01 -1.00908029e-01 4.30067910e+02] [ 2.79549223e-01 9.59790932e-01 -2.55655785e-02 8.20020174e+01] [ 1.04026613e-01 -3.80694601e-03 9.94567228e-01 4.56108704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.305099893 meters 0.05644940422662903 Centerline is valid? [True, True] Translation: X:430.13, Y:82.02, Z:45.62 [[ 9.53888336e-01 -2.82552048e-01 -1.01298479e-01 4.30125047e+02] [ 2.81412436e-01 9.59243538e-01 -2.56685592e-02 8.20191336e+01] [ 1.04422616e-01 -4.02171256e-03 9.94524883e-01 4.56169670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.365099893 meters 0.05713745556160719 Centerline is valid? [True, True] Translation: X:430.18, Y:82.03, Z:45.62 [[ 9.53137983e-01 -2.84863367e-01 -1.01886447e-01 4.30182767e+02] [ 2.83723512e-01 9.58558491e-01 -2.58183748e-02 8.20295426e+01] [ 1.05018828e-01 -4.29910678e-03 9.94460941e-01 4.56228685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.425099893 meters 0.05787909729570622 Centerline is valid? [True, True] Translation: X:430.24, Y:82.04, Z:45.63 [[ 9.51838318e-01 -2.88894207e-01 -1.02683754e-01 4.30242371e+02] [ 2.87759553e-01 9.57349097e-01 -2.60220247e-02 8.20395218e+01] [ 1.05821812e-01 -4.77947094e-03 9.94373622e-01 4.56284664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.4850998929999 meters 0.05915647738697101 Centerline is valid? [True, True] Translation: X:430.30, Y:82.05, Z:45.63 [[ 9.50358925e-01 -2.93165546e-01 -1.04268288e-01 4.30301644e+02] [ 2.92021089e-01 9.56046799e-01 -2.64235058e-02 8.20499750e+01] [ 1.07431825e-01 -5.33672462e-03 9.94198130e-01 4.56332633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.54509989299993 meters 0.054862659533508024 Centerline is valid? [True, True] Translation: X:430.36, Y:82.08, Z:45.64 [[ 9.49702369e-01 -2.95335035e-01 -1.04127938e-01 4.30356778e+02] [ 2.94206582e-01 9.55377489e-01 -2.63882770e-02 8.20786177e+01] [ 1.07274870e-01 -5.57411548e-03 9.94213776e-01 4.56409433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.60509989299993 meters 0.06149861539847954 Centerline is valid? [True, True] Translation: X:430.42, Y:82.07, Z:45.65 [[ 9.49612319e-01 -2.95765100e-01 -1.03727767e-01 4.30421277e+02] [ 2.94647906e-01 9.55244279e-01 -2.62864855e-02 8.20731595e+01] [ 1.06859981e-01 -5.60119899e-03 9.94258302e-01 4.56467476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.66509989299993 meters 0.057228019963511276 Centerline is valid? [True, True] Translation: X:430.48, Y:82.10, Z:45.65 [[ 9.49953098e-01 -2.95083413e-01 -1.02542142e-01 4.30476120e+02] [ 2.93987959e-01 9.55455878e-01 -2.59835455e-02 8.20997193e+01] [ 1.05641806e-01 -5.46300572e-03 9.94389242e-01 4.56545680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.72509989299994 meters 0.05865553476371042 Centerline is valid? [True, True] Translation: X:430.53, Y:82.11, Z:45.66 [[ 9.51327915e-01 -2.91071295e-01 -1.01255612e-01 4.30534176e+02] [ 2.89980561e-01 9.56688541e-01 -2.56575503e-02 8.21122511e+01] [ 1.04338260e-01 -4.95341524e-03 9.94529533e-01 4.56614652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.78509989299994 meters 0.05592692060037781 Centerline is valid? [True, True] Translation: X:430.59, Y:82.14, Z:45.67 [[ 9.51920744e-01 -2.89124207e-01 -1.01262485e-01 4.30590662e+02] [ 2.88022261e-01 9.57279861e-01 -2.56601947e-02 8.21365938e+01] [ 1.04355521e-01 -4.73937825e-03 9.94528765e-01 4.56681361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.84509989299994 meters 0.05633931048093732 Centerline is valid? [True, True] Translation: X:430.65, Y:82.15, Z:45.67 [[ 9.53977142e-01 -2.82021744e-01 -1.01937966e-01 4.30649141e+02] [ 2.80864665e-01 9.59399720e-01 -2.58305370e-02 8.21526838e+01] [ 1.05084029e-01 -3.98903089e-03 9.94455346e-01 4.56743075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.90509989299994 meters 0.05673935177564462 Centerline is valid? [True, True] Translation: X:430.71, Y:82.16, Z:45.68 [[ 9.55405092e-01 -2.76991783e-01 -1.02355568e-01 4.30708031e+02] [ 2.75796380e-01 9.60866096e-01 -2.59365249e-02 8.21626187e+01] [ 1.05534200e-01 -3.44940719e-03 9.94409691e-01 4.56803760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.96509989299994 meters 0.05552017467905611 Centerline is valid? [True, True] Translation: X:430.76, Y:82.19, Z:45.69 [[ 9.56861006e-01 -2.71379175e-01 -1.03780341e-01 4.30763622e+02] [ 2.70117330e-01 9.62468235e-01 -2.62968377e-02 8.21890916e+01] [ 1.07021696e-01 -2.87045018e-03 9.94252542e-01 4.56866111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.02509989299995 meters 0.05586453882308204 Centerline is valid? [True, True] Translation: X:430.82, Y:82.20, Z:45.69 [[ 9.57356116e-01 -2.69116093e-01 -1.05098978e-01 4.30822769e+02] [ 2.67808364e-01 9.63104095e-01 -2.66304724e-02 8.22041408e+01] [ 1.08387944e-01 -2.65153968e-03 9.94105137e-01 4.56918001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.08509989299995 meters 0.05561718644166179 Centerline is valid? [True, True] Translation: X:430.88, Y:82.22, Z:45.70 [[ 9.57695060e-01 -2.67420451e-01 -1.06331909e-01 4.30881805e+02] [ 2.66071567e-01 9.63576722e-01 -2.69410762e-02 8.22175241e+01] [ 1.09663547e-01 -2.49056201e-03 9.93965645e-01 4.56976830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.14509989299995 meters 0.05570584727818593 Centerline is valid? [True, True] Translation: X:430.94, Y:82.23, Z:45.70 [[ 9.57668198e-01 -2.67113981e-01 -1.07339387e-01 4.30941917e+02] [ 2.65737556e-01 9.63661751e-01 -2.71952401e-02 8.22338243e+01] [ 1.10703091e-01 -2.48008992e-03 9.93850429e-01 4.57045350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.20509989299995 meters 0.05595340396706533 Centerline is valid? [True, True] Translation: X:431.00, Y:82.25, Z:45.71 [[ 9.57509514e-01 -2.67891992e-01 -1.06814843e-01 4.31001293e+02] [ 2.66534240e-01 9.63445547e-01 -2.70587537e-02 8.22455428e+01] [ 1.10159108e-01 -2.56079885e-03 9.93910667e-01 4.57104694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.26509989299996 meters 0.05581170126328699 Centerline is valid? [True, True] Translation: X:431.06, Y:82.26, Z:45.72 [[ 9.57100286e-01 -2.69828541e-01 -1.05601139e-01 4.31059202e+02] [ 2.68513362e-01 9.62904452e-01 -2.67505462e-02 8.22558094e+01] [ 1.08901867e-01 -2.75236140e-03 9.94048695e-01 4.57168976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.32509989299996 meters 0.05730225075040886 Centerline is valid? [True, True] Translation: X:431.12, Y:82.26, Z:45.72 [[ 9.55777178e-01 -2.74939568e-01 -1.04394535e-01 4.31119543e+02] [ 2.73684386e-01 9.61455869e-01 -2.64474731e-02 8.22598939e+01] [ 1.07642195e-01 -3.29326294e-03 9.94184245e-01 4.57232518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.38509989299996 meters 0.057740973462561664 Centerline is valid? [True, True] Translation: X:431.18, Y:82.27, Z:45.73 [[ 9.53819940e-01 -2.81861017e-01 -1.03835875e-01 4.31179826e+02] [ 2.80659926e-01 9.59446694e-01 -2.63067699e-02 8.22684257e+01] [ 1.07039840e-01 -4.05064731e-03 9.94246481e-01 4.57294896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.44509989299996 meters 0.05778135998559371 Centerline is valid? [True, True] Translation: X:431.24, Y:82.28, Z:45.74 [[ 9.52604976e-01 -2.85997201e-01 -1.03679124e-01 4.31239318e+02] [ 2.84824096e-01 9.58219848e-01 -2.62670445e-02 8.22799023e+01] [ 1.06859696e-01 -4.50819540e-03 9.94263889e-01 4.57356367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.50509989299997 meters 0.05521845460123802 Centerline is valid? [True, True] Translation: X:431.30, Y:82.30, Z:45.74 [[ 9.51574797e-01 -2.89191680e-01 -1.04276454e-01 4.31295929e+02] [ 2.88024156e-01 9.57258691e-01 -2.64174807e-02 8.23003390e+01] [ 1.07459258e-01 -4.89592893e-03 9.94197434e-01 4.57420926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.56509989299997 meters 0.05464988472950218 Centerline is valid? [True, True] Translation: X:431.35, Y:82.32, Z:45.75 [[ 9.51544864e-01 -2.89218361e-01 -1.04475415e-01 4.31354065e+02] [ 2.88046561e-01 9.57250565e-01 -2.64676027e-02 8.23216048e+01] [ 1.07664067e-01 -4.90867266e-03 9.94175213e-01 4.57491720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.62509989299997 meters 0.05653747095788145 Centerline is valid? [True, True] Translation: X:431.41, Y:82.32, Z:45.75 [[ 9.52382788e-01 -2.86566114e-01 -1.04148391e-01 4.31414783e+02] [ 2.85386236e-01 9.58049438e-01 -2.63812573e-02 8.23228807e+01] [ 1.07339282e-01 -4.59746200e-03 9.94211819e-01 4.57541729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.685099893 meters 0.05677923330871554 Centerline is valid? [True, True] Translation: X:431.47, Y:82.34, Z:45.76 [[ 9.53705406e-01 -2.82084990e-01 -1.04278749e-01 4.31472683e+02] [ 2.80875375e-01 9.59380671e-01 -2.64150012e-02 8.23375653e+01] [ 1.07494291e-01 -4.09720317e-03 9.94197259e-01 4.57598785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.745099893 meters 0.056816955377854216 Centerline is valid? [True, True] Translation: X:431.53, Y:82.35, Z:45.77 [[ 9.54538146e-01 -2.79050231e-01 -1.04823163e-01 4.31530800e+02] [ 2.77809715e-01 9.60269085e-01 -2.65527195e-02 8.23541866e+01] [ 1.08067986e-01 -3.77530941e-03 9.94136337e-01 4.57659310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.805099893 meters 0.056234883844075295 Centerline is valid? [True, True] Translation: X:431.59, Y:82.38, Z:45.77 [[ 9.55424501e-01 -2.75771715e-01 -1.05422881e-01 4.31587560e+02] [ 2.74497026e-01 9.61217061e-01 -2.67047682e-02 8.23773371e+01] [ 1.08698692e-01 -3.42387755e-03 9.94068846e-01 4.57719656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.865099893 meters 0.055690636972241185 Centerline is valid? [True, True] Translation: X:431.65, Y:82.39, Z:45.78 [[ 9.55830895e-01 -2.74268381e-01 -1.05660564e-01 4.31645944e+02] [ 2.72978861e-01 9.61647659e-01 -2.67641689e-02 8.23885739e+01] [ 1.08948799e-01 -3.26108099e-03 9.94042013e-01 4.57772294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.925099893 meters 0.05683260616451097 Centerline is valid? [True, True] Translation: X:431.70, Y:82.40, Z:45.78 [[ 9.56422265e-01 -2.72572334e-01 -1.04693715e-01 4.31703406e+02] [ 2.71296222e-01 9.62130493e-01 -2.65193286e-02 8.24005100e+01] [ 1.07957451e-01 -3.03933308e-03 9.94150869e-01 4.57836940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.9850998929999 meters 0.055602547086097645 Centerline is valid? [True, True] Translation: X:431.76, Y:82.43, Z:45.79 [[ 9.56862483e-01 -2.71565191e-01 -1.03278926e-01 4.31759977e+02] [ 2.70317392e-01 9.62415726e-01 -2.61625423e-02 8.24276859e+01] [ 1.06502098e-01 -2.88413463e-03 9.94308295e-01 4.57919553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.04509989299993 meters 0.05592408543695481 Centerline is valid? [True, True] Translation: X:431.82, Y:82.43, Z:45.80 [[ 9.57087589e-01 -2.71163720e-01 -1.02242771e-01 4.31821255e+02] [ 2.69939091e-01 9.62529123e-01 -2.58954610e-02 8.24342747e+01] [ 1.05433555e-01 -2.81509649e-03 9.94422365e-01 4.57983081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.10509989299993 meters 0.056045031519458235 Centerline is valid? [True, True] Translation: X:431.88, Y:82.45, Z:45.80 [[ 9.57020652e-01 -2.71534657e-01 -1.01884255e-01 4.31877405e+02] [ 2.70320992e-01 9.62424447e-01 -2.58020202e-02 8.24492530e+01] [ 1.05062040e-01 -2.84838670e-03 9.94461590e-01 4.58044125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.16509989299993 meters 0.056886122524851084 Centerline is valid? [True, True] Translation: X:431.93, Y:82.46, Z:45.81 [[ 9.57049610e-01 -2.71345253e-01 -1.02116588e-01 4.31934176e+02] [ 2.70123695e-01 9.62477941e-01 -2.58728183e-02 8.24581948e+01] [ 1.05305430e-01 -2.82253946e-03 9.94435920e-01 4.58094435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.22509989299994 meters 0.056023167903447246 Centerline is valid? [True, True] Translation: X:431.99, Y:82.48, Z:45.81 [[ 9.56657561e-01 -2.71949596e-01 -1.04162033e-01 4.31989708e+02] [ 2.70681364e-01 9.62307002e-01 -2.63975922e-02 8.24773001e+01] [ 1.07414668e-01 -2.94126490e-03 9.94209957e-01 4.58138173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.28509989299994 meters 0.055621576711497575 Centerline is valid? [True, True] Translation: X:432.05, Y:82.49, Z:45.82 [[ 9.56479384e-01 -2.72476166e-01 -1.04421872e-01 4.32047214e+02] [ 2.71203428e-01 9.62157867e-01 -2.64752835e-02 8.24929855e+01] [ 1.07684209e-01 -2.99650669e-03 9.94180634e-01 4.58198384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.34509989299994 meters 0.05543743380383152 Centerline is valid? [True, True] Translation: X:432.10, Y:82.51, Z:45.83 [[ 9.56318448e-01 -2.72854540e-01 -1.04906746e-01 4.32104085e+02] [ 2.71572048e-01 9.62050459e-01 -2.65995847e-02 8.25078364e+01] [ 1.08183400e-01 -3.05206620e-03 9.94126268e-01 4.58258778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.40509989299994 meters 0.057149305998017666 Centerline is valid? [True, True] Translation: X:432.16, Y:82.51, Z:45.83 [[ 9.56357523e-01 -2.72546472e-01 -1.05350414e-01 4.32162059e+02] [ 2.71249860e-01 9.62137886e-01 -2.67245508e-02 8.25138415e+01] [ 1.08645307e-01 -3.01805986e-03 9.94075997e-01 4.58300369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.46509989299994 meters 0.05631564956105556 Centerline is valid? [True, True] Translation: X:432.22, Y:82.53, Z:45.84 [[ 9.56509124e-01 -2.72233296e-01 -1.04782293e-01 4.32217836e+02] [ 2.70948276e-01 9.62226720e-01 -2.65851537e-02 8.25324157e+01] [ 1.08061686e-01 -2.96163954e-03 9.94139779e-01 4.58372297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.52509989299995 meters 0.05597213377947764 Centerline is valid? [True, True] Translation: X:432.27, Y:82.55, Z:45.84 [[ 9.56446619e-01 -2.72468550e-01 -1.04741372e-01 4.32274063e+02] [ 2.71184649e-01 9.62160088e-01 -2.65866640e-02 8.25464951e+01] [ 1.08021997e-01 -2.97552720e-03 9.94144051e-01 4.58437643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.58509989299995 meters 0.05619255867993909 Centerline is valid? [True, True] Translation: X:432.33, Y:82.56, Z:45.85 [[ 9.56105325e-01 -2.73489702e-01 -1.05195011e-01 4.32330142e+02] [ 2.72199561e-01 9.61869956e-01 -2.67130354e-02 8.25620163e+01] [ 1.08489660e-01 -3.09356038e-03 9.94092764e-01 4.58498436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.64509989299995 meters 0.05586916718528063 Centerline is valid? [True, True] Translation: X:432.39, Y:82.58, Z:45.86 [[ 9.55243977e-01 -2.76269382e-01 -1.05755253e-01 4.32388074e+02] [ 2.74981109e-01 9.61074169e-01 -2.68669288e-02 8.25780334e+01] [ 1.09061152e-01 -3.41622492e-03 9.94029172e-01 4.58565463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.70509989299995 meters 0.054203825344905344 Centerline is valid? [True, True] Translation: X:432.45, Y:82.60, Z:45.86 [[ 9.54815172e-01 -2.77579278e-01 -1.06196670e-01 4.32445341e+02] [ 2.76288285e-01 9.60696061e-01 -2.69789258e-02 8.26016626e+01] [ 1.09511513e-01 -3.58100816e-03 9.93979077e-01 4.58641330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.76509989299996 meters 0.05459816989755291 Centerline is valid? [True, True] Translation: X:432.50, Y:82.62, Z:45.87 [[ 9.54202635e-01 -2.79526452e-01 -1.06594060e-01 4.32504199e+02] [ 2.78238166e-01 9.60130386e-01 -2.70770153e-02 8.26171226e+01] [ 1.09912938e-01 -3.82157636e-03 9.93933872e-01 4.58708376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.82509989299996 meters 0.05907734054684192 Centerline is valid? [True, True] Translation: X:432.57, Y:82.61, Z:45.87 [[ 9.53951747e-01 -2.80298286e-01 -1.06812614e-01 4.32568115e+02] [ 2.79009836e-01 9.59904940e-01 -2.71296553e-02 8.26133036e+01] [ 1.10134352e-01 -3.92138780e-03 9.93908973e-01 4.58734967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.88509989299996 meters 0.05533392200555135 Centerline is valid? [True, True] Translation: X:432.62, Y:82.64, Z:45.88 [[ 9.54793629e-01 -2.77654482e-01 -1.06193759e-01 4.32622001e+02] [ 2.76364961e-01 9.60674266e-01 -2.69696783e-02 8.26446922e+01] [ 1.09505863e-01 -3.59775699e-03 9.93979639e-01 4.58832700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.94509989299996 meters 0.055159732856349016 Centerline is valid? [True, True] Translation: X:432.68, Y:82.66, Z:45.89 [[ 9.55652991e-01 -2.74747864e-01 -1.06023454e-01 4.32679366e+02] [ 2.73444847e-01 9.61510779e-01 -2.69246795e-02 8.26641037e+01] [ 1.09340192e-01 -3.26091672e-03 9.93999039e-01 4.58905432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.00509989299997 meters 0.05546181128750515 Centerline is valid? [True, True] Translation: X:432.74, Y:82.68, Z:45.90 [[ 9.57068992e-01 -2.69521035e-01 -1.06664694e-01 4.32737720e+02] [ 2.68169885e-01 9.62990772e-01 -2.70866366e-02 8.26770273e+01] [ 1.10017534e-01 -2.68047879e-03 9.93926032e-01 4.58958248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.06509989299997 meters 0.05544549969177007 Centerline is valid? [True, True] Translation: X:432.80, Y:82.70, Z:45.90 [[ 9.58099447e-01 -2.65219592e-01 -1.08185108e-01 4.32795062e+02] [ 2.63802200e-01 9.64185485e-01 -2.74727159e-02 8.26957023e+01] [ 1.11596813e-01 -2.21787561e-03 9.93751092e-01 4.59015174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.12509989299997 meters 0.05558176451821521 Centerline is valid? [True, True] Translation: X:432.85, Y:82.71, Z:45.91 [[ 9.58383446e-01 -2.63745999e-01 -1.09266732e-01 4.32852658e+02] [ 2.62290502e-01 9.64589952e-01 -2.77473854e-02 8.27144917e+01] [ 1.12715854e-01 -2.06699115e-03 9.93625112e-01 4.59089537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.185099893 meters 0.055892764489889696 Centerline is valid? [True, True] Translation: X:432.91, Y:82.73, Z:45.92 [[ 9.58248175e-01 -2.64018479e-01 -1.09793795e-01 4.32911391e+02] [ 2.62550667e-01 9.64515315e-01 -2.78810712e-02 8.27298560e+01] [ 1.13258915e-01 -2.10944864e-03 9.93563268e-01 4.59155719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.245099893 meters 0.05577578877633135 Centerline is valid? [True, True] Translation: X:432.97, Y:82.74, Z:45.92 [[ 9.57589858e-01 -2.66547005e-01 -1.09427411e-01 4.32969020e+02] [ 2.65105628e-01 9.63818927e-01 -2.77863434e-02 8.27435790e+01] [ 1.12874577e-01 -2.40190210e-03 9.93606341e-01 4.59222988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.305099893 meters 0.05552590734575658 Centerline is valid? [True, True] Translation: X:433.03, Y:82.76, Z:45.93 [[ 9.57011998e-01 -2.68635838e-01 -1.09374691e-01 4.33028083e+02] [ 2.67209370e-01 9.63238176e-01 -2.77735378e-02 8.27607828e+01] [ 1.12814845e-01 -2.64633329e-03 9.93612504e-01 4.59303262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.365099893 meters 0.05554597677150119 Centerline is valid? [True, True] Translation: X:433.09, Y:82.78, Z:45.94 [[ 9.56076857e-01 -2.72240912e-01 -1.08636685e-01 4.33086186e+02] [ 2.70857240e-01 9.62224277e-01 -2.75825464e-02 8.27763723e+01] [ 1.12041953e-01 -3.05399820e-03 9.93698784e-01 4.59378147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.425099893 meters 0.05517149776349707 Centerline is valid? [True, True] Translation: X:433.14, Y:82.79, Z:45.94 [[ 9.55110165e-01 -2.75906616e-01 -1.07889354e-01 4.33144490e+02] [ 2.74565326e-01 9.61178217e-01 -2.73919112e-02 8.27887934e+01] [ 1.11258506e-01 -3.46038270e-03 9.93785475e-01 4.59440182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.4850998929999 meters 0.05591923191340081 Centerline is valid? [True, True] Translation: X:433.20, Y:82.80, Z:45.95 [[ 9.53372914e-01 -2.82147279e-01 -1.07112088e-01 4.33204036e+02] [ 2.80864422e-01 9.59362095e-01 -2.71946135e-02 8.27963873e+01] [ 1.10432163e-01 -4.15736667e-03 9.93874969e-01 4.59497550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.54509989299993 meters 0.05606727101237861 Centerline is valid? [True, True] Translation: X:433.26, Y:82.81, Z:45.96 [[ 9.52058756e-01 -2.86531056e-01 -1.07163796e-01 4.33261805e+02] [ 2.85274533e-01 9.58059585e-01 -2.72079497e-02 8.28116501e+01] [ 1.10465225e-01 -4.66753514e-03 9.93869030e-01 4.59562757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.60509989299993 meters 0.0560714685876887 Centerline is valid? [True, True] Translation: X:433.32, Y:82.83, Z:45.96 [[ 9.50607272e-01 -2.91204961e-01 -1.07449915e-01 4.33319942e+02] [ 2.89971298e-01 9.56646425e-01 -2.72811835e-02 8.28261584e+01] [ 1.10735993e-01 -5.22369982e-03 9.93836130e-01 4.59632379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.66509989299993 meters 0.06117646391083016 Centerline is valid? [True, True] Translation: X:433.38, Y:82.83, Z:45.97 [[ 9.50169420e-01 -2.92422543e-01 -1.08014491e-01 4.33380054e+02] [ 2.91183694e-01 9.56273998e-01 -2.74243980e-02 8.28256733e+01] [ 1.11310961e-01 -5.39423416e-03 9.93770986e-01 4.59665651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.72509989299994 meters 0.05501684538013053 Centerline is valid? [True, True] Translation: X:433.43, Y:82.87, Z:45.98 [[ 9.49818379e-01 -2.93449427e-01 -1.08316580e-01 4.33432590e+02] [ 2.92209911e-01 9.55958621e-01 -2.75042372e-02 8.28653623e+01] [ 1.11617271e-01 -5.52714838e-03 9.93735898e-01 4.59762403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.78509989299994 meters 0.05562961341169536 Centerline is valid? [True, True] Translation: X:433.49, Y:82.88, Z:45.98 [[ 9.49879506e-01 -2.93147906e-01 -1.08596635e-01 4.33492428e+02] [ 2.91900231e-01 9.56051236e-01 -2.75733257e-02 8.28804565e+01] [ 1.11907010e-01 -5.50804603e-03 9.93703418e-01 4.59827055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.84509989299994 meters 0.05540901959950904 Centerline is valid? [True, True] Translation: X:433.55, Y:82.90, Z:45.99 [[ 9.50593174e-01 -2.90962552e-01 -1.08228515e-01 4.33550452e+02] [ 2.89709733e-01 9.56720110e-01 -2.74754729e-02 8.28978949e+01] [ 1.11538730e-01 -5.23685717e-03 9.93746289e-01 4.59899595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.90509989299994 meters 0.055035402587924206 Centerline is valid? [True, True] Translation: X:433.61, Y:82.91, Z:46.00 [[ 9.51791417e-01 -2.87349207e-01 -1.07347715e-01 4.33608601e+02] [ 2.86093911e-01 9.57813992e-01 -2.72512702e-02 8.29140568e+01] [ 1.10649774e-01 -4.77400243e-03 9.93847995e-01 4.59973639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.96509989299994 meters 0.05734160454733577 Centerline is valid? [True, True] Translation: X:433.67, Y:82.92, Z:46.00 [[ 9.54293509e-01 -2.79647561e-01 -1.05456821e-01 4.33668044e+02] [ 2.78389339e-01 9.60095160e-01 -2.67704929e-02 8.29198978e+01] [ 1.08734887e-01 -3.81114715e-03 9.94063479e-01 4.60037023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.02509989299995 meters 0.05601245367782532 Centerline is valid? [True, True] Translation: X:433.72, Y:82.94, Z:46.01 [[ 9.55993943e-01 -2.74027790e-01 -1.04806255e-01 4.33724188e+02] [ 2.72751274e-01 9.61716613e-01 -2.66063531e-02 8.29435498e+01] [ 1.08084797e-01 -3.15052713e-03 9.94136686e-01 4.60119473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.08509989299995 meters 0.05613626742133046 Centerline is valid? [True, True] Translation: X:433.78, Y:82.96, Z:46.02 [[ 9.58192422e-01 -2.66004182e-01 -1.05399515e-01 4.33781752e+02] [ 2.64664651e-01 9.63969232e-01 -2.67570843e-02 8.29585343e+01] [ 1.08719385e-01 -2.25709035e-03 9.94069917e-01 4.60169051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.14509989299995 meters 0.05620093190210211 Centerline is valid? [True, True] Translation: X:433.84, Y:82.98, Z:46.02 [[ 9.59346116e-01 -2.61055462e-01 -1.07261711e-01 4.33838856e+02] [ 2.59637212e-01 9.65322260e-01 -2.72296394e-02 8.29754258e+01] [ 1.10650563e-01 -1.72648269e-03 9.93857873e-01 4.60215267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.20509989299995 meters 0.055601610516015476 Centerline is valid? [True, True] Translation: X:433.90, Y:82.99, Z:46.03 [[ 9.61126533e-01 -2.54008731e-01 -1.08237477e-01 4.33896402e+02] [ 2.52519681e-01 9.67201487e-01 -2.74789905e-02 8.29949757e+01] [ 1.11667352e-01 -9.21306340e-04 9.93745216e-01 4.60292112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.26509989299996 meters 0.056340728443065785 Centerline is valid? [True, True] Translation: X:433.96, Y:83.01, Z:46.04 [[ 9.62500648e-01 -2.49152086e-01 -1.07311422e-01 4.33956228e+02] [ 2.47658417e-01 9.68464306e-01 -2.72432877e-02 8.30096150e+01] [ 1.10715004e-01 -3.54894718e-04 9.93852133e-01 4.60358704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.32509989299996 meters 0.05623588866757756 Centerline is valid? [True, True] Translation: X:434.01, Y:83.02, Z:46.04 [[ 9.64243135e-01 -2.42852532e-01 -1.06102894e-01 4.34014204e+02] [ 2.41354722e-01 9.70063151e-01 -2.69329008e-02 8.30237432e+01] [ 1.09467231e-01 3.61430178e-04 9.93990339e-01 4.60408970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.38509989299996 meters 0.0558894720897949 Centerline is valid? [True, True] Translation: X:434.07, Y:83.04, Z:46.05 [[ 9.64901681e-01 -2.40437790e-01 -1.05614464e-01 4.34070634e+02] [ 2.38939327e-01 9.70664344e-01 -2.68091249e-02 8.30361086e+01] [ 1.08962121e-01 6.32720740e-04 9.94045701e-01 4.60472922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.44509989299996 meters 0.056128787026424286 Centerline is valid? [True, True] Translation: X:434.13, Y:83.04, Z:46.05 [[ 9.64401745e-01 -2.42249259e-01 -1.06040419e-01 4.34129344e+02] [ 2.40749043e-01 9.70213950e-01 -2.69219341e-02 8.30426348e+01] [ 1.09403712e-01 4.34430861e-04 9.93997303e-01 4.60522798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.50509989299997 meters 0.05639242358280257 Centerline is valid? [True, True] Translation: X:434.19, Y:83.05, Z:46.06 [[ 9.63086337e-01 -2.47625734e-01 -1.05575580e-01 4.34190305e+02] [ 2.46170158e-01 9.68855752e-01 -2.68101812e-02 8.30491693e+01] [ 1.08926399e-01 -1.69037978e-04 9.94049803e-01 4.60591002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.56509989299997 meters 0.05595653863835019 Centerline is valid? [True, True] Translation: X:434.25, Y:83.05, Z:46.06 [[ 9.60087112e-01 -2.59155303e-01 -1.05220088e-01 4.34251357e+02] [ 2.57778651e-01 9.65834541e-01 -2.67171665e-02 8.30483106e+01] [ 1.08549091e-01 -1.47268513e-03 9.94089999e-01 4.60649168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.62509989299997 meters 0.05549266092159276 Centerline is valid? [True, True] Translation: X:434.31, Y:83.06, Z:46.07 [[ 9.58835359e-01 -2.63648990e-01 -1.05470204e-01 4.34310172e+02] [ 2.62292757e-01 9.64616644e-01 -2.67813481e-02 8.30606814e+01] [ 1.08799189e-01 -1.98516689e-03 9.94061766e-01 4.60719327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.685099893 meters 0.05684904781560111 Centerline is valid? [True, True] Translation: X:434.37, Y:83.06, Z:46.08 [[ 9.55298321e-01 -2.75841598e-01 -1.06379186e-01 4.34372223e+02] [ 2.74536871e-01 9.61197092e-01 -2.70121522e-02 8.30575659e+01] [ 1.09702439e-01 -3.40034507e-03 9.93958657e-01 4.60762139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.745099893 meters 0.0563315363603489 Centerline is valid? [True, True] Translation: X:434.43, Y:83.07, Z:46.08 [[ 9.53595937e-01 -2.81684132e-01 -1.06343021e-01 4.34430719e+02] [ 2.80416412e-01 9.59498557e-01 -2.70028753e-02 8.30698324e+01] [ 1.09642257e-01 -4.07049615e-03 9.93962779e-01 4.60824488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.805099893 meters 0.057417380216997715 Centerline is valid? [True, True] Translation: X:434.49, Y:83.07, Z:46.09 [[ 9.51998040e-01 -2.87311908e-01 -1.05601131e-01 4.34492134e+02] [ 2.86096151e-01 9.57825625e-01 -2.68153694e-02 8.30692464e+01] [ 1.08851845e-01 -4.68389810e-03 9.94046949e-01 4.60879194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.865099893 meters 0.059754233252682754 Centerline is valid? [True, True] Translation: X:434.55, Y:83.07, Z:46.09 [[ 9.51240470e-01 -2.89943400e-01 -1.05234943e-01 4.34553249e+02] [ 2.88751928e-01 9.57030910e-01 -2.67237873e-02 8.30708005e+01] [ 1.08461479e-01 -4.96604467e-03 9.94088249e-01 4.60935002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.925099893 meters 0.060077102541186644 Centerline is valid? [True, True] Translation: X:434.61, Y:83.08, Z:46.10 [[ 9.49901057e-01 -2.94468786e-01 -1.04766958e-01 4.34612108e+02] [ 2.93315137e-01 9.55645519e-01 -2.66058818e-02 8.30817334e+01] [ 1.07954676e-01 -5.45677936e-03 9.94140841e-01 4.61001255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.9850998929999 meters 0.05642050368073519 Centerline is valid? [True, True] Translation: X:434.67, Y:83.11, Z:46.11 [[ 9.48981617e-01 -2.97477462e-01 -1.04599478e-01 4.34666913e+02] [ 2.96345715e-01 9.54711284e-01 -2.65627930e-02 8.31083410e+01] [ 1.07764134e-01 -5.79000491e-03 9.94159629e-01 4.61067097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.04509989299993 meters 0.058318816998890015 Centerline is valid? [True, True] Translation: X:434.73, Y:83.11, Z:46.11 [[ 9.47668207e-01 -3.01248732e-01 -1.05707952e-01 4.34727425e+02] [ 3.00116124e-01 9.53524880e-01 -2.68442643e-02 8.31104873e+01] [ 1.08881963e-01 -6.28520508e-03 9.94034815e-01 4.61112076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.10509989299993 meters 0.05698335856160951 Centerline is valid? [True, True] Translation: X:434.78, Y:83.13, Z:46.12 [[ 9.46973715e-01 -3.03352735e-01 -1.05914595e-01 4.34784628e+02] [ 3.02228700e-01 9.52855893e-01 -2.68972074e-02 8.31308445e+01] [ 1.09080688e-01 -6.53948206e-03 9.94011388e-01 4.61176866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.16509989299993 meters 0.0577178304881773 Centerline is valid? [True, True] Translation: X:434.84, Y:83.14, Z:46.12 [[ 9.46686365e-01 -3.04304288e-01 -1.05753609e-01 4.34841950e+02] [ 3.03189639e-01 9.52551740e-01 -2.68556513e-02 8.31416933e+01] [ 1.08908074e-01 -6.63951971e-03 9.94029652e-01 4.61234952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.22509989299994 meters 0.079472615838226 Centerline is valid? [True, True] Translation: X:434.91, Y:83.11, Z:46.12 [[ 9.46446992e-01 -3.04596714e-01 -1.07046409e-01 4.34910053e+02] [ 3.03456152e-01 9.52457474e-01 -2.71868490e-02 8.31085039e+01] [ 1.10238177e-01 -6.75297981e-03 9.93882257e-01 4.61242705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.28509989299994 meters 0.05705710755490056 Centerline is valid? [True, True] Translation: X:434.95, Y:83.18, Z:46.14 [[ 9.46729143e-01 -3.04386538e-01 -1.05132134e-01 4.34952870e+02] [ 3.03284697e-01 9.52525716e-01 -2.67049163e-02 8.31810656e+01] [ 1.08269679e-01 -6.60264503e-03 9.94099634e-01 4.61367459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.34509989299994 meters 0.05929415108754273 Centerline is valid? [True, True] Translation: X:435.01, Y:83.18, Z:46.14 [[ 9.47349407e-01 -3.02695650e-01 -1.04424351e-01 4.35013347e+02] [ 3.01598369e-01 9.53066013e-01 -2.65254291e-02 8.31842065e+01] [ 1.07552431e-01 -6.36536430e-03 9.94179037e-01 4.61426660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.40509989299994 meters 0.059314835358283816 Centerline is valid? [True, True] Translation: X:435.07, Y:83.21, Z:46.15 [[ 9.48588896e-01 -2.99459224e-01 -1.02485505e-01 4.35070075e+02] [ 2.98383453e-01 9.54090953e-01 -2.60339905e-02 8.32057966e+01] [ 1.05576612e-01 -5.88442450e-03 9.94393761e-01 4.61503119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.46509989299994 meters 0.05642237325215469 Centerline is valid? [True, True] Translation: X:435.12, Y:83.24, Z:46.16 [[ 9.49764708e-01 -2.95880709e-01 -1.01988262e-01 4.35123598e+02] [ 2.94794904e-01 9.55209293e-01 -2.59069676e-02 8.32395333e+01] [ 1.05085508e-01 -5.46009649e-03 9.94448200e-01 4.61567201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.52509989299995 meters 0.05711675775482827 Centerline is valid? [True, True] Translation: X:435.18, Y:83.25, Z:46.16 [[ 9.50669249e-01 -2.92613049e-01 -1.02983407e-01 4.35181869e+02] [ 2.91486878e-01 9.56217071e-01 -2.61593701e-02 8.32504370e+01] [ 1.06129065e-01 -5.14940310e-03 9.94339029e-01 4.61622483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.58509989299995 meters 0.0688319183228511 Centerline is valid? [True, True] Translation: X:435.25, Y:83.24, Z:46.16 [[ 9.51994414e-01 -2.87743981e-01 -1.04451127e-01 4.35246578e+02] [ 2.86556175e-01 9.57695971e-01 -2.65327264e-02 8.32361423e+01] [ 1.07667056e-01 -4.67210808e-03 9.94176029e-01 4.61647274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.64509989299995 meters 0.05762205124302903 Centerline is valid? [True, True] Translation: X:435.30, Y:83.29, Z:46.17 [[ 9.54762669e-01 -2.78197454e-01 -1.05044863e-01 4.35295694e+02] [ 2.76938283e-01 9.60517111e-01 -2.66846046e-02 8.32857447e+01] [ 1.08320978e-01 -3.61347976e-03 9.94109405e-01 4.61719704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.70509989299995 meters 0.05634018949189735 Centerline is valid? [True, True] Translation: X:435.35, Y:83.32, Z:46.18 [[ 9.58417981e-01 -2.65233781e-01 -1.05290148e-01 4.35349864e+02] [ 2.63890422e-01 9.64181736e-01 -2.67474398e-02 8.33164270e+01] [ 1.08613162e-01 -2.14983421e-03 9.94081767e-01 4.61779008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.76509989299996 meters 0.05602044052474053 Centerline is valid? [True, True] Translation: X:435.41, Y:83.34, Z:46.18 [[ 9.61076637e-01 -2.55854427e-01 -1.04260299e-01 4.35406186e+02] [ 2.54482017e-01 9.66714722e-01 -2.64867797e-02 8.33392660e+01] [ 1.07566726e-01 -1.07654593e-03 9.94197285e-01 4.61845066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.82509989299996 meters 0.055269771501550866 Centerline is valid? [True, True] Translation: X:435.46, Y:83.36, Z:46.19 [[ 9.63391004e-01 -2.47455088e-01 -1.03168562e-01 4.35461078e+02] [ 2.46063274e-01 9.68899355e-01 -2.62088537e-02 8.33613586e+01] [ 1.06445467e-01 -1.36620261e-04 9.94318532e-01 4.61924151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.88509989299996 meters 0.056113206934064845 Centerline is valid? [True, True] Translation: X:435.52, Y:83.38, Z:46.20 [[ 9.65317301e-01 -2.40267068e-01 -1.02148150e-01 4.35515714e+02] [ 2.38861841e-01 9.70706601e-01 -2.59560369e-02 8.33806574e+01] [ 1.05392264e-01 6.56516258e-04 9.94430510e-01 4.61996979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.94509989299996 meters 0.05560613665049325 Centerline is valid? [True, True] Translation: X:435.57, Y:83.40, Z:46.21 [[ 9.65342483e-01 -2.40152995e-01 -1.02178418e-01 4.35571740e+02] [ 2.38745801e-01 9.70734817e-01 -2.59684009e-02 8.33954405e+01] [ 1.05424538e-01 6.73732318e-04 9.94427078e-01 4.62054821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.00509989299997 meters 0.05591431561175562 Centerline is valid? [True, True] Translation: X:435.63, Y:83.40, Z:46.21 [[ 9.63858138e-01 -2.45956343e-01 -1.02386363e-01 4.35630179e+02] [ 2.44575280e-01 9.69280906e-01 -2.60280096e-02 8.34038502e+01] [ 1.05642901e-01 4.61354847e-05 9.94404131e-01 4.62114879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.06509989299997 meters 0.05610878499729035 Centerline is valid? [True, True] Translation: X:435.69, Y:83.41, Z:46.22 [[ 9.62277129e-01 -2.51816087e-01 -1.03011575e-01 4.35688367e+02] [ 2.50450174e-01 9.67774929e-01 -2.61992008e-02 8.34130002e+01] [ 1.06289400e-01 -5.88375201e-04 9.94335063e-01 4.62171077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.12509989299997 meters 0.056593033693395176 Centerline is valid? [True, True] Translation: X:435.75, Y:83.42, Z:46.22 [[ 9.60009365e-01 -2.60368218e-01 -1.02909718e-01 4.35748977e+02] [ 2.59052621e-01 9.65508197e-01 -2.61851531e-02 8.34189119e+01] [ 1.06177958e-01 -1.52103995e-03 9.94345980e-01 4.62226816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.185099893 meters 0.056206118372559566 Centerline is valid? [True, True] Translation: X:435.81, Y:83.43, Z:46.23 [[ 9.58783510e-01 -2.64843798e-01 -1.02917167e-01 4.35807107e+02] [ 2.63553302e-01 9.64289225e-01 -2.61905917e-02 8.34274937e+01] [ 1.06178331e-01 -2.01305180e-03 9.94345066e-01 4.62290260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.245099893 meters 0.055855274698608494 Centerline is valid? [True, True] Translation: X:435.86, Y:83.44, Z:46.24 [[ 9.57469658e-01 -2.69680921e-01 -1.02586820e-01 4.35864909e+02] [ 2.68426301e-01 9.62946389e-01 -2.61069638e-02 8.34402869e+01] [ 1.05826158e-01 -2.54037492e-03 9.94381401e-01 4.62358528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.305099893 meters 0.05779139841215408 Centerline is valid? [True, True] Translation: X:435.93, Y:83.44, Z:46.24 [[ 9.56156750e-01 -2.73897521e-01 -1.03655286e-01 4.35926739e+02] [ 2.72641057e-01 9.61754088e-01 -2.63804548e-02 8.34410648e+01] [ 1.06916436e-01 -3.03683672e-03 9.94263372e-01 4.62402520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.365099893 meters 0.05646456356702973 Centerline is valid? [True, True] Translation: X:435.98, Y:83.46, Z:46.25 [[ 9.55089106e-01 -2.77237624e-01 -1.04614054e-01 4.35984406e+02] [ 2.75977762e-01 9.60795215e-01 -2.66238469e-02 8.34559502e+01] [ 1.07893815e-01 -3.44300650e-03 9.94156462e-01 4.62456600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.425099893 meters 0.056886009329327476 Centerline is valid? [True, True] Translation: X:436.04, Y:83.46, Z:46.25 [[ 9.53591345e-01 -2.82121920e-01 -1.05217720e-01 4.36043738e+02] [ 2.80876932e-01 9.59370147e-01 -2.67781626e-02 8.34647145e+01] [ 1.08497446e-01 -4.01780610e-03 9.94088608e-01 4.62512882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.4850998929999 meters 0.056349485197159876 Centerline is valid? [True, True] Translation: X:436.10, Y:83.48, Z:46.26 [[ 9.52902964e-01 -2.84350282e-01 -1.05455484e-01 4.36100525e+02] [ 2.83113134e-01 9.58710903e-01 -2.68394818e-02 8.34846499e+01] [ 1.08733136e-01 -4.28041077e-03 9.94061760e-01 4.62579162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.54509989299993 meters 0.05712242754603671 Centerline is valid? [True, True] Translation: X:436.16, Y:83.49, Z:46.26 [[ 9.52888006e-01 -2.83942648e-01 -1.06681863e-01 4.36158153e+02] [ 2.82673784e-01 9.58831703e-01 -2.71532055e-02 8.34933065e+01] [ 1.09999905e-01 -4.28220197e-03 9.93922373e-01 4.62629165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.60509989299993 meters 0.05826298063227038 Centerline is valid? [True, True] Translation: X:436.22, Y:83.51, Z:46.27 [[ 9.53747432e-01 -2.80948545e-01 -1.06928717e-01 4.36216500e+02] [ 2.79653680e-01 9.59714769e-01 -2.72283197e-02 8.35054316e+01] [ 1.10270826e-01 -3.93406925e-03 9.93893791e-01 4.62686860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.66509989299993 meters 0.05729262524234506 Centerline is valid? [True, True] Translation: X:436.27, Y:83.52, Z:46.28 [[ 9.56470648e-01 -2.71992222e-01 -1.05755052e-01 4.36272965e+02] [ 2.70670892e-01 9.62295180e-01 -2.69305494e-02 8.35233617e+01] [ 1.09092477e-01 -2.86653425e-03 9.94027472e-01 4.62760398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.72509989299994 meters 0.056721520813161654 Centerline is valid? [True, True] Translation: X:436.33, Y:83.55, Z:46.28 [[ 9.58549384e-01 -2.64827991e-01 -1.05115235e-01 4.36329082e+02] [ 2.63479548e-01 9.64293516e-01 -2.67683028e-02 8.35458324e+01] [ 1.08450936e-01 -2.03697456e-03 9.94099716e-01 4.62843460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.78509989299994 meters 0.05639903389514246 Centerline is valid? [True, True] Translation: X:436.39, Y:83.56, Z:46.29 [[ 9.61042491e-01 -2.55758820e-01 -1.04808194e-01 4.36386026e+02] [ 2.54364182e-01 9.66740095e-01 -2.66917917e-02 8.35648828e+01] [ 1.08148944e-01 -1.00750453e-03 9.94134192e-01 4.62908099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.84509989299994 meters 0.05662887641916177 Centerline is valid? [True, True] Translation: X:436.44, Y:83.58, Z:46.30 [[ 9.61961581e-01 -2.52157962e-01 -1.05101276e-01 4.36442028e+02] [ 2.50734059e-01 9.67685898e-01 -2.67662983e-02 8.35821550e+01] [ 1.08454358e-01 -6.04318852e-04 9.94101246e-01 4.62975271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.90509989299994 meters 0.05702938663180422 Centerline is valid? [True, True] Translation: X:436.50, Y:83.60, Z:46.30 [[ 9.62302798e-01 -2.50532747e-01 -1.05861548e-01 4.36498023e+02] [ 2.49076882e-01 9.68108038e-01 -2.69728260e-02 8.35969929e+01] [ 1.09242992e-01 -4.11638547e-04 9.94014989e-01 4.63048844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.96509989299994 meters 0.056972439256047974 Centerline is valid? [True, True] Translation: X:436.56, Y:83.61, Z:46.31 [[ 9.62033411e-01 -2.51432498e-01 -1.06176339e-01 4.36555217e+02] [ 2.49971966e-01 9.67874706e-01 -2.70660260e-02 8.36099747e+01] [ 1.09570671e-01 -5.02686754e-04 9.93978881e-01 4.63113706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.02509989299995 meters 0.05628121102868478 Centerline is valid? [True, True] Translation: X:436.61, Y:83.62, Z:46.32 [[ 9.60902877e-01 -2.55435100e-01 -1.06857714e-01 4.36612505e+02] [ 2.53978953e-01 9.66825735e-01 -2.72523305e-02 8.36176131e+01] [ 1.10273990e-01 -9.52767663e-04 9.93900769e-01 4.63158510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.08509989299995 meters 0.05666911304454856 Centerline is valid? [True, True] Translation: X:436.67, Y:83.63, Z:46.32 [[ 9.59866614e-01 -2.59392111e-01 -1.06638715e-01 4.36671005e+02] [ 2.57965773e-01 9.65771077e-01 -2.72008685e-02 8.36289607e+01] [ 1.10044277e-01 -1.39993297e-03 9.93925700e-01 4.63225631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.14509989299995 meters 0.05743820761434748 Centerline is valid? [True, True] Translation: X:436.73, Y:83.64, Z:46.33 [[ 9.58186160e-01 -2.65343865e-01 -1.07107034e-01 4.36730254e+02] [ 2.63941819e-01 9.64151576e-01 -2.73213396e-02 8.36355270e+01] [ 1.10516965e-01 -2.09109585e-03 9.93872038e-01 4.63279767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.20509989299995 meters 0.05720241177202853 Centerline is valid? [True, True] Translation: X:436.79, Y:83.64, Z:46.33 [[ 9.57425470e-01 -2.68217934e-01 -1.06750218e-01 4.36788235e+02] [ 2.66842803e-01 9.63355240e-01 -2.72323179e-02 8.36425581e+01] [ 1.10142578e-01 -2.41261253e-03 9.93912869e-01 4.63336777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.26509989299996 meters 0.05699962702393842 Centerline is valid? [True, True] Translation: X:436.85, Y:83.65, Z:46.34 [[ 9.57318434e-01 -2.68753024e-01 -1.06363656e-01 4.36845500e+02] [ 2.67390697e-01 9.63205977e-01 -2.71378028e-02 8.36545128e+01] [ 1.09743476e-01 -2.46113328e-03 9.93956897e-01 4.63407719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.32509989299996 meters 0.05703723658385317 Centerline is valid? [True, True] Translation: X:436.90, Y:83.67, Z:46.35 [[ 9.57868574e-01 -2.66878562e-01 -1.06130243e-01 4.36901673e+02] [ 2.65509446e-01 9.63727587e-01 -2.70900876e-02 8.36695027e+01] [ 1.09510406e-01 -2.22983847e-03 9.93983148e-01 4.63475726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.38509989299996 meters 0.05697537255660713 Centerline is valid? [True, True] Translation: X:436.96, Y:83.69, Z:46.36 [[ 9.59517922e-01 -2.61097020e-01 -1.05611098e-01 4.36958533e+02] [ 2.59705691e-01 9.65311310e-01 -2.69634700e-02 8.36870540e+01] [ 1.08987669e-01 -1.55587044e-03 9.94041884e-01 4.63551874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.44509989299996 meters 0.057167165462912235 Centerline is valid? [True, True] Translation: X:437.02, Y:83.70, Z:46.36 [[ 9.60827820e-01 -2.56247056e-01 -1.05580999e-01 4.37015592e+02] [ 2.54827225e-01 9.66610799e-01 -2.69564069e-02 8.37008789e+01] [ 1.08963234e-01 -1.00444738e-03 9.94045273e-01 4.63602852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.50509989299997 meters 0.057211082126607686 Centerline is valid? [True, True] Translation: X:437.07, Y:83.72, Z:46.37 [[ 9.62106617e-01 -2.50865126e-01 -1.06852916e-01 4.37072227e+02] [ 2.49377507e-01 9.68021968e-01 -2.72823889e-02 8.37171182e+01] [ 1.10280170e-01 -3.98146971e-04 9.93900461e-01 4.63661237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.56509989299997 meters 0.05705126091026987 Centerline is valid? [True, True] Translation: X:437.13, Y:83.73, Z:46.37 [[ 9.62330798e-01 -2.49542253e-01 -1.07926360e-01 4.37128357e+02] [ 2.48015484e-01 9.68363880e-01 -2.75629261e-02 8.37301377e+01] [ 1.11390103e-01 -2.42755669e-04 9.93776728e-01 4.63739939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.62509989299997 meters 0.05750176250077716 Centerline is valid? [True, True] Translation: X:437.19, Y:83.74, Z:46.38 [[ 9.61741393e-01 -2.51628400e-01 -1.08335777e-01 4.37185562e+02] [ 2.50102604e-01 9.67823805e-01 -2.76725657e-02 8.37409758e+01] [ 1.11813148e-01 -4.81208116e-04 9.93729132e-01 4.63788198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.685099893 meters 0.05740561216793944 Centerline is valid? [True, True] Translation: X:437.24, Y:83.75, Z:46.39 [[ 9.60092856e-01 -2.57924959e-01 -1.08150003e-01 4.37244108e+02] [ 2.56442780e-01 9.66164208e-01 -2.76373733e-02 8.37479526e+01] [ 1.11619030e-01 -1.19984266e-03 9.93750347e-01 4.63853029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.745099893 meters 0.057962140521647214 Centerline is valid? [True, True] Translation: X:437.30, Y:83.76, Z:46.39 [[ 9.58483389e-01 -2.64231143e-01 -1.07198400e-01 4.37303816e+02] [ 2.62813959e-01 9.64457485e-01 -2.73967616e-02 8.37562593e+01] [ 1.10627377e-01 -1.91389515e-03 9.93860111e-01 4.63925025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.805099893 meters 0.05914632036725464 Centerline is valid? [True, True] Translation: X:437.37, Y:83.75, Z:46.40 [[ 9.55520341e-01 -2.75225749e-01 -1.05979554e-01 4.37365946e+02] [ 2.73907852e-01 9.61374472e-01 -2.70852739e-02 8.37535480e+01] [ 1.09340602e-01 -3.14810177e-03 9.93999357e-01 4.63979972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.865099893 meters 0.060057509368593096 Centerline is valid? [True, True] Translation: X:437.42, Y:83.77, Z:46.41 [[ 9.53184125e-01 -2.83245375e-01 -1.05887117e-01 4.37424802e+02] [ 2.81978909e-01 9.59038868e-01 -2.70618735e-02 8.37654516e+01] [ 1.09215012e-01 -4.06298557e-03 9.94009846e-01 4.64052754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.925099893 meters 0.06358162401603525 Centerline is valid? [True, True] Translation: X:437.49, Y:83.76, Z:46.41 [[ 9.50160456e-01 -2.93174241e-01 -1.06037600e-01 4.37486397e+02] [ 2.91965584e-01 9.56044829e-01 -2.70994868e-02 8.37624656e+01] [ 1.09321571e-01 -5.21046922e-03 9.93992779e-01 4.64103865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.9850998929999 meters 0.06004259951004307 Centerline is valid? [True, True] Translation: X:437.54, Y:83.78, Z:46.42 [[ 9.47755531e-01 -3.01196970e-01 -1.05070641e-01 4.37543683e+02] [ 3.00059171e-01 9.53542576e-01 -2.68523690e-02 8.37817200e+01] [ 1.08277182e-01 -6.07792809e-03 9.94102163e-01 4.64180596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.04509989299993 meters 0.05762625957464833 Centerline is valid? [True, True] Translation: X:437.60, Y:83.81, Z:46.43 [[ 9.46518502e-01 -3.05188595e-01 -1.04702657e-01 4.37598935e+02] [ 3.04082939e-01 9.52269675e-01 -2.67587890e-02 8.38079431e+01] [ 1.07871642e-01 -6.51060275e-03 9.94143511e-01 4.64251018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.10509989299993 meters 0.06438691085616755 Centerline is valid? [True, True] Translation: X:437.66, Y:83.80, Z:46.43 [[ 9.45436216e-01 -3.08303764e-01 -1.05352504e-01 4.37663112e+02] [ 3.07203452e-01 9.51262878e-01 -2.69253812e-02 8.37979496e+01] [ 1.08519123e-01 -6.90842236e-03 9.94070357e-01 4.64288866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.16509989299993 meters 0.06528517267956269 Centerline is valid? [True, True] Translation: X:437.72, Y:83.81, Z:46.43 [[ 9.45234458e-01 -3.08836472e-01 -1.05602332e-01 4.37719810e+02] [ 3.07734082e-01 9.51089503e-01 -2.69905827e-02 8.38118235e+01] [ 1.08772946e-01 -6.98500801e-03 9.94042080e-01 4.64344785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.22509989299994 meters 0.06779338052885674 Centerline is valid? [True, True] Translation: X:437.78, Y:83.82, Z:46.44 [[ 9.45878892e-01 -3.07147642e-01 -1.04754224e-01 4.37778907e+02] [ 3.06051407e-01 9.51638115e-01 -2.67849643e-02 8.38230826e+01] [ 1.07915051e-01 -6.72484533e-03 9.94137374e-01 4.64407044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.28509989299994 meters 0.061040446526112214 Centerline is valid? [True, True] Translation: X:437.83, Y:83.86, Z:46.45 [[ 9.46778228e-01 -3.04753642e-01 -1.03615654e-01 4.37831537e+02] [ 3.03666824e-01 9.52409843e-01 -2.64943654e-02 8.38585038e+01] [ 1.06758824e-01 -6.38034834e-03 9.94264474e-01 4.64487069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.34509989299994 meters 0.06443964010702954 Centerline is valid? [True, True] Translation: X:437.89, Y:83.87, Z:46.46 [[ 9.48582381e-01 -2.99542022e-01 -1.02303685e-01 4.37889951e+02] [ 2.98452010e-01 9.54065989e-01 -2.61626702e-02 8.38677091e+01] [ 1.05441286e-01 -5.71529258e-03 9.94409106e-01 4.64552185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.40509989299994 meters 0.06189805088011984 Centerline is valid? [True, True] Translation: X:437.95, Y:83.89, Z:46.46 [[ 9.49185264e-01 -2.97684856e-01 -1.02132568e-01 4.37945946e+02] [ 2.96587684e-01 9.54648361e-01 -2.61199795e-02 8.38906840e+01] [ 1.05276211e-01 -5.49856209e-03 9.94427818e-01 4.64617172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.46509989299994 meters 0.06257579967908025 Centerline is valid? [True, True] Translation: X:438.00, Y:83.91, Z:46.47 [[ 9.50209420e-01 -2.94290157e-01 -1.02446871e-01 4.38003071e+02] [ 2.93166513e-01 9.55702311e-01 -2.62009069e-02 8.39056027e+01] [ 1.05619381e-01 -5.13764346e-03 9.94393358e-01 4.64671544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.52509989299995 meters 0.06151886302551502 Centerline is valid? [True, True] Translation: X:438.06, Y:83.93, Z:46.47 [[ 9.51438941e-01 -2.90159288e-01 -1.02817941e-01 4.38059498e+02] [ 2.89003296e-01 9.56966849e-01 -2.62972537e-02 8.39288418e+01] [ 1.06023753e-01 -4.69449245e-03 9.94352516e-01 4.64727628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.58509989299995 meters 0.06103846087255236 Centerline is valid? [True, True] Translation: X:438.12, Y:83.95, Z:46.48 [[ 9.52266226e-01 -2.87259687e-01 -1.03300080e-01 4.38116734e+02] [ 2.86075705e-01 9.57842675e-01 -2.64216106e-02 8.39471501e+01] [ 1.06535089e-01 -4.39123594e-03 9.94299247e-01 4.64784414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.64509989299995 meters 0.05995976384441185 Centerline is valid? [True, True] Translation: X:438.17, Y:83.97, Z:46.48 [[ 9.53626923e-01 -2.82872842e-01 -1.02852553e-01 4.38172398e+02] [ 2.81673628e-01 9.59149559e-01 -2.63076341e-02 8.39712216e+01] [ 1.06092696e-01 -3.88318347e-03 9.94348662e-01 4.64846757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.70509989299995 meters 0.06142970002721403 Centerline is valid? [True, True] Translation: X:438.23, Y:83.98, Z:46.49 [[ 9.54680958e-01 -2.79383966e-01 -1.02610270e-01 4.38230026e+02] [ 2.78169938e-01 9.60173143e-01 -2.62491960e-02 8.39849927e+01] [ 1.05857230e-01 -3.48348478e-03 9.94375237e-01 4.64906562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.76509989299996 meters 0.05717837486636882 Centerline is valid? [True, True] Translation: X:438.28, Y:84.02, Z:46.50 [[ 9.55940336e-01 -2.74788078e-01 -1.03293691e-01 4.38281955e+02] [ 2.73530897e-01 9.61500158e-01 -2.64252668e-02 8.40216203e+01] [ 1.06578248e-01 -2.99303740e-03 9.94299813e-01 4.64981667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.82509989299996 meters 0.0592307324977231 Centerline is valid? [True, True] Translation: X:438.34, Y:84.03, Z:46.50 [[ 9.56810155e-01 -2.71669737e-01 -1.03488555e-01 4.38341507e+02] [ 2.70389502e-01 9.62386894e-01 -2.64761040e-02 8.40315266e+01] [ 1.06788785e-01 -2.64961354e-03 9.94278198e-01 4.65029441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.88509989299996 meters 0.057553851211955616 Centerline is valid? [True, True] Translation: X:438.40, Y:84.05, Z:46.51 [[ 9.57251550e-01 -2.70462328e-01 -1.02565098e-01 4.38396468e+02] [ 2.69197632e-01 9.62727341e-01 -2.62431172e-02 8.40520633e+01] [ 1.05839998e-01 -2.48901679e-03 9.94380058e-01 4.65103678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.94509989299996 meters 0.05777700867124027 Centerline is valid? [True, True] Translation: X:438.45, Y:84.07, Z:46.52 [[ 9.57660577e-01 -2.68869130e-01 -1.02934982e-01 4.38451564e+02] [ 2.67584889e-01 9.63173947e-01 -2.63490817e-02 8.40690180e+01] [ 1.06228748e-01 -2.31036896e-03 9.94339034e-01 4.65168823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.00509989299997 meters 0.05786786693465884 Centerline is valid? [True, True] Translation: X:438.51, Y:84.08, Z:46.52 [[ 9.57809705e-01 -2.68329711e-01 -1.02955014e-01 4.38508743e+02] [ 2.67041377e-01 9.63324514e-01 -2.63587455e-02 8.40821068e+01] [ 1.06251923e-01 -2.24658649e-03 9.94336704e-01 4.65222727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.06509989299997 meters 0.056630891508747526 Centerline is valid? [True, True] Translation: X:438.56, Y:84.10, Z:46.53 [[ 9.57525867e-01 -2.68991534e-01 -1.03864183e-01 4.38563307e+02] [ 2.67682965e-01 9.63139723e-01 -2.66027102e-02 8.41047887e+01] [ 1.07191624e-01 -2.32988928e-03 9.94235650e-01 4.65280468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.12509989299997 meters 0.057840216520881775 Centerline is valid? [True, True] Translation: X:438.62, Y:84.11, Z:46.53 [[ 9.57087114e-01 -2.70124635e-01 -1.04961598e-01 4.38621008e+02] [ 2.68793601e-01 9.62822194e-01 -2.68965275e-02 8.41100407e+01] [ 1.08324771e-01 -2.47068612e-03 9.94112488e-01 4.65317049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.185099893 meters 0.05637713022465953 Centerline is valid? [True, True] Translation: X:438.67, Y:84.14, Z:46.54 [[ 9.56473259e-01 -2.72332413e-01 -1.04852097e-01 4.38674942e+02] [ 2.71016653e-01 9.62199410e-01 -2.68750539e-02 8.41369048e+01] [ 1.08207574e-01 -2.71139394e-03 9.94124625e-01 4.65399086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.245099893 meters 0.05738650072559881 Centerline is valid? [True, True] Translation: X:438.73, Y:84.14, Z:46.54 [[ 9.56232117e-01 -2.73342620e-01 -1.04421985e-01 4.38733987e+02] [ 2.72043435e-01 9.61912628e-01 -2.67668532e-02 8.41418780e+01] [ 1.07761347e-01 -2.81199077e-03 9.94172814e-01 4.65446089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.305099893 meters 0.05793377001636349 Centerline is valid? [True, True] Translation: X:438.79, Y:84.15, Z:46.55 [[ 9.56202342e-01 -2.73672622e-01 -1.03828598e-01 4.38791010e+02] [ 2.72388917e-01 9.61818763e-01 -2.66260163e-02 8.41527119e+01] [ 1.07151106e-01 -2.82190034e-03 9.94238743e-01 4.65506854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.365099893 meters 0.05773508058808488 Centerline is valid? [True, True] Translation: X:438.85, Y:84.17, Z:46.56 [[ 9.56311719e-01 -2.73261372e-01 -1.03904377e-01 4.38848213e+02] [ 2.71972053e-01 9.61935846e-01 -2.66576616e-02 8.41669284e+01] [ 1.07233854e-01 -2.76605244e-03 9.94229978e-01 4.65564523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.425099893 meters 0.056311221943929686 Centerline is valid? [True, True] Translation: X:438.90, Y:84.19, Z:46.56 [[ 9.56710620e-01 -2.71806740e-01 -1.04047516e-01 4.38903203e+02] [ 2.70504000e-01 9.62348358e-01 -2.67062650e-02 8.41884525e+01] [ 1.07388899e-01 -2.59510195e-03 9.94213704e-01 4.65626952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.4850998929999 meters 0.05649491684308901 Centerline is valid? [True, True] Translation: X:438.96, Y:84.20, Z:46.57 [[ 9.57877171e-01 -2.67718368e-01 -1.03914392e-01 4.38960370e+02] [ 2.66394566e-01 9.63494856e-01 -2.66757767e-02 8.42014243e+01] [ 1.07262578e-01 -2.13011184e-03 9.94228446e-01 4.65684009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.54509989299993 meters 0.05652238918934852 Centerline is valid? [True, True] Translation: X:439.02, Y:84.22, Z:46.57 [[ 9.59011821e-01 -2.63318770e-01 -1.04687885e-01 4.39017324e+02] [ 2.61948764e-01 9.64707473e-01 -2.68763129e-02 8.42197079e+01] [ 1.08070223e-01 -1.64816039e-03 9.94141897e-01 4.65740632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.60509989299993 meters 0.05674721357471494 Centerline is valid? [True, True] Translation: X:439.07, Y:84.24, Z:46.58 [[ 9.61413959e-01 -2.54266662e-01 -1.05031731e-01 4.39073728e+02] [ 2.52833522e-01 9.67133945e-01 -2.69655854e-02 8.42370046e+01] [ 1.08436202e-01 -6.30452273e-04 9.94103210e-01 4.65801392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.66509989299993 meters 0.05612914922128966 Centerline is valid? [True, True] Translation: X:439.13, Y:84.25, Z:46.59 [[ 9.63017328e-01 -2.48523299e-01 -1.04085524e-01 4.39129382e+02] [ 2.47082202e-01 9.68625918e-01 -2.67248193e-02 8.42537198e+01] [ 1.07461676e-01 1.87837052e-05 9.94209227e-01 4.65866088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.72509989299994 meters 0.05682433593982467 Centerline is valid? [True, True] Translation: X:439.19, Y:84.27, Z:46.59 [[ 9.64382812e-01 -2.42798568e-01 -1.04950687e-01 4.39186178e+02] [ 2.41298254e-01 9.70076493e-01 -2.69583203e-02 8.42679319e+01] [ 1.08355636e-01 6.73723126e-04 9.94111967e-01 4.65942211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.78509989299994 meters 0.05730270196422367 Centerline is valid? [True, True] Translation: X:439.24, Y:84.28, Z:46.60 [[ 9.64453789e-01 -2.42413109e-01 -1.05189225e-01 4.39244215e+02] [ 2.40902383e-01 9.70172846e-01 -2.70312818e-02 8.42793364e+01] [ 1.08604467e-01 7.30087300e-04 9.94084773e-01 4.66010998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.84509989299994 meters 0.057087060197821886 Centerline is valid? [True, True] Translation: X:439.30, Y:84.29, Z:46.60 [[ 9.63279932e-01 -2.46805047e-01 -1.05730984e-01 4.39301099e+02] [ 2.45304857e-01 9.69065123e-01 -2.71719452e-02 8.42892852e+01] [ 1.09166382e-01 2.37865563e-04 9.94023463e-01 4.66045057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.90509989299994 meters 0.05652161805881338 Centerline is valid? [True, True] Translation: X:439.36, Y:84.29, Z:46.61 [[ 9.60848930e-01 -2.56437228e-01 -1.04925126e-01 4.39359071e+02] [ 2.55015648e-01 9.66560525e-01 -2.69772301e-02 8.42946375e+01] [ 1.08334451e-01 -8.36506289e-04 9.94114152e-01 4.66125434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.96509989299994 meters 0.05731724695993497 Centerline is valid? [True, True] Translation: X:439.42, Y:84.29, Z:46.62 [[ 9.57720482e-01 -2.68169274e-01 -1.04195583e-01 4.39421705e+02] [ 2.66835979e-01 9.63369426e-01 -2.67938133e-02 8.42935559e+01] [ 1.07564117e-01 -2.14214679e-03 9.94195842e-01 4.66184055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.02509989299995 meters 0.057410185333389895 Centerline is valid? [True, True] Translation: X:439.48, Y:84.30, Z:46.62 [[ 9.55482371e-01 -2.76161588e-01 -1.03866339e-01 4.39481080e+02] [ 2.74883759e-01 9.61106438e-01 -2.67083067e-02 8.43027373e+01] [ 1.07202416e-01 -3.03185361e-03 9.94232593e-01 4.66249460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.08509989299995 meters 0.05990010971232377 Centerline is valid? [True, True] Translation: X:439.54, Y:84.30, Z:46.63 [[ 9.51879849e-01 -2.88247145e-01 -1.04107329e-01 4.39542989e+02] [ 2.87034995e-01 9.57545939e-01 -2.67709845e-02 8.43039553e+01] [ 1.07404210e-01 -4.39968608e-03 9.94205702e-01 4.66306559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.14509989299995 meters 0.05872589442584126 Centerline is valid? [True, True] Translation: X:439.60, Y:84.32, Z:46.64 [[ 9.49612923e-01 -2.95590184e-01 -1.04219673e-01 4.39600004e+02] [ 2.94419344e-01 9.55300495e-01 -2.67995081e-02 8.43216267e+01] [ 1.07482777e-01 -5.23512847e-03 9.94193163e-01 4.66375611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.20509989299995 meters 0.0632716114121224 Centerline is valid? [True, True] Translation: X:439.66, Y:84.32, Z:46.64 [[ 9.47168879e-01 -3.03277377e-01 -1.04374071e-01 4.39661123e+02] [ 3.02149372e-01 9.52882696e-01 -2.68388746e-02 8.43214448e+01] [ 1.07595870e-01 -6.11561328e-03 9.94175904e-01 4.66431931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.26509989299996 meters 0.05931948160456399 Centerline is valid? [True, True] Translation: X:439.72, Y:84.35, Z:46.65 [[ 9.46456920e-01 -3.05620600e-01 -1.03996863e-01 4.39716490e+02] [ 3.04514737e-01 9.52132146e-01 -2.67423217e-02 8.43488495e+01] [ 1.07191761e-01 -6.35812197e-03 9.94218035e-01 4.66504909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.32509989299996 meters 0.05917634714748186 Centerline is valid? [True, True] Translation: X:439.77, Y:84.37, Z:46.66 [[ 9.46263377e-01 -3.06208281e-01 -1.04029367e-01 4.39772167e+02] [ 3.05105330e-01 9.51942843e-01 -2.67499686e-02 8.43653660e+01] [ 1.07221073e-01 -6.42739865e-03 9.94214429e-01 4.66562458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.38509989299996 meters 0.05929440556264547 Centerline is valid? [True, True] Translation: X:439.83, Y:84.38, Z:46.66 [[ 9.46454365e-01 -3.05497981e-01 -1.04379682e-01 4.39827952e+02] [ 3.04382806e-01 9.52171455e-01 -2.68445116e-02 8.43827809e+01] [ 1.07588297e-01 -6.36427522e-03 9.94175163e-01 4.66617725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.44509989299996 meters 0.0625856637701444 Centerline is valid? [True, True] Translation: X:439.89, Y:84.39, Z:46.67 [[ 9.47141906e-01 -3.02883117e-01 -1.05754565e-01 4.39886962e+02] [ 3.01721737e-01 9.53007902e-01 -2.72016909e-02 8.43900776e+01] [ 1.09023869e-01 -6.14458970e-03 9.94020141e-01 4.66655396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.50509989299997 meters 0.06061489802596733 Centerline is valid? [True, True] Translation: X:439.94, Y:84.42, Z:46.67 [[ 9.48347710e-01 -2.99057581e-01 -1.05835647e-01 4.39941777e+02] [ 2.97870514e-01 9.54218000e-01 -2.72243553e-02 8.44171281e+01] [ 1.09131929e-01 -5.70716343e-03 9.94010890e-01 4.66724707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.56509989299997 meters 0.05964035218605201 Centerline is valid? [True, True] Translation: X:440.00, Y:84.44, Z:46.68 [[ 9.49491729e-01 -2.95464783e-01 -1.05669386e-01 4.39997275e+02] [ 2.94259131e-01 9.55339019e-01 -2.71831315e-02 8.44399325e+01] [ 1.08981745e-01 -5.28402304e-03 9.94029707e-01 4.66791943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.62509989299997 meters 0.0585734324765765 Centerline is valid? [True, True] Translation: X:440.05, Y:84.47, Z:46.69 [[ 9.51440535e-01 -2.89231651e-01 -1.05384823e-01 4.40052206e+02] [ 2.87994260e-01 9.57248295e-01 -2.71110440e-02 8.44655401e+01] [ 1.08720814e-01 -4.55567779e-03 9.94061885e-01 4.66856375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.685099893 meters 0.05769402977691708 Centerline is valid? [True, True] Translation: X:440.11, Y:84.49, Z:46.69 [[ 9.53004970e-01 -2.84012320e-01 -1.05444438e-01 4.40107829e+02] [ 2.82741566e-01 9.58812449e-01 -2.71273711e-02 8.44895973e+01] [ 1.08805947e-01 -3.96100599e-03 9.94055117e-01 4.66914923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.745099893 meters 0.05716100710707754 Centerline is valid? [True, True] Translation: X:440.16, Y:84.51, Z:46.70 [[ 9.55319021e-01 -2.75896003e-01 -1.06051701e-01 4.40163929e+02] [ 2.74560447e-01 9.61182648e-01 -2.72851204e-02 8.45141532e+01] [ 1.09462911e-01 -3.05160799e-03 9.93986197e-01 4.66970763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.805099893 meters 0.056746739952097475 Centerline is valid? [True, True] Translation: X:440.22, Y:84.54, Z:46.71 [[ 9.56748838e-01 -2.70769998e-01 -1.06373256e-01 4.40216593e+02] [ 2.69394845e-01 9.62640894e-01 -2.73665398e-02 8.45445114e+01] [ 1.09809284e-01 -2.47350177e-03 9.93949598e-01 4.67056589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.865099893 meters 0.05631928795502215 Centerline is valid? [True, True] Translation: X:440.27, Y:84.56, Z:46.71 [[ 9.58235308e-01 -2.65554348e-01 -1.06141336e-01 4.40274913e+02] [ 2.64153139e-01 9.64094078e-01 -2.73080235e-02 8.45584198e+01] [ 1.09581998e-01 -1.87005480e-03 9.93976000e-01 4.67096983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.9250998929999 meters 0.056026658093934534 Centerline is valid? [True, True] Translation: X:440.33, Y:84.58, Z:46.72 [[ 9.58623554e-01 -2.64414516e-01 -1.05479122e-01 4.40329335e+02] [ 2.63023672e-01 9.64407581e-01 -2.71397406e-02 8.45806905e+01] [ 1.08901006e-01 -1.72671135e-03 9.94051100e-01 4.67179535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.9850998929999 meters 0.05635941532383661 Centerline is valid? [True, True] Translation: X:440.39, Y:84.59, Z:46.72 [[ 9.58676804e-01 -2.64439844e-01 -1.04930239e-01 4.40385590e+02] [ 2.63062215e-01 9.64400670e-01 -2.70114626e-02 8.45946074e+01] [ 1.08337700e-01 -1.70791838e-03 9.94112683e-01 4.67227078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.04509989299993 meters 0.0549997429157115 Centerline is valid? [True, True] Translation: X:440.44, Y:84.61, Z:46.73 [[ 9.58560088e-01 -2.65347760e-01 -1.03697274e-01 4.40439556e+02] [ 2.64006273e-01 9.64151135e-01 -2.67072452e-02 8.46145445e+01] [ 1.07066552e-01 -1.77623147e-03 9.94250270e-01 4.67299643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.10509989299993 meters 0.05623512690946548 Centerline is valid? [True, True] Translation: X:440.50, Y:84.62, Z:46.73 [[ 9.58267361e-01 -2.66600987e-01 -1.03187108e-01 4.40497893e+02] [ 2.65279438e-01 9.63805113e-01 -2.65805207e-02 8.46208060e+01] [ 1.06538655e-01 -1.90217266e-03 9.94306742e-01 4.67347772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.16509989299993 meters 0.055973667188939674 Centerline is valid? [True, True] Translation: X:440.55, Y:84.63, Z:46.74 [[ 9.57817064e-01 -2.68078724e-01 -1.03538733e-01 4.40554133e+02] [ 2.66755423e-01 9.63394803e-01 -2.66832898e-02 8.46321310e+01] [ 1.06901900e-01 -2.06180836e-03 9.94267435e-01 4.67397644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.22509989299994 meters 0.05639766767488627 Centerline is valid? [True, True] Translation: X:440.61, Y:84.64, Z:46.74 [[ 9.57598095e-01 -2.68704214e-01 -1.03941975e-01 4.40611118e+02] [ 2.67373726e-01 9.63220372e-01 -2.67918950e-02 8.46446181e+01] [ 1.07318123e-01 -2.13548541e-03 9.94222440e-01 4.67448931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.28509989299994 meters 0.055941368445394345 Centerline is valid? [True, True] Translation: X:440.67, Y:84.66, Z:46.75 [[ 9.57723312e-01 -2.68208375e-01 -1.04068847e-01 4.40668459e+02] [ 2.66870401e-01 9.63358697e-01 -2.68367152e-02 8.46566703e+01] [ 1.07453461e-01 -2.07074709e-03 9.94207959e-01 4.67503666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.34509989299994 meters 0.0559317393581629 Centerline is valid? [True, True] Translation: X:440.72, Y:84.67, Z:46.76 [[ 9.58103349e-01 -2.66899911e-01 -1.03934648e-01 4.40724068e+02] [ 2.65556414e-01 9.63722362e-01 -2.68141851e-02 8.46737076e+01] [ 1.07320848e-01 -1.90975188e-03 9.94222605e-01 4.67569458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.40509989299994 meters 0.056681664704505405 Centerline is valid? [True, True] Translation: X:440.78, Y:84.69, Z:46.76 [[ 9.59028808e-01 -2.63376203e-01 -1.04387358e-01 4.40782491e+02] [ 2.61998835e-01 9.64692021e-01 -2.69428308e-02 8.46860374e+01] [ 1.07797752e-01 -1.51041519e-03 9.94171697e-01 4.67614388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.46509989299994 meters 0.0559833440119567 Centerline is valid? [True, True] Translation: X:440.84, Y:84.70, Z:46.77 [[ 9.60411927e-01 -2.58385052e-01 -1.04144591e-01 4.40839335e+02] [ 2.56984709e-01 9.66041546e-01 -2.68810406e-02 8.47048507e+01] [ 1.07553661e-01 -9.46695515e-04 9.94198830e-01 4.67690188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.52509989299995 meters 0.05557407160878986 Centerline is valid? [True, True] Translation: X:440.89, Y:84.72, Z:46.78 [[ 9.61342892e-01 -2.54818819e-01 -1.04341812e-01 4.40894489e+02] [ 2.53392079e-01 9.66988661e-01 -2.69329674e-02 8.47195991e+01] [ 1.07760376e-01 -5.47571832e-04 9.94176746e-01 4.67758999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.58509989299995 meters 0.05636494217164148 Centerline is valid? [True, True] Translation: X:440.95, Y:84.73, Z:46.78 [[ 9.62573009e-01 -2.49844845e-01 -1.05027410e-01 4.40952347e+02] [ 2.48369216e-01 9.68285884e-01 -2.71141885e-02 8.47315207e+01] [ 1.08470899e-01 1.38105167e-05 9.94099625e-01 4.67820545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.64509989299995 meters 0.05690653168212328 Centerline is valid? [True, True] Translation: X:441.01, Y:84.74, Z:46.79 [[ 9.63347890e-01 -2.46815658e-01 -1.05085075e-01 4.41010017e+02] [ 2.45320201e-01 9.69062384e-01 -2.71310780e-02 8.47418190e+01] [ 1.08530368e-01 3.57175009e-04 9.94093070e-01 4.67878246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.70509989299995 meters 0.05655739111479728 Centerline is valid? [True, True] Translation: X:441.07, Y:84.75, Z:46.79 [[ 9.63566632e-01 -2.46264337e-01 -1.04370601e-01 4.41066427e+02] [ 2.44784763e-01 9.69202607e-01 -2.69578609e-02 8.47538196e+01] [ 1.07795018e-01 4.27362457e-04 9.94173049e-01 4.67929183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.76509989299996 meters 0.056535542044677124 Centerline is valid? [True, True] Translation: X:441.12, Y:84.76, Z:46.80 [[ 9.63467861e-01 -2.46181257e-01 -1.05472604e-01 4.41123884e+02] [ 2.44668089e-01 9.69223700e-01 -2.72570149e-02 8.47629058e+01] [ 1.08936714e-01 4.55477165e-04 9.94048583e-01 4.67982351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.82509989299996 meters 0.057075113595489786 Centerline is valid? [True, True] Translation: X:441.18, Y:84.77, Z:46.80 [[ 9.63192322e-01 -2.47113388e-01 -1.05808904e-01 4.41179972e+02] [ 2.45595577e-01 9.68986505e-01 -2.73489625e-02 8.47730385e+01] [ 1.09285695e-01 3.56111780e-04 9.94010317e-01 4.68042897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.88509989299996 meters 0.05703238272729133 Centerline is valid? [True, True] Translation: X:441.24, Y:84.78, Z:46.81 [[ 9.62162633e-01 -2.51533990e-01 -1.04755521e-01 4.41238715e+02] [ 2.50071718e-01 9.67848455e-01 -2.70832619e-02 8.47796865e+01] [ 1.08199830e-01 -1.37890572e-04 9.94129155e-01 4.68127331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.94509989299996 meters 0.057016022904042826 Centerline is valid? [True, True] Translation: X:441.30, Y:84.78, Z:46.82 [[ 9.60263024e-01 -2.59033418e-01 -1.03906750e-01 4.41297549e+02] [ 2.57637233e-01 9.65867880e-01 -2.68755368e-02 8.47816004e+01] [ 1.07321855e-01 -9.62663425e-04 9.94223865e-01 4.68173643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.00509989299997 meters 0.057379666946761346 Centerline is valid? [True, True] Translation: X:441.36, Y:84.79, Z:46.82 [[ 9.58637619e-01 -2.65308474e-01 -1.03079234e-01 4.41356411e+02] [ 2.63969366e-01 9.64162188e-01 -2.66730130e-02 8.47917385e+01] [ 1.06461676e-01 -1.64000631e-03 9.94315454e-01 4.68243207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.06509989299997 meters 0.05738756658294389 Centerline is valid? [True, True] Translation: X:441.42, Y:84.79, Z:46.83 [[ 9.56608368e-01 -2.72086284e-01 -1.04256820e-01 4.41417254e+02] [ 2.70756365e-01 9.62269813e-01 -2.69777325e-02 8.47923281e+01] [ 1.07663462e-01 -2.42107313e-03 9.94184448e-01 4.68294609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.12509989299997 meters 0.056508816103563585 Centerline is valid? [True, True] Translation: X:441.47, Y:84.81, Z:46.84 [[ 9.55979402e-01 -2.74010919e-01 -1.04982855e-01 4.41471949e+02] [ 2.72673901e-01 9.61722913e-01 -2.71658364e-02 8.48144010e+01] [ 1.08408153e-01 -2.65610447e-03 9.94102921e-01 4.68373914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.185099893 meters 0.05794563647065004 Centerline is valid? [True, True] Translation: X:441.53, Y:84.81, Z:46.84 [[ 9.56020660e-01 -2.73687752e-01 -1.05449100e-01 4.41532838e+02] [ 2.72336517e-01 9.61815006e-01 -2.72894728e-02 8.48144008e+01] [ 1.08891321e-01 -2.62834078e-03 9.94050186e-01 4.68419209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.245099893 meters 0.05792988687138109 Centerline is valid? [True, True] Translation: X:441.59, Y:84.83, Z:46.85 [[ 9.56211166e-01 -2.73177381e-01 -1.05044390e-01 4.41589588e+02] [ 2.71832288e-01 9.61960299e-01 -2.71954188e-02 8.48299554e+01] [ 1.08477706e-01 -2.54989371e-03 9.94095612e-01 4.68488577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.305099893 meters 0.05787338734729472 Centerline is valid? [True, True] Translation: X:441.65, Y:84.84, Z:46.85 [[ 9.56778001e-01 -2.71006752e-01 -1.05504490e-01 4.41645481e+02] [ 2.69635999e-01 9.62574679e-01 -2.73205910e-02 8.48424652e+01] [ 1.08960015e-01 -2.30806812e-03 9.94043454e-01 4.68548807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.365099893 meters 0.05806810217095757 Centerline is valid? [True, True] Translation: X:441.70, Y:84.86, Z:46.86 [[ 9.56929351e-01 -2.70239011e-01 -1.06099450e-01 4.41701992e+02] [ 2.68847301e-01 9.62790692e-01 -2.74811104e-02 8.48590463e+01] [ 1.09578031e-01 -2.22706963e-03 9.93975702e-01 4.68611314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.4250998929999 meters 0.058179447667498226 Centerline is valid? [True, True] Translation: X:441.76, Y:84.87, Z:46.87 [[ 9.56952511e-01 -2.69723552e-01 -1.07196531e-01 4.41759072e+02] [ 2.68298354e-01 9.62935332e-01 -2.77765986e-02 8.48670604e+01] [ 1.10715330e-01 -2.17976696e-03 9.93849770e-01 4.68652731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.4850998929999 meters 0.05759862763755258 Centerline is valid? [True, True] Translation: X:441.81, Y:84.89, Z:46.87 [[ 9.56699081e-01 -2.70620523e-01 -1.07197953e-01 4.41814486e+02] [ 2.69200340e-01 9.62683406e-01 -2.77819621e-02 8.48864094e+01] [ 1.10716060e-01 -2.27874773e-03 9.93849466e-01 4.68737584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.54509989299993 meters 0.05741723406703627 Centerline is valid? [True, True] Translation: X:441.87, Y:84.90, Z:46.88 [[ 9.56268578e-01 -2.72017735e-01 -1.07502366e-01 4.41870241e+02] [ 2.70596851e-01 9.62289156e-01 -2.78733532e-02 8.49004728e+01] [ 1.11030408e-01 -2.43538997e-03 9.93814026e-01 4.68816078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.60509989299993 meters 0.05843880708484349 Centerline is valid? [True, True] Translation: X:441.93, Y:84.91, Z:46.89 [[ 9.55788775e-01 -2.74106054e-01 -1.06459798e-01 4.41928341e+02] [ 2.72725013e-01 9.61695828e-01 -2.76079971e-02 8.49084673e+01] [ 1.09949462e-01 -2.64683597e-03 9.93933655e-01 4.68870217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.66509989299993 meters 0.058913440698904036 Centerline is valid? [True, True] Translation: X:441.99, Y:84.92, Z:46.89 [[ 9.54977484e-01 -2.77210663e-01 -1.05698881e-01 4.41985789e+02] [ 2.75866915e-01 9.60804571e-01 -2.74230015e-02 8.49193651e+01] [ 1.09157917e-01 -2.97047526e-03 9.94019982e-01 4.68938227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.72509989299994 meters 0.05868050152966994 Centerline is valid? [True, True] Translation: X:442.04, Y:84.93, Z:46.90 [[ 9.54504771e-01 -2.78846503e-01 -1.05665841e-01 4.42043107e+02] [ 2.77513373e-01 9.60330503e-01 -2.74162814e-02 8.49334307e+01] [ 1.09119065e-01 -3.15471267e-03 9.94023681e-01 4.68998445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.78509989299994 meters 0.05881379196963145 Centerline is valid? [True, True] Translation: X:442.10, Y:84.95, Z:46.91 [[ 9.55177742e-01 -2.76358442e-01 -1.06120179e-01 4.42100697e+02] [ 2.74998286e-01 9.61050317e-01 -2.75360078e-02 8.49458615e+01] [ 1.09596639e-01 -2.88108545e-03 9.93971969e-01 4.69051121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.84509989299994 meters 0.058274236026092455 Centerline is valid? [True, True] Translation: X:442.16, Y:84.96, Z:46.91 [[ 9.56579153e-01 -2.71696620e-01 -1.05533267e-01 4.42157711e+02] [ 2.70323004e-01 9.62380127e-01 -2.73854685e-02 8.49636707e+01] [ 1.09003658e-01 -2.33170138e-03 9.94038614e-01 4.69123344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.90509989299994 meters 0.05759201041118695 Centerline is valid? [True, True] Translation: X:442.21, Y:84.98, Z:46.92 [[ 9.59174390e-01 -2.63311428e-01 -1.03206498e-01 4.42213689e+02] [ 2.61949304e-01 9.64709946e-01 -2.67821305e-02 8.49846432e+01] [ 1.06616376e-01 -1.34613650e-03 9.94299319e-01 4.69222746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.96509989299994 meters 0.057485935716340565 Centerline is valid? [True, True] Translation: X:442.27, Y:85.00, Z:46.93 [[ 9.60138118e-01 -2.59262411e-01 -1.04488258e-01 4.42269562e+02] [ 2.57842034e-01 9.65806493e-01 -2.71164883e-02 8.50015932e+01] [ 1.07945724e-01 -9.05890847e-04 9.94156376e-01 4.69270073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.02509989299995 meters 0.05735958346245009 Centerline is valid? [True, True] Translation: X:442.33, Y:85.02, Z:46.93 [[ 9.60686433e-01 -2.56520330e-01 -1.06202157e-01 4.42325949e+02] [ 2.55035394e-01 9.66538648e-01 -2.75679014e-02 8.50158784e+01] [ 1.09720217e-01 -6.01200193e-04 9.93962330e-01 4.69312451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.08509989299995 meters 0.05786696308051357 Centerline is valid? [True, True] Translation: X:442.38, Y:85.03, Z:46.94 [[ 9.59822150e-01 -2.59755135e-01 -1.06154179e-01 4.42383405e+02] [ 2.58289835e-01 9.65674040e-01 -2.75682610e-02 8.50265337e+01] [ 1.09671332e-01 -9.57917864e-04 9.93967445e-01 4.69380263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.14509989299995 meters 0.05860057926668153 Centerline is valid? [True, True] Translation: X:442.44, Y:85.04, Z:46.95 [[ 9.58472829e-01 -2.64918792e-01 -1.05583471e-01 4.42441673e+02] [ 2.63499218e-01 9.64269514e-01 -2.74311328e-02 8.50384733e+01] [ 1.09077944e-01 -1.52916641e-03 9.94032023e-01 4.69453582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.20509989299995 meters 0.058159765284725426 Centerline is valid? [True, True] Translation: X:442.50, Y:85.04, Z:46.95 [[ 9.55565967e-01 -2.75318257e-01 -1.05325871e-01 4.42501495e+02] [ 2.73967797e-01 9.61349340e-01 -2.73695588e-02 8.50412668e+01] [ 1.08790295e-01 -2.70247778e-03 9.94061049e-01 4.69519266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.26509989299996 meters 0.059764846004504026 Centerline is valid? [True, True] Translation: X:442.56, Y:85.05, Z:46.96 [[ 9.53580555e-01 -2.82463104e-01 -1.04396933e-01 4.42561001e+02] [ 2.81178961e-01 9.59271832e-01 -2.71282821e-02 8.50470360e+01] [ 1.07807776e-01 -3.48521879e-03 9.94165649e-01 4.69589257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.32509989299996 meters 0.06079735811295907 Centerline is valid? [True, True] Translation: X:442.62, Y:85.05, Z:46.96 [[ 9.50973505e-01 -2.91262974e-01 -1.03996501e-01 4.42620777e+02] [ 2.90040874e-01 9.56632614e-01 -2.70246976e-02 8.50537902e+01] [ 1.07357738e-01 -4.46346442e-03 9.94210437e-01 4.69649473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.38509989299996 meters 0.0630971194192874 Centerline is valid? [True, True] Translation: X:442.68, Y:85.06, Z:46.97 [[ 9.49279502e-01 -2.96628066e-01 -1.04308283e-01 4.42680336e+02] [ 2.95430724e-01 9.54979549e-01 -2.71062455e-02 8.50637798e+01] [ 1.07652750e-01 -5.08446828e-03 9.94175555e-01 4.69705231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.44509989299996 meters 0.06263143394359985 Centerline is valid? [True, True] Translation: X:442.74, Y:85.08, Z:46.98 [[ 9.47668181e-01 -3.01704309e-01 -1.04400805e-01 4.42738558e+02] [ 3.00535388e-01 9.53384714e-01 -2.71305493e-02 8.50792816e+01] [ 1.07719535e-01 -5.66537816e-03 9.94165180e-01 4.69770949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.50509989299997 meters 0.059818917497784535 Centerline is valid? [True, True] Translation: X:442.79, Y:85.11, Z:46.98 [[ 9.45539303e-01 -3.08706852e-01 -1.03225514e-01 4.42793832e+02] [ 3.07605439e-01 9.51135781e-01 -2.68257321e-02 8.51054237e+01] [ 1.06462768e-01 -6.38794571e-03 9.94296170e-01 4.69845364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.56509989299997 meters 0.06999229007365897 Centerline is valid? [True, True] Translation: X:442.86, Y:85.09, Z:46.99 [[ 9.44345774e-01 -3.12231143e-01 -1.03550823e-01 4.42857564e+02] [ 3.11143883e-01 9.49981774e-01 -2.69093412e-02 8.50943387e+01] [ 1.06773329e-01 -6.80748256e-03 9.94260084e-01 4.69893239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.62509989299997 meters 0.05764316372511874 Centerline is valid? [True, True] Translation: X:442.90, Y:85.15, Z:47.00 [[ 9.43494859e-01 -3.15104232e-01 -1.02600063e-01 4.42903653e+02] [ 3.14053661e-01 9.49030767e-01 -2.66627158e-02 8.51548511e+01] [ 1.05772151e-01 -7.06579003e-03 9.94365288e-01 4.69967211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.685099893 meters 0.06035873457819927 Centerline is valid? [True, True] Translation: X:442.96, Y:85.16, Z:47.00 [[ 9.43373661e-01 -3.15223351e-01 -1.03345899e-01 4.42961552e+02] [ 3.14158044e-01 9.48990726e-01 -2.68575012e-02 8.51592168e+01] [ 1.06540412e-01 -7.13028639e-03 9.94282807e-01 4.70016407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.745099893 meters 0.06182889652841888 Centerline is valid? [True, True] Translation: X:443.02, Y:85.18, Z:47.01 [[ 9.43880167e-01 -3.13334228e-01 -1.04460005e-01 4.43018122e+02] [ 3.12233820e-01 9.49617201e-01 -2.71516586e-02 8.51753754e+01] [ 1.07704561e-01 -6.98803421e-03 9.94158385e-01 4.70069517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.805099893 meters 0.0621240788495703 Centerline is valid? [True, True] Translation: X:443.07, Y:85.20, Z:47.01 [[ 9.45481476e-01 -3.08680261e-01 -1.03832916e-01 4.43074145e+02] [ 3.07564994e-01 9.51144216e-01 -2.69899100e-02 8.51991576e+01] [ 1.07091330e-01 -6.41691024e-03 9.94228480e-01 4.70138106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.865099893 meters 0.06808488260629669 Centerline is valid? [True, True] Translation: X:443.13, Y:85.21, Z:47.02 [[ 9.47823566e-01 -3.01673751e-01 -1.03070052e-01 4.43133877e+02] [ 3.00533358e-01 9.53394885e-01 -2.67935468e-02 8.52089889e+01] [ 1.06349370e-01 -5.58043368e-03 9.94313165e-01 4.70202700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.9250998929999 meters 0.06169506642526267 Centerline is valid? [True, True] Translation: X:443.18, Y:85.25, Z:47.03 [[ 9.50681775e-01 -2.92630222e-01 -1.02818846e-01 4.43184629e+02] [ 2.91442524e-01 9.56214833e-01 -2.67291732e-02 8.52506483e+01] [ 1.06138669e-01 -4.55484608e-03 9.94340905e-01 4.70258382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.9850998929999 meters 0.05855607332753264 Centerline is valid? [True, True] Translation: X:443.24, Y:85.28, Z:47.03 [[ 9.51706847e-01 -2.89286744e-01 -1.02797167e-01 4.43238952e+02] [ 2.88079961e-01 9.57233363e-01 -2.67249798e-02 8.52813189e+01] [ 1.06132060e-01 -4.17945768e-03 9.94343260e-01 4.70321314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.04509989299993 meters 0.05866389491904084 Centerline is valid? [True, True] Translation: X:443.30, Y:85.30, Z:47.04 [[ 9.52146506e-01 -2.87929430e-01 -1.02536213e-01 4.43296221e+02] [ 2.86720883e-01 9.57643203e-01 -2.66576538e-02 8.52986687e+01] [ 1.05868631e-01 -4.01728162e-03 9.94372010e-01 4.70383201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.10509989299993 meters 0.06234544348668867 Centerline is valid? [True, True] Translation: X:443.36, Y:85.31, Z:47.04 [[ 9.53236262e-01 -2.84598279e-01 -1.01707660e-01 4.43355397e+02] [ 2.83390230e-01 9.58640048e-01 -2.64430871e-02 8.53077865e+01] [ 1.05026693e-01 -3.61644752e-03 9.94462827e-01 4.70443607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.16509989299993 meters 0.057872875500808406 Centerline is valid? [True, True] Translation: X:443.41, Y:85.34, Z:47.05 [[ 9.53703443e-01 -2.83334206e-01 -1.00853712e-01 4.43408352e+02] [ 2.82139319e-01 9.59015038e-01 -2.62213860e-02 8.53387113e+01] [ 1.04149642e-01 -3.44737158e-03 9.94555663e-01 4.70507767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.22509989299994 meters 0.056938669980698735 Centerline is valid? [True, True] Translation: X:443.46, Y:85.36, Z:47.06 [[ 9.54641345e-01 -2.80271447e-01 -1.00537643e-01 4.43463729e+02] [ 2.79066940e-01 9.59915776e-01 -2.61408989e-02 8.53643960e+01] [ 1.03834217e-01 -3.10154959e-03 9.94589783e-01 4.70567977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.28509989299994 meters 0.05824519445551589 Centerline is valid? [True, True] Translation: X:443.52, Y:85.38, Z:47.06 [[ 9.56241329e-01 -2.74709384e-01 -1.00684032e-01 4.43521593e+02] [ 2.73470249e-01 9.61524059e-01 -2.61821890e-02 8.53781294e+01] [ 1.04002612e-01 -2.49759599e-03 9.94573888e-01 4.70617448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.34509989299994 meters 0.05653700536171244 Centerline is valid? [True, True] Translation: X:443.58, Y:85.41, Z:47.07 [[ 9.57852517e-01 -2.69576296e-01 -9.92329420e-02 4.43576909e+02] [ 2.68345080e-01 9.62977139e-01 -2.58059483e-02 8.54052297e+01] [ 1.02515727e-01 -1.91037928e-03 9.94729549e-01 4.70676694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.40509989299994 meters 0.0562279645154661 Centerline is valid? [True, True] Translation: X:443.63, Y:85.42, Z:47.07 [[ 9.58600216e-01 -2.67079978e-01 -9.87618959e-02 4.43632788e+02] [ 2.65847099e-01 9.63672981e-01 -2.56847273e-02 8.54233769e+01] [ 1.02034047e-01 -1.63417840e-03 9.94779565e-01 4.70737479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.46509989299994 meters 0.05606033496918814 Centerline is valid? [True, True] Translation: X:443.69, Y:85.44, Z:47.08 [[ 9.58936183e-01 -2.65911468e-01 -9.86533682e-02 4.43688605e+02] [ 2.64674785e-01 9.63996279e-01 -2.56599283e-02 8.54362196e+01] [ 1.01924749e-01 -1.50482524e-03 9.94790974e-01 4.70803395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.52509989299995 meters 0.05631118799828128 Centerline is valid? [True, True] Translation: X:443.74, Y:85.45, Z:47.09 [[ 9.58650089e-01 -2.66971141e-01 -9.85718885e-02 4.43744437e+02] [ 2.65741440e-01 9.63703179e-01 -2.56450603e-02 8.54530747e+01] [ 1.01840533e-01 -1.60999624e-03 9.94799434e-01 4.70850725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.58509989299995 meters 0.05740180497900553 Centerline is valid? [True, True] Translation: X:443.80, Y:85.46, Z:47.09 [[ 9.57638091e-01 -2.70450671e-01 -9.89228012e-02 4.43802249e+02] [ 2.69229450e-01 9.62731807e-01 -2.57482171e-02 8.54608947e+01] [ 1.02199750e-01 -1.97545790e-03 9.94761936e-01 4.70903830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.64509989299995 meters 0.05736368136394592 Centerline is valid? [True, True] Translation: X:443.86, Y:85.47, Z:47.10 [[ 9.56690188e-01 -2.73717682e-01 -9.91086011e-02 4.43861014e+02] [ 2.72508950e-01 9.61807270e-01 -2.58001574e-02 8.54720300e+01] [ 1.02385332e-01 -2.32522340e-03 9.94742096e-01 4.70956073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.70509989299995 meters 0.05760540247181058 Centerline is valid? [True, True] Translation: X:443.92, Y:85.48, Z:47.10 [[ 9.54671485e-01 -2.80925544e-01 -9.84032223e-02 4.43920466e+02] [ 2.79771978e-01 9.59724642e-01 -2.56174288e-02 8.54810261e+01] [ 1.01636587e-01 -3.07423534e-03 9.94816844e-01 4.71004282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.76509989299996 meters 0.0592184705527647 Centerline is valid? [True, True] Translation: X:443.98, Y:85.49, Z:47.11 [[ 9.53194821e-01 -2.85990474e-01 -9.81278838e-02 4.43980358e+02] [ 2.84870069e-01 9.58225684e-01 -2.55456742e-02 8.54911486e+01] [ 1.01334478e-01 -3.60369271e-03 9.94845886e-01 4.71059087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.82509989299996 meters 0.059810512299911994 Centerline is valid? [True, True] Translation: X:444.04, Y:85.50, Z:47.11 [[ 9.51153855e-01 -2.92807169e-01 -9.78279351e-02 4.44040230e+02] [ 2.91729446e-01 9.56161773e-01 -2.54675168e-02 8.55016125e+01] [ 1.00996403e-01 -4.31576256e-03 9.94877430e-01 4.71116638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.88509989299996 meters 0.060182794820542625 Centerline is valid? [True, True] Translation: X:444.10, Y:85.51, Z:47.12 [[ 9.49034845e-01 -2.99487849e-01 -9.81829491e-02 4.44099462e+02] [ 2.98437785e-01 9.54086780e-01 -2.55598394e-02 8.55133834e+01] [ 1.01329915e-01 -5.04432361e-03 9.94840089e-01 4.71175065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.94509989299996 meters 0.056010056545539574 Centerline is valid? [True, True] Translation: X:444.15, Y:85.54, Z:47.12 [[ 9.47900335e-01 -3.03202789e-01 -9.77395702e-02 4.44154056e+02] [ 3.02181759e-01 9.52910666e-01 -2.54449777e-02 8.55433447e+01] [ 1.00852067e-01 -5.41581240e-03 9.94886692e-01 4.71228838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.00509989299997 meters 0.06126988929794882 Centerline is valid? [True, True] Translation: X:444.21, Y:85.54, Z:47.13 [[ 9.46932364e-01 -3.05848910e-01 -9.88713441e-02 4.44214898e+02] [ 3.04818495e-01 9.52062607e-01 -2.57386249e-02 8.55432335e+01] [ 1.02003840e-01 -5.76507744e-03 9.94767300e-01 4.71294432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.06509989299997 meters 0.0556088437465478 Centerline is valid? [True, True] Translation: X:444.27, Y:85.58, Z:47.14 [[ 9.47138837e-01 -3.05599485e-01 -9.76574528e-02 4.44269743e+02] [ 3.04592903e-01 9.52143289e-01 -2.54228533e-02 8.55798039e+01] [ 1.00753099e-01 -5.66679531e-03 9.94895321e-01 4.71355891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.12509989299997 meters 0.05693130740618942 Centerline is valid? [True, True] Translation: X:444.33, Y:85.59, Z:47.14 [[ 9.47841351e-01 -3.02876820e-01 -9.93096479e-02 4.44328246e+02] [ 3.01821454e-01 9.53013993e-01 -2.58483765e-02 8.55915010e+01] [ 1.02472358e-01 -5.47362220e-03 9.94720793e-01 4.71420544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.185099893 meters 0.059741189538886304 Centerline is valid? [True, True] Translation: X:444.39, Y:85.60, Z:47.15 [[ 9.48511594e-01 -3.00493153e-01 -1.00147993e-01 4.44386871e+02] [ 2.99406632e-01 9.53769466e-01 -2.60667370e-02 8.55999591e+01] [ 1.03350974e-01 -5.26037120e-03 9.94631039e-01 4.71481356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.245099893 meters 0.05620894092445373 Centerline is valid? [True, True] Translation: X:444.44, Y:85.63, Z:47.15 [[ 9.49474090e-01 -2.97375748e-01 -1.00332537e-01 4.44440683e+02] [ 2.96267780e-01 9.54747804e-01 -2.61157746e-02 8.56311362e+01] [ 1.03558467e-01 -4.92904661e-03 9.94611154e-01 4.71541648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.305099893 meters 0.056059442106378525 Centerline is valid? [True, True] Translation: X:444.50, Y:85.65, Z:47.16 [[ 9.50274214e-01 -2.94753181e-01 -1.00496169e-01 4.44497613e+02] [ 2.93626940e-01 9.55562105e-01 -2.61588091e-02 8.56510292e+01] [ 1.03740723e-01 -4.65034100e-03 9.94593503e-01 4.71600109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.365099893 meters 0.05506335826799672 Centerline is valid? [True, True] Translation: X:444.55, Y:85.68, Z:47.17 [[ 9.52126366e-01 -2.89141416e-01 -9.92603894e-02 4.44552335e+02] [ 2.88012319e-01 9.57278088e-01 -2.58372859e-02 8.56795816e+01] [ 1.02490425e-01 -3.98785383e-03 9.94725997e-01 4.71658309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.4250998929999 meters 0.05690393671937621 Centerline is valid? [True, True] Translation: X:444.61, Y:85.69, Z:47.17 [[ 9.54638383e-01 -2.80835767e-01 -9.89789393e-02 4.44610693e+02] [ 2.79668524e-01 9.59750878e-01 -2.57637210e-02 8.56883142e+01] [ 1.02230498e-01 -3.08625695e-03 9.94755950e-01 4.71740658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.4850998929999 meters 0.056028580006102294 Centerline is valid? [True, True] Translation: X:444.67, Y:85.71, Z:47.18 [[ 9.56197748e-01 -2.75332693e-01 -9.93870013e-02 4.44666547e+02] [ 2.74126018e-01 9.61345736e-01 -2.58708757e-02 8.57123603e+01] [ 1.02668368e-01 -2.50688993e-03 9.94712482e-01 4.71799173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.54509989299993 meters 0.05502985409105096 Centerline is valid? [True, True] Translation: X:444.72, Y:85.74, Z:47.18 [[ 9.57947590e-01 -2.68745149e-01 -1.00560724e-01 4.44722392e+02] [ 2.67473095e-01 9.63209603e-01 -2.61802176e-02 8.57371603e+01] [ 1.03896862e-01 -1.81801181e-03 9.94586415e-01 4.71845457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.60509989299993 meters 0.055242496259612056 Centerline is valid? [True, True] Translation: X:444.78, Y:85.75, Z:47.19 [[ 9.58518677e-01 -2.66452491e-01 -1.01217671e-01 4.44777750e+02] [ 2.65150952e-01 9.63846759e-01 -2.63514285e-02 8.57532601e+01] [ 1.04579728e-01 -1.57962543e-03 9.94515251e-01 4.71898832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.66509989299993 meters 0.055135073079049364 Centerline is valid? [True, True] Translation: X:444.83, Y:85.77, Z:47.20 [[ 9.58892243e-01 -2.65302732e-01 -1.00698202e-01 4.44833760e+02] [ 2.64007784e-01 9.64164083e-01 -2.62204149e-02 8.57706510e+01] [ 1.04045937e-01 -1.44255677e-03 9.94571446e-01 4.71968788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.72509989299994 meters 0.05483070215193713 Centerline is valid? [True, True] Translation: X:444.89, Y:85.79, Z:47.20 [[ 9.58798880e-01 -2.65882830e-01 -1.00055126e-01 4.44888979e+02] [ 2.64606446e-01 9.64004209e-01 -2.60636685e-02 8.57893949e+01] [ 1.03383445e-01 -1.48541510e-03 9.94640466e-01 4.72029479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.78509989299994 meters 0.055348491289276346 Centerline is valid? [True, True] Translation: X:444.95, Y:85.80, Z:47.21 [[ 9.58071025e-01 -2.68676628e-01 -9.95629442e-02 4.44946389e+02] [ 2.67426589e-01 9.63228815e-01 -2.59474457e-02 8.57991244e+01] [ 1.02873369e-01 -1.76628262e-03 9.94692892e-01 4.72090570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.84509989299994 meters 0.055613204527982414 Centerline is valid? [True, True] Translation: X:445.00, Y:85.81, Z:47.22 [[ 9.57301008e-01 -2.71592238e-01 -9.90577427e-02 4.45003945e+02] [ 2.70370175e-01 9.62410197e-01 -2.58182513e-02 8.58096360e+01] [ 1.02346218e-01 -2.06642119e-03 9.94746692e-01 4.72159178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.90509989299994 meters 0.054961464319347904 Centerline is valid? [True, True] Translation: X:445.06, Y:85.82, Z:47.22 [[ 9.55373991e-01 -2.78428778e-01 -9.86810668e-02 4.45061966e+02] [ 2.77252035e-01 9.60452841e-01 -2.57225394e-02 8.58241449e+01] [ 1.01940406e-01 -2.78488148e-03 9.94786609e-01 4.72220840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.96509989299994 meters 0.056661777762141416 Centerline is valid? [True, True] Translation: X:445.12, Y:85.83, Z:47.23 [[ 9.53584813e-01 -2.84297917e-01 -9.92506859e-02 4.45122108e+02] [ 2.83139096e-01 9.58729848e-01 -2.58714303e-02 8.58296126e+01] [ 1.02509789e-01 -3.43114644e-03 9.94726078e-01 4.72274146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.02509989299995 meters 0.05488608490109788 Centerline is valid? [True, True] Translation: X:445.18, Y:85.85, Z:47.23 [[ 9.51728336e-01 -2.90438987e-01 -9.92893171e-02 4.45179402e+02] [ 2.89312415e-01 9.56884759e-01 -2.58821047e-02 8.58492521e+01] [ 1.02525607e-01 -4.09289965e-03 9.94721945e-01 4.72324338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.08509989299995 meters 0.05495681621464065 Centerline is valid? [True, True] Translation: X:445.24, Y:85.86, Z:47.24 [[ 9.49898339e-01 -2.96125893e-01 -1.00013004e-01 4.45237480e+02] [ 2.95014162e-01 9.55137152e-01 -2.60704071e-02 8.58594408e+01] [ 1.03246258e-01 -4.74101608e-03 9.94644526e-01 4.72380011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.14509989299995 meters 0.06140149579473804 Centerline is valid? [True, True] Translation: X:445.30, Y:85.85, Z:47.24 [[ 9.47860611e-01 -3.02313915e-01 -1.00829356e-01 4.45300331e+02] [ 3.01218955e-01 9.53192777e-01 -2.62806094e-02 8.58533923e+01] [ 1.04054808e-01 -5.46135873e-03 9.94556570e-01 4.72430310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.20509989299995 meters 0.05914252379195023 Centerline is valid? [True, True] Translation: X:445.36, Y:85.87, Z:47.25 [[ 9.47116076e-01 -3.04748136e-01 -1.00497324e-01 4.45357195e+02] [ 3.03673967e-01 9.52415864e-01 -2.61943528e-02 8.58732042e+01] [ 1.03697926e-01 -5.70932863e-03 9.94592451e-01 4.72495472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.26509989299996 meters 0.0574269638164051 Centerline is valid? [True, True] Translation: X:445.41, Y:85.89, Z:47.26 [[ 9.46656334e-01 -3.06261120e-01 -1.00229298e-01 4.45412886e+02] [ 3.05201190e-01 9.51929508e-01 -2.61236793e-02 8.58948009e+01] [ 1.03411894e-01 -5.85995463e-03 9.94621356e-01 4.72561496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.32509989299996 meters 0.05293042842974211 Centerline is valid? [True, True] Translation: X:445.47, Y:85.93, Z:47.26 [[ 9.46228374e-01 -3.07391535e-01 -1.00808274e-01 4.45465192e+02] [ 3.06325570e-01 9.51564100e-01 -2.62756493e-02 8.59343968e+01] [ 1.04002447e-01 -6.01738706e-03 9.94558838e-01 4.72616740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.38509989299996 meters 0.05338195320958121 Centerline is valid? [True, True] Translation: X:445.53, Y:85.94, Z:47.27 [[ 9.45954140e-01 -3.07662322e-01 -1.02541017e-01 4.45525968e+02] [ 3.06561153e-01 9.51475707e-01 -2.67252415e-02 8.59426475e+01] [ 1.05787637e-01 -6.15423971e-03 9.94369700e-01 4.72666505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.44509989299996 meters 0.05615929231868697 Centerline is valid? [True, True] Translation: X:445.59, Y:85.95, Z:47.27 [[ 9.45760736e-01 -3.07659809e-01 -1.04317174e-01 4.45586580e+02] [ 3.06521398e-01 9.51475742e-01 -2.71761741e-02 8.59502589e+01] [ 1.07616277e-01 -6.27328773e-03 9.94172713e-01 4.72712229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.50509989299997 meters 0.05421850014503215 Centerline is valid? [True, True] Translation: X:445.64, Y:85.98, Z:47.28 [[ 9.46188803e-01 -3.06226514e-01 -1.04652142e-01 4.45642650e+02] [ 3.05072347e-01 9.51938923e-01 -2.72607743e-02 8.59765265e+01] [ 1.07970419e-01 -6.13263523e-03 9.94135192e-01 4.72782604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.56509989299997 meters 0.053500623594856016 Centerline is valid? [True, True] Translation: X:445.70, Y:86.00, Z:47.29 [[ 9.47316901e-01 -3.02702296e-01 -1.04699615e-01 4.45699165e+02] [ 3.01525721e-01 9.53067911e-01 -2.72726238e-02 8.59994855e+01] [ 1.08041329e-01 -5.73380934e-03 9.94129868e-01 4.72857745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.62509989299997 meters 0.054214235855546564 Centerline is valid? [True, True] Translation: X:445.76, Y:86.02, Z:47.29 [[ 9.50161125e-01 -2.94160471e-01 -1.03264002e-01 4.45755004e+02] [ 2.92965755e-01 9.55744511e-01 -2.68979004e-02 8.60204671e+01] [ 1.06606302e-01 -4.69547700e-03 9.94290224e-01 4.72929522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.685099893 meters 0.054438749077118036 Centerline is valid? [True, True] Translation: X:445.81, Y:86.04, Z:47.30 [[ 9.52156847e-01 -2.87891855e-01 -1.02545696e-01 4.45812828e+02] [ 2.86677517e-01 9.57654718e-01 -2.67103539e-02 8.60352943e+01] [ 1.05893063e-01 -3.96509914e-03 9.94369618e-01 4.72993364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.745099893 meters 0.053589463812927805 Centerline is valid? [True, True] Translation: X:445.87, Y:86.06, Z:47.31 [[ 9.54950689e-01 -2.78665273e-01 -1.02053156e-01 4.45867229e+02] [ 2.77410058e-01 9.60383829e-01 -2.65812111e-02 8.60638276e+01] [ 1.05417461e-01 -2.92682603e-03 9.94423749e-01 4.73059539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.805099893 meters 0.05379567738111167 Centerline is valid? [True, True] Translation: X:445.92, Y:86.08, Z:47.31 [[ 9.56513737e-01 -2.72930222e-01 -1.02910467e-01 4.45924488e+02] [ 2.71620707e-01 9.62031048e-01 -2.68039841e-02 8.60794259e+01] [ 1.06318681e-01 -2.31423465e-03 9.94329413e-01 4.73111727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.865099893 meters 0.05409198656792393 Centerline is valid? [True, True] Translation: X:445.98, Y:86.10, Z:47.32 [[ 9.58147752e-01 -2.66335991e-01 -1.04966783e-01 4.45979915e+02] [ 2.64933980e-01 9.63878901e-01 -2.73395531e-02 8.61042829e+01] [ 1.08456775e-01 -1.61393626e-03 9.94099856e-01 4.73172722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.9250998929999 meters 0.05410789512124697 Centerline is valid? [True, True] Translation: X:446.04, Y:86.12, Z:47.32 [[ 9.59066554e-01 -2.62762117e-01 -1.05581323e-01 4.46037537e+02] [ 2.61322048e-01 9.64859880e-01 -2.74990780e-02 8.61213130e+01] [ 1.09096898e-01 -1.21728143e-03 9.94030374e-01 4.73225762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.9850998929999 meters 0.0544257378965022 Centerline is valid? [True, True] Translation: X:446.09, Y:86.14, Z:47.33 [[ 9.60143593e-01 -2.58640385e-01 -1.05969019e-01 4.46093300e+02] [ 2.57164727e-01 9.65973388e-01 -2.75992311e-02 8.61404464e+01] [ 1.09501528e-01 -7.52268875e-04 9.93986343e-01 4.73282222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.04509989299993 meters 0.05388322543187085 Centerline is valid? [True, True] Translation: X:446.15, Y:86.16, Z:47.33 [[ 9.60476072e-01 -2.57287273e-01 -1.06249583e-01 4.46148633e+02] [ 2.55795294e-01 9.66334777e-01 -2.76742739e-02 8.61572522e+01] [ 1.09792906e-01 -5.97665621e-04 9.93954305e-01 4.73341781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.10509989299993 meters 0.053760560615270486 Centerline is valid? [True, True] Translation: X:446.21, Y:86.17, Z:47.34 [[ 9.59982204e-01 -2.58717181e-01 -1.07236129e-01 4.46207305e+02] [ 2.57205716e-01 9.65952812e-01 -2.79353523e-02 8.61746753e+01] [ 1.10812396e-01 -7.64304156e-04 9.93841048e-01 4.73417603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.16509989299993 meters 0.05413929604622754 Centerline is valid? [True, True] Translation: X:446.27, Y:86.19, Z:47.35 [[ 9.59014153e-01 -2.62225315e-01 -1.07376625e-01 4.46266874e+02] [ 2.60732107e-01 9.65005962e-01 -2.79689504e-02 8.61901566e+01] [ 1.10953250e-01 -1.17391438e-03 9.93824933e-01 4.73489072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.22509989299994 meters 0.05413671255311386 Centerline is valid? [True, True] Translation: X:446.33, Y:86.20, Z:47.35 [[ 9.56737271e-01 -2.70847816e-01 -1.06279140e-01 4.46326339e+02] [ 2.69438459e-01 9.62619768e-01 -2.76784903e-02 8.61956218e+01] [ 1.09803060e-01 -2.15464449e-03 9.93951028e-01 4.73547071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.28509989299994 meters 0.05647176545329053 Centerline is valid? [True, True] Translation: X:446.39, Y:86.20, Z:47.36 [[ 9.53346944e-01 -2.82784171e-01 -1.05653763e-01 4.46387665e+02] [ 2.81464064e-01 9.59177162e-01 -2.75164178e-02 8.61965947e+01] [ 1.09121884e-01 -3.50504478e-03 9.94022198e-01 4.73612412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.34509989299994 meters 0.05559165064341135 Centerline is valid? [True, True] Translation: X:446.45, Y:86.21, Z:47.37 [[ 9.50781951e-01 -2.91110219e-01 -1.06153294e-01 4.46445975e+02] [ 2.89829025e-01 9.56679032e-01 -2.76471622e-02 8.62126907e+01] [ 1.09603002e-01 -4.47988297e-03 9.93965348e-01 4.73677681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.40509989299994 meters 0.05805906684148702 Centerline is valid? [True, True] Translation: X:446.51, Y:86.22, Z:47.37 [[ 9.47465319e-01 -3.01497573e-01 -1.06811439e-01 4.46506531e+02] [ 3.00265871e-01 9.53449816e-01 -2.78182376e-02 8.62174374e+01] [ 1.10226478e-01 -5.71501452e-03 9.93890065e-01 4.73725056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.46509989299994 meters 0.05346668747429847 Centerline is valid? [True, True] Translation: X:446.56, Y:86.25, Z:47.38 [[ 9.45877652e-01 -3.06358105e-01 -1.07052221e-01 4.46559870e+02] [ 3.05151676e-01 9.51895523e-01 -2.78813295e-02 8.62487011e+01] [ 1.10444201e-01 -6.29483799e-03 9.93862392e-01 4.73814064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.52509989299995 meters 0.05517938149196971 Centerline is valid? [True, True] Translation: X:446.62, Y:86.26, Z:47.39 [[ 9.44744211e-01 -3.09943557e-01 -1.06739715e-01 4.46619030e+02] [ 3.08766915e-01 9.50731391e-01 -2.77995254e-02 8.62576960e+01] [ 1.10097082e-01 -6.69425180e-03 9.93898294e-01 4.73874118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.58509989299995 meters 0.05300440795731778 Centerline is valid? [True, True] Translation: X:446.67, Y:86.29, Z:47.39 [[ 9.44308369e-01 -3.11283612e-01 -1.06696846e-01 4.46674456e+02] [ 3.10116564e-01 9.50292378e-01 -2.77869234e-02 8.62851578e+01] [ 1.10042813e-01 -6.84903490e-03 9.93903250e-01 4.73949883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.64509989299995 meters 0.05485388664532366 Centerline is valid? [True, True] Translation: X:446.73, Y:86.30, Z:47.40 [[ 9.44098376e-01 -3.11835067e-01 -1.06944604e-01 4.46734319e+02] [ 3.10666205e-01 9.50110972e-01 -2.78504860e-02 8.62956877e+01] [ 1.10294000e-01 -6.93047568e-03 9.93874842e-01 4.73993991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.70509989299995 meters 0.05277545046122302 Centerline is valid? [True, True] Translation: X:446.79, Y:86.32, Z:47.41 [[ 9.44190014e-01 -3.11396186e-01 -1.07413372e-01 4.46791819e+02] [ 3.10214440e-01 9.50255042e-01 -2.79706276e-02 8.63201087e+01] [ 1.10780045e-01 -6.91159187e-03 9.93820915e-01 4.74065651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.76509989299996 meters 0.05250523681123914 Centerline is valid? [True, True] Translation: X:446.85, Y:86.34, Z:47.41 [[ 9.44234761e-01 -3.10673476e-01 -1.09099530e-01 4.46850244e+02] [ 3.09449954e-01 9.50491367e-01 -2.84057541e-02 8.63407301e+01] [ 1.12523076e-01 -6.93914400e-03 9.93624882e-01 4.74123312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.82509989299996 meters 0.05508372363044204 Centerline is valid? [True, True] Translation: X:446.91, Y:86.35, Z:47.42 [[ 9.44050674e-01 -3.10643731e-01 -1.10764602e-01 4.46912082e+02] [ 3.09383156e-01 9.50500275e-01 -2.88320873e-02 8.63472853e+01] [ 1.14238292e-01 -7.04975080e-03 9.93428364e-01 4.74154430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.88509989299996 meters 0.05627493483040662 Centerline is valid? [True, True] Translation: X:446.97, Y:86.36, Z:47.42 [[ 9.43752351e-01 -3.11472406e-01 -1.10979458e-01 4.46970525e+02] [ 3.10213356e-01 9.50228145e-01 -2.88815821e-02 8.63618691e+01] [ 1.14451620e-01 -7.17024911e-03 9.93402947e-01 4.74206946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.94509989299996 meters 0.057747436186609234 Centerline is valid? [True, True] Translation: X:447.03, Y:86.37, Z:47.43 [[ 9.43853406e-01 -3.11418833e-01 -1.10268120e-01 4.47031940e+02] [ 3.10175659e-01 9.50246094e-01 -2.86953078e-02 8.63736947e+01] [ 1.13718110e-01 -7.11832295e-03 9.93487555e-01 4.74264770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.00509989299997 meters 0.05263428965470097 Centerline is valid? [True, True] Translation: X:447.08, Y:86.42, Z:47.44 [[ 9.44005624e-01 -3.11399039e-01 -1.09013850e-01 4.47084181e+02] [ 3.10184361e-01 9.50253180e-01 -2.83647114e-02 8.64155103e+01] [ 1.12423501e-01 -7.03794413e-03 9.93635458e-01 4.74378929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.06509989299997 meters 0.05266023280520978 Centerline is valid? [True, True] Translation: X:447.14, Y:86.43, Z:47.45 [[ 9.44680070e-01 -3.10338294e-01 -1.06158883e-01 4.47142326e+02] [ 3.09180268e-01 9.50602346e-01 -2.76177810e-02 8.64336718e+01] [ 1.09485738e-01 -6.73226467e-03 9.93965568e-01 4.74452326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.12509989299997 meters 0.05924527455144345 Centerline is valid? [True, True] Translation: X:447.21, Y:86.43, Z:47.45 [[ 9.45050566e-01 -3.10136198e-01 -1.03416471e-01 4.47206770e+02] [ 3.09036190e-01 9.50669680e-01 -2.69033973e-02 8.64260979e+01] [ 1.06658621e-01 -6.53436136e-03 9.94274228e-01 4.74523751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.185099893 meters 0.05223521480675463 Centerline is valid? [True, True] Translation: X:447.26, Y:86.47, Z:47.46 [[ 9.44775423e-01 -3.11218103e-01 -1.02677618e-01 4.47259226e+02] [ 3.10140831e-01 9.50315493e-01 -2.67044616e-02 8.64663727e+01] [ 1.05887043e-01 -6.61480270e-03 9.94356163e-01 4.74603637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.245099893 meters 0.051525194419154 Centerline is valid? [True, True] Translation: X:447.32, Y:86.49, Z:47.47 [[ 9.43705361e-01 -3.13900423e-01 -1.04339432e-01 4.47316712e+02] [ 3.12804499e-01 9.49429874e-01 -2.71341026e-02 8.64852483e+01] [ 1.07580380e-01 -7.03124566e-03 9.94171526e-01 4.74658334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.305099893 meters 0.05164581980006792 Centerline is valid? [True, True] Translation: X:447.38, Y:86.50, Z:47.47 [[ 9.42832554e-01 -3.16150362e-01 -1.05431136e-01 4.47375127e+02] [ 3.15045466e-01 9.48680497e-01 -2.74165795e-02 8.65033109e+01] [ 1.08688224e-01 -7.36635769e-03 9.94048594e-01 4.74717508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.365099893 meters 0.055296401635959135 Centerline is valid? [True, True] Translation: X:447.44, Y:86.50, Z:47.48 [[ 9.42773503e-01 -3.16079210e-01 -1.06169937e-01 4.47438311e+02] [ 3.14958620e-01 9.48703842e-01 -2.76059268e-02 8.65033072e+01] [ 1.09449486e-01 -7.41300043e-03 9.93964716e-01 4.74760578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.4250998929999 meters 0.0519700767718696 Centerline is valid? [True, True] Translation: X:447.49, Y:86.53, Z:47.48 [[ 9.43300517e-01 -3.14971780e-01 -1.04770758e-01 4.47493867e+02] [ 3.13874948e-01 9.49073744e-01 -2.72313150e-02 8.65313294e+01] [ 1.08012271e-01 -7.19760268e-03 9.94123505e-01 4.74837348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.4850998929999 meters 0.05386088056541641 Centerline is valid? [True, True] Translation: X:447.55, Y:86.54, Z:47.49 [[ 9.44550479e-01 -3.11986102e-01 -1.02416136e-01 4.47554107e+02] [ 3.10920794e-01 9.50063030e-01 -2.66176492e-02 8.65367737e+01] [ 1.05606121e-01 -6.70159285e-03 9.94385456e-01 4.74908828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.54509989299993 meters 0.05497493919897761 Centerline is valid? [True, True] Translation: X:447.61, Y:86.55, Z:47.50 [[ 9.45388454e-01 -3.09796716e-01 -1.01324553e-01 4.47613511e+02] [ 3.08741592e-01 9.50781357e-01 -2.63332529e-02 8.65479120e+01] [ 1.04495451e-01 -6.38795047e-03 9.94504849e-01 4.74971301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.60509989299993 meters 0.05469447835248289 Centerline is valid? [True, True] Translation: X:447.67, Y:86.56, Z:47.50 [[ 9.45542177e-01 -3.08896727e-01 -1.02629452e-01 4.47673110e+02] [ 3.07808987e-01 9.51074249e-01 -2.66721002e-02 8.65632136e+01] [ 1.05847154e-01 -6.37067208e-03 9.94362004e-01 4.75024184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.66509989299993 meters 0.057037364930934226 Centerline is valid? [True, True] Translation: X:447.73, Y:86.57, Z:47.51 [[ 9.45439216e-01 -3.08417486e-01 -1.04992112e-01 4.47734783e+02] [ 3.07276390e-01 9.51229118e-01 -2.72834154e-02 8.65689651e+01] [ 1.08286237e-01 -6.46678647e-03 9.94098723e-01 4.75074558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.72509989299994 meters 0.056507042256772326 Centerline is valid? [True, True] Translation: X:447.79, Y:86.59, Z:47.51 [[ 9.45739472e-01 -3.07280063e-01 -1.05621086e-01 4.47794202e+02] [ 3.06118894e-01 9.51597733e-01 -2.74404443e-02 8.65855629e+01] [ 1.08940687e-01 -6.38109862e-03 9.94027770e-01 4.75141945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.78509989299994 meters 0.05365702264859352 Centerline is valid? [True, True] Translation: X:447.85, Y:86.61, Z:47.52 [[ 9.46566965e-01 -3.04757704e-01 -1.05516460e-01 4.47850148e+02] [ 3.03583512e-01 9.52410464e-01 -2.74109177e-02 8.66106784e+01] [ 1.08848669e-01 -6.08678846e-03 9.94039696e-01 4.75224052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.84509989299994 meters 0.05396457685481849 Centerline is valid? [True, True] Translation: X:447.91, Y:86.62, Z:47.53 [[ 9.47817421e-01 -3.01196791e-01 -1.04511386e-01 4.47909252e+02] [ 3.00023435e-01 9.53545420e-01 -2.71490205e-02 8.66236043e+01] [ 1.07833551e-01 -5.62355046e-03 9.94153057e-01 4.75292737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.90509989299994 meters 0.05480942620827159 Centerline is valid? [True, True] Translation: X:447.97, Y:86.63, Z:47.54 [[ 9.49959519e-01 -2.94831070e-01 -1.03206362e-01 4.47967904e+02] [ 2.93649597e-01 9.55537136e-01 -2.68084855e-02 8.66317551e+01] [ 1.06521486e-01 -4.83953063e-03 9.94298623e-01 4.75357937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.96509989299994 meters 0.05598335562604941 Centerline is valid? [True, True] Translation: X:448.03, Y:86.64, Z:47.54 [[ 9.51228005e-01 -2.90681330e-01 -1.03293984e-01 4.48026603e+02] [ 2.89473338e-01 9.56809911e-01 -2.68324635e-02 8.66423110e+01] [ 1.06632404e-01 -4.37706369e-03 9.94288877e-01 4.75417055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.02509989299995 meters 0.054903413807053526 Centerline is valid? [True, True] Translation: X:448.08, Y:86.66, Z:47.55 [[ 9.52688049e-01 -2.85373351e-01 -1.04630451e-01 4.48084085e+02] [ 2.84101915e-01 9.58408768e-01 -2.71796835e-02 8.66610950e+01] [ 1.08035099e-01 -3.83195173e-03 9.94139695e-01 4.75472154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.08509989299995 meters 0.055902977319460895 Centerline is valid? [True, True] Translation: X:448.14, Y:86.67, Z:47.55 [[ 9.53391490e-01 -2.82413306e-01 -1.06242138e-01 4.48144410e+02] [ 2.81084084e-01 9.59286251e-01 -2.75975955e-02 8.66680436e+01] [ 1.09710550e-01 -3.55166126e-03 9.93957233e-01 4.75507615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.14509989299995 meters 0.05350663427015258 Centerline is valid? [True, True] Translation: X:448.20, Y:86.70, Z:47.56 [[ 9.54066104e-01 -2.79863516e-01 -1.06931201e-01 4.48198764e+02] [ 2.78500967e-01 9.60034196e-01 -2.77768654e-02 8.66982986e+01] [ 1.10431341e-01 -3.27947704e-03 9.93878345e-01 4.75593623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.20509989299995 meters 0.05603588464586215 Centerline is valid? [True, True] Translation: X:448.26, Y:86.70, Z:47.56 [[ 9.55034510e-01 -2.77054014e-01 -1.05594309e-01 4.48260597e+02] [ 2.75708369e-01 9.60849915e-01 -2.74287401e-02 8.66983246e+01] [ 1.09059526e-01 -2.91784151e-03 9.94030938e-01 4.75632815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.26509989299996 meters 0.05434244886963525 Centerline is valid? [True, True] Translation: X:448.32, Y:86.72, Z:47.57 [[ 9.55391963e-01 -2.76305606e-01 -1.04313996e-01 4.48317938e+02] [ 2.74988030e-01 9.61065755e-01 -2.70960914e-02 8.67199454e+01] [ 1.07739411e-01 -2.79771226e-03 9.94175232e-01 4.75719801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.32509989299996 meters 0.054970082284772695 Centerline is valid? [True, True] Translation: X:448.38, Y:86.73, Z:47.58 [[ 9.55054777e-01 -2.78065283e-01 -1.02713541e-01 4.48376907e+02] [ 2.76798280e-01 9.60557643e-01 -2.66782043e-02 8.67280183e+01] [ 1.06080559e-01 -2.95178499e-03 9.94353158e-01 4.75793741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.38509989299996 meters 0.05515648884797045 Centerline is valid? [True, True] Translation: X:448.44, Y:86.74, Z:47.59 [[ 9.53999183e-01 -2.81916196e-01 -1.02023614e-01 4.48435758e+02] [ 2.80688036e-01 9.59433163e-01 -2.64996591e-02 8.67398588e+01] [ 1.05355521e-01 -3.35615460e-03 9.94428957e-01 4.75874327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.44509989299996 meters 0.0551679141078577 Centerline is valid? [True, True] Translation: X:448.50, Y:86.75, Z:47.59 [[ 9.51181141e-01 -2.90405001e-01 -1.04495801e-01 4.48495086e+02] [ 2.89167327e-01 9.56893712e-01 -2.71418724e-02 8.67517049e+01] [ 1.07873511e-01 -4.39993434e-03 9.94154890e-01 4.75928012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.50509989299997 meters 0.05460894760811735 Centerline is valid? [True, True] Translation: X:448.55, Y:86.77, Z:47.60 [[ 9.48847498e-01 -2.96123351e-01 -1.09541714e-01 4.48553003e+02] [ 2.94800882e-01 9.55135023e-01 -2.84522114e-02 8.67679943e+01] [ 1.13052491e-01 -5.29618417e-03 9.93574901e-01 4.75952558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.56509989299997 meters 0.05453966835937348 Centerline is valid? [True, True] Translation: X:448.61, Y:86.78, Z:47.60 [[ 9.48321486e-01 -2.97502645e-01 -1.10356403e-01 4.48611470e+02] [ 2.96169614e-01 9.54705145e-01 -2.86643776e-02 8.67829437e+01] [ 1.13885554e-01 -5.50116806e-03 9.93478645e-01 4.76018870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.62509989299997 meters 0.05550381492814231 Centerline is valid? [True, True] Translation: X:448.67, Y:86.79, Z:47.61 [[ 9.48162437e-01 -2.97718207e-01 -1.11138930e-01 4.48671367e+02] [ 2.96367770e-01 9.54637559e-01 -2.88665370e-02 8.67949555e+01] [ 1.14691491e-01 -5.56783087e-03 9.93385555e-01 4.76088555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.685099893 meters 0.055987745355228574 Centerline is valid? [True, True] Translation: X:448.73, Y:86.81, Z:47.62 [[ 9.49174130e-01 -2.94438420e-01 -1.11240673e-01 4.48730037e+02] [ 2.93063380e-01 9.55656423e-01 -2.88904118e-02 8.68079081e+01] [ 1.14814311e-01 -5.17853610e-03 9.93373473e-01 4.76150311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.745099893 meters 0.05480339127003378 Centerline is valid? [True, True] Translation: X:448.79, Y:86.83, Z:47.63 [[ 9.49952246e-01 -2.92847661e-01 -1.08770301e-01 4.48786908e+02] [ 2.91522833e-01 9.56146686e-01 -2.82480680e-02 8.68295626e+01] [ 1.12272743e-01 -4.87471060e-03 9.93665471e-01 4.76254413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.805099893 meters 0.05548074203056346 Centerline is valid? [True, True] Translation: X:448.85, Y:86.84, Z:47.63 [[ 9.50672655e-01 -2.91008686e-01 -1.07403201e-01 4.48845313e+02] [ 2.89705456e-01 9.56709356e-01 -2.78918843e-02 8.68411220e+01] [ 1.10870427e-01 -4.59924151e-03 9.93824228e-01 4.76328026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.865099893 meters 0.0558326176901458 Centerline is valid? [True, True] Translation: X:448.90, Y:86.85, Z:47.64 [[ 9.50843229e-01 -2.90531624e-01 -1.07184559e-01 4.48903442e+02] [ 2.89230682e-01 9.56854648e-01 -2.78351575e-02 8.68524384e+01] [ 1.10647037e-01 -4.53419204e-03 9.93849422e-01 4.76388444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.9250998929999 meters 0.05469461323228399 Centerline is valid? [True, True] Translation: X:448.96, Y:86.87, Z:47.65 [[ 9.51167161e-01 -2.90047909e-01 -1.05608910e-01 4.48961846e+02] [ 2.88781957e-01 9.57001963e-01 -2.74266989e-02 8.68707668e+01] [ 1.09022991e-01 -4.41057232e-03 9.94029443e-01 4.76468308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.9850998929999 meters 0.056658971890111466 Centerline is valid? [True, True] Translation: X:449.02, Y:86.88, Z:47.65 [[ 9.50648415e-01 -2.91932461e-01 -1.05085817e-01 4.49021726e+02] [ 2.90690679e-01 9.56427850e-01 -2.72891525e-02 8.68792733e+01] [ 1.08473592e-01 -4.60507793e-03 9.94088665e-01 4.76536782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.04509989299993 meters 0.054407589803304256 Centerline is valid? [True, True] Translation: X:449.08, Y:86.90, Z:47.66 [[ 9.50022870e-01 -2.93915427e-01 -1.05215343e-01 4.49077624e+02] [ 2.92682821e-01 9.55819182e-01 -2.73213817e-02 8.69034902e+01] [ 1.08597019e-01 -4.83878599e-03 9.94074079e-01 4.76609662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.10509989299993 meters 0.06231173581526431 Centerline is valid? [True, True] Translation: X:449.14, Y:86.89, Z:47.66 [[ 9.49281435e-01 -2.96013808e-01 -1.06021615e-01 4.49142870e+02] [ 2.94775422e-01 9.55169939e-01 -2.75288717e-02 8.68889849e+01] [ 1.09417585e-01 -5.11991934e-03 9.93982685e-01 4.76631905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.16509989299993 meters 0.05667029147509021 Centerline is valid? [True, True] Translation: X:449.20, Y:86.92, Z:47.67 [[ 9.49554229e-01 -2.95471225e-01 -1.05088164e-01 4.49196010e+02] [ 2.94251500e-01 9.55338481e-01 -2.72844738e-02 8.69203428e+01] [ 1.08456544e-01 -5.01426229e-03 9.94088545e-01 4.76718448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.22509989299994 meters 0.05363017024864369 Centerline is valid? [True, True] Translation: X:449.25, Y:86.95, Z:47.68 [[ 9.48781942e-01 -2.97211569e-01 -1.07135939e-01 4.49250090e+02] [ 2.95954705e-01 9.54796854e-01 -2.78169131e-02 8.69514110e+01] [ 1.10560566e-01 -5.31520029e-03 9.93855176e-01 4.76793074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.28509989299994 meters 0.05579450930331278 Centerline is valid? [True, True] Translation: X:449.31, Y:86.96, Z:47.68 [[ 9.47839243e-01 -2.99745661e-01 -1.08412676e-01 4.49308953e+02] [ 2.98475170e-01 9.54002247e-01 -2.81475859e-02 8.69606388e+01] [ 1.11863053e-01 -5.67910526e-03 9.93707404e-01 4.76839436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.34509989299994 meters 0.05428369489224662 Centerline is valid? [True, True] Translation: X:449.37, Y:86.98, Z:47.69 [[ 9.47412883e-01 -3.00814211e-01 -1.09177102e-01 4.49367065e+02] [ 2.99532702e-01 9.53664843e-01 -2.83465732e-02 8.69801721e+01] [ 1.12645416e-01 -5.84620382e-03 9.93618051e-01 4.76906119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.40509989299994 meters 0.0546020101010028 Centerline is valid? [True, True] Translation: X:449.43, Y:87.00, Z:47.70 [[ 9.46954584e-01 -3.01948293e-01 -1.10019287e-01 4.49425546e+02] [ 3.00654716e-01 9.53305236e-01 -2.85634275e-02 8.69955057e+01] [ 1.13506641e-01 -6.02954882e-03 9.93518941e-01 4.76958879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.46509989299994 meters 0.05508720751702087 Centerline is valid? [True, True] Translation: X:449.48, Y:87.01, Z:47.70 [[ 9.46593494e-01 -3.02851962e-01 -1.10641068e-01 4.49484542e+02] [ 3.01549928e-01 9.53017614e-01 -2.87239960e-02 8.70052088e+01] [ 1.14142005e-01 -6.17385831e-03 9.93445261e-01 4.77004895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.52509989299995 meters 0.05508720751702087 Centerline is valid? [True, True] Translation: X:449.54, Y:87.02, Z:47.71 [[ 9.46607540e-01 -3.02808012e-01 -1.10641188e-01 4.49544831e+02] [ 3.01505734e-01 9.53031611e-01 -2.87235315e-02 8.70208102e+01] [ 1.14142265e-01 -6.16904122e-03 9.93445261e-01 4.77070028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.58509989299995 meters 0.054578896099538025 Centerline is valid? [True, True] Translation: X:449.60, Y:87.04, Z:47.71 [[ 9.46230436e-01 -3.04024808e-01 -1.10529988e-01 4.49602167e+02] [ 3.02733979e-01 9.52643189e-01 -2.86895735e-02 8.70417635e+01] [ 1.14017982e-01 -6.31423532e-03 9.93458620e-01 4.77139961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.64509989299995 meters 0.05429927048816925 Centerline is valid? [True, True] Translation: X:449.66, Y:87.06, Z:47.72 [[ 9.46400832e-01 -3.03855733e-01 -1.09531544e-01 4.49661548e+02] [ 3.02587157e-01 9.52697638e-01 -2.84292699e-02 8.70585259e+01] [ 1.12988840e-01 -6.23735380e-03 9.93576679e-01 4.77211850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.70509989299995 meters 0.0544271827849155 Centerline is valid? [True, True] Translation: X:449.72, Y:87.08, Z:47.73 [[ 9.47763899e-01 -3.00486396e-01 -1.07011767e-01 4.49718767e+02] [ 2.99254601e-01 9.53769053e-01 -2.77718819e-02 8.70761871e+01] [ 1.10409585e-01 -5.70257662e-03 9.93869813e-01 4.77285669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.76509989299996 meters 0.05589379108477521 Centerline is valid? [True, True] Translation: X:449.78, Y:87.09, Z:47.73 [[ 9.48767599e-01 -2.97820971e-01 -1.05559044e-01 4.49777332e+02] [ 2.96606092e-01 9.54606925e-01 -2.73942601e-02 8.70852842e+01] [ 1.08925979e-01 -5.31866898e-03 9.94035635e-01 4.77345589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.82509989299996 meters 0.05486032224397242 Centerline is valid? [True, True] Translation: X:449.83, Y:87.11, Z:47.74 [[ 9.49458164e-01 -2.95708158e-01 -1.05289511e-01 4.49834430e+02] [ 2.94486463e-01 9.55264916e-01 -2.73251555e-02 8.71068421e+01] [ 1.08659647e-01 -5.06224357e-03 9.94066122e-01 4.77410175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.88509989299996 meters 0.055567149062309064 Centerline is valid? [True, True] Translation: X:449.89, Y:87.12, Z:47.75 [[ 9.48921077e-01 -2.96968368e-01 -1.06576628e-01 4.49893422e+02] [ 2.95724516e-01 9.54872767e-01 -2.76587963e-02 8.71215533e+01] [ 1.09980907e-01 -5.27130694e-03 9.93919722e-01 4.77470368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.94509989299996 meters 0.05769128639027863 Centerline is valid? [True, True] Translation: X:449.95, Y:87.13, Z:47.75 [[ 9.47921042e-01 -2.99673244e-01 -1.07896455e-01 4.49954031e+02] [ 2.98415843e-01 9.54025135e-01 -2.80004635e-02 8.71275046e+01] [ 1.11326920e-01 -5.65578297e-03 9.93767744e-01 4.77510827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.00509989299997 meters 0.05340241004897536 Centerline is valid? [True, True] Translation: X:450.01, Y:87.16, Z:47.76 [[ 9.46162571e-01 -3.04397548e-01 -1.10084157e-01 4.50007729e+02] [ 3.03120322e-01 9.52523990e-01 -2.85678082e-02 8.71591762e+01] [ 1.13553772e-01 -6.33895441e-03 9.93511630e-01 4.77590732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.06509989299997 meters 0.05419785161624979 Centerline is valid? [True, True] Translation: X:450.07, Y:87.18, Z:47.77 [[ 9.45489087e-01 -3.06117072e-01 -1.11097813e-01 4.50065715e+02] [ 3.04827952e-01 9.51970953e-01 -2.88309766e-02 8.71772027e+01] [ 1.14587545e-01 -6.60634488e-03 9.93391187e-01 4.77658098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.12509989299997 meters 0.05393783656423697 Centerline is valid? [True, True] Translation: X:450.12, Y:87.19, Z:47.77 [[ 9.45996843e-01 -3.04712931e-01 -1.10634547e-01 4.50123216e+02] [ 3.03425056e-01 9.52422674e-01 -2.87103736e-02 8.71924272e+01] [ 1.14119273e-01 -6.40937082e-03 9.93446381e-01 4.77726419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.185099893 meters 0.05503291078259403 Centerline is valid? [True, True] Translation: X:450.18, Y:87.21, Z:47.78 [[ 9.48157600e-01 -2.98741376e-01 -1.08400904e-01 4.50180792e+02] [ 2.97466191e-01 9.54317834e-01 -2.81307007e-02 8.72062841e+01] [ 1.11852720e-01 -5.57326644e-03 9.93709167e-01 4.77799200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.245099893 meters 0.05503563568493421 Centerline is valid? [True, True] Translation: X:450.24, Y:87.22, Z:47.79 [[ 9.50005062e-01 -2.93464148e-01 -1.06626334e-01 4.50238011e+02] [ 2.92197357e-01 9.55957678e-01 -2.76698794e-02 8.72218541e+01] [ 1.10050380e-01 -4.86940751e-03 9.93914082e-01 4.77873213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.305099893 meters 0.05535018295917677 Centerline is valid? [True, True] Translation: X:450.29, Y:87.24, Z:47.80 [[ 9.52398464e-01 -2.85933539e-01 -1.05731623e-01 4.50294584e+02] [ 2.84641564e-01 9.58241256e-01 -2.74385758e-02 8.72426297e+01] [ 1.09162012e-01 -3.96315713e-03 9.94016071e-01 4.77954529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.365099893 meters 0.0564060711394758 Centerline is valid? [True, True] Translation: X:450.35, Y:87.25, Z:47.80 [[ 9.53297290e-01 -2.82658053e-01 -1.06436375e-01 4.50353664e+02] [ 2.81328478e-01 9.59213935e-01 -2.76208972e-02 8.72530466e+01] [ 1.09902524e-01 -3.61265705e-03 9.93935805e-01 4.78004269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.4250998929999 meters 0.05449307968946468 Centerline is valid? [True, True] Translation: X:450.41, Y:87.28, Z:47.81 [[ 9.53630834e-01 -2.80814811e-01 -1.08311004e-01 4.50410643e+02] [ 2.79425991e-01 9.59755733e-01 -2.81078008e-02 8.72774538e+01] [ 1.11845194e-01 -3.46044425e-03 9.93719617e-01 4.78077224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.4850998929999 meters 0.05629355949279989 Centerline is valid? [True, True] Translation: X:450.47, Y:87.28, Z:47.81 [[ 9.53553386e-01 -2.80596045e-01 -1.09552727e-01 4.50472210e+02] [ 2.79174099e-01 9.59819651e-01 -2.84264042e-02 8.72838536e+01] [ 1.13127197e-01 -3.47819001e-03 9.93574426e-01 4.78108525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.54509989299993 meters 0.05522783573003688 Centerline is valid? [True, True] Translation: X:450.53, Y:87.30, Z:47.82 [[ 9.53455398e-01 -2.80683931e-01 -1.10178647e-01 4.50530072e+02] [ 2.79246555e-01 9.59793832e-01 -2.85860357e-02 8.73047034e+01] [ 1.13772427e-01 -3.51149754e-03 9.93500631e-01 4.78185415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.60509989299993 meters 0.05535792546090319 Centerline is valid? [True, True] Translation: X:450.59, Y:87.32, Z:47.82 [[ 9.53501739e-01 -2.80517775e-01 -1.10200781e-01 4.50589673e+02] [ 2.79079017e-01 9.59842468e-01 -2.85891384e-02 8.73189662e+01] [ 1.13795151e-01 -3.49493239e-03 9.93498087e-01 4.78245768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.66509989299993 meters 0.05446017069032884 Centerline is valid? [True, True] Translation: X:450.65, Y:87.34, Z:47.83 [[ 9.53794806e-01 -2.79841950e-01 -1.09379849e-01 4.50648429e+02] [ 2.78420414e-01 9.60040097e-01 -2.83740380e-02 8.73377974e+01] [ 1.12949287e-01 -3.39057282e-03 9.93594969e-01 4.78327282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.72509989299994 meters 0.05375014528388731 Centerline is valid? [True, True] Translation: X:450.71, Y:87.36, Z:47.84 [[ 9.53910604e-01 -2.79738303e-01 -1.08632598e-01 4.50706644e+02] [ 2.78335995e-01 9.60070413e-01 -2.81757994e-02 8.73603912e+01] [ 1.12176793e-01 -3.35916838e-03 9.93682587e-01 4.78415733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.78509989299994 meters 0.05494782254808248 Centerline is valid? [True, True] Translation: X:450.77, Y:87.37, Z:47.85 [[ 9.53887186e-01 -2.79955068e-01 -1.08279254e-01 4.50766399e+02] [ 2.78564745e-01 9.60007133e-01 -2.80711295e-02 8.73711443e+01] [ 1.11807511e-01 -3.38609213e-03 9.93724114e-01 4.78467555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.84509989299994 meters 0.05658880807162471 Centerline is valid? [True, True] Translation: X:450.83, Y:87.37, Z:47.85 [[ 9.53719042e-01 -2.80772413e-01 -1.07642185e-01 4.50829319e+02] [ 2.79404419e-01 9.59768110e-01 -2.78988522e-02 8.73727505e+01] [ 1.11144765e-01 -3.46803567e-03 9.93798176e-01 4.78511541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.90509989299994 meters 0.0564869632841595 Centerline is valid? [True, True] Translation: X:450.89, Y:87.39, Z:47.86 [[ 9.53823277e-01 -2.80616678e-01 -1.07123459e-01 4.50887273e+02] [ 2.79261540e-01 9.59813761e-01 -2.77585461e-02 8.73907514e+01] [ 1.10608081e-01 -3.43871484e-03 9.93858153e-01 4.78584135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.96509989299994 meters 0.055618319504766436 Centerline is valid? [True, True] Translation: X:450.95, Y:87.41, Z:47.87 [[ 9.54272810e-01 -2.79265448e-01 -1.06649959e-01 4.50945433e+02] [ 2.77914147e-01 9.60208373e-01 -2.76334586e-02 8.74061881e+01] [ 1.10123254e-01 -3.26967426e-03 9.93912561e-01 4.78651729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.02509989299995 meters 0.056329577467083655 Centerline is valid? [True, True] Translation: X:451.00, Y:87.42, Z:47.87 [[ 9.54592374e-01 -2.77765170e-01 -1.07702875e-01 4.51004854e+02] [ 2.76377479e-01 9.60643914e-01 -2.79062736e-02 8.74186100e+01] [ 1.11215503e-01 -3.12753320e-03 9.93791392e-01 4.78694478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.08509989299995 meters 0.054970923089199146 Centerline is valid? [True, True] Translation: X:451.06, Y:87.44, Z:47.87 [[ 9.54930028e-01 -2.75664761e-01 -1.10079889e-01 4.51062189e+02] [ 2.74201108e-01 9.61249318e-01 -2.85219389e-02 8.74407132e+01] [ 1.13676712e-01 -2.94757174e-03 9.93513421e-01 4.78749599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.14509989299995 meters 0.05471189275230832 Centerline is valid? [True, True] Translation: X:451.12, Y:87.46, Z:47.88 [[ 9.55214607e-01 -2.74355913e-01 -1.10877801e-01 4.51120751e+02] [ 2.72862460e-01 9.61624099e-01 -2.87257649e-02 8.74604580e+01] [ 1.14503849e-01 -2.81511940e-03 9.93418816e-01 4.78820299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.20509989299995 meters 0.05473970968606799 Centerline is valid? [True, True] Translation: X:451.18, Y:87.48, Z:47.89 [[ 9.55430743e-01 -2.73777065e-01 -1.10445525e-01 4.51180269e+02] [ 2.72291946e-01 9.61789278e-01 -2.86091165e-02 8.74751482e+01] [ 1.14057842e-01 -2.73939763e-03 9.93470334e-01 4.78883431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.26509989299996 meters 0.05464635217688855 Centerline is valid? [True, True] Translation: X:451.24, Y:87.49, Z:47.90 [[ 9.55774075e-01 -2.73069990e-01 -1.09218580e-01 4.51240084e+02] [ 2.71613590e-01 9.61990577e-01 -2.82875791e-02 8.74897118e+01] [ 1.12791734e-01 -2.62871601e-03 9.93615174e-01 4.78951128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.32509989299996 meters 0.0549773297799746 Centerline is valid? [True, True] Translation: X:451.30, Y:87.50, Z:47.90 [[ 9.55812207e-01 -2.72960781e-01 -1.09157852e-01 4.51299872e+02] [ 2.71505709e-01 9.62021600e-01 -2.82682035e-02 8.75047562e+01] [ 1.12728322e-01 -2.61788593e-03 9.93622399e-01 4.79020076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.38509989299996 meters 0.05424129148636597 Centerline is valid? [True, True] Translation: X:451.36, Y:87.52, Z:47.91 [[ 9.55256836e-01 -2.75051172e-01 -1.08771454e-01 4.51358161e+02] [ 2.73620385e-01 9.61425339e-01 -2.81638471e-02 8.75239496e+01] [ 1.12322132e-01 -2.85837983e-03 9.93667735e-01 4.79102437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.44509989299996 meters 0.05489848676418157 Centerline is valid? [True, True] Translation: X:451.42, Y:87.53, Z:47.92 [[ 9.54569829e-01 -2.77836459e-01 -1.07718817e-01 4.51417548e+02] [ 2.76452236e-01 9.60623172e-01 -2.78797746e-02 8.75349631e+01] [ 1.11223210e-01 -3.16591625e-03 9.93790408e-01 4.79161737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.50509989299997 meters 0.05592089245088984 Centerline is valid? [True, True] Translation: X:451.48, Y:87.54, Z:47.92 [[ 9.53243003e-01 -2.82692766e-01 -1.06829669e-01 4.51477635e+02] [ 2.81361777e-01 9.59203366e-01 -2.76487521e-02 8.75391521e+01] [ 1.10287481e-01 -3.70180615e-03 9.93892835e-01 4.79217184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.56509989299997 meters 0.05835913985081712 Centerline is valid? [True, True] Translation: X:451.54, Y:87.54, Z:47.93 [[ 9.52238509e-01 -2.86149871e-01 -1.06583646e-01 4.51538152e+02] [ 2.84846582e-01 9.58176133e-01 -2.75848379e-02 8.75437353e+01] [ 1.10019304e-01 -4.09264240e-03 9.93921025e-01 4.79272670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.62509989299997 meters 0.05436920404482062 Centerline is valid? [True, True] Translation: X:451.59, Y:87.58, Z:47.94 [[ 9.51867297e-01 -2.87708041e-01 -1.05701144e-01 4.51590977e+02] [ 2.86435764e-01 9.57708796e-01 -2.73571794e-02 8.75790901e+01] [ 1.09101796e-01 -4.23618351e-03 9.94021556e-01 4.79367930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.685099893 meters 0.05655496665499933 Centerline is valid? [True, True] Translation: X:451.66, Y:87.58, Z:47.94 [[ 9.51654769e-01 -2.88152847e-01 -1.06400836e-01 4.51655050e+02] [ 2.86866671e-01 9.57574692e-01 -2.75358529e-02 8.75769114e+01] [ 1.09821282e-01 -4.31822784e-03 9.93941970e-01 4.79401398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.745099893 meters 0.05678048952806026 Centerline is valid? [True, True] Translation: X:451.71, Y:87.59, Z:47.95 [[ 9.51753441e-01 -2.87522824e-01 -1.07219460e-01 4.51713434e+02] [ 2.86214047e-01 9.57764180e-01 -2.77361786e-02 8.75917589e+01] [ 1.10665743e-01 -4.28971211e-03 9.93848425e-01 4.79458920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.805099893 meters 0.05879212656294265 Centerline is valid? [True, True] Translation: X:451.77, Y:87.60, Z:47.95 [[ 9.52151022e-01 -2.86025290e-01 -1.07693847e-01 4.51771801e+02] [ 2.84695332e-01 9.58213152e-01 -2.78590068e-02 8.76027532e+01] [ 1.11162041e-01 -4.13395362e-03 9.93793696e-01 4.79505085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.865099893 meters 0.054864593166282186 Centerline is valid? [True, True] Translation: X:451.82, Y:87.64, Z:47.96 [[ 9.53550430e-01 -2.81632418e-01 -1.06886664e-01 4.51824744e+02] [ 2.80294673e-01 9.59515646e-01 -2.76517667e-02 8.76369301e+01] [ 1.10347061e-01 -3.59240867e-03 9.93886624e-01 4.79599019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.9250998929999 meters 0.05603262135744791 Centerline is valid? [True, True] Translation: X:451.88, Y:87.65, Z:47.96 [[ 9.54904941e-01 -2.77197130e-01 -1.06387521e-01 4.51883019e+02] [ 2.75844455e-01 9.60808178e-01 -2.75223679e-02 8.76467401e+01] [ 1.09847121e-01 -3.06516256e-03 9.93943768e-01 4.79649144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.9850998929999 meters 0.055135658818357865 Centerline is valid? [True, True] Translation: X:451.94, Y:87.67, Z:47.97 [[ 9.57030976e-01 -2.70202423e-01 -1.05272797e-01 4.51939084e+02] [ 2.68835658e-01 9.62800939e-01 -2.72348985e-02 8.76701298e+01] [ 1.08715684e-01 -2.23644030e-03 9.94070369e-01 4.79729581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.04509989299993 meters 0.05489522524525691 Centerline is valid? [True, True] Translation: X:452.00, Y:87.69, Z:47.98 [[ 9.58934436e-01 -2.63286797e-01 -1.05474215e-01 4.51995515e+02] [ 2.61872888e-01 9.64716513e-01 -2.72880991e-02 8.76929399e+01] [ 1.08937314e-01 -1.45333955e-03 9.94047559e-01 4.79795635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.10509989299993 meters 0.05450869645061841 Centerline is valid? [True, True] Translation: X:452.05, Y:87.71, Z:47.99 [[ 9.60263662e-01 -2.58608076e-01 -1.04955050e-01 4.52054158e+02] [ 2.57180216e-01 9.65981894e-01 -2.71535599e-02 8.77113462e+01] [ 1.08406808e-01 -9.17785537e-04 9.94106192e-01 4.79868807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.16509989299993 meters 0.054176397310937034 Centerline is valid? [True, True] Translation: X:452.11, Y:87.73, Z:47.99 [[ 9.61649562e-01 -2.53556076e-01 -1.04591760e-01 4.52112379e+02] [ 2.52108607e-01 9.67320626e-01 -2.70565367e-02 8.77284743e+01] [ 1.08034116e-01 -3.49576391e-04 9.94147126e-01 4.79931815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.22509989299994 meters 0.05474699710500784 Centerline is valid? [True, True] Translation: X:452.17, Y:87.75, Z:48.00 [[ 9.63643444e-01 -2.46041803e-01 -1.04186100e-01 4.52168221e+02] [ 2.44562446e-01 9.69259096e-01 -2.69446570e-02 8.77476745e+01] [ 1.07612837e-01 4.85034698e-04 9.94192759e-01 4.79995712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.28509989299994 meters 0.05525294612924515 Centerline is valid? [True, True] Translation: X:452.23, Y:87.76, Z:48.01 [[ 9.64832836e-01 -2.41477464e-01 -1.03856794e-01 4.52225517e+02] [ 2.39980978e-01 9.70405920e-01 -2.68603766e-02 8.77637735e+01] [ 1.07269423e-01 9.92118397e-04 9.94229494e-01 4.80066738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.34509989299994 meters 0.055609149340020286 Centerline is valid? [True, True] Translation: X:452.29, Y:87.78, Z:48.01 [[ 9.65715912e-01 -2.37769908e-01 -1.04202922e-01 4.52285937e+02] [ 2.36241688e-01 9.71320483e-01 -2.69514977e-02 8.77760583e+01] [ 1.07622688e-01 1.41041596e-03 9.94190811e-01 4.80126074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.40509989299994 meters 0.05538682562032698 Centerline is valid? [True, True] Translation: X:452.34, Y:87.79, Z:48.02 [[ 9.65509764e-01 -2.38648568e-01 -1.04104546e-01 4.52344063e+02] [ 2.37128601e-01 9.71105117e-01 -2.69235695e-02 8.77893056e+01] [ 1.07521728e-01 1.30880391e-03 9.94201873e-01 4.80180174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.46509989299994 meters 0.055392678216442476 Centerline is valid? [True, True] Translation: X:452.41, Y:87.79, Z:48.02 [[ 9.63953869e-01 -2.44950955e-01 -1.03884397e-01 4.52405755e+02] [ 2.43473767e-01 9.69535282e-01 -2.68674932e-02 8.77935258e+01] [ 1.07300806e-01 6.05898453e-04 9.94226418e-01 4.80247672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.52509989299995 meters 0.05513670516739467 Centerline is valid? [True, True] Translation: X:452.47, Y:87.80, Z:48.03 [[ 9.61082217e-01 -2.55625435e-01 -1.04769314e-01 4.52466998e+02] [ 2.54185955e-01 9.66775718e-01 -2.70963166e-02 8.77951900e+01] [ 1.08214937e-01 -5.89100225e-04 9.94127346e-01 4.80307135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.58509989299995 meters 0.05496221178313292 Centerline is valid? [True, True] Translation: X:452.53, Y:87.80, Z:48.04 [[ 9.58919289e-01 -2.63504107e-01 -1.05068467e-01 4.52528234e+02] [ 2.62103223e-01 9.64657139e-01 -2.71754451e-02 8.78000179e+01] [ 1.08515888e-01 -1.47972522e-03 9.94093614e-01 4.80357393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.64509989299995 meters 0.05519908007664742 Centerline is valid? [True, True] Translation: X:452.59, Y:87.81, Z:48.04 [[ 9.57820236e-01 -2.67452220e-01 -1.05117578e-01 4.52587165e+02] [ 2.66073785e-01 9.63569194e-01 -2.71873111e-02 8.78107082e+01] [ 1.08559367e-01 -1.92847523e-03 9.94088097e-01 4.80419108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.70509989299995 meters 0.05633043988110836 Centerline is valid? [True, True] Translation: X:452.65, Y:87.81, Z:48.05 [[ 9.54996178e-01 -2.77388162e-01 -1.05062402e-01 4.52648859e+02] [ 2.76070810e-01 9.60753081e-01 -2.71739691e-02 8.78081673e+01] [ 1.08476764e-01 -3.05362586e-03 9.94094295e-01 4.80466354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.76509989299996 meters 0.056714029090693424 Centerline is valid? [True, True] Translation: X:452.71, Y:87.82, Z:48.05 [[ 9.53502105e-01 -2.82765490e-01 -1.04294840e-01 4.52708882e+02] [ 2.81499224e-01 9.59182179e-01 -2.69765610e-02 8.78174849e+01] [ 1.07665792e-01 -3.63670873e-03 9.94180492e-01 4.80532087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.82509989299996 meters 0.056041610133586356 Centerline is valid? [True, True] Translation: X:452.77, Y:87.83, Z:48.06 [[ 9.51553037e-01 -2.89124502e-01 -1.04660597e-01 4.52768611e+02] [ 2.87887632e-01 9.57281521e-01 -2.70702827e-02 8.78281096e+01] [ 1.08016337e-01 -4.37168163e-03 9.94139507e-01 4.80592236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.88509989299996 meters 0.055240488832496604 Centerline is valid? [True, True] Translation: X:452.83, Y:87.85, Z:48.07 [[ 9.50497321e-01 -2.92718693e-01 -1.04262218e-01 4.52826402e+02] [ 2.91512732e-01 9.56186747e-01 -2.69672359e-02 8.78472444e+01] [ 1.07587965e-01 -4.76147847e-03 9.94184167e-01 4.80664358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.94509989299996 meters 0.05527089795265303 Centerline is valid? [True, True] Translation: X:452.89, Y:87.86, Z:48.07 [[ 9.49187572e-01 -2.97427244e-01 -1.02859067e-01 4.52885718e+02] [ 2.96281200e-01 9.54730194e-01 -2.66027822e-02 8.78597203e+01] [ 1.06115049e-01 -5.22417753e-03 9.94340135e-01 4.80730480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.00509989299997 meters 0.057727843701070716 Centerline is valid? [True, True] Translation: X:452.95, Y:87.86, Z:48.08 [[ 9.48039277e-01 -3.00844739e-01 -1.03508316e-01 4.52946771e+02] [ 2.99704398e-01 9.53656441e-01 -2.67706231e-02 8.78630851e+01] [ 1.06765173e-01 -5.64229539e-03 9.94268255e-01 4.80781938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.06509989299997 meters 0.059436041033408424 Centerline is valid? [True, True] Translation: X:453.01, Y:87.87, Z:48.08 [[ 9.47336462e-01 -3.02480921e-01 -1.05161403e-01 4.53005838e+02] [ 3.01314007e-01 9.53137041e-01 -2.71965182e-02 8.78741517e+01] [ 1.08459656e-01 -5.92235041e-03 9.94083210e-01 4.80827723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.12509989299997 meters 0.05752287107102814 Centerline is valid? [True, True] Translation: X:453.06, Y:87.90, Z:48.09 [[ 9.46514536e-01 -3.04614081e-01 -1.06397810e-01 4.53062855e+02] [ 3.03432824e-01 9.52455423e-01 -2.75170569e-02 8.78954069e+01] [ 1.09721254e-01 -6.23929368e-03 9.93942814e-01 4.80879359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.185099893 meters 0.0545561092881887 Centerline is valid? [True, True] Translation: X:453.12, Y:87.93, Z:48.10 [[ 9.45924422e-01 -3.06456157e-01 -1.06356063e-01 4.53116740e+02] [ 3.05287394e-01 9.51862919e-01 -2.75061969e-02 8.79271155e+01] [ 1.09665836e-01 -6.45038181e-03 9.93947583e-01 4.80955795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.245099893 meters 0.05996360808683739 Centerline is valid? [True, True] Translation: X:453.18, Y:87.92, Z:48.10 [[ 9.45471286e-01 -3.07818742e-01 -1.06450313e-01 4.53179206e+02] [ 3.06656630e-01 9.51422017e-01 -2.75291829e-02 8.79243344e+01] [ 1.09753170e-01 -6.61564237e-03 9.93936857e-01 4.81006861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.305099893 meters 0.05429672771749915 Centerline is valid? [True, True] Translation: X:453.23, Y:87.97, Z:48.11 [[ 9.45745313e-01 -3.07408525e-01 -1.05194115e-01 4.53232427e+02] [ 3.06271586e-01 9.51555484e-01 -2.72006745e-02 8.79657600e+01] [ 1.08459756e-01 -6.49305787e-03 9.94079635e-01 4.81090737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.365099893 meters 0.056834408125840966 Centerline is valid? [True, True] Translation: X:453.29, Y:87.97, Z:48.12 [[ 9.47178984e-01 -3.03471728e-01 -1.03715395e-01 4.53292064e+02] [ 3.02343533e-01 9.52821804e-01 -2.68141353e-02 8.79728979e+01] [ 1.06959621e-01 -5.95989344e-03 9.94245502e-01 4.81152257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.4250998929999 meters 0.061003146263094485 Centerline is valid? [True, True] Translation: X:453.35, Y:87.98, Z:48.12 [[ 9.48511945e-01 -2.99479263e-01 -1.03137104e-01 4.53351918e+02] [ 2.98340054e-01 9.54087086e-01 -2.66654055e-02 8.79806106e+01] [ 1.06387515e-01 -5.47747358e-03 9.94309657e-01 4.81213558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.4850998929999 meters 0.05422268572780764 Centerline is valid? [True, True] Translation: X:453.40, Y:88.02, Z:48.13 [[ 9.50899195e-01 -2.92188091e-01 -1.02062927e-01 4.53404174e+02] [ 2.91030621e-01 9.56349756e-01 -2.63879048e-02 8.80194584e+01] [ 1.05318087e-01 -4.61119955e-03 9.94427895e-01 4.81294252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.54509989299993 meters 0.056921100002142205 Centerline is valid? [True, True] Translation: X:453.46, Y:88.03, Z:48.14 [[ 9.53009174e-01 -2.85168863e-01 -1.02236165e-01 4.53462415e+02] [ 2.83967165e-01 9.58469595e-01 -2.64326326e-02 8.80314656e+01] [ 1.05528019e-01 -3.84117258e-03 9.94408911e-01 4.81350227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.60509989299993 meters 0.05579483597887257 Centerline is valid? [True, True] Translation: X:453.52, Y:88.05, Z:48.14 [[ 9.54318652e-01 -2.80217404e-01 -1.03702054e-01 4.53519243e+02] [ 2.78951840e-01 9.59930747e-01 -2.68110267e-02 8.80519526e+01] [ 1.07059707e-01 -3.34161596e-03 9.94246978e-01 4.81396788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.66509989299993 meters 0.05403052552375925 Centerline is valid? [True, True] Translation: X:453.57, Y:88.08, Z:48.15 [[ 9.55721969e-01 -2.74967371e-01 -1.04825869e-01 4.53573936e+02] [ 2.73642273e-01 9.61449540e-01 -2.71051445e-02 8.80803192e+01] [ 1.08237814e-01 -2.77980704e-03 9.94121144e-01 4.81461723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.72509989299994 meters 0.05449361149801694 Centerline is valid? [True, True] Translation: X:453.63, Y:88.09, Z:48.15 [[ 9.58603639e-01 -2.64177474e-01 -1.06251234e-01 4.53631753e+02] [ 2.62749747e-01 9.64472790e-01 -2.74737694e-02 8.80935047e+01] [ 1.09734375e-01 -1.58102955e-03 9.93959691e-01 4.81502623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.78509989299994 meters 0.054699972355837796 Centerline is valid? [True, True] Translation: X:453.69, Y:88.12, Z:48.16 [[ 9.62203842e-01 -2.51362162e-01 -1.04789453e-01 4.53687531e+02] [ 2.49897417e-01 9.67893099e-01 -2.70966951e-02 8.81190820e+01] [ 1.08236072e-01 -1.14069459e-04 9.94125213e-01 4.81592859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.84509989299994 meters 0.05512768610841729 Centerline is valid? [True, True] Translation: X:453.75, Y:88.14, Z:48.17 [[ 9.64227250e-01 -2.43724982e-01 -1.04230247e-01 4.53745067e+02] [ 2.42231493e-01 9.69844105e-01 -2.69502467e-02 8.81390776e+01] [ 1.07655539e-01 7.38313812e-04 9.94187980e-01 4.81660032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.90509989299994 meters 0.05608290292866928 Centerline is valid? [True, True] Translation: X:453.80, Y:88.16, Z:48.17 [[ 9.65890068e-01 -2.37315562e-01 -1.03622875e-01 4.53801479e+02] [ 2.35802930e-01 9.71431544e-01 -2.67905609e-02 8.81571783e+01] [ 1.07020347e-01 1.44215910e-03 9.94255785e-01 4.81725225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.96509989299994 meters 0.05581292854641192 Centerline is valid? [True, True] Translation: X:453.86, Y:88.16, Z:48.18 [[ 9.65840604e-01 -2.37698274e-01 -1.03205897e-01 4.53858946e+02] [ 2.36199903e-01 9.71338038e-01 -2.66837294e-02 8.81641629e+01] [ 1.06590490e-01 1.39500636e-03 9.94302027e-01 4.81797701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.02509989299995 meters 0.05482563198825746 Centerline is valid? [True, True] Translation: X:453.92, Y:88.17, Z:48.19 [[ 9.63904245e-01 -2.45975715e-01 -1.01904631e-01 4.53918762e+02] [ 2.44560577e-01 9.69275873e-01 -2.63515823e-02 8.81713644e+01] [ 1.05255550e-01 4.78546615e-04 9.94445092e-01 4.81854094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.08509989299995 meters 0.055236294035477904 Centerline is valid? [True, True] Translation: X:453.98, Y:88.18, Z:48.19 [[ 9.61549603e-01 -2.54711743e-01 -1.02685388e-01 4.53977061e+02] [ 2.53324299e-01 9.67016907e-01 -2.65537512e-02 8.81752293e+01] [ 1.06062059e-01 -4.79955082e-04 9.94359396e-01 4.81909171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.14509989299995 meters 0.05557659581304004 Centerline is valid? [True, True] Translation: X:454.04, Y:88.17, Z:48.20 [[ 9.57561241e-01 -2.68953801e-01 -1.03635524e-01 4.54039003e+02] [ 2.67621796e-01 9.63150877e-01 -2.68134895e-02 8.81731725e+01] [ 1.07028235e-01 -2.05956671e-03 9.94253848e-01 4.81957761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.20509989299995 meters 0.05609681587907381 Centerline is valid? [True, True] Translation: X:454.10, Y:88.18, Z:48.20 [[ 9.55016384e-01 -2.77849930e-01 -1.03649041e-01 4.54100708e+02] [ 2.76569561e-01 9.60619636e-01 -2.68177757e-02 8.81756325e+01] [ 1.07018622e-01 -3.05475468e-03 9.94252324e-01 4.82014420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.26509989299996 meters 0.0557875293238305 Centerline is valid? [True, True] Translation: X:454.16, Y:88.18, Z:48.21 [[ 9.51753044e-01 -2.88851411e-01 -1.03590566e-01 4.54160374e+02] [ 2.87637215e-01 9.57364340e-01 -2.68021114e-02 8.81834161e+01] [ 1.06915742e-01 -4.28751082e-03 9.94258840e-01 4.82077606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.32509989299996 meters 0.05702370029677998 Centerline is valid? [True, True] Translation: X:454.22, Y:88.19, Z:48.21 [[ 9.49606206e-01 -2.95252471e-01 -1.05233230e-01 4.54220540e+02] [ 2.94038366e-01 9.55405725e-01 -2.72275568e-02 8.81875441e+01] [ 1.08579434e-01 -5.08715022e-03 9.94074759e-01 4.82129216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.38509989299996 meters 0.05512908267225997 Centerline is valid? [True, True] Translation: X:454.28, Y:88.21, Z:48.22 [[ 9.48754496e-01 -2.97810687e-01 -1.05705733e-01 4.54277597e+02] [ 2.96601330e-01 9.54609657e-01 -2.73505745e-02 8.82051782e+01] [ 1.09053007e-01 -5.40348032e-03 9.94021249e-01 4.82196791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.44509989299996 meters 0.0575648361760117 Centerline is valid? [True, True] Translation: X:454.34, Y:88.21, Z:48.22 [[ 9.47937002e-01 -3.00018232e-01 -1.06791859e-01 4.54338181e+02] [ 2.98797764e-01 9.53916342e-01 -2.76316697e-02 8.82077534e+01] [ 1.10160504e-01 -5.71608664e-03 9.93897374e-01 4.82247505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.50509989299997 meters 0.05862363022918669 Centerline is valid? [True, True] Translation: X:454.40, Y:88.22, Z:48.23 [[ 9.47521231e-01 -3.01115282e-01 -1.07392292e-01 4.54395726e+02] [ 2.99887988e-01 9.53569638e-01 -2.77874229e-02 8.82178871e+01] [ 1.10773247e-01 -5.87648535e-03 9.93828333e-01 4.82301780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.56509989299997 meters 0.057882138824403365 Centerline is valid? [True, True] Translation: X:454.45, Y:88.24, Z:48.24 [[ 9.47244044e-01 -3.01782268e-01 -1.07963807e-01 4.54451848e+02] [ 3.00545875e-01 9.53358093e-01 -2.79378514e-02 8.82378358e+01] [ 1.11359317e-01 -5.98411350e-03 9.93762191e-01 4.82374994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.62509989299997 meters 0.057395549402655364 Centerline is valid? [True, True] Translation: X:454.51, Y:88.25, Z:48.24 [[ 9.47119505e-01 -3.01955164e-01 -1.08571277e-01 4.54508149e+02] [ 3.00705795e-01 9.53303009e-01 -2.80962260e-02 8.82505165e+01] [ 1.11985126e-01 -6.03752852e-03 9.93691542e-01 4.82432978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.685099893 meters 0.05618717738760478 Centerline is valid? [True, True] Translation: X:454.56, Y:88.27, Z:48.25 [[ 9.47072451e-01 -3.02228190e-01 -1.08221505e-01 4.54563559e+02] [ 3.00988153e-01 9.53216433e-01 -2.80100476e-02 8.82710765e+01] [ 1.11623943e-01 -6.04584660e-03 9.93732128e-01 4.82508892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.745099893 meters 0.06043397104795209 Centerline is valid? [True, True] Translation: X:454.62, Y:88.27, Z:48.26 [[ 9.46994906e-01 -3.02818393e-01 -1.07245837e-01 4.54622697e+02] [ 3.01604183e-01 9.53029027e-01 -2.77595247e-02 8.82705503e+01] [ 1.10614491e-01 -6.05766458e-03 9.93844927e-01 4.82557843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.805099893 meters 0.05601165234169691 Centerline is valid? [True, True] Translation: X:454.68, Y:88.30, Z:48.27 [[ 9.46561956e-01 -3.04486192e-01 -1.06342004e-01 4.54676391e+02] [ 3.03302296e-01 9.52496608e-01 -2.75305095e-02 8.83033860e+01] [ 1.09673058e-01 -6.19444123e-03 9.93948414e-01 4.82651337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.8650998929999 meters 0.05508048914824504 Centerline is valid? [True, True] Translation: X:454.73, Y:88.32, Z:48.27 [[ 9.46051897e-01 -3.06156701e-01 -1.06084318e-01 4.54733753e+02] [ 3.04989093e-01 9.51959796e-01 -2.74626873e-02 8.83238738e+01] [ 1.09395891e-01 -6.37343251e-03 9.93977826e-01 4.82712833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.9250998929999 meters 0.05621145916139548 Centerline is valid? [True, True] Translation: X:454.79, Y:88.33, Z:48.28 [[ 9.44758002e-01 -3.09833443e-01 -1.06937161e-01 4.54791953e+02] [ 3.08670422e-01 9.50766137e-01 -2.76825616e-02 8.83341642e+01] [ 1.10249214e-01 -6.85501693e-03 9.93880335e-01 4.82765125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.9850998929999 meters 0.05600882590307999 Centerline is valid? [True, True] Translation: X:454.85, Y:88.35, Z:48.28 [[ 9.43711840e-01 -3.12951412e-01 -1.07095172e-01 4.54850097e+02] [ 3.11804958e-01 9.49741612e-01 -2.77225245e-02 8.83513378e+01] [ 1.10388544e-01 -7.23073093e-03 9.93862207e-01 4.82830852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.04509989299993 meters 0.05649634619697136 Centerline is valid? [True, True] Translation: X:454.91, Y:88.37, Z:48.29 [[ 9.43484931e-01 -3.13669397e-01 -1.06993904e-01 4.54909379e+02] [ 3.12529795e-01 9.49504130e-01 -2.76953671e-02 8.83661910e+01] [ 1.10278343e-01 -7.30862133e-03 9.93873871e-01 4.82894565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.10509989299993 meters 0.055962750110565264 Centerline is valid? [True, True] Translation: X:454.97, Y:88.39, Z:48.30 [[ 9.44424758e-01 -3.11082293e-01 -1.06252920e-01 4.54967080e+02] [ 3.09942359e-01 9.50357502e-01 -2.75018675e-02 8.83852913e+01] [ 1.09533604e-01 -6.95883598e-03 9.93958734e-01 4.82966068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.16509989299993 meters 0.06118285429851913 Centerline is valid? [True, True] Translation: X:455.03, Y:88.39, Z:48.30 [[ 9.45909947e-01 -3.06975956e-01 -1.04976832e-01 4.55026858e+02] [ 3.05838176e-01 9.51695720e-01 -2.71710530e-02 8.83896439e+01] [ 1.08246862e-01 -6.40455347e-03 9.94103414e-01 4.83028509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.22509989299994 meters 0.0585645087286671 Centerline is valid? [True, True] Translation: X:455.08, Y:88.42, Z:48.31 [[ 9.48208697e-01 -3.00182422e-01 -1.03878684e-01 4.55081144e+02] [ 2.99027629e-01 9.53865567e-01 -2.68878825e-02 8.84175443e+01] [ 1.07157570e-01 -5.56727257e-03 9.94226464e-01 4.83109401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.28509989299994 meters 0.060247491095087424 Centerline is valid? [True, True] Translation: X:455.14, Y:88.43, Z:48.32 [[ 9.50046546e-01 -2.94300096e-01 -1.03918303e-01 4.55139272e+02] [ 2.93109347e-01 9.55700474e-01 -2.68982338e-02 8.84288285e+01] [ 1.07230924e-01 -4.90485163e-03 9.94222043e-01 4.83163446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.34509989299994 meters 0.05673814919326862 Centerline is valid? [True, True] Translation: X:455.19, Y:88.46, Z:48.32 [[ 9.51195782e-01 -2.90564316e-01 -1.03918062e-01 4.55193584e+02] [ 2.89351286e-01 9.56844963e-01 -2.68988805e-02 8.84583180e+01] [ 1.07249329e-01 -4.48272315e-03 9.94222051e-01 4.83227456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.40509989299994 meters 0.05771147857289881 Centerline is valid? [True, True] Translation: X:455.25, Y:88.47, Z:48.33 [[ 9.52592034e-01 -2.85554146e-01 -1.05010697e-01 4.55252155e+02] [ 2.84285108e-01 9.58354395e-01 -2.71814378e-02 8.84703624e+01] [ 1.08399235e-01 -3.96015619e-03 9.94099554e-01 4.83273570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.46509989299994 meters 0.05694601757696763 Centerline is valid? [True, True] Translation: X:455.31, Y:88.50, Z:48.33 [[ 9.55307835e-01 -2.76073025e-01 -1.05691179e-01 4.55307919e+02] [ 2.74729401e-01 9.61132286e-01 -2.73584605e-02 8.84958594e+01] [ 1.09136137e-01 -2.90072262e-03 9.94022580e-01 4.83332376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.52509989299995 meters 0.05628105727728002 Centerline is valid? [True, True] Translation: X:455.36, Y:88.52, Z:48.34 [[ 9.58096776e-01 -2.66131505e-01 -1.05946168e-01 4.55364508e+02] [ 2.64720470e-01 9.63935107e-01 -2.74259294e-02 8.85168721e+01] [ 1.09424134e-01 -1.76942477e-03 9.93993575e-01 4.83392037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.58509989299995 meters 0.05570843799751812 Centerline is valid? [True, True] Translation: X:455.42, Y:88.54, Z:48.35 [[ 9.59330077e-01 -2.61581372e-01 -1.06117810e-01 4.55419904e+02] [ 2.60138032e-01 9.65180614e-01 -2.74697540e-02 8.85389662e+01] [ 1.09608428e-01 -1.25271694e-03 9.93974056e-01 4.83475498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.64509989299995 meters 0.05589430230775762 Centerline is valid? [True, True] Translation: X:455.48, Y:88.55, Z:48.35 [[ 9.60236635e-01 -2.58161100e-01 -1.06294173e-01 4.55475528e+02] [ 2.56691804e-01 9.66101498e-01 -2.75175151e-02 8.85540064e+01] [ 1.09794911e-01 -8.61516860e-04 9.93953890e-01 4.83533063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.70509989299995 meters 0.055489937998060866 Centerline is valid? [True, True] Translation: X:455.53, Y:88.57, Z:48.36 [[ 9.60150868e-01 -2.58566417e-01 -1.06083541e-01 4.55531340e+02] [ 2.57104638e-01 9.65993064e-01 -2.74700908e-02 8.85670053e+01] [ 1.09578808e-01 -8.99138928e-04 9.93977704e-01 4.83595952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.76509989299996 meters 0.055496158275286034 Centerline is valid? [True, True] Translation: X:455.59, Y:88.58, Z:48.37 [[ 9.59154023e-01 -2.62578663e-01 -1.05242604e-01 4.55590198e+02] [ 2.61162680e-01 9.64909667e-01 -2.72651493e-02 8.85783263e+01] [ 1.08708852e-01 -1.33396286e-03 9.94072737e-01 4.83666740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.82509989299996 meters 0.05640789697647636 Centerline is valid? [True, True] Translation: X:455.65, Y:88.58, Z:48.37 [[ 9.57813507e-01 -2.67336096e-01 -1.05473680e-01 4.55648907e+02] [ 2.65942668e-01 9.63601517e-01 -2.73242374e-02 8.85847094e+01] [ 1.08939353e-01 -1.87842815e-03 9.94046623e-01 4.83717519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.88509989299996 meters 0.05678664600638554 Centerline is valid? [True, True] Translation: X:455.71, Y:88.59, Z:48.38 [[ 9.54925906e-01 -2.77256165e-01 -1.06044958e-01 4.55709689e+02] [ 2.75908029e-01 9.60791281e-01 -2.74749634e-02 8.85895322e+01] [ 1.09504674e-01 -3.02210115e-03 9.93981687e-01 4.83768556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.94509989299996 meters 0.05593087253102346 Centerline is valid? [True, True] Translation: X:455.77, Y:88.60, Z:48.38 [[ 9.51636546e-01 -2.88110337e-01 -1.06678576e-01 4.55767963e+02] [ 2.86813660e-01 9.57587590e-01 -2.76393175e-02 8.86035285e+01] [ 1.10117253e-01 -4.29428819e-03 9.93909327e-01 4.83833862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.00509989299997 meters 0.05506382505687971 Centerline is valid? [True, True] Translation: X:455.83, Y:88.62, Z:48.39 [[ 9.49505750e-01 -2.94997317e-01 -1.06842938e-01 4.55825002e+02] [ 2.93739893e-01 9.55484472e-01 -2.76821112e-02 8.86236125e+01] [ 1.10252917e-01 -5.09970948e-03 9.93890481e-01 4.83900414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.06509989299997 meters 0.058801911715535844 Centerline is valid? [True, True] Translation: X:455.89, Y:88.62, Z:48.39 [[ 9.46978575e-01 -3.03088580e-01 -1.06625005e-01 4.55888117e+02] [ 3.01887197e-01 9.52943321e-01 -2.76251343e-02 8.86164776e+01] [ 1.09980449e-01 -6.02831354e-03 9.93915469e-01 4.83935700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.12509989299997 meters 0.060530404656860874 Centerline is valid? [True, True] Translation: X:455.95, Y:88.62, Z:48.40 [[ 9.45666384e-01 -3.07225615e-01 -1.06430782e-01 4.55947692e+02] [ 3.06054534e-01 9.51614532e-01 -2.75754379e-02 8.86247298e+01] [ 1.09752960e-01 -6.49645863e-03 9.93937666e-01 4.83994841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.185099893 meters 0.05747390737111303 Centerline is valid? [True, True] Translation: X:456.00, Y:88.65, Z:48.41 [[ 9.44088443e-01 -3.11952809e-01 -1.06688596e-01 4.56003480e+02] [ 3.10805946e-01 9.50071347e-01 -2.76423483e-02 8.86475139e+01] [ 1.09984886e-01 -7.06262837e-03 9.93908167e-01 4.84062626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.245099893 meters 0.05763170831958054 Centerline is valid? [True, True] Translation: X:456.06, Y:88.66, Z:48.41 [[ 9.43524027e-01 -3.13542634e-01 -1.07020685e-01 4.56061890e+02] [ 3.12398653e-01 9.49546295e-01 -2.77293286e-02 8.86612614e+01] [ 1.10315421e-01 -7.26982995e-03 9.93870040e-01 4.84124962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.305099893 meters 0.05721509342989359 Centerline is valid? [True, True] Translation: X:456.12, Y:88.68, Z:48.42 [[ 9.43379852e-01 -3.13868892e-01 -1.07334865e-01 4.56120390e+02] [ 3.12720261e-01 9.49438042e-01 -2.78108405e-02 8.86826536e+01] [ 1.10636762e-01 -7.32960059e-03 9.93833881e-01 4.84196086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.3650998929999 meters 0.05712925612313728 Centerline is valid? [True, True] Translation: X:456.18, Y:88.70, Z:48.43 [[ 9.44408287e-01 -3.10811360e-01 -1.07188090e-01 4.56178673e+02] [ 3.09646679e-01 9.50446101e-01 -2.77694633e-02 8.86996504e+01] [ 1.10507567e-01 -6.96472491e-03 9.93850879e-01 4.84258914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.4250998929999 meters 0.057117034556061014 Centerline is valid? [True, True] Translation: X:456.24, Y:88.72, Z:48.43 [[ 9.45659203e-01 -3.07088687e-01 -1.06888772e-01 4.56235899e+02] [ 3.05906949e-01 9.51658624e-01 -2.76911801e-02 8.87183705e+01] [ 1.10225270e-01 -6.51159874e-03 9.93885300e-01 4.84321996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.4850998929999 meters 0.056609021359134266 Centerline is valid? [True, True] Translation: X:456.29, Y:88.73, Z:48.44 [[ 9.46402053e-01 -3.04722300e-01 -1.07086292e-01 4.56293605e+02] [ 3.03521135e-01 9.52420751e-01 -2.77422605e-02 8.87346581e+01] [ 1.10444892e-01 -6.24762072e-03 9.93862613e-01 4.84385576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.54509989299993 meters 0.05985936083827669 Centerline is valid? [True, True] Translation: X:456.35, Y:88.74, Z:48.44 [[ 9.49140703e-01 -2.96181404e-01 -1.06810590e-01 4.56352392e+02] [ 2.94932509e-01 9.55117341e-01 -2.76709161e-02 8.87440912e+01] [ 1.10212258e-01 -5.23832255e-03 9.93894269e-01 4.84436147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.60509989299993 meters 0.054938466213180555 Centerline is valid? [True, True] Translation: X:456.40, Y:88.78, Z:48.45 [[ 9.51068612e-01 -2.90437798e-01 -1.05424766e-01 4.56404641e+02] [ 2.89185874e-01 9.56883241e-01 -2.73128743e-02 8.87819648e+01] [ 1.08811883e-01 -4.51093561e-03 9.94052124e-01 4.84535891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.66509989299993 meters 0.05638320056101423 Centerline is valid? [True, True] Translation: X:456.46, Y:88.80, Z:48.46 [[ 9.53741731e-01 -2.81963854e-01 -1.04274139e-01 4.56462288e+02] [ 2.80688609e-01 9.59418631e-01 -2.70147104e-02 8.87971376e+01] [ 1.07659724e-01 -3.50350645e-03 9.94181628e-01 4.84603687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.72509989299994 meters 0.05731528047092414 Centerline is valid? [True, True] Translation: X:456.52, Y:88.81, Z:48.47 [[ 9.55181280e-01 -2.76913660e-01 -1.04630529e-01 4.56519335e+02] [ 2.75599413e-01 9.60890295e-01 -2.71072822e-02 8.88100225e+01] [ 1.08044837e-01 -2.94374384e-03 9.94141664e-01 4.84655817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.78509989299994 meters 0.056091604996993824 Centerline is valid? [True, True] Translation: X:456.58, Y:88.84, Z:48.47 [[ 9.56374459e-01 -2.72563703e-01 -1.05151897e-01 4.56575091e+02] [ 2.71209837e-01 9.62134588e-01 -2.72444441e-02 8.88368906e+01] [ 1.08596123e-01 -2.46233821e-03 9.94082903e-01 4.84727805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.84509989299994 meters 0.05522659421190956 Centerline is valid? [True, True] Translation: X:456.63, Y:88.86, Z:48.48 [[ 9.57760967e-01 -2.67413944e-01 -1.05753078e-01 4.56632152e+02] [ 2.66013248e-01 9.63579894e-01 -2.73996230e-02 8.88571896e+01] [ 1.09228581e-01 -1.88943029e-03 9.94014863e-01 4.84797728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.90509989299994 meters 0.05556924524208179 Centerline is valid? [True, True] Translation: X:456.69, Y:88.87, Z:48.49 [[ 9.58670426e-01 -2.64333598e-01 -1.05255702e-01 4.56691241e+02] [ 2.62927667e-01 9.64430092e-01 -2.72697551e-02 8.88730604e+01] [ 1.08720079e-01 -1.53192835e-03 9.94071224e-01 4.84870508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.96509989299994 meters 0.05576187854126839 Centerline is valid? [True, True] Translation: X:456.75, Y:88.89, Z:48.49 [[ 9.59247606e-01 -2.62306592e-01 -1.05067985e-01 4.56750335e+02] [ 2.60893862e-01 9.64983707e-01 -2.72183310e-02 8.88884568e+01] [ 1.08528442e-01 -1.30247358e-03 9.94092491e-01 4.84942197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.02509989299995 meters 0.0562523323018201 Centerline is valid? [True, True] Translation: X:456.81, Y:88.90, Z:48.50 [[ 9.60199494e-01 -2.59034239e-01 -1.04490167e-01 4.56809586e+02] [ 2.57618010e-01 9.65867692e-01 -2.70658898e-02 8.89035616e+01] [ 1.07934669e-01 -9.29895324e-04 9.94157554e-01 4.85016257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.08509989299995 meters 0.05601689959541768 Centerline is valid? [True, True] Translation: X:456.87, Y:88.92, Z:48.51 [[ 9.60707580e-01 -2.57065986e-01 -1.04680583e-01 4.56866742e+02] [ 2.55633213e-01 9.66393590e-01 -2.71125288e-02 8.89170988e+01] [ 1.08132353e-01 -7.12621724e-04 9.94136251e-01 4.85081918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.14509989299995 meters 0.05653160772692036 Centerline is valid? [True, True] Translation: X:456.92, Y:88.93, Z:48.51 [[ 9.60828688e-01 -2.56599292e-01 -1.04714065e-01 4.56922754e+02] [ 2.55162679e-01 9.66517651e-01 -2.71226504e-02 8.89278085e+01] [ 1.08167645e-01 -6.58900856e-04 9.94132449e-01 4.85135211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.20509989299995 meters 0.05608485782391397 Centerline is valid? [True, True] Translation: X:456.98, Y:88.94, Z:48.52 [[ 9.60359956e-01 -2.58330834e-01 -1.04756549e-01 4.56979637e+02] [ 2.56901774e-01 9.66056144e-01 -2.71478262e-02 8.89415396e+01] [ 1.08213829e-01 -8.40458190e-04 9.94127286e-01 4.85229380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.26509989299996 meters 0.056102717559525186 Centerline is valid? [True, True] Translation: X:457.04, Y:88.95, Z:48.53 [[ 9.59641352e-01 -2.60728052e-01 -1.05400944e-01 4.57040081e+02] [ 2.59294397e-01 9.65411653e-01 -2.73268382e-02 8.89500682e+01] [ 1.08880173e-01 -1.10591017e-03 9.94054267e-01 4.85278553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.32509989299996 meters 0.05685786586025173 Centerline is valid? [True, True] Translation: X:457.10, Y:88.95, Z:48.53 [[ 9.58714848e-01 -2.63768525e-01 -1.06263846e-01 4.57099607e+02] [ 2.62329649e-01 9.64584900e-01 -2.75522367e-02 8.89543534e+01] [ 1.09767914e-01 -1.46141885e-03 9.93956171e-01 4.85322657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.38509989299996 meters 0.05660705869258227 Centerline is valid? [True, True] Translation: X:457.16, Y:88.97, Z:48.54 [[ 9.58358437e-01 -2.64987025e-01 -1.06447089e-01 4.57156989e+02] [ 2.63550392e-01 9.64250648e-01 -2.76021521e-02 8.89660182e+01] [ 1.09955886e-01 -1.60141654e-03 9.93935178e-01 4.85388848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.44509989299996 meters 0.05677804719306343 Centerline is valid? [True, True] Translation: X:457.21, Y:88.98, Z:48.55 [[ 9.58111648e-01 -2.65974123e-01 -1.06206570e-01 4.57213325e+02] [ 2.64548671e-01 9.63978672e-01 -2.75521369e-02 8.89791637e+01] [ 1.09709024e-01 -1.69878371e-03 9.93962295e-01 4.85463304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.50509989299997 meters 0.05720760723169101 Centerline is valid? [True, True] Translation: X:457.27, Y:88.99, Z:48.55 [[ 9.57783298e-01 -2.67075990e-01 -1.06402862e-01 4.57271693e+02] [ 2.65650579e-01 9.63673762e-01 -2.76161378e-02 8.89874276e+01] [ 1.09913253e-01 -1.81570621e-03 9.93939525e-01 4.85528084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.56509989299997 meters 0.05695401249224125 Centerline is valid? [True, True] Translation: X:457.33, Y:89.00, Z:48.56 [[ 9.57401142e-01 -2.67996365e-01 -1.07522095e-01 4.57327512e+02] [ 2.66545065e-01 9.63417991e-01 -2.79195653e-02 8.89988573e+01] [ 1.11071063e-01 -1.92926005e-03 9.93810594e-01 4.85600674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.62509989299997 meters 0.057100338480521574 Centerline is valid? [True, True] Translation: X:457.38, Y:89.01, Z:48.56 [[ 9.57202179e-01 -2.68395879e-01 -1.08294231e-01 4.57384975e+02] [ 2.66925444e-01 9.63306657e-01 -2.81263413e-02 8.90087192e+01] [ 1.11869548e-01 -1.98389060e-03 9.93720921e-01 4.85648951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.685099893 meters 0.057443856009416205 Centerline is valid? [True, True] Translation: X:457.44, Y:89.02, Z:48.57 [[ 9.57262532e-01 -2.67743558e-01 -1.09370160e-01 4.57441532e+02] [ 2.66237941e-01 9.63488310e-01 -2.84189262e-02 8.90184739e+01] [ 1.12985855e-01 -1.91411301e-03 9.93594753e-01 4.85694248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.745099893 meters 0.05686509666246779 Centerline is valid? [True, True] Translation: X:457.50, Y:89.03, Z:48.58 [[ 9.58210187e-01 -2.64193361e-01 -1.09704626e-01 4.57498379e+02] [ 2.62654734e-01 9.64468575e-01 -2.85106666e-02 8.90302611e+01] [ 1.13338993e-01 -1.49522819e-03 9.93555251e-01 4.85757431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.805099893 meters 0.05806530371701382 Centerline is valid? [True, True] Translation: X:457.55, Y:89.05, Z:48.58 [[ 9.59120019e-01 -2.61060012e-01 -1.09254101e-01 4.57554285e+02] [ 2.59513303e-01 9.65321928e-01 -2.83975656e-02 8.90460565e+01] [ 1.12878848e-01 -1.11621881e-03 9.93608132e-01 4.85838621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.8650998929999 meters 0.05767620188933198 Centerline is valid? [True, True] Translation: X:457.61, Y:89.06, Z:48.59 [[ 9.60464419e-01 -2.56236943e-01 -1.08861050e-01 4.57609711e+02] [ 2.54669695e-01 9.66613851e-01 -2.83021120e-02 8.90594923e+01] [ 1.12478646e-01 -5.40438968e-04 9.93653995e-01 4.85915039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.9250998929999 meters 0.05743706741723891 Centerline is valid? [True, True] Translation: X:457.67, Y:89.07, Z:48.60 [[ 9.60958199e-01 -2.54284250e-01 -1.09081892e-01 4.57665492e+02] [ 2.52697294e-01 9.67129478e-01 -2.83663707e-02 8.90717687e+01] [ 1.12709435e-01 -3.05802533e-04 9.93627943e-01 4.85973954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.9850998929999 meters 0.05748335462259911 Centerline is valid? [True, True] Translation: X:457.72, Y:89.08, Z:48.61 [[ 9.60968746e-01 -2.54485363e-01 -1.08518526e-01 4.57722574e+02] [ 2.52915303e-01 9.67076573e-01 -2.82268009e-02 8.90836358e+01] [ 1.12129031e-01 -3.20922332e-04 9.93693603e-01 4.86055321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.04509989299993 meters 0.05819582397784395 Centerline is valid? [True, True] Translation: X:457.78, Y:89.09, Z:48.61 [[ 9.60024486e-01 -2.57949901e-01 -1.08696066e-01 4.57781618e+02] [ 2.56395499e-01 9.66158029e-01 -2.82844733e-02 8.90906806e+01] [ 1.12313554e-01 -7.15395187e-04 9.93672559e-01 4.86102486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.10509989299993 meters 0.05785297030444024 Centerline is valid? [True, True] Translation: X:457.84, Y:89.10, Z:48.61 [[ 9.59046047e-01 -2.61396948e-01 -1.09097733e-01 4.57839069e+02] [ 2.59851819e-01 9.65230750e-01 -2.84012469e-02 8.90978769e+01] [ 1.12728486e-01 -1.11114080e-03 9.93625208e-01 4.86147577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.16509989299993 meters 0.05831021514388528 Centerline is valid? [True, True] Translation: X:457.90, Y:89.11, Z:48.62 [[ 9.57481154e-01 -2.67087485e-01 -1.09060148e-01 4.57896707e+02] [ 2.65579600e-01 9.63670651e-01 -2.83963401e-02 8.91090702e+01] [ 1.12682371e-01 -1.77518999e-03 9.93629474e-01 4.86240269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.22509989299994 meters 0.05874858155329178 Centerline is valid? [True, True] Translation: X:457.96, Y:89.11, Z:48.63 [[ 9.56677660e-01 -2.69885676e-01 -1.09222604e-01 4.57955343e+02] [ 2.68390953e-01 9.62890075e-01 -2.84429215e-02 8.91148441e+01] [ 1.12845698e-01 -2.10365112e-03 9.93610297e-01 4.86281322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.28509989299994 meters 0.05825421394187517 Centerline is valid? [True, True] Translation: X:458.01, Y:89.12, Z:48.63 [[ 9.56263301e-01 -2.71636646e-01 -1.08508209e-01 4.58012863e+02] [ 2.70172182e-01 9.62397156e-01 -2.82613856e-02 8.91249351e+01] [ 1.12104820e-01 -2.29057367e-03 9.93693747e-01 4.86346687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.34509989299994 meters 0.05807543143713737 Centerline is valid? [True, True] Translation: X:458.07, Y:89.13, Z:48.64 [[ 9.56574727e-01 -2.70378418e-01 -1.08905019e-01 4.58070177e+02] [ 2.68893744e-01 9.62751750e-01 -2.83764291e-02 8.91341912e+01] [ 1.12520872e-01 -2.13970351e-03 9.93647058e-01 4.86388269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.40509989299994 meters 0.05856124328015689 Centerline is valid? [True, True] Translation: X:458.13, Y:89.15, Z:48.65 [[ 9.56814700e-01 -2.69702150e-01 -1.08472946e-01 4.58126323e+02] [ 2.68224353e-01 9.62941618e-01 -2.82689991e-02 8.91491907e+01] [ 1.12077324e-01 -2.04689174e-03 9.93697380e-01 4.86457336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.46509989299994 meters 0.058648077627389036 Centerline is valid? [True, True] Translation: X:458.18, Y:89.16, Z:48.65 [[ 9.57423197e-01 -2.67891952e-01 -1.07585887e-01 4.58182478e+02] [ 2.66425624e-01 9.63447264e-01 -2.80491804e-02 8.91635218e+01] [ 1.11167478e-01 -1.80870112e-03 9.93800040e-01 4.86539161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.52509989299995 meters 0.05853057958135723 Centerline is valid? [True, True] Translation: X:458.24, Y:89.17, Z:48.66 [[ 9.57618205e-01 -2.67380708e-01 -1.07121105e-01 4.58239279e+02] [ 2.65922554e-01 9.63589416e-01 -2.79397885e-02 8.91738959e+01] [ 1.10691324e-01 -1.73026788e-03 9.93853328e-01 4.86601866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.58509989299995 meters 0.058732344502906465 Centerline is valid? [True, True] Translation: X:458.30, Y:89.18, Z:48.67 [[ 9.57365334e-01 -2.68164186e-01 -1.07422463e-01 4.58296644e+02] [ 2.66702179e-01 9.63371502e-01 -2.80231344e-02 8.91817989e+01] [ 1.11002541e-01 -1.82142762e-03 9.93818453e-01 4.86651274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.64509989299995 meters 0.05872868575485141 Centerline is valid? [True, True] Translation: X:458.35, Y:89.19, Z:48.67 [[ 9.56790768e-01 -2.69727792e-01 -1.08620189e-01 4.58354229e+02] [ 2.68242345e-01 9.62934493e-01 -2.83409084e-02 8.91939818e+01] [ 1.12238457e-01 -2.02021474e-03 9.93679248e-01 4.86710382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.70509989299995 meters 0.058879847517993675 Centerline is valid? [True, True] Translation: X:458.41, Y:89.20, Z:48.68 [[ 9.55695977e-01 -2.73321392e-01 -1.09273126e-01 4.58413342e+02] [ 2.71839994e-01 9.61919663e-01 -2.85233153e-02 8.92036029e+01] [ 1.12908001e-01 -2.44518826e-03 9.93602438e-01 4.86773025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.76509989299996 meters 0.05913134918298228 Centerline is valid? [True, True] Translation: X:458.47, Y:89.21, Z:48.68 [[ 9.54973549e-01 -2.75827204e-01 -1.09292607e-01 4.58472008e+02] [ 2.74361507e-01 9.61203330e-01 -2.85293278e-02 8.92131648e+01] [ 1.12921582e-01 -2.74093092e-03 9.93600123e-01 4.86832444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.82509989299996 meters 0.06008471941890428 Centerline is valid? [True, True] Translation: X:458.53, Y:89.22, Z:48.69 [[ 9.54336941e-01 -2.78414511e-01 -1.08288339e-01 4.58529703e+02] [ 2.76992154e-01 9.60456274e-01 -2.82682247e-02 8.92234134e+01] [ 1.11876498e-01 -3.01760899e-03 9.93717537e-01 4.86904470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.88509989299996 meters 0.059544917363354134 Centerline is valid? [True, True] Translation: X:458.59, Y:89.24, Z:48.70 [[ 9.54237491e-01 -2.78871557e-01 -1.07988263e-01 4.58586504e+02] [ 2.77459622e-01 9.60323537e-01 -2.81933034e-02 8.92372272e+01] [ 1.11565982e-01 -3.05927563e-03 9.93752320e-01 4.86973249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.94509989299996 meters 0.06011243809448403 Centerline is valid? [True, True] Translation: X:458.64, Y:89.25, Z:48.70 [[ 9.54245696e-01 -2.78962545e-01 -1.07680317e-01 4.58642977e+02] [ 2.77557866e-01 9.60297142e-01 -2.81252539e-02 8.92489575e+01] [ 1.11250994e-01 -3.04911660e-03 9.93787663e-01 4.87029503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.00509989299997 meters 0.059878287203416175 Centerline is valid? [True, True] Translation: X:458.70, Y:89.26, Z:48.71 [[ 9.53721835e-01 -2.80624769e-01 -1.08001852e-01 4.58700130e+02] [ 2.79220864e-01 9.59812084e-01 -2.82218265e-02 8.92634669e+01] [ 1.11581226e-01 -3.24059832e-03 9.93750033e-01 4.87096700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.06509989299997 meters 0.06060442296013162 Centerline is valid? [True, True] Translation: X:458.76, Y:89.27, Z:48.71 [[ 9.52888790e-01 -2.83422082e-01 -1.08050349e-01 4.58760097e+02] [ 2.82034520e-01 9.58988633e-01 -2.82370444e-02 8.92714906e+01] [ 1.11622058e-01 -3.56716522e-03 9.93744329e-01 4.87146863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.12509989299997 meters 0.06026144904339554 Centerline is valid? [True, True] Translation: X:458.82, Y:89.29, Z:48.72 [[ 9.51399813e-01 -2.88714288e-01 -1.07156221e-01 4.58818073e+02] [ 2.87382921e-01 9.57406300e-01 -2.80041694e-02 8.92858035e+01] [ 1.10677245e-01 -4.15170644e-03 9.93847730e-01 4.87215145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.185099893 meters 0.06285371559482729 Centerline is valid? [True, True] Translation: X:458.88, Y:89.29, Z:48.73 [[ 9.50660850e-01 -2.91074985e-01 -1.07328006e-01 4.58877797e+02] [ 2.89754295e-01 9.56689969e-01 -2.80491051e-02 8.92892121e+01] [ 1.10844019e-01 -4.43356455e-03 9.93827926e-01 4.87257964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.245099893 meters 0.061838450210638926 Centerline is valid? [True, True] Translation: X:458.93, Y:89.31, Z:48.73 [[ 9.50170349e-01 -2.92745724e-01 -1.07127254e-01 4.58934036e+02] [ 2.91440331e-01 9.56179176e-01 -2.79985086e-02 8.93076286e+01] [ 1.10629293e-01 -4.61784970e-03 9.93851012e-01 4.87324763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.305099893 meters 0.06211287687538145 Centerline is valid? [True, True] Translation: X:458.99, Y:89.32, Z:48.74 [[ 9.50003743e-01 -2.93279392e-01 -1.07145165e-01 4.58989380e+02] [ 2.91976711e-01 9.56015328e-01 -2.80052358e-02 8.93213607e+01] [ 1.10645779e-01 -4.67881411e-03 9.93848892e-01 4.87378656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.3650998929999 meters 0.06023984377318236 Centerline is valid? [True, True] Translation: X:459.04, Y:89.35, Z:48.75 [[ 9.50141065e-01 -2.93143343e-01 -1.06296463e-01 4.59042931e+02] [ 2.91859772e-01 9.56057339e-01 -2.77891688e-02 8.93471505e+01] [ 1.09771723e-01 -4.62003094e-03 9.93946087e-01 4.87456505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.4250998929999 meters 0.06194932064631416 Centerline is valid? [True, True] Translation: X:459.10, Y:89.35, Z:48.75 [[ 9.50151706e-01 -2.93191569e-01 -1.06068092e-01 4.59099798e+02] [ 2.91912487e-01 9.56042629e-01 -2.77415298e-02 8.93529197e+01] [ 1.09539200e-01 -4.60393863e-03 9.93971814e-01 4.87503092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.4850998929999 meters 0.06152326529810135 Centerline is valid? [True, True] Translation: X:459.16, Y:89.37, Z:48.76 [[ 9.49873413e-01 -2.94353029e-01 -1.05341317e-01 4.59156127e+02] [ 2.93097855e-01 9.55685207e-01 -2.75578060e-02 8.93708208e+01] [ 1.08784862e-01 -4.69888675e-03 9.94054211e-01 4.87568840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.54509989299993 meters 0.0605119459377421 Centerline is valid? [True, True] Translation: X:459.21, Y:89.39, Z:48.76 [[ 9.49453847e-01 -2.95719115e-01 -1.05297663e-01 4.59212131e+02] [ 2.94473137e-01 9.55262617e-01 -2.75482166e-02 8.93893774e+01] [ 1.08733455e-01 -4.85157285e-03 9.94059102e-01 4.87637760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.60509989299993 meters 0.061219027696751124 Centerline is valid? [True, True] Translation: X:459.27, Y:89.41, Z:48.77 [[ 9.48815872e-01 -2.97511817e-01 -1.05996035e-01 4.59269165e+02] [ 2.96260050e-01 9.54704576e-01 -2.77336423e-02 8.94051584e+01] [ 1.09445986e-01 -5.08827050e-03 9.93979721e-01 4.87695381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.66509989299993 meters 0.06017684181335008 Centerline is valid? [True, True] Translation: X:459.33, Y:89.42, Z:48.78 [[ 9.47959308e-01 -3.00306172e-01 -1.05779736e-01 4.59327196e+02] [ 2.99076710e-01 9.53827582e-01 -2.76778869e-02 8.94224207e+01] [ 1.09207470e-01 -5.39874488e-03 9.94004317e-01 4.87760266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.72509989299994 meters 0.06376693530502371 Centerline is valid? [True, True] Translation: X:459.39, Y:89.43, Z:48.78 [[ 9.47574452e-01 -3.01582393e-01 -1.05596965e-01 4.59386205e+02] [ 3.00365131e-01 9.53424042e-01 -2.76293920e-02 8.94275346e+01] [ 1.09011223e-01 -5.53674009e-03 9.94025099e-01 4.87814741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.78509989299994 meters 0.06285839852345346 Centerline is valid? [True, True] Translation: X:459.44, Y:89.45, Z:48.79 [[ 9.47740511e-01 -3.01367107e-01 -1.04717671e-01 4.59441919e+02] [ 3.00168426e-01 9.53492541e-01 -2.74023633e-02 8.94457612e+01] [ 1.08105689e-01 -5.46260867e-03 9.94124399e-01 4.87885220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.84509989299994 meters 0.06101605174616072 Centerline is valid? [True, True] Translation: X:459.50, Y:89.47, Z:48.79 [[ 9.48442503e-01 -2.99375222e-01 -1.04073511e-01 4.59497355e+02] [ 2.98178086e-01 9.54121335e-01 -2.72453277e-02 8.94697290e+01] [ 1.07455333e-01 -5.19181349e-03 9.94196357e-01 4.87948997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.90509989299994 meters 0.06347549041213128 Centerline is valid? [True, True] Translation: X:459.56, Y:89.48, Z:48.80 [[ 9.50010168e-01 -2.93958727e-01 -1.05209062e-01 4.59555156e+02] [ 2.92702210e-01 9.55806903e-01 -2.75423513e-02 8.94808443e+01] [ 1.08655863e-01 -4.62941120e-03 9.94068646e-01 4.87998360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.96509989299994 meters 0.06176350645784891 Centerline is valid? [True, True] Translation: X:459.61, Y:89.51, Z:48.81 [[ 9.51257413e-01 -2.89832332e-01 -1.05387640e-01 4.59610078e+02] [ 2.88546157e-01 9.57068380e-01 -2.75904174e-02 8.95054958e+01] [ 1.08859773e-01 -4.16360952e-03 9.94048396e-01 4.88062418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.02509989299995 meters 0.06032777497302122 Centerline is valid? [True, True] Translation: X:459.67, Y:89.53, Z:48.81 [[ 9.53137829e-01 -2.83435056e-01 -1.05796254e-01 4.59665451e+02] [ 2.82099490e-01 9.58985245e-01 -2.76979614e-02 8.95302229e+01] [ 1.09307620e-01 -3.44509448e-03 9.94002000e-01 4.88127951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.08509989299995 meters 0.06000538210698821 Centerline is valid? [True, True] Translation: X:459.72, Y:89.55, Z:48.82 [[ 9.54299801e-01 -2.79599908e-01 -1.05526206e-01 4.59722550e+02] [ 2.78247734e-01 9.60111924e-01 -2.76277232e-02 8.95483729e+01] [ 1.09041678e-01 -2.99729707e-03 9.94032660e-01 4.88193622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.14509989299995 meters 0.05891598747766642 Centerline is valid? [True, True] Translation: X:459.78, Y:89.57, Z:48.83 [[ 9.55415984e-01 -2.75614874e-01 -1.05909108e-01 4.59778432e+02] [ 2.74228389e-01 9.61264757e-01 -2.77282946e-02 8.95717639e+01] [ 1.09449023e-01 -2.55122803e-03 9.93989136e-01 4.88259005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.20509989299995 meters 0.05873602546059435 Centerline is valid? [True, True] Translation: X:459.83, Y:89.59, Z:48.83 [[ 9.55782705e-01 -2.74508417e-01 -1.05472982e-01 4.59833545e+02] [ 2.73126653e-01 9.61581665e-01 -2.76139907e-02 8.95910113e+01] [ 1.09001158e-01 -2.41450767e-03 9.94038690e-01 4.88322726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.26509989299996 meters 0.05858276628169538 Centerline is valid? [True, True] Translation: X:459.89, Y:89.61, Z:48.84 [[ 9.55834977e-01 -2.74458934e-01 -1.05127492e-01 4.59888516e+02] [ 2.73085207e-01 9.61595840e-01 -2.75301572e-02 8.96105881e+01] [ 1.08646057e-01 -2.39447585e-03 9.94077613e-01 4.88392709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.32509989299996 meters 0.05789001171640084 Centerline is valid? [True, True] Translation: X:459.94, Y:89.63, Z:48.85 [[ 9.55905393e-01 -2.74530927e-01 -1.04295968e-01 4.59943016e+02] [ 2.73177944e-01 9.61575347e-01 -2.73251354e-02 8.96295850e+01] [ 1.07790027e-01 -2.37111386e-03 9.94170855e-01 4.88461437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.38509989299996 meters 0.058621309778095494 Centerline is valid? [True, True] Translation: X:460.00, Y:89.64, Z:48.85 [[ 9.55921989e-01 -2.74585058e-01 -1.04000945e-01 4.59998834e+02] [ 2.73239519e-01 9.61559904e-01 -2.72528033e-02 8.96399580e+01] [ 1.07486351e-01 -2.36561419e-03 9.94203746e-01 4.88516377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.44509989299996 meters 0.05849228787108786 Centerline is valid? [True, True] Translation: X:460.05, Y:89.66, Z:48.86 [[ 9.56230659e-01 -2.74298274e-01 -1.01898890e-01 4.60054694e+02] [ 2.73003590e-01 9.61641978e-01 -2.67160115e-02 8.96577626e+01] [ 1.05318406e-01 -2.27209350e-03 9.94435956e-01 4.88588705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.50509989299997 meters 0.0587871705946466 Centerline is valid? [True, True] Translation: X:460.11, Y:89.67, Z:48.87 [[ 9.56653735e-01 -2.72915430e-01 -1.01640539e-01 4.60109561e+02] [ 2.71618235e-01 9.62035731e-01 -2.66605784e-02 8.96741873e+01] [ 1.05057914e-01 -2.10248202e-03 9.94463883e-01 4.88651627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.56509989299997 meters 0.058551886597749785 Centerline is valid? [True, True] Translation: X:460.16, Y:89.69, Z:48.87 [[ 9.57146777e-01 -2.71020324e-01 -1.02068758e-01 4.60164852e+02] [ 2.69700936e-01 9.62571754e-01 -2.67773062e-02 8.96926964e+01] [ 1.05505697e-01 -1.89822715e-03 9.94416887e-01 4.88692236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.62509989299997 meters 0.058677839877454216 Centerline is valid? [True, True] Translation: X:460.22, Y:89.71, Z:48.87 [[ 9.57551730e-01 -2.69705416e-01 -1.01753002e-01 4.60220327e+02] [ 2.68386429e-01 9.62941299e-01 -2.66979338e-02 8.97112586e+01] [ 1.05182745e-01 -1.74447201e-03 9.94451380e-01 4.88740438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.685099893 meters 0.05796482219265754 Centerline is valid? [True, True] Translation: X:460.28, Y:89.73, Z:48.88 [[ 9.58250152e-01 -2.66710487e-01 -1.03063880e-01 4.60275680e+02] [ 2.65338621e-01 9.63775645e-01 -2.70540732e-02 8.97282735e+01] [ 1.06546062e-01 -1.42225790e-03 9.94306750e-01 4.88782897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.745099893 meters 0.057935350780548255 Centerline is valid? [True, True] Translation: X:460.33, Y:89.74, Z:48.88 [[ 9.58916967e-01 -2.64201012e-01 -1.03325101e-01 4.60330946e+02] [ 2.62807119e-01 9.64466962e-01 -2.71274153e-02 8.97438470e+01] [ 1.06820737e-01 -1.14163319e-03 9.94277641e-01 4.88839213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.805099893 meters 0.057654425983532286 Centerline is valid? [True, True] Translation: X:460.39, Y:89.76, Z:48.89 [[ 9.59934041e-01 -2.60527500e-01 -1.03208814e-01 4.60386703e+02] [ 2.59114831e-01 9.65466155e-01 -2.71036621e-02 8.97630648e+01] [ 1.06705866e-01 -7.25206480e-04 9.94290366e-01 4.88902462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.8650998929999 meters 0.057203296610464575 Centerline is valid? [True, True] Translation: X:460.44, Y:89.78, Z:48.90 [[ 9.60451852e-01 -2.58625867e-01 -1.03174131e-01 4.60443105e+02] [ 2.57201972e-01 9.65977437e-01 -2.71060355e-02 8.97798813e+01] [ 1.06674205e-01 -5.02547944e-04 9.94293901e-01 4.88964813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.9250998929999 meters 0.057636620994170135 Centerline is valid? [True, True] Translation: X:460.50, Y:89.79, Z:48.90 [[ 9.60783920e-01 -2.57189323e-01 -1.03672131e-01 4.60498747e+02] [ 2.55742009e-01 9.66360979e-01 -2.72485620e-02 8.97942260e+01] [ 1.07192741e-01 -3.33338743e-04 9.94238203e-01 4.89016175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.9850998929999 meters 0.05805038459210453 Centerline is valid? [True, True] Translation: X:460.55, Y:89.81, Z:48.91 [[ 9.60847990e-01 -2.56945181e-01 -1.03683720e-01 4.60554462e+02] [ 2.55495605e-01 9.66425932e-01 -2.72564324e-02 8.98094268e+01] [ 1.07206045e-01 -3.01446536e-04 9.94236779e-01 4.89087941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.04509989299993 meters 0.05772001783761255 Centerline is valid? [True, True] Translation: X:460.61, Y:89.82, Z:48.91 [[ 9.60392912e-01 -2.58939357e-01 -1.02936217e-01 4.60610967e+02] [ 2.57520652e-01 9.65893448e-01 -2.70732582e-02 8.98225561e+01] [ 1.06435750e-01 -5.07236580e-04 9.94319453e-01 4.89147725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.10509989299993 meters 0.057845850006583696 Centerline is valid? [True, True] Translation: X:460.67, Y:89.83, Z:48.92 [[ 9.58705872e-01 -2.64944975e-01 -1.03378974e-01 4.60668295e+02] [ 2.63547430e-01 9.64262827e-01 -2.72020671e-02 8.98324304e+01] [ 1.06891553e-01 -1.16648153e-03 9.94270001e-01 4.89206368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.16509989299993 meters 0.05777745792004157 Centerline is valid? [True, True] Translation: X:460.73, Y:89.84, Z:48.93 [[ 9.56152946e-01 -2.74070818e-01 -1.03231441e-01 4.60728989e+02] [ 2.72729775e-01 9.61707045e-01 -2.71667065e-02 8.98394637e+01] [ 1.06724005e-01 -2.17876118e-03 9.94286297e-01 4.89267161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.22509989299994 meters 0.058744475259899495 Centerline is valid? [True, True] Translation: X:460.79, Y:89.85, Z:48.93 [[ 9.54105753e-01 -2.81024050e-01 -1.03477996e-01 4.60788055e+02] [ 2.79717333e-01 9.59696150e-01 -2.72307387e-02 8.98508400e+01] [ 1.06959926e-01 -2.96358451e-03 9.94258916e-01 4.89331171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.28509989299994 meters 0.05887572958609558 Centerline is valid? [True, True] Translation: X:460.85, Y:89.86, Z:48.94 [[ 9.50671176e-01 -2.92208168e-01 -1.04109089e-01 4.60846772e+02] [ 2.90951927e-01 9.56345318e-01 -2.73972503e-02 8.98633831e+01] [ 1.07569940e-01 -4.24496373e-03 9.94188457e-01 4.89397674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.34509989299994 meters 0.06026789641861499 Centerline is valid? [True, True] Translation: X:460.91, Y:89.87, Z:48.95 [[ 9.48449800e-01 -2.99114616e-01 -1.04754112e-01 4.60905715e+02] [ 2.97884560e-01 9.54203781e-01 -2.75669063e-02 8.98696675e+01] [ 1.08202434e-01 -5.05880568e-03 9.94116010e-01 4.89458817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.40509989299994 meters 0.06063802566183513 Centerline is valid? [True, True] Translation: X:460.96, Y:89.89, Z:48.95 [[ 9.46604310e-01 -3.05040205e-01 -1.04358771e-01 4.60963366e+02] [ 3.03855250e-01 9.52322330e-01 -2.74620863e-02 8.98853268e+01] [ 1.07760228e-01 -5.71423112e-03 9.94160490e-01 4.89533455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.46509989299994 meters 0.05881844313626176 Centerline is valid? [True, True] Translation: X:461.02, Y:89.91, Z:48.96 [[ 9.45214242e-01 -3.09653951e-01 -1.03365698e-01 4.61019218e+02] [ 3.08518785e-01 9.50829242e-01 -2.72013091e-02 8.99087910e+01] [ 1.06706121e-01 -6.17919468e-03 9.94271402e-01 4.89615196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.52509989299995 meters 0.059933860757545476 Centerline is valid? [True, True] Translation: X:461.08, Y:89.92, Z:48.97 [[ 9.45147085e-01 -3.09783490e-01 -1.03591397e-01 4.61075262e+02] [ 3.08644086e-01 9.50786864e-01 -2.72610876e-02 8.99224131e+01] [ 1.06938374e-01 -6.20713464e-03 9.94246275e-01 4.89679392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.58509989299995 meters 0.0575893485218273 Centerline is valid? [True, True] Translation: X:461.13, Y:89.96, Z:48.97 [[ 9.46531004e-01 -3.05586195e-01 -1.03422128e-01 4.61128906e+02] [ 3.04424196e-01 9.52147292e-01 -2.72294508e-02 8.99556817e+01] [ 1.06794044e-01 -5.71067894e-03 9.94264764e-01 4.89749465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.64509989299995 meters 0.06375742268982183 Centerline is valid? [True, True] Translation: X:461.19, Y:89.95, Z:48.98 [[ 9.47929321e-01 -3.00862385e-01 -1.04459694e-01 4.61191127e+02] [ 2.99648513e-01 9.53653214e-01 -2.75012219e-02 8.99516373e+01] [ 1.07892406e-01 -5.23197723e-03 9.94148809e-01 4.89796737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.70509989299995 meters 0.060536097494338074 Centerline is valid? [True, True] Translation: X:461.24, Y:89.98, Z:48.99 [[ 9.49441032e-01 -2.96225996e-01 -1.03980215e-01 4.61244563e+02] [ 2.94995496e-01 9.55106400e-01 -2.73755600e-02 8.99821527e+01] [ 1.07421522e-01 -4.68221530e-03 9.94202541e-01 4.89873287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.76509989299996 meters 0.06076291727820335 Centerline is valid? [True, True] Translation: X:461.30, Y:90.00, Z:49.00 [[ 9.51533505e-01 -2.89902398e-01 -1.02667365e-01 4.61300302e+02] [ 2.88666089e-01 9.57048202e-01 -2.70301374e-02 9.00032935e+01] [ 1.06093719e-01 -3.91650536e-03 9.94348422e-01 4.89950297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.82509989299996 meters 0.05941752373234131 Centerline is valid? [True, True] Translation: X:461.36, Y:90.03, Z:49.00 [[ 9.52476052e-01 -2.87090935e-01 -1.01824193e-01 4.61356000e+02] [ 2.85858846e-01 9.57896669e-01 -2.68084165e-02 9.00275390e+01] [ 1.05233509e-01 -3.57297152e-03 9.94441121e-01 4.90019730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.88509989299996 meters 0.0598719453812631 Centerline is valid? [True, True] Translation: X:461.41, Y:90.04, Z:49.01 [[ 9.53147299e-01 -2.85021576e-01 -1.01355450e-01 4.61412274e+02] [ 2.83789130e-01 9.58515322e-01 -2.66853408e-02 9.00440225e+01] [ 1.04756650e-01 -3.32851462e-03 9.94492315e-01 4.90076337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.94509989299996 meters 0.05996481690217848 Centerline is valid? [True, True] Translation: X:461.47, Y:90.06, Z:49.01 [[ 9.53366648e-01 -2.84166478e-01 -1.01692909e-01 4.61467807e+02] [ 2.82920758e-01 9.58769467e-01 -2.67759904e-02 9.00634992e+01] [ 1.05108895e-01 -3.24369875e-03 9.94455428e-01 4.90130466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.00509989299997 meters 0.058504648406924285 Centerline is valid? [True, True] Translation: X:461.52, Y:90.09, Z:49.02 [[ 9.53620667e-01 -2.83105406e-01 -1.02269019e-01 4.61522861e+02] [ 2.81838169e-01 9.59083683e-01 -2.69394650e-02 9.00862969e+01] [ 1.05711255e-01 -3.13328242e-03 9.94391931e-01 4.90190902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.06509989299997 meters 0.05830964777107014 Centerline is valid? [True, True] Translation: X:461.58, Y:90.10, Z:49.03 [[ 9.54485777e-01 -2.80392346e-01 -1.01671204e-01 4.61579242e+02] [ 2.79123442e-01 9.59881378e-01 -2.67925966e-02 9.01046828e+01] [ 1.05104734e-01 -2.80566408e-03 9.94457200e-01 4.90252792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.12509989299997 meters 0.056522097449596874 Centerline is valid? [True, True] Translation: X:461.63, Y:90.13, Z:49.03 [[ 9.55566746e-01 -2.76926280e-01 -1.01014993e-01 4.61632768e+02] [ 2.75654203e-01 9.60888154e-01 -2.66217154e-02 9.01319753e+01] [ 1.04436363e-01 -2.40638140e-03 9.94528660e-01 4.90320004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.185099893 meters 0.05823698168148743 Centerline is valid? [True, True] Translation: X:461.69, Y:90.14, Z:49.04 [[ 9.56820865e-01 -2.72705266e-01 -1.00626385e-01 4.61693200e+02] [ 2.71419504e-01 9.62095676e-01 -2.65210060e-02 9.01381582e+01] [ 1.04044628e-01 -1.93611152e-03 9.94570745e-01 4.90382750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.245099893 meters 0.056917188332268005 Centerline is valid? [True, True] Translation: X:461.75, Y:90.16, Z:49.04 [[ 9.57924001e-01 -2.68828918e-01 -1.00561531e-01 4.61749170e+02] [ 2.67523186e-01 9.63186758e-01 -2.65068807e-02 9.01603408e+01] [ 1.03985351e-01 -1.51096390e-03 9.94577681e-01 4.90438753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.305099893 meters 0.05674375215648659 Centerline is valid? [True, True] Translation: X:461.80, Y:90.18, Z:49.05 [[ 9.58682634e-01 -2.66223136e-01 -1.00263900e-01 4.61804984e+02] [ 2.64910833e-01 9.63910652e-01 -2.64292654e-02 9.01771538e+01] [ 1.03681524e-01 -1.22371560e-03 9.94609795e-01 4.90500476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.3650998929999 meters 0.05693975596356591 Centerline is valid? [True, True] Translation: X:461.86, Y:90.19, Z:49.06 [[ 9.58613725e-01 -2.66469975e-01 -1.00267041e-01 4.61860222e+02] [ 2.65158588e-01 9.63842413e-01 -2.64334281e-02 9.01887580e+01] [ 1.03685341e-01 -1.24722000e-03 9.94609368e-01 4.90559022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.4250998929999 meters 0.05753875943153897 Centerline is valid? [True, True] Translation: X:461.92, Y:90.20, Z:49.06 [[ 9.57687736e-01 -2.69525517e-01 -1.00946500e-01 4.61918213e+02] [ 2.68212190e-01 9.62991952e-01 -2.66218121e-02 9.01971761e+01] [ 1.04385925e-01 -1.57969885e-03 9.94535612e-01 4.90614955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.4850998929999 meters 0.05812411350287531 Centerline is valid? [True, True] Translation: X:461.98, Y:90.20, Z:49.07 [[ 9.55595030e-01 -2.76668779e-01 -1.01452090e-01 4.61977964e+02] [ 2.75382095e-01 9.60962420e-01 -2.67568444e-02 9.02049828e+01] [ 1.04894429e-01 -2.36938156e-03 9.94480540e-01 4.90660621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.54509989299993 meters 0.05866560361918567 Centerline is valid? [True, True] Translation: X:462.04, Y:90.21, Z:49.07 [[ 9.54150486e-01 -2.81672705e-01 -1.01278515e-01 4.62037378e+02] [ 2.80418390e-01 9.59506123e-01 -2.67119110e-02 9.02147140e+01] [ 1.04701372e-01 -2.91317533e-03 9.94499440e-01 4.90711867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.60509989299993 meters 0.058673951155524456 Centerline is valid? [True, True] Translation: X:462.10, Y:90.23, Z:49.08 [[ 9.52886281e-01 -2.86010877e-01 -1.01022343e-01 4.62096435e+02] [ 2.84787161e-01 9.58220407e-01 -2.66443967e-02 9.02279184e+01] [ 1.04422258e-01 -3.38078629e-03 9.94527306e-01 4.90771772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.66509989299993 meters 0.057339842021036376 Centerline is valid? [True, True] Translation: X:462.15, Y:90.24, Z:49.08 [[ 9.51208354e-01 -2.91766968e-01 -1.00372819e-01 4.62153999e+02] [ 2.90590826e-01 9.56481128e-01 -2.64730826e-02 9.02442867e+01] [ 1.03728678e-01 -3.98600297e-03 9.94597644e-01 4.90832194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.72509989299994 meters 0.0608466860960197 Centerline is valid? [True, True] Translation: X:462.22, Y:90.25, Z:49.09 [[ 9.49111210e-01 -2.98619887e-01 -1.00070351e-01 4.62215055e+02] [ 2.97488566e-01 9.54360465e-01 -2.63942411e-02 9.02450857e+01] [ 1.03385032e-01 -4.71871514e-03 9.94630217e-01 4.90891009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.78509989299994 meters 0.05765998552408495 Centerline is valid? [True, True] Translation: X:462.27, Y:90.27, Z:49.09 [[ 9.47700955e-01 -3.03224910e-01 -9.95869142e-02 4.62270335e+02] [ 3.02129690e-01 9.52904860e-01 -2.62674541e-02 9.02706123e+01] [ 1.02861801e-01 -5.19447213e-03 9.94682094e-01 4.90949337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.84509989299994 meters 0.06053898004092494 Centerline is valid? [True, True] Translation: X:462.33, Y:90.27, Z:49.10 [[ 9.46500079e-01 -3.06924921e-01 -9.96729360e-02 4.62330631e+02] [ 3.05848143e-01 9.51717250e-01 -2.62904918e-02 9.02749048e+01] [ 1.02929660e-01 -5.60082980e-03 9.94672869e-01 4.91008480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.90509989299994 meters 0.057555228058127995 Centerline is valid? [True, True] Translation: X:462.39, Y:90.30, Z:49.11 [[ 9.45509028e-01 -3.09875374e-01 -9.99496358e-02 4.62385907e+02] [ 3.08808893e-01 9.50758642e-01 -2.63642190e-02 9.03023207e+01] [ 1.03197602e-01 -5.93772922e-03 9.94643151e-01 4.91053539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.96509989299994 meters 0.05930892380603597 Centerline is valid? [True, True] Translation: X:462.44, Y:90.31, Z:49.11 [[ 9.45617091e-01 -3.09259990e-01 -1.00829436e-01 4.62443748e+02] [ 3.08171298e-01 9.50959075e-01 -2.65948885e-02 9.03107805e+01] [ 1.04109403e-01 -5.92415730e-03 9.94548207e-01 4.91106378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.02509989299995 meters 0.06283809750806514 Centerline is valid? [True, True] Translation: X:462.50, Y:90.32, Z:49.12 [[ 9.47097886e-01 -3.04378441e-01 -1.01780934e-01 4.62503159e+02] [ 3.03240642e-01 9.52535681e-01 -2.68493702e-02 9.03197859e+01] [ 1.05122341e-01 -5.43513409e-03 9.94444444e-01 4.91159725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.08509989299995 meters 0.05802308666281402 Centerline is valid? [True, True] Translation: X:462.56, Y:90.36, Z:49.12 [[ 9.49166748e-01 -2.98160393e-01 -1.00910178e-01 4.62555828e+02] [ 2.97006946e-01 9.54504191e-01 -2.66199855e-02 9.03551414e+01] [ 1.04256213e-01 -4.70421859e-03 9.94539347e-01 4.91229186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.14509989299995 meters 0.0585637164601899 Centerline is valid? [True, True] Translation: X:462.61, Y:90.37, Z:49.13 [[ 9.51687969e-01 -2.90408614e-01 -9.97639544e-02 4.62612518e+02] [ 2.89238629e-01 9.56895153e-01 -2.63188404e-02 9.03718406e+01] [ 1.03106862e-01 -3.80826562e-03 9.94662994e-01 4.91303878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.20509989299995 meters 0.05839850853061448 Centerline is valid? [True, True] Translation: X:462.67, Y:90.40, Z:49.14 [[ 9.55433390e-01 -2.78599441e-01 -9.76185915e-02 4.62667512e+02] [ 2.77417638e-01 9.60404198e-01 -2.57532758e-02 9.03974750e+01] [ 1.00928153e-01 -2.47557950e-03 9.94890637e-01 4.91385195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.26509989299996 meters 0.05649371195310006 Centerline is valid? [True, True] Translation: X:462.72, Y:90.42, Z:49.14 [[ 9.57227384e-01 -2.72553947e-01 -9.71086056e-02 4.62723193e+02] [ 2.71353373e-01 9.62138767e-01 -2.56191349e-02 9.04236853e+01] [ 1.00414550e-01 -1.82741026e-03 9.94944008e-01 4.91448345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.32509989299996 meters 0.056442848590104316 Centerline is valid? [True, True] Translation: X:462.78, Y:90.45, Z:49.15 [[ 9.58568176e-01 -2.67888176e-01 -9.68657658e-02 4.62778499e+02] [ 2.66669784e-01 9.63449088e-01 -2.55554707e-02 9.04464443e+01] [ 1.00171242e-01 -1.33451190e-03 9.94969317e-01 4.91500601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.38509989299996 meters 0.05561828744241876 Centerline is valid? [True, True] Translation: X:462.83, Y:90.46, Z:49.16 [[ 9.58756272e-01 -2.67021214e-01 -9.73965149e-02 4.62834245e+02] [ 2.65784894e-01 9.63689840e-01 -2.56959658e-02 9.04637118e+01] [ 1.00721400e-01 -1.25035396e-03 9.94913884e-01 4.91551905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.44509989299996 meters 0.056260720229588765 Centerline is valid? [True, True] Translation: X:462.89, Y:90.48, Z:49.16 [[ 9.58876143e-01 -2.66440504e-01 -9.78059299e-02 4.62890500e+02] [ 2.65189549e-01 9.63850641e-01 -2.58155970e-02 9.04793614e+01] [ 1.01148629e-01 -1.18315044e-03 9.94870622e-01 4.91609677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.50509989299997 meters 0.05603352902373172 Centerline is valid? [True, True] Translation: X:462.95, Y:90.50, Z:49.17 [[ 9.59104651e-01 -2.65356235e-01 -9.85105923e-02 4.62945223e+02] [ 2.64080315e-01 9.64149850e-01 -2.60125876e-02 9.04967964e+01] [ 1.01881575e-01 -1.06591452e-03 9.94795963e-01 4.91656423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.56509989299997 meters 0.05550885279321511 Centerline is valid? [True, True] Translation: X:463.00, Y:90.51, Z:49.17 [[ 9.59264006e-01 -2.64505873e-01 -9.92431909e-02 4.63001984e+02] [ 2.63205895e-01 9.64383578e-01 -2.62101502e-02 9.05128346e+01] [ 1.02641242e-01 -9.78939169e-04 9.94717959e-01 4.91711771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.62509989299997 meters 0.055872617655113394 Centerline is valid? [True, True] Translation: X:463.06, Y:90.53, Z:49.18 [[ 9.59557907e-01 -2.63438143e-01 -9.92419672e-02 4.63058358e+02] [ 2.62131350e-01 9.64675912e-01 -2.62209745e-02 9.05277513e+01] [ 1.02643940e-01 -8.53887398e-04 9.94717795e-01 4.91761269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.685099893 meters 0.05620190938367918 Centerline is valid? [True, True] Translation: X:463.11, Y:90.54, Z:49.18 [[ 9.59607515e-01 -2.63427236e-01 -9.87902289e-02 4.63114121e+02] [ 2.62131185e-01 9.64678904e-01 -2.61123247e-02 9.05437451e+01] [ 1.02179547e-01 -8.38416760e-04 9.94765619e-01 4.91819865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.745099893 meters 0.05607518473557735 Centerline is valid? [True, True] Translation: X:463.17, Y:90.55, Z:49.19 [[ 9.59101232e-01 -2.65458716e-01 -9.82674806e-02 4.63170818e+02] [ 2.64185627e-01 9.64121671e-01 -2.59876474e-02 9.05522366e+01] [ 1.01640455e-01 -1.03607127e-03 9.94820659e-01 4.91892442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.805099893 meters 0.05507844645101124 Centerline is valid? [True, True] Translation: X:463.23, Y:90.57, Z:49.19 [[ 9.58227090e-01 -2.68818017e-01 -9.76612444e-02 4.63229176e+02] [ 2.67577593e-01 9.63189997e-01 -2.58314046e-02 9.05688531e+01] [ 1.01010281e-01 -1.37960903e-03 9.94884425e-01 4.91944447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.8650998929999 meters 0.055665895756945666 Centerline is valid? [True, True] Translation: X:463.29, Y:90.58, Z:49.20 [[ 9.56900902e-01 -2.73468381e-01 -9.77533023e-02 4.63287836e+02] [ 2.72249946e-01 9.61879168e-01 -2.58540592e-02 9.05787956e+01] [ 1.01097133e-01 -1.87355875e-03 9.94874796e-01 4.91998476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.9250998929999 meters 0.05812291524216527 Centerline is valid? [True, True] Translation: X:463.35, Y:90.58, Z:49.21 [[ 9.54518226e-01 -2.81358874e-01 -9.86516124e-02 4.63349125e+02] [ 2.80159714e-01 9.59598727e-01 -2.60924752e-02 9.05774894e+01] [ 1.02007311e-01 -2.73246431e-03 9.94779896e-01 4.92054792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.9850998929999 meters 0.05658514027482661 Centerline is valid? [True, True] Translation: X:463.41, Y:90.59, Z:49.21 [[ 9.53092183e-01 -2.86013091e-01 -9.90545399e-02 4.63406549e+02] [ 2.84829027e-01 9.58220223e-01 -2.61998002e-02 9.05943133e+01] [ 1.02409549e-01 -3.24278341e-03 9.94737035e-01 4.92105717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.04509989299993 meters 0.05728199387397369 Centerline is valid? [True, True] Translation: X:463.47, Y:90.61, Z:49.22 [[ 9.51468571e-01 -2.91453584e-01 -9.88046891e-02 4.63465975e+02] [ 2.90304652e-01 9.56577353e-01 -2.61338357e-02 9.06057734e+01] [ 1.02131128e-01 -3.81793759e-03 9.94763618e-01 4.92161879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.10509989299993 meters 0.05587479437268102 Centerline is valid? [True, True] Translation: X:463.52, Y:90.63, Z:49.22 [[ 9.51060064e-01 -2.92757143e-01 -9.88838178e-02 4.63523624e+02] [ 2.91613386e-01 9.56178626e-01 -2.61547056e-02 9.06265444e+01] [ 1.02207570e-01 -3.96114889e-03 9.94755207e-01 4.92216489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.16509989299993 meters 0.05715166220511643 Centerline is valid? [True, True] Translation: X:463.58, Y:90.63, Z:49.23 [[ 9.50524322e-01 -2.94455142e-01 -9.89933520e-02 4.63582643e+02] [ 2.93318187e-01 9.55656291e-01 -2.61819411e-02 9.06331246e+01] [ 1.02313027e-01 -4.14997871e-03 9.94743596e-01 4.92279491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.22509989299994 meters 0.05764007336225775 Centerline is valid? [True, True] Translation: X:463.64, Y:90.65, Z:49.23 [[ 9.50276627e-01 -2.95331548e-01 -9.87603614e-02 4.63639412e+02] [ 2.94204549e-01 9.55385449e-01 -2.61213818e-02 9.06462889e+01] [ 1.02068680e-01 -4.23320893e-03 9.94768347e-01 4.92337091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.28509989299994 meters 0.057616658525824996 Centerline is valid? [True, True] Translation: X:463.70, Y:90.66, Z:49.24 [[ 9.50461336e-01 -2.94656981e-01 -9.89975363e-02 4.63696176e+02] [ 2.93520661e-01 9.55593997e-01 -2.61865338e-02 9.06601291e+01] [ 1.02317496e-01 -4.16853440e-03 9.94743059e-01 4.92391686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.34509989299994 meters 0.05512456638963816 Centerline is valid? [True, True] Translation: X:463.75, Y:90.69, Z:49.24 [[ 9.51179466e-01 -2.92092496e-01 -9.96975280e-02 4.63751501e+02] [ 2.90925374e-01 9.56382062e-01 -2.63775980e-02 9.06888303e+01] [ 1.03053626e-01 -3.91471100e-03 9.94668098e-01 4.92443185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.40509989299994 meters 0.05761504775340703 Centerline is valid? [True, True] Translation: X:463.81, Y:90.69, Z:49.25 [[ 9.51700031e-01 -2.90034357e-01 -1.00732927e-01 4.63811774e+02] [ 2.88831431e-01 9.57008959e-01 -2.66506393e-02 9.06949596e+01] [ 1.04131915e-01 -3.73142123e-03 9.94556495e-01 4.92505174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.46509989299994 meters 0.05651478242886662 Centerline is valid? [True, True] Translation: X:463.87, Y:90.72, Z:49.26 [[ 9.52293251e-01 -2.88054262e-01 -1.00808267e-01 4.63867566e+02] [ 2.86838475e-01 9.57607628e-01 -2.66705758e-02 9.07153321e+01] [ 1.04217339e-01 -3.51748032e-03 9.94548326e-01 4.92566147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.52509989299995 meters 0.056111484611340384 Centerline is valid? [True, True] Translation: X:463.92, Y:90.74, Z:49.26 [[ 9.53088953e-01 -2.85286928e-01 -1.01157382e-01 4.63923431e+02] [ 2.84046976e-01 9.58436733e-01 -2.67645922e-02 9.07364946e+01] [ 1.04588539e-01 -3.22441136e-03 9.94510352e-01 4.92620404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.58509989299995 meters 0.05538805301097492 Centerline is valid? [True, True] Translation: X:463.98, Y:90.76, Z:49.27 [[ 9.53813437e-01 -2.83059348e-01 -1.00584955e-01 4.63979913e+02] [ 2.81820894e-01 9.59097824e-01 -2.66148065e-02 9.07580575e+01] [ 1.04004381e-01 -2.96138183e-03 9.94572430e-01 4.92682981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.64509989299995 meters 0.055142579006322405 Centerline is valid? [True, True] Translation: X:464.04, Y:90.78, Z:49.27 [[ 9.54885858e-01 -2.79169182e-01 -1.01279645e-01 4.64037309e+02] [ 2.77891697e-01 9.60238532e-01 -2.67986124e-02 9.07775062e+01] [ 1.04733965e-01 -2.55515656e-03 9.94496992e-01 4.92749582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.70509989299995 meters 0.0551626079722157 Centerline is valid? [True, True] Translation: X:464.09, Y:90.80, Z:49.28 [[ 9.55755984e-01 -2.76315784e-01 -1.00896412e-01 4.64094850e+02] [ 2.75032248e-01 9.61064302e-01 -2.66958909e-02 9.07957980e+01] [ 1.04344436e-01 -2.23500967e-03 9.94538709e-01 4.92815220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.76509989299996 meters 0.055556531235881404 Centerline is valid? [True, True] Translation: X:464.15, Y:90.81, Z:49.29 [[ 9.56160467e-01 -2.74850655e-01 -1.01065717e-01 4.64151402e+02] [ 2.73554635e-01 9.61484684e-01 -2.67406955e-02 9.08116693e+01] [ 1.04522837e-01 -2.07859956e-03 9.94520315e-01 4.92882502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.82509989299996 meters 0.05538612150816264 Centerline is valid? [True, True] Translation: X:464.21, Y:90.83, Z:49.30 [[ 9.55780179e-01 -2.76249145e-01 -1.00849686e-01 4.64207271e+02] [ 2.74966243e-01 9.61083482e-01 -2.66853057e-02 9.08295838e+01] [ 1.04296760e-01 -2.22497296e-03 9.94543732e-01 4.92954340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.88509989299996 meters 0.0559045166075007 Centerline is valid? [True, True] Translation: X:464.27, Y:90.84, Z:49.30 [[ 9.54561403e-01 -2.80040412e-01 -1.01930840e-01 4.64265994e+02] [ 2.78750014e-01 9.59984539e-01 -2.69836045e-02 9.08389881e+01] [ 1.05408530e-01 -2.65571563e-03 9.94425457e-01 4.93012720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.94509989299996 meters 0.05597796713826895 Centerline is valid? [True, True] Translation: X:464.32, Y:90.86, Z:49.31 [[ 9.53773127e-01 -2.82574357e-01 -1.02315954e-01 4.64321706e+02] [ 2.81288557e-01 9.59240875e-01 -2.70867502e-02 9.08594680e+01] [ 1.05799666e-01 -2.94569254e-03 9.94383102e-01 4.93077588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.00509989299997 meters 0.055624459139382854 Centerline is valid? [True, True] Translation: X:464.38, Y:90.87, Z:49.31 [[ 9.53271163e-01 -2.84218395e-01 -1.02440193e-01 4.64378794e+02] [ 2.82938643e-01 9.58754458e-01 -2.71222128e-02 9.08726463e+01] [ 1.05923623e-01 -3.12946572e-03 9.94369344e-01 4.93147168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.06509989299997 meters 0.056483276592927484 Centerline is valid? [True, True] Translation: X:464.44, Y:90.89, Z:49.32 [[ 9.52421049e-01 -2.86847558e-01 -1.03017588e-01 4.64435885e+02] [ 2.85568339e-01 9.57970069e-01 -2.72776463e-02 9.08893941e+01] [ 1.06512292e-01 -3.43875688e-03 9.94305439e-01 4.93221800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.12509989299997 meters 0.05599344541402501 Centerline is valid? [True, True] Translation: X:464.49, Y:90.91, Z:49.33 [[ 9.51705628e-01 -2.88877955e-01 -1.03951546e-01 4.64493123e+02] [ 2.87587322e-01 9.57358788e-01 -2.75260497e-02 9.09073636e+01] [ 1.07470595e-01 -3.69845039e-03 9.94201384e-01 4.93282263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.185099893 meters 0.05732734616399979 Centerline is valid? [True, True] Translation: X:464.55, Y:90.92, Z:49.33 [[ 9.50685327e-01 -2.92106733e-01 -1.04264403e-01 4.64551086e+02] [ 2.90827526e-01 9.56377045e-01 -2.76097350e-02 9.09191273e+01] [ 1.07781072e-01 -4.07478853e-03 9.94166302e-01 4.93336986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.245099893 meters 0.055559167813991 Centerline is valid? [True, True] Translation: X:464.61, Y:90.94, Z:49.34 [[ 9.50195886e-01 -2.93632215e-01 -1.04440892e-01 4.64607629e+02] [ 2.92357848e-01 9.55909000e-01 -2.76563311e-02 9.09416160e+01] [ 1.07956778e-01 -4.25518240e-03 9.94146482e-01 4.93410028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.305099893 meters 0.056136215989940036 Centerline is valid? [True, True] Translation: X:464.67, Y:90.96, Z:49.35 [[ 9.50064407e-01 -2.93657388e-01 -1.05560225e-01 4.64665921e+02] [ 2.92355850e-01 9.55901040e-01 -2.79510072e-02 9.09560370e+01] [ 1.09113149e-01 -4.30589224e-03 9.94020010e-01 4.93464477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.3650998929999 meters 0.05568789171818041 Centerline is valid? [True, True] Translation: X:464.72, Y:90.98, Z:49.35 [[ 9.50591650e-01 -2.91589588e-01 -1.06541199e-01 4.64722343e+02] [ 2.90250863e-01 9.56534704e-01 -2.82098649e-02 9.09798856e+01] [ 1.10136057e-01 -4.10761285e-03 9.93908032e-01 4.93531685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.4250998929999 meters 0.05523635065367038 Centerline is valid? [True, True] Translation: X:464.78, Y:91.00, Z:49.36 [[ 9.51161655e-01 -2.89920584e-01 -1.06007367e-01 4.64779434e+02] [ 2.88585046e-01 9.57042779e-01 -2.80675935e-02 9.10014581e+01] [ 1.09590958e-01 -3.89532223e-03 9.93969139e-01 4.93602159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.4850998929999 meters 0.056110976057182425 Centerline is valid? [True, True] Translation: X:464.84, Y:91.01, Z:49.37 [[ 9.51871677e-01 -2.87655347e-01 -1.05805065e-01 4.64838006e+02] [ 2.86311158e-01 9.57727117e-01 -2.80123121e-02 9.10115552e+01] [ 1.09390272e-01 -3.62904430e-03 9.93992253e-01 4.93657013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.54509989299993 meters 0.055083065185740764 Centerline is valid? [True, True] Translation: X:464.89, Y:91.04, Z:49.37 [[ 9.53713417e-01 -2.81540246e-01 -1.05668392e-01 4.64892995e+02] [ 2.80162084e-01 9.59544968e-01 -2.79760878e-02 9.10397838e+01] [ 1.09269969e-01 -2.92310671e-03 9.94007812e-01 4.93726756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.60509989299993 meters 0.055274845149174474 Centerline is valid? [True, True] Translation: X:464.95, Y:91.06, Z:49.38 [[ 9.55498201e-01 -2.75354837e-01 -1.05843764e-01 4.64949371e+02] [ 2.73934289e-01 9.61340100e-01 -2.80217397e-02 9.10622421e+01] [ 1.09467777e-01 -2.21951448e-03 9.93987867e-01 4.93799227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.66509989299993 meters 0.05512438554236797 Centerline is valid? [True, True] Translation: X:465.01, Y:91.08, Z:49.39 [[ 9.58449896e-01 -2.65024184e-01 -1.05527144e-01 4.65006384e+02] [ 2.63549542e-01 9.64241210e-01 -2.79379175e-02 9.10803552e+01] [ 1.09157845e-01 -1.03453628e-03 9.94023890e-01 4.93854120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.72509989299994 meters 0.05538883019818327 Centerline is valid? [True, True] Translation: X:465.06, Y:91.10, Z:49.39 [[ 9.59930062e-01 -2.59758827e-01 -1.05164768e-01 4.65063805e+02] [ 2.58262809e-01 9.65673425e-01 -2.78416556e-02 9.11005196e+01] [ 1.08786938e-01 -4.34106328e-04 9.94064995e-01 4.93931125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.78509989299994 meters 0.05496184973135769 Centerline is valid? [True, True] Translation: X:465.12, Y:91.12, Z:49.40 [[ 9.60612501e-01 -2.57043111e-01 -1.05605216e-01 4.65120833e+02] [ 2.55518312e-01 9.66399929e-01 -2.79565716e-02 9.11177079e+01] [ 1.09242918e-01 -1.28634442e-04 9.94015075e-01 4.93991791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.84509989299994 meters 0.05497767507866951 Centerline is valid? [True, True] Translation: X:465.18, Y:91.13, Z:49.41 [[ 9.60149117e-01 -2.58208699e-01 -1.06967007e-01 4.65181269e+02] [ 2.56651348e-01 9.66089125e-01 -2.83176145e-02 9.11316692e+01] [ 1.10651517e-01 -2.64094127e-04 9.93859232e-01 4.94054151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.90509989299994 meters 0.055378791439595045 Centerline is valid? [True, True] Translation: X:465.24, Y:91.14, Z:49.41 [[ 9.58445959e-01 -2.64124786e-01 -1.07793511e-01 4.65242576e+02] [ 2.62581048e-01 9.64488039e-01 -2.85309598e-02 9.11425592e+01] [ 1.11501286e-01 -9.59150115e-04 9.93763827e-01 4.94122202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.96509989299994 meters 0.05593536938328976 Centerline is valid? [True, True] Translation: X:465.30, Y:91.15, Z:49.42 [[ 9.56963339e-01 -2.69770191e-01 -1.06982300e-01 4.65302065e+02] [ 2.68285182e-01 9.62923392e-01 -2.83125721e-02 9.11531597e+01] [ 1.10653648e-01 -1.60767241e-03 9.93857729e-01 4.94181521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.02509989299995 meters 0.055094407906856206 Centerline is valid? [True, True] Translation: X:465.36, Y:91.16, Z:49.42 [[ 9.56158721e-01 -2.72784134e-01 -1.06533176e-01 4.65360622e+02] [ 2.71330352e-01 9.62073291e-01 -2.81925969e-02 9.11645724e+01] [ 1.10183217e-01 -1.94908685e-03 9.93909382e-01 4.94238992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.08509989299995 meters 0.05528914557430335 Centerline is valid? [True, True] Translation: X:465.42, Y:91.18, Z:49.43 [[ 9.54325263e-01 -2.79290243e-01 -1.06114336e-01 4.65418904e+02] [ 2.77888328e-01 9.60202953e-01 -2.80778677e-02 9.11771435e+01] [ 1.09733173e-01 -2.69251688e-03 9.93957434e-01 4.94313193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.14509989299995 meters 0.05531641805627747 Centerline is valid? [True, True] Translation: X:465.48, Y:91.18, Z:49.44 [[ 9.51213022e-01 -2.89546461e-01 -1.06567507e-01 4.65478155e+02] [ 2.88196341e-01 9.57156057e-01 -2.81984314e-02 9.11837331e+01] [ 1.10166490e-01 -3.88965028e-03 9.93905536e-01 4.94369675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.20509989299995 meters 0.05495400606677566 Centerline is valid? [True, True] Translation: X:465.54, Y:91.20, Z:49.44 [[ 9.48397295e-01 -2.99081811e-01 -1.05321611e-01 4.65536954e+02] [ 2.97821604e-01 9.54214699e-01 -2.78675616e-02 9.11950121e+01] [ 1.08834110e-01 -4.93753104e-03 9.94047663e-01 4.94442366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.26509989299996 meters 0.05830969663758821 Centerline is valid? [True, True] Translation: X:465.60, Y:91.20, Z:49.45 [[ 9.47135784e-01 -3.03405928e-01 -1.04300760e-01 4.65597394e+02] [ 3.02196114e-01 9.52846205e-01 -2.75974371e-02 9.11965296e+01] [ 1.07755809e-01 -5.38076413e-03 9.94162830e-01 4.94501014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.32509989299996 meters 0.0558796832548371 Centerline is valid? [True, True] Translation: X:465.65, Y:91.22, Z:49.46 [[ 9.46247726e-01 -3.06648109e-01 -1.02869719e-01 4.65653912e+02] [ 3.05490248e-01 9.51806072e-01 -2.72196679e-02 9.12189618e+01] [ 1.06258883e-01 -5.66914699e-03 9.94322337e-01 4.94577756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.38509989299996 meters 0.05902534210969982 Centerline is valid? [True, True] Translation: X:465.71, Y:91.22, Z:49.46 [[ 9.45594130e-01 -3.08731073e-01 -1.02649240e-01 4.65714104e+02] [ 3.07590555e-01 9.51131121e-01 -2.71595632e-02 9.12221628e+01] [ 1.06017888e-01 -5.89201326e-03 9.94346766e-01 4.94637850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.44509989299996 meters 0.05598529578492078 Centerline is valid? [True, True] Translation: X:465.77, Y:91.25, Z:49.47 [[ 9.45707823e-01 -3.08410977e-01 -1.02564046e-01 4.65770974e+02] [ 3.07270418e-01 9.51235218e-01 -2.71376274e-02 9.12481712e+01] [ 1.05932075e-01 -5.85063068e-03 9.94356156e-01 4.94705403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.50509989299997 meters 0.05605575097214643 Centerline is valid? [True, True] Translation: X:465.83, Y:91.26, Z:49.48 [[ 9.46892654e-01 -3.04585968e-01 -1.03061588e-01 4.65828748e+02] [ 3.03412107e-01 9.52469244e-01 -2.72659445e-02 9.12632858e+01] [ 1.06467817e-01 -5.45221103e-03 9.94301201e-01 4.94756745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.56509989299997 meters 0.05522786206819216 Centerline is valid? [True, True] Translation: X:465.88, Y:91.29, Z:49.48 [[ 9.47867208e-01 -3.01243533e-01 -1.03923482e-01 4.65884905e+02] [ 3.00029898e-01 9.53533495e-01 -2.74942484e-02 9.12854370e+01] [ 1.07376985e-01 -5.11925513e-03 9.94205198e-01 4.94812873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.62509989299997 meters 0.055500172076234006 Centerline is valid? [True, True] Translation: X:465.94, Y:91.30, Z:49.49 [[ 9.48940701e-01 -2.97661575e-01 -1.04446792e-01 4.65942896e+02] [ 2.96414108e-01 9.54659697e-01 -2.76322310e-02 9.13034705e+01] [ 1.07936196e-01 -4.73815396e-03 9.94146532e-01 4.94867239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.685099893 meters 0.054530218940394184 Centerline is valid? [True, True] Translation: X:466.00, Y:91.33, Z:49.49 [[ 9.50979875e-01 -2.91076690e-01 -1.04458789e-01 4.65999194e+02] [ 2.89789366e-01 9.56691400e-01 -2.76349219e-02 9.13260297e+01] [ 1.07978707e-01 -3.99079168e-03 9.94145197e-01 4.94924477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.745099893 meters 0.056437557450252314 Centerline is valid? [True, True] Translation: X:466.06, Y:91.34, Z:49.50 [[ 9.52769528e-01 -2.85589071e-01 -1.03291381e-01 4.66058080e+02] [ 2.84298239e-01 9.58346385e-01 -2.73261485e-02 9.13351323e+01] [ 1.06792971e-01 -3.33003618e-03 9.94275702e-01 4.94985834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.805099893 meters 0.05421656174328204 Centerline is valid? [True, True] Translation: X:466.11, Y:91.37, Z:49.51 [[ 9.55653913e-01 -2.76475761e-01 -1.01423623e-01 4.66110351e+02] [ 2.75179989e-01 9.61018216e-01 -2.68321124e-02 9.13709538e+01] [ 1.04888378e-01 -2.26753832e-03 9.94481416e-01 4.95061102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.8650998929999 meters 0.05470525860016473 Centerline is valid? [True, True] Translation: X:466.17, Y:91.38, Z:49.51 [[ 9.57382208e-01 -2.70572356e-01 -1.01044089e-01 4.66169754e+02] [ 2.69253478e-01 9.62698288e-01 -2.67314502e-02 9.13817357e+01] [ 1.04507763e-01 -1.61425762e-03 9.94522761e-01 4.95115310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.9250998929999 meters 0.05468822928709546 Centerline is valid? [True, True] Translation: X:466.23, Y:91.40, Z:49.52 [[ 9.58722246e-01 -2.65572053e-01 -1.01602854e-01 4.66225101e+02] [ 2.64210342e-01 9.64090417e-01 -2.68805351e-02 9.14011985e+01] [ 1.05093056e-01 -1.07355770e-03 9.94461813e-01 4.95169882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.9850998929999 meters 0.05403972317700253 Centerline is valid? [True, True] Translation: X:466.28, Y:91.42, Z:49.52 [[ 9.60168150e-01 -2.59938494e-01 -1.02513916e-01 4.66280870e+02] [ 2.58519924e-01 9.65625066e-01 -2.71234278e-02 9.14228205e+01] [ 1.06040430e-01 -4.58838263e-04 9.94361713e-01 4.95215701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.04509989299993 meters 0.054836069914155836 Centerline is valid? [True, True] Translation: X:466.34, Y:91.44, Z:49.53 [[ 9.61676138e-01 -2.54657324e-01 -1.01629980e-01 4.66338681e+02] [ 2.53233555e-01 9.67031350e-01 -2.68911706e-02 9.14438486e+01] [ 1.05127410e-01 1.24475982e-04 9.94458753e-01 4.95283458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.10509989299993 meters 0.0544081119251622 Centerline is valid? [True, True] Translation: X:466.40, Y:91.46, Z:49.53 [[ 9.62411452e-01 -2.51978450e-01 -1.01346227e-01 4.66396065e+02] [ 2.50548093e-01 9.67732758e-01 -2.68134909e-02 9.14619575e+01] [ 1.04832486e-01 4.13506805e-04 9.94489808e-01 4.95345763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.16509989299993 meters 0.05466810136311769 Centerline is valid? [True, True] Translation: X:466.46, Y:91.48, Z:49.54 [[ 9.62740468e-01 -2.50705204e-01 -1.01378955e-01 4.66455126e+02] [ 2.49266972e-01 9.68063323e-01 -2.68212615e-02 9.14783184e+01] [ 1.04865478e-01 5.51488801e-04 9.94486263e-01 4.95404412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.22509989299994 meters 0.05492540499238924 Centerline is valid? [True, True] Translation: X:466.51, Y:91.49, Z:49.55 [[ 9.62449124e-01 -2.51973351e-01 -1.01000566e-01 4.66513612e+02] [ 2.50553099e-01 9.67734087e-01 -2.67185730e-02 9.14906443e+01] [ 1.04474059e-01 4.09262533e-04 9.94527528e-01 4.95461708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.28509989299994 meters 0.05441550405140772 Centerline is valid? [True, True] Translation: X:466.57, Y:91.50, Z:49.55 [[ 9.61487559e-01 -2.55571172e-01 -1.01118991e-01 4.66574465e+02] [ 2.54167311e-01 9.66790244e-01 -2.67507448e-02 9.15041653e+01] [ 1.04597574e-01 1.93661667e-05 9.94514629e-01 4.95518379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.34509989299994 meters 0.054208925632748366 Centerline is valid? [True, True] Translation: X:466.64, Y:91.51, Z:49.56 [[ 9.58876001e-01 -2.64772055e-01 -1.02237832e-01 4.66635344e+02] [ 2.63389322e-01 9.64310512e-01 -2.70425988e-02 9.15115406e+01] [ 1.05749141e-01 -9.97854393e-04 9.94392339e-01 4.95568546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.40509989299994 meters 0.05404263216417712 Centerline is valid? [True, True] Translation: X:466.70, Y:91.52, Z:49.56 [[ 9.56725452e-01 -2.72302129e-01 -1.02605849e-01 4.66695234e+02] [ 2.70952659e-01 9.62210047e-01 -2.71382033e-02 9.15240019e+01] [ 1.06118169e-01 -1.83751779e-03 9.94351828e-01 4.95624121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.46509989299994 meters 0.05400620950657028 Centerline is valid? [True, True] Translation: X:466.75, Y:91.53, Z:49.57 [[ 9.54586358e-01 -2.79420874e-01 -1.03386948e-01 4.66754391e+02] [ 2.78092439e-01 9.60165066e-01 -2.73430409e-02 9.15330961e+01] [ 1.06908752e-01 -2.64983472e-03 9.94265305e-01 4.95676559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.52509989299995 meters 0.0535221958926895 Centerline is valid? [True, True] Translation: X:466.81, Y:91.55, Z:49.57 [[ 9.52113750e-01 -2.88030107e-01 -1.02557612e-01 4.66812448e+02] [ 2.86772496e-01 9.57614643e-01 -2.71243843e-02 9.15495488e+01] [ 1.06023310e-01 -3.58520302e-03 9.94357181e-01 4.95740843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.58509989299995 meters 0.05404808191682145 Centerline is valid? [True, True] Translation: X:466.87, Y:91.56, Z:49.58 [[ 9.50968795e-01 -2.91787753e-01 -1.02558564e-01 4.66872140e+02] [ 2.90551877e-01 9.56474712e-01 -2.71243919e-02 9.15565668e+01] [ 1.06009238e-01 -4.00413294e-03 9.94357083e-01 4.95802705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.64509989299995 meters 0.0552810456746784 Centerline is valid? [True, True] Translation: X:466.93, Y:91.56, Z:49.59 [[ 9.49578308e-01 -2.96281366e-01 -1.02559198e-01 4.66931333e+02] [ 2.95071558e-01 9.55090075e-01 -2.71242496e-02 9.15643806e+01] [ 1.05989682e-01 -4.50570338e-03 9.94357021e-01 4.95862637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.70509989299995 meters 0.05370978914523901 Centerline is valid? [True, True] Translation: X:466.99, Y:91.59, Z:49.59 [[ 9.48614894e-01 -2.99519423e-01 -1.02068103e-01 4.66988088e+02] [ 2.98340187e-01 9.54077891e-01 -2.69909447e-02 9.15872903e+01] [ 1.05465233e-01 -4.84700486e-03 9.94411178e-01 4.95924513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.76509989299996 meters 0.05544737661634047 Centerline is valid? [True, True] Translation: X:467.05, Y:91.59, Z:49.60 [[ 9.47118645e-01 -3.04027794e-01 -1.02632224e-01 4.67047627e+02] [ 3.02861909e-01 9.52647972e-01 -2.71386521e-02 9.15948907e+01] [ 1.06023284e-01 -5.37986772e-03 9.94349094e-01 4.95984291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.82509989299996 meters 0.054161840759708445 Centerline is valid? [True, True] Translation: X:467.10, Y:91.62, Z:49.61 [[ 9.46446352e-01 -3.05941997e-01 -1.03144540e-01 4.67103378e+02] [ 3.04775739e-01 9.52033550e-01 -2.72739553e-02 9.16184934e+01] [ 1.06541311e-01 -5.62261804e-03 9.94292379e-01 4.96052382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.88509989299996 meters 0.05369460304155946 Centerline is valid? [True, True] Translation: X:467.16, Y:91.63, Z:49.61 [[ 9.46229981e-01 -3.06568611e-01 -1.03269113e-01 4.67163066e+02] [ 3.05403285e-01 9.51831493e-01 -2.73064673e-02 9.16342153e+01] [ 1.06666100e-01 -5.70052827e-03 9.94278556e-01 4.96118242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.94509989299996 meters 0.05308593659300796 Centerline is valid? [True, True] Translation: X:467.22, Y:91.65, Z:49.62 [[ 9.46009139e-01 -3.07044942e-01 -1.03875462e-01 4.67221819e+02] [ 3.05869104e-01 9.51677392e-01 -2.74632909e-02 9.16529417e+01] [ 1.07288393e-01 -5.79177021e-03 9.94211072e-01 4.96182901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.00509989299997 meters 0.05550138728895894 Centerline is valid? [True, True] Translation: X:467.28, Y:91.66, Z:49.62 [[ 9.46157128e-01 -3.06220825e-01 -1.04954727e-01 4.67282413e+02] [ 3.05015732e-01 9.51943071e-01 -2.77451447e-02 9.16609393e+01] [ 1.08407066e-01 -5.76157648e-03 9.94089891e-01 4.96235966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.06509989299997 meters 0.05441011613863943 Centerline is valid? [True, True] Translation: X:467.34, Y:91.68, Z:49.63 [[ 9.46689991e-01 -3.04233069e-01 -1.05925924e-01 4.67338929e+02] [ 3.02993354e-01 9.52581241e-01 -2.80001207e-02 9.16837387e+01] [ 1.09421611e-01 -5.58741710e-03 9.93979724e-01 4.96299800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.12509989299997 meters 0.05533757475238688 Centerline is valid? [True, True] Translation: X:467.40, Y:91.70, Z:49.64 [[ 9.47377181e-01 -3.02208594e-01 -1.05576719e-01 4.67396454e+02] [ 3.00964703e-01 9.53226879e-01 -2.79063704e-02 9.17016148e+01] [ 1.09072111e-01 -5.33700731e-03 9.94019512e-01 4.96362386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.185099893 meters 0.05511918169615691 Centerline is valid? [True, True] Translation: X:467.45, Y:91.72, Z:49.64 [[ 9.49000221e-01 -2.97523718e-01 -1.04298696e-01 4.67452932e+02] [ 2.96281651e-01 9.54702663e-01 -2.75682685e-02 9.17190250e+01] [ 1.07776457e-01 -4.73949690e-03 9.94163856e-01 4.96433681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.245099893 meters 0.05558645141336435 Centerline is valid? [True, True] Translation: X:467.51, Y:91.74, Z:49.65 [[ 9.50385871e-01 -2.93527171e-01 -1.02997551e-01 4.67511045e+02] [ 2.92292491e-01 9.55941367e-01 -2.72250369e-02 9.17366592e+01] [ 1.06450908e-01 -4.23112036e-03 9.94308957e-01 4.96505761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.305099893 meters 0.055528602817765234 Centerline is valid? [True, True] Translation: X:467.57, Y:91.76, Z:49.66 [[ 9.51534353e-01 -2.90069519e-01 -1.02186345e-01 4.67567748e+02] [ 2.88834448e-01 9.56997976e-01 -2.70099024e-02 9.17569845e+01] [ 1.05626875e-01 -3.81408661e-03 9.94398520e-01 4.96577620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.3650998929999 meters 0.05350615624121426 Centerline is valid? [True, True] Translation: X:467.62, Y:91.78, Z:49.66 [[ 9.52966420e-01 -2.85324620e-01 -1.02200114e-01 4.67623056e+02] [ 2.84061994e-01 9.58425297e-01 -2.70135850e-02 9.17845660e+01] [ 1.05658816e-01 -3.28812885e-03 9.94397005e-01 4.96637566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.4250998929999 meters 0.053326255345015616 Centerline is valid? [True, True] Translation: X:467.68, Y:91.80, Z:49.67 [[ 9.53993839e-01 -2.81623461e-01 -1.02878481e-01 4.67680655e+02] [ 2.80322403e-01 9.59520629e-01 -2.71939791e-02 9.18034923e+01] [ 1.06372487e-01 -2.89625449e-03 9.94322134e-01 4.96685918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.4850998929999 meters 0.05376838593444614 Centerline is valid? [True, True] Translation: X:467.74, Y:91.82, Z:49.67 [[ 9.56111429e-01 -2.74029459e-01 -1.03724590e-01 4.67737938e+02] [ 2.72662283e-01 9.61719075e-01 -2.74171522e-02 9.18246870e+01] [ 1.07267025e-01 -2.06793099e-03 9.94228097e-01 4.96745060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.54509989299993 meters 0.05332049464509758 Centerline is valid? [True, True] Translation: X:467.80, Y:91.85, Z:49.68 [[ 9.57736163e-01 -2.68009703e-01 -1.04461671e-01 4.67795074e+02] [ 2.66587166e-01 9.63415192e-01 -2.76125198e-02 9.18459482e+01] [ 1.08040384e-01 -1.40263200e-03 9.94145517e-01 4.96813992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.60509989299993 meters 0.053129077427870874 Centerline is valid? [True, True] Translation: X:467.85, Y:91.86, Z:49.69 [[ 9.59320192e-01 -2.62290175e-01 -1.04444405e-01 4.67852440e+02] [ 2.60834357e-01 9.64988751e-01 -2.76070558e-02 9.18645010e+01] [ 1.08028736e-01 -7.58683257e-04 9.94147482e-01 4.96871802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.66509989299993 meters 0.05341392713653774 Centerline is valid? [True, True] Translation: X:467.91, Y:91.89, Z:49.69 [[ 9.61320516e-01 -2.55040649e-01 -1.04005445e-01 4.67910496e+02] [ 2.53554792e-01 9.66930331e-01 -2.74900525e-02 9.18863731e+01] [ 1.07577100e-01 5.56724316e-05 9.94196743e-01 4.96941547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.72509989299994 meters 0.054097594321702955 Centerline is valid? [True, True] Translation: X:467.97, Y:91.90, Z:49.70 [[ 9.62169841e-01 -2.51914160e-01 -1.03771154e-01 4.67968480e+02] [ 2.50417247e-01 9.67749500e-01 -2.74245730e-02 9.19031941e+01] [ 1.07333121e-01 4.01010249e-04 9.94223033e-01 4.97016600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.78509989299994 meters 0.05397452300586433 Centerline is valid? [True, True] Translation: X:468.03, Y:91.92, Z:49.71 [[ 9.62321215e-01 -2.51054435e-01 -1.04448790e-01 4.68026970e+02] [ 2.49533388e-01 9.67972844e-01 -2.75982279e-02 9.19224257e+01] [ 1.08032250e-01 4.94899579e-04 9.94147267e-01 4.97070031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.84509989299994 meters 0.05386762143027958 Centerline is valid? [True, True] Translation: X:468.09, Y:91.94, Z:49.71 [[ 9.61704578e-01 -2.53158466e-01 -1.05048064e-01 4.68086793e+02] [ 2.51632746e-01 9.67424791e-01 -2.77531252e-02 9.19361019e+01] [ 1.08652040e-01 2.56774781e-04 9.94079810e-01 4.97142642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.90509989299994 meters 0.05359554545543886 Centerline is valid? [True, True] Translation: X:468.15, Y:91.95, Z:49.72 [[ 9.59697890e-01 -2.60563103e-01 -1.05294012e-01 4.68147580e+02] [ 2.59074925e-01 9.65456642e-01 -2.78146834e-02 9.19455740e+01] [ 1.08904283e-01 -5.85345254e-04 9.94052068e-01 4.97207445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.96509989299994 meters 0.0541657465935346 Centerline is valid? [True, True] Translation: X:468.21, Y:91.96, Z:49.73 [[ 9.57922100e-01 -2.67018675e-01 -1.05291396e-01 4.68207260e+02] [ 2.65569649e-01 9.63690449e-01 -2.78114967e-02 9.19568307e+01] [ 1.08894502e-01 -1.32095190e-03 9.94052434e-01 4.97279815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.02509989299995 meters 0.05381819630468785 Centerline is valid? [True, True] Translation: X:468.27, Y:91.96, Z:49.73 [[ 9.55540484e-01 -2.75708251e-01 -1.04533937e-01 4.68267332e+02] [ 2.74331837e-01 9.61238627e-01 -2.76105985e-02 9.19625207e+01] [ 1.08094528e-01 -2.29394230e-03 9.94137974e-01 4.97334140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.08509989299995 meters 0.05444593464062745 Centerline is valid? [True, True] Translation: X:468.33, Y:91.97, Z:49.74 [[ 9.54214773e-01 -2.80562485e-01 -1.03724920e-01 4.68326655e+02] [ 2.79235803e-01 9.59831619e-01 -2.73976194e-02 9.19742919e+01] [ 1.07245202e-01 -2.82049812e-03 9.94228601e-01 4.97400811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.14509989299995 meters 0.05306721220743248 Centerline is valid? [True, True] Translation: X:468.38, Y:92.00, Z:49.75 [[ 9.52988800e-01 -2.84404046e-01 -1.04530787e-01 4.68382979e+02] [ 2.83079634e-01 9.58698906e-01 -2.76103028e-02 9.19973796e+01] [ 1.08066033e-01 -3.27822770e-03 9.94138313e-01 4.97473997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.20509989299995 meters 0.054690696948909163 Centerline is valid? [True, True] Translation: X:468.45, Y:92.00, Z:49.75 [[ 9.51485789e-01 -2.89210389e-01 -1.05034012e-01 4.68445216e+02] [ 2.87902332e-01 9.57257847e-01 -2.77427923e-02 9.19974753e+01] [ 1.08568136e-01 -3.84266447e-03 9.94081583e-01 4.97515306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.26509989299996 meters 0.05404758091521213 Centerline is valid? [True, True] Translation: X:468.50, Y:92.01, Z:49.76 [[ 9.50385516e-01 -2.92714302e-01 -1.05288695e-01 4.68502966e+02] [ 2.91421314e-01 9.56190486e-01 -2.78095787e-02 9.20146447e+01] [ 1.08816309e-01 -4.25354894e-03 9.94052774e-01 4.97577803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.32509989299996 meters 0.052638162959339325 Centerline is valid? [True, True] Translation: X:468.56, Y:92.04, Z:49.76 [[ 9.48813257e-01 -2.97314925e-01 -1.06570349e-01 4.68558851e+02] [ 2.96019062e-01 9.54767203e-01 -2.81478751e-02 9.20392441e+01] [ 1.10118658e-01 -4.83977781e-03 9.93906665e-01 4.97640907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.38509989299996 meters 0.05619041103445956 Centerline is valid? [True, True] Translation: X:468.62, Y:92.04, Z:49.77 [[ 9.48105740e-01 -2.99401110e-01 -1.07025606e-01 4.68621796e+02] [ 2.98107489e-01 9.54113679e-01 -2.82668166e-02 9.20370454e+01] [ 1.10577711e-01 -5.10520352e-03 9.93854369e-01 4.97672067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.44509989299996 meters 0.05259521595327341 Centerline is valid? [True, True] Translation: X:468.67, Y:92.07, Z:49.78 [[ 9.47525614e-01 -3.01098205e-01 -1.07401499e-01 4.68674636e+02] [ 2.99806311e-01 9.53578285e-01 -2.83660036e-02 9.20722674e+01] [ 1.10956690e-01 -5.32213215e-03 9.93810992e-01 4.97763730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.50509989299997 meters 0.05393393199329178 Centerline is valid? [True, True] Translation: X:468.74, Y:92.08, Z:49.78 [[ 9.47305032e-01 -3.01812716e-01 -1.07341798e-01 4.68735134e+02] [ 3.00527098e-01 9.53351912e-01 -2.83477458e-02 9.20832877e+01] [ 1.10890219e-01 -5.40515691e-03 9.93817963e-01 4.97820931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.56509989299997 meters 0.05228445211477566 Centerline is valid? [True, True] Translation: X:468.79, Y:92.11, Z:49.79 [[ 9.47302925e-01 -3.02058539e-01 -1.06666807e-01 4.68792278e+02] [ 3.00791900e-01 9.53274025e-01 -2.81578958e-02 9.21088206e+01] [ 1.10188029e-01 -5.41045437e-03 9.93896033e-01 4.97897355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.62509989299997 meters 0.05340275061262247 Centerline is valid? [True, True] Translation: X:468.85, Y:92.12, Z:49.80 [[ 9.47671250e-01 -3.01408849e-01 -1.05223131e-01 4.68851521e+02] [ 3.00173066e-01 9.53480441e-01 -2.77701117e-02 9.21202861e+01] [ 1.08698355e-01 -5.26821331e-03 9.94060820e-01 4.97956088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.685099893 meters 0.05309465030873063 Centerline is valid? [True, True] Translation: X:468.91, Y:92.14, Z:49.80 [[ 9.48075674e-01 -3.00515766e-01 -1.04128723e-01 4.68909315e+02] [ 2.99300792e-01 9.53763124e-01 -2.74761502e-02 9.21374277e+01] [ 1.07571153e-01 -5.11633969e-03 9.94184223e-01 4.98024375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.745099893 meters 0.05281107592490264 Centerline is valid? [True, True] Translation: X:468.97, Y:92.16, Z:49.81 [[ 9.48373970e-01 -2.99748654e-01 -1.03622188e-01 4.68968422e+02] [ 2.98541150e-01 9.54005073e-01 -2.73404788e-02 9.21564818e+01] [ 1.07051364e-01 -5.00648869e-03 9.94240887e-01 4.98094863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.8050998929999 meters 0.054510089241184244 Centerline is valid? [True, True] Translation: X:469.03, Y:92.17, Z:49.82 [[ 9.48379213e-01 -2.99665937e-01 -1.03813269e-01 4.69028915e+02] [ 2.98454746e-01 9.54031000e-01 -2.73791278e-02 9.21675600e+01] [ 1.07245669e-01 -5.01776724e-03 9.94219889e-01 4.98154972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.8650998929999 meters 0.05347844778590191 Centerline is valid? [True, True] Translation: X:469.09, Y:92.19, Z:49.82 [[ 9.48071695e-01 -3.00337889e-01 -1.04676707e-01 4.69086599e+02] [ 2.99111854e-01 9.53818979e-01 -2.75944513e-02 9.21903319e+01] [ 1.08130289e-01 -5.14852556e-03 9.94123399e-01 4.98216818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.9250998929999 meters 0.05346461265014374 Centerline is valid? [True, True] Translation: X:469.14, Y:92.21, Z:49.83 [[ 9.47787370e-01 -3.00826153e-01 -1.05842931e-01 4.69144941e+02] [ 2.99576010e-01 9.53664455e-01 -2.78984238e-02 9.22106360e+01] [ 1.09331217e-01 -5.26622933e-03 9.93991424e-01 4.98278990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.9850998929999 meters 0.05251791196425329 Centerline is valid? [True, True] Translation: X:469.20, Y:92.23, Z:49.83 [[ 9.48073990e-01 -2.99909862e-01 -1.05876270e-01 4.69203449e+02] [ 2.98653718e-01 9.53953554e-01 -2.79029213e-02 9.22303049e+01] [ 1.09369406e-01 -5.16630782e-03 9.93987748e-01 4.98337733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.04509989299993 meters 0.058815326814854206 Centerline is valid? [True, True] Translation: X:469.27, Y:92.22, Z:49.84 [[ 9.48904245e-01 -2.97476278e-01 -1.05302411e-01 4.69266287e+02] [ 2.96219089e-01 9.54716834e-01 -2.77492148e-02 9.22240283e+01] [ 1.08788717e-01 -4.86123639e-03 9.94053008e-01 4.98373558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.10509989299993 meters 0.0531352335277836 Centerline is valid? [True, True] Translation: X:469.32, Y:92.26, Z:49.85 [[ 9.49662263e-01 -2.95413496e-01 -1.04271053e-01 4.69319687e+02] [ 2.94168410e-01 9.55358522e-01 -2.74780256e-02 9.22595987e+01] [ 1.07733618e-01 -4.57840579e-03 9.94169254e-01 4.98465063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.16509989299993 meters 0.05416220911507075 Centerline is valid? [True, True] Translation: X:469.38, Y:92.27, Z:49.85 [[ 9.49816347e-01 -2.94936379e-01 -1.04218230e-01 4.69379961e+02] [ 2.93689913e-01 9.55506184e-01 -2.74621221e-02 9.22710355e+01] [ 1.07680742e-01 -4.52387039e-03 9.94175232e-01 4.98525850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.22509989299994 meters 0.0533022152146002 Centerline is valid? [True, True] Translation: X:469.44, Y:92.29, Z:49.86 [[ 9.49337653e-01 -2.96283837e-01 -1.04756424e-01 4.69438337e+02] [ 2.95033752e-01 9.55088316e-01 -2.75933564e-02 9.22866166e+01] [ 1.08227102e-01 -4.71126862e-03 9.94115033e-01 4.98579646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.28509989299994 meters 0.05217261440550615 Centerline is valid? [True, True] Translation: X:469.50, Y:92.31, Z:49.87 [[ 9.48577659e-01 -2.98542525e-01 -1.05227306e-01 4.69495392e+02] [ 2.97295068e-01 9.54383276e-01 -2.77165064e-02 9.23088413e+01] [ 1.08701737e-01 -4.99230041e-03 9.94061874e-01 4.98652542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.34509989299994 meters 0.052306392641702795 Centerline is valid? [True, True] Translation: X:469.55, Y:92.32, Z:49.87 [[ 9.47866612e-01 -3.00628029e-01 -1.05696145e-01 4.69553765e+02] [ 2.99382456e-01 9.53726984e-01 -2.78385610e-02 9.23223931e+01] [ 1.09174317e-01 -5.25632914e-03 9.94008722e-01 4.98718495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.40509989299994 meters 0.051717023523714004 Centerline is valid? [True, True] Translation: X:469.61, Y:92.34, Z:49.88 [[ 9.47173463e-01 -3.02678814e-01 -1.06056433e-01 4.69612395e+02] [ 3.01437621e-01 9.53076674e-01 -2.79323186e-02 9.23361878e+01] [ 1.09534434e-01 -5.51264797e-03 9.93967715e-01 4.98778200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.46509989299994 meters 0.053924591539640805 Centerline is valid? [True, True] Translation: X:469.67, Y:92.34, Z:49.88 [[ 9.46123455e-01 -3.06037715e-01 -1.05789061e-01 4.69674216e+02] [ 3.04823782e-01 9.52001184e-01 -2.78605136e-02 9.23373576e+01] [ 1.09237679e-01 -5.88753624e-03 9.93998223e-01 4.98829079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.52509989299995 meters 0.05549174778521634 Centerline is valid? [True, True] Translation: X:469.73, Y:92.34, Z:49.89 [[ 9.45414462e-01 -3.08375247e-01 -1.05338514e-01 4.69733184e+02] [ 3.07186121e-01 9.51245032e-01 -2.77412363e-02 9.23449394e+01] [ 1.08757448e-01 -6.13156347e-03 9.94049406e-01 4.98897500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.58509989299995 meters 0.05261445991710606 Centerline is valid? [True, True] Translation: X:469.79, Y:92.37, Z:49.90 [[ 9.45223649e-01 -3.09305597e-01 -1.04318273e-01 4.69790280e+02] [ 3.08145125e-01 9.50942626e-01 -2.74718600e-02 9.23663204e+01] [ 1.07697892e-01 -6.17811551e-03 9.94164471e-01 4.98975557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.64509989299995 meters 0.051781606859321795 Centerline is valid? [True, True] Translation: X:469.85, Y:92.39, Z:49.90 [[ 9.45160563e-01 -3.09807152e-01 -1.03397476e-01 4.69848455e+02] [ 3.08670384e-01 9.50779316e-01 -2.72265709e-02 9.23874758e+01] [ 1.06743168e-01 -6.18225740e-03 9.94267407e-01 4.99043206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.70509989299995 meters 0.0527695821543629 Centerline is valid? [True, True] Translation: X:469.91, Y:92.39, Z:49.91 [[ 9.44571061e-01 -3.11417580e-01 -1.03945185e-01 4.69909705e+02] [ 3.10279697e-01 9.50251549e-01 -2.73587951e-02 9.23901234e+01] [ 1.07294083e-01 -6.40975444e-03 9.94206666e-01 4.99098588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.76509989299996 meters 0.05153605030188318 Centerline is valid? [True, True] Translation: X:469.97, Y:92.41, Z:49.92 [[ 9.44028418e-01 -3.12760070e-01 -1.04840280e-01 4.69966685e+02] [ 3.11610942e-01 9.49809083e-01 -2.75921690e-02 9.24118926e+01] [ 1.08207978e-01 -6.62158656e-03 9.94106226e-01 4.99156972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.82509989299996 meters 0.05163380716884364 Centerline is valid? [True, True] Translation: X:470.03, Y:92.42, Z:49.92 [[ 9.43720566e-01 -3.13301772e-01 -1.05988170e-01 4.70028177e+02] [ 3.12130922e-01 9.49629563e-01 -2.78923103e-02 9.24215118e+01] [ 1.09388209e-01 -6.75963819e-03 9.93976120e-01 4.99205567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.88509989299996 meters 0.05212684021094404 Centerline is valid? [True, True] Translation: X:470.09, Y:92.43, Z:49.93 [[ 9.44009514e-01 -3.12492284e-01 -1.05804588e-01 4.70088008e+02] [ 3.11320817e-01 9.49896969e-01 -2.78405742e-02 9.24338470e+01] [ 1.09203422e-01 -6.65740377e-03 9.93997129e-01 4.99268404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.94509989299996 meters 0.05585602993283637 Centerline is valid? [True, True] Translation: X:470.15, Y:92.43, Z:49.93 [[ 9.44879448e-01 -3.09909762e-01 -1.05635074e-01 4.70151013e+02] [ 3.08726197e-01 9.50744769e-01 -2.77942434e-02 9.24286461e+01] [ 1.09045702e-01 -6.35010537e-03 9.94016454e-01 4.99321766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.00509989299997 meters 0.05710357138907226 Centerline is valid? [True, True] Translation: X:470.21, Y:92.44, Z:49.94 [[ 9.45329258e-01 -3.08456194e-01 -1.05864867e-01 4.70210432e+02] [ 3.07258407e-01 9.51218369e-01 -2.78547149e-02 9.24404423e+01] [ 1.09292566e-01 -6.19599357e-03 9.93990314e-01 4.99380585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.06509989299997 meters 0.05377518521604001 Centerline is valid? [True, True] Translation: X:470.27, Y:92.47, Z:49.94 [[ 9.45692393e-01 -3.07276264e-01 -1.06052797e-01 4.70266587e+02] [ 3.06066943e-01 9.51600986e-01 -2.79032375e-02 9.24657100e+01] [ 1.09493949e-01 -6.07137588e-03 9.93968920e-01 4.99449281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.12509989299997 meters 0.05344952138344362 Centerline is valid? [True, True] Translation: X:470.32, Y:92.48, Z:49.95 [[ 9.46519552e-01 -3.05015423e-01 -1.05196622e-01 4.70324089e+02] [ 3.03811955e-01 9.52329965e-01 -2.76755156e-02 9.24821368e+01] [ 1.08623354e-01 -5.76457478e-03 9.94066264e-01 4.99517862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.185099893 meters 0.05370892484831927 Centerline is valid? [True, True] Translation: X:470.38, Y:92.49, Z:49.96 [[ 9.47773329e-01 -3.01222278e-01 -1.04837281e-01 4.70383740e+02] [ 3.00003941e-01 9.53539161e-01 -2.75808683e-02 9.24889063e+01] [ 1.08274425e-01 -5.31118617e-03 9.94106856e-01 4.99581102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.245099893 meters 0.056544503041816414 Centerline is valid? [True, True] Translation: X:470.44, Y:92.49, Z:49.96 [[ 9.48636682e-01 -2.98396600e-01 -1.05109062e-01 4.70444645e+02] [ 2.97154653e-01 9.54428863e-01 -2.76524549e-02 9.24920480e+01] [ 1.08570521e-01 -5.00151390e-03 9.94076167e-01 4.99632436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.3050998929999 meters 0.05514554829108547 Centerline is valid? [True, True] Translation: X:470.50, Y:92.51, Z:49.97 [[ 9.50189949e-01 -2.93630376e-01 -1.04500061e-01 4.70501805e+02] [ 2.92374080e-01 9.55908769e-01 -2.74922227e-02 9.25118990e+01] [ 1.07965076e-01 -4.43027542e-03 9.94144816e-01 4.99704891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.3650998929999 meters 0.053985961839321354 Centerline is valid? [True, True] Translation: X:470.56, Y:92.53, Z:49.98 [[ 9.51102042e-01 -2.90924432e-01 -1.03768396e-01 4.70560380e+02] [ 2.89669695e-01 9.56737275e-01 -2.72993471e-02 9.25276667e+01] [ 1.07221140e-01 -4.09409491e-03 9.94226768e-01 4.99775731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.4250998929999 meters 0.05490506008865662 Centerline is valid? [True, True] Translation: X:470.62, Y:92.54, Z:49.98 [[ 9.52402968e-01 -2.86686751e-01 -1.03630557e-01 4.70619150e+02] [ 2.85410460e-01 9.58017565e-01 -2.72619775e-02 9.25373312e+01] [ 1.07095542e-01 -3.61285663e-03 9.94242170e-01 4.99836260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.4850998929999 meters 0.05672997692051646 Centerline is valid? [True, True] Translation: X:470.68, Y:92.54, Z:49.99 [[ 9.53029967e-01 -2.84383371e-01 -1.04211231e-01 4.70678090e+02] [ 2.83078969e-01 9.58704711e-01 -2.74148644e-02 9.25425275e+01] [ 1.07704130e-01 -3.37282056e-03 9.94177270e-01 4.99886033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.54509989299993 meters 0.05499298644292191 Centerline is valid? [True, True] Translation: X:470.73, Y:92.56, Z:50.00 [[ 9.53307448e-01 -2.83395576e-01 -1.04364063e-01 4.70733507e+02] [ 2.82081125e-01 9.58997549e-01 -2.74579712e-02 9.25631478e+01] [ 1.07866348e-01 -3.26324385e-03 9.94160049e-01 4.99953634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.60509989299993 meters 0.05685295136390497 Centerline is valid? [True, True] Translation: X:470.79, Y:92.57, Z:50.00 [[ 9.52906523e-01 -2.84492486e-01 -1.05038967e-01 4.70792957e+02] [ 2.83166370e-01 9.58672245e-01 -2.76465841e-02 9.25672004e+01] [ 1.08563188e-01 -3.39889287e-03 9.94083740e-01 4.99994537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.66509989299993 meters 0.055403488492473764 Centerline is valid? [True, True] Translation: X:470.85, Y:92.58, Z:50.01 [[ 9.52184456e-01 -2.86702553e-01 -1.05576550e-01 4.70850254e+02] [ 2.85375072e-01 9.58012662e-01 -2.77994311e-02 9.25841863e+01] [ 1.09113840e-01 -3.65872948e-03 9.94022527e-01 5.00059778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.72509989299994 meters 0.05429269456818414 Centerline is valid? [True, True] Translation: X:470.91, Y:92.60, Z:50.01 [[ 9.51317897e-01 -2.89353554e-01 -1.06154507e-01 4.70907951e+02] [ 2.88027892e-01 9.57214001e-01 -2.79515679e-02 9.26030516e+01] [ 1.09700466e-01 -3.98463223e-03 9.93956705e-01 5.00131027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.78509989299994 meters 0.05350856500653262 Centerline is valid? [True, True] Translation: X:470.96, Y:92.62, Z:50.02 [[ 9.50662789e-01 -2.91470290e-01 -1.06232440e-01 4.70964847e+02] [ 2.90155926e-01 9.56570517e-01 -2.79711472e-02 9.26236087e+01] [ 1.09771578e-01 -4.23284323e-03 9.93947827e-01 5.00206169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.84509989299994 meters 0.05408857811622696 Centerline is valid? [True, True] Translation: X:471.02, Y:92.63, Z:50.03 [[ 9.50107271e-01 -2.93461526e-01 -1.05718999e-01 4.71024077e+02] [ 2.92172359e-01 9.55960560e-01 -2.78338110e-02 9.26344000e+01] [ 1.09231346e-01 -4.44306304e-03 9.94006425e-01 5.00270727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.90509989299994 meters 0.055187038877823814 Centerline is valid? [True, True] Translation: X:471.08, Y:92.64, Z:50.03 [[ 9.49395037e-01 -2.96345611e-01 -1.04059321e-01 4.71083978e+02] [ 2.95113995e-01 9.55069208e-01 -2.73959622e-02 9.26397131e+01] [ 1.07502526e-01 -4.69977139e-03 9.94193703e-01 5.00335587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.96509989299994 meters 0.05955700734940465 Centerline is valid? [True, True] Translation: X:471.15, Y:92.64, Z:50.04 [[ 9.48754523e-01 -2.98673631e-01 -1.03242029e-01 4.71145140e+02] [ 2.97475110e-01 9.54342605e-01 -2.71799682e-02 9.26378728e+01] [ 1.06646206e-01 -4.92481606e-03 9.94284835e-01 5.00398398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.02509989299995 meters 0.05685723156754156 Centerline is valid? [True, True] Translation: X:471.20, Y:92.66, Z:50.05 [[ 9.47483469e-01 -3.02469093e-01 -1.03863002e-01 4.71201528e+02] [ 3.01278603e-01 9.53143993e-01 -2.73447018e-02 9.26588963e+01] [ 1.07267324e-01 -5.38304728e-03 9.94215643e-01 5.00456758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.08509989299995 meters 0.05602591599074029 Centerline is valid? [True, True] Translation: X:471.26, Y:92.68, Z:50.05 [[ 9.46521117e-01 -3.04898388e-01 -1.05521314e-01 4.71259141e+02] [ 3.03684424e-01 9.52367536e-01 -2.77821238e-02 9.26757303e+01] [ 1.08965799e-01 -5.74881264e-03 9.94028876e-01 5.00507971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.14509989299995 meters 0.05731568876226552 Centerline is valid? [True, True] Translation: X:471.32, Y:92.69, Z:50.06 [[ 9.45519728e-01 -3.07448501e-01 -1.07088107e-01 4.71317612e+02] [ 3.06214404e-01 9.51544955e-01 -2.81946317e-02 9.26877738e+01] [ 1.10567546e-01 -6.13334056e-03 9.93849687e-01 5.00555938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.20509989299995 meters 0.05362989194750684 Centerline is valid? [True, True] Translation: X:471.37, Y:92.72, Z:50.06 [[ 9.45328408e-01 -3.08085184e-01 -1.06947278e-01 4.71371376e+02] [ 3.06858430e-01 9.51338573e-01 -2.81571321e-02 9.27232274e+01] [ 1.10417866e-01 -6.19993686e-03 9.93865914e-01 5.00644402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.26509989299996 meters 0.054111777146047646 Centerline is valid? [True, True] Translation: X:471.43, Y:92.74, Z:50.07 [[ 9.45562820e-01 -3.07509834e-01 -1.06530071e-01 4.71430453e+02] [ 3.06290337e-01 9.51525222e-01 -2.80353553e-02 9.27403258e+01] [ 1.09987197e-01 -6.11994163e-03 9.93914163e-01 5.00708997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.32509989299996 meters 0.05814204398232128 Centerline is valid? [True, True] Translation: X:471.49, Y:92.74, Z:50.08 [[ 9.46056163e-01 -3.06183294e-01 -1.05969464e-01 4.71493148e+02] [ 3.04969678e-01 9.51954012e-01 -2.78756836e-02 9.27370134e+01] [ 1.09413126e-01 -5.94551120e-03 9.93978581e-01 5.00755748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.38509989299996 meters 0.054614761105740366 Centerline is valid? [True, True] Translation: X:471.55, Y:92.77, Z:50.08 [[ 9.46581381e-01 -3.05070803e-01 -1.04477243e-01 4.71547909e+02] [ 3.03884441e-01 9.52312410e-01 -2.74830855e-02 9.27679367e+01] [ 1.07879262e-01 -5.73403166e-03 9.94147467e-01 5.00836151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.44509989299996 meters 0.05757399921288972 Centerline is valid? [True, True] Translation: X:471.61, Y:92.77, Z:50.09 [[ 9.46783264e-01 -3.04542132e-01 -1.04189925e-01 4.71609361e+02] [ 3.03359301e-01 9.52482051e-01 -2.74057734e-02 9.27743708e+01] [ 1.07585246e-01 -5.65965504e-03 9.94179754e-01 5.00901671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.50509989299997 meters 0.059398019596098285 Centerline is valid? [True, True] Translation: X:471.67, Y:92.79, Z:50.10 [[ 9.46025140e-01 -3.06581064e-01 -1.05092745e-01 4.71668166e+02] [ 3.05390391e-01 9.51825983e-01 -2.76406773e-02 9.27874035e+01] [ 1.08504114e-01 -5.94553894e-03 9.94078220e-01 5.00951474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.56509989299997 meters 0.056570734383195015 Centerline is valid? [True, True] Translation: X:471.72, Y:92.81, Z:50.10 [[ 9.45150148e-01 -3.08957537e-01 -1.06002068e-01 4.71724289e+02] [ 3.07761069e-01 9.51055143e-01 -2.78790236e-02 9.28121239e+01] [ 1.09427246e-01 -6.27344657e-03 9.93975011e-01 5.01016706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.62509989299997 meters 0.05369919934098976 Centerline is valid? [True, True] Translation: X:471.78, Y:92.84, Z:50.11 [[ 9.44327571e-01 -3.11315819e-01 -1.06432605e-01 4.71779108e+02] [ 3.10124602e-01 9.50283765e-01 -2.79910114e-02 9.28408524e+01] [ 1.09855221e-01 -6.57468537e-03 9.93925854e-01 5.01089175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.685099893 meters 0.05258202252412915 Centerline is valid? [True, True] Translation: X:471.83, Y:92.87, Z:50.12 [[ 9.43773989e-01 -3.13023112e-01 -1.06335272e-01 4.71834390e+02] [ 3.11844975e-01 9.49721391e-01 -2.79640876e-02 9.28675680e+01] [ 1.09742288e-01 -6.76834159e-03 9.93937030e-01 5.01159650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.745099893 meters 0.05866970648068871 Centerline is valid? [True, True] Translation: X:471.90, Y:92.86, Z:50.12 [[ 9.44143187e-01 -3.11881381e-01 -1.06412621e-01 4.71900302e+02] [ 3.10694467e-01 9.50097833e-01 -2.79831459e-02 9.28558121e+01] [ 1.09829823e-01 -6.64171604e-03 9.93928216e-01 5.01189953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.8050998929999 meters 0.05518467641337343 Centerline is valid? [True, True] Translation: X:471.95, Y:92.88, Z:50.13 [[ 9.45434587e-01 -3.08045840e-01 -1.06118812e-01 4.71954465e+02] [ 3.06841646e-01 9.51351442e-01 -2.79040973e-02 9.28848226e+01] [ 1.09552026e-01 -6.18017238e-03 9.93961850e-01 5.01260083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.8650998929999 meters 0.05616159644812133 Centerline is valid? [True, True] Translation: X:472.01, Y:92.90, Z:50.13 [[ 9.46557245e-01 -3.04550046e-01 -1.06200997e-01 4.72012470e+02] [ 3.03322105e-01 9.52478799e-01 -2.79255895e-02 9.29018690e+01] [ 1.09658937e-01 -5.77994078e-03 9.93952469e-01 5.01326928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.9250998929999 meters 0.05374633379316704 Centerline is valid? [True, True] Translation: X:472.07, Y:92.93, Z:50.14 [[ 9.47922203e-01 -3.00728464e-01 -1.04908948e-01 4.72067821e+02] [ 2.99507011e-01 9.53695232e-01 -2.75854088e-02 9.29290642e+01] [ 1.08346881e-01 -5.27214403e-03 9.94099169e-01 5.01405109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.9850998929999 meters 0.056173375912354266 Centerline is valid? [True, True] Translation: X:472.13, Y:92.93, Z:50.15 [[ 9.48139354e-01 -3.00601000e-01 -1.03299586e-01 4.72129145e+02] [ 2.99416144e-01 9.53735938e-01 -2.71612645e-02 9.29344621e+01] [ 1.06685230e-01 -5.17689986e-03 9.94279368e-01 5.01470277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.04509989299993 meters 0.05490519551228947 Centerline is valid? [True, True] Translation: X:472.19, Y:92.95, Z:50.15 [[ 9.47672283e-01 -3.02026361e-01 -1.03427851e-01 4.72186599e+02] [ 3.00847356e-01 9.53284577e-01 -2.71916190e-02 9.29544388e+01] [ 1.06808761e-01 -5.34725199e-03 9.94265204e-01 5.01534037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.10509989299993 meters 0.057491615980423835 Centerline is valid? [True, True] Translation: X:472.25, Y:92.96, Z:50.16 [[ 9.47147235e-01 -3.03395906e-01 -1.04225910e-01 4.72246951e+02] [ 3.02206940e-01 9.52848452e-01 -2.74005903e-02 9.29635214e+01] [ 1.07624724e-01 -5.54540001e-03 9.94176125e-01 5.01585065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.16509989299993 meters 0.0555940161321757 Centerline is valid? [True, True] Translation: X:472.30, Y:92.98, Z:50.16 [[ 9.46389839e-01 -3.05226699e-01 -1.05749400e-01 4.72304091e+02] [ 3.04014110e-01 9.52261815e-01 -2.78003066e-02 9.29833386e+01] [ 1.09186512e-01 -5.83938220e-03 9.94004128e-01 5.01636647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.22509989299994 meters 0.053940166410065396 Centerline is valid? [True, True] Translation: X:472.36, Y:93.01, Z:50.17 [[ 9.46153704e-01 -3.05756142e-01 -1.06331321e-01 4.72362005e+02] [ 3.04533528e-01 9.52091367e-01 -2.79527961e-02 9.30061952e+01] [ 1.09783872e-01 -5.93381067e-03 9.93937770e-01 5.01706241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.28509989299994 meters 0.053835174784498015 Centerline is valid? [True, True] Translation: X:472.42, Y:93.02, Z:50.18 [[ 9.46162975e-01 -3.05808506e-01 -1.06097986e-01 4.72421588e+02] [ 3.04592242e-01 9.52074558e-01 -2.78855037e-02 9.30238078e+01] [ 1.09540818e-01 -5.93239244e-03 9.93964595e-01 5.01775927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.34509989299994 meters 0.05667568654696066 Centerline is valid? [True, True] Translation: X:472.48, Y:93.03, Z:50.18 [[ 9.46517893e-01 -3.04967655e-01 -1.05349926e-01 4.72482839e+02] [ 3.03763701e-01 9.52345068e-01 -2.76854853e-02 9.30283570e+01] [ 1.08772660e-01 -5.79667627e-03 9.94049751e-01 5.01829295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.40509989299994 meters 0.054099924983393284 Centerline is valid? [True, True] Translation: X:472.54, Y:93.06, Z:50.19 [[ 9.47195796e-01 -3.03302749e-01 -1.04055589e-01 4.72538050e+02] [ 3.02118430e-01 9.52878156e-01 -2.73436343e-02 9.30564645e+01] [ 1.07445697e-01 -5.53733558e-03 9.94195534e-01 5.01907195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.46509989299994 meters 0.06797183120538891 Centerline is valid? [True, True] Translation: X:472.60, Y:93.04, Z:50.20 [[ 9.47791541e-01 -3.01527602e-01 -1.03789691e-01 4.72604924e+02] [ 3.00338923e-01 9.53442585e-01 -2.72721191e-02 9.30350578e+01] [ 1.07180808e-01 -5.32380046e-03 9.94225292e-01 5.01952763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.52509989299995 meters 0.054210571254798105 Centerline is valid? [True, True] Translation: X:472.66, Y:93.08, Z:50.20 [[ 9.48102641e-01 -3.00520930e-01 -1.03867955e-01 4.72655313e+02] [ 2.99324365e-01 9.53760973e-01 -2.72934419e-02 9.30842268e+01] [ 1.07267452e-01 -5.21322513e-03 9.94216534e-01 5.02035362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.58509989299995 meters 0.055187325336993005 Centerline is valid? [True, True] Translation: X:472.71, Y:93.10, Z:50.21 [[ 9.47925870e-01 -3.00536255e-01 -1.05425348e-01 4.72714721e+02] [ 2.99303857e-01 9.53755684e-01 -2.77001029e-02 9.30961280e+01] [ 1.08874910e-01 -5.29656900e-03 9.94041347e-01 5.02084521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.64509989299995 meters 0.0569542756214273 Centerline is valid? [True, True] Translation: X:472.77, Y:93.11, Z:50.21 [[ 9.47787250e-01 -3.00703586e-01 -1.06191726e-01 4.72773360e+02] [ 2.99454403e-01 9.53702606e-01 -2.78998112e-02 9.31077442e+01] [ 1.09664899e-01 -5.35649457e-03 9.93954183e-01 5.02136674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.70509989299995 meters 0.0529302914110807 Centerline is valid? [True, True] Translation: X:472.83, Y:93.14, Z:50.22 [[ 9.47347821e-01 -3.01687988e-01 -1.07314790e-01 4.72828494e+02] [ 3.00418495e-01 9.53390679e-01 -2.81947043e-02 9.31385359e+01] [ 1.10818924e-01 -5.52915608e-03 9.93825233e-01 5.02207895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.76509989299996 meters 0.053628611597367946 Centerline is valid? [True, True] Translation: X:472.89, Y:93.16, Z:50.23 [[ 9.47417310e-01 -3.01271200e-01 -1.07870782e-01 4.72887336e+02] [ 2.99986198e-01 9.53522562e-01 -2.83373321e-02 9.31583350e+01] [ 1.11394446e-01 -5.51246682e-03 9.93760982e-01 5.02280109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.82509989299996 meters 0.054131926662706525 Centerline is valid? [True, True] Translation: X:472.95, Y:93.17, Z:50.23 [[ 9.47866816e-01 -2.99893671e-01 -1.07760317e-01 4.72947488e+02] [ 2.98603830e-01 9.53957594e-01 -2.82959779e-02 9.31680433e+01] [ 1.11284557e-01 -5.35682479e-03 9.93774145e-01 5.02336868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.88509989299996 meters 0.05712194657965194 Centerline is valid? [True, True] Translation: X:473.01, Y:93.17, Z:50.24 [[ 9.48926584e-01 -2.96922793e-01 -1.06654552e-01 4.73007189e+02] [ 2.95640834e-01 9.54888620e-01 -2.80039563e-02 9.31727657e+01] [ 1.10158231e-01 -4.95774212e-03 9.93901698e-01 5.02393734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.94509989299996 meters 0.052870577683371014 Centerline is valid? [True, True] Translation: X:473.06, Y:93.21, Z:50.25 [[ 9.49528237e-01 -2.95343084e-01 -1.05681547e-01 4.73060044e+02] [ 2.94074620e-01 9.55379555e-01 -2.77492936e-02 9.32083635e+01] [ 1.09161551e-01 -4.72952287e-03 9.94012770e-01 5.02497383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.00509989299997 meters 0.05800381282594227 Centerline is valid? [True, True] Translation: X:473.12, Y:93.20, Z:50.25 [[ 9.50344863e-01 -2.92899158e-01 -1.05141450e-01 4.73122498e+02] [ 2.91628862e-01 9.56133091e-01 -2.76064925e-02 9.32040945e+01] [ 1.08615138e-01 -4.42659309e-03 9.94074020e-01 5.02538546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.06509989299997 meters 0.05500438966633828 Centerline is valid? [True, True] Translation: X:473.18, Y:93.23, Z:50.26 [[ 9.50613952e-01 -2.91958767e-01 -1.05324228e-01 4.73178666e+02] [ 2.90678262e-01 9.56421121e-01 -2.76547967e-02 9.32300487e+01] [ 1.08808377e-01 -4.32642799e-03 9.94053328e-01 5.02610928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.12509989299997 meters 0.05469265345088841 Centerline is valid? [True, True] Translation: X:473.24, Y:93.25, Z:50.27 [[ 9.51261282e-01 -2.89335419e-01 -1.06709833e-01 4.73236947e+02] [ 2.88004678e-01 9.57219075e-01 -2.80169322e-02 9.32466859e+01] [ 1.10250979e-01 -4.08150837e-03 9.93895398e-01 5.02663532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.185099893 meters 0.05603975920076626 Centerline is valid? [True, True] Translation: X:473.30, Y:93.26, Z:50.27 [[ 9.52001918e-01 -2.86774843e-01 -1.07016527e-01 4.73296062e+02] [ 2.85420396e-01 9.57990488e-01 -2.80966601e-02 9.32576862e+01] [ 1.10578230e-01 -3.79662522e-03 9.93860172e-01 5.02714502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.245099893 meters 0.055071160780940105 Centerline is valid? [True, True] Translation: X:473.35, Y:93.28, Z:50.28 [[ 9.52969019e-01 -2.83615576e-01 -1.06828147e-01 4.73352352e+02] [ 2.82246120e-01 9.58931949e-01 -2.80471883e-02 9.32779564e+01] [ 1.10395542e-01 -3.42372837e-03 9.93881835e-01 5.02781785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.3050998929999 meters 0.05467319527012832 Centerline is valid? [True, True] Translation: X:473.41, Y:93.29, Z:50.29 [[ 9.53261696e-01 -2.82592585e-01 -1.06927876e-01 4.73411802e+02] [ 2.81214139e-01 9.59234323e-01 -2.80735005e-02 9.32932572e+01] [ 1.10502252e-01 -3.30823792e-03 9.93870368e-01 5.02851073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.3650998929999 meters 0.05523480214022258 Centerline is valid? [True, True] Translation: X:473.47, Y:93.31, Z:50.29 [[ 9.52929207e-01 -2.83851654e-01 -1.06555925e-01 4.73470074e+02] [ 2.82490728e-01 9.58862026e-01 -2.79750378e-02 9.33114268e+01] [ 1.10113190e-01 -3.44283011e-03 9.93913091e-01 5.02919281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.4250998929999 meters 0.05348766319481263 Centerline is valid? [True, True] Translation: X:473.53, Y:93.33, Z:50.30 [[ 9.52117491e-01 -2.86538320e-01 -1.06621169e-01 4.73527225e+02] [ 2.85192669e-01 9.58061414e-01 -2.79904986e-02 9.33323379e+01] [ 1.10169979e-01 -3.75733254e-03 9.93905659e-01 5.02992641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.4850998929999 meters 0.053834688673208175 Centerline is valid? [True, True] Translation: X:473.59, Y:93.34, Z:50.30 [[ 9.50032292e-01 -2.93184658e-01 -1.07151294e-01 4.73586879e+02] [ 2.91867647e-01 9.56045003e-01 -2.81288067e-02 9.33436485e+01] [ 1.10688393e-01 -4.55072125e-03 9.93844742e-01 5.03048880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.54509989299993 meters 0.05435147033449963 Centerline is valid? [True, True] Translation: X:473.65, Y:93.35, Z:50.31 [[ 9.48327479e-01 -2.98501330e-01 -1.07572995e-01 4.73646835e+02] [ 2.97207900e-01 9.54395099e-01 -2.82393172e-02 9.33505488e+01] [ 1.11096613e-01 -5.19142335e-03 9.93796051e-01 5.03107883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.60509989299993 meters 0.05414657172267715 Centerline is valid? [True, True] Translation: X:473.71, Y:93.36, Z:50.32 [[ 9.45566583e-01 -3.07271012e-01 -1.07183775e-01 4.73705187e+02] [ 3.06042840e-01 9.51601866e-01 -2.81365912e-02 9.33645923e+01] [ 1.10641840e-01 -6.19780661e-03 9.93841019e-01 5.03181570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.66509989299993 meters 0.054049157731336735 Centerline is valid? [True, True] Translation: X:473.76, Y:93.38, Z:50.33 [[ 9.44033692e-01 -3.12197122e-01 -1.06458189e-01 4.73763399e+02] [ 3.11016627e-01 9.49993519e-01 -2.79458818e-02 9.33802863e+01] [ 1.09859214e-01 -6.72841293e-03 9.93924384e-01 5.03250759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.72509989299994 meters 0.0527438380424261 Centerline is valid? [True, True] Translation: X:473.82, Y:93.40, Z:50.33 [[ 9.43011193e-01 -3.15635392e-01 -1.05376416e-01 4.73820233e+02] [ 3.14500153e-01 9.48854315e-01 -2.76612113e-02 9.34016966e+01] [ 1.08717724e-01 -7.05606707e-03 9.94047619e-01 5.03321581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.78509989299994 meters 0.06774062685240935 Centerline is valid? [True, True] Translation: X:473.89, Y:93.37, Z:50.33 [[ 9.42564273e-01 -3.16876788e-01 -1.05648915e-01 4.73890720e+02] [ 3.15743541e-01 9.48439235e-01 -2.77314410e-02 9.33713078e+01] [ 1.08989026e-01 -7.21929718e-03 9.94016737e-01 5.03346300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.84509989299994 meters 0.052687748830908564 Centerline is valid? [True, True] Translation: X:473.94, Y:93.43, Z:50.34 [[ 9.41995243e-01 -3.18127990e-01 -1.06955802e-01 4.73938574e+02] [ 3.16974615e-01 9.48018445e-01 -2.80734957e-02 9.34281271e+01] [ 1.10327038e-01 -7.45717472e-03 9.93867363e-01 5.03435374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.90509989299994 meters 0.05309275468696737 Centerline is valid? [True, True] Translation: X:474.00, Y:93.44, Z:50.35 [[ 9.41363723e-01 -3.19508115e-01 -1.08392371e-01 4.73997578e+02] [ 3.18332803e-01 9.47552056e-01 -2.84486762e-02 9.34382868e+01] [ 1.11796996e-01 -7.72429535e-03 9.93701045e-01 5.03494075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.96509989299994 meters 0.05237254958326512 Centerline is valid? [True, True] Translation: X:474.06, Y:93.46, Z:50.36 [[ 9.40500386e-01 -3.21831815e-01 -1.09010577e-01 4.74055044e+02] [ 3.20658707e-01 9.46762646e-01 -2.86091765e-02 9.34563620e+01] [ 1.12414486e-01 -8.04824928e-03 9.93628808e-01 5.03560002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.02509989299995 meters 0.05441855422903105 Centerline is valid? [True, True] Translation: X:474.12, Y:93.46, Z:50.36 [[ 9.40337534e-01 -3.22194640e-01 -1.09343203e-01 4.74117195e+02] [ 3.21017019e-01 9.46638634e-01 -2.86944373e-02 9.34590998e+01] [ 1.12753694e-01 -8.11857251e-03 9.93589801e-01 5.03610913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.08509989299995 meters 0.06681359329746563 Centerline is valid? [True, True] Translation: X:474.18, Y:93.44, Z:50.36 [[ 9.40719494e-01 -3.21003047e-01 -1.09562209e-01 4.74184717e+02] [ 3.19813066e-01 9.47044414e-01 -2.87485655e-02 9.34394445e+01] [ 1.12988655e-01 -7.99509015e-03 9.93564111e-01 5.03628065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.14509989299995 meters 0.05204734910153558 Centerline is valid? [True, True] Translation: X:474.23, Y:93.50, Z:50.38 [[ 9.41266220e-01 -3.19814442e-01 -1.08335707e-01 4.74230027e+02] [ 3.18643175e-01 9.47448390e-01 -2.84266460e-02 9.35005522e+01] [ 1.11733743e-01 -7.76339196e-03 9.93707855e-01 5.03761149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.20509989299995 meters 0.054487640290224015 Centerline is valid? [True, True] Translation: X:474.29, Y:93.50, Z:50.38 [[ 9.41450692e-01 -3.19230121e-01 -1.08456092e-01 4.74293341e+02] [ 3.18052598e-01 9.47645911e-01 -2.84564951e-02 9.35002928e+01] [ 1.11862143e-01 -7.70435486e-03 9.93693868e-01 5.03814381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.26509989299996 meters 0.053580261023716665 Centerline is valid? [True, True] Translation: X:474.35, Y:93.52, Z:50.39 [[ 9.41199646e-01 -3.19941648e-01 -1.08538322e-01 4.74350317e+02] [ 3.18767834e-01 9.47405127e-01 -2.84709150e-02 9.35208925e+01] [ 1.11938795e-01 -7.80171078e-03 9.93684477e-01 5.03891482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.32509989299996 meters 0.06324641394927433 Centerline is valid? [True, True] Translation: X:474.42, Y:93.50, Z:50.39 [[ 9.41116402e-01 -3.20044296e-01 -1.08956719e-01 4.74418342e+02] [ 3.18862349e-01 9.47370086e-01 -2.85783704e-02 9.35012740e+01] [ 1.12368680e-01 -7.84662210e-03 9.93635602e-01 5.03921240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.38509989299996 meters 0.053386606588363826 Centerline is valid? [True, True] Translation: X:474.47, Y:93.54, Z:50.40 [[ 9.40224193e-01 -3.22890784e-01 -1.08258984e-01 4.74468826e+02] [ 3.21743367e-01 9.46401228e-01 -2.83887461e-02 9.35439259e+01] [ 1.11622900e-01 -8.13982410e-03 9.93717300e-01 5.04026104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.44509989299996 meters 0.05292046063118521 Centerline is valid? [True, True] Translation: X:474.53, Y:93.56, Z:50.41 [[ 9.39549784e-01 -3.24882214e-01 -1.08156135e-01 4.74526794e+02] [ 3.23750184e-01 9.45717452e-01 -2.83605190e-02 9.35598448e+01] [ 1.11498973e-01 -8.36944910e-03 9.93729305e-01 5.04091003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.50509989299997 meters 0.06135580743141656 Centerline is valid? [True, True] Translation: X:474.59, Y:93.54, Z:50.41 [[ 9.39311674e-01 -3.25503883e-01 -1.08354980e-01 4.74594618e+02] [ 3.24371987e-01 9.45502850e-01 -2.84108384e-02 9.35430356e+01] [ 1.11697780e-01 -8.46068786e-03 9.93706205e-01 5.04124640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.56509989299997 meters 0.05549840333054509 Centerline is valid? [True, True] Translation: X:474.65, Y:93.57, Z:50.42 [[ 9.38115196e-01 -3.29317861e-01 -1.07189668e-01 4.74649682e+02] [ 3.28235111e-01 9.44177926e-01 -2.81026133e-02 9.35716605e+01] [ 1.10460811e-01 -8.81992404e-03 9.93841345e-01 5.04211162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.62509989299997 meters 0.059223121256245875 Centerline is valid? [True, True] Translation: X:474.71, Y:93.57, Z:50.43 [[ 9.37419096e-01 -3.31408443e-01 -1.06835773e-01 4.74711836e+02] [ 3.30346441e-01 9.43444100e-01 -2.80082034e-02 9.35709962e+01] [ 1.10075735e-01 -9.03739280e-03 9.93882115e-01 5.04265823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.685099893 meters 0.05892917069150008 Centerline is valid? [True, True] Translation: X:474.77, Y:93.58, Z:50.43 [[ 9.36158412e-01 -3.34911389e-01 -1.06966299e-01 4.74770920e+02] [ 3.33869443e-01 9.42202127e-01 -2.80418705e-02 9.35812403e+01] [ 1.10175416e-01 -9.46114557e-03 9.93867126e-01 5.04334555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.745099893 meters 0.05353819351625528 Centerline is valid? [True, True] Translation: X:474.83, Y:93.61, Z:50.44 [[ 9.35437256e-01 -3.36819102e-01 -1.07284826e-01 4.74825186e+02] [ 3.35783300e-01 9.41519261e-01 -2.81257179e-02 9.36117144e+01] [ 1.10484009e-01 -9.71460850e-03 9.93830423e-01 5.04411643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.8050998929999 meters 0.05319999601341258 Centerline is valid? [True, True] Translation: X:474.88, Y:93.63, Z:50.45 [[ 9.34703657e-01 -3.38402449e-01 -1.08686965e-01 4.74882972e+02] [ 3.37350151e-01 9.40947978e-01 -2.84917347e-02 9.36305924e+01] [ 1.11910453e-01 -1.00342354e-02 9.93667633e-01 5.04480660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.8650998929999 meters 0.08017330964005183 Centerline is valid? [True, True] Translation: X:474.96, Y:93.58, Z:50.45 [[ 9.34600550e-01 -3.38255495e-01 -1.10022875e-01 4.74959911e+02] [ 3.37176351e-01 9.40999650e-01 -2.88403657e-02 9.35796443e+01] [ 1.13286899e-01 -1.01428897e-02 9.93510544e-01 5.04475105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.9250998929999 meters 0.0543636447236452 Centerline is valid? [True, True] Translation: X:475.00, Y:93.65, Z:50.46 [[ 9.34855732e-01 -3.37807796e-01 -1.09227529e-01 4.75003489e+02] [ 3.36741478e-01 9.41161807e-01 -2.86291846e-02 9.36517751e+01] [ 1.12471940e-01 -1.00172821e-02 9.93604407e-01 5.04604740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.9850998929999 meters 0.055043829847134025 Centerline is valid? [True, True] Translation: X:475.06, Y:93.66, Z:50.47 [[ 9.35852878e-01 -3.35420164e-01 -1.08040287e-01 4.75062822e+02] [ 3.34361428e-01 9.42019462e-01 -2.83155336e-02 9.36619059e+01] [ 1.11273654e-01 -9.62533106e-03 9.93743190e-01 5.04671534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.04509989299993 meters 0.06280430611358152 Centerline is valid? [True, True] Translation: X:475.13, Y:93.65, Z:50.47 [[ 9.37536915e-01 -3.30837692e-01 -1.07568372e-01 4.75126210e+02] [ 3.29758274e-01 9.43644367e-01 -2.81920211e-02 9.36540713e+01] [ 1.10833271e-01 -9.04050019e-03 9.93797895e-01 5.04715243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.10509989299993 meters 0.059394388530731534 Centerline is valid? [True, True] Translation: X:475.18, Y:93.68, Z:50.48 [[ 9.38727391e-01 -3.27466440e-01 -1.07501705e-01 4.75182691e+02] [ 3.26366339e-01 9.44823345e-01 -2.81755098e-02 9.36766424e+01] [ 1.10796654e-01 -8.63581516e-03 9.93805577e-01 5.04784270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.16509989299993 meters 0.07017485754178902 Centerline is valid? [True, True] Translation: X:475.25, Y:93.67, Z:50.48 [[ 9.40654510e-01 -3.21831312e-01 -1.07674040e-01 4.75248041e+02] [ 3.20691052e-01 9.46763358e-01 -2.82204430e-02 9.36672706e+01] [ 1.11024058e-01 -7.98441425e-03 9.93785645e-01 5.04818589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.22509989299994 meters 0.05641949371506494 Centerline is valid? [True, True] Translation: X:475.30, Y:93.72, Z:50.49 [[ 9.42252837e-01 -3.17271348e-01 -1.07230984e-01 4.75296576e+02] [ 3.16111050e-01 9.48305811e-01 -2.81050245e-02 9.37173205e+01] [ 1.10604684e-01 -7.41485994e-03 9.93836819e-01 5.04919722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.28509989299994 meters 0.059139696878534126 Centerline is valid? [True, True] Translation: X:475.36, Y:93.72, Z:50.50 [[ 9.45275784e-01 -3.07907573e-01 -1.07919499e-01 4.75355739e+02] [ 3.06671518e-01 9.51395029e-01 -2.82856661e-02 9.37237351e+01] [ 1.11383446e-01 -6.35808145e-03 9.93757165e-01 5.04970324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.34509989299994 meters 0.05629568449062589 Centerline is valid? [True, True] Translation: X:475.41, Y:93.75, Z:50.50 [[ 9.47673677e-01 -3.00555029e-01 -1.07616340e-01 4.75410974e+02] [ 2.99278569e-01 9.53748755e-01 -2.82072714e-02 9.37484257e+01] [ 1.11116787e-01 -5.47597554e-03 9.93792269e-01 5.05047820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.40509989299994 meters 0.062011230418479356 Centerline is valid? [True, True] Translation: X:475.47, Y:93.75, Z:50.51 [[ 9.51012497e-01 -2.90088467e-01 -1.06882706e-01 4.75471986e+02] [ 2.88763454e-01 9.56990522e-01 -2.80144499e-02 9.37476636e+01] [ 1.10412405e-01 -4.22172729e-03 9.93876893e-01 5.05094759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.46509989299994 meters 0.05793648829086469 Centerline is valid? [True, True] Translation: X:475.53, Y:93.77, Z:50.52 [[ 9.52772460e-01 -2.84479000e-01 -1.06284237e-01 4.75526615e+02] [ 2.83133945e-01 9.58675698e-01 -2.78581131e-02 9.37742791e+01] [ 1.09817164e-01 -3.55023248e-03 9.93945465e-01 5.05187302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.52509989299995 meters 0.057859598847061974 Centerline is valid? [True, True] Translation: X:475.58, Y:93.79, Z:50.53 [[ 9.54130149e-01 -2.80057845e-01 -1.05845462e-01 4.75584270e+02] [ 2.78696608e-01 9.59978355e-01 -2.77445347e-02 9.37902130e+01] [ 1.09379427e-01 -3.02687426e-03 9.93995462e-01 5.05256559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.58509989299995 meters 0.05683583174642798 Centerline is valid? [True, True] Translation: X:475.64, Y:93.81, Z:50.53 [[ 9.55060949e-01 -2.76492118e-01 -1.06820840e-01 4.75640889e+02] [ 2.75083252e-01 9.61012555e-01 -2.80013254e-02 9.38096914e+01] [ 1.10398314e-01 -2.64165159e-03 9.93883914e-01 5.05324112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.64509989299995 meters 0.05711998575253239 Centerline is valid? [True, True] Translation: X:475.70, Y:93.82, Z:50.54 [[ 9.55170917e-01 -2.75603388e-01 -1.08126279e-01 4.75698823e+02] [ 2.74153680e-01 9.61268009e-01 -2.83473928e-02 9.38175556e+01] [ 1.11750970e-01 -2.56661207e-03 9.93732929e-01 5.05374144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.70509989299995 meters 0.05771095001897238 Centerline is valid? [True, True] Translation: X:475.76, Y:93.83, Z:50.54 [[ 9.54846981e-01 -2.76773741e-01 -1.07997867e-01 4.75755648e+02] [ 2.75334117e-01 9.60931341e-01 -2.83210388e-02 9.38301863e+01] [ 1.11617055e-01 -2.69323898e-03 9.93747644e-01 5.05441725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.76509989299996 meters 0.056319280814235415 Centerline is valid? [True, True] Translation: X:475.81, Y:93.85, Z:50.55 [[ 9.54223294e-01 -2.78916258e-01 -1.07998273e-01 4.75811887e+02] [ 2.77489023e-01 9.60310949e-01 -2.83323699e-02 9.38495597e+01] [ 1.11614283e-01 -2.93292805e-03 9.93747277e-01 5.05529696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.82509989299996 meters 0.057459598629709244 Centerline is valid? [True, True] Translation: X:475.87, Y:93.85, Z:50.56 [[ 9.53506802e-01 -2.81391032e-01 -1.07906743e-01 4.75871031e+02] [ 2.79981757e-01 9.59587794e-01 -2.83104595e-02 9.38528599e+01] [ 1.11512302e-01 -3.21770368e-03 9.93757844e-01 5.05574241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.88509989299996 meters 0.05765380079678377 Centerline is valid? [True, True] Translation: X:475.93, Y:93.87, Z:50.56 [[ 9.53132197e-01 -2.82838190e-01 -1.07431715e-01 4.75927768e+02] [ 2.81449990e-01 9.59161726e-01 -2.81901761e-02 9.38662000e+01] [ 1.11017647e-01 -3.36769062e-03 9.93812729e-01 5.05639821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.94509989299996 meters 0.05844501384478408 Centerline is valid? [True, True] Translation: X:475.99, Y:93.88, Z:50.57 [[ 9.52758614e-01 -2.83941923e-01 -1.07833244e-01 4.75985847e+02] [ 2.82549088e-01 9.58835097e-01 -2.83067035e-02 9.38771938e+01] [ 1.11431758e-01 -3.49872904e-03 9.93765929e-01 5.05696289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.00509989299997 meters 0.05746806898927256 Centerline is valid? [True, True] Translation: X:476.04, Y:93.89, Z:50.58 [[ 9.52372172e-01 -2.84989442e-01 -1.08481630e-01 4.76042564e+02] [ 2.83586136e-01 9.58523745e-01 -2.84804219e-02 9.38923854e+01] [ 1.12098838e-01 -3.63992500e-03 9.93690395e-01 5.05766778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.06509989299997 meters 0.05666630615720294 Centerline is valid? [True, True] Translation: X:476.10, Y:93.91, Z:50.58 [[ 9.52154968e-01 -2.85886907e-01 -1.08025889e-01 4.76098860e+02] [ 2.84499673e-01 9.58256156e-01 -2.83738571e-02 9.39071479e+01] [ 1.11628187e-01 -3.71702118e-03 9.93743091e-01 5.05844279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.12509989299997 meters 0.059861816712331525 Centerline is valid? [True, True] Translation: X:476.16, Y:93.91, Z:50.59 [[ 9.52479220e-01 -2.84685116e-01 -1.08340761e-01 4.76157815e+02] [ 2.83280542e-01 9.58614423e-01 -2.84696932e-02 9.39090409e+01] [ 1.11961914e-01 -3.57403834e-03 9.93706071e-01 5.05879567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.185099893 meters 0.05773382865105939 Centerline is valid? [True, True] Translation: X:476.21, Y:93.93, Z:50.60 [[ 9.53683531e-01 -2.80830066e-01 -1.07806295e-01 4.76213394e+02] [ 2.79414098e-01 9.59752503e-01 -2.83354063e-02 9.39340734e+01] [ 1.11424795e-01 -3.09958821e-03 9.93768035e-01 5.05967908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.245099893 meters 0.057512636409574124 Centerline is valid? [True, True] Translation: X:476.27, Y:93.95, Z:50.60 [[ 9.54765137e-01 -2.76998925e-01 -1.08144023e-01 4.76270691e+02] [ 2.75549611e-01 9.60866543e-01 -2.84235518e-02 9.39512260e+01] [ 1.11785267e-01 -2.66122714e-03 9.93728822e-01 5.06034923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.3050998929999 meters 0.0571551890205655 Centerline is valid? [True, True] Translation: X:476.33, Y:93.97, Z:50.61 [[ 9.56028126e-01 -2.72184546e-01 -1.09205291e-01 4.76327044e+02] [ 2.70675118e-01 9.62242739e-01 -2.87035232e-02 9.39721856e+01] [ 1.12894654e-01 -2.11777965e-03 9.93604706e-01 5.06112180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.3650998929999 meters 0.05735216446590219 Centerline is valid? [True, True] Translation: X:476.38, Y:93.98, Z:50.62 [[ 9.56743581e-01 -2.70025717e-01 -1.08295118e-01 4.76383549e+02] [ 2.68527394e-01 9.62851342e-01 -2.84663278e-02 9.39827466e+01] [ 1.11958740e-01 -1.84522931e-03 9.93711143e-01 5.06169085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.4250998929999 meters 0.05712189816737409 Centerline is valid? [True, True] Translation: X:476.44, Y:94.00, Z:50.62 [[ 9.56740903e-01 -2.70143880e-01 -1.08023746e-01 4.76439648e+02] [ 2.68653324e-01 9.62818187e-01 -2.83994636e-02 9.39967558e+01] [ 1.11679169e-01 -1.85001012e-03 9.93742593e-01 5.06234860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.4850998929999 meters 0.05820276439852354 Centerline is valid? [True, True] Translation: X:476.50, Y:94.01, Z:50.63 [[ 9.56511210e-01 -2.71280743e-01 -1.07205711e-01 4.76496253e+02] [ 2.69818298e-01 9.62498281e-01 -2.81983312e-02 9.40080196e+01] [ 1.10834977e-01 -1.95404260e-03 9.93836903e-01 5.06298380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.54509989299993 meters 0.05714154772267634 Centerline is valid? [True, True] Translation: X:476.56, Y:94.02, Z:50.64 [[ 9.55240944e-01 -2.75731888e-01 -1.07175864e-01 4.76555583e+02] [ 2.74297663e-01 9.61231423e-01 -2.81947453e-02 9.40194896e+01] [ 1.10794999e-01 -2.46531392e-03 9.93840224e-01 5.06363539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.60509989299993 meters 0.05859075329000693 Centerline is valid? [True, True] Translation: X:476.62, Y:94.03, Z:50.64 [[ 9.53390319e-01 -2.81849904e-01 -1.07738252e-01 4.76616145e+02] [ 2.80439384e-01 9.59453199e-01 -2.83427457e-02 9.40253415e+01] [ 1.11358211e-01 -3.19234969e-03 9.93775205e-01 5.06415737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.66509989299993 meters 0.0599526767236477 Centerline is valid? [True, True] Translation: X:476.68, Y:94.03, Z:50.65 [[ 9.51866042e-01 -2.86923544e-01 -1.07823552e-01 4.76676032e+02] [ 2.85543070e-01 9.57945997e-01 -2.83658710e-02 9.40336901e+01] [ 1.11427976e-01 -3.78775874e-03 9.93765294e-01 5.06476709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.72509989299994 meters 0.06190299232827793 Centerline is valid? [True, True] Translation: X:476.74, Y:94.04, Z:50.65 [[ 9.50220805e-01 -2.92380248e-01 -1.07676429e-01 4.76736328e+02] [ 2.91038449e-01 9.56291922e-01 -2.83263458e-02 9.40416513e+01] [ 1.11252163e-01 -4.42169768e-03 9.93782373e-01 5.06537194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.78509989299994 meters 0.06376366802160889 Centerline is valid? [True, True] Translation: X:476.80, Y:94.05, Z:50.66 [[ 9.47635591e-01 -3.00676851e-01 -1.07611426e-01 4.76796064e+02] [ 2.99389667e-01 9.53710845e-01 -2.83099042e-02 9.40499874e+01] [ 1.11142317e-01 -5.39027610e-03 9.93789882e-01 5.06599540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.84509989299994 meters 0.05971289328507012 Centerline is valid? [True, True] Translation: X:476.85, Y:94.07, Z:50.67 [[ 9.46121408e-01 -3.05596111e-01 -1.07076132e-01 4.76851150e+02] [ 3.04352973e-01 9.52142722e-01 -2.81692021e-02 9.40745763e+01] [ 1.10560159e-01 -5.93745408e-03 9.93851698e-01 5.06680277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.90509989299994 meters 0.057744245694262404 Centerline is valid? [True, True] Translation: X:476.91, Y:94.10, Z:50.68 [[ 9.44360632e-01 -3.10978564e-01 -1.07122968e-01 4.76907187e+02] [ 3.09768570e-01 9.50394225e-01 -2.81824587e-02 9.40961563e+01] [ 1.10573190e-01 -6.56892409e-03 9.93846275e-01 5.06755090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.96509989299994 meters 0.05857263353344261 Centerline is valid? [True, True] Translation: X:476.96, Y:94.11, Z:50.68 [[ 9.43743969e-01 -3.12722319e-01 -1.07480569e-01 4.76964956e+02] [ 3.11515374e-01 9.49820285e-01 -2.82771723e-02 9.41085539e+01] [ 1.10930127e-01 -6.79543875e-03 9.93804975e-01 5.06815745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.02509989299995 meters 0.05969406619226373 Centerline is valid? [True, True] Translation: X:477.02, Y:94.12, Z:50.69 [[ 9.43541407e-01 -3.13201183e-01 -1.07863949e-01 4.77020883e+02] [ 3.11988654e-01 9.49661908e-01 -2.83785195e-02 9.41222647e+01] [ 1.11322469e-01 -6.87601993e-03 9.93760549e-01 5.06874889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.08509989299995 meters 0.0584347565643753 Centerline is valid? [True, True] Translation: X:477.08, Y:94.14, Z:50.69 [[ 9.43811131e-01 -3.12523575e-01 -1.07468895e-01 4.77075442e+02] [ 3.11315060e-01 9.49885903e-01 -2.82790600e-02 9.41431326e+01] [ 1.10921062e-01 -6.76659405e-03 9.93806184e-01 5.06948952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.14509989299995 meters 0.06260631354940047 Centerline is valid? [True, True] Translation: X:477.14, Y:94.15, Z:50.70 [[ 9.44251508e-01 -3.11211001e-01 -1.07409508e-01 4.77135070e+02] [ 3.09994998e-01 9.50317885e-01 -2.82669166e-02 9.41480296e+01] [ 1.10870151e-01 -6.60533150e-03 9.93812950e-01 5.06996452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.20509989299995 meters 0.05777152065934759 Centerline is valid? [True, True] Translation: X:477.19, Y:94.18, Z:50.71 [[ 9.45375173e-01 -3.07566050e-01 -1.08022711e-01 4.77187710e+02] [ 3.06312357e-01 9.51506452e-01 -2.84290604e-02 9.41849979e+01] [ 1.11528121e-01 -6.21256332e-03 9.93741859e-01 5.07074882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.26509989299996 meters 0.058949610976598316 Centerline is valid? [True, True] Translation: X:477.24, Y:94.20, Z:50.71 [[ 9.46606795e-01 -3.03977324e-01 -1.07393495e-01 4.77243850e+02] [ 3.02715348e-01 9.52661877e-01 -2.82624442e-02 9.42031169e+01] [ 1.10900831e-01 -5.75623747e-03 9.93814807e-01 5.07148666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.32509989299996 meters 0.05705553847589204 Centerline is valid? [True, True] Translation: X:477.30, Y:94.23, Z:50.72 [[ 9.47057602e-01 -3.02154331e-01 -1.08557167e-01 4.77298831e+02] [ 3.00852865e-01 9.53242553e-01 -2.85690266e-02 9.42316793e+01] [ 1.12113566e-01 -5.60322090e-03 9.93679602e-01 5.07223061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.38509989299996 meters 0.07184018032788163 Centerline is valid? [True, True] Translation: X:477.37, Y:94.21, Z:50.72 [[ 9.47452109e-01 -3.00147834e-01 -1.10660651e-01 4.77367218e+02] [ 2.98781935e-01 9.53876998e-01 -2.91209228e-02 9.42073666e+01] [ 1.14297231e-01 -5.47272370e-03 9.93431524e-01 5.07180898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.44509989299996 meters 0.06095712156700522 Centerline is valid? [True, True] Translation: X:477.42, Y:94.25, Z:50.73 [[ 9.48892900e-01 -2.96455486e-01 -1.08242363e-01 4.77416594e+02] [ 2.95124599e-01 9.55034027e-01 -2.84864526e-02 9.42542870e+01] [ 1.11820105e-01 -4.91439143e-03 9.93716314e-01 5.07313948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.50509989299997 meters 0.060069801664095014 Centerline is valid? [True, True] Translation: X:477.47, Y:94.27, Z:50.74 [[ 9.50211764e-01 -2.92017274e-01 -1.08735991e-01 4.77473029e+02] [ 2.90645050e-01 9.56402876e-01 -2.86180775e-02 9.42748148e+01] [ 1.12352388e-01 -4.41034371e-03 9.93658638e-01 5.07378382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.56509989299997 meters 0.057699611254915795 Centerline is valid? [True, True] Translation: X:477.53, Y:94.31, Z:50.75 [[ 9.52669469e-01 -2.83633034e-01 -1.09422045e-01 4.77525925e+02] [ 2.82188172e-01 9.58926721e-01 -2.87989447e-02 9.43087016e+01] [ 1.13096055e-01 -3.44173147e-03 9.93578098e-01 5.07453649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.62509989299997 meters 0.05731296475985368 Centerline is valid? [True, True] Translation: X:477.58, Y:94.33, Z:50.75 [[ 9.54422793e-01 -2.77628631e-01 -1.09542115e-01 4.77581417e+02] [ 2.76141078e-01 9.60684589e-01 -2.88309994e-02 9.43311623e+01] [ 1.13239733e-01 -2.73211483e-03 9.93563938e-01 5.07519653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.685099893 meters 0.05687427507132441 Centerline is valid? [True, True] Translation: X:477.64, Y:94.36, Z:50.76 [[ 9.56723694e-01 -2.70075931e-01 -1.08345580e-01 4.77635863e+02] [ 2.68572353e-01 9.62837314e-01 -2.85166265e-02 9.43584882e+01] [ 1.12020822e-01 -1.81609510e-03 9.93704200e-01 5.07618938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.745099893 meters 0.05680732552422828 Centerline is valid? [True, True] Translation: X:477.69, Y:94.37, Z:50.77 [[ 9.57762634e-01 -2.66863114e-01 -1.07120561e-01 4.77692109e+02] [ 2.65373317e-01 9.63733393e-01 -2.81948373e-02 9.43742014e+01] [ 1.10759824e-01 -1.42297705e-03 9.93846184e-01 5.07672105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.8050998929999 meters 0.05674281525939841 Centerline is valid? [True, True] Translation: X:477.75, Y:94.39, Z:50.77 [[ 9.57958760e-01 -2.66594942e-01 -1.06029008e-01 4.77747569e+02] [ 2.65133477e-01 9.63807681e-01 -2.79104442e-02 9.43894156e+01] [ 1.09632356e-01 -1.37478509e-03 9.93971255e-01 5.07729570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.8650998929999 meters 0.05730256520216335 Centerline is valid? [True, True] Translation: X:477.80, Y:94.40, Z:50.78 [[ 9.57168495e-01 -2.69227170e-01 -1.06513866e-01 4.77804817e+02] [ 2.67768008e-01 9.63075236e-01 -2.80425359e-02 9.44034234e+01] [ 1.10130679e-01 -1.67957395e-03 9.93915697e-01 5.07784502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.9250998929999 meters 0.05739414834562331 Centerline is valid? [True, True] Translation: X:477.86, Y:94.42, Z:50.78 [[ 9.55104575e-01 -2.76423321e-01 -1.06608622e-01 4.77864292e+02] [ 2.75005851e-01 9.61032703e-01 -2.80700097e-02 9.44158969e+01] [ 1.10213577e-01 -2.50820004e-03 9.93904762e-01 5.07836040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.9850998929999 meters 0.05753716783462433 Centerline is valid? [True, True] Translation: X:477.92, Y:94.43, Z:50.79 [[ 9.53697325e-01 -2.81568200e-01 -1.05739120e-01 4.77923390e+02] [ 2.80205268e-01 9.59536285e-01 -2.78410713e-02 9.44270210e+01] [ 1.09299683e-01 -3.07670327e-03 9.94004081e-01 5.07898187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.04509989299993 meters 0.05971758673928407 Centerline is valid? [True, True] Translation: X:477.98, Y:94.43, Z:50.80 [[ 9.52125261e-01 -2.87474020e-01 -1.04000841e-01 4.77983924e+02] [ 2.86190644e-01 9.57781322e-01 -2.73834760e-02 9.44281910e+01] [ 1.07482101e-01 -3.69156854e-03 9.94200166e-01 5.07960775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.10509989299993 meters 0.05883254532206667 Centerline is valid? [True, True] Translation: X:478.04, Y:94.45, Z:50.80 [[ 9.51211157e-01 -2.90714280e-01 -1.03356383e-01 4.78041582e+02] [ 2.89465646e-01 9.56801423e-01 -2.72153935e-02 9.44451119e+01] [ 1.06803438e-01 -4.03053624e-03 9.94271985e-01 5.08014611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.16509989299993 meters 0.06010845729892371 Centerline is valid? [True, True] Translation: X:478.10, Y:94.45, Z:50.81 [[ 9.50850658e-01 -2.91729808e-01 -1.03811105e-01 4.78100457e+02] [ 2.90476151e-01 9.56491709e-01 -2.73352584e-02 9.44546585e+01] [ 1.07268971e-01 -4.16290184e-03 9.94221322e-01 5.08059444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.22509989299994 meters 0.0579231228473373 Centerline is valid? [True, True] Translation: X:478.16, Y:94.48, Z:50.81 [[ 9.50309331e-01 -2.93574259e-01 -1.03568000e-01 4.78155978e+02] [ 2.92337197e-01 9.55926332e-01 -2.72728840e-02 9.44772902e+01] [ 1.07009995e-01 -4.35910264e-03 9.94248389e-01 5.08122014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.28509989299994 meters 0.05809477051775796 Centerline is valid? [True, True] Translation: X:478.21, Y:94.49, Z:50.82 [[ 9.48465419e-01 -2.98771820e-01 -1.05587633e-01 4.78214008e+02] [ 2.97517852e-01 9.54311260e-01 -2.78055043e-02 9.44937686e+01] [ 1.09070968e-01 -5.04164647e-03 9.94021180e-01 5.08186440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.34509989299994 meters 0.056873756815945774 Centerline is valid? [True, True] Translation: X:478.27, Y:94.51, Z:50.83 [[ 9.47927572e-01 -3.00242673e-01 -1.06243378e-01 4.78271416e+02] [ 2.98982322e-01 9.53848434e-01 -2.79774331e-02 9.45100777e+01] [ 1.09740099e-01 -5.24431143e-03 9.93946481e-01 5.08251835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.40509989299994 meters 0.057745758717209314 Centerline is valid? [True, True] Translation: X:478.33, Y:94.53, Z:50.83 [[ 9.47350297e-01 -3.02049364e-01 -1.06271332e-01 4.78329355e+02] [ 3.00799553e-01 9.53276683e-01 -2.79856252e-02 9.45258678e+01] [ 1.09759023e-01 -5.45417875e-03 9.93943262e-01 5.08313516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.46509989299994 meters 0.057082532133881446 Centerline is valid? [True, True] Translation: X:478.39, Y:94.54, Z:50.84 [[ 9.46887103e-01 -3.03427213e-01 -1.06474135e-01 4.78387099e+02] [ 3.02181270e-01 9.52838019e-01 -2.80390817e-02 9.45401672e+01] [ 1.09960424e-01 -5.62464448e-03 9.93920051e-01 5.08373771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.52509989299995 meters 0.058526518652133985 Centerline is valid? [True, True] Translation: X:478.44, Y:94.55, Z:50.84 [[ 9.45833663e-01 -3.06629041e-01 -1.06664487e-01 4.78444195e+02] [ 3.05398740e-01 9.51810145e-01 -2.80901670e-02 9.45534136e+01] [ 1.10137602e-01 -6.00657436e-03 9.93898199e-01 5.08445583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.58509989299995 meters 0.05738280168299538 Centerline is valid? [True, True] Translation: X:478.50, Y:94.58, Z:50.85 [[ 9.45542200e-01 -3.07960977e-01 -1.05403912e-01 4.78500404e+02] [ 3.06767671e-01 9.51379520e-01 -2.77597733e-02 9.45760463e+01] [ 1.08828050e-01 -6.08647547e-03 9.94041956e-01 5.08524923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.64509989299995 meters 0.059108985460031065 Centerline is valid? [True, True] Translation: X:478.56, Y:94.58, Z:50.86 [[ 9.45497354e-01 -3.08202762e-01 -1.05099054e-01 4.78560390e+02] [ 3.07017944e-01 9.51301151e-01 -2.76785352e-02 9.45835128e+01] [ 1.08511452e-01 -6.09731364e-03 9.94076500e-01 5.08587538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.70509989299995 meters 0.059228073836284784 Centerline is valid? [True, True] Translation: X:478.62, Y:94.60, Z:50.87 [[ 9.45717201e-01 -3.07872690e-01 -1.04083538e-01 4.78616210e+02] [ 3.06708914e-01 9.51408630e-01 -2.74091292e-02 9.46004879e+01] [ 1.07464499e-01 -6.00206399e-03 9.94190805e-01 5.08656808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.76509989299996 meters 0.059864614950901444 Centerline is valid? [True, True] Translation: X:478.67, Y:94.62, Z:50.87 [[ 9.46637221e-01 -3.05172104e-01 -1.03672367e-01 4.78672838e+02] [ 3.04000185e-01 9.52280385e-01 -2.73121774e-02 9.46152626e+01] [ 1.07060076e-01 -5.66169502e-03 9.94236433e-01 5.08712631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.82509989299996 meters 0.05903002884196371 Centerline is valid? [True, True] Translation: X:478.73, Y:94.64, Z:50.88 [[ 9.47850617e-01 -3.01364869e-01 -1.03722821e-01 4.78729729e+02] [ 3.00168885e-01 9.53494543e-01 -2.73275983e-02 9.46357821e+01] [ 1.07134721e-01 -5.23188241e-03 9.94230747e-01 5.08776590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.88509989299996 meters 0.05841407954813639 Centerline is valid? [True, True] Translation: X:478.79, Y:94.66, Z:50.88 [[ 9.50457625e-01 -2.92606281e-01 -1.04937440e-01 4.78786277e+02] [ 2.91328674e-01 9.56223374e-01 -2.76489082e-02 9.46583045e+01] [ 1.08433877e-01 -4.29216963e-03 9.94094398e-01 5.08831765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.94509989299996 meters 0.05737219115365262 Centerline is valid? [True, True] Translation: X:478.84, Y:94.68, Z:50.89 [[ 9.52607881e-01 -2.85288616e-01 -1.05587076e-01 4.78842585e+02] [ 2.83950243e-01 9.58435338e-01 -2.78201847e-02 9.46816248e+01] [ 1.09135167e-01 -3.47974877e-03 9.94020828e-01 5.08893415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.00509989299997 meters 0.056796235891660926 Centerline is valid? [True, True] Translation: X:478.90, Y:94.71, Z:50.89 [[ 9.56131885e-01 -2.72978710e-01 -1.06275317e-01 4.78898306e+02] [ 2.71546816e-01 9.62017813e-01 -2.80009716e-02 9.47052103e+01] [ 1.09882417e-01 -2.08610213e-03 9.93942404e-01 5.08944494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.06509989299997 meters 0.05621640168481048 Centerline is valid? [True, True] Translation: X:478.95, Y:94.73, Z:50.90 [[ 9.58366791e-01 -2.64947950e-01 -1.06469135e-01 4.78953716e+02] [ 2.63461181e-01 9.64262011e-01 -2.80531714e-02 9.47310293e+01] [ 1.10096773e-01 -1.16525622e-03 9.93920189e-01 5.09019789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.12509989299997 meters 0.05592005340020451 Centerline is valid? [True, True] Translation: X:479.01, Y:94.75, Z:50.91 [[ 9.61106332e-01 -2.55049934e-01 -1.05944083e-01 4.79010994e+02] [ 2.53517830e-01 9.66927883e-01 -2.79137949e-02 9.47549274e+01] [ 1.09559700e-01 -3.05889877e-05 9.93980217e-01 5.09099420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.185099893 meters 0.05645965863801577 Centerline is valid? [True, True] Translation: X:479.07, Y:94.77, Z:50.92 [[ 9.62004169e-01 -2.51363411e-01 -1.06604004e-01 4.79068572e+02] [ 2.49789925e-01 9.67892703e-01 -2.80839600e-02 9.47721199e+01] [ 1.10240518e-01 3.88280344e-04 9.93904863e-01 5.09172159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.245099893 meters 0.05640984730796453 Centerline is valid? [True, True] Translation: X:479.12, Y:94.79, Z:50.92 [[ 9.62019277e-01 -2.51224583e-01 -1.06794756e-01 4.79124398e+02] [ 2.49644633e-01 9.67928740e-01 -2.81338216e-02 9.47877077e+01] [ 1.10437622e-01 4.04540964e-04 9.93882975e-01 5.09206432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.3050998929999 meters 0.056560530754614285 Centerline is valid? [True, True] Translation: X:479.18, Y:94.80, Z:50.93 [[ 9.60882415e-01 -2.55639757e-01 -1.06551865e-01 4.79184396e+02] [ 2.54093121e-01 9.66772106e-01 -2.80781058e-02 9.47975727e+01] [ 1.10189252e-01 -9.43379380e-05 9.93910620e-01 5.09296366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.3650998929999 meters 0.05606745085765698 Centerline is valid? [True, True] Translation: X:479.24, Y:94.81, Z:50.94 [[ 9.59171850e-01 -2.62346124e-01 -1.05659233e-01 4.79244315e+02] [ 2.60866063e-01 9.64973458e-01 -2.78410252e-02 9.48050031e+01] [ 1.09262340e-01 -8.58580433e-04 9.94012577e-01 5.09355616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.4250998929999 meters 0.05668832724911646 Centerline is valid? [True, True] Translation: X:479.30, Y:94.81, Z:50.94 [[ 9.57964151e-01 -2.66602205e-01 -1.05962018e-01 4.79303214e+02] [ 2.65139627e-01 9.63805710e-01 -2.79200898e-02 9.48098363e+01] [ 1.09570355e-01 -1.34828483e-03 9.93978128e-01 5.09391771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.4850998929999 meters 0.05657921923980968 Centerline is valid? [True, True] Translation: X:479.36, Y:94.82, Z:50.95 [[ 9.56509515e-01 -2.71816857e-01 -1.05854355e-01 4.79362146e+02] [ 2.70388667e-01 9.62347044e-01 -2.78950889e-02 9.48243701e+01] [ 1.09450981e-01 -1.93989995e-03 9.93990302e-01 5.09477965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.54509989299993 meters 0.05658528258570065 Centerline is valid? [True, True] Translation: X:479.42, Y:94.83, Z:50.95 [[ 9.56049813e-01 -2.73163107e-01 -1.06539529e-01 4.79421437e+02] [ 2.71724929e-01 9.61965417e-01 -2.80730959e-02 9.48300493e+01] [ 1.10155877e-01 -2.11016789e-03 9.93912084e-01 5.09519603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.60509989299993 meters 0.05742775066082743 Centerline is valid? [True, True] Translation: X:479.48, Y:94.84, Z:50.96 [[ 9.55931150e-01 -2.73669902e-01 -1.06303438e-01 4.79479642e+02] [ 2.72240866e-01 9.61821250e-01 -2.80141784e-02 9.48387073e+01] [ 1.09911543e-01 -2.16051416e-03 9.93939025e-01 5.09572931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.66509989299993 meters 0.057000252474370065 Centerline is valid? [True, True] Translation: X:479.54, Y:94.85, Z:50.96 [[ 9.56406444e-01 -2.72299343e-01 -1.05545163e-01 4.79536267e+02] [ 2.70881138e-01 9.62210557e-01 -2.78254034e-02 9.48518767e+01] [ 1.09133509e-01 -1.97779873e-03 9.94025133e-01 5.09641810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.72509989299994 meters 0.05669430282437864 Centerline is valid? [True, True] Translation: X:479.59, Y:94.87, Z:50.97 [[ 9.56729967e-01 -2.71108622e-01 -1.05678216e-01 4.79593172e+02] [ 2.69678345e-01 9.62547014e-01 -2.78717920e-02 9.48667144e+01] [ 1.09276534e-01 -1.83334759e-03 9.94009697e-01 5.09705111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.78509989299994 meters 0.05659938911962547 Centerline is valid? [True, True] Translation: X:479.65, Y:94.88, Z:50.98 [[ 9.56931123e-01 -2.70216047e-01 -1.06141952e-01 4.79650127e+02] [ 2.68766312e-01 9.62798164e-01 -2.80065058e-02 9.48810857e+01] [ 1.09761084e-01 -1.72708392e-03 9.93956499e-01 5.09761964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.84509989299994 meters 0.057503651644414795 Centerline is valid? [True, True] Translation: X:479.71, Y:94.89, Z:50.98 [[ 9.56463144e-01 -2.71632684e-01 -1.06742395e-01 4.79707052e+02] [ 2.70173817e-01 9.62399148e-01 -2.81777920e-02 9.48889635e+01] [ 1.10382799e-01 -1.88798078e-03 9.93887354e-01 5.09812267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.90509989299994 meters 0.057791847787373195 Centerline is valid? [True, True] Translation: X:479.76, Y:94.90, Z:50.99 [[ 9.55716321e-01 -2.74460555e-01 -1.06196599e-01 4.79764472e+02] [ 2.73033102e-01 9.61595853e-01 -2.80417630e-02 9.48980569e+01] [ 1.09814567e-01 -2.19521642e-03 9.93949668e-01 5.09874806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.96509989299994 meters 0.057534965012749004 Centerline is valid? [True, True] Translation: X:479.82, Y:94.91, Z:51.00 [[ 9.54772946e-01 -2.77951271e-01 -1.05601670e-01 4.79822905e+02] [ 2.76560685e-01 9.60591715e-01 -2.78880771e-02 9.49115331e+01] [ 1.09191616e-01 -2.57848866e-03 9.94017375e-01 5.09954439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.02509989299995 meters 0.05818541626662808 Centerline is valid? [True, True] Translation: X:479.88, Y:94.92, Z:51.00 [[ 9.52902714e-01 -2.84775644e-01 -1.04303645e-01 4.79882835e+02] [ 2.83459756e-01 9.58588454e-01 -2.75452820e-02 9.49176841e+01] [ 1.07828496e-01 -3.31791188e-03 9.94163974e-01 5.10019308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.08509989299995 meters 0.059272710140437015 Centerline is valid? [True, True] Translation: X:479.94, Y:94.93, Z:51.01 [[ 9.50532429e-01 -2.92699797e-01 -1.03994858e-01 4.79942955e+02] [ 2.91438818e-01 9.56195149e-01 -2.74636477e-02 9.49261335e+01] [ 1.07477983e-01 -4.20305073e-03 9.94198581e-01 5.10084472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.14509989299995 meters 0.060548362094170284 Centerline is valid? [True, True] Translation: X:480.00, Y:94.93, Z:51.01 [[ 9.48974609e-01 -2.97802798e-01 -1.03733719e-01 4.80001673e+02] [ 2.96578454e-01 9.54615502e-01 -2.73946127e-02 9.49346901e+01] [ 1.07184009e-01 -4.76839423e-03 9.94227766e-01 5.10142468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.20509989299995 meters 0.057806611108725 Centerline is valid? [True, True] Translation: X:480.06, Y:94.95, Z:51.02 [[ 9.47528708e-01 -3.02606215e-01 -1.03047688e-01 4.80058600e+02] [ 3.01426122e-01 9.53101074e-01 -2.72146221e-02 9.49545656e+01] [ 1.06450176e-01 -5.27462939e-03 9.94304047e-01 5.10216464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.26509989299996 meters 0.05894214821670481 Centerline is valid? [True, True] Translation: X:480.12, Y:94.97, Z:51.03 [[ 9.46371627e-01 -3.06346074e-01 -1.02629563e-01 4.80116522e+02] [ 3.05197373e-01 9.51903313e-01 -2.71043592e-02 9.49668866e+01] [ 1.05996735e-01 -5.67147640e-03 9.94350304e-01 5.10279815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.32509989299996 meters 0.06050608713380423 Centerline is valid? [True, True] Translation: X:480.18, Y:94.98, Z:51.03 [[ 9.45567007e-01 -3.08898583e-01 -1.02394826e-01 4.80175029e+02] [ 3.07769919e-01 9.51076415e-01 -2.70431222e-02 9.49769275e+01] [ 1.05738886e-01 -5.94296322e-03 9.94376171e-01 5.10336294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.38509989299996 meters 0.06138762991362618 Centerline is valid? [True, True] Translation: X:480.23, Y:94.99, Z:51.04 [[ 9.44370638e-01 -3.12016398e-01 -1.03970505e-01 4.80234014e+02] [ 3.10871408e-01 9.50055231e-01 -2.74595268e-02 9.49882376e+01] [ 1.07345545e-01 -6.38948655e-03 9.94201241e-01 5.10380649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.44509989299996 meters 0.05538451395710558 Centerline is valid? [True, True] Translation: X:480.29, Y:95.03, Z:51.04 [[ 9.43629043e-01 -3.14153753e-01 -1.04267195e-01 4.80285872e+02] [ 3.13015075e-01 9.49348821e-01 -2.75386653e-02 9.50261846e+01] [ 1.07637313e-01 -6.65091939e-03 9.94167981e-01 5.10443447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.50509989299997 meters 0.05570806478031801 Centerline is valid? [True, True] Translation: X:480.34, Y:95.04, Z:51.05 [[ 9.42742798e-01 -3.16740807e-01 -1.04457062e-01 4.80343791e+02] [ 3.15613840e-01 9.48486595e-01 -2.75877480e-02 9.50437108e+01] [ 1.07814289e-01 -6.95994379e-03 9.94146689e-01 5.10503482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.56509989299997 meters 0.05603957356712795 Centerline is valid? [True, True] Translation: X:480.40, Y:95.06, Z:51.06 [[ 9.42633125e-01 -3.17160113e-01 -1.04174159e-01 4.80402886e+02] [ 3.16041857e-01 9.48346251e-01 -2.75124017e-02 9.50609529e+01] [ 1.07519010e-01 -6.98929349e-03 9.94178461e-01 5.10569897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.62509989299997 meters 0.05881454184115475 Centerline is valid? [True, True] Translation: X:480.46, Y:95.07, Z:51.06 [[ 9.43181985e-01 -3.15895356e-01 -1.03043033e-01 4.80463422e+02] [ 3.14794157e-01 9.48769860e-01 -2.72101343e-02 9.50650753e+01] [ 1.06359679e-01 -6.77323616e-03 9.94304652e-01 5.10629568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.685099893 meters 0.05796033355525052 Centerline is valid? [True, True] Translation: X:480.52, Y:95.08, Z:51.07 [[ 9.43905454e-01 -3.14049585e-01 -1.02055632e-01 4.80520156e+02] [ 3.12958690e-01 9.49384321e-01 -2.69493977e-02 9.50848667e+01] [ 1.05353464e-01 -6.50151354e-03 9.94413585e-01 5.10701902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.745099893 meters 0.05931661525446522 Centerline is valid? [True, True] Translation: X:480.58, Y:95.10, Z:51.08 [[ 9.44974371e-01 -3.11098607e-01 -1.01198293e-01 4.80577705e+02] [ 3.10009142e-01 9.50357936e-01 -2.67231442e-02 9.50987433e+01] [ 1.04488134e-01 -6.11970959e-03 9.94507305e-01 5.10770040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.8050998929999 meters 0.05525476422154488 Centerline is valid? [True, True] Translation: X:480.63, Y:95.13, Z:51.08 [[ 9.45500643e-01 -3.09580802e-01 -1.00936912e-01 4.80630455e+02] [ 3.08488306e-01 9.50854612e-01 -2.66546913e-02 9.51341191e+01] [ 1.04228109e-01 -5.93582927e-03 9.94535704e-01 5.10831368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.8650998929999 meters 0.05732967663699542 Centerline is valid? [True, True] Translation: X:480.69, Y:95.14, Z:51.09 [[ 9.45912105e-01 -3.07969776e-01 -1.02004448e-01 4.80690476e+02] [ 3.06844802e-01 9.51378335e-01 -2.69356897e-02 9.51415014e+01] [ 1.05340200e-01 -5.82073958e-03 9.94419208e-01 5.10893094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.9250998929999 meters 0.05880377247002083 Centerline is valid? [True, True] Translation: X:480.75, Y:95.16, Z:51.09 [[ 9.46386236e-01 -3.05965943e-01 -1.03624005e-01 4.80748374e+02] [ 3.04792965e-01 9.52025469e-01 -2.73633874e-02 9.51559717e+01] [ 1.07024956e-01 -5.68753447e-03 9.94240067e-01 5.10937556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.9850998929999 meters 0.05556096355489917 Centerline is valid? [True, True] Translation: X:480.80, Y:95.19, Z:51.10 [[ 9.46782907e-01 -3.04627349e-01 -1.03943755e-01 4.80803477e+02] [ 3.03438986e-01 9.52455430e-01 -2.74487632e-02 9.51860874e+01] [ 1.07363438e-01 -5.55256785e-03 9.94204336e-01 5.11001815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.04509989299993 meters 0.05665618188379295 Centerline is valid? [True, True] Translation: X:480.86, Y:95.20, Z:51.11 [[ 9.48075465e-01 -3.00540717e-01 -1.04058594e-01 4.80861233e+02] [ 2.99325498e-01 9.53755362e-01 -2.74764443e-02 9.52005297e+01] [ 1.07504232e-01 -5.09764771e-03 9.94191558e-01 5.11054458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.10509989299993 meters 0.057691378648833995 Centerline is valid? [True, True] Translation: X:480.92, Y:95.22, Z:51.11 [[ 9.49202610e-01 -2.97018105e-01 -1.03897305e-01 4.80918002e+02] [ 2.95785623e-01 9.54860325e-01 -2.74340011e-02 9.52170286e+01] [ 1.07355809e-01 -4.69090362e-03 9.94209598e-01 5.11116868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.16509989299993 meters 0.05945904243356546 Centerline is valid? [True, True] Translation: X:480.98, Y:95.23, Z:51.12 [[ 9.51141086e-01 -2.90913474e-01 -1.03440733e-01 4.80976374e+02] [ 2.89655669e-01 9.56741080e-01 -2.73148101e-02 9.52309490e+01] [ 1.06912245e-01 -3.98195664e-03 9.94260487e-01 5.11176405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.22509989299994 meters 0.05875749401110915 Centerline is valid? [True, True] Translation: X:481.03, Y:95.25, Z:51.12 [[ 9.52417124e-01 -2.87057218e-01 -1.02468414e-01 4.81033204e+02] [ 2.85800722e-01 9.57906989e-01 -2.70582245e-02 9.52513574e+01] [ 1.05922468e-01 -3.51483031e-03 9.94368180e-01 5.11246178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.28509989299994 meters 0.05791987232153998 Centerline is valid? [True, True] Translation: X:481.09, Y:95.27, Z:51.13 [[ 9.54036246e-01 -2.81610799e-01 -1.02519263e-01 4.81089166e+02] [ 2.80321655e-01 9.59524301e-01 -2.70718418e-02 9.52732725e+01] [ 1.05993447e-01 -2.91085116e-03 9.94362568e-01 5.11300477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.34509989299994 meters 0.05628905736601301 Centerline is valid? [True, True] Translation: X:481.14, Y:95.30, Z:51.14 [[ 9.54976100e-01 -2.78287172e-01 -1.02844052e-01 4.81144977e+02] [ 2.76970456e-01 9.60494537e-01 -2.71590089e-02 9.52964675e+01] [ 1.06339154e-01 -2.54855960e-03 9.94326651e-01 5.11362108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.40509989299994 meters 0.05590273397427356 Centerline is valid? [True, True] Translation: X:481.20, Y:95.32, Z:51.14 [[ 9.56241940e-01 -2.73929965e-01 -1.02779991e-01 4.81201729e+02] [ 2.72589690e-01 9.61747433e-01 -2.71428981e-02 9.53176885e+01] [ 1.06283646e-01 -2.06158842e-03 9.94333715e-01 5.11422298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.46509989299994 meters 0.054889187529464006 Centerline is valid? [True, True] Translation: X:481.26, Y:95.34, Z:51.15 [[ 9.57107128e-01 -2.71192013e-01 -1.01984498e-01 4.81258994e+02] [ 2.69856985e-01 9.62523688e-01 -2.69324546e-02 9.53368269e+01] [ 1.05466362e-01 -1.74398491e-03 9.94421342e-01 5.11487073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.52509989299995 meters 0.0554224009734749 Centerline is valid? [True, True] Translation: X:481.32, Y:95.35, Z:51.15 [[ 9.57979507e-01 -2.68057504e-01 -1.02080554e-01 4.81315561e+02] [ 2.66702192e-01 9.63401897e-01 -2.69578597e-02 9.53508918e+01] [ 1.05570856e-01 -1.40003038e-03 9.94410798e-01 5.11546730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.58509989299995 meters 0.05545551472492912 Centerline is valid? [True, True] Translation: X:481.37, Y:95.37, Z:51.16 [[ 9.58876448e-01 -2.65138757e-01 -1.01278809e-01 4.81372140e+02] [ 2.63788189e-01 9.64209676e-01 -2.67486732e-02 9.53694914e+01] [ 1.04746117e-01 -1.06748080e-03 9.94498422e-01 5.11612003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.64509989299995 meters 0.05495972261943342 Centerline is valid? [True, True] Translation: X:481.43, Y:95.39, Z:51.17 [[ 9.58922185e-01 -2.65095752e-01 -1.00957842e-01 4.81433116e+02] [ 2.63753426e-01 9.64221511e-01 -2.66647429e-02 9.53861618e+01] [ 1.04414433e-01 -1.05856332e-03 9.94533310e-01 5.11673721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.70509989299995 meters 0.05574947586874725 Centerline is valid? [True, True] Translation: X:481.49, Y:95.40, Z:51.17 [[ 9.58336679e-01 -2.66688607e-01 -1.02313228e-01 4.81493283e+02] [ 2.65319559e-01 9.63781933e-01 -2.70169960e-02 9.53956837e+01] [ 1.05812766e-01 -1.25432226e-03 9.94385280e-01 5.11726787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.76509989299996 meters 0.05641846108543834 Centerline is valid? [True, True] Translation: X:481.55, Y:95.40, Z:51.18 [[ 9.56940295e-01 -2.71439569e-01 -1.02887477e-01 4.81553798e+02] [ 2.70082708e-01 9.62453816e-01 -2.71658239e-02 9.54016755e+01] [ 1.06398324e-01 -1.79205686e-03 9.94321973e-01 5.11780423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.82509989299996 meters 0.055516131270328804 Centerline is valid? [True, True] Translation: X:481.61, Y:95.42, Z:51.19 [[ 9.55997613e-01 -2.74918885e-01 -1.02411769e-01 4.81611564e+02] [ 2.73594455e-01 9.61464977e-01 -2.70401882e-02 9.54214062e+01] [ 1.05899188e-01 -2.16893678e-03 9.94374506e-01 5.11853903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.88509989299996 meters 0.056416298665639415 Centerline is valid? [True, True] Translation: X:481.67, Y:95.43, Z:51.19 [[ 9.54968292e-01 -2.78077874e-01 -1.03480712e-01 4.81672218e+02] [ 2.76744253e-01 9.60555155e-01 -2.73205402e-02 9.54254783e+01] [ 1.06996169e-01 -2.54744271e-03 9.94256169e-01 5.11896404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.94509989299996 meters 0.05697284344591458 Centerline is valid? [True, True] Translation: X:481.73, Y:95.44, Z:51.20 [[ 9.54607988e-01 -2.79265461e-01 -1.03606906e-01 4.81728827e+02] [ 2.77935843e-01 9.60210177e-01 -2.73510901e-02 9.54356225e+01] [ 1.07122620e-01 -2.68650363e-03 9.94242187e-01 5.11950333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.00509989299997 meters 0.055905881414308634 Centerline is valid? [True, True] Translation: X:481.79, Y:95.45, Z:51.20 [[ 9.54347982e-01 -2.80215974e-01 -1.03435665e-01 4.81785149e+02] [ 2.78895612e-01 9.59932949e-01 -2.73124584e-02 9.54510806e+01] [ 1.06944690e-01 -2.78216339e-03 9.94261079e-01 5.12016058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.06509989299997 meters 0.057377303423381334 Centerline is valid? [True, True] Translation: X:481.84, Y:95.46, Z:51.21 [[ 9.54070658e-01 -2.81215334e-01 -1.03281732e-01 4.81843054e+02] [ 2.79903997e-01 9.59640362e-01 -2.72787226e-02 9.54585023e+01] [ 1.06784514e-01 -2.88314074e-03 9.94278007e-01 5.12073206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.12509989299997 meters 0.05725181633962169 Centerline is valid? [True, True] Translation: X:481.90, Y:95.47, Z:51.21 [[ 9.53746054e-01 -2.82451124e-01 -1.02906889e-01 4.81900213e+02] [ 2.81155758e-01 9.59276988e-01 -2.71864096e-02 9.54719714e+01] [ 1.06395042e-01 -3.00393349e-03 9.94319401e-01 5.12140481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.185099893 meters 0.05774602931552895 Centerline is valid? [True, True] Translation: X:481.96, Y:95.48, Z:51.22 [[ 9.52081242e-01 -2.88187294e-01 -1.02417731e-01 4.81959984e+02] [ 2.86936021e-01 9.57567235e-01 -2.70686174e-02 9.54810955e+01] [ 1.05872695e-01 -3.61581334e-03 9.94373118e-01 5.12212036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.245099893 meters 0.060425589333979915 Centerline is valid? [True, True] Translation: X:482.02, Y:95.49, Z:51.23 [[ 9.50454505e-01 -2.93225472e-01 -1.03223336e-01 4.82020872e+02] [ 2.91983941e-01 9.56034048e-01 -2.72814575e-02 9.54870851e+01] [ 1.06684642e-01 -4.20977237e-03 9.94283996e-01 5.12264294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.3050998929999 meters 0.05662047807730908 Centerline is valid? [True, True] Translation: X:482.08, Y:95.51, Z:51.23 [[ 9.47914615e-01 -3.00949565e-01 -1.04341946e-01 4.82077341e+02] [ 2.99727382e-01 9.53626240e-01 -2.75769847e-02 9.55106172e+01] [ 1.07802499e-01 -5.13351139e-03 9.94159076e-01 5.12332096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.3650998929999 meters 0.05749526604061898 Centerline is valid? [True, True] Translation: X:482.14, Y:95.52, Z:51.24 [[ 9.46526871e-01 -3.05092756e-01 -1.04906116e-01 4.82135281e+02] [ 3.03882673e-01 9.52305959e-01 -2.77251156e-02 9.55212931e+01] [ 1.08361451e-01 -5.63658411e-03 9.94095581e-01 5.12397529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.4250998929999 meters 0.0634890842695336 Centerline is valid? [True, True] Translation: X:482.20, Y:95.52, Z:51.24 [[ 9.45354165e-01 -3.08578366e-01 -1.05284825e-01 4.82198116e+02] [ 3.07380904e-01 9.51179637e-01 -2.78258557e-02 9.55159437e+01] [ 1.08731239e-01 -6.05725610e-03 9.94052729e-01 5.12444689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.4850998929999 meters 0.05550033431868536 Centerline is valid? [True, True] Translation: X:482.25, Y:95.56, Z:51.25 [[ 9.45109933e-01 -3.09915060e-01 -1.03536807e-01 4.82250268e+02] [ 3.08764978e-01 9.50744641e-01 -2.73645191e-02 9.55571710e+01] [ 1.06917741e-01 -6.10606131e-03 9.94249120e-01 5.12535340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.54509989299993 meters 0.059737817716030726 Centerline is valid? [True, True] Translation: X:482.31, Y:95.56, Z:51.26 [[ 9.45678376e-01 -3.08000751e-01 -1.04057419e-01 4.82312452e+02] [ 3.06827821e-01 9.51367682e-01 -2.74994850e-02 9.55555375e+01] [ 1.07466727e-01 -5.92204277e-03 9.94191044e-01 5.12591212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.60509989299993 meters 0.05800175608562642 Centerline is valid? [True, True] Translation: X:482.37, Y:95.58, Z:51.27 [[ 9.46334711e-01 -3.06060139e-01 -1.03816210e-01 4.82368817e+02] [ 3.04881005e-01 9.51995188e-01 -2.74360049e-02 9.55760532e+01] [ 1.07229600e-01 -5.68794651e-03 9.94218014e-01 5.12656846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.66509989299993 meters 0.05646720186046965 Centerline is valid? [True, True] Translation: X:482.42, Y:95.60, Z:51.27 [[ 9.47031338e-01 -3.04013179e-01 -1.03477689e-01 4.82424244e+02] [ 3.02829648e-01 9.52652302e-01 -2.73458683e-02 9.56001778e+01] [ 1.06891763e-01 -5.43871806e-03 9.94255788e-01 5.12726920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.72509989299994 meters 0.057760826157865805 Centerline is valid? [True, True] Translation: X:482.48, Y:95.61, Z:51.28 [[ 9.47927752e-01 -3.01042412e-01 -1.03954040e-01 4.82483057e+02] [ 2.99830142e-01 9.53596969e-01 -2.74719360e-02 9.56112373e+01] [ 1.07400475e-01 -5.12714394e-03 9.94202620e-01 5.12782929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.78509989299994 meters 0.05690041100401425 Centerline is valid? [True, True] Translation: X:482.54, Y:95.63, Z:51.28 [[ 9.48781821e-01 -2.97924117e-01 -1.05139321e-01 4.82539770e+02] [ 2.96664906e-01 9.54577342e-01 -2.77854441e-02 9.56339902e+01] [ 1.08641568e-01 -4.82882259e-03 9.94069259e-01 5.12843546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.84509989299994 meters 0.05564410126033935 Centerline is valid? [True, True] Translation: X:482.60, Y:95.66, Z:51.29 [[ 9.49947255e-01 -2.94169051e-01 -1.05189265e-01 4.82595736e+02] [ 2.92885409e-01 9.55743282e-01 -2.78013508e-02 9.56569792e+01] [ 1.08712231e-01 -4.39858410e-03 9.94063531e-01 5.12910119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.90509989299994 meters 0.0583729444157546 Centerline is valid? [True, True] Translation: X:482.66, Y:95.66, Z:51.30 [[ 9.52783268e-01 -2.84721451e-01 -1.05535489e-01 4.82656181e+02] [ 2.83371494e-01 9.58604509e-01 -2.78924946e-02 9.56624735e+01] [ 1.09108387e-01 -3.33024713e-03 9.94024280e-01 5.12951987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.96509989299994 meters 0.055933766406028144 Centerline is valid? [True, True] Translation: X:482.71, Y:95.69, Z:51.30 [[ 9.54886069e-01 -2.77702478e-01 -1.05232739e-01 4.82710379e+02] [ 2.76317755e-01 9.60663824e-01 -2.78121611e-02 9.56924584e+01] [ 1.08816791e-01 -2.52022887e-03 9.94058627e-01 5.13036126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.02509989299995 meters 0.056156873270637175 Centerline is valid? [True, True] Translation: X:482.77, Y:95.71, Z:51.31 [[ 9.56644122e-01 -2.71722157e-01 -1.04876562e-01 4.82767140e+02] [ 2.70311029e-01 9.62373995e-01 -2.77171607e-02 9.57093727e+01] [ 1.08461843e-01 -1.83383264e-03 9.94098921e-01 5.13090458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.08509989299995 meters 0.05603000535768408 Centerline is valid? [True, True] Translation: X:482.82, Y:95.73, Z:51.32 [[ 9.58117871e-01 -2.66230247e-01 -1.05506402e-01 4.82823565e+02] [ 2.64768721e-01 9.63908695e-01 -2.78846266e-02 9.57297279e+01] [ 1.09122269e-01 -1.21803610e-03 9.94027589e-01 5.13150306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.14509989299995 meters 0.0558020019135967 Centerline is valid? [True, True] Translation: X:482.88, Y:95.75, Z:51.32 [[ 9.58093122e-01 -2.66103362e-01 -1.06049846e-01 4.82879299e+02] [ 2.64625844e-01 9.63943742e-01 -2.80289878e-02 9.57454361e+01] [ 1.09684694e-01 -1.20914961e-03 9.93965697e-01 5.13211479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.20509989299995 meters 0.055759546009239484 Centerline is valid? [True, True] Translation: X:482.94, Y:95.76, Z:51.33 [[ 9.57151796e-01 -2.69515797e-01 -1.05932407e-01 4.82937242e+02] [ 2.68060879e-01 9.62994664e-01 -2.80114631e-02 9.57574740e+01] [ 1.09561874e-01 -1.58511199e-03 9.93978714e-01 5.13276416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.26509989299996 meters 0.05539885508223227 Centerline is valid? [True, True] Translation: X:482.99, Y:95.77, Z:51.33 [[ 9.55718232e-01 -2.74373623e-01 -1.06403834e-01 4.82994633e+02] [ 2.72935457e-01 9.61620765e-01 -2.81379029e-02 9.57691549e+01] [ 1.10040434e-01 -2.14947208e-03 9.93924787e-01 5.13343881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.32509989299996 meters 0.055806935955396625 Centerline is valid? [True, True] Translation: X:483.05, Y:95.78, Z:51.34 [[ 9.54730167e-01 -2.77646309e-01 -1.06784054e-01 4.83052982e+02] [ 2.76218013e-01 9.60680023e-01 -2.82401064e-02 9.57814131e+01] [ 1.10426069e-01 -2.53399785e-03 9.93881111e-01 5.13405431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.38509989299996 meters 0.05654716457526469 Centerline is valid? [True, True] Translation: X:483.11, Y:95.79, Z:51.35 [[ 9.53390832e-01 -2.82488022e-01 -1.06049232e-01 4.83112933e+02] [ 2.81109164e-01 9.59265904e-01 -2.80457332e-02 9.57896215e+01] [ 1.09651996e-01 -3.07286597e-03 9.93965290e-01 5.13468622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.44509989299996 meters 0.056750245912408584 Centerline is valid? [True, True] Translation: X:483.17, Y:95.80, Z:51.35 [[ 9.52748078e-01 -2.85067534e-01 -1.04917113e-01 4.83172021e+02] [ 2.83733674e-01 9.58501636e-01 -2.77455716e-02 9.58017024e+01] [ 1.08472586e-01 -3.33397782e-03 9.94093850e-01 5.13539136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.50509989299997 meters 0.05749941625016077 Centerline is valid? [True, True] Translation: X:483.23, Y:95.81, Z:51.36 [[ 9.52044516e-01 -2.87743768e-01 -1.03994052e-01 4.83230839e+02] [ 2.86449210e-01 9.57700641e-01 -2.75014942e-02 9.58107220e+01] [ 1.07508554e-01 -3.60636740e-03 9.94197619e-01 5.13604850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.56509989299997 meters 0.05810730159952238 Centerline is valid? [True, True] Translation: X:483.29, Y:95.82, Z:51.37 [[ 9.51448506e-01 -2.89473528e-01 -1.04646154e-01 4.83289060e+02] [ 2.88172956e-01 9.57178378e-01 -2.76749141e-02 9.58221425e+01] [ 1.08176191e-01 -3.82493584e-03 9.94124379e-01 5.13652950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.62509989299997 meters 0.05697014534761456 Centerline is valid? [True, True] Translation: X:483.35, Y:95.84, Z:51.37 [[ 9.50547941e-01 -2.92088367e-01 -1.05560400e-01 4.83346266e+02] [ 2.90780565e-01 9.56382308e-01 -2.79203154e-02 9.58403847e+01] [ 1.09111298e-01 -4.15531429e-03 9.94020854e-01 5.13711719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.685099893 meters 0.0580196328319509 Centerline is valid? [True, True] Translation: X:483.41, Y:95.85, Z:51.38 [[ 9.48755407e-01 -2.97533975e-01 -1.06473995e-01 4.83405254e+02] [ 2.96237358e-01 9.54699053e-01 -2.81628327e-02 9.58478261e+01] [ 1.10030022e-01 -4.82193508e-03 9.93916568e-01 5.13755486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.7450998929999 meters 0.05688749367923298 Centerline is valid? [True, True] Translation: X:483.46, Y:95.87, Z:51.38 [[ 9.47288572e-01 -3.02018675e-01 -1.06906881e-01 4.83462752e+02] [ 3.00739729e-01 9.53286921e-01 -2.82782975e-02 9.58655590e+01] [ 1.10453505e-01 -5.36343825e-03 9.93866820e-01 5.13824645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.8050998929999 meters 0.058884028987450106 Centerline is valid? [True, True] Translation: X:483.52, Y:95.87, Z:51.39 [[ 9.45279094e-01 -3.08133452e-01 -1.07243695e-01 4.83521751e+02] [ 3.06885474e-01 9.51323608e-01 -2.83672121e-02 9.58725488e+01] [ 1.10764346e-01 -6.09659962e-03 9.93827999e-01 5.13871722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.8650998929999 meters 0.05963904965837463 Centerline is valid? [True, True] Translation: X:483.58, Y:95.89, Z:51.39 [[ 9.44334758e-01 -3.11016936e-01 -1.07239593e-01 4.83579922e+02] [ 3.09787477e-01 9.50382590e-01 -2.83663837e-02 9.58868076e+01] [ 1.10741068e-01 -6.43412085e-03 9.93828465e-01 5.13937867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.9250998929999 meters 0.056612543951504474 Centerline is valid? [True, True] Translation: X:483.64, Y:95.91, Z:51.40 [[ 9.43539802e-01 -3.13619675e-01 -1.06655249e-01 4.83635397e+02] [ 3.12420019e-01 9.49525033e-01 -2.82124875e-02 9.59111866e+01] [ 1.10119820e-01 -6.70162996e-03 9.93895726e-01 5.14011700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.9850998929999 meters 0.05634150900347439 Centerline is valid? [True, True] Translation: X:483.69, Y:95.93, Z:51.41 [[ 9.43382698e-01 -3.14275622e-01 -1.06112759e-01 4.83692238e+02] [ 3.13092369e-01 9.49307827e-01 -2.80681042e-02 9.59311893e+01] [ 1.09554793e-01 -6.74413120e-03 9.93957878e-01 5.14077188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.04509989299993 meters 0.06080482906138456 Centerline is valid? [True, True] Translation: X:483.75, Y:95.93, Z:51.41 [[ 9.43450672e-01 -3.14104528e-01 -1.06014974e-01 4.83752466e+02] [ 3.12922360e-01 9.49364639e-01 -2.80424644e-02 9.59281437e+01] [ 1.09455133e-01 -6.71777402e-03 9.93969036e-01 5.14124351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.10509989299993 meters 0.05659779805718448 Centerline is valid? [True, True] Translation: X:483.81, Y:95.96, Z:51.42 [[ 9.44049139e-01 -3.12887429e-01 -1.04272140e-01 4.83806475e+02] [ 3.11736037e-01 9.49768226e-01 -2.75855193e-02 9.59591855e+01] [ 1.07665528e-01 -6.46329798e-03 9.94166163e-01 5.14199538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.16509989299993 meters 0.054593948037514155 Centerline is valid? [True, True] Translation: X:483.86, Y:95.99, Z:51.43 [[ 9.45202746e-01 -3.09877698e-01 -1.02798736e-01 4.83860593e+02] [ 3.08741037e-01 9.50757282e-01 -2.71949124e-02 9.59885911e+01] [ 1.06163744e-01 -6.03348253e-03 9.94330356e-01 5.14267726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.22509989299994 meters 0.055807665267302596 Centerline is valid? [True, True] Translation: X:483.92, Y:96.00, Z:51.43 [[ 9.46284826e-01 -3.06474412e-01 -1.03045923e-01 4.83919037e+02] [ 3.05312279e-01 9.51862034e-01 -2.72595010e-02 9.60015009e+01] [ 1.06439842e-01 -5.66593362e-03 9.94303001e-01 5.14320941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.28509989299994 meters 0.05587909334672916 Centerline is valid? [True, True] Translation: X:483.98, Y:96.02, Z:51.44 [[ 9.47520511e-01 -3.02645529e-01 -1.03007599e-01 4.83977061e+02] [ 3.01461727e-01 9.53088818e-01 -2.72494496e-02 9.60161326e+01] [ 1.06422315e-01 -5.23343632e-03 9.94307247e-01 5.14367050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.34509989299994 meters 0.05761293721548534 Centerline is valid? [True, True] Translation: X:484.04, Y:96.03, Z:51.44 [[ 9.49970415e-01 -2.94711127e-01 -1.03448354e-01 4.84035322e+02] [ 2.93470219e-01 9.55576436e-01 -2.73661383e-02 9.60299124e+01] [ 1.06917915e-01 -4.36198946e-03 9.94258283e-01 5.14406310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.40509989299994 meters 0.055898463898788345 Centerline is valid? [True, True] Translation: X:484.09, Y:96.06, Z:51.45 [[ 9.52078707e-01 -2.88006717e-01 -1.02947883e-01 4.84089876e+02] [ 2.86738656e-01 9.57621659e-01 -2.72341886e-02 9.60584196e+01] [ 1.06428751e-01 -3.59004633e-03 9.94313850e-01 5.14470459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.46509989299994 meters 0.05549089181314531 Centerline is valid? [True, True] Translation: X:484.15, Y:96.08, Z:51.45 [[ 9.55481493e-01 -2.76480565e-01 -1.03022389e-01 4.84145585e+02] [ 2.75143610e-01 9.61016745e-01 -2.72545212e-02 9.60829448e+01] [ 1.06541587e-01 -2.30476151e-03 9.94305576e-01 5.14522216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.52509989299995 meters 0.055141318461202495 Centerline is valid? [True, True] Translation: X:484.20, Y:96.10, Z:51.46 [[ 9.57675695e-01 -2.69014576e-01 -1.02412998e-01 4.84202440e+02] [ 2.67650806e-01 9.63134992e-01 -2.70930413e-02 9.61042637e+01] [ 1.05925965e-01 -1.46457445e-03 9.94372941e-01 5.14587687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.58509989299995 meters 0.05497406603528713 Centerline is valid? [True, True] Translation: X:484.26, Y:96.13, Z:51.47 [[ 9.60105906e-01 -2.60799958e-01 -1.00896139e-01 4.84258622e+02] [ 2.59431149e-01 9.65392707e-01 -2.66908095e-02 9.61250569e+01] [ 1.04365359e-01 -5.49597397e-04 9.94538873e-01 5.14656430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.64509989299995 meters 0.05517923146921944 Centerline is valid? [True, True] Translation: X:484.32, Y:96.14, Z:51.47 [[ 9.60807577e-01 -2.58666838e-01 -9.97008875e-02 4.84318249e+02] [ 2.57318887e-01 9.65966546e-01 -2.63746527e-02 9.61427269e+01] [ 1.03129970e-01 -3.13955262e-04 9.94667839e-01 5.14723963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.70509989299995 meters 0.055059086161047266 Centerline is valid? [True, True] Translation: X:484.38, Y:96.16, Z:51.48 [[ 9.60618513e-01 -2.59363620e-01 -9.97125166e-02 4.84377032e+02] [ 2.58019480e-01 9.65779664e-01 -2.63740262e-02 9.61568262e+01] [ 1.03140784e-01 -3.92393808e-04 9.94666690e-01 5.14789073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.76509989299996 meters 0.05501342757303478 Centerline is valid? [True, True] Translation: X:484.43, Y:96.16, Z:51.48 [[ 9.58744350e-01 -2.66166954e-01 -9.98219639e-02 4.84434950e+02] [ 2.64856850e-01 9.63926284e-01 -2.64001520e-02 9.61640303e+01] [ 1.03247863e-01 -1.12753429e-03 9.94655019e-01 5.14845079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.82509989299996 meters 0.0560839279030186 Centerline is valid? [True, True] Translation: X:484.49, Y:96.17, Z:51.49 [[ 9.56612903e-01 -2.73624955e-01 -1.00105629e-01 4.84494435e+02] [ 2.72347631e-01 9.61834521e-01 -2.64787238e-02 9.61692978e+01] [ 1.03530289e-01 -1.93364204e-03 9.94624422e-01 5.14905083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.88509989299996 meters 0.058104068626621104 Centerline is valid? [True, True] Translation: X:484.56, Y:96.17, Z:51.50 [[ 9.52964033e-01 -2.86084505e-01 -1.00076013e-01 4.84556279e+02] [ 2.84876148e-01 9.58198766e-01 -2.64708502e-02 9.61709614e+01] [ 1.03465612e-01 -3.28350086e-03 9.94627612e-01 5.14958148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.94509989299996 meters 0.05611499629934623 Centerline is valid? [True, True] Translation: X:484.61, Y:96.19, Z:51.50 [[ 9.49681948e-01 -2.96903746e-01 -9.97615278e-02 4.84614224e+02] [ 2.95762173e-01 9.54897065e-01 -2.63881212e-02 9.61866397e+01] [ 1.03096722e-01 -4.44536387e-03 9.94661402e-01 5.15010707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.00509989299997 meters 0.05505584702609365 Centerline is valid? [True, True] Translation: X:484.67, Y:96.21, Z:51.51 [[ 9.47857017e-01 -3.02633713e-01 -9.98995073e-02 4.84670809e+02] [ 3.01520526e-01 9.53093429e-01 -2.64251260e-02 9.62064055e+01] [ 1.03210698e-01 -5.07451095e-03 9.94646571e-01 5.15069424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.06509989299997 meters 0.05857305413552459 Centerline is valid? [True, True] Translation: X:484.73, Y:96.20, Z:51.51 [[ 9.46018498e-01 -3.08525884e-01 -9.93014681e-02 4.84732687e+02] [ 3.07458251e-01 9.51198975e-01 -2.62665993e-02 9.62046256e+01] [ 1.02559380e-01 -5.68236685e-03 9.94710654e-01 5.15135801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.12509989299997 meters 0.05992147281735095 Centerline is valid? [True, True] Translation: X:484.79, Y:96.22, Z:51.52 [[ 9.45163915e-01 -3.11320527e-01 -9.87152679e-02 4.84790346e+02] [ 3.10280551e-01 9.50286345e-01 -2.61121222e-02 9.62164569e+01] [ 1.01937011e-01 -5.94919207e-03 9.94773066e-01 5.15203524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.185099893 meters 0.06523647106336827 Centerline is valid? [True, True] Translation: X:484.85, Y:96.22, Z:51.53 [[ 9.44030650e-01 -3.14506339e-01 -9.94580013e-02 4.84851560e+02] [ 3.13468242e-01 9.49234191e-01 -2.63080107e-02 9.62174782e+01] [ 1.02682972e-01 -6.34135633e-03 9.94693920e-01 5.15270570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.2450998929999 meters 0.05473428156647094 Centerline is valid? [True, True] Translation: X:484.90, Y:96.26, Z:51.53 [[ 9.43405435e-01 -3.16385663e-01 -9.94298601e-02 4.84902494e+02] [ 3.15358438e-01 9.48608085e-01 -2.63012877e-02 9.62610445e+01] [ 1.02641320e-01 -6.54326762e-03 9.94696911e-01 5.15324959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.3050998929999 meters 0.05743902823931107 Centerline is valid? [True, True] Translation: X:484.96, Y:96.27, Z:51.54 [[ 9.43073976e-01 -3.16608416e-01 -1.01836083e-01 4.84963696e+02] [ 3.15532227e-01 9.48532460e-01 -2.69366966e-02 9.62691009e+01] [ 1.05123215e-01 -6.72926845e-03 9.94436437e-01 5.15380549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.3650998929999 meters 0.055983689776585036 Centerline is valid? [True, True] Translation: X:485.02, Y:96.29, Z:51.54 [[ 9.43421368e-01 -3.15427052e-01 -1.02283420e-01 4.85019826e+02] [ 3.14335034e-01 9.48926653e-01 -2.70498325e-02 9.62930530e+01] [ 1.05591712e-01 -6.63187223e-03 9.94387454e-01 5.15449488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.4250998929999 meters 0.05720321377838598 Centerline is valid? [True, True] Translation: X:485.08, Y:96.31, Z:51.55 [[ 9.45033852e-01 -3.10543975e-01 -1.02339919e-01 4.85077667e+02] [ 3.09422350e-01 9.50539506e-01 -2.70639346e-02 9.63060401e+01] [ 1.05682678e-01 -6.08992401e-03 9.94381257e-01 5.15520752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.4850998929999 meters 0.057005747238673445 Centerline is valid? [True, True] Translation: X:485.13, Y:96.33, Z:51.56 [[ 9.46767783e-01 -3.05118050e-01 -1.02634015e-01 4.85134688e+02] [ 3.03958200e-01 9.52298657e-01 -2.71418565e-02 9.63265311e+01] [ 1.06019705e-01 -5.49941514e-03 9.94348821e-01 5.15585486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.54509989299993 meters 0.05810217357868938 Centerline is valid? [True, True] Translation: X:485.19, Y:96.34, Z:51.57 [[ 9.49105150e-01 -2.97701783e-01 -1.02825403e-01 4.85191724e+02] [ 2.96494184e-01 9.54647453e-01 -2.71926195e-02 9.63416528e+01] [ 1.06257300e-01 -4.67847879e-03 9.94327661e-01 5.15652324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.60509989299993 meters 0.05706536031448191 Centerline is valid? [True, True] Translation: X:485.25, Y:96.37, Z:51.57 [[ 9.53169284e-01 -2.84600590e-01 -1.02327022e-01 4.85246663e+02] [ 2.83329181e-01 9.58640847e-01 -2.70610664e-02 9.63676444e+01] [ 1.05796458e-01 -3.19845399e-03 9.94382662e-01 5.15729674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.66509989299993 meters 0.05586553695088049 Centerline is valid? [True, True] Translation: X:485.30, Y:96.39, Z:51.58 [[ 9.55852733e-01 -2.75726137e-01 -1.01590605e-01 4.85302293e+02] [ 2.74422903e-01 9.61233720e-01 -2.68664435e-02 9.63908989e+01] [ 1.05060095e-01 -2.19842520e-03 9.94463445e-01 5.15802729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.72509989299994 meters 0.05518401265106029 Centerline is valid? [True, True] Translation: X:485.36, Y:96.42, Z:51.59 [[ 9.59256033e-01 -2.63586306e-01 -1.01735552e-01 4.85357895e+02] [ 2.62210944e-01 9.64635427e-01 -2.69056307e-02 9.64153849e+01] [ 1.05229673e-01 -8.66786536e-04 9.94447568e-01 5.15869352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.78509989299994 meters 0.05571162480276184 Centerline is valid? [True, True] Translation: X:485.41, Y:96.43, Z:51.59 [[ 9.61086323e-01 -2.56687563e-01 -1.02100806e-01 4.85414117e+02] [ 2.55263463e-01 9.66494430e-01 -2.70015148e-02 9.64344358e+01] [ 1.05610814e-01 -1.11818843e-04 9.94407534e-01 5.15929813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.84509989299994 meters 0.05588889956413832 Centerline is valid? [True, True] Translation: X:485.47, Y:96.45, Z:51.60 [[ 9.63161512e-01 -2.48212662e-01 -1.03490953e-01 4.85468469e+02] [ 2.46700302e-01 9.68705210e-01 -2.73711113e-02 9.64517821e+01] [ 1.07046082e-01 8.31551524e-04 9.94253713e-01 5.15982866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.90509989299994 meters 0.05609147037473162 Centerline is valid? [True, True] Translation: X:485.53, Y:96.47, Z:51.60 [[ 9.64184466e-01 -2.44110895e-01 -1.03721679e-01 4.85527338e+02] [ 2.42567508e-01 9.69746458e-01 -2.74373975e-02 9.64676162e+01] [ 1.07281499e-01 1.29520321e-03 9.94227842e-01 5.16048152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.96509989299994 meters 0.056046870006744985 Centerline is valid? [True, True] Translation: X:485.59, Y:96.48, Z:51.61 [[ 9.64591909e-01 -2.42429634e-01 -1.03876474e-01 4.85587391e+02] [ 2.40872157e-01 9.70167860e-01 -2.74759588e-02 9.64807664e+01] [ 1.07438603e-01 1.48213720e-03 9.94210616e-01 5.16107598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.02509989299995 meters 0.05631014477171517 Centerline is valid? [True, True] Translation: X:485.65, Y:96.50, Z:51.62 [[ 9.64382044e-01 -2.43082507e-01 -1.04298460e-01 4.85646433e+02] [ 2.41516387e-01 9.70004587e-01 -2.75850724e-02 9.64955444e+01] [ 1.07875433e-01 1.41276126e-03 9.94163415e-01 5.16161430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.08509989299995 meters 0.05629186534093093 Centerline is valid? [True, True] Translation: X:485.71, Y:96.50, Z:51.62 [[ 9.63217942e-01 -2.48410311e-01 -1.02486651e-01 4.85706365e+02] [ 2.46928652e-01 9.68654572e-01 -2.71027977e-02 9.65025529e+01] [ 1.06006778e-01 7.99010365e-04 9.94365086e-01 5.16229184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.14509989299995 meters 0.05637597599536147 Centerline is valid? [True, True] Translation: X:485.77, Y:96.51, Z:51.63 [[ 9.62063431e-01 -2.53694858e-01 -1.00363708e-01 4.85765189e+02] [ 2.52302677e-01 9.67284278e-01 -2.65421407e-02 9.65109937e+01] [ 1.03813841e-01 2.13190795e-04 9.94596723e-01 5.16297931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.20509989299995 meters 0.056012836488148865 Centerline is valid? [True, True] Translation: X:485.82, Y:96.52, Z:51.64 [[ 9.60693340e-01 -2.59122324e-01 -9.96189153e-02 4.85822986e+02] [ 2.57779766e-01 9.65844441e-01 -2.63459181e-02 9.65168944e+01] [ 1.03043191e-01 -3.69392625e-04 9.94676814e-01 5.16363689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.26509989299996 meters 0.056251971553368675 Centerline is valid? [True, True] Translation: X:485.88, Y:96.52, Z:51.64 [[ 9.58882887e-01 -2.65828988e-01 -9.93909323e-02 4.85883161e+02] [ 2.64527171e-01 9.64019602e-01 -2.62979478e-02 9.65206364e+01] [ 1.02805564e-01 -1.07495000e-03 9.94700890e-01 5.16424864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.32509989299996 meters 0.056214980279152726 Centerline is valid? [True, True] Translation: X:485.94, Y:96.53, Z:51.65 [[ 9.58046350e-01 -2.68475500e-01 -1.00339909e-01 4.85941274e+02] [ 2.67162923e-01 9.63285538e-01 -2.65507829e-02 9.65278753e+01] [ 1.03784218e-01 -1.37022290e-03 9.94598893e-01 5.16474960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.38509989299996 meters 0.05628616301342011 Centerline is valid? [True, True] Translation: X:486.00, Y:96.54, Z:51.65 [[ 9.57874309e-01 -2.68476446e-01 -1.01966695e-01 4.85998251e+02] [ 2.67119545e-01 9.63285260e-01 -2.69936470e-02 9.65364169e+01] [ 1.05470173e-01 -1.38077631e-03 9.94421508e-01 5.16523499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.44509989299996 meters 0.05652085044753911 Centerline is valid? [True, True] Translation: X:486.06, Y:96.55, Z:51.66 [[ 9.58463418e-01 -2.65953091e-01 -1.03038004e-01 4.86055821e+02] [ 2.64551359e-01 9.63985343e-01 -2.72917000e-02 9.65456456e+01] [ 1.06585438e-01 -1.10074796e-03 9.94302938e-01 5.16572305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.50509989299997 meters 0.05711479847369546 Centerline is valid? [True, True] Translation: X:486.11, Y:96.56, Z:51.66 [[ 9.59760104e-01 -2.60682846e-01 -1.04426990e-01 4.86112470e+02] [ 2.59210547e-01 9.65424359e-01 -2.76712782e-02 9.65611023e+01] [ 1.08029787e-01 -5.10788238e-04 9.94147526e-01 5.16642555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.56509989299997 meters 0.05674738686536087 Centerline is valid? [True, True] Translation: X:486.17, Y:96.57, Z:51.67 [[ 9.61370166e-01 -2.54209994e-01 -1.05568384e-01 4.86170614e+02] [ 2.52665042e-01 9.67149019e-01 -2.79848314e-02 9.65730819e+01] [ 1.09214383e-01 2.30341785e-04 9.94018192e-01 5.16690810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.62509989299997 meters 0.056943853600218496 Centerline is valid? [True, True] Translation: X:486.23, Y:96.59, Z:51.68 [[ 9.62554877e-01 -2.49966967e-01 -1.04902927e-01 4.86230250e+02] [ 2.48416266e-01 9.68254106e-01 -2.78090791e-02 9.65850123e+01] [ 1.08524041e-01 7.08171204e-04 9.94093573e-01 5.16772197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.685099893 meters 0.05714314695651731 Centerline is valid? [True, True] Translation: X:486.29, Y:96.60, Z:51.68 [[ 9.63916601e-01 -2.44987810e-01 -1.04142974e-01 4.86287272e+02] [ 2.43430812e-01 9.69525343e-01 -2.76052209e-02 9.65966954e+01] [ 1.07732195e-01 1.25752200e-03 9.94179155e-01 5.16831718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.7450998929999 meters 0.057699717930318854 Centerline is valid? [True, True] Translation: X:486.34, Y:96.61, Z:51.69 [[ 9.64234848e-01 -2.43744121e-01 -1.04115132e-01 4.86343907e+02] [ 2.42180530e-01 9.69838569e-01 -2.75996723e-02 9.66071433e+01] [ 1.07702129e-01 1.39790787e-03 9.94182225e-01 5.16894874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.8050998929999 meters 0.05782275620955098 Centerline is valid? [True, True] Translation: X:486.40, Y:96.61, Z:51.70 [[ 9.63717754e-01 -2.45546023e-01 -1.04667293e-01 4.86401332e+02] [ 2.43975859e-01 9.69384182e-01 -2.77504451e-02 9.66141523e+01] [ 1.08276829e-01 1.20730398e-03 9.94120048e-01 5.16951455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.8650998929999 meters 0.05745775807928868 Centerline is valid? [True, True] Translation: X:486.46, Y:96.62, Z:51.70 [[ 9.62997488e-01 -2.48148309e-01 -1.05158239e-01 4.86460301e+02] [ 2.46578116e-01 9.68721612e-01 -2.78867682e-02 9.66218606e+01] [ 1.08789113e-01 9.25167433e-04 9.94064421e-01 5.17018307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.9250998929999 meters 0.05786888084183877 Centerline is valid? [True, True] Translation: X:486.52, Y:96.63, Z:51.71 [[ 9.61685413e-01 -2.52882316e-01 -1.05885321e-01 4.86519669e+02] [ 2.51317659e-01 9.67496962e-01 -2.80902556e-02 9.66256632e+01] [ 1.09547255e-01 4.03138136e-04 9.93981507e-01 5.17088186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.9850998929999 meters 0.05717191357803126 Centerline is valid? [True, True] Translation: X:486.58, Y:96.63, Z:51.71 [[ 9.60622250e-01 -2.56769359e-01 -1.06180924e-01 4.86578192e+02] [ 2.55218373e-01 9.66472708e-01 -2.81795373e-02 9.66334875e+01] [ 1.09856607e-01 -2.94321214e-05 9.93947446e-01 5.17142024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.04509989299993 meters 0.05817658323387196 Centerline is valid? [True, True] Translation: X:486.64, Y:96.64, Z:51.72 [[ 9.59554254e-01 -2.60995351e-01 -1.05532268e-01 4.86636679e+02] [ 2.59487480e-01 9.65339929e-01 -2.80190985e-02 9.66413554e+01] [ 1.09187367e-01 -4.98457202e-04 9.94021061e-01 5.17215367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.10509989299993 meters 0.0581993638072253 Centerline is valid? [True, True] Translation: X:486.70, Y:96.64, Z:51.73 [[ 9.57723254e-01 -2.67627072e-01 -1.05555290e-01 4.86696051e+02] [ 2.66157238e-01 9.63521774e-01 -2.80377721e-02 9.66445982e+01] [ 1.09208487e-01 -1.24187816e-03 9.94018090e-01 5.17267281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.16509989299993 meters 0.05879867125583447 Centerline is valid? [True, True] Translation: X:486.76, Y:96.65, Z:51.73 [[ 9.55988143e-01 -2.73755838e-01 -1.05567094e-01 4.86756153e+02] [ 2.72322560e-01 9.61797266e-01 -2.80435697e-02 9.66516925e+01] [ 1.09211233e-01 -1.93898122e-03 9.94016673e-01 5.17329229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.22509989299994 meters 0.05986256103191611 Centerline is valid? [True, True] Translation: X:486.82, Y:96.66, Z:51.74 [[ 9.52077018e-01 -2.86781096e-01 -1.06329467e-01 4.86816979e+02] [ 2.85407459e-01 9.57989914e-01 -2.82472511e-02 9.66558826e+01] [ 1.09963335e-01 -3.45366448e-03 9.93929644e-01 5.17386726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.28509989299994 meters 0.06058561215776419 Centerline is valid? [True, True] Translation: X:486.88, Y:96.66, Z:51.74 [[ 9.48903528e-01 -2.97167841e-01 -1.06176120e-01 4.86877528e+02] [ 2.95862602e-01 9.54813947e-01 -2.82072112e-02 9.66623896e+01] [ 1.09760716e-01 -4.64762086e-03 9.93947174e-01 5.17449651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.34509989299994 meters 0.06106619217782049 Centerline is valid? [True, True] Translation: X:486.94, Y:96.67, Z:51.75 [[ 9.44729115e-01 -3.10429766e-01 -1.05452637e-01 4.86936312e+02] [ 3.09224048e-01 9.50576477e-01 -2.80151608e-02 9.66737889e+01] [ 1.08937536e-01 -6.14175318e-03 9.94029623e-01 5.17528429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.40509989299994 meters 0.06267178971310279 Centerline is valid? [True, True] Translation: X:487.00, Y:96.68, Z:51.76 [[ 9.43148548e-01 -3.15402446e-01 -1.04843283e-01 4.86996138e+02] [ 3.14241020e-01 9.48934526e-01 -2.78540353e-02 9.66825817e+01] [ 1.08274642e-01 -6.67556739e-03 9.94098606e-01 5.17593685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.46509989299994 meters 0.06567797923498359 Centerline is valid? [True, True] Translation: X:487.05, Y:96.69, Z:51.76 [[ 9.42908815e-01 -3.16158741e-01 -1.04721614e-01 4.87054245e+02] [ 3.15004728e-01 9.48682253e-01 -2.78209231e-02 9.66902368e+01] [ 1.08143365e-01 -6.75521001e-03 9.94112358e-01 5.17649371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.52509989299995 meters 0.062057368799932025 Centerline is valid? [True, True] Translation: X:487.11, Y:96.72, Z:51.77 [[ 9.43729431e-01 -3.13829391e-01 -1.04335391e-01 4.87108603e+02] [ 3.12669357e-01 9.49457410e-01 -2.77218167e-02 9.67185493e+01] [ 1.07761931e-01 -6.46058529e-03 9.94155736e-01 5.17720151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.58509989299995 meters 0.06070979797120783 Centerline is valid? [True, True] Translation: X:487.16, Y:96.74, Z:51.78 [[ 9.45561620e-01 -3.08283600e-01 -1.04280609e-01 4.87163574e+02] [ 3.07090802e-01 9.51276688e-01 -2.77110560e-02 9.67438459e+01] [ 1.07742577e-01 -5.82110498e-03 9.94161784e-01 5.17785362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.64509989299995 meters 0.06479196576306785 Centerline is valid? [True, True] Translation: X:487.22, Y:96.75, Z:51.78 [[ 9.46824911e-01 -3.04377705e-01 -1.04291898e-01 4.87222816e+02] [ 3.03160954e-01 9.52536252e-01 -2.77150435e-02 9.67525037e+01] [ 1.07777655e-01 -5.37593783e-03 9.94160488e-01 5.17831153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.70509989299995 meters 0.06227333461493845 Centerline is valid? [True, True] Translation: X:487.28, Y:96.78, Z:51.79 [[ 9.48136242e-01 -2.99892625e-01 -1.05366409e-01 4.87277402e+02] [ 2.98622894e-01 9.53960301e-01 -2.80020050e-02 9.67798528e+01] [ 1.08912966e-01 -4.91510627e-03 9.94039138e-01 5.17885555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.76509989299996 meters 0.06211431202306244 Centerline is valid? [True, True] Translation: X:487.33, Y:96.80, Z:51.79 [[ 9.48741686e-01 -2.97927723e-01 -1.05490685e-01 4.87333922e+02] [ 2.96642784e-01 9.54576889e-01 -2.80360707e-02 9.68009799e+01] [ 1.09051693e-01 -4.69406160e-03 9.94024997e-01 5.17942170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.82509989299996 meters 0.06057359797102233 Centerline is valid? [True, True] Translation: X:487.39, Y:96.82, Z:51.80 [[ 9.49366402e-01 -2.96088348e-01 -1.05048204e-01 4.87389557e+02] [ 2.94802806e-01 9.55150134e-01 -2.79199976e-02 9.68243066e+01] [ 1.08603592e-01 -4.46219774e-03 9.94075122e-01 5.18006270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.88509989299996 meters 0.060995721473675414 Centerline is valid? [True, True] Translation: X:487.45, Y:96.84, Z:51.81 [[ 9.49537026e-01 -2.95633093e-01 -1.04787935e-01 4.87445388e+02] [ 2.94351117e-01 9.55291435e-01 -2.78512796e-02 9.68405914e+01] [ 1.08336777e-01 -4.39862448e-03 9.94104519e-01 5.18067214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.94509989299996 meters 0.062125291459153326 Centerline is valid? [True, True] Translation: X:487.50, Y:96.86, Z:51.81 [[ 9.50264362e-01 -2.93283687e-01 -1.04796575e-01 4.87503138e+02] [ 2.91986087e-01 9.56016579e-01 -2.78644069e-02 9.68565880e+01] [ 1.08359439e-01 -4.12058912e-03 9.94103240e-01 5.18121867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.00509989299997 meters 0.05941512422458995 Centerline is valid? [True, True] Translation: X:487.56, Y:96.89, Z:51.82 [[ 9.51921629e-01 -2.87884944e-01 -1.04725700e-01 4.87556578e+02] [ 2.86556426e-01 9.57658600e-01 -2.78463925e-02 9.68882842e+01] [ 1.08308024e-01 -3.50223884e-03 9.94111214e-01 5.18196256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.06509989299997 meters 0.05878950305863278 Centerline is valid? [True, True] Translation: X:487.61, Y:96.91, Z:51.83 [[ 9.54021100e-01 -2.80915665e-01 -1.04547264e-01 4.87611767e+02] [ 2.79549848e-01 9.59728645e-01 -2.77994588e-02 9.69119310e+01] [ 1.08146307e-01 -2.70490140e-03 9.94131309e-01 5.18265078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.12509989299997 meters 0.05828473963633692 Centerline is valid? [True, True] Translation: X:487.67, Y:96.93, Z:51.83 [[ 9.55312196e-01 -2.76650164e-01 -1.04131147e-01 4.87668132e+02] [ 2.75269855e-01 9.60968155e-01 -2.76895848e-02 9.69331299e+01] [ 1.07727044e-01 -2.21196757e-03 9.94178048e-01 5.18335395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.185099893 meters 0.05799506300868639 Centerline is valid? [True, True] Translation: X:487.72, Y:96.95, Z:51.84 [[ 9.56420401e-01 -2.72782069e-01 -1.04163136e-01 4.87724474e+02] [ 2.71377815e-01 9.62074214e-01 -2.76999726e-02 9.69545352e+01] [ 1.07768723e-01 -1.77474544e-03 9.94174408e-01 5.18396772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.2450998929999 meters 0.05717109669664305 Centerline is valid? [True, True] Translation: X:487.78, Y:96.97, Z:51.85 [[ 9.56552864e-01 -2.72372806e-01 -1.04017658e-01 4.87779592e+02] [ 2.70970024e-01 9.62190249e-01 -2.76617091e-02 9.69746620e+01] [ 1.07619074e-01 -1.72578026e-03 9.94190704e-01 5.18469389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.3050998929999 meters 0.05721620646310937 Centerline is valid? [True, True] Translation: X:487.84, Y:96.99, Z:51.85 [[ 9.56246850e-01 -2.73409683e-01 -1.04111028e-01 4.87835652e+02] [ 2.72009160e-01 9.61895934e-01 -2.76988942e-02 9.69889663e+01] [ 1.07717120e-01 -1.83217292e-03 9.94179896e-01 5.18525477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.3650998929999 meters 0.057412955914061765 Centerline is valid? [True, True] Translation: X:487.89, Y:97.00, Z:51.86 [[ 9.55045058e-01 -2.77389201e-01 -1.04614383e-01 4.87894188e+02] [ 2.75998374e-01 9.60754910e-01 -2.78370348e-02 9.70033994e+01] [ 1.08230475e-01 -2.28777717e-03 9.94123197e-01 5.18587961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.4250998929999 meters 0.058112508323444056 Centerline is valid? [True, True] Translation: X:487.95, Y:97.02, Z:51.86 [[ 9.53680445e-01 -2.81943791e-01 -1.04887121e-01 4.87952869e+02] [ 2.80573092e-01 9.59426804e-01 -2.79096198e-02 9.70153576e+01] [ 1.08500459e-01 -2.81164517e-03 9.94092423e-01 5.18647784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.4850998929999 meters 0.058612734201147876 Centerline is valid? [True, True] Translation: X:488.01, Y:97.02, Z:51.87 [[ 9.51348188e-01 -2.89701206e-01 -1.04927763e-01 4.88012925e+02] [ 2.88376296e-01 9.57109998e-01 -2.79206759e-02 9.70243076e+01] [ 1.08516065e-01 -3.69639526e-03 9.94087823e-01 5.18706969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.54509989299993 meters 0.05777212613741723 Centerline is valid? [True, True] Translation: X:488.07, Y:97.04, Z:51.88 [[ 9.49895673e-01 -2.94567965e-01 -1.04536713e-01 4.88069685e+02] [ 2.93282298e-01 9.55621141e-01 -2.78159609e-02 9.70436630e+01] [ 1.08091184e-01 -4.23650639e-03 9.94131957e-01 5.18777324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.60509989299993 meters 0.06176096193044636 Centerline is valid? [True, True] Translation: X:488.13, Y:97.04, Z:51.88 [[ 9.47998976e-01 -3.00580567e-01 -1.04638732e-01 4.88131220e+02] [ 2.99328692e-01 9.53743709e-01 -2.78437138e-02 9.70431817e+01] [ 1.08167812e-01 -4.92556256e-03 9.94120447e-01 5.18828653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.66509989299993 meters 0.06258085749460916 Centerline is valid? [True, True] Translation: X:488.19, Y:97.06, Z:51.89 [[ 9.46739818e-01 -3.04461066e-01 -1.04819734e-01 4.88189771e+02] [ 3.03228375e-01 9.52509604e-01 -2.78927738e-02 9.70557557e+01] [ 1.08334067e-01 -5.37711801e-03 9.94100003e-01 5.18883322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.72509989299994 meters 0.06065655589022006 Centerline is valid? [True, True] Translation: X:488.25, Y:97.08, Z:51.89 [[ 9.44874341e-01 -3.09881970e-01 -1.05762204e-01 4.88246113e+02] [ 3.08660587e-01 9.50755773e-01 -2.81443035e-02 9.70783727e+01] [ 1.09275438e-01 -6.05179379e-03 9.93993086e-01 5.18943531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.78509989299994 meters 0.06499869914403084 Centerline is valid? [True, True] Translation: X:488.31, Y:97.08, Z:51.90 [[ 9.43994622e-01 -3.12223818e-01 -1.06726011e-01 4.88306572e+02] [ 3.10994905e-01 9.49987141e-01 -2.84007121e-02 9.70811362e+01] [ 1.10255717e-01 -6.38112614e-03 9.93882769e-01 5.18990560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.84509989299994 meters 0.0624452686786546 Centerline is valid? [True, True] Translation: X:488.36, Y:97.10, Z:51.91 [[ 9.43609721e-01 -3.13451078e-01 -1.06532228e-01 4.88361972e+02] [ 3.12234293e-01 9.49582024e-01 -2.83500580e-02 9.71049831e+01] [ 1.10047445e-01 -6.51162459e-03 9.93905005e-01 5.19062834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.90509989299994 meters 0.05804362005770665 Centerline is valid? [True, True] Translation: X:488.41, Y:97.14, Z:51.91 [[ 9.44225648e-01 -3.11972344e-01 -1.05409593e-01 4.88414382e+02] [ 3.10771845e-01 9.50070489e-01 -2.80521987e-02 9.71380935e+01] [ 1.08898054e-01 -6.27072819e-03 9.94033144e-01 5.19142397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.96509989299994 meters 0.05652730673106818 Centerline is valid? [True, True] Translation: X:488.47, Y:97.17, Z:51.92 [[ 9.45147387e-01 -3.08996232e-01 -1.05913855e-01 4.88469445e+02] [ 3.07765432e-01 9.51044620e-01 -2.81881021e-02 9.71657076e+01] [ 1.09438820e-01 -5.95471230e-03 9.93975697e-01 5.19210163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.02509989299995 meters 0.05660777888791128 Centerline is valid? [True, True] Translation: X:488.53, Y:97.18, Z:51.93 [[ 9.45578800e-01 -3.07410587e-01 -1.06674565e-01 4.88526654e+02] [ 3.06151985e-01 9.51559214e-01 -2.83905573e-02 9.71845756e+01] [ 1.10234724e-01 -5.81312085e-03 9.93888582e-01 5.19270674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.08509989299995 meters 0.05719013153727755 Centerline is valid? [True, True] Translation: X:488.58, Y:97.20, Z:51.93 [[ 9.45919970e-01 -3.06344671e-01 -1.06716224e-01 4.88583272e+02] [ 3.05078221e-01 9.51903653e-01 -2.84027122e-02 9.71992617e+01] [ 1.10284583e-01 -5.69010296e-03 9.93883763e-01 5.19324195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.14509989299995 meters 0.056413914654838956 Centerline is valid? [True, True] Translation: X:488.64, Y:97.22, Z:51.94 [[ 9.46328931e-01 -3.05416431e-01 -1.05746666e-01 4.88638619e+02] [ 3.04166858e-01 9.52202839e-01 -2.81474068e-02 9.72211143e+01] [ 1.09288956e-01 -5.52792561e-03 9.93994651e-01 5.19396136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.20509989299995 meters 0.05658245567364204 Centerline is valid? [True, True] Translation: X:488.70, Y:97.24, Z:51.95 [[ 9.46667825e-01 -3.04463436e-01 -1.05461109e-01 4.88695952e+02] [ 3.03214530e-01 9.52508710e-01 -2.80732358e-02 9.72381046e+01] [ 1.08999898e-01 -5.40131144e-03 9.94027086e-01 5.19464852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.26509989299996 meters 0.057099430183506376 Centerline is valid? [True, True] Translation: X:488.75, Y:97.26, Z:51.95 [[ 9.47772937e-01 -3.00920639e-01 -1.05703498e-01 4.88752156e+02] [ 2.99643931e-01 9.53636055e-01 -2.81387298e-02 9.72562839e+01] [ 1.09270191e-01 -5.00428504e-03 9.93999488e-01 5.19521525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.32509989299996 meters 0.059863657583580816 Centerline is valid? [True, True] Translation: X:488.81, Y:97.26, Z:51.96 [[ 9.49054301e-01 -2.96776394e-01 -1.05923107e-01 4.88811310e+02] [ 2.95468486e-01 9.54936232e-01 -2.81987059e-02 9.72635553e+01] [ 1.09518523e-01 -4.53483688e-03 9.93974410e-01 5.19565710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.38509989299996 meters 0.05783991161960331 Centerline is valid? [True, True] Translation: X:488.87, Y:97.29, Z:51.96 [[ 9.51195895e-01 -2.90063036e-01 -1.05308140e-01 4.88866130e+02] [ 2.88729095e-01 9.57000244e-01 -2.80364486e-02 9.72907407e+01] [ 1.08912253e-01 -3.73736910e-03 9.94044342e-01 5.19638648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.44509989299996 meters 0.057434664984432164 Centerline is valid? [True, True] Translation: X:488.92, Y:97.31, Z:51.97 [[ 9.52653370e-01 -2.85341304e-01 -1.05032834e-01 4.88922303e+02] [ 2.83985776e-01 9.58420664e-01 -2.79626410e-02 9.73101696e+01] [ 1.08644535e-01 -3.18912679e-03 9.94075548e-01 5.19694476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.50509989299997 meters 0.05616382802620194 Centerline is valid? [True, True] Translation: X:488.98, Y:97.33, Z:51.98 [[ 9.54116048e-01 -2.80575481e-01 -1.04594293e-01 4.88978794e+02] [ 2.79202566e-01 9.59828351e-01 -2.78471468e-02 9.73330573e+01] [ 1.08205794e-01 -2.63358534e-03 9.94125027e-01 5.19760981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.56509989299997 meters 0.056547616517334594 Centerline is valid? [True, True] Translation: X:489.03, Y:97.35, Z:51.98 [[ 9.56337046e-01 -2.72755714e-01 -1.04994164e-01 4.89034457e+02] [ 2.71325253e-01 9.62081722e-01 -2.79529419e-02 9.73527473e+01] [ 1.08637291e-01 -1.75513429e-03 9.94079905e-01 5.19803816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.62509989299997 meters 0.05611877030659282 Centerline is valid? [True, True] Translation: X:489.09, Y:97.37, Z:51.99 [[ 9.57736470e-01 -2.68077798e-01 -1.04283981e-01 4.89090517e+02] [ 2.66638846e-01 9.63396502e-01 -2.77652017e-02 9.73742280e+01] [ 1.07910056e-01 -1.21441409e-03 9.94159919e-01 5.19874317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.685099893 meters 0.05603689384965656 Centerline is valid? [True, True] Translation: X:489.15, Y:97.39, Z:51.99 [[ 9.59460487e-01 -2.62338886e-01 -1.03023705e-01 4.89145011e+02] [ 2.60901447e-01 9.64975645e-01 -2.74306444e-02 9.73932086e+01] [ 1.06611491e-01 -5.60414184e-04 9.94300596e-01 5.19940898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.7450998929999 meters 0.056116195100297965 Centerline is valid? [True, True] Translation: X:489.20, Y:97.41, Z:52.00 [[ 9.59860803e-01 -2.60933597e-01 -1.02863491e-01 4.89201500e+02] [ 2.59492090e-01 9.65356669e-01 -2.73926376e-02 9.74090460e+01] [ 1.06447617e-01 -3.99143161e-04 9.94318232e-01 5.19999467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.8050998929999 meters 0.05624014127459988 Centerline is valid? [True, True] Translation: X:489.26, Y:97.43, Z:52.01 [[ 9.60439118e-01 -2.58694640e-01 -1.03120240e-01 4.89257531e+02] [ 2.57231733e-01 9.65959142e-01 -2.74731127e-02 9.74253124e+01] [ 1.06717086e-01 -1.39545862e-04 9.94289417e-01 5.20053137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.8650998929999 meters 0.05620565654090622 Centerline is valid? [True, True] Translation: X:489.31, Y:97.44, Z:52.01 [[ 9.60387568e-01 -2.58604515e-01 -1.03824005e-01 4.89312995e+02] [ 2.57119653e-01 9.65983277e-01 -2.76729717e-02 9.74390911e+01] [ 1.07448608e-01 -1.18414265e-04 9.94210633e-01 5.20107333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.9250998929999 meters 0.05655606669919913 Centerline is valid? [True, True] Translation: X:489.37, Y:97.45, Z:52.02 [[ 9.60116484e-01 -2.59683907e-01 -1.03636888e-01 4.89369070e+02] [ 2.58210130e-01 9.65693644e-01 -2.76281599e-02 9.74520986e+01] [ 1.07256073e-01 -2.33842638e-04 9.94231402e-01 5.20174657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.9850998929999 meters 0.05567666151790136 Centerline is valid? [True, True] Translation: X:489.43, Y:97.46, Z:52.02 [[ 9.59179736e-01 -2.63615878e-01 -1.02376282e-01 4.89426740e+02] [ 2.62198740e-01 9.64627515e-01 -2.73052695e-02 9.74615496e+01] [ 1.05953081e-01 -6.52270845e-04 9.94370916e-01 5.20230763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.04509989299993 meters 0.05536572011890111 Centerline is valid? [True, True] Translation: X:489.49, Y:97.47, Z:52.03 [[ 9.57491450e-01 -2.69842304e-01 -1.01957118e-01 4.89485242e+02] [ 2.68470712e-01 9.62903618e-01 -2.72047654e-02 9.74729243e+01] [ 1.05515874e-01 -1.32416980e-03 9.94416737e-01 5.20301422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.10509989299993 meters 0.05724182648284885 Centerline is valid? [True, True] Translation: X:489.55, Y:97.47, Z:52.04 [[ 9.55973693e-01 -2.75176387e-01 -1.01942411e-01 4.89545627e+02] [ 2.73835186e-01 9.61391859e-01 -2.72026557e-02 9.74741687e+01] [ 1.05492132e-01 -1.91039582e-03 9.94418303e-01 5.20354831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.16509989299993 meters 0.05772452341012505 Centerline is valid? [True, True] Translation: X:489.61, Y:97.48, Z:52.04 [[ 9.53575213e-01 -2.83705969e-01 -1.01020969e-01 4.89606241e+02] [ 2.82436449e-01 9.58907158e-01 -2.69576477e-02 9.74804146e+01] [ 1.04517776e-01 -2.82585908e-03 9.94519004e-01 5.20426480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.22509989299994 meters 0.057784618847911216 Centerline is valid? [True, True] Translation: X:489.67, Y:97.49, Z:52.05 [[ 9.51837551e-01 -2.89640966e-01 -1.00565340e-01 4.89665210e+02] [ 2.88415844e-01 9.57129109e-01 -2.68359760e-02 9.74932929e+01] [ 1.04026813e-01 -3.46114781e-03 9.94568471e-01 5.20487529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.28509989299994 meters 0.058882843288886 Centerline is valid? [True, True] Translation: X:489.73, Y:97.50, Z:52.05 [[ 9.49199882e-01 -2.97989768e-01 -1.01102334e-01 4.89725628e+02] [ 2.96798627e-01 9.54558927e-01 -2.69783301e-02 9.74960565e+01] [ 1.04547402e-01 -4.39920610e-03 9.94510175e-01 5.20544187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.34509989299994 meters 0.05822501693332171 Centerline is valid? [True, True] Translation: X:489.78, Y:97.51, Z:52.06 [[ 9.47589758e-01 -3.03137874e-01 -1.00901338e-01 4.89783532e+02] [ 3.01980439e-01 9.52933819e-01 -2.69249235e-02 9.75107399e+01] [ 1.04314261e-01 -4.95644859e-03 9.94532035e-01 5.20608516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.40509989299994 meters 0.06496344649052783 Centerline is valid? [True, True] Translation: X:489.85, Y:97.51, Z:52.07 [[ 9.46077969e-01 -3.07669188e-01 -1.01371334e-01 4.89845978e+02] [ 3.06526738e-01 9.51477603e-01 -2.70505201e-02 9.75059856e+01] [ 1.04775165e-01 -5.48112313e-03 9.94480830e-01 5.20672365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.46509989299994 meters 0.0563544977974567 Centerline is valid? [True, True] Translation: X:489.90, Y:97.54, Z:52.07 [[ 9.44409884e-01 -3.12694403e-01 -1.01548913e-01 4.89897960e+02] [ 3.11576755e-01 9.49834525e-01 -2.70979997e-02 9.75439476e+01] [ 1.04928057e-01 -6.04866212e-03 9.94461420e-01 5.20736240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.52509989299995 meters 0.05578306029350606 Centerline is valid? [True, True] Translation: X:489.96, Y:97.56, Z:52.08 [[ 9.43882736e-01 -3.14127809e-01 -1.02024994e-01 4.89956057e+02] [ 3.13008064e-01 9.49360207e-01 -2.72240602e-02 9.75616474e+01] [ 1.05410304e-01 -6.23832530e-03 9.94409247e-01 5.20798360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.58509989299995 meters 0.06214083149033869 Centerline is valid? [True, True] Translation: X:490.02, Y:97.55, Z:52.09 [[ 9.43870674e-01 -3.13815332e-01 -1.03092623e-01 4.90017802e+02] [ 3.12670229e-01 9.49463336e-01 -2.75082002e-02 9.75544843e+01] [ 1.06515160e-01 -6.26981044e-03 9.94291310e-01 5.20851798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.64509989299995 meters 0.06082137538833547 Centerline is valid? [True, True] Translation: X:490.07, Y:97.57, Z:52.09 [[ 9.44811017e-01 -3.10976489e-01 -1.03081359e-01 4.90074746e+02] [ 3.09814106e-01 9.50399027e-01 -2.75119740e-02 9.75741747e+01] [ 1.06524000e-01 -5.94244301e-03 9.94292374e-01 5.20920833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.70509989299995 meters 0.059516072836871985 Centerline is valid? [True, True] Translation: X:490.13, Y:97.60, Z:52.10 [[ 9.45926691e-01 -3.07797339e-01 -1.02388931e-01 4.90131207e+02] [ 3.06631645e-01 9.51435796e-01 -2.73305772e-02 9.75951871e+01] [ 1.05828773e-01 -5.54296397e-03 9.94368919e-01 5.20988720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.76509989299996 meters 0.06209908227853366 Centerline is valid? [True, True] Translation: X:490.19, Y:97.60, Z:52.10 [[ 9.47169317e-01 -3.03994998e-01 -1.02261067e-01 4.90189994e+02] [ 3.02810180e-01 9.52659915e-01 -2.72961897e-02 9.76030561e+01] [ 1.05717925e-01 -5.11157886e-03 9.94383021e-01 5.21049268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.82509989299996 meters 0.060558817771720015 Centerline is valid? [True, True] Translation: X:490.25, Y:97.63, Z:52.11 [[ 9.48830626e-01 -2.98795157e-01 -1.02185604e-01 4.90245434e+02] [ 2.97581936e-01 9.54306532e-01 -2.72769838e-02 9.76267771e+01] [ 1.05666620e-01 -4.52735227e-03 9.94391306e-01 5.21114628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.88509989299996 meters 0.057778635712783466 Centerline is valid? [True, True] Translation: X:490.30, Y:97.65, Z:52.12 [[ 9.49827745e-01 -2.95874185e-01 -1.01418547e-01 4.90300705e+02] [ 2.94662508e-01 9.55217817e-01 -2.70726321e-02 9.76531421e+01] [ 1.04886896e-01 -4.16990636e-03 9.94475415e-01 5.21181162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.94509989299996 meters 0.05852030231849803 Centerline is valid? [True, True] Translation: X:490.36, Y:97.67, Z:52.12 [[ 9.51279875e-01 -2.90904780e-01 -1.02181251e-01 4.90357341e+02] [ 2.89646164e-01 9.56745052e-01 -2.72764474e-02 9.76703548e+01] [ 1.05696255e-01 -3.64887183e-03 9.94391768e-01 5.21233018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.00509989299997 meters 0.057961528596514975 Centerline is valid? [True, True] Translation: X:490.41, Y:97.69, Z:52.13 [[ 9.52510665e-01 -2.86791254e-01 -1.02343582e-01 4.90413788e+02] [ 2.85504843e-01 9.57987766e-01 -2.73207681e-02 9.76905945e+01] [ 1.05879257e-01 -3.19626525e-03 9.94373857e-01 5.21292538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.06509989299997 meters 0.0571879925710406 Centerline is valid? [True, True] Translation: X:490.47, Y:97.71, Z:52.14 [[ 9.54837651e-01 -2.78971191e-01 -1.02274800e-01 4.90468848e+02] [ 2.77641655e-01 9.60296655e-01 -2.73028715e-02 9.77125394e+01] [ 1.05830863e-01 -2.32593510e-03 9.94381425e-01 5.21358887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.12509989299997 meters 0.05591383144905347 Centerline is valid? [True, True] Translation: X:490.52, Y:97.74, Z:52.14 [[ 9.56584700e-01 -2.72889482e-01 -1.02357423e-01 4.90522440e+02] [ 2.71522941e-01 9.62043969e-01 -2.73257027e-02 9.77430873e+01] [ 1.05929238e-01 -1.65303948e-03 9.94372296e-01 5.21431067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.185099893 meters 0.05627724042674712 Centerline is valid? [True, True] Translation: X:490.58, Y:97.76, Z:52.15 [[ 9.59157128e-01 -2.63791073e-01 -1.02136540e-01 4.90579835e+02] [ 2.62378844e-01 9.64579625e-01 -2.72669900e-02 9.77585982e+01] [ 1.05711614e-01 -6.45139388e-04 9.94396620e-01 5.21486520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.2450998929999 meters 0.055668509186518146 Centerline is valid? [True, True] Translation: X:490.63, Y:97.78, Z:52.16 [[ 9.60425828e-01 -2.59370014e-01 -1.01535338e-01 4.90634869e+02] [ 2.57949670e-01 9.65778013e-01 -2.71071341e-02 9.77782250e+01] [ 1.05091374e-01 -1.56615057e-04 9.94462558e-01 5.21556896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.3050998929999 meters 0.056027922348433304 Centerline is valid? [True, True] Translation: X:490.69, Y:97.79, Z:52.16 [[ 9.60930377e-01 -2.57468415e-01 -1.01601313e-01 4.90690637e+02] [ 2.56034321e-01 9.66286713e-01 -2.71369683e-02 9.77942990e+01] [ 1.05162911e-01 6.33138355e-05 9.94455006e-01 5.21619740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.3650998929999 meters 0.05691051139502659 Centerline is valid? [True, True] Translation: X:490.75, Y:97.81, Z:52.17 [[ 9.60285299e-01 -2.59568612e-01 -1.02353700e-01 4.90747203e+02] [ 2.58123523e-01 9.65724656e-01 -2.73520569e-02 9.78061338e+01] [ 1.05945227e-01 -1.54119319e-04 9.94371955e-01 5.21672325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.4250998929999 meters 0.05635022728087364 Centerline is valid? [True, True] Translation: X:490.81, Y:97.81, Z:52.17 [[ 9.58175770e-01 -2.66897855e-01 -1.03270172e-01 4.90805997e+02] [ 2.65467588e-01 9.63724346e-01 -2.76105886e-02 9.78134113e+01] [ 1.06893186e-01 -9.59086391e-04 9.94270047e-01 5.21730927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.4850998929999 meters 0.056982157260537604 Centerline is valid? [True, True] Translation: X:490.86, Y:97.82, Z:52.18 [[ 9.56587027e-01 -2.72861233e-01 -1.02410973e-01 4.90864756e+02] [ 2.71488454e-01 9.62052057e-01 -2.73835666e-02 9.78241225e+01] [ 1.05996601e-01 -1.60863225e-03 9.94365191e-01 5.21799080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.54509989299993 meters 0.057803686931661845 Centerline is valid? [True, True] Translation: X:490.93, Y:97.83, Z:52.19 [[ 9.54335589e-01 -2.80809460e-01 -1.01929535e-01 4.90925702e+02] [ 2.79494478e-01 9.59760341e-01 -2.72566333e-02 9.78266432e+01] [ 1.05481845e-01 -2.47676687e-03 9.94418144e-01 5.21861549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.60509989299993 meters 0.05652293235786807 Centerline is valid? [True, True] Translation: X:490.98, Y:97.85, Z:52.19 [[ 9.53114484e-01 -2.85056464e-01 -1.01565703e-01 4.90982536e+02] [ 2.83774781e-01 9.58506233e-01 -2.71601840e-02 9.78457518e+01] [ 1.05093546e-01 -2.93502043e-03 9.94458009e-01 5.21928266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.66509989299993 meters 0.056689746266822286 Centerline is valid? [True, True] Translation: X:491.04, Y:97.86, Z:52.20 [[ 9.51921384e-01 -2.88954432e-01 -1.01739939e-01 4.91041622e+02] [ 2.87690534e-01 9.57336916e-01 -2.72063663e-02 9.78577691e+01] [ 1.05260800e-01 -3.37129565e-03 9.94438936e-01 5.21996192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.72509989299994 meters 0.05887352211814633 Centerline is valid? [True, True] Translation: X:491.10, Y:97.86, Z:52.21 [[ 9.50476110e-01 -2.93413141e-01 -1.02488504e-01 4.91101937e+02] [ 2.92156290e-01 9.55977809e-01 -2.74067643e-02 9.78627889e+01] [ 1.06018241e-01 -3.89318641e-03 9.94356564e-01 5.22051470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.78509989299994 meters 0.05847929967375239 Centerline is valid? [True, True] Translation: X:491.16, Y:97.88, Z:52.21 [[ 9.47612860e-01 -3.02454781e-01 -1.02717927e-01 4.91160924e+02] [ 3.01244903e-01 9.53151071e-01 -2.74689635e-02 9.78750947e+01] [ 1.06213822e-01 -4.91330891e-03 9.94331174e-01 5.22116145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.84509989299994 meters 0.058519504158550666 Centerline is valid? [True, True] Translation: X:491.22, Y:97.89, Z:52.22 [[ 9.45242016e-01 -3.09334944e-01 -1.04064521e-01 4.91220191e+02] [ 3.08134412e-01 9.50935703e-01 -2.78293621e-02 9.78870977e+01] [ 1.07567262e-01 -5.76037755e-03 9.94181121e-01 5.22170707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.90509989299994 meters 0.058007658472531635 Centerline is valid? [True, True] Translation: X:491.28, Y:97.90, Z:52.22 [[ 9.42369356e-01 -3.17283018e-01 -1.06167239e-01 4.91277821e+02] [ 3.16083331e-01 9.48306501e-01 -2.83920254e-02 9.79038238e+01] [ 1.09687391e-01 -6.80191996e-03 9.93942861e-01 5.22220889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.96509989299994 meters 0.058967929623641634 Centerline is valid? [True, True] Translation: X:491.34, Y:97.92, Z:52.23 [[ 9.41416021e-01 -3.19881365e-01 -1.06825971e-01 4.91336593e+02] [ 3.18683308e-01 9.47430633e-01 -2.85682582e-02 9.79182577e+01] [ 1.10348651e-01 -7.14903802e-03 9.93867228e-01 5.22277981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.02509989299995 meters 0.05712370630453672 Centerline is valid? [True, True] Translation: X:491.39, Y:97.94, Z:52.24 [[ 9.41185721e-01 -3.20435553e-01 -1.07193726e-01 4.91391100e+02] [ 3.19232709e-01 9.47242662e-01 -2.86673379e-02 9.79415295e+01] [ 1.10724504e-01 -7.23845435e-03 9.93824778e-01 5.22353569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.08509989299995 meters 0.05935086402530634 Centerline is valid? [True, True] Translation: X:491.45, Y:97.95, Z:52.24 [[ 9.41684430e-01 -3.19240272e-01 -1.06377078e-01 4.91449394e+02] [ 3.18046795e-01 9.47647722e-01 -2.84610293e-02 9.79539302e+01] [ 1.09893902e-01 -7.03158053e-03 9.93918451e-01 5.22413509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.14509989299995 meters 0.060620256832557416 Centerline is valid? [True, True] Translation: X:491.51, Y:97.97, Z:52.25 [[ 9.42799382e-01 -3.16109163e-01 -1.05850471e-01 4.91506835e+02] [ 3.14907515e-01 9.48699659e-01 -2.83233914e-02 9.79668602e+01] [ 1.09373589e-01 -6.62983294e-03 9.93978603e-01 5.22479075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.20509989299995 meters 0.0591293142303961 Centerline is valid? [True, True] Translation: X:491.56, Y:97.99, Z:52.26 [[ 9.44963563e-01 -3.10045008e-01 -1.04479459e-01 4.91561401e+02] [ 3.08837306e-01 9.50703892e-01 -2.79576043e-02 9.79939556e+01] [ 1.07997144e-01 -5.84823724e-03 9.94134003e-01 5.22557908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.26509989299996 meters 0.05881442582041145 Centerline is valid? [True, True] Translation: X:491.62, Y:98.01, Z:52.26 [[ 9.46499431e-01 -3.05440101e-01 -1.04140158e-01 4.91618509e+02] [ 3.04212445e-01 9.52196517e-01 -2.78672012e-02 9.80143279e+01] [ 1.07673656e-01 -5.30444190e-03 9.94172141e-01 5.22626472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.32509989299996 meters 0.058013916220400114 Centerline is valid? [True, True] Translation: X:491.67, Y:98.04, Z:52.27 [[ 9.48512623e-01 -2.98926318e-01 -1.04722780e-01 4.91674416e+02] [ 2.97644981e-01 9.54265169e-01 -2.80259240e-02 9.80352151e+01] [ 1.08310987e-01 -4.58726704e-03 9.94106477e-01 5.22675122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.38509989299996 meters 0.05707911930238656 Centerline is valid? [True, True] Translation: X:491.73, Y:98.06, Z:52.27 [[ 9.50287920e-01 -2.92614818e-01 -1.06439832e-01 4.91730545e+02] [ 2.91251483e-01 9.56222316e-01 -2.84860726e-02 9.80589379e+01] [ 1.10115589e-01 -3.93078829e-03 9.93911015e-01 5.22724115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.44509989299996 meters 0.056430129668021606 Centerline is valid? [True, True] Translation: X:491.79, Y:98.09, Z:52.28 [[ 9.51606794e-01 -2.87883568e-01 -1.07552599e-01 4.91785686e+02] [ 2.86461344e-01 9.57659316e-01 -2.87842360e-02 9.80850832e+01] [ 1.11285257e-01 -3.41838762e-03 9.93782625e-01 5.22792095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.50509989299997 meters 0.05635019639708594 Centerline is valid? [True, True] Translation: X:491.84, Y:98.11, Z:52.28 [[ 9.54385002e-01 -2.78592235e-01 -1.07404074e-01 4.91840683e+02] [ 2.77114958e-01 9.60406657e-01 -2.87463723e-02 9.81104442e+01] [ 1.11160104e-01 -2.32816880e-03 9.93799784e-01 5.22846881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.56509989299997 meters 0.05567138542878546 Centerline is valid? [True, True] Translation: X:491.90, Y:98.13, Z:52.29 [[ 9.56675564e-01 -2.70836772e-01 -1.06861162e-01 4.91896508e+02] [ 2.69326016e-01 9.62624243e-01 -2.86018286e-02 9.81346399e+01] [ 1.10613572e-01 -1.41782065e-03 9.93862479e-01 5.22918728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.62509989299997 meters 0.055001707348935225 Centerline is valid? [True, True] Translation: X:491.95, Y:98.16, Z:52.30 [[ 9.58931935e-01 -2.63010060e-01 -1.06184993e-01 4.91950553e+02] [ 2.61470388e-01 9.64792956e-01 -2.84216080e-02 9.81572085e+01] [ 1.09921702e-01 -5.09843816e-04 9.93940119e-01 5.22989101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.685099893 meters 0.05540171642639236 Centerline is valid? [True, True] Translation: X:492.00, Y:98.18, Z:52.31 [[ 9.61450328e-01 -2.53916706e-01 -1.05544174e-01 4.92003639e+02] [ 2.52340502e-01 9.67225943e-01 -2.82532562e-02 9.81815452e+01] [ 1.09259037e-01 5.31032466e-04 9.94013169e-01 5.23054089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.7450998929999 meters 0.05550817551251665 Centerline is valid? [True, True] Translation: X:492.06, Y:98.20, Z:52.31 [[ 9.62282609e-01 -2.50953447e-01 -1.05045462e-01 4.92058565e+02] [ 2.49373527e-01 9.67998764e-01 -2.81289478e-02 9.81974165e+01] [ 1.08742933e-01 8.72440015e-04 9.94069521e-01 5.23126664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.8050998929999 meters 0.05618570474537703 Centerline is valid? [True, True] Translation: X:492.11, Y:98.21, Z:52.32 [[ 9.61836255e-01 -2.52799613e-01 -1.04706130e-01 4.92114455e+02] [ 2.51240030e-01 9.67518428e-01 -2.80452974e-02 9.82137126e+01] [ 1.08394951e-01 6.68612638e-04 9.94107684e-01 5.23174110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.8650998929999 meters 0.05589081703938833 Centerline is valid? [True, True] Translation: X:492.17, Y:98.22, Z:52.32 [[ 9.60309662e-01 -2.58167832e-01 -1.05615930e-01 4.92171883e+02] [ 2.56612023e-01 9.66100080e-01 -2.83002523e-02 9.82236529e+01] [ 1.09341773e-01 7.46882958e-05 9.94004211e-01 5.23243847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.9250998929999 meters 0.05582955820246534 Centerline is valid? [True, True] Translation: X:492.23, Y:98.23, Z:52.33 [[ 9.59257625e-01 -2.62011309e-01 -1.05711318e-01 4.92229415e+02] [ 2.60474599e-01 9.65064739e-01 -2.83378382e-02 9.82349046e+01] [ 1.09443099e-01 -3.51825740e-04 9.93993000e-01 5.23291093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.9850998929999 meters 0.055787682777261906 Centerline is valid? [True, True] Translation: X:492.29, Y:98.24, Z:52.33 [[ 9.58308200e-01 -2.65610748e-01 -1.05339092e-01 4.92286728e+02] [ 2.64105259e-01 9.64080064e-01 -2.82496463e-02 9.82432699e+01] [ 1.09058729e-01 -7.48740533e-04 9.94035026e-01 5.23345266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.04509989299993 meters 0.055199981941447464 Centerline is valid? [True, True] Translation: X:492.34, Y:98.26, Z:52.34 [[ 9.58053693e-01 -2.66634029e-01 -1.05068623e-01 4.92343333e+02] [ 2.65141879e-01 9.63797467e-01 -2.81820183e-02 9.82560953e+01] [ 1.08779158e-01 -8.58205438e-04 9.94065570e-01 5.23415570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.10509989299993 meters 0.05587411111199407 Centerline is valid? [True, True] Translation: X:492.40, Y:98.27, Z:52.35 [[ 9.57911281e-01 -2.67121908e-01 -1.05127842e-01 4.92401465e+02] [ 2.65629727e-01 9.63662322e-01 -2.82095190e-02 9.82684814e+01] [ 1.08843121e-01 -9.02863557e-04 9.94058529e-01 5.23476435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.16509989299993 meters 0.05635049504609037 Centerline is valid? [True, True] Translation: X:492.46, Y:98.28, Z:52.35 [[ 9.57670708e-01 -2.67815307e-01 -1.05554619e-01 4.92457900e+02] [ 2.66314918e-01 9.63469768e-01 -2.83261398e-02 9.82790785e+01] [ 1.09284858e-01 -9.83655275e-04 9.94009986e-01 5.23523337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.22509989299994 meters 0.05566011212305365 Centerline is valid? [True, True] Translation: X:492.51, Y:98.29, Z:52.36 [[ 9.56925786e-01 -2.70025081e-01 -1.06674720e-01 4.92514654e+02] [ 2.68505661e-01 9.62852485e-01 -2.86321875e-02 9.82919834e+01] [ 1.10443428e-01 -1.24388755e-03 9.93881634e-01 5.23592611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.28509989299994 meters 0.056129873656032093 Centerline is valid? [True, True] Translation: X:492.57, Y:98.30, Z:52.36 [[ 9.55261278e-01 -2.75768538e-01 -1.06899972e-01 4.92573995e+02] [ 2.74277022e-01 9.61222195e-01 -2.87055397e-02 9.82996780e+01] [ 1.10670710e-01 -1.89891534e-03 9.93855315e-01 5.23647001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.34509989299994 meters 0.056580213652359 Centerline is valid? [True, True] Translation: X:492.63, Y:98.30, Z:52.37 [[ 9.53762933e-01 -2.81022354e-01 -1.06595985e-01 4.92634347e+02] [ 2.79571868e-01 9.59697967e-01 -2.86248772e-02 9.83029078e+01] [ 1.10344180e-01 -2.49989181e-03 9.93890292e-01 5.23692701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.40509989299994 meters 0.05836437609776998 Centerline is valid? [True, True] Translation: X:492.69, Y:98.31, Z:52.38 [[ 9.51071008e-01 -2.89975711e-01 -1.06667824e-01 4.92694337e+02] [ 2.88579081e-01 9.57027464e-01 -2.86451971e-02 9.83101966e+01] [ 1.10390448e-01 -3.53848615e-03 9.93881999e-01 5.23751859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.46509989299994 meters 0.05655607609734029 Centerline is valid? [True, True] Translation: X:492.75, Y:98.33, Z:52.38 [[ 9.47666131e-01 -3.00751493e-01 -1.07132831e-01 4.92750691e+02] [ 2.99410911e-01 9.53690402e-01 -2.87701947e-02 9.83305589e+01] [ 1.10824231e-01 -4.81219934e-03 9.93828372e-01 5.23826813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.52509989299995 meters 0.05568405690686314 Centerline is valid? [True, True] Translation: X:492.81, Y:98.35, Z:52.39 [[ 9.45324956e-01 -3.08146688e-01 -1.06800494e-01 4.92808796e+02] [ 3.06861164e-01 9.51322022e-01 -2.86816420e-02 9.83479887e+01] [ 1.10439815e-01 -5.65945197e-03 9.93866700e-01 5.23890860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.58509989299995 meters 0.0570384444928312 Centerline is valid? [True, True] Translation: X:492.87, Y:98.35, Z:52.39 [[ 9.44311679e-01 -3.11312811e-01 -1.06582296e-01 4.92868132e+02] [ 3.10052668e-01 9.50288439e-01 -2.86221105e-02 9.83549211e+01] [ 1.10194353e-01 -6.01793192e-03 9.93891840e-01 5.23945200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.64509989299995 meters 0.056744388337992495 Centerline is valid? [True, True] Translation: X:492.93, Y:98.37, Z:52.40 [[ 9.42613265e-01 -3.16712372e-01 -1.05704806e-01 4.92926748e+02] [ 3.15506492e-01 9.48498716e-01 -2.83872981e-02 9.83689442e+01] [ 1.09251481e-01 -6.59230882e-03 9.93992281e-01 5.24015322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.70509989299995 meters 0.061232875608625094 Centerline is valid? [True, True] Translation: X:492.99, Y:98.37, Z:52.41 [[ 9.42625064e-01 -3.16867013e-01 -1.05134607e-01 4.92985494e+02] [ 3.15674986e-01 9.48447198e-01 -2.82350104e-02 9.83738655e+01] [ 1.08661367e-01 -6.57333713e-03 9.94057090e-01 5.24068885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.76509989299996 meters 0.05586850419329278 Centerline is valid? [True, True] Translation: X:493.04, Y:98.41, Z:52.42 [[ 9.42748404e-01 -3.16998712e-01 -1.03620771e-01 4.93040124e+02] [ 3.15840924e-01 9.48403786e-01 -2.78346836e-02 9.84091389e+01] [ 1.07097890e-01 -6.48657646e-03 9.94227321e-01 5.24153519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.82509989299996 meters 0.0569000008178721 Centerline is valid? [True, True] Translation: X:493.10, Y:98.42, Z:52.42 [[ 9.42340386e-01 -3.17055971e-01 -1.07098588e-01 4.93098622e+02] [ 3.15819939e-01 9.48383034e-01 -2.87643439e-02 9.84231813e+01] [ 1.10690391e-01 -6.71806669e-03 9.93832232e-01 5.24189481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.88509989299996 meters 0.05501528535679882 Centerline is valid? [True, True] Translation: X:493.15, Y:98.45, Z:52.42 [[ 9.43016978e-01 -3.14585194e-01 -1.08421100e-01 4.93154136e+02] [ 3.13302280e-01 9.49206925e-01 -2.91186400e-02 9.84490978e+01] [ 1.12074352e-01 -6.50920609e-03 9.93678504e-01 5.24244079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.94509989299996 meters 0.056409280819549344 Centerline is valid? [True, True] Translation: X:493.21, Y:98.46, Z:52.43 [[ 9.45470787e-01 -3.07625042e-01 -1.07013195e-01 4.93212584e+02] [ 3.06330899e-01 9.51491135e-01 -2.87402280e-02 9.84608682e+01] [ 1.10663320e-01 -5.60840227e-03 9.93842128e-01 5.24302966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.00509989299997 meters 0.05919994340669355 Centerline is valid? [True, True] Translation: X:493.27, Y:98.47, Z:52.44 [[ 9.47605341e-01 -3.01038070e-01 -1.06865331e-01 4.93271603e+02] [ 2.99705792e-01 9.53599882e-01 -2.87002236e-02 9.84701788e+01] [ 1.10546627e-01 -4.83167346e-03 9.93859194e-01 5.24355338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.06509989299997 meters 0.05648781832502602 Centerline is valid? [True, True] Translation: X:493.33, Y:98.50, Z:52.44 [[ 9.50634212e-01 -2.91453180e-01 -1.06534687e-01 4.93326332e+02] [ 2.90069023e-01 9.56577927e-01 -2.86117337e-02 9.84985429e+01] [ 1.10247711e-01 -3.70311959e-03 9.93897243e-01 5.24428276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.12509989299997 meters 0.055940577888449895 Centerline is valid? [True, True] Translation: X:493.38, Y:98.52, Z:52.45 [[ 9.52481084e-01 -2.85832271e-01 -1.05260142e-01 4.93381541e+02] [ 2.84446840e-01 9.58274921e-01 -2.82696041e-02 9.85214699e+01] [ 1.08948519e-01 -3.01465154e-03 9.94042822e-01 5.24503053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.185099893 meters 0.05640072756576622 Centerline is valid? [True, True] Translation: X:493.44, Y:98.54, Z:52.46 [[ 9.55798234e-01 -2.74940219e-01 -1.04199861e-01 4.93438849e+02] [ 2.73517686e-01 9.61459729e-01 -2.79868684e-02 9.85379298e+01] [ 1.07878686e-01 -1.75070554e-03 9.94162524e-01 5.24560175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.2450998929999 meters 0.05601958911931922 Centerline is valid? [True, True] Translation: X:493.49, Y:98.56, Z:52.46 [[ 9.58344696e-01 -2.66468205e-01 -1.02811185e-01 4.93494344e+02] [ 2.65034684e-01 9.63843390e-01 -2.76140607e-02 9.85607115e+01] [ 1.06452151e-01 -7.84741456e-04 9.94317517e-01 5.24635530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.3050998929999 meters 0.0561192857617586 Centerline is valid? [True, True] Translation: X:493.55, Y:98.58, Z:52.47 [[ 9.61729310e-01 -2.54968839e-01 -1.00337558e-01 4.93549702e+02] [ 2.53540996e-01 9.66949152e-01 -2.69499881e-02 9.85811797e+01] [ 1.03892724e-01 4.78909135e-04 9.94588394e-01 5.24720477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.3650998929999 meters 0.056048209649719224 Centerline is valid? [True, True] Translation: X:493.61, Y:98.60, Z:52.48 [[ 9.63080592e-01 -2.49808309e-01 -1.00357277e-01 4.93605464e+02] [ 2.48350678e-01 9.68294744e-01 -2.69671974e-02 9.85976884e+01] [ 1.03912053e-01 1.04778679e-03 9.94585938e-01 5.24777550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.4250998929999 meters 0.0564984977393852 Centerline is valid? [True, True] Translation: X:493.66, Y:98.61, Z:52.48 [[ 9.63355158e-01 -2.48448311e-01 -1.01095383e-01 4.93662828e+02] [ 2.46961431e-01 9.68644405e-01 -2.71673931e-02 9.86067451e+01] [ 1.04675170e-01 1.20518775e-03 9.94505735e-01 5.24831398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.4850998929999 meters 0.05599546396503215 Centerline is valid? [True, True] Translation: X:493.72, Y:98.62, Z:52.49 [[ 9.62348025e-01 -2.52561206e-01 -1.00494355e-01 4.93722812e+02] [ 2.51113652e-01 9.67580622e-01 -2.70124783e-02 9.86164458e+01] [ 1.04058695e-01 7.59900619e-04 9.94570868e-01 5.24901417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.54509989299993 meters 0.05639469396334884 Centerline is valid? [True, True] Translation: X:493.79, Y:98.62, Z:52.50 [[ 9.59083044e-01 -2.64247960e-01 -1.01650038e-01 4.93785623e+02] [ 2.62832146e-01 9.64454640e-01 -2.73223368e-02 9.86191556e+01] [ 1.05256723e-01 -5.12507651e-04 9.94444951e-01 5.24952885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.60509989299993 meters 0.05726999820202345 Centerline is valid? [True, True] Translation: X:493.85, Y:98.62, Z:52.50 [[ 9.54866550e-01 -2.79133900e-01 -1.01558544e-01 4.93848737e+02] [ 2.77804369e-01 9.60249784e-01 -2.72962554e-02 9.86154413e+01] [ 1.05140881e-01 -2.14912615e-03 9.94455015e-01 5.25007979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.66509989299993 meters 0.059151337484221536 Centerline is valid? [True, True] Translation: X:493.91, Y:98.61, Z:52.51 [[ 9.51718490e-01 -2.89767795e-01 -1.01323936e-01 4.93911234e+02] [ 2.88504204e-01 9.57091242e-01 -2.72337753e-02 9.86113459e+01] [ 1.04867722e-01 -3.31349390e-03 9.94480659e-01 5.25074032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.72509989299994 meters 0.05855669570238569 Centerline is valid? [True, True] Translation: X:493.97, Y:98.62, Z:52.51 [[ 9.50938283e-01 -2.92654105e-01 -1.00349173e-01 4.93970353e+02] [ 2.91430667e-01 9.56211612e-01 -2.69725731e-02 9.86204860e+01] [ 1.03848679e-01 -3.59557414e-03 9.94586610e-01 5.25140766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.78509989299994 meters 0.05853431384583671 Centerline is valid? [True, True] Translation: X:494.03, Y:98.63, Z:52.52 [[ 9.53038424e-01 -2.85632511e-01 -1.00656999e-01 4.94029854e+02] [ 2.84362350e-01 9.58335024e-01 -2.70561746e-02 9.86276546e+01] [ 1.04191250e-01 -2.83748662e-03 9.94553232e-01 5.25204776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.84509989299994 meters 0.05853431384583671 Centerline is valid? [True, True] Translation: X:494.09, Y:98.64, Z:52.53 [[ 9.53004586e-01 -2.85745496e-01 -1.00656698e-01 4.94085068e+02] [ 2.84475845e-01 9.58301308e-01 -2.70572914e-02 9.86424814e+01] [ 1.04190945e-01 -2.84867648e-03 9.94553232e-01 5.25264573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.90509989299994 meters 0.05771394211924226 Centerline is valid? [True, True] Translation: X:494.14, Y:98.66, Z:52.53 [[ 9.53691333e-01 -2.83410192e-01 -1.00754677e-01 4.94141910e+02] [ 2.82123720e-01 9.58995301e-01 -2.70964708e-02 9.86597275e+01] [ 1.04302678e-01 -2.58361494e-03 9.94542245e-01 5.25325478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.96509989299994 meters 0.05775985899034888 Centerline is valid? [True, True] Translation: X:494.20, Y:98.68, Z:52.54 [[ 9.55213934e-01 -2.77792811e-01 -1.01968109e-01 4.94198916e+02] [ 2.76443050e-01 9.60638945e-01 -2.74236705e-02 9.86755210e+01] [ 1.05572635e-01 -1.99290299e-03 9.94409597e-01 5.25379780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.02509989299995 meters 0.05740413818726334 Centerline is valid? [True, True] Translation: X:494.26, Y:98.69, Z:52.54 [[ 9.57573746e-01 -2.69200577e-01 -1.02876483e-01 4.94256492e+02] [ 2.67776915e-01 9.63083559e-01 -2.76691622e-02 9.86930611e+01] [ 1.06527204e-01 -1.05268393e-03 9.94309231e-01 5.25440938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.08509989299995 meters 0.05757733617487564 Centerline is valid? [True, True] Translation: X:494.31, Y:98.71, Z:52.55 [[ 9.59378813e-01 -2.61721843e-01 -1.05327921e-01 4.94312354e+02] [ 2.60184350e-01 9.65143318e-01 -2.83280638e-02 9.87095931e+01] [ 1.09070612e-01 -2.27332332e-04 9.94033978e-01 5.25512075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.14509989299995 meters 0.05783936633345263 Centerline is valid? [True, True] Translation: X:494.37, Y:98.72, Z:52.56 [[ 9.60108900e-01 -2.58773967e-01 -1.05957226e-01 4.94368784e+02] [ 2.57199598e-01 9.65937897e-01 -2.85016788e-02 9.87232454e+01] [ 1.09723592e-01 1.12559704e-04 9.93962132e-01 5.25567547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.20509989299995 meters 0.05782896912046107 Centerline is valid? [True, True] Translation: X:494.43, Y:98.73, Z:52.56 [[ 9.60152918e-01 -2.58144811e-01 -1.07087021e-01 4.94425497e+02] [ 2.56531143e-01 9.66106214e-01 -2.88193705e-02 9.87345250e+01] [ 1.10897007e-01 1.99846824e-04 9.93831884e-01 5.25615954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.26509989299996 meters 0.05781705957058443 Centerline is valid? [True, True] Translation: X:494.48, Y:98.74, Z:52.57 [[ 9.59475179e-01 -2.60714720e-01 -1.06935566e-01 4.94482219e+02] [ 2.59120937e-01 9.65415883e-01 -2.87839110e-02 9.87449329e+01] [ 1.10741683e-01 -9.17960818e-05 9.93849220e-01 5.25711627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.32509989299996 meters 0.05719654747329482 Centerline is valid? [True, True] Translation: X:494.54, Y:98.75, Z:52.58 [[ 9.57886397e-01 -2.66733470e-01 -1.06333939e-01 4.94540820e+02] [ 2.65192991e-01 9.63770027e-01 -2.86358655e-02 9.87517420e+01] [ 1.10119607e-01 -7.69109265e-04 9.93918045e-01 5.25781751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.38509989299996 meters 0.05786137855390228 Centerline is valid? [True, True] Translation: X:494.60, Y:98.76, Z:52.58 [[ 9.56373768e-01 -2.72103447e-01 -1.06343457e-01 4.94599327e+02] [ 2.70594458e-01 9.62267022e-01 -2.86499249e-02 9.87587508e+01] [ 1.10126545e-01 -1.37591349e-03 9.93916622e-01 5.25844436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.44509989299996 meters 0.057764797507488135 Centerline is valid? [True, True] Translation: X:494.66, Y:98.77, Z:52.59 [[ 9.54501826e-01 -2.78484190e-01 -1.06643422e-01 4.94658409e+02] [ 2.77005971e-01 9.60438485e-01 -2.87334045e-02 9.87675953e+01] [ 1.10426246e-01 -2.11477764e-03 9.93882071e-01 5.25916895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.50509989299997 meters 0.05916453935846841 Centerline is valid? [True, True] Translation: X:494.72, Y:98.77, Z:52.60 [[ 9.52198368e-01 -2.85925563e-01 -1.07539946e-01 4.94717456e+02] [ 2.84469398e-01 9.58247132e-01 -2.89757757e-02 9.87743172e+01] [ 1.11334760e-01 -3.00113740e-03 9.93778428e-01 5.25972967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.56509989299997 meters 0.06208519391943594 Centerline is valid? [True, True] Translation: X:494.78, Y:98.77, Z:52.60 [[ 9.48816802e-01 -2.96821293e-01 -1.07906420e-01 4.94779849e+02] [ 2.95424882e-01 9.54923407e-01 -2.90762015e-02 9.87740843e+01] [ 1.11672802e-01 -4.29025293e-03 9.93735769e-01 5.26024140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.62509989299997 meters 0.06387333443703112 Centerline is valid? [True, True] Translation: X:494.84, Y:98.78, Z:52.61 [[ 9.46906412e-01 -3.02831355e-01 -1.07988041e-01 4.94840202e+02] [ 3.01471562e-01 9.53031036e-01 -2.90988147e-02 9.87826371e+01] [ 1.11727988e-01 -5.00146934e-03 9.93726241e-01 5.26082713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.685099893 meters 0.05932465650438885 Centerline is valid? [True, True] Translation: X:494.89, Y:98.81, Z:52.62 [[ 9.45397272e-01 -3.07626147e-01 -1.07657566e-01 4.94893176e+02] [ 3.06305526e-01 9.51491119e-01 -2.90099337e-02 9.88138324e+01] [ 1.11359432e-01 -5.55019520e-03 9.93764697e-01 5.26177863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.7450998929999 meters 0.06199521916273581 Centerline is valid? [True, True] Translation: X:494.95, Y:98.82, Z:52.62 [[ 9.43995772e-01 -3.11948568e-01 -1.07517779e-01 4.94952475e+02] [ 3.10659139e-01 9.50079720e-01 -2.89728234e-02 9.88204186e+01] [ 1.11188492e-01 -6.05115798e-03 9.93780913e-01 5.26235333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.8050998929999 meters 0.058881199910210416 Centerline is valid? [True, True] Translation: X:495.01, Y:98.85, Z:52.63 [[ 9.43202375e-01 -3.14224978e-01 -1.07851483e-01 4.95006412e+02] [ 3.12942132e-01 9.49327391e-01 -2.90641933e-02 9.88519083e+01] [ 1.11519062e-01 -6.33785678e-03 9.93742084e-01 5.26320056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.8650998929999 meters 0.05934612404293249 Centerline is valid? [True, True] Translation: X:495.06, Y:98.87, Z:52.64 [[ 9.42620307e-01 -3.15995414e-01 -1.07767597e-01 4.95063577e+02] [ 3.14726123e-01 9.48738158e-01 -2.90409382e-02 9.88656353e+01] [ 1.11420034e-01 -6.54269973e-03 9.93751865e-01 5.26376360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.9250998929999 meters 0.06035281639582384 Centerline is valid? [True, True] Translation: X:495.12, Y:98.88, Z:52.64 [[ 9.41702613e-01 -3.18683868e-01 -1.07873909e-01 4.95121679e+02] [ 3.17429348e-01 9.47836197e-01 -2.90715248e-02 9.88774477e+01] [ 1.11511421e-01 -6.86561359e-03 9.93739436e-01 5.26431794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.9850998929999 meters 0.060271065674262124 Centerline is valid? [True, True] Translation: X:495.18, Y:98.90, Z:52.65 [[ 9.41083653e-01 -3.20261036e-01 -1.08602152e-01 4.95177352e+02] [ 3.18999809e-01 9.47302730e-01 -2.92687392e-02 9.88972550e+01] [ 1.12252752e-01 -7.09973377e-03 9.93654323e-01 5.26495046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.0450998929999 meters 0.06697677253139876 Centerline is valid? [True, True] Translation: X:495.24, Y:98.90, Z:52.65 [[ 9.40515815e-01 -3.21574820e-01 -1.09634101e-01 4.95239423e+02] [ 3.20298159e-01 9.46855840e-01 -2.95483988e-02 9.88959393e+01] [ 1.13309710e-01 -7.32486424e-03 9.93532715e-01 5.26519812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.1050998929999 meters 0.06890945354704785 Centerline is valid? [True, True] Translation: X:495.30, Y:98.91, Z:52.66 [[ 9.41167358e-01 -3.19671644e-01 -1.09608595e-01 4.95296261e+02] [ 3.18382753e-01 9.47501829e-01 -2.95415948e-02 9.89147673e+01] [ 1.13297955e-01 -7.09390166e-03 9.93535732e-01 5.26584587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.1650998929999 meters 0.0603671188113417 Centerline is valid? [True, True] Translation: X:495.35, Y:98.96, Z:52.67 [[ 9.42359301e-01 -3.16383741e-01 -1.08904900e-01 4.95345763e+02] [ 3.15089463e-01 9.48607955e-01 -2.93526481e-02 9.89594085e+01] [ 1.12594755e-01 -6.65404558e-03 9.93618712e-01 5.26691548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.2250998929999 meters 0.06540384256730492 Centerline is valid? [True, True] Translation: X:495.41, Y:98.96, Z:52.67 [[ 9.44918804e-01 -3.08838653e-01 -1.08384229e-01 4.95405198e+02] [ 3.07507353e-01 9.51097207e-01 -2.92118176e-02 9.89648577e+01] [ 1.12105676e-01 -5.72615173e-03 9.93679792e-01 5.26730973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.2850998929999 meters 0.05834857092707291 Centerline is valid? [True, True] Translation: X:495.46, Y:99.01, Z:52.68 [[ 9.46578665e-01 -3.03957480e-01 -1.07697172e-01 4.95455070e+02] [ 3.02611447e-01 9.52671876e-01 -2.90277213e-02 9.90097482e+01] [ 1.11423260e-01 -5.11337545e-03 9.93759886e-01 5.26835151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.3450998929999 meters 0.05893415188401859 Centerline is valid? [True, True] Translation: X:495.51, Y:99.03, Z:52.69 [[ 9.48316380e-01 -2.98099064e-01 -1.08779552e-01 4.95510698e+02] [ 2.96687449e-01 9.54524471e-01 -2.93187867e-02 9.90303011e+01] [ 1.12572647e-01 -4.47004192e-03 9.93633442e-01 5.26891003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.4050998929999 meters 0.059205837782284484 Centerline is valid? [True, True] Translation: X:495.57, Y:99.05, Z:52.69 [[ 9.48856204e-01 -2.96092427e-01 -1.09549888e-01 4.95567385e+02] [ 2.94647309e-01 9.55149786e-01 -2.95271089e-02 9.90458927e+01] [ 1.13379305e-01 -4.26159913e-03 9.93542637e-01 5.26941310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.4650998929999 meters 0.05852894535506235 Centerline is valid? [True, True] Translation: X:495.62, Y:99.07, Z:52.70 [[ 9.49104213e-01 -2.95358358e-01 -1.09382964e-01 4.95621762e+02] [ 2.93912478e-01 9.55377462e-01 -2.94849145e-02 9.90691610e+01] [ 1.13210634e-01 -4.16476131e-03 9.93562281e-01 5.27011562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5250998929998 meters 0.060619747266592326 Centerline is valid? [True, True] Translation: X:495.68, Y:99.08, Z:52.71 [[ 9.49292478e-01 -2.94851280e-01 -1.09116975e-01 4.95679217e+02] [ 2.93407683e-01 9.55534436e-01 -2.94257127e-02 9.90789014e+01] [ 1.12941236e-01 -4.08215104e-03 9.93593284e-01 5.27058117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5850998929999 meters 0.059794979892126496 Centerline is valid? [True, True] Translation: X:495.74, Y:99.10, Z:52.71 [[ 9.50435272e-01 -2.91418196e-01 -1.08389244e-01 4.95735390e+02] [ 2.89970858e-01 9.56588817e-01 -2.92358856e-02 9.91018853e+01] [ 1.12203808e-01 -3.64290518e-03 9.93678537e-01 5.27130678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.6450998929998 meters 0.05974041218762268 Centerline is valid? [True, True] Translation: X:495.79, Y:99.12, Z:52.72 [[ 9.51748840e-01 -2.87200578e-01 -1.08120180e-01 4.95791461e+02] [ 2.85733243e-01 9.57865328e-01 -2.91637845e-02 9.91230890e+01] [ 1.11940428e-01 -3.13693169e-03 9.93709968e-01 5.27199576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.7050998929999 meters 0.05792798935194524 Centerline is valid? [True, True] Translation: X:495.85, Y:99.15, Z:52.73 [[ 9.53502870e-01 -2.81022738e-01 -1.08896728e-01 4.95846035e+02] [ 2.79493907e-01 9.59698039e-01 -2.93739611e-02 9.91481722e+01] [ 1.12762727e-01 -2.42781566e-03 9.93618978e-01 5.27267035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.7650998929998 meters 0.05739253869889818 Centerline is valid? [True, True] Translation: X:495.90, Y:99.17, Z:52.73 [[ 9.54326059e-01 -2.78433724e-01 -1.08334826e-01 4.95900934e+02] [ 2.76903802e-01 9.60453130e-01 -2.92244632e-02 9.91686457e+01] [ 1.12187599e-01 -2.10865844e-03 9.93684807e-01 5.27340836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.8250998929999 meters 0.05737061488851673 Centerline is valid? [True, True] Translation: X:495.96, Y:99.19, Z:52.74 [[ 9.54629910e-01 -2.77511165e-01 -1.08024484e-01 4.95955696e+02] [ 2.75983819e-01 9.60720348e-01 -2.91435255e-02 9.91886501e+01] [ 1.11868974e-01 -1.99172867e-03 9.93720970e-01 5.27418221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.8850998929998 meters 0.0573452692217525 Centerline is valid? [True, True] Translation: X:496.01, Y:99.20, Z:52.75 [[ 9.54487759e-01 -2.77810097e-01 -1.08511140e-01 4.96012281e+02] [ 2.76269470e-01 9.60633880e-01 -2.92869873e-02 9.92015660e+01] [ 1.12375698e-01 -2.02424422e-03 9.93663728e-01 5.27464094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.9450998929999 meters 0.05778955274982405 Centerline is valid? [True, True] Translation: X:496.07, Y:99.22, Z:52.75 [[ 9.54248662e-01 -2.78380433e-01 -1.09150473e-01 4.96069457e+02] [ 2.76824449e-01 9.60468603e-01 -2.94667181e-02 9.92151504e+01] [ 1.13038560e-01 -2.09694327e-03 9.93588389e-01 5.27514980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.0050998929999 meters 0.05726951172342188 Centerline is valid? [True, True] Translation: X:496.13, Y:99.23, Z:52.76 [[ 9.53848922e-01 -2.79519382e-01 -1.09732171e-01 4.96125531e+02] [ 2.77952878e-01 9.60137454e-01 -2.96355579e-02 9.92306307e+01] [ 1.13641680e-01 -2.23252775e-03 9.93519292e-01 5.27579144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.0650998929999 meters 0.057595161714480536 Centerline is valid? [True, True] Translation: X:496.18, Y:99.24, Z:52.76 [[ 9.53834478e-01 -2.79629968e-01 -1.09575865e-01 4.96181562e+02] [ 2.78067209e-01 9.60105259e-01 -2.96060806e-02 9.92447311e+01] [ 1.13483111e-01 -2.23015441e-03 9.93537422e-01 5.27633678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.1250998929999 meters 0.0571746031507957 Centerline is valid? [True, True] Translation: X:496.24, Y:99.26, Z:52.77 [[ 9.54419185e-01 -2.78128318e-01 -1.08298931e-01 4.96237822e+02] [ 2.76590716e-01 9.60541816e-01 -2.92744689e-02 9.92606690e+01] [ 1.12167711e-01 -2.01436407e-03 9.93687248e-01 5.27710493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.1850998929999 meters 0.05696823848482044 Centerline is valid? [True, True] Translation: X:496.29, Y:99.28, Z:52.78 [[ 9.55263421e-01 -2.75625186e-01 -1.07249953e-01 4.96293134e+02] [ 2.74100268e-01 9.61263696e-01 -2.90025824e-02 9.92772177e+01] [ 1.11089328e-01 -1.69213466e-03 9.93808985e-01 5.27786728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.2450998929999 meters 0.05751430580555055 Centerline is valid? [True, True] Translation: X:496.35, Y:99.29, Z:52.78 [[ 9.55656151e-01 -2.74325054e-01 -1.07084476e-01 4.96350416e+02] [ 2.72796235e-01 9.61635799e-01 -2.89621063e-02 9.92902823e+01] [ 1.10921297e-01 -1.53442686e-03 9.93828009e-01 5.27842579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.3050998929999 meters 0.05762833107492085 Centerline is valid? [True, True] Translation: X:496.40, Y:99.31, Z:52.79 [[ 9.55621377e-01 -2.73922934e-01 -1.08415910e-01 4.96404968e+02] [ 2.72351853e-01 9.61750482e-01 -2.93339033e-02 9.93089546e+01] [ 1.12304283e-01 -1.49516902e-03 9.93672739e-01 5.27926033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.3650998929999 meters 0.05804792574288121 Centerline is valid? [True, True] Translation: X:496.46, Y:99.32, Z:52.79 [[ 9.55462518e-01 -2.74273794e-01 -1.08927787e-01 4.96463170e+02] [ 2.72689516e-01 9.61650413e-01 -2.94772899e-02 9.93183449e+01] [ 1.12835299e-01 -1.53901981e-03 9.93612513e-01 5.27948800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.4250998929999 meters 0.05824157542116316 Centerline is valid? [True, True] Translation: X:496.52, Y:99.33, Z:52.80 [[ 9.54954825e-01 -2.75982537e-01 -1.09063843e-01 4.96520744e+02] [ 2.74404530e-01 9.61161083e-01 -2.95216433e-02 9.93299124e+01] [ 1.12975379e-01 -1.73577687e-03 9.93596271e-01 5.27999341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.4850998929999 meters 0.05737214714170507 Centerline is valid? [True, True] Translation: X:496.58, Y:99.35, Z:52.81 [[ 9.53576033e-01 -2.80829620e-01 -1.08754193e-01 4.96578221e+02] [ 2.79290699e-01 9.59754901e-01 -2.94488650e-02 9.93460753e+01] [ 1.12647483e-01 -2.29230269e-03 9.93632372e-01 5.28094239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.5450998929999 meters 0.057660855711730734 Centerline is valid? [True, True] Translation: X:496.64, Y:99.36, Z:52.82 [[ 9.52133882e-01 -2.85724813e-01 -1.08638858e-01 4.96636887e+02] [ 2.84220746e-01 9.58307420e-01 -2.94186232e-02 9.93595788e+01] [ 1.12515054e-01 -2.86694926e-03 9.93645884e-01 5.28166718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.6050998929999 meters 0.05861269541005621 Centerline is valid? [True, True] Translation: X:496.70, Y:99.37, Z:52.82 [[ 9.50377414e-01 -2.91557364e-01 -1.08522228e-01 4.96695208e+02] [ 2.90094243e-01 9.56546751e-01 -2.93878228e-02 9.93694939e+01] [ 1.12374820e-01 -3.55215048e-03 9.93659540e-01 5.28226141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.6650998929999 meters 0.06238335351238771 Centerline is valid? [True, True] Translation: X:496.76, Y:99.37, Z:52.83 [[ 9.47146211e-01 -3.01756738e-01 -1.08889516e-01 4.96757345e+02] [ 3.00350655e-01 9.53372985e-01 -2.94861924e-02 9.93666464e+01] [ 1.12709980e-01 -4.77730217e-03 9.93616444e-01 5.28268921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.7250998929999 meters 0.05916617657908878 Centerline is valid? [True, True] Translation: X:496.81, Y:99.39, Z:52.84 [[ 9.43808429e-01 -3.12140365e-01 -1.08600379e-01 4.96812705e+02] [ 3.10809838e-01 9.50017058e-01 -2.94080567e-02 9.93917345e+01] [ 1.12351655e-01 -5.99849459e-03 9.93650403e-01 5.28365431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.7850998929999 meters 0.06275181062272302 Centerline is valid? [True, True] Translation: X:496.87, Y:99.39, Z:52.84 [[ 9.41871506e-01 -3.17769295e-01 -1.09090521e-01 4.96873069e+02] [ 3.16464250e-01 9.48144387e-01 -2.95398120e-02 9.93945061e+01] [ 1.12820410e-01 -6.70054260e-03 9.93592803e-01 5.28410599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.8450998929999 meters 0.0691918807042963 Centerline is valid? [True, True] Translation: X:496.93, Y:99.40, Z:52.85 [[ 9.40370390e-01 -3.22143205e-01 -1.09212113e-01 4.96934403e+02] [ 3.20864472e-01 9.46663319e-01 -2.95727957e-02 9.93975888e+01] [ 1.12913777e-01 -7.23290563e-03 9.93578464e-01 5.28461377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.9050998929999 meters 0.05792651556175335 Centerline is valid? [True, True] Translation: X:496.98, Y:99.44, Z:52.86 [[ 9.40400634e-01 -3.22348068e-01 -1.08343759e-01 4.96982219e+02] [ 3.21090801e-01 9.46593850e-01 -2.93390755e-02 9.94415252e+01] [ 1.12014930e-01 -7.19769926e-03 9.93680456e-01 5.28568669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.9650998929999 meters 0.06320602501096255 Centerline is valid? [True, True] Translation: X:497.04, Y:99.45, Z:52.86 [[ 9.42036994e-01 -3.17609466e-01 -1.08122750e-01 4.97041681e+02] [ 3.16325292e-01 9.48198563e-01 -2.92881196e-02 9.94468501e+01] [ 1.11824021e-01 -6.61146849e-03 9.93706031e-01 5.28620664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.0250998929998 meters 0.057843001343666135 Centerline is valid? [True, True] Translation: X:497.09, Y:99.49, Z:52.87 [[ 9.43966933e-01 -3.12060189e-01 -1.07447050e-01 4.97092579e+02] [ 3.10756085e-01 9.50043926e-01 -2.91066003e-02 9.94861563e+01] [ 1.11162429e-01 -5.91415652e-03 9.93784653e-01 5.28713211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.0850998929999 meters 0.058872306640444516 Centerline is valid? [True, True] Translation: X:497.15, Y:99.50, Z:52.88 [[ 9.47316791e-01 -3.01872486e-01 -1.07069599e-01 4.97149863e+02] [ 3.00512583e-01 9.53336729e-01 -2.90046117e-02 9.95030902e+01] [ 1.10829076e-01 -4.69920612e-03 9.93828372e-01 5.28763761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.1450998929998 meters 0.05786983736231277 Centerline is valid? [True, True] Translation: X:497.20, Y:99.53, Z:52.88 [[ 9.49430270e-01 -2.95311227e-01 -1.06646337e-01 4.97204377e+02] [ 2.93920769e-01 9.55393082e-01 -2.88901447e-02 9.95310079e+01] [ 1.10420757e-01 -3.91639551e-03 9.93877215e-01 5.28836672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.2050998929999 meters 0.057616064849314357 Centerline is valid? [True, True] Translation: X:497.26, Y:99.55, Z:52.89 [[ 9.51924884e-01 -2.87020238e-01 -1.07043906e-01 4.97260065e+02] [ 2.85566975e-01 9.57919933e-01 -2.89983577e-02 9.95525051e+01] [ 1.10862607e-01 -2.96394620e-03 9.93831322e-01 5.28893393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.2650998929998 meters 0.057568779129132865 Centerline is valid? [True, True] Translation: X:497.32, Y:99.57, Z:52.89 [[ 9.52961864e-01 -2.83364269e-01 -1.07556387e-01 4.97316817e+02] [ 2.81873770e-01 9.59008960e-01 -2.91374627e-02 9.95692266e+01] [ 1.11404054e-01 -2.55043343e-03 9.93771921e-01 5.28943793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.3250998929999 meters 0.05726671773715522 Centerline is valid? [True, True] Translation: X:497.37, Y:99.59, Z:52.90 [[ 9.53732010e-01 -2.80603888e-01 -1.07966253e-01 4.97371058e+02] [ 2.79084127e-01 9.59821059e-01 -2.92503939e-02 9.95946187e+01] [ 1.11836058e-01 -2.23463044e-03 9.93724158e-01 5.29015951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.3850998929998 meters 0.05818029382494698 Centerline is valid? [True, True] Translation: X:497.43, Y:99.61, Z:52.91 [[ 9.53512777e-01 -2.81022756e-01 -1.08809902e-01 4.97426991e+02] [ 2.79481561e-01 9.59698349e-01 -2.94811015e-02 9.96096326e+01] [ 1.12709543e-01 -2.29975418e-03 9.93625317e-01 5.29056632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.4450998929999 meters 0.05724929333832967 Centerline is valid? [True, True] Translation: X:497.48, Y:99.62, Z:52.91 [[ 9.52731403e-01 -2.83547056e-01 -1.09105180e-01 4.97482985e+02] [ 2.82013404e-01 9.58954797e-01 -2.95658153e-02 9.96248715e+01] [ 1.13010235e-01 -2.60084248e-03 9.93590420e-01 5.29112322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.5050998929999 meters 0.05708900588459365 Centerline is valid? [True, True] Translation: X:497.54, Y:99.64, Z:52.92 [[ 9.52306158e-01 -2.85335077e-01 -1.08152094e-01 4.97537993e+02] [ 2.83839230e-01 9.58423779e-01 -2.93112775e-02 9.96427388e+01] [ 1.12019075e-01 -2.78449711e-03 9.93702155e-01 5.29187258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.5650998929999 meters 0.05753656732098016 Centerline is valid? [True, True] Translation: X:497.59, Y:99.66, Z:52.93 [[ 9.51892416e-01 -2.86992823e-01 -1.07405531e-01 4.97593881e+02] [ 2.85527619e-01 9.57928176e-01 -2.91133602e-02 9.96601997e+01] [ 1.11242110e-01 -2.95445876e-03 9.93788944e-01 5.29262886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.6250998929999 meters 0.056440967272395816 Centerline is valid? [True, True] Translation: X:497.65, Y:99.68, Z:52.93 [[ 9.51786738e-01 -2.87752199e-01 -1.06304646e-01 4.97651822e+02] [ 2.86321408e-01 9.57700170e-01 -2.88172761e-02 9.96821780e+01] [ 1.10100212e-01 -3.00939474e-03 9.93915935e-01 5.29347371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.6850998929999 meters 0.058050306529118655 Centerline is valid? [True, True] Translation: X:497.71, Y:99.69, Z:52.94 [[ 9.51553711e-01 -2.89129899e-01 -1.04639558e-01 4.97710567e+02] [ 2.87752322e-01 9.57284784e-01 -2.83627199e-02 9.96905582e+01] [ 1.08370367e-01 -3.12162451e-03 9.94105688e-01 5.29407121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.7450998929999 meters 0.05731724137252538 Centerline is valid? [True, True] Translation: X:497.77, Y:99.71, Z:52.95 [[ 9.51472724e-01 -2.90015169e-01 -1.02911893e-01 4.97765908e+02] [ 2.88687847e-01 9.57016806e-01 -2.78955089e-02 9.97097446e+01] [ 1.06578532e-01 -3.16759698e-03 9.94299242e-01 5.29480680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.8050998929999 meters 0.05807265609405675 Centerline is valid? [True, True] Translation: X:497.82, Y:99.73, Z:52.96 [[ 9.51478915e-01 -2.90520919e-01 -1.01417305e-01 4.97821149e+02] [ 2.89233652e-01 9.56863402e-01 -2.75013589e-02 9.97257805e+01] [ 1.05032227e-01 -3.16633428e-03 9.94463778e-01 5.29551873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.8650998929999 meters 0.05656437682038242 Centerline is valid? [True, True] Translation: X:497.88, Y:99.75, Z:52.96 [[ 9.51669178e-01 -2.90241705e-01 -1.00426735e-01 4.97878285e+02] [ 2.88977521e-01 9.56948348e-01 -2.72369679e-02 9.97494940e+01] [ 1.04008502e-01 -3.10048619e-03 9.94571575e-01 5.29620286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.9250998929999 meters 0.05776269180884258 Centerline is valid? [True, True] Translation: X:497.94, Y:99.76, Z:52.97 [[ 9.52045217e-01 -2.89384921e-01 -9.93291064e-02 4.97938663e+02] [ 2.88143982e-01 9.57208183e-01 -2.69358570e-02 9.97591173e+01] [ 1.02873464e-01 -2.97693042e-03 9.94689996e-01 5.29691459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.9850998929999 meters 0.056652163065041124 Centerline is valid? [True, True] Translation: X:497.99, Y:99.78, Z:52.98 [[ 9.52306637e-01 -2.88925056e-01 -9.81548877e-02 4.97994922e+02] [ 2.87711570e-01 9.57347330e-01 -2.66109318e-02 9.97793616e+01] [ 1.01656885e-01 -2.89852990e-03 9.94815298e-01 5.29759312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.0450998929999 meters 0.058818714777137675 Centerline is valid? [True, True] Translation: X:498.05, Y:99.79, Z:52.98 [[ 9.52605223e-01 -2.88599600e-01 -9.61954235e-02 4.98050921e+02] [ 2.87432370e-01 9.57445771e-01 -2.60811768e-02 9.97912868e+01] [ 9.96289187e-02 -2.80461330e-03 9.95020710e-01 5.29840636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.1050998929999 meters 0.05778854303361067 Centerline is valid? [True, True] Translation: X:498.11, Y:99.81, Z:52.99 [[ 9.52413703e-01 -2.89607761e-01 -9.50551633e-02 4.98105889e+02] [ 2.88472704e-01 9.57141107e-01 -2.57759467e-02 9.98102602e+01] [ 9.84461185e-02 -2.87145512e-03 9.95138240e-01 5.29897746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.1650998929999 meters 0.06023616191131732 Centerline is valid? [True, True] Translation: X:498.16, Y:99.82, Z:53.00 [[ 9.51971863e-01 -2.91308532e-01 -9.42810262e-02 4.98163737e+02] [ 2.90199842e-01 9.56624392e-01 -2.55699728e-02 9.98186250e+01] [ 9.76402806e-02 -3.01844426e-03 9.95217195e-01 5.29976571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.2250998929999 meters 0.05717329130180348 Centerline is valid? [True, True] Translation: X:498.22, Y:99.84, Z:53.00 [[ 9.51303991e-01 -2.93766009e-01 -9.33929847e-02 4.98219373e+02] [ 2.92689702e-01 9.55871881e-01 -2.53315210e-02 9.98422694e+01] [ 9.67132677e-02 -3.23718786e-03 9.95307020e-01 5.30015173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.2850998929999 meters 0.05783028185067511 Centerline is valid? [True, True] Translation: X:498.28, Y:99.86, Z:53.01 [[ 9.51004465e-01 -2.94712803e-01 -9.34605296e-02 4.98277202e+02] [ 2.93639415e-01 9.55580054e-01 -2.53506173e-02 9.98565815e+01] [ 9.67801694e-02 -3.33514491e-03 9.95300194e-01 5.30079510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.3450998929999 meters 0.05743379208460937 Centerline is valid? [True, True] Translation: X:498.33, Y:99.87, Z:53.01 [[ 9.50446646e-01 -2.96709879e-01 -9.28139009e-02 4.98334548e+02] [ 2.95660724e-01 9.54961207e-01 -2.51759826e-02 9.98732481e+01] [ 9.61036376e-02 -3.51299689e-03 9.95365134e-01 5.30132108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.4050998929999 meters 0.05968919097172775 Centerline is valid? [True, True] Translation: X:498.39, Y:99.88, Z:53.02 [[ 9.49917424e-01 -2.98140096e-01 -9.36449164e-02 4.98392457e+02] [ 2.97078892e-01 9.54514990e-01 -2.54020740e-02 9.98837556e+01] [ 9.69588532e-02 -3.69005527e-03 9.95281550e-01 5.30188036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.4650998929999 meters 0.0583431789056647 Centerline is valid? [True, True] Translation: X:498.45, Y:99.90, Z:53.02 [[ 9.49891591e-01 -2.98043665e-01 -9.42122024e-02 4.98450018e+02] [ 2.96968829e-01 9.54545065e-01 -2.55584317e-02 9.99030157e+01] [ 9.75473216e-02 -3.70034802e-03 9.95224009e-01 5.30229574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.5250998929998 meters 0.056898005745240864 Centerline is valid? [True, True] Translation: X:498.51, Y:99.92, Z:53.03 [[ 9.50179316e-01 -2.96974310e-01 -9.46864635e-02 4.98507976e+02] [ 2.95883308e-01 9.54878650e-01 -2.56871885e-02 9.99230111e+01] [ 9.80425175e-02 -3.60870888e-03 9.95175684e-01 5.30269164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.5850998929999 meters 0.056090648953595036 Centerline is valid? [True, True] Translation: X:498.57, Y:99.94, Z:53.03 [[ 9.50511814e-01 -2.95967469e-01 -9.45015818e-02 4.98566521e+02] [ 2.94875918e-01 9.55191610e-01 -2.56355457e-02 9.99439040e+01] [ 9.78544056e-02 -3.49935166e-03 9.95194589e-01 5.30316063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.6450998929998 meters 0.05743525663138585 Centerline is valid? [True, True] Translation: X:498.63, Y:99.95, Z:53.04 [[ 9.50899394e-01 -2.94198822e-01 -9.61113729e-02 4.98626638e+02] [ 2.93061048e-01 9.55738272e-01 -2.60687165e-02 9.99544143e+01] [ 9.95267031e-02 -3.37777303e-03 9.95029158e-01 5.30371318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.7050998929999 meters 0.05557330211721952 Centerline is valid? [True, True] Translation: X:498.69, Y:99.98, Z:53.04 [[ 9.50878634e-01 -2.93862933e-01 -9.73365323e-02 4.98685080e+02] [ 2.92694329e-01 9.55841568e-01 -2.63993657e-02 9.99758569e+01] [ 1.00796099e-01 -3.38725826e-03 9.94901338e-01 5.30416471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.7650998929998 meters 0.059481538731244364 Centerline is valid? [True, True] Translation: X:498.75, Y:99.97, Z:53.05 [[ 9.50265255e-01 -2.94926728e-01 -1.00070827e-01 4.98748296e+02] [ 2.93697666e-01 9.55513079e-01 -2.71373604e-02 9.99748502e+01] [ 1.03622517e-01 -3.60287765e-03 9.94610172e-01 5.30453457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.8250998929999 meters 0.05758418435834991 Centerline is valid? [True, True] Translation: X:498.80, Y:99.99, Z:53.05 [[ 9.49710081e-01 -2.96463655e-01 -1.00797141e-01 4.98804678e+02] [ 2.95225452e-01 9.55036577e-01 -2.73325750e-02 9.99937966e+01] [ 1.04368071e-01 -3.79985949e-03 9.94531481e-01 5.30499684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.8850998929998 meters 0.05789225934951107 Centerline is valid? [True, True] Translation: X:498.86, Y:100.01, Z:53.05 [[ 9.49693727e-01 -2.96145969e-01 -1.01879295e-01 4.98862171e+02] [ 2.94878971e-01 9.55135118e-01 -2.76278521e-02 1.00005021e+02] [ 1.05490370e-01 -3.80406390e-03 9.94413048e-01 5.30542313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.9450998929999 meters 0.055875257887113394 Centerline is valid? [True, True] Translation: X:498.92, Y:100.03, Z:53.06 [[ 9.50377394e-01 -2.93899275e-01 -1.02009930e-01 4.98918989e+02] [ 2.92614899e-01 9.55829811e-01 -2.76747808e-02 1.00026655e+02] [ 1.05637731e-01 -3.54813951e-03 9.94398351e-01 5.30604348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.0050998929999 meters 0.057383889709617185 Centerline is valid? [True, True] Translation: X:498.98, Y:100.03, Z:53.07 [[ 9.52212528e-01 -2.87563171e-01 -1.02950107e-01 4.98978003e+02] [ 2.86218093e-01 9.57757367e-01 -2.79289883e-02 1.00034934e+02] [ 1.06632572e-01 -2.87185072e-03 9.94294346e-01 5.30657100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.0650998929999 meters 0.05698244885193048 Centerline is valid? [True, True] Translation: X:499.04, Y:100.05, Z:53.07 [[ 9.53458660e-01 -2.83594287e-01 -1.02424915e-01 4.99035130e+02] [ 2.82240020e-01 9.58941317e-01 -2.77870710e-02 1.00054505e+02] [ 1.06099738e-01 -2.41458657e-03 9.94352561e-01 5.30719443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.1250998929999 meters 0.05695030976616538 Centerline is valid? [True, True] Translation: X:499.09, Y:100.06, Z:53.08 [[ 9.54685949e-01 -2.79130187e-01 -1.03252498e-01 4.99093810e+02] [ 2.77727902e-01 9.60251320e-01 -2.80109903e-02 1.00063195e+02] [ 1.06967060e-01 -1.93440079e-03 9.94260683e-01 5.30760196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.1850998929999 meters 0.05662909790740943 Centerline is valid? [True, True] Translation: X:499.15, Y:100.08, Z:53.08 [[ 9.54958016e-01 -2.78104680e-01 -1.03503500e-01 4.99149811e+02] [ 2.76689417e-01 9.60549043e-01 -2.80802820e-02 1.00080480e+02] [ 1.07229446e-01 -1.82283259e-03 9.94232630e-01 5.30817567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.2450998929999 meters 0.05642524873782939 Centerline is valid? [True, True] Translation: X:499.21, Y:100.09, Z:53.09 [[ 9.54493270e-01 -2.79054812e-01 -1.05218862e-01 4.99207837e+02] [ 2.77596544e-01 9.60273195e-01 -2.85578375e-02 1.00091638e+02] [ 1.09008055e-01 -1.95012872e-03 9.94038953e-01 5.30871452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.3050998929999 meters 0.056637023054912625 Centerline is valid? [True, True] Translation: X:499.27, Y:100.10, Z:53.09 [[ 9.53843738e-01 -2.81081675e-01 -1.05712890e-01 4.99265881e+02] [ 2.79620632e-01 9.59681375e-01 -2.87047212e-02 1.00103183e+02] [ 1.09519063e-01 -2.17968660e-03 9.93982306e-01 5.30932843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.3650998929999 meters 0.05695120230103096 Centerline is valid? [True, True] Translation: X:499.32, Y:100.11, Z:53.10 [[ 9.52821420e-01 -2.84358000e-01 -1.06169057e-01 4.99324912e+02] [ 2.82904321e-01 9.58714737e-01 -2.88305070e-02 1.00109839e+02] [ 1.09984025e-01 -2.56536039e-03 9.93930044e-01 5.30991262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.4250998929999 meters 0.05638300895853958 Centerline is valid? [True, True] Translation: X:499.38, Y:100.12, Z:53.11 [[ 9.52117322e-01 -2.86842599e-01 -1.05801361e-01 4.99382200e+02] [ 2.85414056e-01 9.57973515e-01 -2.87325805e-02 1.00123584e+02] [ 1.09596630e-01 -2.84040797e-03 9.93972088e-01 5.31064418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.4850998929999 meters 0.05714197451638049 Centerline is valid? [True, True] Translation: X:499.44, Y:100.13, Z:53.11 [[ 9.51157425e-01 -2.90240255e-01 -1.05167236e-01 4.99441292e+02] [ 2.88849193e-01 9.56948428e-01 -2.85630864e-02 1.00133781e+02] [ 1.08929779e-01 -3.20947974e-03 9.94044266e-01 5.31131197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.5450998929999 meters 0.058334051263634126 Centerline is valid? [True, True] Translation: X:499.50, Y:100.14, Z:53.12 [[ 9.50326649e-01 -2.93050261e-01 -1.04884724e-01 4.99500960e+02] [ 2.91683602e-01 9.56090554e-01 -2.84873366e-02 1.00138764e+02] [ 1.08627515e-01 -3.52087889e-03 9.94076288e-01 5.31188458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.6050998929999 meters 0.060269179626439295 Centerline is valid? [True, True] Translation: X:499.56, Y:100.14, Z:53.13 [[ 9.48265344e-01 -2.99865667e-01 -1.04275690e-01 4.99561364e+02] [ 2.98555606e-01 9.53971864e-01 -2.83237085e-02 1.00144724e+02] [ 1.07969382e-01 -4.27370073e-03 9.94145034e-01 5.31265099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.6650998929999 meters 0.0622954339502307 Centerline is valid? [True, True] Translation: X:499.62, Y:100.15, Z:53.13 [[ 9.45119746e-01 -3.09501026e-01 -1.04679423e-01 4.99621225e+02] [ 3.08239366e-01 9.50883814e-01 -2.84335191e-02 1.00151873e+02] [ 1.08338172e-01 -5.39323865e-03 9.94099469e-01 5.31335883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.7250998929999 meters 0.060772611633337935 Centerline is valid? [True, True] Translation: X:499.68, Y:100.17, Z:53.14 [[ 9.42893854e-01 -3.16086089e-01 -1.05075039e-01 4.99678445e+02] [ 3.14855336e-01 9.48710437e-01 -2.85416113e-02 1.00168867e+02] [ 1.08707392e-01 -6.17172676e-03 9.94054633e-01 5.31406078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.7850998929999 meters 0.05673287935665323 Centerline is valid? [True, True] Translation: X:499.73, Y:100.20, Z:53.15 [[ 9.40955642e-01 -3.21733284e-01 -1.05309894e-01 4.99732552e+02] [ 3.20531971e-01 9.46805649e-01 -2.86062763e-02 1.00198671e+02] [ 1.08911593e-01 -6.83795076e-03 9.94027921e-01 5.31484357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.8450998929999 meters 0.059514986410774615 Centerline is valid? [True, True] Translation: X:499.79, Y:100.20, Z:53.15 [[ 9.38863763e-01 -3.27213437e-01 -1.07080346e-01 4.99793835e+02] [ 3.26006673e-01 9.44919892e-01 -2.90868875e-02 1.00199614e+02] [ 1.10699970e-01 -7.60028270e-03 9.93824810e-01 5.31531565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.9050998929999 meters 0.05632791515202609 Centerline is valid? [True, True] Translation: X:499.85, Y:100.23, Z:53.16 [[ 9.38227123e-01 -3.28849978e-01 -1.07645520e-01 4.99847224e+02] [ 3.27641095e-01 9.44349674e-01 -2.92404923e-02 1.00233467e+02] [ 1.11270747e-01 -7.83487301e-03 9.93759244e-01 5.31610994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.9650998929999 meters 0.06538178425194284 Centerline is valid? [True, True] Translation: X:499.91, Y:100.22, Z:53.16 [[ 9.39067694e-01 -3.25981767e-01 -1.09030977e-01 4.99912799e+02] [ 3.24722346e-01 9.45345567e-01 -2.96168520e-02 1.00215545e+02] [ 1.12726505e-01 -7.59256571e-03 9.93597045e-01 5.31638596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.0250998929998 meters 0.056189757662953164 Centerline is valid? [True, True] Translation: X:499.96, Y:100.27, Z:53.18 [[ 9.40790387e-01 -3.21441418e-01 -1.07651579e-01 4.99960520e+02] [ 3.20183887e-01 9.46903922e-01 -2.92444992e-02 1.00266769e+02] [ 1.11336096e-01 -6.95535721e-03 9.93758470e-01 5.31753137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.0850998929999 meters 0.05690786728818722 Centerline is valid? [True, True] Translation: X:500.02, Y:100.28, Z:53.18 [[ 9.44734002e-01 -3.10221992e-01 -1.06018778e-01 5.00017224e+02] [ 3.08931951e-01 9.50647980e-01 -2.88004749e-02 1.00282432e+02] [ 1.09721078e-01 -5.54379995e-03 9.93946956e-01 5.31820948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.1450998929998 meters 0.0592682918728272 Centerline is valid? [True, True] Translation: X:500.08, Y:100.29, Z:53.19 [[ 9.48631469e-01 -2.98300319e-01 -1.05428917e-01 5.00076171e+02] [ 2.96950966e-01 9.54463097e-01 -2.86412487e-02 1.00291997e+02] [ 1.09171704e-01 -4.13722898e-03 9.94014297e-01 5.31874864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.2050998929999 meters 0.06022938843272583 Centerline is valid? [True, True] Translation: X:500.13, Y:100.31, Z:53.19 [[ 9.49595114e-01 -2.95310608e-01 -1.05170168e-01 5.00134688e+02] [ 2.93949605e-01 9.55393807e-01 -2.85710025e-02 1.00306872e+02] [ 1.08916247e-01 -3.78384503e-03 9.94043728e-01 5.31938127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.2650998929998 meters 0.058390561398599994 Centerline is valid? [True, True] Translation: X:500.19, Y:100.34, Z:53.20 [[ 9.51139398e-01 -2.90288753e-01 -1.05196418e-01 5.00188738e+02] [ 2.88896380e-01 9.56933720e-01 -2.85786125e-02 1.00335616e+02] [ 1.08962049e-01 -3.20862004e-03 9.94040732e-01 5.32015566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.3250998929999 meters 0.057186392654910684 Centerline is valid? [True, True] Translation: X:500.25, Y:100.36, Z:53.21 [[ 9.53086176e-01 -2.83175321e-01 -1.06950824e-01 5.00245110e+02] [ 2.81690837e-01 9.59065080e-01 -2.90593330e-02 1.00357517e+02] [ 1.10801687e-01 -2.43101864e-03 9.93839563e-01 5.32068942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.3850998929998 meters 0.057263550971577225 Centerline is valid? [True, True] Translation: X:500.30, Y:100.38, Z:53.21 [[ 9.54085705e-01 -2.79620445e-01 -1.07391223e-01 5.00301766e+02] [ 2.78101120e-01 9.60108486e-01 -2.91798407e-02 1.00376309e+02] [ 1.11266505e-01 -2.02555052e-03 9.93788540e-01 5.32127053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.4450998929999 meters 0.057302469376803764 Centerline is valid? [True, True] Translation: X:500.36, Y:100.40, Z:53.22 [[ 9.55334819e-01 -2.75500870e-01 -1.06932944e-01 5.00356633e+02] [ 2.73968295e-01 9.61299597e-01 -2.90595487e-02 1.00396586e+02] [ 1.10800527e-01 -1.53463784e-03 9.93841480e-01 5.32203471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.5050998929999 meters 0.056623525357708426 Centerline is valid? [True, True] Translation: X:500.41, Y:100.41, Z:53.23 [[ 9.56131314e-01 -2.72960171e-01 -1.06328060e-01 5.00412791e+02] [ 2.71428960e-01 9.62024548e-01 -2.88978978e-02 1.00414606e+02] [ 1.10178179e-01 -1.23032981e-03 9.93911090e-01 5.32271425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.5650998929999 meters 0.0570642684555713 Centerline is valid? [True, True] Translation: X:500.47, Y:100.43, Z:53.24 [[ 9.57061581e-01 -2.69872232e-01 -1.05840016e-01 5.00466963e+02] [ 2.68335969e-01 9.62895750e-01 -2.87677492e-02 1.00434786e+02] [ 1.09676518e-01 -8.68175695e-04 9.93966955e-01 5.32357423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.6250998929999 meters 0.05686856423085091 Centerline is valid? [True, True] Translation: X:500.52, Y:100.45, Z:53.24 [[ 9.57032045e-01 -2.70238873e-01 -1.05169466e-01 5.00523045e+02] [ 2.68722838e-01 9.62792894e-01 -2.85985953e-02 1.00447243e+02] [ 1.08984867e-01 -8.91665278e-04 9.94043009e-01 5.32408023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.6850998929999 meters 0.057655892156813784 Centerline is valid? [True, True] Translation: X:500.58, Y:100.46, Z:53.25 [[ 9.56274965e-01 -2.73047857e-01 -1.04800093e-01 5.00581198e+02] [ 2.71557923e-01 9.61999709e-01 -2.85106127e-02 1.00462367e+02] [ 1.08602421e-01 -1.19531055e-03 9.94084546e-01 5.32479922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.7450998929999 meters 0.05741892716799066 Centerline is valid? [True, True] Translation: X:500.64, Y:100.47, Z:53.25 [[ 9.54272917e-01 -2.79642272e-01 -1.05656987e-01 5.00640309e+02] [ 2.78168108e-01 9.60102261e-01 -2.87428790e-02 1.00468628e+02] [ 1.09479236e-01 -1.96185320e-03 9.93987147e-01 5.32515790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.8050998929999 meters 0.05762507724498191 Centerline is valid? [True, True] Translation: X:500.70, Y:100.48, Z:53.26 [[ 9.52796872e-01 -2.84531634e-01 -1.05923887e-01 5.00698278e+02] [ 2.83079948e-01 9.58663317e-01 -2.88164540e-02 1.00482467e+02] [ 1.09744538e-01 -2.52870127e-03 9.93956610e-01 5.32578455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.8650998929999 meters 0.05757677922607629 Centerline is valid? [True, True] Translation: X:500.76, Y:100.49, Z:53.26 [[ 9.51199544e-01 -2.89699684e-01 -1.06270974e-01 5.00757161e+02] [ 2.88270380e-01 9.57112467e-01 -2.89121741e-02 1.00492415e+02] [ 1.10089122e-01 -3.13352728e-03 9.93916780e-01 5.32637418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.9250998929999 meters 0.05942851326255201 Centerline is valid? [True, True] Translation: X:500.82, Y:100.50, Z:53.27 [[ 9.50729049e-01 -2.91321123e-01 -1.06048470e-01 5.00815552e+02] [ 2.89907738e-01 9.56619583e-01 -2.88526852e-02 1.00500083e+02] [ 1.09853440e-01 -3.31318615e-03 9.93942274e-01 5.32686570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.9850998929999 meters 0.056514387404383144 Centerline is valid? [True, True] Translation: X:500.87, Y:100.53, Z:53.28 [[ 9.50841078e-01 -2.91371642e-01 -1.04899049e-01 5.00866696e+02] [ 2.89988772e-01 9.56604312e-01 -2.85429902e-02 1.00531723e+02] [ 1.08663501e-01 -3.27969891e-03 9.94073180e-01 5.32786126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.0450998929999 meters 0.05648305020143076 Centerline is valid? [True, True] Translation: X:500.92, Y:100.56, Z:53.29 [[ 9.51085966e-01 -2.91022070e-01 -1.03641888e-01 5.00923246e+02] [ 2.89668954e-01 9.56711022e-01 -2.82120002e-02 1.00557438e+02] [ 1.07365651e-01 -3.18979990e-03 9.94214485e-01 5.32864591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.1050998929999 meters 0.05910457688652372 Centerline is valid? [True, True] Translation: X:500.99, Y:100.55, Z:53.29 [[ 9.50857351e-01 -2.91588581e-01 -1.04146039e-01 5.00985220e+02] [ 2.90226736e-01 9.56538208e-01 -2.83389892e-02 1.00548213e+02] [ 1.07882991e-01 -3.27962862e-03 9.94158189e-01 5.32889640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.1650998929999 meters 0.05862246183552836 Centerline is valid? [True, True] Translation: X:501.04, Y:100.57, Z:53.29 [[ 9.50172784e-01 -2.93618990e-01 -1.04687962e-01 5.01042280e+02] [ 2.92254701e-01 9.55916036e-01 -2.84907430e-02 1.00565852e+02] [ 1.08438325e-01 -3.52442061e-03 9.94096931e-01 5.32942598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.2250998929999 meters 0.056566556007925824 Centerline is valid? [True, True] Translation: X:501.10, Y:100.59, Z:53.30 [[ 9.49393831e-01 -2.95792373e-01 -1.05632502e-01 5.01097893e+02] [ 2.94416512e-01 9.55244676e-01 -2.87493756e-02 1.00590555e+02] [ 1.09408731e-01 -3.80547298e-03 9.93989561e-01 5.33005252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.2850998929999 meters 0.057779707339159 Centerline is valid? [True, True] Translation: X:501.16, Y:100.60, Z:53.30 [[ 9.48863976e-01 -2.97272940e-01 -1.06235373e-01 5.01155765e+02] [ 2.95890614e-01 9.54784164e-01 -2.89126982e-02 1.00600346e+02] [ 1.10026814e-01 -3.99983185e-03 9.93920571e-01 5.33044950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.3450998929999 meters 0.05789845790278602 Centerline is valid? [True, True] Translation: X:501.21, Y:100.62, Z:53.31 [[ 9.49718908e-01 -2.94662503e-01 -1.05867869e-01 5.01212947e+02] [ 2.93273263e-01 9.55594294e-01 -2.88155746e-02 1.00618090e+02] [ 1.09657601e-01 -3.68151946e-03 9.93962603e-01 5.33102950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.4050998929999 meters 0.057713132131748605 Centerline is valid? [True, True] Translation: X:501.27, Y:100.64, Z:53.32 [[ 9.51096680e-01 -2.90549289e-01 -1.04862849e-01 5.01269339e+02] [ 2.89161088e-01 9.56854766e-01 -2.85451005e-02 1.00636248e+02] [ 1.08632275e-01 -3.17310521e-03 9.94076939e-01 5.33169429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.4650998929999 meters 0.057237266659653604 Centerline is valid? [True, True] Translation: X:501.32, Y:100.66, Z:53.32 [[ 9.53385543e-01 -2.83489723e-01 -1.03390440e-01 5.01324836e+02] [ 2.82098749e-01 9.58972437e-01 -2.81453707e-02 1.00656989e+02] [ 1.07127505e-01 -2.33292415e-03 9.94242553e-01 5.33239755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.5250998929998 meters 0.057024543909693595 Centerline is valid? [True, True] Translation: X:501.38, Y:100.68, Z:53.33 [[ 9.54539633e-01 -2.79846728e-01 -1.02664009e-01 5.01380062e+02] [ 2.78454146e-01 9.60042793e-01 -2.79486054e-02 1.00679370e+02] [ 1.06383168e-01 -1.90916749e-03 9.94323376e-01 5.33311646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.5850998929999 meters 0.05666484604158638 Centerline is valid? [True, True] Translation: X:501.44, Y:100.70, Z:53.34 [[ 9.55334706e-01 -2.77295310e-01 -1.02190559e-01 5.01436882e+02] [ 2.75900920e-01 9.60783377e-01 -2.78205790e-02 1.00701003e+02] [ 1.05897507e-01 -1.61650468e-03 9.94375736e-01 5.33381376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.6450998929998 meters 0.05616291847956029 Centerline is valid? [True, True] Translation: X:501.49, Y:100.71, Z:53.34 [[ 9.55251272e-01 -2.77325413e-01 -1.02886451e-01 5.01494485e+02] [ 2.75912184e-01 9.60774663e-01 -2.80091799e-02 1.00712158e+02] [ 1.06618353e-01 -1.63182074e-03 9.94298679e-01 5.33431626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.7050998929999 meters 0.05678203974287722 Centerline is valid? [True, True] Translation: X:501.55, Y:100.73, Z:53.35 [[ 9.54296946e-01 -2.80319805e-01 -1.03625026e-01 5.01551222e+02] [ 2.78903344e-01 9.59904630e-01 -2.82139259e-02 1.00729115e+02] [ 1.07379065e-01 -1.97690303e-03 9.94216188e-01 5.33484843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.7650998929998 meters 0.05779291339433116 Centerline is valid? [True, True] Translation: X:501.61, Y:100.74, Z:53.35 [[ 9.53218341e-01 -2.83546908e-01 -1.04766145e-01 5.01609632e+02] [ 2.82117786e-01 9.58955462e-01 -2.85302842e-02 1.00735951e+02] [ 1.08555740e-01 -2.36080259e-03 9.94087560e-01 5.33519512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.8250998929999 meters 0.05671233444246712 Centerline is valid? [True, True] Translation: X:501.66, Y:100.76, Z:53.36 [[ 9.52753205e-01 -2.85236526e-01 -1.04410031e-01 5.01664103e+02] [ 2.83826704e-01 9.58453793e-01 -2.84381510e-02 1.00757448e+02] [ 1.08183789e-01 -2.53981547e-03 9.94127666e-01 5.33588092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.8850998929998 meters 0.05680343350752461 Centerline is valid? [True, True] Translation: X:501.72, Y:100.77, Z:53.37 [[ 9.52730458e-01 -2.85579052e-01 -1.03678730e-01 5.01719894e+02] [ 2.84189705e-01 9.58351766e-01 -2.82507387e-02 1.00771122e+02] [ 1.07428513e-01 -2.54908840e-03 9.94209544e-01 5.33651231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.9450998929999 meters 0.056939948107810494 Centerline is valid? [True, True] Translation: X:501.78, Y:100.78, Z:53.37 [[ 9.52970782e-01 -2.85331628e-01 -1.02139860e-01 5.01775431e+02] [ 2.83981416e-01 9.58425645e-01 -2.78359330e-02 1.00784090e+02] [ 1.05835933e-01 -2.47899109e-03 9.94380516e-01 5.33717086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.0050998929999 meters 0.05699544668983099 Centerline is valid? [True, True] Translation: X:501.83, Y:100.80, Z:53.38 [[ 9.52977018e-01 -2.85517045e-01 -1.01561902e-01 5.01831608e+02] [ 2.84182676e-01 9.58370420e-01 -2.76829249e-02 1.00798592e+02] [ 1.05237869e-01 -2.48094191e-03 9.94443983e-01 5.33777723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.0650998929999 meters 0.05713232470676212 Centerline is valid? [True, True] Translation: X:501.89, Y:100.81, Z:53.38 [[ 9.52550421e-01 -2.86758355e-01 -1.02065380e-01 5.01888511e+02] [ 2.85416290e-01 9.57999371e-01 -2.78342765e-02 1.00812437e+02] [ 1.05760281e-01 -2.61757030e-03 9.94388210e-01 5.33830124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.1250998929999 meters 0.05655661588448361 Centerline is valid? [True, True] Translation: X:501.95, Y:100.83, Z:53.39 [[ 9.51772839e-01 -2.89060189e-01 -1.02823491e-01 5.01945003e+02] [ 2.87710127e-01 9.57306584e-01 -2.80532867e-02 1.00830746e+02] [ 1.06542694e-01 -2.88300351e-03 9.94303949e-01 5.33884802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.1850998929999 meters 0.05650115531036122 Centerline is valid? [True, True] Translation: X:502.00, Y:100.84, Z:53.39 [[ 9.50931378e-01 -2.91553210e-01 -1.03567566e-01 5.02001816e+02] [ 2.90198005e-01 9.56549315e-01 -2.82582111e-02 1.00844036e+02] [ 1.07306257e-01 -3.18348155e-03 9.94220917e-01 5.33937494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.2450998929999 meters 0.05744056663831309 Centerline is valid? [True, True] Translation: X:502.06, Y:100.85, Z:53.40 [[ 9.50026534e-01 -2.94131955e-01 -1.04575228e-01 5.02060267e+02] [ 2.92765440e-01 9.55758390e-01 -2.85358947e-02 1.00853612e+02] [ 1.08341970e-01 -3.50615557e-03 9.94107501e-01 5.33987748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.3050998929999 meters 0.05816605616385464 Centerline is valid? [True, True] Translation: X:502.12, Y:100.87, Z:53.40 [[ 9.50129219e-01 -2.93546151e-01 -1.05285917e-01 5.02117846e+02] [ 2.92157238e-01 9.55938635e-01 -2.87310897e-02 1.00866098e+02] [ 1.09080777e-01 -3.46179495e-03 9.94026861e-01 5.34039559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.3650998929999 meters 0.05697558140820284 Centerline is valid? [True, True] Translation: X:502.17, Y:100.89, Z:53.41 [[ 9.51463943e-01 -2.89630210e-01 -1.04070679e-01 5.02174184e+02] [ 2.88248666e-01 9.57134025e-01 -2.84106561e-02 1.00887658e+02] [ 1.07838172e-01 -2.96651962e-03 9.94164035e-01 5.34109136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.4250998929999 meters 0.05634493435662961 Centerline is valid? [True, True] Translation: X:502.23, Y:100.91, Z:53.42 [[ 9.52667015e-01 -2.85933134e-01 -1.03285047e-01 5.02229391e+02] [ 2.84550662e-01 9.58246239e-01 -2.81969204e-02 1.00911207e+02] [ 1.07034942e-01 -2.52755259e-03 9.94252047e-01 5.34187305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.4850998929999 meters 0.05636063520067311 Centerline is valid? [True, True] Translation: X:502.29, Y:100.93, Z:53.43 [[ 9.53791407e-01 -2.82587661e-01 -1.02108598e-01 5.02286310e+02] [ 2.81217359e-01 9.59239122e-01 -2.78765835e-02 1.00928122e+02] [ 1.05824140e-01 -2.12626442e-03 9.94382588e-01 5.34253399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.5450998929999 meters 0.05636184110905375 Centerline is valid? [True, True] Translation: X:502.34, Y:100.94, Z:53.43 [[ 9.54553183e-01 -2.80040223e-01 -1.02008302e-01 5.02342978e+02] [ 2.78657995e-01 9.59986502e-01 -2.78502616e-02 1.00941354e+02] [ 1.05725787e-01 -1.84087310e-03 9.94393619e-01 5.34309787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.6050998929999 meters 0.05657529449228958 Centerline is valid? [True, True] Translation: X:502.40, Y:100.96, Z:53.44 [[ 9.54528374e-01 -2.80077700e-01 -1.02137484e-01 5.02398498e+02] [ 2.78690931e-01 9.59975578e-01 -2.78972107e-02 1.00956564e+02] [ 1.05862877e-01 -1.83611136e-03 9.94379042e-01 5.34367925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.6650998929999 meters 0.056291729016886775 Centerline is valid? [True, True] Translation: X:502.45, Y:100.97, Z:53.44 [[ 9.54000325e-01 -2.81834307e-01 -1.02238948e-01 5.02454852e+02] [ 2.80453329e-01 9.59460966e-01 -2.79389570e-02 1.00971340e+02] [ 1.05968437e-01 -2.01947932e-03 9.94367443e-01 5.34426566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.7250998929999 meters 0.057123151240949285 Centerline is valid? [True, True] Translation: X:502.51, Y:100.98, Z:53.45 [[ 9.53618381e-01 -2.82931252e-01 -1.02771055e-01 5.02511374e+02] [ 2.81541393e-01 9.59137791e-01 -2.80916539e-02 1.00983452e+02] [ 1.06519609e-01 -2.14558839e-03 9.94308287e-01 5.34475174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.7850998929999 meters 0.057092892316031874 Centerline is valid? [True, True] Translation: X:502.57, Y:100.99, Z:53.45 [[ 9.53496287e-01 -2.83145480e-01 -1.03312473e-01 5.02568535e+02] [ 2.81741394e-01 9.59074507e-01 -2.82467257e-02 1.00993000e+02] [ 1.07082292e-01 -2.17425211e-03 9.94247784e-01 5.34533108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.8450998929999 meters 0.05657724383226939 Centerline is valid? [True, True] Translation: X:502.62, Y:101.01, Z:53.46 [[ 9.53024459e-01 -2.84388515e-01 -1.04247553e-01 5.02623364e+02] [ 2.82965709e-01 9.58706286e-01 -2.85072868e-02 1.01013477e+02] [ 1.08049929e-01 -2.33034129e-03 9.94142737e-01 5.34585435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.9050998929999 meters 0.057039668077545326 Centerline is valid? [True, True] Translation: X:502.68, Y:101.02, Z:53.47 [[ 9.52826124e-01 -2.85612367e-01 -1.02703226e-01 5.02679756e+02] [ 2.84237341e-01 9.58342170e-01 -2.80966033e-02 1.01024251e+02] [ 1.06449570e-01 -2.42091439e-03 9.94315155e-01 5.34653054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.9650998929999 meters 0.05741081689476461 Centerline is valid? [True, True] Translation: X:502.74, Y:101.03, Z:53.47 [[ 9.52127631e-01 -2.88436330e-01 -1.01279108e-01 5.02737239e+02] [ 2.87114694e-01 9.57495288e-01 -2.77114731e-02 1.01034424e+02] [ 1.04967264e-01 -2.69386089e-03 9.94472029e-01 5.34725589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.0250998929998 meters 0.056850626573027044 Centerline is valid? [True, True] Translation: X:502.79, Y:101.05, Z:53.48 [[ 9.51601576e-01 -2.90216926e-01 -1.01136426e-01 5.02793545e+02] [ 2.88908641e-01 9.56956544e-01 -2.76761659e-02 1.01053597e+02] [ 1.04815257e-01 -2.88250437e-03 9.94487533e-01 5.34780445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.0850998929999 meters 0.05682494882939815 Centerline is valid? [True, True] Translation: X:502.85, Y:101.07, Z:53.48 [[ 9.51029977e-01 -2.91801161e-01 -1.01951292e-01 5.02849271e+02] [ 2.90480534e-01 9.56474043e-01 -2.79009817e-02 1.01069547e+02] [ 1.05655303e-01 -3.08019575e-03 9.94398044e-01 5.34833425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.1450998929998 meters 0.05725734393503664 Centerline is valid? [True, True] Translation: X:502.91, Y:101.08, Z:53.49 [[ 9.50707265e-01 -2.92941336e-01 -1.01691051e-01 5.02907451e+02] [ 2.91633569e-01 9.56125078e-01 -2.78333776e-02 1.01079522e+02] [ 1.05382911e-01 -3.19512964e-03 9.94426585e-01 5.34890795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.2050998929999 meters 0.0577109857336606 Centerline is valid? [True, True] Translation: X:502.96, Y:101.09, Z:53.49 [[ 9.50262982e-01 -2.94057068e-01 -1.02619228e-01 5.02963647e+02] [ 2.92730534e-01 9.55782033e-01 -2.80987467e-02 1.01091129e+02] [ 1.06344249e-01 -3.33858260e-03 9.94323767e-01 5.34945692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.2650998929998 meters 0.05772887544566075 Centerline is valid? [True, True] Translation: X:503.02, Y:101.11, Z:53.50 [[ 9.49994101e-01 -2.95256042e-01 -1.01661587e-01 5.03020003e+02] [ 2.93960576e-01 9.55411987e-01 -2.78408803e-02 1.01107815e+02] [ 1.05348887e-01 -3.43582653e-03 9.94429388e-01 5.35014612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.3250998929999 meters 0.060399892102207677 Centerline is valid? [True, True] Translation: X:503.08, Y:101.12, Z:53.51 [[ 9.49448245e-01 -2.96945567e-01 -1.01839875e-01 5.03078051e+02] [ 2.95654046e-01 9.54887550e-01 -2.79007582e-02 1.01115907e+02] [ 1.05530635e-01 -3.61904511e-03 9.94409467e-01 5.35078736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.3850998929998 meters 0.058619684119218335 Centerline is valid? [True, True] Translation: X:503.13, Y:101.14, Z:53.51 [[ 9.48891550e-01 -2.98858008e-01 -1.01433320e-01 5.03133147e+02] [ 2.97587404e-01 9.54289970e-01 -2.77919131e-02 1.01140015e+02] [ 1.05102636e-01 -3.81376691e-03 9.94454067e-01 5.35146680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.4450998929999 meters 0.05696312639122831 Centerline is valid? [True, True] Translation: X:503.19, Y:101.16, Z:53.52 [[ 9.48111347e-01 -3.01312571e-01 -1.01467280e-01 5.03188406e+02] [ 3.00055012e-01 9.53516668e-01 -2.78020413e-02 1.01164314e+02] [ 1.05127848e-01 -4.08633523e-03 9.94450319e-01 5.35220177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.5050998929999 meters 0.05728607567617435 Centerline is valid? [True, True] Translation: X:503.24, Y:101.18, Z:53.53 [[ 9.47733239e-01 -3.02411712e-01 -1.01729363e-01 5.03244953e+02] [ 3.01153838e-01 9.53168066e-01 -2.78747828e-02 1.01176456e+02] [ 1.05394841e-01 -4.21833013e-03 9.94421507e-01 5.35281954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.5650998929999 meters 0.05796581250675194 Centerline is valid? [True, True] Translation: X:503.30, Y:101.19, Z:53.53 [[ 9.47580919e-01 -3.02806758e-01 -1.01972885e-01 5.03300014e+02] [ 3.01544832e-01 9.53042410e-01 -2.79442179e-02 1.01192289e+02] [ 1.05646182e-01 -4.26998892e-03 9.94394616e-01 5.35339180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.6250998929999 meters 0.05885669890225394 Centerline is valid? [True, True] Translation: X:503.36, Y:101.21, Z:53.54 [[ 9.48512492e-01 -3.00018839e-01 -1.01551711e-01 5.03356972e+02] [ 2.98750954e-01 9.53925146e-01 -2.78331398e-02 1.01208846e+02] [ 1.05223197e-01 -3.93858963e-03 9.94440831e-01 5.35403367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.6850998929999 meters 0.05908632897134695 Centerline is valid? [True, True] Translation: X:503.41, Y:101.23, Z:53.55 [[ 9.49979771e-01 -2.95592223e-01 -1.00815040e-01 5.03413174e+02] [ 2.94317734e-01 9.55308081e-01 -2.76322467e-02 1.01226358e+02] [ 1.04477300e-01 -3.42157870e-03 9.94521386e-01 5.35460677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.7450998929999 meters 0.056474103714927254 Centerline is valid? [True, True] Translation: X:503.47, Y:101.26, Z:53.55 [[ 9.53258735e-01 -2.85406741e-01 -9.92006880e-02 5.03466219e+02] [ 2.84117548e-01 9.58403811e-01 -2.71910736e-02 1.01258810e+02] [ 1.02834833e-01 -2.26452781e-03 9.94695868e-01 5.35534662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.8050998929999 meters 0.05634923295137129 Centerline is valid? [True, True] Translation: X:503.52, Y:101.28, Z:53.56 [[ 9.56282579e-01 -2.74985104e-01 -9.95330173e-02 5.03519680e+02] [ 2.73630847e-01 9.61447803e-01 -2.72815234e-02 1.01284561e+02] [ 1.03197813e-01 -1.14645829e-03 9.94660192e-01 5.35595691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.8650998929999 meters 0.05639089795900681 Centerline is valid? [True, True] Translation: X:503.58, Y:101.30, Z:53.57 [[ 9.57655372e-01 -2.70137994e-01 -9.96074908e-02 5.03575529e+02] [ 2.68755283e-01 9.62821415e-01 -2.73042236e-02 1.01304391e+02] [ 1.03280133e-01 -6.22002963e-04 9.94652114e-01 5.35651163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.9250998929999 meters 0.056449878647674236 Centerline is valid? [True, True] Translation: X:503.63, Y:101.32, Z:53.57 [[ 9.58252271e-01 -2.67590841e-01 -1.00735928e-01 5.03631309e+02] [ 2.66162395e-01 9.63532573e-01 -2.76144990e-02 1.01320647e+02] [ 1.04451735e-01 -3.50459482e-04 9.94529895e-01 5.35701255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.9850998929999 meters 0.05598851029206825 Centerline is valid? [True, True] Translation: X:503.69, Y:101.34, Z:53.58 [[ 9.58284802e-01 -2.67152884e-01 -1.01585312e-01 5.03687054e+02] [ 2.65696380e-01 9.63654114e-01 -2.78600609e-02 1.01336178e+02] [ 1.05335999e-01 -2.92976687e-04 9.94436645e-01 5.35758521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.0450998929999 meters 0.05653127716971755 Centerline is valid? [True, True] Translation: X:503.75, Y:101.35, Z:53.58 [[ 9.58025300e-01 -2.68487013e-01 -1.00509945e-01 5.03745529e+02] [ 2.67067236e-01 9.63283211e-01 -2.75780020e-02 1.01351789e+02] [ 1.04223878e-01 -4.22489518e-04 9.94553772e-01 5.35822667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.1050998929999 meters 0.05682342514492518 Centerline is valid? [True, True] Translation: X:503.80, Y:101.36, Z:53.59 [[ 9.57324616e-01 -2.71004513e-01 -1.00429747e-01 5.03801858e+02] [ 2.69600907e-01 9.62577825e-01 -2.75550894e-02 1.01363019e+02] [ 1.04139001e-01 -6.96785454e-04 9.94562508e-01 5.35885224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.1650998929999 meters 0.05625886780625707 Centerline is valid? [True, True] Translation: X:503.86, Y:101.37, Z:53.60 [[ 9.55409108e-01 -2.77971333e-01 -9.96261726e-02 5.03861383e+02] [ 2.76627375e-01 9.60588292e-01 -2.73391461e-02 1.01373930e+02] [ 1.03299234e-01 -1.43925744e-03 9.94649283e-01 5.35953261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.2250998929999 meters 0.05665380770000376 Centerline is valid? [True, True] Translation: X:503.92, Y:101.38, Z:53.60 [[ 9.53784113e-01 -2.83586684e-01 -9.93703061e-02 5.03919971e+02] [ 2.82279970e-01 9.58944433e-01 -2.72689147e-02 1.01381137e+02] [ 1.03023703e-01 -2.04158943e-03 9.94676806e-01 5.36012580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.2850998929999 meters 0.05851217881994347 Centerline is valid? [True, True] Translation: X:503.98, Y:101.38, Z:53.61 [[ 9.50999627e-01 -2.92865589e-01 -9.91436114e-02 5.03981105e+02] [ 2.91614763e-01 9.56148799e-01 -2.72085165e-02 1.01382686e+02] [ 1.02764483e-01 -3.03645167e-03 9.94701081e-01 5.36070867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.3450998929999 meters 0.058541844519464654 Centerline is valid? [True, True] Translation: X:504.04, Y:101.40, Z:53.61 [[ 9.49300918e-01 -2.98363156e-01 -9.90312816e-02 5.04039616e+02] [ 2.97144806e-01 9.54445536e-01 -2.71787434e-02 1.01395662e+02] [ 1.02629100e-01 -3.62582491e-03 9.94713085e-01 5.36130737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.4050998929998 meters 0.05729095082880497 Centerline is valid? [True, True] Translation: X:504.10, Y:101.41, Z:53.62 [[ 9.47304802e-01 -3.04375549e-01 -9.98455629e-02 5.04097368e+02] [ 3.03170147e-01 9.52542355e-01 -2.74029770e-02 1.01413853e+02] [ 1.03447924e-01 -4.31122233e-03 9.94625528e-01 5.36180882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.4650998929999 meters 0.059951915316503526 Centerline is valid? [True, True] Translation: X:504.16, Y:101.42, Z:53.62 [[ 9.45751732e-01 -3.08861462e-01 -1.00788191e-01 5.04158144e+02] [ 3.07658442e-01 9.51094687e-01 -2.76618801e-02 1.01416432e+02] [ 1.04402802e-01 -4.84706683e-03 9.94523283e-01 5.36237569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.5250998929998 meters 0.06057963907062112 Centerline is valid? [True, True] Translation: X:504.22, Y:101.43, Z:53.63 [[ 9.45010652e-01 -3.11175294e-01 -1.00622086e-01 5.04216057e+02] [ 3.09989191e-01 9.50338884e-01 -2.76171406e-02 1.01428136e+02] [ 1.04218853e-01 -5.09326711e-03 9.94541346e-01 5.36300164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.5850998929999 meters 0.057717551218971 Centerline is valid? [True, True] Translation: X:504.27, Y:101.45, Z:53.64 [[ 9.44271523e-01 -3.13205445e-01 -1.01260264e-01 5.04271755e+02] [ 3.12015715e-01 9.49670324e-01 -2.77933463e-02 1.01452780e+02] [ 1.04868895e-01 -5.35032817e-03 9.94471663e-01 5.36364267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.6450998929998 meters 0.0580590729394583 Centerline is valid? [True, True] Translation: X:504.33, Y:101.47, Z:53.64 [[ 9.43772736e-01 -3.14354574e-01 -1.02343663e-01 5.04328656e+02] [ 3.13145554e-01 9.49289512e-01 -2.80942078e-02 1.01468467e+02] [ 1.05985308e-01 -5.53391556e-03 9.94352297e-01 5.36420675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.7050998929999 meters 0.05656556661963822 Centerline is valid? [True, True] Translation: X:504.39, Y:101.49, Z:53.65 [[ 9.43845074e-01 -3.13964372e-01 -1.02872975e-01 5.04386079e+02] [ 3.12740219e-01 9.49418739e-01 -2.82420420e-02 1.01491304e+02] [ 1.06536525e-01 -5.51640436e-03 9.94293487e-01 5.36489770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.7650998929998 meters 0.058735235579412445 Centerline is valid? [True, True] Translation: X:504.44, Y:101.50, Z:53.66 [[ 9.44649629e-01 -3.11594418e-01 -1.02693705e-01 5.04444126e+02] [ 3.10360878e-01 9.50200735e-01 -2.81902054e-02 1.01502786e+02] [ 1.06363545e-01 -5.24224155e-03 9.94313489e-01 5.36558278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.8250998929999 meters 0.05858821911467566 Centerline is valid? [True, True] Translation: X:504.50, Y:101.52, Z:53.66 [[ 9.45355838e-01 -3.09645683e-01 -1.02087664e-01 5.04501646e+02] [ 3.08415265e-01 9.50838909e-01 -2.80248621e-02 1.01520471e+02] [ 1.05746701e-01 -4.99192697e-03 9.94380569e-01 5.36628523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.8850998929998 meters 0.06021526551277822 Centerline is valid? [True, True] Translation: X:504.56, Y:101.54, Z:53.67 [[ 9.46766331e-01 -3.05483083e-01 -1.01555893e-01 5.04558363e+02] [ 3.04241647e-01 9.52186856e-01 -2.78785305e-02 1.01535709e+02] [ 1.05216606e-01 -4.50307813e-03 9.94439132e-01 5.36692701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.9450998929999 meters 0.05827534718473695 Centerline is valid? [True, True] Translation: X:504.61, Y:101.56, Z:53.68 [[ 9.48504886e-01 -3.00213476e-01 -1.01046279e-01 5.04612971e+02] [ 2.98954477e-01 9.53864083e-01 -2.77404535e-02 1.01563291e+02] [ 1.04712475e-01 -3.89628193e-03 9.94494905e-01 5.36765907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.0050998929999 meters 0.058766564141017844 Centerline is valid? [True, True] Translation: X:504.67, Y:101.58, Z:53.68 [[ 9.49834860e-01 -2.95938771e-01 -1.01163151e-01 5.04669294e+02] [ 2.94652757e-01 9.55200755e-01 -2.77717484e-02 1.01580150e+02] [ 1.04849855e-01 -3.42942669e-03 9.94482150e-01 5.36827088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.0650998929999 meters 0.05776738467235076 Centerline is valid? [True, True] Translation: X:504.73, Y:101.60, Z:53.69 [[ 9.51868712e-01 -2.89498940e-01 -1.00679292e-01 5.04725055e+02] [ 2.88189037e-01 9.57174515e-01 -2.76410310e-02 1.01604667e+02] [ 1.04369702e-01 -2.70403571e-03 9.94534893e-01 5.36895369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.1250998929999 meters 0.057148897999980304 Centerline is valid? [True, True] Translation: X:504.78, Y:101.63, Z:53.70 [[ 9.53173895e-01 -2.85423442e-01 -9.99649169e-02 5.04781443e+02] [ 2.84109723e-01 9.58398892e-01 -2.74450290e-02 1.01625645e+02] [ 1.03639720e-01 -2.24111960e-03 9.94612380e-01 5.36964597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.1850998929999 meters 0.05687819951024089 Centerline is valid? [True, True] Translation: X:504.84, Y:101.65, Z:53.70 [[ 9.54956906e-01 -2.79441731e-01 -9.98480212e-02 5.04837465e+02] [ 2.78098398e-01 9.60161337e-01 -2.74132661e-02 1.01647795e+02] [ 1.03530620e-01 -1.58908699e-03 9.94624997e-01 5.37024754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.2450998929999 meters 0.05652978175572823 Centerline is valid? [True, True] Translation: X:504.89, Y:101.67, Z:53.71 [[ 9.55913013e-01 -2.75779265e-01 -1.00876704e-01 5.04893331e+02] [ 2.74387758e-01 9.61220237e-01 -2.76950237e-02 1.01668798e+02] [ 1.04602443e-01 -1.20529912e-03 9.94513387e-01 5.37074476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.3050998929999 meters 0.05603143015926802 Centerline is valid? [True, True] Translation: X:504.95, Y:101.69, Z:53.71 [[ 9.56878341e-01 -2.72065292e-01 -1.01805295e-01 5.04949545e+02] [ 2.70626821e-01 9.62278457e-01 -2.79516504e-02 1.01688252e+02] [ 1.05569717e-01 -8.04914664e-04 9.94411578e-01 5.37125299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.3650998929999 meters 0.056322338531018014 Centerline is valid? [True, True] Translation: X:505.01, Y:101.70, Z:53.72 [[ 9.57179366e-01 -2.70970953e-01 -1.01894082e-01 5.05005756e+02] [ 2.69523679e-01 9.62587282e-01 -2.79769862e-02 1.01702029e+02] [ 1.05662898e-01 -6.83873770e-04 9.94401772e-01 5.37185129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.4250998929999 meters 0.0564981828453977 Centerline is valid? [True, True] Translation: X:505.06, Y:101.71, Z:53.73 [[ 9.56687583e-01 -2.72867758e-01 -1.01449768e-01 5.05063168e+02] [ 2.71443257e-01 9.62051144e-01 -2.78595476e-02 1.01713631e+02] [ 1.05201838e-01 -8.84972250e-04 9.94450497e-01 5.37252198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.4850998929999 meters 0.05660182770415025 Centerline is valid? [True, True] Translation: X:505.12, Y:101.72, Z:53.73 [[ 9.55827836e-01 -2.75859894e-01 -1.01461652e-01 5.05120137e+02] [ 2.74450595e-01 9.61197104e-01 -2.78746986e-02 1.01724235e+02] [ 1.05214157e-01 -1.20279796e-03 9.94448860e-01 5.37310532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.5450998929999 meters 0.057142607264138834 Centerline is valid? [True, True] Translation: X:505.18, Y:101.73, Z:53.74 [[ 9.54116021e-01 -2.81395039e-01 -1.02369187e-01 5.05179819e+02] [ 2.79991604e-01 9.59590278e-01 -2.81282707e-02 1.01732941e+02] [ 1.06147633e-01 -1.82487922e-03 9.94348706e-01 5.37365345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.6050998929999 meters 0.05825129289636107 Centerline is valid? [True, True] Translation: X:505.24, Y:101.74, Z:53.74 [[ 9.53139454e-01 -2.84679537e-01 -1.02385269e-01 5.05237531e+02] [ 2.83294521e-01 9.58620239e-01 -2.81327594e-02 1.01742111e+02] [ 1.06157412e-01 -2.19074287e-03 9.94346924e-01 5.37424350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.6650998929999 meters 0.05791790855955447 Centerline is valid? [True, True] Translation: X:505.30, Y:101.75, Z:53.75 [[ 9.52052072e-01 -2.88281342e-01 -1.02424215e-01 5.05296923e+02] [ 2.86915659e-01 9.57542250e-01 -2.81468294e-02 1.01752788e+02] [ 1.06189719e-01 -2.58986376e-03 9.94342515e-01 5.37489666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.7250998929999 meters 0.05703429509429422 Centerline is valid? [True, True] Translation: X:505.35, Y:101.77, Z:53.76 [[ 9.51612712e-01 -2.89825976e-01 -1.02147688e-01 5.05352533e+02] [ 2.88476514e-01 9.57075398e-01 -2.80710525e-02 1.01772241e+02] [ 1.05898760e-01 -2.75443869e-03 9.94373102e-01 5.37556122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.7850998929999 meters 0.05811642815168334 Centerline is valid? [True, True] Translation: X:505.41, Y:101.78, Z:53.76 [[ 9.51180729e-01 -2.91314324e-01 -1.01937165e-01 5.05411530e+02] [ 2.89977703e-01 9.56622987e-01 -2.80248701e-02 1.01776776e+02] [ 1.05679482e-01 -2.90278873e-03 9.94396008e-01 5.37607607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.8450998929999 meters 0.05849459630897721 Centerline is valid? [True, True] Translation: X:505.47, Y:101.79, Z:53.77 [[ 9.51056563e-01 -2.91838795e-01 -1.01594942e-01 5.05468217e+02] [ 2.90513857e-01 9.56462976e-01 -2.79333940e-02 1.01790224e+02] [ 1.05323849e-01 -2.94850080e-03 9.94433604e-01 5.37666834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.9050998929998 meters 0.05753026939851322 Centerline is valid? [True, True] Translation: X:505.52, Y:101.81, Z:53.77 [[ 9.51189447e-01 -2.91376409e-01 -1.01678046e-01 5.05524280e+02] [ 2.90045420e-01 9.56604122e-01 -2.79679978e-02 1.01807525e+02] [ 1.05414853e-01 -2.88838726e-03 9.94424138e-01 5.37725237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.9650998929999 meters 0.05819450033638998 Centerline is valid? [True, True] Translation: X:505.58, Y:101.82, Z:53.78 [[ 9.51516699e-01 -2.90270417e-01 -1.01779453e-01 5.05580991e+02] [ 2.88929215e-01 9.56940689e-01 -2.80076173e-02 1.01819121e+02] [ 1.05526682e-01 -2.75734174e-03 9.94412649e-01 5.37781549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.0250998929998 meters 0.05761810713000478 Centerline is valid? [True, True] Translation: X:505.64, Y:101.84, Z:53.78 [[ 9.51740062e-01 -2.89317410e-01 -1.02402592e-01 5.05635898e+02] [ 2.87953744e-01 9.57229513e-01 -2.81833624e-02 1.01838915e+02] [ 1.06176721e-01 -2.66397470e-03 9.94343707e-01 5.37839829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.0850998929999 meters 0.056886511099724375 Centerline is valid? [True, True] Translation: X:505.69, Y:101.86, Z:53.79 [[ 9.51542940e-01 -2.89666211e-01 -1.03244951e-01 5.05692524e+02] [ 2.88281244e-01 9.57123866e-01 -2.84223247e-02 1.01855097e+02] [ 1.07051194e-01 -2.71852064e-03 9.94249793e-01 5.37900538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.1450998929998 meters 0.05825252277173469 Centerline is valid? [True, True] Translation: X:505.75, Y:101.86, Z:53.80 [[ 9.50895882e-01 -2.91778435e-01 -1.03258741e-01 5.05751769e+02] [ 2.90404141e-01 9.56481403e-01 -2.84387048e-02 1.01860352e+02] [ 1.07062866e-01 -2.94451870e-03 9.94247893e-01 5.37953407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.2050998929999 meters 0.05827330997122599 Centerline is valid? [True, True] Translation: X:505.81, Y:101.88, Z:53.80 [[ 9.50251444e-01 -2.93611923e-01 -1.03991504e-01 5.05808007e+02] [ 2.92228641e-01 9.55919444e-01 -2.86432777e-02 1.01877073e+02] [ 1.07817509e-01 -3.17097997e-03 9.94165645e-01 5.38014150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.2650998929998 meters 0.056990241369859175 Centerline is valid? [True, True] Translation: X:505.86, Y:101.90, Z:53.81 [[ 9.49338192e-01 -2.96597184e-01 -1.03861001e-01 5.05864430e+02] [ 2.95234771e-01 9.54996255e-01 -2.86108976e-02 1.01898658e+02] [ 1.07672779e-01 -3.50196106e-03 9.94180220e-01 5.38093621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.3250998929999 meters 0.05752300340634435 Centerline is valid? [True, True] Translation: X:505.92, Y:101.91, Z:53.82 [[ 9.48836290e-01 -2.98540341e-01 -1.02875455e-01 5.05921677e+02] [ 2.97215077e-01 9.54389896e-01 -2.83394512e-02 1.01914096e+02] [ 1.06643764e-01 -3.68663642e-03 9.94290459e-01 5.38169275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.3850998929998 meters 0.05719305524748646 Centerline is valid? [True, True] Translation: X:505.98, Y:101.93, Z:53.82 [[ 9.48074612e-01 -3.01405844e-01 -1.01533474e-01 5.05978857e+02] [ 3.00131162e-01 9.53487745e-01 -2.79715015e-02 1.01931419e+02] [ 1.05241697e-01 -3.95428906e-03 9.94438811e-01 5.38242049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.4450998929999 meters 0.058725319793175475 Centerline is valid? [True, True] Translation: X:506.04, Y:101.94, Z:53.83 [[ 9.47481343e-01 -3.03304478e-01 -1.01417448e-01 5.06036519e+02] [ 3.02043439e-01 9.52884617e-01 -2.79404347e-02 1.01941826e+02] [ 1.05113585e-01 -4.15943423e-03 9.94451524e-01 5.38310364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.5050998929999 meters 0.0600236935301817 Centerline is valid? [True, True] Translation: X:506.09, Y:101.95, Z:53.84 [[ 9.46204341e-01 -3.07176537e-01 -1.01685397e-01 5.06094461e+02] [ 3.05930853e-01 9.51641433e-01 -2.80160028e-02 1.01954263e+02] [ 1.05373895e-01 -4.59983676e-03 9.94422035e-01 5.38369803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.5650998929999 meters 0.05881489419437656 Centerline is valid? [True, True] Translation: X:506.15, Y:101.98, Z:53.84 [[ 9.44622864e-01 -3.11765177e-01 -1.02421289e-01 5.06149812e+02] [ 3.10528075e-01 9.50145238e-01 -2.82195127e-02 1.01978655e+02] [ 1.06112961e-01 -5.14788868e-03 9.94340756e-01 5.38430198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.6250998929999 meters 0.05623101127622552 Centerline is valid? [True, True] Translation: X:506.20, Y:102.01, Z:53.85 [[ 9.43721663e-01 -3.14168278e-01 -1.03381409e-01 5.06204391e+02] [ 3.12922122e-01 9.49351559e-01 -2.84844190e-02 1.02006058e+02] [ 1.07094203e-01 -5.46896656e-03 9.94233837e-01 5.38492904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.6850998929999 meters 0.059356153299332706 Centerline is valid? [True, True] Translation: X:506.26, Y:102.02, Z:53.86 [[ 9.43199161e-01 -3.15650676e-01 -1.03633939e-01 5.06263758e+02] [ 3.14407418e-01 9.48858632e-01 -2.85529557e-02 1.02016206e+02] [ 1.07346718e-01 -5.65215541e-03 9.94205580e-01 5.38551547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.7450998929999 meters 0.05735972238393961 Centerline is valid? [True, True] Translation: X:506.32, Y:102.04, Z:53.86 [[ 9.43255685e-01 -3.15326815e-01 -1.04104333e-01 5.06320281e+02] [ 3.14070279e-01 9.48966373e-01 -2.86824587e-02 1.02040765e+02] [ 1.07835859e-01 -5.64118451e-03 9.94152707e-01 5.38617717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.8050998929999 meters 0.055883707252327317 Centerline is valid? [True, True] Translation: X:506.38, Y:102.07, Z:53.87 [[ 9.43749387e-01 -3.13500205e-01 -1.05141410e-01 5.06375793e+02] [ 3.12207480e-01 9.49572264e-01 -2.89655784e-02 1.02066246e+02] [ 1.08920082e-01 -5.48968791e-03 9.94035351e-01 5.38674443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.8650998929999 meters 0.05648626034786397 Centerline is valid? [True, True] Translation: X:506.43, Y:102.09, Z:53.87 [[ 9.44592430e-01 -3.11095277e-01 -1.04713274e-01 5.06432991e+02] [ 3.09798373e-01 9.50364553e-01 -2.88475887e-02 1.02086512e+02] [ 1.08490132e-01 -5.19078807e-03 9.94083974e-01 5.38738071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.9250998929999 meters 0.05844391357969799 Centerline is valid? [True, True] Translation: X:506.49, Y:102.10, Z:53.88 [[ 9.45356133e-01 -3.08952760e-01 -1.04163207e-01 5.06490886e+02] [ 3.07656620e-01 9.51064662e-01 -2.86951553e-02 1.02098530e+02] [ 1.07931392e-01 -4.91935899e-03 9.94146174e-01 5.38797197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.9850998929999 meters 0.05888887866087687 Centerline is valid? [True, True] Translation: X:506.55, Y:102.12, Z:53.89 [[ 9.46684154e-01 -3.05045432e-01 -1.03616590e-01 5.06547814e+02] [ 3.03739436e-01 9.52327409e-01 -2.85457664e-02 1.02115254e+02] [ 1.07384674e-01 -4.44861979e-03 9.94207595e-01 5.38864679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.0450998929999 meters 0.0582064158186641 Centerline is valid? [True, True] Translation: X:506.60, Y:102.14, Z:53.89 [[ 9.47697580e-01 -3.01919955e-01 -1.03506699e-01 5.06604161e+02] [ 3.00598084e-01 9.53324509e-01 -2.85161787e-02 1.02138849e+02] [ 1.07285077e-01 -4.08920191e-03 9.94219891e-01 5.38931353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.1050998929999 meters 0.05731248482253182 Centerline is valid? [True, True] Translation: X:506.66, Y:102.16, Z:53.90 [[ 9.49418903e-01 -2.96088178e-01 -1.04573116e-01 5.06660627e+02] [ 2.94703657e-01 9.55154321e-01 -2.88093218e-02 1.02158492e+02] [ 1.08413563e-01 -3.46596490e-03 9.94099837e-01 5.38982556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.1650998929999 meters 0.057310355508352624 Centerline is valid? [True, True] Translation: X:506.72, Y:102.18, Z:53.90 [[ 9.51130259e-01 -2.89937459e-01 -1.06242647e-01 5.06716471e+02] [ 2.88469860e-01 9.57041476e-01 -2.92703632e-02 1.02181356e+02] [ 1.10165195e-01 -2.80787341e-03 9.93909325e-01 5.39029091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.2250998929999 meters 0.056462432265922846 Centerline is valid? [True, True] Translation: X:506.77, Y:102.20, Z:53.91 [[ 9.52504360e-01 -2.85164211e-01 -1.06849503e-01 5.06773032e+02] [ 2.83649395e-01 9.58476000e-01 -2.94410931e-02 1.02201371e+02] [ 1.10808230e-01 -2.26502736e-03 9.93839225e-01 5.39086382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.2850998929999 meters 0.0556436858369896 Centerline is valid? [True, True] Translation: X:506.83, Y:102.22, Z:53.92 [[ 9.53876434e-01 -2.80221393e-01 -1.07683421e-01 5.06829340e+02] [ 2.78651324e-01 9.59933888e-01 -2.96710530e-02 1.02222395e+02] [ 1.11683429e-01 -1.70360959e-03 9.93742376e-01 5.39156288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.3450998929999 meters 0.05594920764543914 Centerline is valid? [True, True] Translation: X:506.89, Y:102.24, Z:53.92 [[ 9.55647516e-01 -2.73716407e-01 -1.08706730e-01 5.06887045e+02] [ 2.72074253e-01 9.61809972e-01 -2.99529388e-02 1.02241856e+02] [ 1.12753828e-01 -9.51850877e-04 9.93622498e-01 5.39227130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.4050998929998 meters 0.05600606240428943 Centerline is valid? [True, True] Translation: X:506.95, Y:102.25, Z:53.93 [[ 9.56199627e-01 -2.71634308e-01 -1.09073721e-01 5.06945641e+02] [ 2.69967599e-01 9.62400280e-01 -3.00532251e-02 1.02253303e+02] [ 1.13136067e-01 -7.09488076e-04 9.93579250e-01 5.39281148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.4650998929999 meters 0.056175572150758364 Centerline is valid? [True, True] Translation: X:507.00, Y:102.27, Z:53.94 [[ 9.55883464e-01 -2.72450970e-01 -1.09805608e-01 5.07002644e+02] [ 2.70766878e-01 9.62169327e-01 -3.02569766e-02 1.02265250e+02] [ 1.13895130e-01 -8.09577955e-04 9.93492448e-01 5.39350153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.5250998929998 meters 0.05579978047819843 Centerline is valid? [True, True] Translation: X:507.06, Y:102.27, Z:53.94 [[ 9.55015844e-01 -2.75320178e-01 -1.10197724e-01 5.07061540e+02] [ 2.73641501e-01 9.61351909e-01 -3.03782069e-02 1.02273174e+02] [ 1.14302526e-01 -1.14300165e-03 9.93445331e-01 5.39408619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.5850998929999 meters 0.055974349793216034 Centerline is valid? [True, True] Translation: X:507.12, Y:102.28, Z:53.95 [[ 9.54328212e-01 -2.77787956e-01 -1.09961421e-01 5.07118752e+02] [ 2.76131925e-01 9.60641355e-01 -3.03207437e-02 1.02281070e+02] [ 1.14056226e-01 -1.42791780e-03 9.93473270e-01 5.39467999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.6450998929998 meters 0.05598337410711451 Centerline is valid? [True, True] Translation: X:507.18, Y:102.29, Z:53.96 [[ 9.53442818e-01 -2.81058379e-01 -1.09329690e-01 5.07177166e+02] [ 2.79441995e-01 9.59688982e-01 -3.01534386e-02 1.02291785e+02] [ 1.13397376e-01 -1.80172739e-03 9.93548081e-01 5.39570974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.7050998929999 meters 0.05638241616832343 Centerline is valid? [True, True] Translation: X:507.23, Y:102.30, Z:53.96 [[ 9.52894935e-01 -2.82885765e-01 -1.09393266e-01 5.07234423e+02] [ 2.81279360e-01 9.59151483e-01 -3.01720835e-02 1.02301418e+02] [ 1.13459966e-01 -2.01924233e-03 9.93540517e-01 5.39629171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.7650998929998 meters 0.056523223158992116 Centerline is valid? [True, True] Translation: X:507.29, Y:102.31, Z:53.97 [[ 9.52745712e-01 -2.83634395e-01 -1.08752650e-01 5.07293620e+02] [ 2.82051148e-01 9.58930214e-01 -2.99999004e-02 1.02312431e+02] [ 1.12795206e-01 -2.09153350e-03 9.93616056e-01 5.39684625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.8250998929999 meters 0.05714020885044678 Centerline is valid? [True, True] Translation: X:507.35, Y:102.32, Z:53.97 [[ 9.52777648e-01 -2.83532201e-01 -1.08739341e-01 5.07351392e+02] [ 2.81948741e-01 9.58960461e-01 -2.99956936e-02 1.02321432e+02] [ 1.12781474e-01 -2.07969393e-03 9.93617640e-01 5.39719353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.8850998929998 meters 0.05724123525413465 Centerline is valid? [True, True] Translation: X:507.41, Y:102.33, Z:53.98 [[ 9.53032898e-01 -2.82789991e-01 -1.08434853e-01 5.07408386e+02] [ 2.81210059e-01 9.59179803e-01 -2.99166766e-02 1.02331117e+02] [ 1.12468657e-01 -1.98139430e-03 9.93653297e-01 5.39773454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.9450998929999 meters 0.05660048113423354 Centerline is valid? [True, True] Translation: X:507.46, Y:102.35, Z:53.99 [[ 9.53626880e-01 -2.81163604e-01 -1.07437432e-01 5.07463736e+02] [ 2.79601819e-01 9.59658221e-01 -2.96465938e-02 1.02348298e+02] [ 1.11438758e-01 -1.76791270e-03 9.93769731e-01 5.39853095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.0050998929999 meters 0.0567223170351055 Centerline is valid? [True, True] Translation: X:507.52, Y:102.36, Z:53.99 [[ 9.54860152e-01 -2.77213952e-01 -1.06745096e-01 5.07520467e+02] [ 2.75646372e-01 9.60807353e-01 -2.94670869e-02 1.02362814e+02] [ 1.10730161e-01 -1.28695139e-03 9.93849674e-01 5.39923370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.0650998929999 meters 0.057218503361884804 Centerline is valid? [True, True] Translation: X:507.58, Y:102.38, Z:54.00 [[ 9.56323534e-01 -2.72173508e-01 -1.06615568e-01 5.07576271e+02] [ 2.70578250e-01 9.62247936e-01 -2.94333076e-02 1.02378451e+02] [ 1.10601577e-01 -7.00088962e-04 9.93864579e-01 5.40000654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.1250998929999 meters 0.057088081346654496 Centerline is valid? [True, True] Translation: X:507.63, Y:102.39, Z:54.00 [[ 9.57246787e-01 -2.69027994e-01 -1.06313348e-01 5.07633275e+02] [ 2.67421993e-01 9.63132301e-01 -2.93538654e-02 1.02391976e+02] [ 1.10290831e-01 -3.31633924e-04 9.93899302e-01 5.40048411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.1850998929999 meters 0.05710375716042741 Centerline is valid? [True, True] Translation: X:507.69, Y:102.41, Z:54.01 [[ 9.58052832e-01 -2.66276540e-01 -1.05979126e-01 5.07688458e+02] [ 2.64662615e-01 9.63896677e-01 -2.92727931e-02 1.02406115e+02] [ 1.09947586e-01 -3.83035219e-06 9.93937387e-01 5.40129826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.2450998929999 meters 0.056948312633318635 Centerline is valid? [True, True] Translation: X:507.75, Y:102.42, Z:54.02 [[ 9.58696649e-01 -2.64006561e-01 -1.05836061e-01 5.07745155e+02] [ 2.62382657e-01 9.64520849e-01 -2.92382174e-02 1.02418315e+02] [ 1.09800168e-01 2.61034188e-04 9.93953648e-01 5.40164675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.3050998929999 meters 0.057280587025339745 Centerline is valid? [True, True] Translation: X:507.80, Y:102.43, Z:54.02 [[ 9.58858403e-01 -2.63773272e-01 -1.04948671e-01 5.07801433e+02] [ 2.62173752e-01 9.64584663e-01 -2.90060677e-02 1.02430161e+02] [ 1.08882903e-01 2.97925073e-04 9.94054538e-01 5.40233401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.3650998929999 meters 0.057268303324244894 Centerline is valid? [True, True] Translation: X:507.86, Y:102.44, Z:54.03 [[ 9.58617830e-01 -2.65082986e-01 -1.03840582e-01 5.07857626e+02] [ 2.63524346e-01 9.64225589e-01 -2.87042131e-02 1.02441785e+02] [ 1.07734745e-01 1.51849076e-04 9.94179663e-01 5.40297903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.4250998929999 meters 0.0573866564099206 Centerline is valid? [True, True] Translation: X:507.92, Y:102.45, Z:54.04 [[ 9.57225159e-01 -2.70617988e-01 -1.02400684e-01 5.07915822e+02] [ 2.69133455e-01 9.62686705e-01 -2.83106094e-02 1.02449192e+02] [ 1.06241137e-01 -4.59822367e-04 9.94340288e-01 5.40362339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.4850998929999 meters 0.05717139985853867 Centerline is valid? [True, True] Translation: X:507.97, Y:102.46, Z:54.04 [[ 9.55469846e-01 -2.76903910e-01 -1.01988220e-01 5.07973693e+02] [ 2.75465514e-01 9.60896938e-01 -2.82103847e-02 1.02463119e+02] [ 1.05811734e-01 -1.14006545e-03 9.94385527e-01 5.40427726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.5450998929999 meters 0.05774225773421955 Centerline is valid? [True, True] Translation: X:508.04, Y:102.46, Z:54.05 [[ 9.51937814e-01 -2.88768278e-01 -1.02114052e-01 5.08035370e+02] [ 2.87393924e-01 9.57395865e-01 -2.82469596e-02 1.02462906e+02] [ 1.05920397e-01 -2.45760898e-03 9.94371575e-01 5.40477631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.6050998929999 meters 0.05941537058160014 Centerline is valid? [True, True] Translation: X:508.10, Y:102.46, Z:54.05 [[ 9.48790526e-01 -2.99189478e-01 -1.01401157e-01 5.08096645e+02] [ 2.97893392e-01 9.54186954e-01 -2.80496727e-02 1.02461284e+02] [ 1.05147828e-01 -3.59347091e-03 9.94450110e-01 5.40537154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.6650998929999 meters 0.060840132863860995 Centerline is valid? [True, True] Translation: X:508.16, Y:102.47, Z:54.06 [[ 9.47210381e-01 -3.04168332e-01 -1.01361338e-01 5.08155947e+02] [ 3.02901600e-01 9.52609287e-01 -2.80386744e-02 1.02471294e+02] [ 1.05086229e-01 -4.14398806e-03 9.94454480e-01 5.40594418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.7250998929999 meters 0.05836224390810553 Centerline is valid? [True, True] Translation: X:508.21, Y:102.49, Z:54.07 [[ 9.47059458e-01 -3.04579536e-01 -1.01536643e-01 5.08210671e+02] [ 3.03310757e-01 9.52477660e-01 -2.80872287e-02 1.02492934e+02] [ 1.05266179e-01 -4.19688056e-03 9.94435225e-01 5.40651173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.7850998929999 meters 0.058205804765425924 Centerline is valid? [True, True] Translation: X:508.27, Y:102.51, Z:54.07 [[ 9.47394371e-01 -3.03732349e-01 -1.00948330e-01 5.08266182e+02] [ 3.02472225e-01 9.52748716e-01 -2.79362903e-02 1.02510581e+02] [ 1.04663547e-01 -4.06738188e-03 9.94499371e-01 5.40712684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.8450998929999 meters 0.05920689457430869 Centerline is valid? [True, True] Translation: X:508.32, Y:102.52, Z:54.08 [[ 9.47660329e-01 -3.02618013e-01 -1.01795089e-01 5.08322227e+02] [ 3.01328990e-01 9.53103669e-01 -2.81821906e-02 1.02524198e+02] [ 1.05549712e-01 -3.96666742e-03 9.94406116e-01 5.40764462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.9050998929998 meters 0.057706428970255866 Centerline is valid? [True, True] Translation: X:508.38, Y:102.54, Z:54.08 [[ 9.47395231e-01 -3.03215105e-01 -1.02483544e-01 5.08376745e+02] [ 3.01911549e-01 9.52913504e-01 -2.83773041e-02 1.02544807e+02] [ 1.06262381e-01 -4.05644303e-03 9.94329851e-01 5.40824255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.9650998929999 meters 0.057149901290345625 Centerline is valid? [True, True] Translation: X:508.43, Y:102.57, Z:54.09 [[ 9.46238452e-01 -3.06534135e-01 -1.03293829e-01 5.08432603e+02] [ 3.05229028e-01 9.51849217e-01 -2.86060997e-02 1.02567459e+02] [ 1.07088897e-01 -4.46008358e-03 9.94239446e-01 5.40891574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.0250998929998 meters 0.06531915850594627 Centerline is valid? [True, True] Translation: X:508.50, Y:102.56, Z:54.09 [[ 9.45030044e-01 -3.09725218e-01 -1.04826069e-01 5.08496799e+02] [ 3.08400632e-01 9.50813511e-01 -2.90295948e-02 1.02558955e+02] [ 1.08661240e-01 -4.89458677e-03 9.94066787e-01 5.40925509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.0850998929999 meters 0.05736158126760113 Centerline is valid? [True, True] Translation: X:508.55, Y:102.61, Z:54.10 [[ 9.43164885e-01 -3.15375536e-01 -1.04777243e-01 5.08545456e+02] [ 3.14086691e-01 9.48950770e-01 -2.90169959e-02 1.02605846e+02] [ 1.08579696e-01 -5.54132574e-03 9.94072303e-01 5.41010318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.1450998929998 meters 0.05769255562884644 Centerline is valid? [True, True] Translation: X:508.60, Y:102.62, Z:54.11 [[ 9.42535374e-01 -3.17447435e-01 -1.04183469e-01 5.08602937e+02] [ 3.16185751e-01 9.48258457e-01 -2.88525601e-02 1.02620265e+02] [ 1.07952026e-01 -5.74676969e-03 9.94139495e-01 5.41073299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.2050998929999 meters 0.05838405031463935 Centerline is valid? [True, True] Translation: X:508.66, Y:102.64, Z:54.11 [[ 9.42620471e-01 -3.17543072e-01 -1.03116653e-01 5.08656633e+02] [ 3.16307535e-01 9.48226738e-01 -2.85586632e-02 1.02637134e+02] [ 1.06846573e-01 -5.69659372e-03 9.94259201e-01 5.41147925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.2650998929998 meters 0.059776353292243456 Centerline is valid? [True, True] Translation: X:508.71, Y:102.65, Z:54.12 [[ 9.43307411e-01 -3.15605726e-01 -1.02782066e-01 5.08713250e+02] [ 3.14365719e-01 9.48874768e-01 -2.84757572e-02 1.02652101e+02] [ 1.06514421e-01 -5.44976541e-03 9.94296223e-01 5.41211110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.3250998929999 meters 0.06041918181110247 Centerline is valid? [True, True] Translation: X:508.77, Y:102.67, Z:54.13 [[ 9.45249809e-01 -3.09800117e-01 -1.02599639e-01 5.08768084e+02] [ 3.08530225e-01 9.50789671e-01 -2.84271499e-02 1.02674399e+02] [ 1.06357411e-01 -4.78433151e-03 9.94316454e-01 5.41267663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.3850998929998 meters 0.05914548756156957 Centerline is valid? [True, True] Translation: X:508.82, Y:102.70, Z:54.13 [[ 9.47002019e-01 -3.04259710e-01 -1.03020413e-01 5.08823106e+02] [ 3.02946493e-01 9.52579960e-01 -2.85454301e-02 1.02700673e+02] [ 1.06820406e-01 -4.17709300e-03 9.94269557e-01 5.41330976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.4450998929999 meters 0.05808911059153964 Centerline is valid? [True, True] Translation: X:508.88, Y:102.73, Z:54.14 [[ 9.50124883e-01 -2.94280149e-01 -1.03256479e-01 5.08876976e+02] [ 2.92901928e-01 9.55714306e-01 -2.86116454e-02 1.02729196e+02] [ 1.07103534e-01 -3.05938565e-03 9.94243166e-01 5.41393990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.5050998929999 meters 0.056932364865625695 Centerline is valid? [True, True] Translation: X:508.93, Y:102.75, Z:54.15 [[ 9.51655410e-01 -2.89113846e-01 -1.03755310e-01 5.08932197e+02] [ 2.87691561e-01 9.57291485e-01 -2.87502667e-02 1.02754245e+02] [ 1.07636175e-01 -2.48918029e-03 9.94187235e-01 5.41453010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.5650998929999 meters 0.05597446240482529 Centerline is valid? [True, True] Translation: X:508.99, Y:102.78, Z:54.15 [[ 9.53150937e-01 -2.83551907e-01 -1.05364162e-01 5.08986637e+02] [ 2.82051104e-01 9.58955028e-01 -2.91963868e-02 1.02782069e+02] [ 1.09318184e-01 -1.88951473e-03 9.94005012e-01 5.41498344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.6250998929999 meters 0.055966487775883575 Centerline is valid? [True, True] Translation: X:509.04, Y:102.81, Z:54.16 [[ 9.54102006e-01 -2.80558881e-01 -1.04766773e-01 5.09041011e+02] [ 2.79057010e-01 9.59835586e-01 -2.90315745e-02 1.02806722e+02] [ 1.08703943e-01 -1.53681883e-03 9.94072981e-01 5.41574705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.6850998929999 meters 0.056373524472895536 Centerline is valid? [True, True] Translation: X:509.10, Y:102.82, Z:54.16 [[ 9.54327845e-01 -2.79810093e-01 -1.04712347e-01 5.09096570e+02] [ 2.78304047e-01 9.60054290e-01 -2.90278945e-02 1.02823019e+02] [ 1.08651835e-01 -1.43974173e-03 9.94078823e-01 5.41626182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.7450998929999 meters 0.056534520874882754 Centerline is valid? [True, True] Translation: X:509.15, Y:102.84, Z:54.17 [[ 9.54242182e-01 -2.80005626e-01 -1.04970034e-01 5.09151378e+02] [ 2.78491966e-01 9.59997258e-01 -2.91116674e-02 1.02840348e+02] [ 1.08922376e-01 -1.45373016e-03 9.94049195e-01 5.41688596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.8050998929999 meters 0.056752741860927665 Centerline is valid? [True, True] Translation: X:509.21, Y:102.86, Z:54.17 [[ 9.53973083e-01 -2.80755060e-01 -1.05413255e-01 5.09207308e+02] [ 2.79231566e-01 9.59778229e-01 -2.92486552e-02 1.02858471e+02] [ 1.09385056e-01 -1.53227863e-03 9.93998271e-01 5.41748917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.8650998929999 meters 0.056402594286605094 Centerline is valid? [True, True] Translation: X:509.26, Y:102.88, Z:54.18 [[ 9.53291321e-01 -2.82905034e-01 -1.05831936e-01 5.09264376e+02] [ 2.81381291e-01 9.59146283e-01 -2.93764711e-02 1.02878824e+02] [ 1.09819059e-01 -1.77479174e-03 9.93950011e-01 5.41818718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.9250998929999 meters 0.056713462044544645 Centerline is valid? [True, True] Translation: X:509.32, Y:102.90, Z:54.19 [[ 9.52109690e-01 -2.86806807e-01 -1.05966950e-01 5.09322836e+02] [ 2.85303429e-01 9.57985849e-01 -2.94120294e-02 1.02895845e+02] [ 1.09950409e-01 -2.22925597e-03 9.93934574e-01 5.41885679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.9850998929999 meters 0.05637269145802746 Centerline is valid? [True, True] Translation: X:509.38, Y:102.91, Z:54.19 [[ 9.51428297e-01 -2.89352719e-01 -1.05162728e-01 5.09381566e+02] [ 2.87887814e-01 9.57219267e-01 -2.91869986e-02 1.02906787e+02] [ 1.09109127e-01 -2.50573157e-03 9.94026619e-01 5.41943057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.0450998929999 meters 0.056777552448650376 Centerline is valid? [True, True] Translation: X:509.44, Y:102.92, Z:54.20 [[ 9.50237593e-01 -2.93501358e-01 -1.04429253e-01 5.09438609e+02] [ 2.92081790e-01 9.55954072e-01 -2.89834638e-02 1.02924861e+02] [ 1.08336256e-01 -2.96070633e-03 9.94109898e-01 5.42017697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.1050998929999 meters 0.05593227450577524 Centerline is valid? [True, True] Translation: X:509.50, Y:102.94, Z:54.21 [[ 9.49623514e-01 -2.95655330e-01 -1.03937998e-01 5.09497039e+02] [ 2.94261877e-01 9.55289353e-01 -2.88478808e-02 1.02942927e+02] [ 1.07819892e-01 -3.19036431e-03 9.94165325e-01 5.42086637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.1650998929999 meters 0.05642518484484037 Centerline is valid? [True, True] Translation: X:509.56, Y:102.96, Z:54.21 [[ 9.49206061e-01 -2.97132256e-01 -1.03538767e-01 5.09555885e+02] [ 2.95758448e-01 9.54830468e-01 -2.87353210e-02 1.02956021e+02] [ 1.07400160e-01 -3.34672416e-03 9.94210242e-01 5.42146755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.2250998929999 meters 0.0563174764843965 Centerline is valid? [True, True] Translation: X:509.61, Y:102.97, Z:54.22 [[ 9.48996107e-01 -2.98014855e-01 -1.02924900e-01 5.09612529e+02] [ 2.96662577e-01 9.54555082e-01 -2.85641666e-02 1.02968915e+02] [ 1.06760033e-01 -3.42668330e-03 9.94278911e-01 5.42214795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.2850998929999 meters 0.05496436581910979 Centerline is valid? [True, True] Translation: X:509.67, Y:102.99, Z:54.23 [[ 9.48753054e-01 -2.97871942e-01 -1.05545960e-01 5.09669932e+02] [ 2.96448617e-01 9.54599436e-01 -2.92939371e-02 1.02993645e+02] [ 1.09479956e-01 -3.49624160e-03 9.93982855e-01 5.42260707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.3450998929999 meters 0.05658142644126439 Centerline is valid? [True, True] Translation: X:509.73, Y:103.00, Z:54.23 [[ 9.49198708e-01 -2.96397179e-01 -1.05690709e-01 5.09729208e+02] [ 2.94961338e-01 9.55058945e-01 -2.93295021e-02 1.03004200e+02] [ 1.09634038e-01 -3.33514744e-03 9.93966425e-01 5.42304567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.4050998929998 meters 0.05534469509733218 Centerline is valid? [True, True] Translation: X:509.79, Y:103.03, Z:54.24 [[ 9.49425587e-01 -2.95413359e-01 -1.06404900e-01 5.09787370e+02] [ 2.93951974e-01 9.55364025e-01 -2.95265601e-02 1.03025744e+02] [ 1.10377954e-01 -3.24465876e-03 9.93884389e-01 5.42375247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.4650998929999 meters 0.05653651166175428 Centerline is valid? [True, True] Translation: X:509.85, Y:103.04, Z:54.24 [[ 9.50015760e-01 -2.93555334e-01 -1.06279452e-01 5.09846427e+02] [ 2.92086214e-01 9.55937285e-01 -2.94881381e-02 1.03037333e+02] [ 1.10252891e-01 -3.02856672e-03 9.93898953e-01 5.42429729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.5250998929998 meters 0.05595124375994309 Centerline is valid? [True, True] Translation: X:509.90, Y:103.06, Z:54.25 [[ 9.51011302e-01 -2.90659172e-01 -1.05331615e-01 5.09902542e+02] [ 2.89198676e-01 9.56822929e-01 -2.92234269e-02 1.03058626e+02] [ 1.09277762e-01 -2.66995438e-03 9.94007667e-01 5.42513643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.5850998929999 meters 0.056666338144085865 Centerline is valid? [True, True] Translation: X:509.96, Y:103.07, Z:54.26 [[ 9.51238874e-01 -2.89955736e-01 -1.05215381e-01 5.09960917e+02] [ 2.88494176e-01 9.57036563e-01 -2.91912219e-02 1.03070360e+02] [ 1.09159129e-01 -2.58619973e-03 9.94020923e-01 5.42567371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.6450998929998 meters 0.056165407920051764 Centerline is valid? [True, True] Translation: X:510.02, Y:103.09, Z:54.26 [[ 9.51574654e-01 -2.89047389e-01 -1.04677049e-01 5.10016326e+02] [ 2.87595153e-01 9.57311609e-01 -2.90432573e-02 1.03087695e+02] [ 1.08603432e-01 -2.46778454e-03 9.94082091e-01 5.42632721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.7050998929999 meters 0.056273993139154134 Centerline is valid? [True, True] Translation: X:510.07, Y:103.10, Z:54.27 [[ 9.51426440e-01 -2.89879520e-01 -1.03718820e-01 5.10072305e+02] [ 2.88457449e-01 9.57059808e-01 -2.87893159e-02 1.03101729e+02] [ 1.07610547e-01 -2.52754998e-03 9.94189912e-01 5.42705513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.7650998929998 meters 0.05599598157213108 Centerline is valid? [True, True] Translation: X:510.13, Y:103.12, Z:54.28 [[ 9.50763526e-01 -2.92328803e-01 -1.02920301e-01 5.10130049e+02] [ 2.90942436e-01 9.56313834e-01 -2.85718297e-02 1.03119080e+02] [ 1.06776476e-01 -2.77882957e-03 9.94279167e-01 5.42772551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.8250998929999 meters 0.056562825460544086 Centerline is valid? [True, True] Translation: X:510.19, Y:103.13, Z:54.28 [[ 9.49711718e-01 -2.95244821e-01 -1.04298358e-01 5.10189631e+02] [ 2.93838685e-01 9.55416439e-01 -2.89526396e-02 1.03127963e+02] [ 1.08196482e-01 -3.15023115e-03 9.94124538e-01 5.42816777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.8850998929998 meters 0.05777427270405313 Centerline is valid? [True, True] Translation: X:510.25, Y:103.14, Z:54.29 [[ 9.48606046e-01 -2.98600844e-01 -1.04805088e-01 5.10249890e+02] [ 2.97201361e-01 9.54371486e-01 -2.90932768e-02 1.03136842e+02] [ 1.08710264e-01 -3.55015637e-03 9.94067138e-01 5.42859766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.9450998929999 meters 0.05816910949959527 Centerline is valid? [True, True] Translation: X:510.31, Y:103.15, Z:54.29 [[ 9.48883523e-01 -2.98033600e-01 -1.03903966e-01 5.10306030e+02] [ 2.96654763e-01 9.54549127e-01 -2.88429384e-02 1.03153237e+02] [ 1.07777605e-01 -3.45501749e-03 9.94169025e-01 5.42941378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.0050998929999 meters 0.056813615838376706 Centerline is valid? [True, True] Translation: X:510.36, Y:103.17, Z:54.30 [[ 9.49447023e-01 -2.96355019e-01 -1.03557008e-01 5.10362256e+02] [ 2.94974208e-01 9.55072348e-01 -2.87580833e-02 1.03173654e+02] [ 1.07427037e-01 -3.24236989e-03 9.94207684e-01 5.43016551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.0650998929999 meters 0.05687203345061468 Centerline is valid? [True, True] Translation: X:510.42, Y:103.19, Z:54.31 [[ 9.50277216e-01 -2.93736541e-01 -1.03402405e-01 5.10419828e+02] [ 2.92344303e-01 9.55881894e-01 -2.87160787e-02 1.03189681e+02] [ 1.07275448e-01 -2.94086867e-03 9.94224989e-01 5.43081648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.1250998929999 meters 0.0571823449679765 Centerline is valid? [True, True] Translation: X:510.48, Y:103.20, Z:54.31 [[ 9.50526847e-01 -2.92592804e-01 -1.04346369e-01 5.10475546e+02] [ 2.91167710e-01 9.56232931e-01 -2.89818318e-02 1.03203629e+02] [ 1.08259310e-01 -2.83428411e-03 9.94118649e-01 5.43127847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.1850998929999 meters 0.0573531510696551 Centerline is valid? [True, True] Translation: X:510.53, Y:103.22, Z:54.32 [[ 9.49375838e-01 -2.95832762e-01 -1.05681103e-01 5.10533990e+02] [ 2.94390212e-01 9.55234256e-01 -2.93584592e-02 1.03216754e+02] [ 1.09635404e-01 -3.23927052e-03 9.93966592e-01 5.43183867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.2450998929999 meters 0.05750681463003006 Centerline is valid? [True, True] Translation: X:510.59, Y:103.23, Z:54.32 [[ 9.48669109e-01 -2.97786782e-01 -1.06536168e-01 5.10590841e+02] [ 2.96332859e-01 9.54626020e-01 -2.95972820e-02 1.03233619e+02] [ 1.10515878e-01 -3.49214022e-03 9.93868224e-01 5.43245601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.3050998929999 meters 0.05599240804592894 Centerline is valid? [True, True] Translation: X:510.65, Y:103.26, Z:54.33 [[ 9.48337786e-01 -2.98738778e-01 -1.06820344e-01 5.10647231e+02] [ 2.97282919e-01 9.54328088e-01 -2.96777045e-02 1.03256660e+02] [ 1.10807536e-01 -3.61137499e-03 9.93835322e-01 5.43321399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.3650998929999 meters 0.0562491318028031 Centerline is valid? [True, True] Translation: X:510.71, Y:103.28, Z:54.34 [[ 9.47974391e-01 -2.99831166e-01 -1.06985166e-01 5.10706047e+02] [ 2.98377989e-01 9.53984922e-01 -2.97211217e-02 1.03276119e+02] [ 1.10973554e-01 -3.74715635e-03 9.93816296e-01 5.43388433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.4250998929999 meters 0.0564408024821033 Centerline is valid? [True, True] Translation: X:510.77, Y:103.29, Z:54.34 [[ 9.48137091e-01 -2.99684524e-01 -1.05949247e-01 5.10766177e+02] [ 2.98258907e-01 9.54031194e-01 -2.94296724e-02 1.03288134e+02] [ 1.09898504e-01 -3.69694274e-03 9.93935939e-01 5.43445842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.4850998929999 meters 0.05792272674509362 Centerline is valid? [True, True] Translation: X:510.82, Y:103.30, Z:54.35 [[ 9.48472739e-01 -2.99213832e-01 -1.04261912e-01 5.10821804e+02] [ 2.97830791e-01 9.54179345e-01 -2.89585338e-02 1.03301579e+02] [ 1.08149357e-01 -3.58602784e-03 9.94128189e-01 5.43516723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.5450998929999 meters 0.05728224868540484 Centerline is valid? [True, True] Translation: X:510.88, Y:103.32, Z:54.36 [[ 9.48449054e-01 -2.99481999e-01 -1.03705956e-01 5.10876956e+02] [ 2.98114794e-01 9.54095187e-01 -2.88087511e-02 1.03318774e+02] [ 1.07573056e-01 -3.59264695e-03 9.94190691e-01 5.43589405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.6050998929999 meters 0.057641347404922764 Centerline is valid? [True, True] Translation: X:510.93, Y:103.34, Z:54.37 [[ 9.47838744e-01 -3.01555089e-01 -1.03277505e-01 5.10934332e+02] [ 3.00210026e-01 9.53441185e-01 -2.87027397e-02 1.03336628e+02] [ 1.07124484e-01 -3.79937374e-03 9.94238357e-01 5.43660760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.6650998929999 meters 0.05790899346065885 Centerline is valid? [True, True] Translation: X:510.99, Y:103.35, Z:54.37 [[ 9.46662734e-01 -3.05090078e-01 -1.03680820e-01 5.10992792e+02] [ 3.03755549e-01 9.52314167e-01 -2.88148278e-02 1.03352267e+02] [ 1.07527832e-01 -4.21570068e-03 9.94193137e-01 5.43721382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.7250998929999 meters 0.05762538409948981 Centerline is valid? [True, True] Translation: X:511.05, Y:103.37, Z:54.38 [[ 9.44471718e-01 -3.11321812e-01 -1.05128037e-01 5.11050313e+02] [ 3.09988019e-01 9.50291425e-01 -2.92170541e-02 1.03369487e+02] [ 1.08998178e-01 -4.99375044e-03 9.94029406e-01 5.43775065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.7850998929999 meters 0.05571543929987167 Centerline is valid? [True, True] Translation: X:511.11, Y:103.39, Z:54.38 [[ 9.42965610e-01 -3.15577608e-01 -1.05955805e-01 5.11106128e+02] [ 3.14249284e-01 9.48883666e-01 -2.94478403e-02 1.03393636e+02] [ 1.09832812e-01 -5.52823526e-03 9.93934702e-01 5.43841933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.8450998929999 meters 0.05759214971127844 Centerline is valid? [True, True] Translation: X:511.17, Y:103.40, Z:54.39 [[ 9.41978256e-01 -3.18193770e-01 -1.06909733e-01 5.11165819e+02] [ 3.16858136e-01 9.48007423e-01 -2.97127442e-02 1.03401725e+02] [ 1.10805630e-01 -5.88645961e-03 9.93824664e-01 5.43885040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.9050998929998 meters 0.05570211620434881 Centerline is valid? [True, True] Translation: X:511.22, Y:103.43, Z:54.40 [[ 9.41772291e-01 -3.18442338e-01 -1.07978840e-01 5.11222391e+02] [ 3.17081690e-01 9.47923385e-01 -3.00076303e-02 1.03430071e+02] [ 1.11911368e-01 -5.97775842e-03 9.93700212e-01 5.43962218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.9650998929999 meters 0.057520641143011544 Centerline is valid? [True, True] Translation: X:511.28, Y:103.44, Z:54.40 [[ 9.42829094e-01 -3.15334991e-01 -1.07875591e-01 5.11280583e+02] [ 3.13957090e-01 9.48963862e-01 -2.99755706e-02 1.03443358e+02] [ 1.11822384e-01 -5.60646660e-03 9.93712394e-01 5.44023555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.0250998929998 meters 0.05480402338043756 Centerline is valid? [True, True] Translation: X:511.33, Y:103.48, Z:54.41 [[ 9.45707634e-01 -3.07168915e-01 -1.06227720e-01 5.11332773e+02] [ 3.05781472e-01 9.51644050e-01 -2.95176954e-02 1.03478100e+02] [ 1.10157897e-01 -4.56735887e-03 9.93903606e-01 5.44117162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.0850998929999 meters 0.05726182609682158 Centerline is valid? [True, True] Translation: X:511.39, Y:103.48, Z:54.42 [[ 9.47994281e-01 -3.00496040e-01 -1.04923651e-01 5.11393147e+02] [ 2.99101833e-01 9.53775712e-01 -2.91545071e-02 1.03484565e+02] [ 1.08834444e-01 -3.74455051e-03 9.94052837e-01 5.44162511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.1450998929998 meters 0.05557252322696554 Centerline is valid? [True, True] Translation: X:511.45, Y:103.51, Z:54.42 [[ 9.50997914e-01 -2.90996795e-01 -1.04517144e-01 5.11447133e+02] [ 2.89556165e-01 9.56720369e-01 -2.90407127e-02 1.03514061e+02] [ 1.08444435e-01 -2.64592616e-03 9.94098991e-01 5.44238435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.2050998929999 meters 0.056431842502023065 Centerline is valid? [True, True] Translation: X:511.50, Y:103.53, Z:54.43 [[ 9.52556277e-01 -2.85532359e-01 -1.05393601e-01 5.11504993e+02] [ 2.84034069e-01 9.58366896e-01 -2.92837981e-02 1.03528705e+02] [ 1.09367211e-01 -2.04090779e-03 9.93999320e-01 5.44276521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.2650998929998 meters 0.055331029737604356 Centerline is valid? [True, True] Translation: X:511.56, Y:103.56, Z:54.44 [[ 9.54298937e-01 -2.79061044e-01 -1.06950799e-01 5.11560050e+02] [ 2.77477374e-01 9.60272460e-01 -2.97171409e-02 1.03557515e+02] [ 1.10994804e-01 -1.31739100e-03 9.93820114e-01 5.44355400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.3250998929999 meters 0.05487215038766648 Centerline is valid? [True, True] Translation: X:511.62, Y:103.57, Z:54.44 [[ 9.55881183e-01 -2.73391319e-01 -1.07463255e-01 5.11618001e+02] [ 2.71756711e-01 9.61902671e-01 -2.98587066e-02 1.03574860e+02] [ 1.11532303e-01 -6.62484799e-04 9.93760588e-01 5.44397310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.3850998929998 meters 0.05534634859454224 Centerline is valid? [True, True] Translation: X:511.67, Y:103.59, Z:54.45 [[ 9.56711559e-01 -2.70549484e-01 -1.07265883e-01 5.11674736e+02] [ 2.68903158e-01 9.62706013e-01 -2.98030884e-02 1.03592706e+02] [ 1.11328721e-01 -3.31175490e-04 9.93783581e-01 5.44460630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.4450998929999 meters 0.056024138754384334 Centerline is valid? [True, True] Translation: X:511.73, Y:103.61, Z:54.45 [[ 9.57132356e-01 -2.69097006e-01 -1.07165544e-01 5.11733876e+02] [ 2.67444525e-01 9.63113065e-01 -2.97766797e-02 1.03610137e+02] [ 1.11225351e-01 -1.60614317e-04 9.93795198e-01 5.44530610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.5050998929999 meters 0.05600580717020737 Centerline is valid? [True, True] Translation: X:511.79, Y:103.62, Z:54.46 [[ 9.56768307e-01 -2.70355161e-01 -1.07249679e-01 5.11793527e+02] [ 2.68708379e-01 9.62760609e-01 -2.97962518e-02 1.03624876e+02] [ 1.11311336e-01 -3.10778010e-04 9.93785535e-01 5.44587871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.5650998929999 meters 0.05558100034794436 Centerline is valid? [True, True] Translation: X:511.85, Y:103.64, Z:54.47 [[ 9.55590208e-01 -2.74866090e-01 -1.06282584e-01 5.11854372e+02] [ 2.73277060e-01 9.61482159e-01 -2.95246782e-02 1.03637020e+02] [ 1.10304141e-01 -8.31098635e-04 9.93897533e-01 5.44659242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.6250998929999 meters 0.055168212738808516 Centerline is valid? [True, True] Translation: X:511.91, Y:103.65, Z:54.47 [[ 9.54448468e-01 -2.78977073e-01 -1.05829654e-01 5.11914475e+02] [ 2.77427162e-01 9.60296877e-01 -2.93951835e-02 1.03646675e+02] [ 1.09828469e-01 -1.30383281e-03 9.93949701e-01 5.44720899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.6850998929999 meters 0.055403818994098464 Centerline is valid? [True, True] Translation: X:511.97, Y:103.66, Z:54.48 [[ 9.52514597e-01 -2.85843873e-01 -1.04924846e-01 5.11974514e+02] [ 2.84362052e-01 9.58273949e-01 -2.91421086e-02 1.03656079e+02] [ 1.08876840e-01 -2.07836075e-03 9.94053074e-01 5.44793545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.7450998929999 meters 0.05545766597559237 Centerline is valid? [True, True] Translation: X:512.03, Y:103.67, Z:54.49 [[ 9.51247595e-01 -2.90254378e-01 -1.04309201e-01 5.12033326e+02] [ 2.88816357e-01 9.56946081e-01 -2.89708359e-02 1.03669358e+02] [ 1.08227193e-01 -2.56776558e-03 9.94122870e-01 5.44856594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.8050998929999 meters 0.05623175066745604 Centerline is valid? [True, True] Translation: X:512.09, Y:103.67, Z:54.49 [[ 9.49750649e-01 -2.94920241e-01 -1.04860648e-01 5.12094103e+02] [ 2.93495420e-01 9.55516789e-01 -2.91222332e-02 1.03673585e+02] [ 1.08784846e-01 -3.11726005e-03 9.94060431e-01 5.44906284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.8650998929999 meters 0.0563570914909382 Centerline is valid? [True, True] Translation: X:512.15, Y:103.69, Z:54.50 [[ 9.48869123e-01 -2.97625588e-01 -1.05196941e-01 5.12152563e+02] [ 2.96208196e-01 9.54676481e-01 -2.92150893e-02 1.03685430e+02] [ 1.09124204e-01 -3.43890000e-03 9.94022174e-01 5.44961149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.9250998929999 meters 0.05524714862608463 Centerline is valid? [True, True] Translation: X:512.21, Y:103.71, Z:54.50 [[ 9.48439109e-01 -2.98871863e-01 -1.05540831e-01 5.12210124e+02] [ 2.97452773e-01 9.54286486e-01 -2.93112858e-02 1.03706637e+02] [ 1.09476507e-01 -3.59344298e-03 9.93982888e-01 5.45034316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.9850998929999 meters 0.05485209915457435 Centerline is valid? [True, True] Translation: X:512.27, Y:103.72, Z:54.51 [[ 9.47960034e-01 -3.00402775e-01 -1.05498568e-01 5.12269054e+02] [ 2.98994558e-01 9.53804986e-01 -2.92968249e-02 1.03721648e+02] [ 1.09425907e-01 -3.77127850e-03 9.93987801e-01 5.45098979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.0450998929999 meters 0.05640457526887452 Centerline is valid? [True, True] Translation: X:512.33, Y:103.73, Z:54.52 [[ 9.47656949e-01 -3.01228878e-01 -1.05865339e-01 5.12329707e+02] [ 2.99816272e-01 9.53543961e-01 -2.93958680e-02 1.03731318e+02] [ 1.09802139e-01 -3.88295280e-03 9.93945880e-01 5.45153499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.1050998929999 meters 0.05573892310498186 Centerline is valid? [True, True] Translation: X:512.39, Y:103.75, Z:54.52 [[ 9.47107816e-01 -3.03071959e-01 -1.05518592e-01 5.12387433e+02] [ 3.01680288e-01 9.52958916e-01 -2.92968923e-02 1.03750296e+02] [ 1.09433949e-01 -4.08556347e-03 9.93985673e-01 5.45224109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.1650998929999 meters 0.05528692555086953 Centerline is valid? [True, True] Translation: X:512.44, Y:103.77, Z:54.53 [[ 9.46637561e-01 -3.04414413e-01 -1.05873476e-01 5.12444609e+02] [ 3.03021805e-01 9.52530184e-01 -2.93944605e-02 1.03771564e+02] [ 1.09795779e-01 -4.25607133e-03 9.93945055e-01 5.45299381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.2250998929999 meters 0.05675920106105852 Centerline is valid? [True, True] Translation: X:512.51, Y:103.78, Z:54.54 [[ 9.45931428e-01 -3.06828995e-01 -1.05212650e-01 5.12505175e+02] [ 3.05468806e-01 9.51753978e-01 -2.92091543e-02 1.03777761e+02] [ 1.09098773e-01 -4.50932547e-03 9.94020686e-01 5.45358247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.2850998929999 meters 0.056662279700206375 Centerline is valid? [True, True] Translation: X:512.56, Y:103.79, Z:54.54 [[ 9.45588417e-01 -3.08084134e-01 -1.04626536e-01 5.12562927e+02] [ 3.06746822e-01 9.51347855e-01 -2.90455774e-02 1.03792603e+02] [ 1.08484712e-01 -4.62869574e-03 9.94087341e-01 5.45425930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.3450998929999 meters 0.054727931424969394 Centerline is valid? [True, True] Translation: X:512.62, Y:103.82, Z:54.55 [[ 9.45512399e-01 -3.08572569e-01 -1.03871424e-01 5.12618819e+02] [ 3.07257398e-01 9.51189438e-01 -2.88365084e-02 1.03823070e+02] [ 1.07699557e-01 -4.64998725e-03 9.94172612e-01 5.45512034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.4050998929998 meters 0.05468294701769616 Centerline is valid? [True, True] Translation: X:512.68, Y:103.84, Z:54.56 [[ 9.45940232e-01 -3.07399480e-01 -1.03453554e-01 5.12677888e+02] [ 3.06088632e-01 9.51569897e-01 -2.87137603e-02 1.03839535e+02] [ 1.07269882e-01 -4.50445562e-03 9.94219735e-01 5.45574327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.4650998929999 meters 0.056556909508898495 Centerline is valid? [True, True] Translation: X:512.74, Y:103.85, Z:54.56 [[ 9.47139000e-01 -3.03565473e-01 -1.03806159e-01 5.12737621e+02] [ 3.02223004e-01 9.52801817e-01 -2.88088975e-02 1.03847387e+02] [ 1.07652084e-01 -4.08657893e-03 9.94180230e-01 5.45629288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.5250998929998 meters 0.055589496612675766 Centerline is valid? [True, True] Translation: X:512.80, Y:103.87, Z:54.57 [[ 9.47644897e-01 -3.02079162e-01 -1.03524538e-01 5.12795427e+02] [ 3.00735156e-01 9.53274837e-01 -2.87306552e-02 1.03868868e+02] [ 1.07366269e-01 -3.90700926e-03 9.94211858e-01 5.45700536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.5850998929999 meters 0.058685393990581404 Centerline is valid? [True, True] Translation: X:512.85, Y:103.88, Z:54.58 [[ 9.49642652e-01 -2.95981198e-01 -1.02829782e-01 5.12854594e+02] [ 2.94619896e-01 9.55188412e-01 -2.85344433e-02 1.03876886e+02] [ 1.06667474e-01 -3.19817523e-03 9.94289606e-01 5.45753190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.6450998929998 meters 0.05592344058225806 Centerline is valid? [True, True] Translation: X:512.91, Y:103.90, Z:54.58 [[ 9.51033073e-01 -2.91200795e-01 -1.03625248e-01 5.12909911e+02] [ 2.89789885e-01 9.56658197e-01 -2.87561470e-02 1.03900899e+02] [ 1.07507756e-01 -2.68150195e-03 9.94200630e-01 5.45817445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.7050998929999 meters 0.05590853024302581 Centerline is valid? [True, True] Translation: X:512.97, Y:103.92, Z:54.59 [[ 9.53472085e-01 -2.82938016e-01 -1.04101212e-01 5.12965272e+02] [ 2.81464840e-01 9.59136588e-01 -2.88885761e-02 1.03924974e+02] [ 1.08020958e-01 -1.75638019e-03 9.94147065e-01 5.45876823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.7650998929998 meters 0.0558955202236396 Centerline is valid? [True, True] Translation: X:513.02, Y:103.95, Z:54.60 [[ 9.55055336e-01 -2.77254324e-01 -1.04877760e-01 5.13020163e+02] [ 2.75724835e-01 9.60795910e-01 -2.91038503e-02 1.03950939e+02] [ 1.08835292e-01 -1.12161561e-03 9.94059164e-01 5.45961115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.8250998929999 meters 0.055995879310426516 Centerline is valid? [True, True] Translation: X:513.08, Y:103.97, Z:54.60 [[ 9.57197029e-01 -2.69451361e-01 -1.05687329e-01 5.13079130e+02] [ 2.67850502e-01 9.63013971e-01 -2.93291567e-02 1.03969251e+02] [ 1.09681156e-01 -2.34622526e-04 9.93966795e-01 5.46009194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.8850998929998 meters 0.05643427877971793 Centerline is valid? [True, True] Translation: X:513.14, Y:103.99, Z:54.61 [[ 9.58583520e-01 -2.64550961e-01 -1.05500824e-01 5.13138125e+02] [ 2.62926546e-01 9.64371653e-01 -2.92736442e-02 1.03988139e+02] [ 1.09486374e-01 3.22265692e-04 9.93988244e-01 5.46088128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.9450998929999 meters 0.056547522425806726 Centerline is valid? [True, True] Translation: X:513.20, Y:104.00, Z:54.62 [[ 9.59016203e-01 -2.62959159e-01 -1.05548104e-01 5.13197391e+02] [ 2.61324186e-01 9.64806836e-01 -2.92820536e-02 1.04002383e+02] [ 1.09533517e-01 4.99691321e-04 9.93982977e-01 5.46170404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.0050998929999 meters 0.0560986845969219 Centerline is valid? [True, True] Translation: X:513.26, Y:104.02, Z:54.62 [[ 9.58581809e-01 -2.64549085e-01 -1.05521073e-01 5.13257312e+02] [ 2.62924891e-01 9.64372170e-01 -2.92714725e-02 1.04017562e+02] [ 1.09505327e-01 3.14984471e-04 9.93986159e-01 5.46232544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.0650998929999 meters 0.05637300019519851 Centerline is valid? [True, True] Translation: X:513.32, Y:104.03, Z:54.63 [[ 9.57603686e-01 -2.67831380e-01 -1.06120368e-01 5.13317028e+02] [ 2.66209480e-01 9.63465800e-01 -2.94306907e-02 1.04031168e+02] [ 1.10125808e-01 -6.73101526e-05 9.93917654e-01 5.46307617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.1250998929999 meters 0.055962838941464414 Centerline is valid? [True, True] Translation: X:513.38, Y:104.04, Z:54.63 [[ 9.55213655e-01 -2.76085612e-01 -1.06506380e-01 5.13378415e+02] [ 2.74503886e-01 9.61132495e-01 -2.95286771e-02 1.04040300e+02] [ 1.10519186e-01 -1.03021967e-03 9.93873457e-01 5.46344597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.1850998929999 meters 0.056137590671691245 Centerline is valid? [True, True] Translation: X:513.44, Y:104.05, Z:54.64 [[ 9.53451871e-01 -2.82297173e-01 -1.06008665e-01 5.13438700e+02] [ 2.80768843e-01 9.59325420e-01 -2.93869852e-02 1.04048108e+02] [ 1.09992670e-01 -1.74485417e-03 9.93930867e-01 5.46402435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.2450998929999 meters 0.05656954423929191 Centerline is valid? [True, True] Translation: X:513.50, Y:104.06, Z:54.65 [[ 9.50837581e-01 -2.91456710e-01 -1.04694223e-01 5.13499043e+02] [ 2.90021492e-01 9.56580011e-01 -2.90209834e-02 1.04056121e+02] [ 1.08606762e-01 -2.76933316e-03 9.94080933e-01 5.46477612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.3050998929999 meters 0.056532187978660456 Centerline is valid? [True, True] Translation: X:513.56, Y:104.07, Z:54.65 [[ 9.49157203e-01 -2.96887391e-01 -1.04682767e-01 5.13558142e+02] [ 2.95485338e-01 9.54906480e-01 -2.90177329e-02 1.04069337e+02] [ 1.08577251e-01 -3.38983253e-03 9.94082235e-01 5.46540360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.3650998929999 meters 0.05843514283855929 Centerline is valid? [True, True] Translation: X:513.62, Y:104.08, Z:54.66 [[ 9.47162503e-01 -3.02913829e-01 -1.05481777e-01 5.13617905e+02] [ 3.01527377e-01 9.53009081e-01 -2.92392224e-02 1.04075359e+02] [ 1.09382057e-01 -4.11134859e-03 9.93991279e-01 5.46586631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.4250998929999 meters 0.05680762184577147 Centerline is valid? [True, True] Translation: X:513.67, Y:104.10, Z:54.67 [[ 9.46194868e-01 -3.05881473e-01 -1.05602063e-01 5.13674843e+02] [ 3.04510082e-01 9.52059163e-01 -2.92738762e-02 1.04095740e+02] [ 1.09493748e-01 -4.45810164e-03 9.93977487e-01 5.46659435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.4850998929999 meters 0.05602689307266839 Centerline is valid? [True, True] Translation: X:513.73, Y:104.11, Z:54.67 [[ 9.45393147e-01 -3.08260726e-01 -1.05863701e-01 5.13732828e+02] [ 3.06897368e-01 9.51290074e-01 -2.93462333e-02 1.04112177e+02] [ 1.09753379e-01 -4.74556325e-03 9.93947522e-01 5.46724973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.5450998929999 meters 0.05763006579467503 Centerline is valid? [True, True] Translation: X:513.79, Y:104.12, Z:54.68 [[ 9.45515986e-01 -3.07819947e-01 -1.06049051e-01 5.13790702e+02] [ 3.06448991e-01 9.51433008e-01 -2.93980834e-02 1.04119942e+02] [ 1.09947884e-01 -4.70226697e-03 9.93926230e-01 5.46769960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.6050998929999 meters 0.058296307390181414 Centerline is valid? [True, True] Translation: X:513.85, Y:104.14, Z:54.68 [[ 9.46182855e-01 -3.05922553e-01 -1.05590706e-01 5.13847817e+02] [ 3.04550398e-01 9.52045997e-01 -2.92826666e-02 1.04137079e+02] [ 1.09485437e-01 -4.45093456e-03 9.93978434e-01 5.46834930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.6650998929999 meters 0.05854997802063725 Centerline is valid? [True, True] Translation: X:513.90, Y:104.16, Z:54.69 [[ 9.47698600e-01 -3.01178510e-01 -1.05635547e-01 5.13903804e+02] [ 2.99775715e-01 9.53559788e-01 -2.92959248e-02 1.04158882e+02] [ 1.09553112e-01 -3.90326454e-03 9.93973279e-01 5.46903428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.7250998929999 meters 0.05657702169643911 Centerline is valid? [True, True] Translation: X:513.96, Y:104.18, Z:54.70 [[ 9.48671110e-01 -2.98057150e-01 -1.05759447e-01 5.13959349e+02] [ 2.96631711e-01 9.54541438e-01 -2.93303916e-02 1.04182021e+02] [ 1.09693907e-01 -3.54671044e-03 9.93959087e-01 5.46968078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.7850998929999 meters 0.05672902324494173 Centerline is valid? [True, True] Translation: X:514.02, Y:104.20, Z:54.70 [[ 9.49947698e-01 -2.93940452e-01 -1.05822409e-01 5.14016310e+02] [ 2.92487823e-01 9.55818795e-01 -2.93479846e-02 1.04202275e+02] [ 1.09773608e-01 -3.07271566e-03 9.93951867e-01 5.47028967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.8450998929999 meters 0.05628422570869271 Centerline is valid? [True, True] Translation: X:514.07, Y:104.22, Z:54.71 [[ 9.51017804e-01 -2.90689164e-01 -1.05190051e-01 5.14072490e+02] [ 2.89234116e-01 9.56813785e-01 -2.91720137e-02 1.04223833e+02] [ 1.09127279e-01 -2.68144707e-03 9.94024168e-01 5.47106828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.9050998929998 meters 0.056899270047325805 Centerline is valid? [True, True] Translation: X:514.13, Y:104.24, Z:54.72 [[ 9.51548760e-01 -2.89244711e-01 -1.04366920e-01 5.14128187e+02] [ 2.87803544e-01 9.57251940e-01 -2.89455196e-02 1.04240092e+02] [ 1.08277776e-01 -2.49409629e-03 9.94117550e-01 5.47175211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.9650998929999 meters 0.05445659651053026 Centerline is valid? [True, True] Translation: X:514.18, Y:104.27, Z:54.73 [[ 9.51621154e-01 -2.89234228e-01 -1.03733988e-01 5.14184476e+02] [ 2.87810127e-01 9.57255158e-01 -2.87731222e-02 1.04268009e+02] [ 1.07622067e-01 -2.47458059e-03 9.94188799e-01 5.47260057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.0250998929998 meters 0.05543432404703484 Centerline is valid? [True, True] Translation: X:514.24, Y:104.28, Z:54.73 [[ 9.51314993e-01 -2.90129654e-01 -1.04041185e-01 5.14244656e+02] [ 2.88702817e-01 9.56983851e-01 -2.88546835e-02 1.04278460e+02] [ 1.07937333e-01 -2.58709025e-03 9.94154334e-01 5.47310083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.0850998929999 meters 0.05573333962624194 Centerline is valid? [True, True] Translation: X:514.30, Y:104.29, Z:54.74 [[ 9.50013959e-01 -2.94223070e-01 -1.04433052e-01 5.14302592e+02] [ 2.92810426e-01 9.55731856e-01 -2.89598863e-02 1.04294530e+02] [ 1.08330662e-01 -3.06679027e-03 9.94110186e-01 5.47372287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.1450998929998 meters 0.057573336689610725 Centerline is valid? [True, True] Translation: X:514.36, Y:104.30, Z:54.74 [[ 9.48528817e-01 -2.98879616e-01 -1.04709404e-01 5.14361514e+02] [ 2.97487711e-01 9.54284003e-01 -2.90362590e-02 1.04302272e+02] [ 1.08600855e-01 -3.60803243e-03 9.94078888e-01 5.47420064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.2050998929999 meters 0.055047944080631885 Centerline is valid? [True, True] Translation: X:514.42, Y:104.33, Z:54.75 [[ 9.45097636e-01 -3.09430822e-01 -1.05085797e-01 5.14416197e+02] [ 3.08093798e-01 9.50909651e-01 -2.91384337e-02 1.04329146e+02] [ 1.08943428e-01 -4.83761733e-03 9.94036180e-01 5.47490768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.2650998929998 meters 0.060865825530537335 Centerline is valid? [True, True] Translation: X:514.48, Y:104.32, Z:54.75 [[ 9.42917241e-01 -3.15999417e-01 -1.05125854e-01 5.14480256e+02] [ 3.14701855e-01 9.48742871e-01 -2.91497212e-02 1.04321494e+02] [ 1.08948700e-01 -5.59752682e-03 9.94031613e-01 5.47529353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.3250998929999 meters 0.05358243220941788 Centerline is valid? [True, True] Translation: X:514.53, Y:104.37, Z:54.76 [[ 9.40761067e-01 -3.22465299e-01 -1.04808133e-01 5.14529412e+02] [ 3.21215568e-01 9.46560136e-01 -2.90597366e-02 1.04367543e+02] [ 1.08577957e-01 -6.32773514e-03 9.94067798e-01 5.47619078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.3850998929998 meters 0.05310664141345191 Centerline is valid? [True, True] Translation: X:514.59, Y:104.39, Z:54.77 [[ 9.40260412e-01 -3.24114554e-01 -1.04211870e-01 5.14586631e+02] [ 3.22889129e-01 9.45995640e-01 -2.88939231e-02 1.04386681e+02] [ 1.07948915e-01 -6.48106783e-03 9.94135316e-01 5.47683968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.4450998929999 meters 0.057832326801631265 Centerline is valid? [True, True] Translation: X:514.65, Y:104.38, Z:54.77 [[ 9.40549736e-01 -3.23522454e-01 -1.03437981e-01 5.14650795e+02] [ 3.22311845e-01 9.46199073e-01 -2.86773329e-02 1.04383820e+02] [ 1.07150682e-01 -6.36682849e-03 9.94222407e-01 5.47739759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.5050998929999 meters 0.056500474526770976 Centerline is valid? [True, True] Translation: X:514.71, Y:104.41, Z:54.78 [[ 9.40953321e-01 -3.22459957e-01 -1.03084544e-01 5.14707345e+02] [ 3.21252060e-01 9.46562597e-01 -2.85720947e-02 1.04407609e+02] [ 1.06789330e-01 -6.23111469e-03 9.94262145e-01 5.47808116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.5650998929999 meters 0.056035130130838065 Centerline is valid? [True, True] Translation: X:514.76, Y:104.43, Z:54.79 [[ 9.41412826e-01 -3.21101710e-01 -1.03128961e-01 5.14764228e+02] [ 3.19884844e-01 9.47025190e-01 -2.85827881e-02 1.04429560e+02] [ 1.06843706e-01 -6.08118825e-03 9.94257231e-01 5.47864584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.6250998929999 meters 0.05963753766229135 Centerline is valid? [True, True] Translation: X:514.82, Y:104.44, Z:54.79 [[ 9.42444260e-01 -3.17885526e-01 -1.03670679e-01 5.14823622e+02] [ 3.16636555e-01 9.48111680e-01 -2.87320994e-02 1.04438047e+02] [ 1.07424900e-01 -5.74752449e-03 9.94196589e-01 5.47909205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.6850998929999 meters 0.055168986031925125 Centerline is valid? [True, True] Translation: X:514.88, Y:104.47, Z:54.80 [[ 9.44181915e-01 -3.12896632e-01 -1.03034992e-01 5.14875937e+02] [ 3.11633358e-01 9.49773239e-01 -2.85559951e-02 1.04473370e+02] [ 1.06794952e-01 -5.14708634e-03 9.94267743e-01 5.47973935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.7450998929999 meters 0.056702607004610266 Centerline is valid? [True, True] Translation: X:514.93, Y:104.49, Z:54.80 [[ 9.45914197e-01 -3.07765783e-01 -1.02598995e-01 5.14933484e+02] [ 3.06483145e-01 9.51451281e-01 -2.84348881e-02 1.04489083e+02] [ 1.06369231e-01 -4.54789841e-03 9.94316299e-01 5.48033487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.8050998929999 meters 0.05570282717471678 Centerline is valid? [True, True] Translation: X:514.99, Y:104.52, Z:54.81 [[ 9.49073689e-01 -2.98423299e-01 -1.01008260e-01 5.14987442e+02] [ 2.97127350e-01 9.54427406e-01 -2.79939985e-02 1.04518225e+02] [ 1.04759113e-01 -3.44394904e-03 9.94491663e-01 5.48104179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.8650998929999 meters 0.05611790302585237 Centerline is valid? [True, True] Translation: X:515.04, Y:104.54, Z:54.82 [[ 9.52236016e-01 -2.88402682e-01 -1.00351699e-01 5.15042436e+02] [ 2.87067954e-01 9.57506392e-01 -2.78118469e-02 1.04541208e+02] [ 1.04108404e-01 -2.32431464e-03 9.94563240e-01 5.48164917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.9250998929999 meters 0.05529706495425201 Centerline is valid? [True, True] Translation: X:515.10, Y:104.57, Z:54.82 [[ 9.53948143e-01 -2.82629873e-01 -1.00515151e-01 5.15097549e+02] [ 2.81258824e-01 9.59227541e-01 -2.78567425e-02 1.04568080e+02] [ 1.04290049e-01 -1.69688555e-03 9.94545477e-01 5.48223731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.9850998929999 meters 0.055108431398339576 Centerline is valid? [True, True] Translation: X:515.15, Y:104.59, Z:54.83 [[ 9.55672953e-01 -2.76712597e-01 -1.00594960e-01 5.15152994e+02] [ 2.75306647e-01 9.60952149e-01 -2.78786246e-02 1.04589202e+02] [ 1.04381310e-01 -1.05161371e-03 9.94536795e-01 5.48279353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.0450998929999 meters 0.05428916556836526 Centerline is valid? [True, True] Translation: X:515.21, Y:104.61, Z:54.83 [[ 9.56304033e-01 -2.74887166e-01 -9.95973987e-02 5.15211193e+02] [ 2.73499063e-01 9.61476123e-01 -2.76030186e-02 1.04608995e+02] [ 1.03348236e-01 -8.42917262e-04 9.94644877e-01 5.48347613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.1050998929999 meters 0.05442555291022558 Centerline is valid? [True, True] Translation: X:515.27, Y:104.63, Z:54.84 [[ 9.56410721e-01 -2.75171014e-01 -9.77724220e-02 5.15270127e+02] [ 2.73835241e-01 9.61394910e-01 -2.70940560e-02 1.04627409e+02] [ 1.01453408e-01 -8.60489167e-04 9.94839920e-01 5.48423133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.1650998929999 meters 0.0550719492546918 Centerline is valid? [True, True] Translation: X:515.33, Y:104.64, Z:54.85 [[ 9.55547115e-01 -2.78316763e-01 -9.73113086e-02 5.15330418e+02] [ 2.77010172e-01 9.60488604e-01 -2.69630384e-02 1.04643071e+02] [ 1.00970669e-01 -1.19176882e-03 9.94888689e-01 5.48479466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.2250998929999 meters 0.05456442960830584 Centerline is valid? [True, True] Translation: X:515.39, Y:104.66, Z:54.85 [[ 9.54392462e-01 -2.82236171e-01 -9.73538484e-02 5.15389458e+02] [ 2.80949082e-01 9.59343604e-01 -2.69715079e-02 1.04656914e+02] [ 1.01008127e-01 -1.61007047e-03 9.94884298e-01 5.48532437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.2850998929999 meters 0.05539655179492372 Centerline is valid? [True, True] Translation: X:515.45, Y:104.67, Z:54.86 [[ 9.51862826e-01 -2.90690570e-01 -9.72427558e-02 5.15449358e+02] [ 2.89450371e-01 9.56813839e-01 -2.69399169e-02 1.04666502e+02] [ 1.00874394e-01 -2.50384631e-03 9.94896018e-01 5.48584235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.3450998929999 meters 0.05508181464405051 Centerline is valid? [True, True] Translation: X:515.51, Y:104.68, Z:54.86 [[ 9.48678880e-01 -3.00882002e-01 -9.73570989e-02 5.15508136e+02] [ 2.99692233e-01 9.53654618e-01 -2.69710001e-02 1.04679659e+02] [ 1.00960135e-01 -3.59034824e-03 9.94883993e-01 5.48625434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.4050998929998 meters 0.05539167038344001 Centerline is valid? [True, True] Translation: X:515.57, Y:104.69, Z:54.87 [[ 9.46930986e-01 -3.06389110e-01 -9.71978435e-02 5.15568048e+02] [ 3.05232075e-01 9.51897224e-01 -2.69268606e-02 1.04690243e+02] [ 1.00772454e-01 -4.17002083e-03 9.94900761e-01 5.48678630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.4650998929999 meters 0.05607149651672451 Centerline is valid? [True, True] Translation: X:515.63, Y:104.70, Z:54.87 [[ 9.46439203e-01 -3.08098363e-01 -9.65827797e-02 5.15628341e+02] [ 3.06964837e-01 9.51344679e-01 -2.67561446e-02 1.04701558e+02] [ 1.00127038e-01 -4.32445307e-03 9.94965263e-01 5.48731060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.5250998929998 meters 0.05564215925589911 Centerline is valid? [True, True] Translation: X:515.69, Y:104.72, Z:54.88 [[ 9.46591130e-01 -3.08000497e-01 -9.53987719e-02 5.15687957e+02] [ 3.06894364e-01 9.51376646e-01 -2.64258875e-02 1.04717565e+02] [ 9.88993501e-02 -4.26283468e-03 9.95088311e-01 5.48806218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.5850998929999 meters 0.05543675743618678 Centerline is valid? [True, True] Translation: X:515.75, Y:104.73, Z:54.89 [[ 9.46891220e-01 -3.07431993e-01 -9.42474765e-02 5.15747950e+02] [ 3.06349931e-01 9.51560983e-01 -2.61039262e-02 1.04731707e+02] [ 9.77074034e-02 -4.15512932e-03 9.95206510e-01 5.48864800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.6450998929998 meters 0.05733560299050342 Centerline is valid? [True, True] Translation: X:515.81, Y:104.74, Z:54.89 [[ 9.46981483e-01 -3.06573097e-01 -9.61197532e-02 5.15809117e+02] [ 3.05443471e-01 9.51838066e-01 -2.66192143e-02 1.04738658e+02] [ 9.96511750e-02 -4.15124802e-03 9.95013774e-01 5.48914380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.7050998929999 meters 0.05587926549073273 Centerline is valid? [True, True] Translation: X:515.87, Y:104.76, Z:54.89 [[ 9.47126715e-01 -3.05243146e-01 -9.88817837e-02 5.15867378e+02] [ 3.04040509e-01 9.52265493e-01 -2.73824632e-02 1.04758892e+02] [ 1.02520020e-01 -4.12940540e-03 9.94722370e-01 5.48934011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.7650998929998 meters 0.055173079994544766 Centerline is valid? [True, True] Translation: X:515.92, Y:104.78, Z:54.90 [[ 9.48185522e-01 -3.01487271e-01 -1.00247905e-01 5.15924743e+02] [ 3.00230355e-01 9.53462722e-01 -2.77591602e-02 1.04778627e+02] [ 1.03951674e-01 -3.77663040e-03 9.94575179e-01 5.48979135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.8250998929999 meters 0.05548252893011588 Centerline is valid? [True, True] Translation: X:515.98, Y:104.79, Z:54.90 [[ 9.49562485e-01 -2.97094109e-01 -1.00330344e-01 5.15982994e+02] [ 2.95810656e-01 9.54842507e-01 -2.77820430e-02 1.04794188e+02] [ 1.04053558e-01 -3.29799907e-03 9.94566227e-01 5.49038271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.8850998929998 meters 0.05525583656024199 Centerline is valid? [True, True] Translation: X:516.04, Y:104.82, Z:54.91 [[ 9.52337425e-01 -2.88409446e-01 -9.93650872e-02 5.16038637e+02] [ 2.87103375e-01 9.57504354e-01 -2.75148066e-02 1.04817905e+02] [ 1.03078034e-01 -2.32467177e-03 9.94670556e-01 5.49107113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.9450998929999 meters 0.053955258861420476 Centerline is valid? [True, True] Translation: X:516.09, Y:104.84, Z:54.92 [[ 9.54414790e-01 -2.81669338e-01 -9.87663532e-02 5.16094399e+02] [ 2.80342942e-01 9.59510223e-01 -2.73489849e-02 1.04842046e+02] [ 1.02470696e-01 -1.58617432e-03 9.94734759e-01 5.49168876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.0050998929999 meters 0.054328373507315085 Centerline is valid? [True, True] Translation: X:516.15, Y:104.86, Z:54.92 [[ 9.57626217e-01 -2.70303999e-01 -9.94373006e-02 5.16149582e+02] [ 2.68898199e-01 9.62774953e-01 -2.75344883e-02 1.04863625e+02] [ 1.03178425e-01 -3.70763184e-04 9.94662795e-01 5.49230183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.0650998929999 meters 0.054791976879792446 Centerline is valid? [True, True] Translation: X:516.21, Y:104.88, Z:54.93 [[ 9.59889719e-01 -2.62369371e-01 -9.88637498e-02 5.16208574e+02] [ 2.60937655e-01 9.64967399e-01 -2.73762319e-02 1.04883997e+02] [ 1.02582980e-01 4.80888510e-04 9.94724334e-01 5.49295362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.1250998929999 meters 0.05478392132520632 Centerline is valid? [True, True] Translation: X:516.26, Y:104.90, Z:54.94 [[ 9.62881595e-01 -2.51175214e-01 -9.88435467e-02 5.16264539e+02] [ 2.49685511e-01 9.67940195e-01 -2.73665016e-02 1.04902999e+02] [ 1.02548429e-01 1.67089921e-03 9.94726610e-01 5.49367556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.1850998929999 meters 0.055664568943170026 Centerline is valid? [True, True] Translation: X:516.32, Y:104.93, Z:54.94 [[ 9.64276373e-01 -2.45440102e-01 -9.96505560e-02 5.16320503e+02] [ 2.43895251e-01 9.69409028e-01 -2.75906356e-02 1.04925688e+02] [ 1.03373997e-01 2.30070063e-03 9.94639896e-01 5.49428474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.2450998929999 meters 0.05571136934782347 Centerline is valid? [True, True] Translation: X:516.38, Y:104.93, Z:54.95 [[ 9.64997089e-01 -2.41841449e-01 -1.01456060e-01 5.16381830e+02] [ 2.40220199e-01 9.70311927e-01 -2.80895061e-02 1.04933023e+02] [ 1.05237232e-01 2.73449672e-03 9.94443386e-01 5.49467071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.3050998929999 meters 0.055604790617773486 Centerline is valid? [True, True] Translation: X:516.44, Y:104.94, Z:54.95 [[ 9.63951724e-01 -2.44810140e-01 -1.04235640e-01 5.16441628e+02] [ 2.43115911e-01 9.69567874e-01 -2.88581317e-02 1.04942822e+02] [ 1.08128291e-01 2.47650322e-03 9.94133864e-01 5.49507673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.3650998929999 meters 0.055179659685447136 Centerline is valid? [True, True] Translation: X:516.50, Y:104.96, Z:54.96 [[ 9.63296376e-01 -2.47234233e-01 -1.04572107e-01 5.16500545e+02] [ 2.45543345e-01 9.68953222e-01 -2.89502806e-02 1.04958254e+02] [ 1.08482981e-01 2.21071527e-03 9.94095848e-01 5.49562855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.4250998929999 meters 0.05529700491764661 Centerline is valid? [True, True] Translation: X:516.56, Y:104.96, Z:54.96 [[ 9.60970629e-01 -2.56141985e-01 -1.04531017e-01 5.16561707e+02] [ 2.54505133e-01 9.66638421e-01 -2.89361603e-02 1.04961326e+02] [ 1.08455463e-01 1.20311974e-03 9.94100581e-01 5.49633209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.4850998929999 meters 0.05489219345166279 Centerline is valid? [True, True] Translation: X:516.62, Y:104.97, Z:54.97 [[ 9.59250135e-01 -2.63015273e-01 -1.03257662e-01 5.16621573e+02] [ 2.61457814e-01 9.64791578e-01 -2.85836105e-02 1.04969242e+02] [ 1.07140049e-01 4.21309567e-04 9.94243850e-01 5.49707591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.5450998929999 meters 0.05403430793911529 Centerline is valid? [True, True] Translation: X:516.69, Y:104.97, Z:54.98 [[ 9.56495130e-01 -2.73595806e-01 -1.01303506e-01 5.16685161e+02] [ 2.72156000e-01 9.61844465e-01 -2.80417101e-02 1.04972273e+02] [ 1.05110311e-01 -7.48597715e-04 9.94460287e-01 5.49786643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.6050998929999 meters 0.05451161095700538 Centerline is valid? [True, True] Translation: X:516.75, Y:104.97, Z:54.98 [[ 9.54071747e-01 -2.82001404e-01 -1.01105439e-01 5.16747127e+02] [ 2.80614563e-01 9.59412532e-01 -2.79832130e-02 1.04973998e+02] [ 1.04893130e-01 -1.67366551e-03 9.94482091e-01 5.49841823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.6650998929999 meters 0.05473348643325893 Centerline is valid? [True, True] Translation: X:516.81, Y:104.98, Z:54.99 [[ 9.52776344e-01 -2.86341480e-01 -1.01122674e-01 5.16806522e+02] [ 2.84978594e-01 9.58125213e-01 -2.79870787e-02 1.04982337e+02] [ 1.04902045e-01 -2.15237096e-03 9.94480230e-01 5.49897100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.7250998929999 meters 0.05425365511858132 Centerline is valid? [True, True] Translation: X:516.87, Y:104.99, Z:54.99 [[ 9.51567048e-01 -2.89861314e-01 -1.02472296e-01 5.16865865e+02] [ 2.88481948e-01 9.57065199e-01 -2.83614259e-02 1.04994290e+02] [ 1.06293548e-01 -2.57360916e-03 9.94331463e-01 5.49946909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.7850998929999 meters 0.05442502144827596 Centerline is valid? [True, True] Translation: X:516.92, Y:105.01, Z:55.00 [[ 9.49815894e-01 -2.94432086e-01 -1.05638599e-01 5.16924372e+02] [ 2.92994274e-01 9.55667106e-01 -2.92359088e-02 1.05005217e+02] [ 1.09563324e-01 -3.18277379e-03 9.93974722e-01 5.49987483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.8450998929999 meters 0.056252971902201854 Centerline is valid? [True, True] Translation: X:516.99, Y:105.01, Z:55.00 [[ 9.47921767e-01 -2.99397593e-01 -1.08652678e-01 5.16985595e+02] [ 2.97908764e-01 9.54120615e-01 -3.00702530e-02 1.05008025e+02] [ 1.12670721e-01 -3.86433764e-03 9.93624867e-01 5.50014699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.9050998929998 meters 0.05549875416049002 Centerline is valid? [True, True] Translation: X:517.04, Y:105.03, Z:55.01 [[ 9.47063766e-01 -3.02113378e-01 -1.08617355e-01 5.17042414e+02] [ 3.00643168e-01 9.53262814e-01 -3.00614736e-02 1.05025637e+02] [ 1.12622859e-01 -4.18493340e-03 9.93628994e-01 5.50085696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.9650998929999 meters 0.05806520931095729 Centerline is valid? [True, True] Translation: X:517.10, Y:105.03, Z:55.01 [[ 9.46521917e-01 -3.04020467e-01 -1.08017662e-01 5.17101573e+02] [ 3.02578706e-01 9.52655404e-01 -2.98966311e-02 1.05031096e+02] [ 1.11992797e-01 -4.38602777e-03 9.93699339e-01 5.50140293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.0250998929998 meters 0.05455068407729794 Centerline is valid? [True, True] Translation: X:517.16, Y:105.06, Z:55.02 [[ 9.46463983e-01 -3.04905796e-01 -1.06011248e-01 5.17156159e+02] [ 3.03522345e-01 9.52372338e-01 -2.93447900e-02 1.05062193e+02] [ 1.09909577e-01 -4.40299586e-03 9.93931838e-01 5.50245241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.0850998929999 meters 0.05722101391090551 Centerline is valid? [True, True] Translation: X:517.22, Y:105.07, Z:55.03 [[ 9.46140911e-01 -3.05904844e-01 -1.06016991e-01 5.17217385e+02] [ 3.04527789e-01 9.52051353e-01 -2.93436018e-02 1.05067764e+02] [ 1.09909969e-01 -4.52193763e-03 9.93931261e-01 5.50300969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.1450998929998 meters 0.057635663189221496 Centerline is valid? [True, True] Translation: X:517.27, Y:105.08, Z:55.04 [[ 9.45687992e-01 -3.07714734e-01 -1.04813476e-01 5.17274430e+02] [ 3.06380065e-01 9.51467154e-01 -2.90088071e-02 1.05080365e+02] [ 1.08653017e-01 -4.67947894e-03 9.94068722e-01 5.50376597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.2050998929999 meters 0.05603175760620037 Centerline is valid? [True, True] Translation: X:517.33, Y:105.10, Z:55.05 [[ 9.46166721e-01 -3.06963519e-01 -1.02673920e-01 5.17330677e+02] [ 3.05678310e-01 9.51710658e-01 -2.84182028e-02 1.05103998e+02] [ 1.06439216e-01 -4.49683254e-03 9.94309042e-01 5.50457333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.2650998929998 meters 0.055682156155784694 Centerline is valid? [True, True] Translation: X:517.39, Y:105.12, Z:55.05 [[ 9.47340630e-01 -3.03222895e-01 -1.02964103e-01 5.17387257e+02] [ 3.01908656e-01 9.52910880e-01 -2.84959345e-02 1.05124404e+02] [ 1.06756233e-01 -4.09039741e-03 9.94276810e-01 5.50525852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.3250998929999 meters 0.055317749087216324 Centerline is valid? [True, True] Translation: X:517.44, Y:105.15, Z:55.06 [[ 9.50251503e-01 -2.94066447e-01 -1.02698614e-01 5.17443734e+02] [ 2.92705603e-01 9.55780105e-01 -2.84221925e-02 1.05145725e+02] [ 1.06515305e-01 -3.05222856e-03 9.94306378e-01 5.50594669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.3850998929998 meters 0.055161848495390194 Centerline is valid? [True, True] Translation: X:517.50, Y:105.17, Z:55.07 [[ 9.52345660e-01 -2.87357372e-01 -1.02291178e-01 5.17500090e+02] [ 2.85968686e-01 9.57820698e-01 -2.83094012e-02 1.05167971e+02] [ 1.06111523e-01 -2.29173838e-03 9.94351594e-01 5.50668815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.4450998929999 meters 0.05574654315479478 Centerline is valid? [True, True] Translation: X:517.56, Y:105.19, Z:55.07 [[ 9.54726206e-01 -2.79663167e-01 -1.01421816e-01 5.17556425e+02] [ 2.78254736e-01 9.60097123e-01 -2.80680568e-02 1.05185041e+02] [ 1.05224396e-01 -1.42379136e-03 9.94447484e-01 5.50743829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.5050998929999 meters 0.05501388717298343 Centerline is valid? [True, True] Translation: X:517.61, Y:105.20, Z:55.08 [[ 9.55318419e-01 -2.77841375e-01 -1.00850827e-01 5.17611615e+02] [ 2.76438640e-01 9.60626198e-01 -2.79103222e-02 1.05203034e+02] [ 1.04634589e-01 -1.21582067e-03 9.94509992e-01 5.50814397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.5650998929999 meters 0.05550567329063291 Centerline is valid? [True, True] Translation: X:517.67, Y:105.22, Z:55.09 [[ 9.54763561e-01 -2.79886990e-01 -1.00448070e-01 5.17668733e+02] [ 2.78505524e-01 9.60031900e-01 -2.78105215e-02 1.05216239e+02] [ 1.04217154e-01 -1.42286970e-03 9.94553548e-01 5.50873971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.6250998929999 meters 0.0557254890478667 Centerline is valid? [True, True] Translation: X:517.73, Y:105.23, Z:55.09 [[ 9.53081649e-01 -2.85871965e-01 -9.95619854e-02 5.17727783e+02] [ 2.84546217e-01 9.58265634e-01 -2.75758140e-02 1.05225989e+02] [ 1.03289981e-01 -2.04798397e-03 9.94649177e-01 5.50937857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.6850998929999 meters 0.05507312201152189 Centerline is valid? [True, True] Translation: X:517.79, Y:105.24, Z:55.10 [[ 9.51473389e-01 -2.91415669e-01 -9.88701045e-02 5.17786189e+02] [ 2.90138034e-01 9.56592908e-01 -2.73848586e-02 1.05241914e+02] [ 1.02558818e-01 -2.63001353e-03 9.94723465e-01 5.51004056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.7450998929999 meters 0.058070338482517594 Centerline is valid? [True, True] Translation: X:517.85, Y:105.24, Z:55.11 [[ 9.48485486e-01 -3.01205683e-01 -9.82365493e-02 5.17846849e+02] [ 2.99996548e-01 9.53552159e-01 -2.72094046e-02 1.05242650e+02] [ 1.01869301e-01 -3.66290029e-03 9.94791048e-01 5.51066027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.8050998929999 meters 0.055738974259685416 Centerline is valid? [True, True] Translation: X:517.90, Y:105.26, Z:55.11 [[ 9.45378403e-01 -3.11236127e-01 -9.69110334e-02 5.17904608e+02] [ 3.10111747e-01 9.50321102e-01 -2.68422656e-02 1.05259571e+02] [ 1.00450883e-01 -4.67715171e-03 9.94931025e-01 5.51111560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.8650998929999 meters 0.0571271381538661 Centerline is valid? [True, True] Translation: X:517.96, Y:105.27, Z:55.12 [[ 9.43899097e-01 -3.15803093e-01 -9.65551765e-02 5.17963073e+02] [ 3.14710604e-01 9.48810813e-01 -2.67446484e-02 1.05269082e+02] [ 1.00058638e-01 -5.14268844e-03 9.94968252e-01 5.51165626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.9250998929999 meters 0.05571800818998894 Centerline is valid? [True, True] Translation: X:518.02, Y:105.29, Z:55.12 [[ 9.43251063e-01 -3.17733945e-01 -9.65534654e-02 5.18019316e+02] [ 3.16651594e-01 9.48164828e-01 -2.67437182e-02 1.05290598e+02] [ 1.00045987e-01 -5.34776804e-03 9.94968443e-01 5.51223896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.9850998929999 meters 0.05759719465096397 Centerline is valid? [True, True] Translation: X:518.08, Y:105.30, Z:55.13 [[ 9.44178014e-01 -3.15085902e-01 -9.61704293e-02 5.18077204e+02] [ 3.13998574e-01 9.49049732e-01 -2.66364705e-02 1.05302716e+02] [ 9.96632965e-02 -5.04780784e-03 9.95008416e-01 5.51291078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.0450998929999 meters 0.05727545570960935 Centerline is valid? [True, True] Translation: X:518.14, Y:105.32, Z:55.13 [[ 9.46158811e-01 -3.09443878e-01 -9.50157377e-02 5.18135135e+02] [ 3.08354097e-01 9.50907537e-01 -2.63174285e-02 1.05319691e+02] [ 9.84949482e-02 -4.39802512e-03 9.95127832e-01 5.51349883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.1050998929999 meters 0.05657722514690911 Centerline is valid? [True, True] Translation: X:518.19, Y:105.34, Z:55.14 [[ 9.47393958e-01 -3.05633474e-01 -9.50413961e-02 5.18191949e+02] [ 3.04523835e-01 9.52140835e-01 -2.63261097e-02 1.05338466e+02] [ 9.85389347e-02 -4.00117317e-03 9.95125152e-01 5.51407571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.1650998929999 meters 0.05730862843202103 Centerline is valid? [True, True] Translation: X:518.25, Y:105.35, Z:55.15 [[ 9.48844677e-01 -3.00714744e-01 -9.62518709e-02 5.18249273e+02] [ 2.99551314e-01 9.53707582e-01 -2.66619366e-02 1.05352894e+02] [ 9.98137765e-02 -3.53433781e-03 9.94999859e-01 5.51459560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.2250998929999 meters 0.05696605183173777 Centerline is valid? [True, True] Translation: X:518.31, Y:105.37, Z:55.15 [[ 9.49234316e-01 -2.99429389e-01 -9.64170891e-02 5.18306171e+02] [ 2.98255358e-01 9.54112387e-01 -2.67075890e-02 1.05369252e+02] [ 9.99897760e-02 -3.40515342e-03 9.94982638e-01 5.51515292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.2850998929999 meters 0.05424259138522015 Centerline is valid? [True, True] Translation: X:518.36, Y:105.40, Z:55.16 [[ 9.50305076e-01 -2.95686633e-01 -9.74149710e-02 5.18361222e+02] [ 2.94467419e-01 9.55280179e-01 -2.69947911e-02 1.05395589e+02] [ 1.01040590e-01 -3.03224809e-03 9.94877683e-01 5.51554534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.3450998929999 meters 0.05385630935459968 Centerline is valid? [True, True] Translation: X:518.42, Y:105.42, Z:55.16 [[ 9.51056570e-01 -2.93357792e-01 -9.71216040e-02 5.18418685e+02] [ 2.92133897e-01 9.55998689e-01 -2.69126742e-02 1.05419479e+02] [ 1.00743169e-01 -2.77703711e-03 9.94908590e-01 5.51607976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.4050998929998 meters 0.055422918282323284 Centerline is valid? [True, True] Translation: X:518.48, Y:105.43, Z:55.17 [[ 9.52255540e-01 -2.89463650e-01 -9.70576267e-02 5.18477187e+02] [ 2.88221585e-01 9.57186081e-01 -2.68909914e-02 1.05429151e+02] [ 1.00686174e-01 -2.36700747e-03 9.94915419e-01 5.51684547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.4650998929999 meters 0.05507746585090581 Centerline is valid? [True, True] Translation: X:518.53, Y:105.45, Z:55.17 [[ 9.53358792e-01 -2.86198684e-01 -9.59026941e-02 5.18534112e+02] [ 2.84969576e-01 9.58168212e-01 -2.65710033e-02 1.05448946e+02] [ 9.94954992e-02 -1.99765048e-03 9.95036007e-01 5.51739727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.5250998929998 meters 0.055012430605988684 Centerline is valid? [True, True] Translation: X:518.59, Y:105.47, Z:55.18 [[ 9.55054017e-01 -2.80572732e-01 -9.56596381e-02 5.18591197e+02] [ 2.79321669e-01 9.59831736e-01 -2.65036617e-02 1.05466464e+02] [ 9.92533613e-02 -1.40738118e-03 9.95061199e-01 5.51802888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.5850998929999 meters 0.05451312011017043 Centerline is valid? [True, True] Translation: X:518.65, Y:105.48, Z:55.19 [[ 9.56565396e-01 -2.75688265e-01 -9.47556045e-02 5.18647085e+02] [ 2.74436910e-01 9.61246683e-01 -2.62525734e-02 1.05484607e+02] [ 9.83210369e-02 -8.92132114e-04 9.95154349e-01 5.51887159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.6450998929998 meters 0.054807446337883085 Centerline is valid? [True, True] Translation: X:518.70, Y:105.50, Z:55.19 [[ 9.56635424e-01 -2.74184815e-01 -9.83430393e-02 5.18703087e+02] [ 2.72827565e-01 9.61676722e-01 -2.72580660e-02 1.05498836e+02] [ 1.02047959e-01 -7.54660459e-04 9.94779194e-01 5.51915831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.7050998929999 meters 0.05455300973003417 Centerline is valid? [True, True] Translation: X:518.76, Y:105.51, Z:55.20 [[ 9.56630169e-01 -2.74363198e-01 -9.78956353e-02 5.18758488e+02] [ 2.73018825e-01 9.61625836e-01 -2.71380306e-02 1.05512811e+02] [ 1.01584649e-01 -7.66292546e-04 9.94826604e-01 5.51979706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.7650998929998 meters 0.05452935396347577 Centerline is valid? [True, True] Translation: X:518.82, Y:105.53, Z:55.20 [[ 9.56154307e-01 -2.76118268e-01 -9.76096510e-02 5.18816718e+02] [ 2.74789471e-01 9.61123210e-01 -2.70725299e-02 1.05526642e+02] [ 1.01290121e-01 -9.36588336e-04 9.94856489e-01 5.52037907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.8250998929999 meters 0.0548033247067902 Centerline is valid? [True, True] Translation: X:518.87, Y:105.54, Z:55.21 [[ 9.54846328e-01 -2.80362615e-01 -9.83122291e-02 5.18874393e+02] [ 2.79036984e-01 9.59893147e-01 -2.72673423e-02 1.05536488e+02] [ 1.02013978e-01 -1.39662619e-03 9.94781985e-01 5.52101838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.8850998929998 meters 0.05482368374718704 Centerline is valid? [True, True] Translation: X:518.93, Y:105.55, Z:55.22 [[ 9.53370562e-01 -2.85077506e-01 -9.90726322e-02 5.18932824e+02] [ 2.83756309e-01 9.58502559e-01 -2.74809250e-02 1.05551985e+02] [ 1.02795565e-01 -1.91297946e-03 9.94700665e-01 5.52158729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.9450998929999 meters 0.05563429455988813 Centerline is valid? [True, True] Translation: X:518.99, Y:105.56, Z:55.22 [[ 9.52410977e-01 -2.88223997e-01 -9.91980789e-02 5.18991427e+02] [ 2.86916441e-01 9.57560359e-01 -2.75157127e-02 1.05560482e+02] [ 1.02918837e-01 -2.25529295e-03 9.94687200e-01 5.52240639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.0050998929999 meters 0.05613207717919891 Centerline is valid? [True, True] Translation: X:519.05, Y:105.57, Z:55.23 [[ 9.51585759e-01 -2.91044912e-01 -9.88807508e-02 5.19048856e+02] [ 2.89760810e-01 9.56705990e-01 -2.74284980e-02 1.05569941e+02] [ 1.02582731e-01 -2.55119835e-03 9.94721204e-01 5.52307134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.0650998929999 meters 0.05644525546717931 Centerline is valid? [True, True] Translation: X:519.11, Y:105.58, Z:55.24 [[ 9.50343406e-01 -2.95370464e-01 -9.79984669e-02 5.19108326e+02] [ 2.94131714e-01 9.55378128e-01 -2.71876275e-02 1.05580239e+02] [ 1.01656014e-01 -2.98687458e-03 9.94815125e-01 5.52382787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.1250998929999 meters 0.05672082340151535 Centerline is valid? [True, True] Translation: X:519.17, Y:105.59, Z:55.24 [[ 9.49657066e-01 -2.97577744e-01 -9.79742000e-02 5.19165091e+02] [ 2.96351393e-01 9.54692148e-01 -2.71800258e-02 1.05591602e+02] [ 1.01623370e-01 -3.22308716e-03 9.94817723e-01 5.52446808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.1850998929999 meters 0.057540144822922155 Centerline is valid? [True, True] Translation: X:519.22, Y:105.60, Z:55.25 [[ 9.48738106e-01 -3.00193581e-01 -9.88929766e-02 5.19224912e+02] [ 2.98957795e-01 9.53871761e-01 -2.74390275e-02 1.05601526e+02] [ 1.02568238e-01 -3.53237533e-03 9.94719699e-01 5.52504488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.2450998929999 meters 0.055882316580541 Centerline is valid? [True, True] Translation: X:519.28, Y:105.62, Z:55.26 [[ 9.48001233e-01 -3.02105817e-01 -1.00128606e-01 5.19280082e+02] [ 3.00849599e-01 9.53266874e-01 -2.77810410e-02 1.05622811e+02] [ 1.03842098e-01 -3.78718999e-03 9.94586585e-01 5.52552509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.3050998929999 meters 0.05626428219313669 Centerline is valid? [True, True] Translation: X:519.34, Y:105.63, Z:55.26 [[ 9.47367369e-01 -3.03928040e-01 -1.00612198e-01 5.19336909e+02] [ 3.02669673e-01 9.52686575e-01 -2.79170032e-02 1.05634873e+02] [ 1.04336650e-01 -4.00460314e-03 9.94533975e-01 5.52615013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.3650998929999 meters 0.056000868654107645 Centerline is valid? [True, True] Translation: X:519.39, Y:105.65, Z:55.27 [[ 9.46328871e-01 -3.06642788e-01 -1.02136518e-01 5.19394366e+02] [ 3.05361184e-01 9.51814658e-01 -2.83443774e-02 1.05653755e+02] [ 1.05906633e-01 -4.36542532e-03 9.94366496e-01 5.52672808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.4250998929999 meters 0.05576554181508641 Centerline is valid? [True, True] Translation: X:519.45, Y:105.67, Z:55.27 [[ 9.44899960e-01 -3.10224966e-01 -1.04520508e-01 5.19452537e+02] [ 3.08904461e-01 9.50650655e-01 -2.90063079e-02 1.05669867e+02] [ 1.08360970e-01 -4.87879192e-03 9.94099642e-01 5.52723907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.4850998929999 meters 0.0561059852132792 Centerline is valid? [True, True] Translation: X:519.51, Y:105.68, Z:55.28 [[ 9.43146122e-01 -3.14981644e-01 -1.06122366e-01 5.19509897e+02] [ 3.13650112e-01 9.49081778e-01 -2.94514041e-02 1.05682353e+02] [ 1.09995456e-01 -5.50831441e-03 9.93916827e-01 5.52792628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.5450998929999 meters 0.055650767341404485 Centerline is valid? [True, True] Translation: X:519.57, Y:105.71, Z:55.29 [[ 9.41173419e-01 -3.20897039e-01 -1.05913574e-01 5.19566089e+02] [ 3.19607912e-01 9.47093879e-01 -2.93933038e-02 1.05705373e+02] [ 1.09742321e-01 -6.18661987e-03 9.93940817e-01 5.52877709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.6050998929999 meters 0.05580267579842754 Centerline is valid? [True, True] Translation: X:519.62, Y:105.72, Z:55.29 [[ 9.40919414e-01 -3.21749343e-01 -1.05584168e-01 5.19624231e+02] [ 3.20473745e-01 9.46804138e-01 -2.93002392e-02 1.05719960e+02] [ 1.09394860e-01 -6.26778992e-03 9.93978611e-01 5.52938024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.6650998929999 meters 0.05580267579842754 Centerline is valid? [True, True] Translation: X:519.68, Y:105.74, Z:55.30 [[ 9.40924472e-01 -3.21734468e-01 -1.05584417e-01 5.19682638e+02] [ 3.20458877e-01 9.46809198e-01 -2.92993443e-02 1.05736150e+02] [ 1.09394906e-01 -6.26699347e-03 9.93978611e-01 5.53001413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.7250998929999 meters 0.05688026035455786 Centerline is valid? [True, True] Translation: X:519.74, Y:105.75, Z:55.31 [[ 9.40542454e-01 -3.23502456e-01 -1.03566661e-01 5.19739129e+02] [ 3.22286035e-01 9.46206030e-01 -2.87377847e-02 1.05753544e+02] [ 1.07292143e-01 -6.34898203e-03 9.94207265e-01 5.53078395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.7850998929999 meters 0.05598077766745007 Centerline is valid? [True, True] Translation: X:519.80, Y:105.77, Z:55.32 [[ 9.40541728e-01 -3.23540263e-01 -1.03455092e-01 5.19797196e+02] [ 3.22326594e-01 9.46193127e-01 -2.87077326e-02 1.05773348e+02] [ 1.07176604e-01 -6.34550681e-03 9.94219749e-01 5.53151397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.8450998929999 meters 0.05450235813567013 Centerline is valid? [True, True] Translation: X:519.85, Y:105.80, Z:55.32 [[ 9.40686000e-01 -3.22479975e-01 -1.05434885e-01 5.19852790e+02] [ 3.21213127e-01 9.46554995e-01 -2.92535037e-02 1.05802428e+02] [ 1.09233586e-01 -6.34870769e-03 9.93995834e-01 5.53218612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.9050998929998 meters 0.05571060346649989 Centerline is valid? [True, True] Translation: X:519.91, Y:105.81, Z:55.33 [[ 9.41011709e-01 -3.21050857e-01 -1.06879884e-01 5.19910839e+02] [ 3.19740133e-01 9.47041192e-01 -2.96517690e-02 1.05814227e+02] [ 1.10739379e-01 -6.27112658e-03 9.93829695e-01 5.53273859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.9650998929999 meters 0.054046266585331695 Centerline is valid? [True, True] Translation: X:519.96, Y:105.84, Z:55.34 [[ 9.42387206e-01 -3.17060753e-01 -1.06671609e-01 5.19964369e+02] [ 3.15729700e-01 9.48387553e-01 -2.95940179e-02 1.05844476e+02] [ 1.10549128e-01 -5.79037138e-03 9.93853793e-01 5.53358874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.0250998929998 meters 0.05701426528982807 Centerline is valid? [True, True] Translation: X:520.02, Y:105.85, Z:55.34 [[ 9.44686176e-01 -3.10134854e-01 -1.06697712e-01 5.20023847e+02] [ 3.08759061e-01 9.50679534e-01 -2.96017792e-02 1.05853449e+02] [ 1.10615875e-01 -4.97949378e-03 9.93850760e-01 5.53401862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.0850998929999 meters 0.05602831338022376 Centerline is valid? [True, True] Translation: X:520.08, Y:105.88, Z:55.35 [[ 9.47512837e-01 -3.01508173e-01 -1.06359040e-01 5.20079055e+02] [ 3.00086803e-01 9.53455380e-01 -2.95084595e-02 1.05879098e+02] [ 1.10305641e-01 -3.95730012e-03 9.93889836e-01 5.53468326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.1450998929998 meters 0.05477626335197284 Centerline is valid? [True, True] Translation: X:520.13, Y:105.91, Z:55.35 [[ 9.48429378e-01 -2.98589177e-01 -1.06424704e-01 5.20134743e+02] [ 2.97147719e-01 9.54374874e-01 -2.95268167e-02 1.05905168e+02] [ 1.10385452e-01 -3.61975770e-03 9.93882261e-01 5.53548545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.2050998929999 meters 0.05547747790103508 Centerline is valid? [True, True] Translation: X:520.19, Y:105.92, Z:55.36 [[ 9.50622466e-01 -2.91181817e-01 -1.07378199e-01 5.20191880e+02] [ 2.89667363e-01 9.56663678e-01 -2.97897008e-02 1.05920936e+02] [ 1.11399042e-01 -2.78520082e-03 9.93771853e-01 5.53585816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.2650998929998 meters 0.05481362034764376 Centerline is valid? [True, True] Translation: X:520.25, Y:105.94, Z:55.37 [[ 9.51414921e-01 -2.88538178e-01 -1.07495894e-01 5.20248039e+02] [ 2.87003447e-01 9.57465186e-01 -2.98234473e-02 1.05940760e+02] [ 1.11528779e-01 -2.47721946e-03 9.93758117e-01 5.53651148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.3250998929999 meters 0.05581627495653458 Centerline is valid? [True, True] Translation: X:520.30, Y:105.96, Z:55.37 [[ 9.52047741e-01 -2.86433643e-01 -1.07521476e-01 5.20303756e+02] [ 2.84884588e-01 9.58097489e-01 -2.98324219e-02 1.05958250e+02] [ 1.11561065e-01 -2.22932136e-03 9.93755080e-01 5.53706149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.3850998929998 meters 0.05402110538613087 Centerline is valid? [True, True] Translation: X:520.36, Y:105.98, Z:55.38 [[ 9.52707271e-01 -2.83880088e-01 -1.08447921e-01 5.20359637e+02] [ 2.82287295e-01 9.58857819e-01 -3.00926309e-02 1.05983669e+02] [ 1.12528836e-01 -1.94400193e-03 9.93646558e-01 5.53791623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.4450998929999 meters 0.05413863831914645 Centerline is valid? [True, True] Translation: X:520.42, Y:106.01, Z:55.39 [[ 9.54625061e-01 -2.77174981e-01 -1.08926681e-01 5.20416272e+02] [ 2.75524683e-01 9.60818757e-01 -3.02235776e-02 1.06006167e+02] [ 1.13036018e-01 -1.15980454e-03 9.93590214e-01 5.53862426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.5050998929999 meters 0.05462775825404671 Centerline is valid? [True, True] Translation: X:520.47, Y:106.02, Z:55.39 [[ 9.56276453e-01 -2.71639800e-01 -1.08384334e-01 5.20474094e+02] [ 2.69970662e-01 9.62398859e-01 -3.00712034e-02 1.06023513e+02] [ 1.12477495e-01 -5.04206682e-04 9.93654144e-01 5.53907355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.5650998929999 meters 0.05454489250439917 Centerline is valid? [True, True] Translation: X:520.53, Y:106.04, Z:55.40 [[ 9.58581024e-01 -2.64010756e-01 -1.06867865e-01 5.20532514e+02] [ 2.62340903e-01 9.64519659e-01 -2.96492575e-02 1.06042512e+02] [ 1.10903880e-01 3.85403288e-04 9.93831063e-01 5.54004896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.6250998929999 meters 0.05498236707666705 Centerline is valid? [True, True] Translation: X:520.59, Y:106.06, Z:55.41 [[ 9.58225100e-01 -2.64865892e-01 -1.07938491e-01 5.20592373e+02] [ 2.63168254e-01 9.64285216e-01 -2.99414778e-02 1.06056513e+02] [ 1.12013967e-01 2.84691427e-04 9.93706592e-01 5.54054528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.6850998929999 meters 0.05434349082811596 Centerline is valid? [True, True] Translation: X:520.65, Y:106.07, Z:55.41 [[ 9.57774913e-01 -2.66215863e-01 -1.08610908e-01 5.20647544e+02] [ 2.64505770e-01 9.63913429e-01 -3.01263916e-02 1.06070083e+02] [ 1.12711636e-01 1.26090200e-04 9.93627733e-01 5.54083429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.7450998929999 meters 0.05414928692872617 Centerline is valid? [True, True] Translation: X:520.71, Y:106.07, Z:55.41 [[ 9.55588113e-01 -2.73598670e-01 -1.09522262e-01 5.20706714e+02] [ 2.71906265e-01 9.61843660e-01 -3.03933736e-02 1.06074671e+02] [ 1.13658880e-01 -7.36242657e-04 9.93519560e-01 5.54122872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.8050998929999 meters 0.05489020730832565 Centerline is valid? [True, True] Translation: X:520.77, Y:106.09, Z:55.42 [[ 9.53507023e-01 -2.80765951e-01 -1.09520948e-01 5.20765340e+02] [ 2.79120137e-01 9.59774956e-01 -3.03970884e-02 1.06088076e+02] [ 1.13649931e-01 -1.58566475e-03 9.93519592e-01 5.54228359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.8650998929999 meters 0.054124934782173256 Centerline is valid? [True, True] Translation: X:520.83, Y:106.10, Z:55.43 [[ 9.50292262e-01 -2.91331239e-01 -1.09866856e-01 5.20825176e+02] [ 2.89745269e-01 9.56617972e-01 -3.04915609e-02 1.06096997e+02] [ 1.13983753e-01 -2.85750731e-03 9.93478504e-01 5.54292087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.9250998929999 meters 0.054746722238278395 Centerline is valid? [True, True] Translation: X:520.88, Y:106.11, Z:55.43 [[ 9.47234658e-01 -3.01137871e-01 -1.09829342e-01 5.20884268e+02] [ 2.99618392e-01 9.53572079e-01 -3.04812975e-02 1.06105557e+02] [ 1.13909267e-01 -4.03394940e-03 9.93482967e-01 5.54347319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.9850998929999 meters 0.05537638366817074 Centerline is valid? [True, True] Translation: X:520.94, Y:106.12, Z:55.44 [[ 9.44549467e-01 -3.09668455e-01 -1.09232562e-01 5.20942443e+02] [ 3.08222049e-01 9.50831276e-01 -3.03158710e-02 1.06121333e+02] [ 1.13249605e-01 -5.03304417e-03 9.93553821e-01 5.54418527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.0450998929999 meters 0.05396277513509332 Centerline is valid? [True, True] Translation: X:521.00, Y:106.14, Z:55.45 [[ 9.43017435e-01 -3.14496482e-01 -1.08674190e-01 5.20999420e+02] [ 3.13096738e-01 9.49242216e-01 -3.01603775e-02 1.06140377e+02] [ 1.12643461e-01 -5.58377253e-03 9.93619782e-01 5.54494786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.1050998929999 meters 0.05884035436702633 Centerline is valid? [True, True] Translation: X:521.06, Y:106.13, Z:55.45 [[ 9.41853176e-01 -3.18273859e-01 -1.07769878e-01 5.21064046e+02] [ 3.16921957e-01 9.47979922e-01 -2.99088802e-02 1.06132496e+02] [ 1.11682895e-01 -5.98486670e-03 9.93725874e-01 5.54522797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.1650998929999 meters 0.05331133776542711 Centerline is valid? [True, True] Translation: X:521.12, Y:106.17, Z:55.46 [[ 9.40301711e-01 -3.22500026e-01 -1.08749367e-01 5.21115877e+02] [ 3.21151536e-01 9.46546814e-01 -3.01797955e-02 1.06168509e+02] [ 1.12669352e-01 -6.54691295e-03 9.93610968e-01 5.54614266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.2250998929999 meters 0.05269877160310757 Centerline is valid? [True, True] Translation: X:521.17, Y:106.19, Z:55.47 [[ 9.39880165e-01 -3.23536469e-01 -1.09313440e-01 5.21173575e+02] [ 3.22180985e-01 9.46191931e-01 -3.03355133e-02 1.06189331e+02] [ 1.13246139e-01 -6.70696438e-03 9.93544326e-01 5.54677527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.2850998929999 meters 0.053678644843769274 Centerline is valid? [True, True] Translation: X:521.23, Y:106.20, Z:55.47 [[ 9.39781883e-01 -3.23613867e-01 -1.09927602e-01 5.21232982e+02] [ 3.22243888e-01 9.46165107e-01 -3.05035449e-02 1.06202064e+02] [ 1.13881031e-01 -6.75681884e-03 9.93471417e-01 5.54728555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.3450998929999 meters 0.054627701522387294 Centerline is valid? [True, True] Translation: X:521.29, Y:106.21, Z:55.48 [[ 9.40232495e-01 -3.22240608e-01 -1.10108337e-01 5.21291127e+02] [ 3.20857555e-01 9.46634737e-01 -3.05467650e-02 1.06214003e+02] [ 1.14075784e-01 -6.60803057e-03 9.93450074e-01 5.54776963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.4050998929998 meters 0.05487743512645054 Centerline is valid? [True, True] Translation: X:521.35, Y:106.24, Z:55.48 [[ 9.42349119e-01 -3.15790907e-01 -1.10698874e-01 5.21347181e+02] [ 3.14349036e-01 9.48810703e-01 -3.07072212e-02 1.06235334e+02] [ 1.14729338e-01 -5.86116157e-03 9.93379497e-01 5.54845126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.4650998929999 meters 0.05569158825286267 Centerline is valid? [True, True] Translation: X:521.40, Y:106.25, Z:55.49 [[ 9.46679920e-01 -3.02888354e-01 -1.09798792e-01 5.21403979e+02] [ 3.01383169e-01 9.53016535e-01 -3.04576767e-02 1.06253157e+02] [ 1.13865340e-01 -4.25783687e-03 9.93487068e-01 5.54897560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.5250998929998 meters 0.05584571102217824 Centerline is valid? [True, True] Translation: X:521.46, Y:106.27, Z:55.49 [[ 9.50317836e-01 -2.91725418e-01 -1.08592312e-01 5.21459809e+02] [ 2.90180367e-01 9.56497756e-01 -3.01230266e-02 1.06272167e+02] [ 1.12655955e-01 -2.88490748e-03 9.93629867e-01 5.54948908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.5850998929999 meters 0.05442370824320915 Centerline is valid? [True, True] Translation: X:521.51, Y:106.31, Z:55.51 [[ 9.55814178e-01 -2.74138023e-01 -1.06148956e-01 5.21511162e+02] [ 2.72553210e-01 9.61690036e-01 -2.94452517e-02 1.06309224e+02] [ 1.10154457e-01 -7.87049764e-04 9.93914169e-01 5.55062172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.6450998929998 meters 0.05444007420901235 Centerline is valid? [True, True] Translation: X:521.57, Y:106.34, Z:55.51 [[ 9.59914679e-01 -2.59564455e-01 -1.05783281e-01 5.21566414e+02] [ 2.57902092e-01 9.65725381e-01 -2.93428016e-02 1.06336879e+02] [ 1.09773948e-01 8.84856447e-04 9.93956185e-01 5.55114525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.7050998929999 meters 0.05446340057343539 Centerline is valid? [True, True] Translation: X:521.62, Y:106.35, Z:55.52 [[ 9.61431001e-01 -2.53691585e-01 -1.06259169e-01 5.21624536e+02] [ 2.51978786e-01 9.67283903e-01 -2.94710573e-02 1.06354735e+02] [ 1.10259343e-01 1.55933159e-03 9.93901628e-01 5.55177016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.7650998929998 meters 0.05459146713049157 Centerline is valid? [True, True] Translation: X:521.68, Y:106.37, Z:55.52 [[ 9.61966767e-01 -2.51210094e-01 -1.07300644e-01 5.21682183e+02] [ 2.49448181e-01 9.67930796e-01 -2.97586883e-02 1.06369573e+02] [ 1.11335280e-01 1.86091883e-03 9.93781159e-01 5.55232198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.8250998929999 meters 0.05494194481666313 Centerline is valid? [True, True] Translation: X:521.74, Y:106.39, Z:55.53 [[ 9.61537033e-01 -2.53254866e-01 -1.06341468e-01 5.21739332e+02] [ 2.51537322e-01 9.67398261e-01 -2.94886598e-02 1.06385597e+02] [ 1.10342697e-01 1.60559049e-03 9.93892304e-01 5.55288018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.8850998929998 meters 0.054504096855630284 Centerline is valid? [True, True] Translation: X:521.80, Y:106.39, Z:55.54 [[ 9.59977031e-01 -2.59887919e-01 -1.04414415e-01 5.21798902e+02] [ 2.58270964e-01 9.65638431e-01 -2.89573916e-02 1.06393769e+02] [ 1.08352249e-01 8.31219133e-04 9.94112217e-01 5.55370329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.9450998929999 meters 0.05486147736020151 Centerline is valid? [True, True] Translation: X:521.86, Y:106.40, Z:55.54 [[ 9.57809962e-01 -2.68027926e-01 -1.03735764e-01 5.21857585e+02] [ 2.66479369e-01 9.63411139e-01 -2.87701688e-02 1.06401008e+02] [ 1.07651399e-01 -8.70866264e-05 9.94188699e-01 5.55441989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.0050998929999 meters 0.05433003460840819 Centerline is valid? [True, True] Translation: X:521.92, Y:106.41, Z:55.55 [[ 9.56099673e-01 -2.74331003e-01 -1.03033566e-01 5.21915419e+02] [ 2.72839504e-01 9.61635004e-01 -2.85784028e-02 1.06409808e+02] [ 1.06920626e-01 -7.87825480e-04 9.94267247e-01 5.55500437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.0650998929999 meters 0.0540834644885343 Centerline is valid? [True, True] Translation: X:521.97, Y:106.42, Z:55.56 [[ 9.55215644e-01 -2.77453507e-01 -1.02871887e-01 5.21971182e+02] [ 2.75983427e-01 9.60738408e-01 -2.85457382e-02 1.06422925e+02] [ 1.06753088e-01 -1.12360005e-03 9.94284927e-01 5.55560534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.1250998929999 meters 0.053989929912154365 Centerline is valid? [True, True] Translation: X:522.03, Y:106.44, Z:55.56 [[ 9.53509617e-01 -2.83575554e-01 -1.02001548e-01 5.22030631e+02] [ 2.82164712e-01 9.58948229e-01 -2.83084761e-02 1.06435156e+02] [ 1.05841795e-01 -1.78883317e-03 9.94381373e-01 5.55627562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.1850998929999 meters 0.05476052842847404 Centerline is valid? [True, True] Translation: X:522.09, Y:106.44, Z:55.57 [[ 9.50842392e-01 -2.92237928e-01 -1.02448715e-01 5.22092812e+02] [ 2.90864824e-01 9.56341647e-01 -2.84307732e-02 1.06435543e+02] [ 1.06284523e-01 -2.76554306e-03 9.94331912e-01 5.55669052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.2450998929999 meters 0.05508102715608373 Centerline is valid? [True, True] Translation: X:522.15, Y:106.45, Z:55.57 [[ 9.50318424e-01 -2.93498635e-01 -1.03698813e-01 5.22150933e+02] [ 2.92099276e-01 9.55954963e-01 -2.87771189e-02 1.06448821e+02] [ 1.07577440e-01 -2.94292184e-03 9.94192352e-01 5.55718538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.3050998929999 meters 0.05410906570667441 Centerline is valid? [True, True] Translation: X:522.21, Y:106.47, Z:55.58 [[ 9.50658415e-01 -2.92416120e-01 -1.03640683e-01 5.22209322e+02] [ 2.91011752e-01 9.56287026e-01 -2.87625567e-02 1.06468307e+02] [ 1.07520876e-01 -2.81729009e-03 9.94198835e-01 5.55778530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.3650998929999 meters 0.05474685701945301 Centerline is valid? [True, True] Translation: X:522.27, Y:106.48, Z:55.58 [[ 9.52657952e-01 -2.85734890e-01 -1.03915350e-01 5.22266716e+02] [ 2.84283608e-01 9.58306468e-01 -2.88364892e-02 1.06482421e+02] [ 1.07822343e-01 -2.07011993e-03 9.94168022e-01 5.55827687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.4250998929999 meters 0.0541833014121343 Centerline is valid? [True, True] Translation: X:522.32, Y:106.50, Z:55.59 [[ 9.55339418e-01 -2.76535501e-01 -1.04185958e-01 5.22323809e+02] [ 2.75021810e-01 9.61003149e-01 -2.89128349e-02 1.06503398e+02] [ 1.08118459e-01 -1.03183983e-03 9.94137483e-01 5.55876196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.4850998929999 meters 0.05382725550270928 Centerline is valid? [True, True] Translation: X:522.38, Y:106.52, Z:55.59 [[ 9.56999907e-01 -2.70596965e-01 -1.04539280e-01 5.22379999e+02] [ 2.69037652e-01 9.62692657e-01 -2.90101805e-02 1.06524518e+02] [ 1.08489264e-01 -3.62262305e-04 9.94097555e-01 5.55942831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.5450998929999 meters 0.054535648553836 Centerline is valid? [True, True] Translation: X:522.44, Y:106.54, Z:55.60 [[ 9.58644395e-01 -2.64228184e-01 -1.05756282e-01 5.22436111e+02] [ 2.62593621e-01 9.64460126e-01 -2.93471478e-02 1.06542159e+02] [ 1.09752061e-01 3.62553636e-04 9.93958930e-01 5.55983776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.6050998929999 meters 0.055049322112721066 Centerline is valid? [True, True] Translation: X:522.49, Y:106.55, Z:55.61 [[ 9.58823905e-01 -2.63574960e-01 -1.05758974e-01 5.22492253e+02] [ 2.61935973e-01 9.64638816e-01 -2.93513181e-02 1.06554903e+02] [ 1.09755484e-01 4.40665716e-04 9.93958520e-01 5.56052554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.6650998929999 meters 0.05519563865470832 Centerline is valid? [True, True] Translation: X:522.55, Y:106.57, Z:55.61 [[ 9.58309854e-01 -2.65492532e-01 -1.05621678e-01 5.22550855e+02] [ 2.63867941e-01 9.64112888e-01 -2.93265884e-02 1.06567731e+02] [ 1.09617211e-01 2.33784020e-04 9.93973849e-01 5.56126318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.7250998929999 meters 0.05460296013711399 Centerline is valid? [True, True] Translation: X:522.61, Y:106.58, Z:55.62 [[ 9.56569160e-01 -2.71762742e-01 -1.05453561e-01 5.22609441e+02] [ 2.70181211e-01 9.62364161e-01 -2.92802721e-02 1.06575882e+02] [ 1.09442015e-01 -4.82965603e-04 9.93993064e-01 5.56174029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.7850998929999 meters 0.05481389862252325 Centerline is valid? [True, True] Translation: X:522.67, Y:106.58, Z:55.62 [[ 9.55013332e-01 -2.77179513e-01 -1.05456401e-01 5.22667096e+02] [ 2.75629979e-01 9.60817525e-01 -2.92882087e-02 1.06584766e+02] [ 1.09442450e-01 -1.09631586e-03 9.93992529e-01 5.56232567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.8450998929999 meters 0.05437414173828399 Centerline is valid? [True, True] Translation: X:522.73, Y:106.59, Z:55.63 [[ 9.52185385e-01 -2.87345105e-01 -1.03806470e-01 5.22727176e+02] [ 2.85903433e-01 9.57824538e-01 -2.88336765e-02 1.06593447e+02] [ 1.07713600e-01 -2.22362083e-03 9.94179479e-01 5.56315623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.9050998929998 meters 0.05637597075093874 Centerline is valid? [True, True] Translation: X:522.79, Y:106.59, Z:55.64 [[ 9.50059398e-01 -2.94293280e-01 -1.03820065e-01 5.22788946e+02] [ 2.92892472e-01 9.55710416e-01 -2.88374679e-02 1.06592799e+02] [ 1.07708591e-01 -3.01080817e-03 9.94177949e-01 5.56368509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.9650998929999 meters 0.05883010474117068 Centerline is valid? [True, True] Translation: X:522.85, Y:106.60, Z:55.64 [[ 9.46534307e-01 -3.05400696e-01 -1.03938546e-01 5.22850186e+02] [ 3.04063026e-01 9.52214329e-01 -2.88712244e-02 1.06597534e+02] [ 1.07789065e-01 -4.27626447e-03 9.94164590e-01 5.56429371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.0250998929998 meters 0.056737817015549176 Centerline is valid? [True, True] Translation: X:522.91, Y:106.61, Z:55.65 [[ 9.44111137e-01 -3.12599778e-01 -1.04573128e-01 5.22907898e+02] [ 3.11289482e-01 9.49871087e-01 -2.90478422e-02 1.06614955e+02] [ 1.08411340e-01 -5.12812352e-03 9.94092895e-01 5.56493938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.0850998929999 meters 0.054565401801302 Centerline is valid? [True, True] Translation: X:522.96, Y:106.64, Z:55.66 [[ 9.41267666e-01 -3.21129543e-01 -1.04359942e-01 5.22964344e+02] [ 3.19876504e-01 9.47015658e-01 -2.89890491e-02 1.06637946e+02] [ 1.08139739e-01 -6.09583881e-03 9.94117014e-01 5.56566944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.1450998929998 meters 0.05438552577617153 Centerline is valid? [True, True] Translation: X:523.02, Y:106.65, Z:55.66 [[ 9.40306790e-01 -3.23924106e-01 -1.04385412e-01 5.23021568e+02] [ 3.22687596e-01 9.46061292e-01 -2.89956283e-02 1.06653598e+02] [ 1.08147381e-01 -6.41909144e-03 9.94114148e-01 5.56635887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.2050998929999 meters 0.0548049932325508 Centerline is valid? [True, True] Translation: X:523.08, Y:106.67, Z:55.67 [[ 9.40626670e-01 -3.22845949e-01 -1.04842554e-01 5.23080290e+02] [ 3.21592385e-01 9.46430378e-01 -2.91183278e-02 1.06672062e+02] [ 1.08626912e-01 -6.32709117e-03 9.94062454e-01 5.56700896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.2650998929998 meters 0.054128202745153266 Centerline is valid? [True, True] Translation: X:523.14, Y:106.69, Z:55.68 [[ 9.41758490e-01 -3.18995504e-01 -1.06455694e-01 5.23138028e+02] [ 3.17678969e-01 9.47737375e-01 -2.95624892e-02 1.06692127e+02] [ 1.10322341e-01 -5.97800986e-03 9.93877882e-01 5.56754663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.3250998929999 meters 0.05426812439474542 Centerline is valid? [True, True] Translation: X:523.20, Y:106.71, Z:55.68 [[ 9.43074047e-01 -3.15000766e-01 -1.06704539e-01 5.23195569e+02] [ 3.13652700e-01 9.49075340e-01 -2.96307729e-02 1.06707643e+02] [ 1.10604363e-01 -5.52415387e-03 9.93849163e-01 5.56814772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.3850998929998 meters 0.06008039561277242 Centerline is valid? [True, True] Translation: X:523.26, Y:106.71, Z:55.69 [[ 9.45993395e-01 -3.06249558e-01 -1.06337694e-01 5.23256936e+02] [ 3.04855588e-01 9.51940706e-01 -2.95290217e-02 1.06708060e+02] [ 1.10270429e-01 -4.48338075e-03 9.93891509e-01 5.56854018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.4450998929999 meters 0.05531265604599462 Centerline is valid? [True, True] Translation: X:523.31, Y:106.75, Z:55.70 [[ 9.49215599e-01 -2.96485712e-01 -1.05289930e-01 5.23307415e+02] [ 2.95059098e-01 9.55031541e-01 -2.92383892e-02 1.06747904e+02] [ 1.09223969e-01 -3.31321675e-03 9.94011643e-01 5.56954426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.5050998929999 meters 0.05540751150501304 Centerline is valid? [True, True] Translation: X:523.36, Y:106.77, Z:55.70 [[ 9.51439196e-01 -2.89270973e-01 -1.05288941e-01 5.23363121e+02] [ 2.87800186e-01 9.57244033e-01 -2.92389245e-02 1.06767759e+02] [ 1.09245182e-01 -2.48311792e-03 9.94011732e-01 5.57016512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.5650998929999 meters 0.05476271850357227 Centerline is valid? [True, True] Translation: X:523.42, Y:106.80, Z:55.71 [[ 9.54322063e-01 -2.79433050e-01 -1.05766589e-01 5.23417417e+02] [ 2.77888342e-01 9.60164215e-01 -2.93725916e-02 1.06795557e+02] [ 1.09760967e-01 -1.36038996e-03 9.93957081e-01 5.57089806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.6250998929999 meters 0.054808129062946076 Centerline is valid? [True, True] Translation: X:523.47, Y:106.82, Z:55.72 [[ 9.55863124e-01 -2.73986385e-01 -1.06099717e-01 5.23472890e+02] [ 2.72398194e-01 9.61733290e-01 -2.94669819e-02 1.06816617e+02] [ 1.10113182e-01 -7.34970109e-04 9.93918783e-01 5.57153417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.6850998929999 meters 0.055111986893834085 Centerline is valid? [True, True] Translation: X:523.53, Y:106.84, Z:55.72 [[ 9.57190240e-01 -2.69057616e-01 -1.06746634e-01 5.23526703e+02] [ 2.67419112e-01 9.63124069e-01 -2.96487275e-02 1.06836266e+02] [ 1.10787469e-01 -1.66617482e-04 9.93844107e-01 5.57220475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.7450998929999 meters 0.05509976912504007 Centerline is valid? [True, True] Translation: X:523.58, Y:106.86, Z:55.73 [[ 9.58598366e-01 -2.64277489e-01 -1.06049905e-01 5.23582445e+02] [ 2.62630625e-01 9.64446607e-01 -2.94600885e-02 1.06855597e+02] [ 1.10065109e-01 3.88439993e-04 9.93924303e-01 5.57274531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.8050998929999 meters 0.05534060064699925 Centerline is valid? [True, True] Translation: X:523.64, Y:106.87, Z:55.74 [[ 9.58979039e-01 -2.63369481e-01 -1.04860479e-01 5.23636583e+02] [ 2.61753235e-01 9.64694911e-01 -2.91371278e-02 1.06870951e+02] [ 1.08832200e-01 4.94325298e-04 9.94060012e-01 5.57356213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.8650998929999 meters 0.05565472831784639 Centerline is valid? [True, True] Translation: X:523.69, Y:106.89, Z:55.74 [[ 9.58346938e-01 -2.66086194e-01 -1.03775161e-01 5.23693768e+02] [ 2.64518082e-01 9.63949221e-01 -2.88458817e-02 1.06885177e+02] [ 1.07709476e-01 1.93955998e-04 9.94182393e-01 5.57414583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.9250998929999 meters 0.05484909102989235 Centerline is valid? [True, True] Translation: X:523.75, Y:106.89, Z:55.75 [[ 9.56356779e-01 -2.73330414e-01 -1.03306320e-01 5.23752102e+02] [ 2.71817311e-01 9.61920015e-01 -2.87268787e-02 1.06894302e+02] [ 1.07224347e-01 -6.07300982e-04 9.94234666e-01 5.57475534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.9850998929999 meters 0.05438609405748663 Centerline is valid? [True, True] Translation: X:523.81, Y:106.91, Z:55.75 [[ 9.55419894e-01 -2.76572302e-01 -1.03346929e-01 5.23808716e+02] [ 2.75075597e-01 9.60992633e-01 -2.87502213e-02 1.06907150e+02] [ 1.07267153e-01 -9.59684857e-04 9.94229771e-01 5.57532540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.0450998929999 meters 0.05562312203201565 Centerline is valid? [True, True] Translation: X:523.87, Y:106.91, Z:55.76 [[ 9.52314313e-01 -2.87233538e-01 -1.02928825e-01 5.23869179e+02] [ 2.85810377e-01 9.57858179e-01 -2.86380523e-02 1.06911542e+02] [ 1.06817026e-01 -2.14569920e-03 9.94276380e-01 5.57588708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.1050998929999 meters 0.05614298490357235 Centerline is valid? [True, True] Translation: X:523.93, Y:106.92, Z:55.76 [[ 9.50140976e-01 -2.94071195e-01 -1.03702742e-01 5.23928004e+02] [ 2.92666999e-01 9.55779009e-01 -2.88533088e-02 1.06919609e+02] [ 1.07601831e-01 -2.93565945e-03 9.94189734e-01 5.57637689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.1650998929999 meters 0.055151427222329026 Centerline is valid? [True, True] Translation: X:523.99, Y:106.94, Z:55.77 [[ 9.47604845e-01 -3.02087657e-01 -1.03865802e-01 5.23985387e+02] [ 3.00726932e-01 9.53272372e-01 -2.88980561e-02 1.06938966e+02] [ 1.07742145e-01 -3.85130582e-03 9.94171413e-01 5.57701634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.2250998929999 meters 0.05662873672738072 Centerline is valid? [True, True] Translation: X:524.05, Y:106.94, Z:55.78 [[ 9.46340811e-01 -3.06047884e-01 -1.03796736e-01 5.24045419e+02] [ 3.04712770e-01 9.52006409e-01 -2.88777605e-02 1.06943776e+02] [ 1.07653135e-01 -4.29998767e-03 9.94179216e-01 5.57753341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.2850998929999 meters 0.05761235228485607 Centerline is valid? [True, True] Translation: X:524.10, Y:106.96, Z:55.78 [[ 9.46006580e-01 -3.07091447e-01 -1.03761235e-01 5.24103452e+02] [ 3.05763381e-01 9.51669764e-01 -2.88689118e-02 1.06957725e+02] [ 1.07611826e-01 -4.41620561e-03 9.94183178e-01 5.57808761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.3450998929999 meters 0.05583983141231116 Centerline is valid? [True, True] Translation: X:524.16, Y:106.98, Z:55.79 [[ 9.45517483e-01 -3.08351850e-01 -1.04478826e-01 5.24158289e+02] [ 3.07012428e-01 9.51261320e-01 -2.90735454e-02 1.06981857e+02] [ 1.08351547e-01 -4.58675247e-03 9.94102059e-01 5.57866090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.4050998929998 meters 0.0551193100044007 Centerline is valid? [True, True] Translation: X:524.21, Y:107.00, Z:55.79 [[ 9.44996289e-01 -3.09682725e-01 -1.05255040e-01 5.24214917e+02] [ 3.08331297e-01 9.50827969e-01 -2.92913751e-02 1.06999721e+02] [ 1.09150468e-01 -4.77318216e-03 9.94013779e-01 5.57927412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.4650998929999 meters 0.05447035840991504 Centerline is valid? [True, True] Translation: X:524.27, Y:107.02, Z:55.80 [[ 9.43447176e-01 -3.14098873e-01 -1.06062834e-01 5.24272080e+02] [ 3.12754104e-01 9.49375354e-01 -2.95179059e-02 1.07019503e+02] [ 1.09964981e-01 -5.32300155e-03 9.93921208e-01 5.57987116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.5250998929998 meters 0.054480708313487315 Centerline is valid? [True, True] Translation: X:524.33, Y:107.04, Z:55.80 [[ 9.42073449e-01 -3.17781887e-01 -1.07295339e-01 5.24329801e+02] [ 3.16429380e-01 9.48145977e-01 -2.98605748e-02 1.07036863e+02] [ 1.11220794e-01 -5.82054292e-03 9.93778676e-01 5.58045040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.5850998929999 meters 0.055155945120144864 Centerline is valid? [True, True] Translation: X:524.39, Y:107.05, Z:55.81 [[ 9.40537297e-01 -3.21981882e-01 -1.08246294e-01 5.24387854e+02] [ 3.20632833e-01 9.46724378e-01 -3.01253657e-02 1.07052704e+02] [ 1.12179227e-01 -6.37328584e-03 9.93667551e-01 5.58098457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.6450998929998 meters 0.05319266517800363 Centerline is valid? [True, True] Translation: X:524.44, Y:107.08, Z:55.82 [[ 9.40511362e-01 -3.22146873e-01 -1.07980413e-01 5.24443188e+02] [ 3.20805586e-01 9.46668220e-01 -3.00509019e-02 1.07083724e+02] [ 1.11902430e-01 -6.37750499e-03 9.93698734e-01 5.58185177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.7050998929999 meters 0.05409061468472001 Centerline is valid? [True, True] Translation: X:524.50, Y:107.10, Z:55.83 [[ 9.42588315e-01 -3.16531021e-01 -1.06467751e-01 5.24500948e+02] [ 3.15191827e-01 9.48565438e-01 -2.96263685e-02 1.07098834e+02] [ 1.10369293e-01 -5.63229608e-03 9.93874688e-01 5.58258100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.7650998929998 meters 0.055426913864470136 Centerline is valid? [True, True] Translation: X:524.56, Y:107.11, Z:55.83 [[ 9.46266691e-01 -3.05962970e-01 -1.04718718e-01 5.24558099e+02] [ 3.04602863e-01 9.52033596e-01 -2.91398117e-02 1.07113711e+02] [ 1.08611441e-01 -4.32358819e-03 9.94074877e-01 5.58329493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.8250998929999 meters 0.05466624752779609 Centerline is valid? [True, True] Translation: X:524.61, Y:107.14, Z:55.84 [[ 9.48713055e-01 -2.98476248e-01 -1.04189584e-01 5.24612650e+02] [ 2.97084846e-01 9.54410835e-01 -2.89922764e-02 1.07140371e+02] [ 1.08093174e-01 -3.44779534e-03 9.94134789e-01 5.58409515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.8850998929998 meters 0.05416983158457159 Centerline is valid? [True, True] Translation: X:524.67, Y:107.16, Z:55.85 [[ 9.51795908e-01 -2.87952181e-01 -1.05679191e-01 5.24667921e+02] [ 2.86455769e-01 9.57642067e-01 -2.94068658e-02 1.07164603e+02] [ 1.09670610e-01 -2.28307932e-03 9.93965364e-01 5.58470499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.9450998929999 meters 0.05424363743752648 Centerline is valid? [True, True] Translation: X:524.72, Y:107.19, Z:55.85 [[ 9.53410724e-01 -2.82034467e-01 -1.07072648e-01 5.24724604e+02] [ 2.80460966e-01 9.59402900e-01 -2.97946568e-02 1.07186399e+02] [ 1.11128929e-01 -1.62315297e-03 9.93804672e-01 5.58531540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.0050998929999 meters 0.05496579611717901 Centerline is valid? [True, True] Translation: X:524.78, Y:107.21, Z:55.86 [[ 9.55602808e-01 -2.73867364e-01 -1.08719545e-01 5.24780936e+02] [ 2.72192207e-01 9.61767228e-01 -3.02523170e-02 1.07209998e+02] [ 1.12848018e-01 -6.83413897e-04 9.93612026e-01 5.58599884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.0650998929999 meters 0.05451978060007739 Centerline is valid? [True, True] Translation: X:524.84, Y:107.23, Z:55.87 [[ 9.57028670e-01 -2.68568547e-01 -1.09394062e-01 5.24839513e+02] [ 2.66838065e-01 9.63260573e-01 -3.04387167e-02 1.07230123e+02] [ 1.13549869e-01 -5.97751794e-05 9.93532296e-01 5.58668555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.1250998929999 meters 0.05511085214300175 Centerline is valid? [True, True] Translation: X:524.90, Y:107.25, Z:55.87 [[ 9.58363578e-01 -2.63751495e-01 -1.09427610e-01 5.24897703e+02] [ 2.61989156e-01 9.64590531e-01 -3.04432266e-02 1.07249683e+02] [ 1.13582283e-01 5.06832382e-04 9.93528464e-01 5.58723914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.1850998929999 meters 0.055324545541688364 Centerline is valid? [True, True] Translation: X:524.96, Y:107.27, Z:55.88 [[ 9.59914843e-01 -2.58369145e-01 -1.08668665e-01 5.24955473e+02] [ 2.56597145e-01 9.66045600e-01 -3.02292043e-02 1.07269204e+02] [ 1.12789179e-01 1.13339273e-03 9.93618295e-01 5.58805371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.2450998929999 meters 0.05584420088655705 Centerline is valid? [True, True] Translation: X:525.01, Y:107.28, Z:55.89 [[ 9.60456221e-01 -2.56880004e-01 -1.07408148e-01 5.25012891e+02] [ 2.55139927e-01 9.66442443e-01 -2.98767692e-02 1.07282835e+02] [ 1.11478538e-01 1.29122179e-03 9.93766003e-01 5.58890999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.3050998929999 meters 0.05541131726970639 Centerline is valid? [True, True] Translation: X:525.07, Y:107.30, Z:55.90 [[ 9.60162193e-01 -2.58104107e-01 -1.07101975e-01 5.25073036e+02] [ 2.56381578e-01 9.66116431e-01 -2.97914268e-02 1.07295768e+02] [ 1.11162267e-01 1.14562840e-03 9.93801609e-01 5.58959592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.3650998929999 meters 0.055938795039010066 Centerline is valid? [True, True] Translation: X:525.13, Y:107.31, Z:55.90 [[ 9.58901979e-01 -2.62720115e-01 -1.07168727e-01 5.25133153e+02] [ 2.61024649e-01 9.64871895e-01 -2.98053563e-02 1.07305153e+02] [ 1.11234559e-01 6.06735775e-04 9.93793995e-01 5.59034691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.4250998929999 meters 0.055484775934354164 Centerline is valid? [True, True] Translation: X:525.19, Y:107.32, Z:55.91 [[ 9.57590251e-01 -2.67110840e-01 -1.08040322e-01 5.25194034e+02] [ 2.65415815e-01 9.63665808e-01 -3.00442085e-02 1.07316711e+02] [ 1.12139898e-01 9.44311421e-05 9.93692424e-01 5.59109314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.4850998929999 meters 0.055763476287457085 Centerline is valid? [True, True] Translation: X:525.26, Y:107.33, Z:55.91 [[ 9.55407739e-01 -2.74516442e-01 -1.08796945e-01 5.25255867e+02] [ 2.72846578e-01 9.61582081e-01 -3.02431244e-02 1.07325006e+02] [ 1.12919428e-01 -7.90358978e-04 9.93603834e-01 5.59125165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.5450998929999 meters 0.05521161942251234 Centerline is valid? [True, True] Translation: X:525.32, Y:107.33, Z:55.92 [[ 9.53646458e-01 -2.80635877e-01 -1.08636723e-01 5.25315489e+02] [ 2.79010548e-01 9.59813115e-01 -3.01976565e-02 1.07329341e+02] [ 1.12745497e-01 -1.51290333e-03 9.93622747e-01 5.59161050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.6050998929999 meters 0.05513701337575215 Centerline is valid? [True, True] Translation: X:525.37, Y:107.34, Z:55.92 [[ 9.52648314e-01 -2.83971226e-01 -1.08726873e-01 5.25372701e+02] [ 2.82364294e-01 9.58830911e-01 -3.02273092e-02 1.07342889e+02] [ 1.12834372e-01 -1.90459143e-03 9.93611985e-01 5.59237609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.6650998929999 meters 0.05591952370573209 Centerline is valid? [True, True] Translation: X:525.43, Y:107.36, Z:55.93 [[ 9.51703958e-01 -2.87165491e-01 -1.08607354e-01 5.25430803e+02] [ 2.85582478e-01 9.57878277e-01 -3.01969452e-02 1.07355293e+02] [ 1.12704146e-01 -2.27780519e-03 9.93625979e-01 5.59300152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.7250998929999 meters 0.05536483748122822 Centerline is valid? [True, True] Translation: X:525.49, Y:107.37, Z:55.94 [[ 9.49841714e-01 -2.93342439e-01 -1.08401714e-01 5.25489862e+02] [ 2.91805218e-01 9.56002719e-01 -3.01415958e-02 1.07368536e+02] [ 1.12474143e-01 -3.00244079e-03 9.93650116e-01 5.59370032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.7850998929999 meters 0.05792962520997675 Centerline is valid? [True, True] Translation: X:525.55, Y:107.36, Z:55.94 [[ 9.47692105e-01 -3.00093776e-01 -1.08735459e-01 5.25552430e+02] [ 2.98591198e-01 9.53902078e-01 -3.02344399e-02 1.07364023e+02] [ 1.12796147e-01 -3.81451087e-03 9.93610829e-01 5.59377569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.8450998929999 meters 0.05532837353201739 Centerline is valid? [True, True] Translation: X:525.61, Y:107.39, Z:55.95 [[ 9.46956310e-01 -3.02451315e-01 -1.08613757e-01 5.25606854e+02] [ 3.00967495e-01 9.53156058e-01 -3.02009198e-02 1.07393198e+02] [ 1.12660168e-01 -4.09025869e-03 9.93625159e-01 5.59474190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.9050998929998 meters 0.05550050096544467 Centerline is valid? [True, True] Translation: X:525.67, Y:107.40, Z:55.95 [[ 9.45723059e-01 -3.06041296e-01 -1.09300600e-01 5.25665554e+02] [ 3.04562532e-01 9.52007378e-01 -3.03910703e-02 1.07403215e+02] [ 1.13355901e-01 -4.54733168e-03 9.93544041e-01 5.59524235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.9650998929999 meters 0.0575150366782469 Centerline is valid? [True, True] Translation: X:525.72, Y:107.41, Z:55.96 [[ 9.45052001e-01 -3.08112642e-01 -1.09285475e-01 5.25724701e+02] [ 3.06647960e-01 9.51337803e-01 -3.03877114e-02 1.07411308e+02] [ 1.13330241e-01 -4.79420040e-03 9.93545808e-01 5.59572858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.0250998929998 meters 0.05605277077170135 Centerline is valid? [True, True] Translation: X:525.78, Y:107.43, Z:55.97 [[ 9.45061029e-01 -3.08344262e-01 -1.08551680e-01 5.25779668e+02] [ 3.06900651e-01 9.51262786e-01 -3.01844838e-02 1.07432806e+02] [ 1.12568386e-01 -4.78840194e-03 9.93632442e-01 5.59650462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.0850998929999 meters 0.05621975988296713 Centerline is valid? [True, True] Translation: X:525.84, Y:107.45, Z:55.97 [[ 9.46146062e-01 -3.05197388e-01 -1.07991595e-01 5.25836673e+02] [ 3.03748149e-01 9.52278995e-01 -3.00296249e-02 1.07450848e+02] [ 1.12003090e-01 -4.38983566e-03 9.93698162e-01 5.59718225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.1450998929998 meters 0.05534643567463144 Centerline is valid? [True, True] Translation: X:525.89, Y:107.47, Z:55.98 [[ 9.47150467e-01 -3.02085161e-01 -1.07937709e-01 5.25893768e+02] [ 3.00617217e-01 9.53272469e-01 -3.00148140e-02 1.07468386e+02] [ 1.11961076e-01 -4.01938848e-03 9.93704464e-01 5.59775001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.2050998929999 meters 0.05661528988936229 Centerline is valid? [True, True] Translation: X:525.95, Y:107.48, Z:55.98 [[ 9.48649584e-01 -2.97116433e-01 -1.08562389e-01 5.25950392e+02] [ 2.95598927e-01 9.54835015e-01 -3.01888646e-02 1.07482693e+02] [ 1.12628778e-01 -3.45227184e-03 9.93631139e-01 5.59817913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.2650998929998 meters 0.05674818067488493 Centerline is valid? [True, True] Translation: X:526.01, Y:107.50, Z:55.99 [[ 9.49526560e-01 -2.94304243e-01 -1.08555630e-01 5.26007066e+02] [ 2.92768343e-01 9.55706703e-01 -3.01893101e-02 1.07501017e+02] [ 1.12632185e-01 -3.11610021e-03 9.93631864e-01 5.59876842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.3250998929999 meters 0.05579882421298407 Centerline is valid? [True, True] Translation: X:526.06, Y:107.52, Z:56.00 [[ 9.50653643e-01 -2.91025934e-01 -1.07524680e-01 5.26063850e+02] [ 2.89498138e-01 9.56711353e-01 -2.99034285e-02 1.07520514e+02] [ 1.11572755e-01 -2.70039141e-03 9.93752599e-01 5.59951920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.3850998929998 meters 0.05526896514609159 Centerline is valid? [True, True] Translation: X:526.12, Y:107.54, Z:56.00 [[ 9.51040879e-01 -2.90219568e-01 -1.06272527e-01 5.26119559e+02] [ 2.88722142e-01 9.56956621e-01 -2.95558763e-02 1.07539895e+02] [ 1.10275892e-01 -2.57438494e-03 9.93897681e-01 5.60024781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.4450998929999 meters 0.0559671074891691 Centerline is valid? [True, True] Translation: X:526.18, Y:107.56, Z:56.01 [[ 9.50807876e-01 -2.91479056e-01 -1.04901587e-01 5.26176163e+02] [ 2.90026447e-01 9.56573474e-01 -2.91864348e-02 1.07555206e+02] [ 1.08853310e-01 -2.67354263e-03 9.94054228e-01 5.60092498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.5050998929999 meters 0.05588194462207577 Centerline is valid? [True, True] Translation: X:526.23, Y:107.57, Z:56.01 [[ 9.48982919e-01 -2.97314241e-01 -1.05050760e-01 5.26234376e+02] [ 2.95891696e-01 9.54773857e-01 -2.92401398e-02 1.07565308e+02] [ 1.08993229e-01 -3.33525430e-03 9.94036897e-01 5.60141342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.5650998929999 meters 0.05531602125289448 Centerline is valid? [True, True] Translation: X:526.29, Y:107.59, Z:56.02 [[ 9.47134481e-01 -3.03191103e-01 -1.04935365e-01 5.26290928e+02] [ 3.01807349e-01 9.52921359e-01 -2.92097100e-02 1.07586373e+02] [ 1.08851275e-01 -4.00474074e-03 9.94049980e-01 5.60212736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.6250998929999 meters 0.056968378560204355 Centerline is valid? [True, True] Translation: X:526.35, Y:107.59, Z:56.03 [[ 9.44043938e-01 -3.12548456e-01 -1.05330462e-01 5.26350278e+02] [ 3.11211972e-01 9.49888122e-01 -2.93200142e-02 1.07592223e+02] [ 1.09216080e-01 -5.10071924e-03 9.94004945e-01 5.60266902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.6850998929999 meters 0.05594040740721446 Centerline is valid? [True, True] Translation: X:526.41, Y:107.62, Z:56.03 [[ 9.42511494e-01 -3.17340577e-01 -1.04723646e-01 5.26406384e+02] [ 3.16048935e-01 9.48294962e-01 -2.91502088e-02 1.07616252e+02] [ 1.08559450e-01 -5.62338987e-03 9.94074053e-01 5.60348650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.7450998929999 meters 0.060442253743809904 Centerline is valid? [True, True] Translation: X:526.47, Y:107.62, Z:56.04 [[ 9.41580711e-01 -3.20259421e-01 -1.04209729e-01 5.26468064e+02] [ 3.18998308e-01 9.47311314e-01 -2.90061135e-02 1.07615505e+02] [ 1.08008537e-01 -5.93113033e-03 9.94132274e-01 5.60406269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.8050998929999 meters 0.05835904864525109 Centerline is valid? [True, True] Translation: X:526.52, Y:107.64, Z:56.05 [[ 9.41733639e-01 -3.20258729e-01 -1.02820719e-01 5.26522395e+02] [ 3.19031031e-01 9.47312047e-01 -2.86197016e-02 1.07639144e+02] [ 1.06569015e-01 -5.85086429e-03 9.94288093e-01 5.60474110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.8650998929999 meters 0.05419590468975177 Centerline is valid? [True, True] Translation: X:526.57, Y:107.68, Z:56.05 [[ 9.42421507e-01 -3.18259441e-01 -1.02726003e-01 5.26574303e+02] [ 3.17020998e-01 9.47987062e-01 -2.86044941e-02 1.07676023e+02] [ 1.06486572e-01 -5.60880958e-03 9.94298321e-01 5.60546354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.9250998929999 meters 0.05581319588381324 Centerline is valid? [True, True] Translation: X:526.63, Y:107.68, Z:56.06 [[ 9.42869309e-01 -3.16863985e-01 -1.02930467e-01 5.26633945e+02] [ 3.15612372e-01 9.48455258e-01 -2.86610270e-02 1.07683829e+02] [ 1.06706590e-01 -5.46252616e-03 9.94275548e-01 5.60605875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.9850998929999 meters 0.05426052884290667 Centerline is valid? [True, True] Translation: X:526.69, Y:107.72, Z:56.07 [[ 9.43739236e-01 -3.14460389e-01 -1.02327503e-01 5.26687300e+02] [ 3.13209358e-01 9.49256572e-01 -2.84931290e-02 1.07715436e+02] [ 1.06095015e-01 -5.15984761e-03 9.94342609e-01 5.60676117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.0450998929999 meters 0.05731495133690054 Centerline is valid? [True, True] Translation: X:526.75, Y:107.72, Z:56.07 [[ 9.44583501e-01 -3.11734253e-01 -1.02877426e-01 5.26746951e+02] [ 3.10453629e-01 9.50156798e-01 -2.86461658e-02 1.07720617e+02] [ 1.06679677e-01 -4.87997473e-03 9.94281465e-01 5.60731506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.1050998929999 meters 0.05489979027989999 Centerline is valid? [True, True] Translation: X:526.80, Y:107.75, Z:56.08 [[ 9.46488651e-01 -3.05704981e-01 -1.03458682e-01 5.26800545e+02] [ 3.04373813e-01 9.52116922e-01 -2.88088490e-02 1.07752840e+02] [ 1.07311770e-01 -4.22286486e-03 9.94216451e-01 5.60789634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.1650998929999 meters 0.05463433084267017 Centerline is valid? [True, True] Translation: X:526.86, Y:107.78, Z:56.09 [[ 9.49364976e-01 -2.96523206e-01 -1.03827406e-01 5.26856600e+02] [ 2.95127702e-01 9.55020303e-01 -2.89112357e-02 1.07777561e+02] [ 1.07730133e-01 -3.19502910e-03 9.94175040e-01 5.60852070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.2250998929999 meters 0.05500262443352853 Centerline is valid? [True, True] Translation: X:526.91, Y:107.80, Z:56.09 [[ 9.51910511e-01 -2.88230059e-01 -1.03874018e-01 5.26911968e+02] [ 2.86783980e-01 9.57558532e-01 -2.89241456e-02 1.07804582e+02] [ 1.07802260e-01 -2.25620611e-03 9.94169795e-01 5.60921845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.2850998929999 meters 0.05473494759633912 Centerline is valid? [True, True] Translation: X:526.97, Y:107.83, Z:56.10 [[ 9.55880868e-01 -2.74632238e-01 -1.04254017e-01 5.26967806e+02] [ 2.73094682e-01 9.61549069e-01 -2.90290083e-02 1.07825831e+02] [ 1.08217654e-01 -7.22943865e-04 9.94126962e-01 5.60980830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.3450998929999 meters 0.05502193320670469 Centerline is valid? [True, True] Translation: X:527.02, Y:107.85, Z:56.11 [[ 9.58126305e-01 -2.66989767e-01 -1.03491293e-01 5.27024264e+02] [ 2.65430206e-01 9.63699354e-01 -2.88159900e-02 1.07850027e+02] [ 1.07428066e-01 1.39642940e-04 9.94212850e-01 5.61060172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.4050998929998 meters 0.055287226865454356 Centerline is valid? [True, True] Translation: X:527.08, Y:107.87, Z:56.11 [[ 9.59709964e-01 -2.61360244e-01 -1.03187247e-01 5.27081620e+02] [ 2.59777624e-01 9.65241025e-01 -2.87289006e-02 1.07868386e+02] [ 1.07109156e-01 7.65674522e-04 9.94246973e-01 5.61135917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.4650998929999 meters 0.05517157911979928 Centerline is valid? [True, True] Translation: X:527.14, Y:107.89, Z:56.12 [[ 9.59515895e-01 -2.62055906e-01 -1.03227658e-01 5.27140953e+02] [ 2.60476069e-01 9.65052449e-01 -2.87400234e-02 1.07885722e+02] [ 1.07151597e-01 6.88174700e-04 9.94242456e-01 5.61191288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.5250998929998 meters 0.05481101782903415 Centerline is valid? [True, True] Translation: X:527.20, Y:107.90, Z:56.12 [[ 9.58615429e-01 -2.65071637e-01 -1.03891702e-01 5.27200240e+02] [ 2.63489470e-01 9.64228658e-01 -2.89204807e-02 1.07901894e+02] [ 1.07841355e-01 3.49249605e-04 9.94168054e-01 5.61239009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.5850998929999 meters 0.05529703489264901 Centerline is valid? [True, True] Translation: X:527.26, Y:107.91, Z:56.13 [[ 9.56134457e-01 -2.73622622e-01 -1.04582791e-01 5.27261318e+02] [ 2.72070554e-01 9.61836927e-01 -2.91090938e-02 1.07911134e+02] [ 1.08556497e-01 -6.21690310e-04 9.94090087e-01 5.61311471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.6450998929998 meters 0.05481496551383572 Centerline is valid? [True, True] Translation: X:527.32, Y:107.92, Z:56.14 [[ 9.53020766e-01 -2.84531384e-01 -1.03890866e-01 5.27321231e+02] [ 2.83064847e-01 9.58664931e-01 -2.89109349e-02 1.07920370e+02] [ 1.07822599e-01 -1.85513087e-03 9.94168419e-01 5.61384316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.7050998929999 meters 0.055460259645801195 Centerline is valid? [True, True] Translation: X:527.38, Y:107.92, Z:56.14 [[ 9.50911514e-01 -2.91731800e-01 -1.03246545e-01 5.27381461e+02] [ 2.90325662e-01 9.56496478e-01 -2.87314636e-02 1.07924866e+02] [ 1.07136838e-01 -2.65404199e-03 9.94240742e-01 5.61447198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.7650998929998 meters 0.055728391294285945 Centerline is valid? [True, True] Translation: X:527.44, Y:107.94, Z:56.15 [[ 9.49271927e-01 -2.97515955e-01 -1.01818791e-01 5.27440700e+02] [ 2.96181636e-01 9.54711280e-01 -2.83339194e-02 1.07938996e+02] [ 1.05637341e-01 -3.26026192e-03 9.94399378e-01 5.61521562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.8250998929999 meters 0.05504488034118821 Centerline is valid? [True, True] Translation: X:527.50, Y:107.95, Z:56.16 [[ 9.47885465e-01 -3.02088621e-01 -1.01269985e-01 5.27499258e+02] [ 3.00794774e-01 9.53272469e-01 -2.81798359e-02 1.07953551e+02] [ 1.05050696e-01 -3.75022531e-03 9.94459797e-01 5.61588711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.8850998929998 meters 0.05678347345447886 Centerline is valid? [True, True] Translation: X:527.56, Y:107.96, Z:56.16 [[ 9.45619150e-01 -3.09111831e-01 -1.01263513e-01 5.27559211e+02] [ 3.07858343e-01 9.51014903e-01 -2.81761313e-02 1.07958448e+02] [ 1.05012685e-01 -4.53092793e-03 9.94460561e-01 5.61643735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.9450998929999 meters 0.05694726052094573 Centerline is valid? [True, True] Translation: X:527.62, Y:107.97, Z:56.17 [[ 9.43876568e-01 -3.14437185e-01 -1.01125072e-01 5.27618189e+02] [ 3.13217610e-01 9.49264491e-01 -2.81363629e-02 1.07972634e+02] [ 1.04841559e-01 -5.11689970e-03 9.94475774e-01 5.61699296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.0050998929999 meters 0.054538176903592334 Centerline is valid? [True, True] Translation: X:527.68, Y:107.99, Z:56.18 [[ 9.41487189e-01 -3.21303284e-01 -1.01813912e-01 5.27675279e+02] [ 3.20106788e-01 9.46957838e-01 -2.83283828e-02 1.07994147e+02] [ 1.05515484e-01 -5.92051481e-03 9.94400035e-01 5.61751367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.0650998929999 meters 0.05573015485533199 Centerline is valid? [True, True] Translation: X:527.73, Y:108.01, Z:56.18 [[ 9.40513239e-01 -3.23767911e-01 -1.03000910e-01 5.27734180e+02] [ 3.22558017e-01 9.46115756e-01 -2.86583522e-02 1.08005171e+02] [ 1.06729439e-01 -6.27020965e-03 9.94268330e-01 5.61798971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.1250998929999 meters 0.05658899116387351 Centerline is valid? [True, True] Translation: X:527.79, Y:108.02, Z:56.19 [[ 9.40493262e-01 -3.23491722e-01 -1.04045811e-01 5.27794366e+02] [ 3.22255505e-01 9.46210004e-01 -2.89485273e-02 1.08020833e+02] [ 1.07813796e-01 -6.30344038e-03 9.94151121e-01 5.61851979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.1850998929999 meters 0.0594540671032655 Centerline is valid? [True, True] Translation: X:527.85, Y:108.03, Z:56.19 [[ 9.41437741e-01 -3.20723443e-01 -1.04074270e-01 5.27853200e+02] [ 3.19470166e-01 9.47153933e-01 -2.89523924e-02 1.08029424e+02] [ 1.07860065e-01 -5.99174941e-03 9.94148030e-01 5.61902439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.2450998929999 meters 0.05443352202331095 Centerline is valid? [True, True] Translation: X:527.91, Y:108.07, Z:56.20 [[ 9.43901556e-01 -3.13435325e-01 -1.03962253e-01 5.27906016e+02] [ 3.12140588e-01 9.49595578e-01 -2.89221516e-02 1.08065902e+02] [ 1.07787320e-01 -5.15117484e-03 9.94160630e-01 5.61975939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.3050998929999 meters 0.05522106278330175 Centerline is valid? [True, True] Translation: X:527.96, Y:108.09, Z:56.21 [[ 9.47493154e-01 -3.02826271e-01 -1.02727664e-01 5.27961579e+02] [ 3.01499748e-01 9.53037824e-01 -2.85798664e-02 1.08090276e+02] [ 1.06558084e-01 -3.89313705e-03 9.94298858e-01 5.62051683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.3650998929999 meters 0.055880378531639345 Centerline is valid? [True, True] Translation: X:528.02, Y:108.11, Z:56.21 [[ 9.50124031e-01 -2.94606046e-01 -1.02330850e-01 5.28019075e+02] [ 2.93242145e-01 9.55614215e-01 -2.84695843e-02 1.08106211e+02] [ 1.06176126e-01 -2.95808174e-03 9.94342939e-01 5.62115704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.4250998929999 meters 0.05510348574174635 Centerline is valid? [True, True] Translation: X:528.07, Y:108.14, Z:56.22 [[ 9.54079775e-01 -2.82106159e-01 -1.00736778e-01 5.28073366e+02] [ 2.80714818e-01 9.59381960e-01 -2.80258072e-02 1.08136982e+02] [ 1.04551300e-01 -1.53945047e-03 9.94518303e-01 5.62189779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.4850998929999 meters 0.05428255286798041 Centerline is valid? [True, True] Translation: X:528.13, Y:108.16, Z:56.23 [[ 9.56467455e-01 -2.74129700e-01 -1.00114513e-01 5.28129564e+02] [ 2.72711898e-01 9.61692502e-01 -2.78523199e-02 1.08160276e+02] [ 1.03914524e-01 -6.62581352e-04 9.94586011e-01 5.62258283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.5450998929999 meters 0.054502800434046955 Centerline is valid? [True, True] Translation: X:528.19, Y:108.18, Z:56.23 [[ 9.58848715e-01 -2.65479384e-01 -1.00647097e-01 5.28185823e+02] [ 2.63998960e-01 9.64116498e-01 -2.79987158e-02 1.08183713e+02] [ 1.04468608e-01 2.75803815e-04 9.94528146e-01 5.62315261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.6050998929999 meters 0.054500689754357144 Centerline is valid? [True, True] Translation: X:528.24, Y:108.20, Z:56.24 [[ 9.59578121e-01 -2.62569036e-01 -1.01327836e-01 5.28244500e+02] [ 2.61052553e-01 9.64913026e-01 -2.81853906e-02 1.08202779e+02] [ 1.05173160e-01 5.94193871e-04 9.94453746e-01 5.62373424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.6650998929999 meters 0.05492449578411699 Centerline is valid? [True, True] Translation: X:528.30, Y:108.22, Z:56.24 [[ 9.59874878e-01 -2.61044807e-01 -1.02449144e-01 5.28302549e+02] [ 2.59486282e-01 9.65326381e-01 -2.84929282e-02 1.08217062e+02] [ 1.06334792e-01 7.65498558e-04 9.94330089e-01 5.62428892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.7250998929999 meters 0.055567035235846815 Centerline is valid? [True, True] Translation: X:528.36, Y:108.23, Z:56.25 [[ 9.59791192e-01 -2.61414271e-01 -1.02290991e-01 5.28362237e+02] [ 2.59862761e-01 9.65226428e-01 -2.84479996e-02 1.08234635e+02] [ 1.06170681e-01 7.22520038e-04 9.94347658e-01 5.62485983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.7850998929999 meters 0.05486722416323123 Centerline is valid? [True, True] Translation: X:528.42, Y:108.25, Z:56.26 [[ 9.59562220e-01 -2.62378356e-01 -1.01970316e-01 5.28422269e+02] [ 2.60842458e-01 9.64964884e-01 -2.83546430e-02 1.08247273e+02] [ 1.05837419e-01 6.09856340e-04 9.94383261e-01 5.62556296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.8450998929999 meters 0.054427294161618324 Centerline is valid? [True, True] Translation: X:528.48, Y:108.26, Z:56.26 [[ 9.59340714e-01 -2.63444995e-01 -1.01302170e-01 5.28482226e+02] [ 2.61935411e-01 9.64674296e-01 -2.81663377e-02 1.08263256e+02] [ 1.05143881e-01 4.86488804e-04 9.94456901e-01 5.62622006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.9050998929998 meters 0.055042317713729035 Centerline is valid? [True, True] Translation: X:528.54, Y:108.27, Z:56.27 [[ 9.58702828e-01 -2.66323070e-01 -9.98043595e-02 5.28543575e+02] [ 2.64873866e-01 9.63883808e-01 -2.77459868e-02 1.08273389e+02] [ 1.03589202e-01 1.64589392e-04 9.94620154e-01 5.62702058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.9650998929999 meters 0.05480242448981769 Centerline is valid? [True, True] Translation: X:528.61, Y:108.28, Z:56.28 [[ 9.57849785e-01 -2.69287623e-01 -1.00039818e-01 5.28606265e+02] [ 2.67848100e-01 9.63059786e-01 -2.78072798e-02 1.08282862e+02] [ 1.03832481e-01 -1.60278054e-04 9.94594787e-01 5.62764135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.0250998929998 meters 0.05451653594251653 Centerline is valid? [True, True] Translation: X:528.67, Y:108.29, Z:56.28 [[ 9.57556300e-01 -2.70201873e-01 -1.00383667e-01 5.28666776e+02] [ 2.68757952e-01 9.62803655e-01 -2.78977736e-02 1.08294174e+02] [ 1.04187792e-01 -2.65219711e-04 9.94557607e-01 5.62814279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.0850998929999 meters 0.05513603221198472 Centerline is valid? [True, True] Translation: X:528.73, Y:108.31, Z:56.29 [[ 9.57568212e-01 -2.69661125e-01 -1.01715279e-01 5.28727242e+02] [ 2.68176092e-01 9.62955260e-01 -2.82622028e-02 1.08305243e+02] [ 1.05568480e-01 -2.14618950e-04 9.94412012e-01 5.62862259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.1450998929998 meters 0.05461810383407205 Centerline is valid? [True, True] Translation: X:528.79, Y:108.32, Z:56.29 [[ 9.57921694e-01 -2.67871390e-01 -1.03106485e-01 5.28785541e+02] [ 2.66335282e-01 9.63454679e-01 -2.86461084e-02 1.08318958e+02] [ 1.07011898e-01 -2.01659986e-05 9.94257740e-01 5.62917095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.2050998929999 meters 0.05547465351583754 Centerline is valid? [True, True] Translation: X:528.84, Y:108.33, Z:56.30 [[ 9.59150230e-01 -2.63463084e-01 -1.03043873e-01 5.28844412e+02] [ 2.61903258e-01 9.64669363e-01 -2.86304734e-02 1.08331473e+02] [ 1.06946340e-01 4.73399062e-04 9.94264681e-01 5.62982219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.2650998929998 meters 0.05572638930263568 Centerline is valid? [True, True] Translation: X:528.90, Y:108.35, Z:56.30 [[ 9.60034151e-01 -2.60142889e-01 -1.03247792e-01 5.28904045e+02] [ 2.58557802e-01 9.65569762e-01 -2.86862066e-02 1.08345952e+02] [ 1.07155459e-01 8.44215787e-04 9.94241920e-01 5.63044758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.3250998929999 meters 0.055931199068595214 Centerline is valid? [True, True] Translation: X:528.96, Y:108.36, Z:56.31 [[ 9.61047801e-01 -2.56472913e-01 -1.02998876e-01 5.28964822e+02] [ 2.54874700e-01 9.66550613e-01 -2.86146936e-02 1.08356103e+02] [ 1.06892520e-01 1.24828081e-03 9.94269798e-01 5.63111673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.3850998929998 meters 0.055897965875079204 Centerline is valid? [True, True] Translation: X:529.02, Y:108.37, Z:56.32 [[ 9.61283263e-01 -2.55191088e-01 -1.03980756e-01 5.29024449e+02] [ 2.53555031e-01 9.66889624e-01 -2.88842625e-02 1.08370589e+02] [ 1.07908921e-01 1.40111426e-03 9.94159797e-01 5.63163962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.4450998929999 meters 0.05581953020300187 Centerline is valid? [True, True] Translation: X:529.09, Y:108.38, Z:56.32 [[ 9.60796129e-01 -2.56682903e-01 -1.04807852e-01 5.29085915e+02] [ 2.55029747e-01 9.66494877e-01 -2.91115364e-02 1.08380358e+02] [ 1.08768685e-01 1.24113157e-03 9.94066312e-01 5.63237007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.5050998929999 meters 0.056486727942311625 Centerline is valid? [True, True] Translation: X:529.15, Y:108.39, Z:56.33 [[ 9.59157114e-01 -2.62668352e-01 -1.04990322e-01 5.29147687e+02] [ 2.61045454e-01 9.64886015e-01 -2.91590227e-02 1.08385747e+02] [ 1.08962845e-01 5.60837857e-04 9.94045665e-01 5.63318558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.5650998929999 meters 0.0560348606415166 Centerline is valid? [True, True] Translation: X:529.21, Y:108.39, Z:56.34 [[ 9.56657689e-01 -2.71517734e-01 -1.05281460e-01 5.29209521e+02] [ 2.69939499e-01 9.62433331e-01 -2.92361022e-02 1.08391792e+02] [ 1.09264506e-01 -4.50682456e-04 9.94012608e-01 5.63371021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.6250998929999 meters 0.05614159087391995 Centerline is valid? [True, True] Translation: X:529.27, Y:108.40, Z:56.34 [[ 9.54711152e-01 -2.78167158e-01 -1.05591896e-01 5.29268564e+02] [ 2.76620727e-01 9.60531906e-01 -2.93160570e-02 1.08398754e+02] [ 1.09579150e-01 -1.22054050e-03 9.93977324e-01 5.63424523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.6850998929999 meters 0.05642201865160142 Centerline is valid? [True, True] Translation: X:529.33, Y:108.41, Z:56.35 [[ 9.53748597e-01 -2.81335510e-01 -1.05895912e-01 5.29325998e+02] [ 2.79799366e-01 9.59608155e-01 -2.94024293e-02 1.08408731e+02] [ 1.09890528e-01 -1.58708337e-03 9.93942429e-01 5.63475471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.7450998929999 meters 0.05648142414497574 Centerline is valid? [True, True] Translation: X:529.39, Y:108.42, Z:56.36 [[ 9.51296708e-01 -2.89634427e-01 -1.05576853e-01 5.29385630e+02] [ 2.88157963e-01 9.57133993e-01 -2.93173546e-02 1.08417519e+02] [ 1.09542510e-01 -2.53330790e-03 9.93978884e-01 5.63556009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.8050998929999 meters 0.05671524340829267 Centerline is valid? [True, True] Translation: X:529.45, Y:108.42, Z:56.36 [[ 9.49171579e-01 -2.96476697e-01 -1.05711316e-01 5.29445769e+02] [ 2.95038637e-01 9.55034295e-01 -2.93546998e-02 1.08421768e+02] [ 1.09660917e-01 -3.32627587e-03 9.93963490e-01 5.63618091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.8650998929999 meters 0.05722999747324629 Centerline is valid? [True, True] Translation: X:529.51, Y:108.43, Z:56.37 [[ 9.47878142e-01 -3.00737540e-01 -1.05280386e-01 5.29505281e+02] [ 2.99337256e-01 9.53699363e-01 -2.92358163e-02 1.08432128e+02] [ 1.09198145e-01 -3.80235063e-03 9.94012730e-01 5.63687305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.9250998929999 meters 0.05775939829471059 Centerline is valid? [True, True] Translation: X:529.57, Y:108.44, Z:56.38 [[ 9.45966704e-01 -3.06683337e-01 -1.05320109e-01 5.29565336e+02] [ 3.05318699e-01 9.51801012e-01 -2.92459491e-02 1.08442079e+02] [ 1.09213032e-01 -4.49050479e-03 9.94008224e-01 5.63751973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.9850998929999 meters 0.06054035187586109 Centerline is valid? [True, True] Translation: X:529.63, Y:108.45, Z:56.38 [[ 9.44885168e-01 -3.09924105e-01 -1.05541781e-01 5.29626016e+02] [ 3.08573860e-01 9.50748798e-01 -2.93069367e-02 1.08446612e+02] [ 1.09426648e-01 -4.87574509e-03 9.93982915e-01 5.63800074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.0450998929999 meters 0.05626619998538465 Centerline is valid? [True, True] Translation: X:529.68, Y:108.48, Z:56.39 [[ 9.43755708e-01 -3.13004016e-01 -1.06553506e-01 5.29679335e+02] [ 3.11647191e-01 9.49737108e-01 -2.95880824e-02 1.08479434e+02] [ 1.10459007e-01 -5.28317916e-03 9.93866639e-01 5.63876990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.1050998929999 meters 0.055780905108122954 Centerline is valid? [True, True] Translation: X:529.74, Y:108.50, Z:56.39 [[ 9.43427766e-01 -3.13856982e-01 -1.06947859e-01 5.29737472e+02] [ 3.12495542e-01 9.49454895e-01 -2.96974375e-02 1.08499103e+02] [ 1.10862917e-01 -5.40334211e-03 9.93821019e-01 5.63944253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.1650998929999 meters 0.05710492978746929 Centerline is valid? [True, True] Translation: X:529.80, Y:108.51, Z:56.40 [[ 9.43826775e-01 -3.12650742e-01 -1.06960425e-01 5.29795336e+02] [ 3.11281466e-01 9.49853570e-01 -2.96992221e-02 1.08510603e+02] [ 1.10882225e-01 -5.26387697e-03 9.93819613e-01 5.63994352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.2250998929999 meters 0.056812594420000286 Centerline is valid? [True, True] Translation: X:529.85, Y:108.53, Z:56.41 [[ 9.45474886e-01 -3.08162922e-01 -1.05417523e-01 5.29851057e+02] [ 3.06804944e-01 9.51322154e-01 -2.92726024e-02 1.08533334e+02] [ 1.09306756e-01 -4.66610676e-03 9.93997113e-01 5.64071480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.2850998929999 meters 0.05807600811980405 Centerline is valid? [True, True] Translation: X:529.91, Y:108.55, Z:56.41 [[ 9.46841732e-01 -3.04075137e-01 -1.05019262e-01 5.29908099e+02] [ 3.02702348e-01 9.52638892e-01 -2.91621352e-02 1.08545762e+02] [ 1.08912913e-01 -4.17765062e-03 9.94042516e-01 5.64130113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.3450998929999 meters 0.056981866041277224 Centerline is valid? [True, True] Translation: X:529.96, Y:108.57, Z:56.42 [[ 9.48433962e-01 -2.99043473e-01 -1.05100057e-01 5.29962536e+02] [ 2.97637482e-01 9.54232699e-01 -2.91870861e-02 1.08573848e+02] [ 1.09018119e-01 -3.59969259e-03 9.94033245e-01 5.64191521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.4050998929998 meters 0.055890135886550334 Centerline is valid? [True, True] Translation: X:530.02, Y:108.60, Z:56.43 [[ 9.49190407e-01 -2.96442589e-01 -1.05637883e-01 5.30018379e+02] [ 2.95005664e-01 9.55044924e-01 -2.93402577e-02 1.08596110e+02] [ 1.09586626e-01 -3.31428269e-03 9.93971723e-01 5.64250101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.4650998929999 meters 0.05605680548315371 Centerline is valid? [True, True] Translation: X:530.07, Y:108.62, Z:56.43 [[ 9.50044333e-01 -2.93974670e-01 -1.04855415e-01 5.30073113e+02] [ 2.92543911e-01 9.55808484e-01 -2.91239026e-02 1.08618036e+02] [ 1.08783385e-01 -3.00581439e-03 9.94060934e-01 5.64314029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.5250998929998 meters 0.056604225719727154 Centerline is valid? [True, True] Translation: X:530.13, Y:108.63, Z:56.44 [[ 9.50432156e-01 -2.92449544e-01 -1.05602941e-01 5.30128863e+02] [ 2.90988659e-01 9.56276709e-01 -2.93335470e-02 1.08633000e+02] [ 1.09564216e-01 -2.84971197e-03 9.93975634e-01 5.64354030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.5850998929999 meters 0.0562288529227896 Centerline is valid? [True, True] Translation: X:530.18, Y:108.65, Z:56.44 [[ 9.50769057e-01 -2.91550021e-01 -1.05056106e-01 5.30183602e+02] [ 2.90098256e-01 9.56551697e-01 -2.91865269e-02 1.08654843e+02] [ 1.09000929e-01 -2.72694627e-03 9.94037907e-01 5.64415510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.6450998929998 meters 0.05608945254785679 Centerline is valid? [True, True] Translation: X:530.24, Y:108.68, Z:56.45 [[ 9.51513283e-01 -2.89252252e-01 -1.04669038e-01 5.30239968e+02] [ 2.87796098e-01 9.57249792e-01 -2.90902457e-02 1.08675079e+02] [ 1.08608834e-01 -2.44358547e-03 9.94081561e-01 5.64478302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.7050998929999 meters 0.055824551258127145 Centerline is valid? [True, True] Translation: X:530.30, Y:108.70, Z:56.46 [[ 9.53200447e-01 -2.83928520e-01 -1.03891790e-01 5.30295496e+02] [ 2.82462297e-01 9.58843719e-01 -2.88751426e-02 1.08700116e+02] [ 1.07814467e-01 -1.82171486e-03 9.94169363e-01 5.64552697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.7650998929998 meters 0.05470410207536193 Centerline is valid? [True, True] Translation: X:530.35, Y:108.72, Z:56.46 [[ 9.54399514e-01 -2.80230692e-01 -1.02919029e-01 5.30351762e+02] [ 2.78770250e-01 9.59931680e-01 -2.86062462e-02 1.08716153e+02] [ 1.06811584e-01 -1.38897589e-03 9.94278309e-01 5.64611228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.8250998929999 meters 0.055122582081851106 Centerline is valid? [True, True] Translation: X:530.41, Y:108.73, Z:56.47 [[ 9.54603550e-01 -2.79701805e-01 -1.02464449e-01 5.30407525e+02] [ 2.78250916e-01 9.60086014e-01 -2.84828539e-02 1.08734698e+02] [ 1.06341390e-01 -1.32099325e-03 9.94328801e-01 5.64674691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.8850998929998 meters 0.055340522706614 Centerline is valid? [True, True] Translation: X:530.46, Y:108.75, Z:56.47 [[ 9.54181581e-01 -2.81141219e-01 -1.02455478e-01 5.30463748e+02] [ 2.79697560e-01 9.59665283e-01 -2.84924560e-02 1.08751882e+02] [ 1.06333369e-01 -1.46957038e-03 9.94329450e-01 5.64734646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.9450998929999 meters 0.0554486709308111 Centerline is valid? [True, True] Translation: X:530.52, Y:108.76, Z:56.48 [[ 9.53073774e-01 -2.84610628e-01 -1.03185132e-01 5.30520124e+02] [ 2.83165310e-01 9.58641401e-01 -2.87066576e-02 1.08764724e+02] [ 1.07087760e-01 -1.85888753e-03 9.94247834e-01 5.64784760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.0050998929999 meters 0.05496204343505617 Centerline is valid? [True, True] Translation: X:530.58, Y:108.79, Z:56.49 [[ 9.52090830e-01 -2.87951202e-01 -1.02991052e-01 5.30577807e+02] [ 2.86530428e-01 9.57642494e-01 -2.86560238e-02 1.08785167e+02] [ 1.06880145e-01 -2.22693283e-03 9.94269418e-01 5.64859098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.0650998929999 meters 0.05583528959678524 Centerline is valid? [True, True] Translation: X:530.64, Y:108.79, Z:56.49 [[ 9.50553831e-01 -2.92595260e-01 -1.04093366e-01 5.30636191e+02] [ 2.91171733e-01 9.56232338e-01 -2.89609515e-02 1.08794886e+02] [ 1.08011280e-01 -2.78010249e-03 9.94145781e-01 5.64913309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.1250998929999 meters 0.05586415543730698 Centerline is valid? [True, True] Translation: X:530.69, Y:108.81, Z:56.50 [[ 9.50148688e-01 -2.93980466e-01 -1.03889153e-01 5.30693017e+02] [ 2.92570627e-01 9.55806936e-01 -2.89055307e-02 1.08809693e+02] [ 1.07795635e-01 -2.93036268e-03 9.94168755e-01 5.64978933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.1850998929999 meters 0.05554971644105296 Centerline is valid? [True, True] Translation: X:530.75, Y:108.83, Z:56.50 [[ 9.50545749e-01 -2.92679934e-01 -1.03928996e-01 5.30748980e+02] [ 2.91259976e-01 9.56206447e-01 -2.89284801e-02 1.08829822e+02] [ 1.07844362e-01 -2.77251297e-03 9.94163924e-01 5.65042612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.2450998929999 meters 0.056476196565801995 Centerline is valid? [True, True] Translation: X:530.81, Y:108.84, Z:56.51 [[ 9.52178477e-01 -2.87243237e-01 -1.04151190e-01 5.30806645e+02] [ 2.85784528e-01 9.57855240e-01 -2.89921149e-02 1.08843356e+02] [ 1.08089552e-01 -2.15913079e-03 9.94138817e-01 5.65095076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.3050998929999 meters 0.05577101884677059 Centerline is valid? [True, True] Translation: X:530.86, Y:108.87, Z:56.52 [[ 9.54487807e-01 -2.80080410e-01 -1.02508492e-01 5.30860880e+02] [ 2.78626087e-01 9.59975630e-01 -2.85358350e-02 1.08871153e+02] [ 1.06397983e-01 -1.32443357e-03 9.94322742e-01 5.65182513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.3650998929999 meters 0.055370544924429145 Centerline is valid? [True, True] Translation: X:530.92, Y:108.89, Z:56.52 [[ 9.57051034e-01 -2.71262221e-01 -1.02323630e-01 5.30916266e+02] [ 2.69762879e-01 9.62505423e-01 -2.84833215e-02 1.08890879e+02] [ 1.06213497e-01 -3.43124606e-04 9.94343288e-01 5.65248464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.4250998929999 meters 0.055691262577693176 Centerline is valid? [True, True] Translation: X:530.97, Y:108.91, Z:56.53 [[ 9.58582197e-01 -2.65850937e-01 -1.02193202e-01 5.30970277e+02] [ 2.64324491e-01 9.64014114e-01 -2.84490938e-02 1.08910522e+02] [ 1.06078907e-01 2.58628798e-04 9.94357681e-01 5.65310146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.4850998929999 meters 0.05600203525170022 Centerline is valid? [True, True] Translation: X:531.03, Y:108.93, Z:56.54 [[ 9.59634813e-01 -2.62025525e-01 -1.02194181e-01 5.31027221e+02] [ 2.60475959e-01 9.65060693e-01 -2.84628393e-02 1.08928355e+02] [ 1.06081578e-01 6.94804089e-04 9.94357187e-01 5.65370237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.5450998929999 meters 0.056608925795804683 Centerline is valid? [True, True] Translation: X:531.08, Y:108.94, Z:56.54 [[ 9.59729271e-01 -2.61223319e-01 -1.03354263e-01 5.31084076e+02] [ 2.59633485e-01 9.65278067e-01 -2.87872570e-02 1.08943778e+02] [ 1.07285506e-01 7.93745689e-04 9.94227937e-01 5.65414494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.6050998929999 meters 0.05631661128770184 Centerline is valid? [True, True] Translation: X:531.14, Y:108.96, Z:56.55 [[ 9.59333189e-01 -2.62392444e-01 -1.04067467e-01 5.31139867e+02] [ 2.60786002e-01 9.64961006e-01 -2.89985897e-02 1.08957985e+02] [ 1.08030059e-01 6.79970730e-04 9.94147396e-01 5.65469658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.6650998929999 meters 0.05557100097679375 Centerline is valid? [True, True] Translation: X:531.20, Y:108.97, Z:56.55 [[ 9.58090208e-01 -2.66978306e-01 -1.03854402e-01 5.31197046e+02] [ 2.65403620e-01 9.63702523e-01 -2.89545492e-02 1.08969592e+02] [ 1.07814986e-01 1.77735754e-04 9.94170960e-01 5.65528725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.7250998929999 meters 0.05545550407318566 Centerline is valid? [True, True] Translation: X:531.26, Y:108.98, Z:56.56 [[ 9.55167021e-01 -2.77635172e-01 -1.02833226e-01 5.31255054e+02] [ 2.76151361e-01 9.60686062e-01 -2.86830221e-02 1.08978410e+02] [ 1.06753863e-01 -1.00045858e-03 9.94284975e-01 5.65611898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.7850998929999 meters 0.055793166279977074 Centerline is valid? [True, True] Translation: X:531.32, Y:108.98, Z:56.57 [[ 9.51828487e-01 -2.89487042e-01 -1.01092947e-01 5.31316265e+02] [ 2.88118217e-01 9.57179228e-01 -2.82102430e-02 1.08979843e+02] [ 1.04930568e-01 -2.27540664e-03 9.94476947e-01 5.65681435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.8450998929999 meters 0.05669011870983405 Centerline is valid? [True, True] Translation: X:531.38, Y:108.99, Z:56.57 [[ 9.49667709e-01 -2.96868464e-01 -1.00001787e-01 5.31375690e+02] [ 2.95570147e-01 9.54913479e-01 -2.79022436e-02 1.08988705e+02] [ 1.03776351e-01 -3.05968323e-03 9.94595952e-01 5.65748802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.9050998929998 meters 0.05853091743602933 Centerline is valid? [True, True] Translation: X:531.44, Y:108.99, Z:56.58 [[ 9.46612668e-01 -3.06452353e-01 -1.00057040e-01 5.31435885e+02] [ 3.05205754e-01 9.51877122e-01 -2.79175824e-02 1.08992687e+02] [ 1.03797416e-01 -4.11084703e-03 9.94589964e-01 5.65809434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.9650998929999 meters 0.05667999341102226 Centerline is valid? [True, True] Translation: X:531.49, Y:109.01, Z:56.59 [[ 9.44378644e-01 -3.13163411e-01 -1.00387524e-01 5.31492098e+02] [ 3.11946206e-01 9.49686802e-01 -2.80096911e-02 1.09013185e+02] [ 1.04108317e-01 -4.86375311e-03 9.94554072e-01 5.65866080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.0250998929998 meters 0.06060302886319549 Centerline is valid? [True, True] Translation: X:531.55, Y:109.01, Z:56.59 [[ 9.41219614e-01 -3.21944225e-01 -1.02262182e-01 5.31554252e+02] [ 3.20732448e-01 9.46739981e-01 -2.85325252e-02 1.09012397e+02] [ 1.06001578e-01 -5.94342751e-03 9.94348199e-01 5.65916713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.0850998929999 meters 0.054913406422061536 Centerline is valid? [True, True] Translation: X:531.61, Y:109.05, Z:56.60 [[ 9.39727861e-01 -3.26497332e-01 -1.01543288e-01 5.31605654e+02] [ 3.25328884e-01 9.45176385e-01 -2.83322765e-02 1.09050387e+02] [ 1.05226731e-01 -6.41033498e-03 9.94427596e-01 5.65983530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.1450998929998 meters 0.06027301976972955 Centerline is valid? [True, True] Translation: X:531.67, Y:109.05, Z:56.60 [[ 9.38960832e-01 -3.28271139e-01 -1.02910712e-01 5.31668665e+02] [ 3.27081578e-01 9.44559780e-01 -2.87134766e-02 1.09047179e+02] [ 1.06631125e-01 -6.69936800e-03 9.94276079e-01 5.66036479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.2050998929999 meters 0.05422924350284745 Centerline is valid? [True, True] Translation: X:531.72, Y:109.09, Z:56.61 [[ 9.39662545e-01 -3.25956828e-01 -1.03857822e-01 5.31719350e+02] [ 3.24731309e-01 9.45362326e-01 -2.89767031e-02 1.09090398e+02] [ 1.07628426e-01 -6.49756377e-03 9.94169957e-01 5.66106480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.2650998929998 meters 0.05442525152486738 Centerline is valid? [True, True] Translation: X:531.78, Y:109.11, Z:56.62 [[ 9.40372092e-01 -3.23845830e-01 -1.04039448e-01 5.31776340e+02] [ 3.22603270e-01 9.46089105e-01 -2.90264817e-02 1.09107404e+02] [ 1.07830694e-01 -6.26777295e-03 9.94149514e-01 5.66166246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.3250998929999 meters 0.05455200174152437 Centerline is valid? [True, True] Translation: X:531.83, Y:109.13, Z:56.62 [[ 9.41289816e-01 -3.20749709e-01 -1.05323820e-01 5.31832145e+02] [ 3.19456873e-01 9.47145074e-01 -2.93856243e-02 1.09128445e+02] [ 1.09182368e-01 -5.98602930e-03 9.94003711e-01 5.66230609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.3850998929998 meters 0.0566936923523139 Centerline is valid? [True, True] Translation: X:531.89, Y:109.14, Z:56.63 [[ 9.41952224e-01 -3.18914211e-01 -1.04974917e-01 5.31890483e+02] [ 3.17618595e-01 9.47766121e-01 -2.92883505e-02 1.09139275e+02] [ 1.08832141e-01 -5.75375864e-03 9.94043490e-01 5.66289576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.4450998929999 meters 0.05615407045142726 Centerline is valid? [True, True] Translation: X:531.95, Y:109.16, Z:56.64 [[ 9.43098891e-01 -3.15728001e-01 -1.04308726e-01 5.31945303e+02] [ 3.14429399e-01 9.48834651e-01 -2.91025459e-02 1.09161538e+02] [ 1.08160222e-01 -5.35115131e-03 9.94119073e-01 5.66358113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.5050998929999 meters 0.05732412651533817 Centerline is valid? [True, True] Translation: X:532.00, Y:109.18, Z:56.64 [[ 9.44892273e-01 -3.10437222e-01 -1.03958274e-01 5.32001132e+02] [ 3.09115335e-01 9.50582126e-01 -2.90057055e-02 1.09180407e+02] [ 1.07825328e-01 -4.72782977e-03 9.94158612e-01 5.66420152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.5650998929999 meters 0.057300410992639925 Centerline is valid? [True, True] Translation: X:532.06, Y:109.20, Z:56.65 [[ 9.46501237e-01 -3.05454246e-01 -1.04082238e-01 5.32057277e+02] [ 3.04099139e-01 9.52197648e-01 -2.90405277e-02 1.09199731e+02] [ 1.07977415e-01 -4.16442363e-03 9.94144625e-01 5.66477744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.6250998929999 meters 0.05734401872807612 Centerline is valid? [True, True] Translation: X:532.11, Y:109.23, Z:56.65 [[ 9.49269145e-01 -2.96604748e-01 -1.04468724e-01 5.32112251e+02] [ 2.95185960e-01 9.54995073e-01 -2.91489108e-02 1.09225931e+02] [ 1.08412822e-01 -3.16753903e-03 9.94100914e-01 5.66532634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.6850998929999 meters 0.0554212053445881 Centerline is valid? [True, True] Translation: X:532.17, Y:109.25, Z:56.66 [[ 9.51333666e-01 -2.89578084e-01 -1.05398245e-01 5.32167274e+02] [ 2.88090679e-01 9.57151420e-01 -2.94095289e-02 1.09253633e+02] [ 1.09398435e-01 -2.38597714e-03 9.93995115e-01 5.66596044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.7450998929999 meters 0.05483736493539383 Centerline is valid? [True, True] Translation: X:532.22, Y:109.29, Z:56.67 [[ 9.54984522e-01 -2.77537153e-01 -1.04774479e-01 5.32220162e+02] [ 2.75994776e-01 9.60714388e-01 -2.92360972e-02 1.09287749e+02] [ 1.08772453e-01 -9.97188507e-04 9.94066174e-01 5.66683503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.8050998929999 meters 0.05429545179917899 Centerline is valid? [True, True] Translation: X:532.28, Y:109.31, Z:56.67 [[ 9.58370357e-01 -2.66027862e-01 -1.03708418e-01 5.32276751e+02] [ 2.64449374e-01 9.63965291e-01 -2.89386855e-02 1.09312316e+02] [ 1.07669812e-01 3.08352220e-04 9.94186661e-01 5.66745413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.8650998929999 meters 0.05490804818269809 Centerline is valid? [True, True] Translation: X:532.33, Y:109.33, Z:56.68 [[ 9.60025690e-01 -2.60115083e-01 -1.03396410e-01 5.32334247e+02] [ 2.58512133e-01 9.65577138e-01 -2.88490521e-02 1.09332339e+02] [ 1.07341283e-01 9.66604636e-04 9.94221763e-01 5.66811088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.9250998929999 meters 0.055233599963561864 Centerline is valid? [True, True] Translation: X:532.39, Y:109.35, Z:56.69 [[ 9.61025780e-01 -2.56618645e-01 -1.02841244e-01 5.32393664e+02] [ 2.55013217e-01 9.66511798e-01 -2.86915329e-02 1.09349447e+02] [ 1.06760058e-01 1.34742651e-03 9.94283900e-01 5.66879955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.9850998929999 meters 0.055030717027975795 Centerline is valid? [True, True] Translation: X:532.45, Y:109.36, Z:56.70 [[ 9.60677971e-01 -2.58125401e-01 -1.02318688e-01 5.32454038e+02] [ 2.56545363e-01 9.66110714e-01 -2.85406044e-02 1.09364892e+02] [ 1.06218235e-01 1.16894505e-03 9.94342154e-01 5.66951236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.0450998929999 meters 0.0551609428449629 Centerline is valid? [True, True] Translation: X:532.51, Y:109.37, Z:56.70 [[ 9.59208686e-01 -2.63557678e-01 -1.02254813e-01 5.32513747e+02] [ 2.62010858e-01 9.64643475e-01 -2.85180037e-02 1.09373789e+02] [ 1.06155577e-01 5.62845602e-04 9.94349374e-01 5.67005498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.1050998929999 meters 0.05523016747684048 Centerline is valid? [True, True] Translation: X:532.58, Y:109.38, Z:56.71 [[ 9.57288494e-01 -2.70127486e-01 -1.03101307e-01 5.32575906e+02] [ 2.68593368e-01 9.62824549e-01 -2.87487558e-02 1.09380489e+02] [ 1.07034299e-01 -1.71474172e-04 9.94255314e-01 5.67058649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.1650998929999 meters 0.05449820557017847 Centerline is valid? [True, True] Translation: X:532.64, Y:109.39, Z:56.71 [[ 9.56020509e-01 -2.74782488e-01 -1.02563986e-01 5.32637948e+02] [ 2.73291408e-01 9.61506165e-01 -2.85954661e-02 1.09389179e+02] [ 1.06473438e-01 -6.92004106e-04 9.94315306e-01 5.67121780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.2250998929999 meters 0.0548389022224926 Centerline is valid? [True, True] Translation: X:532.70, Y:109.40, Z:56.72 [[ 9.53869349e-01 -2.82359127e-01 -1.02012691e-01 5.32699682e+02] [ 2.80927648e-01 9.59307550e-01 -2.84373360e-02 1.09395216e+02] [ 1.05891086e-01 -1.53268207e-03 9.94376553e-01 5.67189512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.2850998929998 meters 0.05558967744986203 Centerline is valid? [True, True] Translation: X:532.76, Y:109.40, Z:56.72 [[ 9.52448214e-01 -2.87006227e-01 -1.02322169e-01 5.32759997e+02] [ 2.85592922e-01 9.57926508e-01 -2.85217183e-02 1.09400724e+02] [ 1.06203029e-01 -2.05702763e-03 9.94342338e-01 5.67247279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.3450998929999 meters 0.05783101740614729 Centerline is valid? [True, True] Translation: X:532.82, Y:109.40, Z:56.73 [[ 9.49927262e-01 -2.95103478e-01 -1.02723584e-01 5.32822887e+02] [ 2.93726396e-01 9.55460666e-01 -2.86307606e-02 1.09396487e+02] [ 1.06597381e-01 -2.97548805e-03 9.94297815e-01 5.67297225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.4050998929998 meters 0.05630164350715254 Centerline is valid? [True, True] Translation: X:532.88, Y:109.41, Z:56.74 [[ 9.46599156e-01 -3.05358304e-01 -1.03471465e-01 5.32881407e+02] [ 3.04021767e-01 9.52228450e-01 -2.88399945e-02 1.09409166e+02] [ 1.07335004e-01 -4.15766310e-03 9.94214218e-01 5.67361877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.4650998929999 meters 0.055367646113205896 Centerline is valid? [True, True] Translation: X:532.94, Y:109.43, Z:56.74 [[ 9.45477279e-01 -3.08673301e-01 -1.03891808e-01 5.32939352e+02] [ 3.07345744e-01 9.51157227e-01 -2.89572674e-02 1.09425531e+02] [ 1.07755779e-01 -4.55226664e-03 9.94166972e-01 5.67426602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.5250998929998 meters 0.056675429408235466 Centerline is valid? [True, True] Translation: X:533.00, Y:109.43, Z:56.75 [[ 9.43636411e-01 -3.13903924e-01 -1.04950705e-01 5.32999063e+02] [ 3.12581237e-01 9.49440502e-01 -2.92524154e-02 1.09432317e+02] [ 1.08826898e-01 -5.20197691e-03 9.94047104e-01 5.67477555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.5850998929999 meters 0.05981218520665324 Centerline is valid? [True, True] Translation: X:533.06, Y:109.43, Z:56.75 [[ 9.42151394e-01 -3.18017741e-01 -1.05903099e-01 5.33060387e+02] [ 3.16696702e-01 9.48067453e-01 -2.95178399e-02 1.09433819e+02] [ 1.09790478e-01 -5.72888822e-03 9.93938243e-01 5.67528043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.6450998929998 meters 0.056236008683789605 Centerline is valid? [True, True] Translation: X:533.12, Y:109.46, Z:56.76 [[ 9.42058436e-01 -3.18123756e-01 -1.06410430e-01 5.33115878e+02] [ 3.16790652e-01 9.48031643e-01 -2.96595051e-02 1.09462074e+02] [ 1.10315848e-01 -5.76884273e-03 9.93879839e-01 5.67603574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.7050998929999 meters 0.0561793556105228 Centerline is valid? [True, True] Translation: X:533.17, Y:109.48, Z:56.77 [[ 9.42725235e-01 -3.15930398e-01 -1.07037909e-01 5.33174401e+02] [ 3.14567731e-01 9.48766151e-01 -2.98317581e-02 1.09476991e+02] [ 1.10978704e-01 -5.54752108e-03 9.93807301e-01 5.67663386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.7650998929998 meters 0.058093479324204396 Centerline is valid? [True, True] Translation: X:533.23, Y:109.49, Z:56.77 [[ 9.43875763e-01 -3.12576525e-01 -1.06744839e-01 5.33233000e+02] [ 3.11199934e-01 9.49878684e-01 -2.97504187e-02 1.09485282e+02] [ 1.10693929e-01 -5.13828755e-03 9.93841261e-01 5.67721385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.8250998929999 meters 0.05553027850519871 Centerline is valid? [True, True] Translation: X:533.29, Y:109.52, Z:56.78 [[ 9.44748236e-01 -3.10114500e-01 -1.06206245e-01 5.33287235e+02] [ 3.08736052e-01 9.50686982e-01 -2.96025683e-02 1.09515345e+02] [ 1.10149080e-01 -4.82272245e-03 9.93903376e-01 5.67811715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.8850998929998 meters 0.055021673861499705 Centerline is valid? [True, True] Translation: X:533.34, Y:109.54, Z:56.79 [[ 9.46269795e-01 -3.05944746e-01 -1.04743913e-01 5.33343657e+02] [ 3.04578645e-01 9.52039664e-01 -2.91946395e-02 1.09538214e+02] [ 1.08652306e-01 -4.27675343e-03 9.94070614e-01 5.67889624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.9450998929999 meters 0.05598704678659013 Centerline is valid? [True, True] Translation: X:533.40, Y:109.55, Z:56.79 [[ 9.47217746e-01 -3.03013609e-01 -1.04696202e-01 5.33402706e+02] [ 3.01631006e-01 9.52978087e-01 -2.91805046e-02 1.09548296e+02] [ 1.08615277e-01 -3.93932907e-03 9.94076055e-01 5.67944731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.0050998929999 meters 0.05703743669006338 Centerline is valid? [True, True] Translation: X:533.46, Y:109.56, Z:56.80 [[ 9.48326388e-01 -2.99101368e-01 -1.05902947e-01 5.33460034e+02] [ 2.97662276e-01 9.54214809e-01 -2.95172441e-02 1.09563354e+02] [ 1.09882809e-01 -3.53133089e-03 9.93938277e-01 5.67999465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.0650998929999 meters 0.056924173141932224 Centerline is valid? [True, True] Translation: X:533.52, Y:109.58, Z:56.80 [[ 9.48771351e-01 -2.97091804e-01 -1.07561069e-01 5.33516848e+02] [ 2.95594293e-01 9.54843041e-01 -2.99796731e-02 1.09579229e+02] [ 1.11610653e-01 -3.35058317e-03 9.93746364e-01 5.68048332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.1250998929999 meters 0.05673572217761269 Centerline is valid? [True, True] Translation: X:533.57, Y:109.60, Z:56.81 [[ 9.48642364e-01 -2.96994302e-01 -1.08958933e-01 5.33571820e+02] [ 2.95456563e-01 9.54873268e-01 -3.03720547e-02 1.09600973e+02] [ 1.13062300e-01 -3.38041423e-03 9.93582150e-01 5.68118518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.1850998929999 meters 0.056542853996480576 Centerline is valid? [True, True] Translation: X:533.63, Y:109.62, Z:56.82 [[ 9.48490257e-01 -2.97095302e-01 -1.10002788e-01 5.33627141e+02] [ 2.95527106e-01 9.54841731e-01 -3.06756903e-02 1.09617546e+02] [ 1.14148856e-01 -3.41321209e-03 9.93457794e-01 5.68176146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.2450998929999 meters 0.0575779420859114 Centerline is valid? [True, True] Translation: X:533.68, Y:109.63, Z:56.82 [[ 9.48321755e-01 -2.98118496e-01 -1.08679395e-01 5.33684328e+02] [ 2.96593998e-01 9.54522495e-01 -3.03118193e-02 1.09629088e+02] [ 1.12773441e-01 -3.48829844e-03 9.93614605e-01 5.68243587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.3050998929999 meters 0.055581957483932465 Centerline is valid? [True, True] Translation: X:533.74, Y:109.66, Z:56.83 [[ 9.47864690e-01 -2.99403356e-01 -1.09133678e-01 5.33739507e+02] [ 2.97873322e-01 9.54119665e-01 -3.04491336e-02 1.09655346e+02] [ 1.13243161e-01 -3.64635251e-03 9.93560612e-01 5.68326846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.3650998929999 meters 0.05775899482021824 Centerline is valid? [True, True] Translation: X:533.80, Y:109.66, Z:56.84 [[ 9.47378111e-01 -3.01644761e-01 -1.07168803e-01 5.33798437e+02] [ 3.00183783e-01 9.53412642e-01 -2.99003350e-02 1.09661661e+02] [ 1.11195371e-01 -3.84341362e-03 9.93791134e-01 5.68391505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.4250998929999 meters 0.05678725703847565 Centerline is valid? [True, True] Translation: X:533.86, Y:109.68, Z:56.85 [[ 9.46678784e-01 -3.04024227e-01 -1.06623398e-01 5.33855130e+02] [ 3.02592659e-01 9.52655488e-01 -2.97523638e-02 1.09680190e+02] [ 1.10620805e-01 -4.09752594e-03 9.93854239e-01 5.68471059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.4850998929999 meters 0.05601426701541495 Centerline is valid? [True, True] Translation: X:533.91, Y:109.70, Z:56.86 [[ 9.44799264e-01 -3.09598970e-01 -1.07251238e-01 5.33910879e+02] [ 3.08186038e-01 9.50855225e-01 -2.99283830e-02 1.09702272e+02] [ 1.11246196e-01 -4.77701974e-03 9.93781396e-01 5.68550851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.5450998929999 meters 0.05621013315483169 Centerline is valid? [True, True] Translation: X:533.97, Y:109.72, Z:56.86 [[ 9.43315828e-01 -3.13950617e-01 -1.07658059e-01 5.33968029e+02] [ 3.12555118e-01 9.49424462e-01 -3.00414638e-02 1.09716854e+02] [ 1.11644731e-01 -5.31048898e-03 9.93733995e-01 5.68609198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.6050998929999 meters 0.056620534842224735 Centerline is valid? [True, True] Translation: X:534.03, Y:109.73, Z:56.87 [[ 9.41457584e-01 -3.19631133e-01 -1.07208004e-01 5.34026296e+02] [ 3.18283969e-01 9.47523312e-01 -2.99146888e-02 1.09730857e+02] [ 1.11143749e-01 -5.95917838e-03 9.93786474e-01 5.68666971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.6650998929999 meters 0.060466162393966516 Centerline is valid? [True, True] Translation: X:534.09, Y:109.73, Z:56.87 [[ 9.40653283e-01 -3.21758676e-01 -1.07901601e-01 5.34087554e+02] [ 3.20407866e-01 9.46801078e-01 -3.01084486e-02 1.09731880e+02] [ 1.11849006e-01 -6.25091054e-03 9.93705553e-01 5.68699976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.7250998929999 meters 0.05521294690320799 Centerline is valid? [True, True] Translation: X:534.14, Y:109.77, Z:56.88 [[ 9.40758013e-01 -3.21762859e-01 -1.06972068e-01 5.34140019e+02] [ 3.20435232e-01 9.46800014e-01 -2.98495349e-02 1.09771696e+02] [ 1.10885627e-01 -6.19643020e-03 9.93813857e-01 5.68799078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.7850998929998 meters 0.05557819956799274 Centerline is valid? [True, True] Translation: X:534.20, Y:109.79, Z:56.89 [[ 9.41423952e-01 -3.19833635e-01 -1.06898964e-01 5.34196686e+02] [ 3.18496215e-01 9.47454900e-01 -2.98223523e-02 1.09789668e+02] [ 1.10820138e-01 -5.97143868e-03 9.93822539e-01 5.68862987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.8450998929999 meters 0.055495933072307706 Centerline is valid? [True, True] Translation: X:534.26, Y:109.81, Z:56.89 [[ 9.41864667e-01 -3.18476229e-01 -1.07069328e-01 5.34255268e+02] [ 3.17125808e-01 9.47912975e-01 -2.98699552e-02 1.09806041e+02] [ 1.11005276e-01 -5.82099175e-03 9.93802770e-01 5.68918176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.9050998929998 meters 0.055697651349282236 Centerline is valid? [True, True] Translation: X:534.31, Y:109.82, Z:56.90 [[ 9.41994590e-01 -3.18075100e-01 -1.07118732e-01 5.34314693e+02] [ 3.16721075e-01 9.48047911e-01 -2.98817511e-02 1.09824246e+02] [ 1.11058331e-01 -5.77831198e-03 9.93797091e-01 5.68979892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.9650998929999 meters 0.0559284644647045 Centerline is valid? [True, True] Translation: X:534.37, Y:109.85, Z:56.90 [[ 9.42897742e-01 -3.15380474e-01 -1.07140114e-01 5.34370946e+02] [ 3.14008990e-01 9.48949571e-01 -2.98842064e-02 1.09845806e+02] [ 1.11095460e-01 -5.46520822e-03 9.93794712e-01 5.69046319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.0250998929998 meters 0.055969071041056646 Centerline is valid? [True, True] Translation: X:534.43, Y:109.87, Z:56.91 [[ 9.45249582e-01 -3.08724074e-01 -1.05795437e-01 5.34427106e+02] [ 3.07345297e-01 9.51140411e-01 -2.95091091e-02 1.09866144e+02] [ 1.09736488e-01 -4.62225694e-03 9.93949968e-01 5.69113309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.0850998929999 meters 0.05702496397702431 Centerline is valid? [True, True] Translation: X:534.48, Y:109.88, Z:56.92 [[ 9.47251909e-01 -3.02450969e-01 -1.06005810e-01 5.34484640e+02] [ 3.01027589e-01 9.53156953e-01 -2.95671067e-02 1.09881349e+02] [ 1.09982775e-01 -3.90317516e-03 9.93925829e-01 5.69169084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.1450998929998 meters 0.05540753477959087 Centerline is valid? [True, True] Translation: X:534.54, Y:109.91, Z:56.92 [[ 9.50463111e-01 -2.92753152e-01 -1.04477109e-01 5.34538758e+02] [ 2.91311984e-01 9.56184134e-01 -2.91415472e-02 1.09912673e+02] [ 1.08430634e-01 -2.73746823e-03 9.94100248e-01 5.69244562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.2050998929999 meters 0.05473569663013838 Centerline is valid? [True, True] Translation: X:534.59, Y:109.94, Z:56.93 [[ 9.53737120e-01 -2.81801362e-01 -1.04754465e-01 5.34593153e+02] [ 2.80286430e-01 9.59471605e-01 -2.92191096e-02 1.09937649e+02] [ 1.08742920e-01 -1.49390566e-03 9.94068783e-01 5.69299524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.2650998929998 meters 0.05541062863810746 Centerline is valid? [True, True] Translation: X:534.65, Y:109.96, Z:56.94 [[ 9.54801196e-01 -2.77913413e-01 -1.05445777e-01 5.34649638e+02] [ 2.76354572e-01 9.60605548e-01 -2.94131302e-02 1.09957800e+02] [ 1.09466102e-01 -1.05673084e-03 9.93989968e-01 5.69350682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.3250998929999 meters 0.05486688269952988 Centerline is valid? [True, True] Translation: X:534.71, Y:109.98, Z:56.94 [[ 9.55500412e-01 -2.75414695e-01 -1.05667914e-01 5.34705493e+02] [ 2.73833885e-01 9.61325206e-01 -2.94762991e-02 1.09975969e+02] [ 1.09699435e-01 -7.70839373e-04 9.93964506e-01 5.69409694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.3850998929998 meters 0.05506323379065849 Centerline is valid? [True, True] Translation: X:534.76, Y:109.99, Z:56.95 [[ 9.55561169e-01 -2.75167208e-01 -1.05763226e-01 5.34760369e+02] [ 2.73581224e-01 9.61396102e-01 -2.95101341e-02 1.09992128e+02] [ 1.09800575e-01 -7.36094742e-04 9.93953365e-01 5.69472798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.4450998929999 meters 0.055330750374527574 Centerline is valid? [True, True] Translation: X:534.82, Y:110.01, Z:56.95 [[ 9.55406581e-01 -2.75586347e-01 -1.06068047e-01 5.34819326e+02] [ 2.73992224e-01 9.61276010e-01 -2.96090156e-02 1.10008993e+02] [ 1.10120509e-01 -7.73171576e-04 9.93917942e-01 5.69541975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.5050998929999 meters 0.0553503418875691 Centerline is valid? [True, True] Translation: X:534.88, Y:110.02, Z:56.96 [[ 9.54554264e-01 -2.78411570e-01 -1.06363313e-01 5.34879324e+02] [ 2.76826422e-01 9.60461231e-01 -2.96876499e-02 1.10024229e+02] [ 1.10423224e-01 -1.10570253e-03 9.93884042e-01 5.69609832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.5650998929999 meters 0.055382345883075675 Centerline is valid? [True, True] Translation: X:534.94, Y:110.04, Z:56.97 [[ 9.53797849e-01 -2.80798514e-01 -1.06873092e-01 5.34939972e+02] [ 2.79213459e-01 9.59765730e-01 -2.98259766e-02 1.10038514e+02] [ 1.10948221e-01 -1.39245329e-03 9.93825213e-01 5.69669948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.6250998929999 meters 0.05503618679607538 Centerline is valid? [True, True] Translation: X:535.00, Y:110.05, Z:56.97 [[ 9.53888678e-01 -2.80653299e-01 -1.06443021e-01 5.34997992e+02] [ 2.79080619e-01 9.59808229e-01 -2.97013682e-02 1.10052935e+02] [ 1.10500675e-01 -1.37438539e-03 9.93875099e-01 5.69731727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.6850998929999 meters 0.05479221292766043 Centerline is valid? [True, True] Translation: X:535.06, Y:110.07, Z:56.98 [[ 9.54852976e-01 -2.77795312e-01 -1.05287976e-01 5.35055038e+02] [ 2.76239430e-01 9.60639734e-01 -2.93782147e-02 1.10068834e+02] [ 1.09304944e-01 -1.03281478e-03 9.94007728e-01 5.69800316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.7450998929999 meters 0.054693631341079095 Centerline is valid? [True, True] Translation: X:535.11, Y:110.09, Z:56.99 [[ 9.55854058e-01 -2.74486197e-01 -1.04882545e-01 5.35109505e+02] [ 2.72922312e-01 9.61590820e-01 -2.92661438e-02 1.10085904e+02] [ 1.08887245e-01 -6.50624346e-04 9.94053894e-01 5.69867773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.8050998929999 meters 0.05450232162624517 Centerline is valid? [True, True] Translation: X:535.17, Y:110.10, Z:56.99 [[ 9.57090926e-01 -2.70251207e-01 -1.04600402e-01 5.35165569e+02] [ 2.68669976e-01 9.62789831e-01 -2.91922154e-02 1.10103146e+02] [ 1.08597435e-01 -1.63383043e-04 9.94085796e-01 5.69926270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.8650998929999 meters 0.054903545801072345 Centerline is valid? [True, True] Translation: X:535.22, Y:110.12, Z:57.00 [[ 9.57402999e-01 -2.68901082e-01 -1.05222176e-01 5.35220521e+02] [ 2.67291450e-01 9.63167798e-01 -2.93781059e-02 1.10118316e+02] [ 1.09246416e-01 1.69885564e-06 9.94014698e-01 5.69979512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.9250998929999 meters 0.05507556225771633 Centerline is valid? [True, True] Translation: X:535.28, Y:110.13, Z:57.01 [[ 9.57453088e-01 -2.68293497e-01 -1.06311726e-01 5.35280124e+02] [ 2.66645497e-01 9.63337217e-01 -2.96915166e-02 1.10133123e+02] [ 1.10380083e-01 8.06913854e-05 9.93889446e-01 5.70055609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.9850998929999 meters 0.05563870886991266 Centerline is valid? [True, True] Translation: X:535.34, Y:110.15, Z:57.01 [[ 9.57376810e-01 -2.68305980e-01 -1.06965156e-01 5.35340715e+02] [ 2.66638100e-01 9.63333741e-01 -2.98701831e-02 1.10147937e+02] [ 1.11057492e-01 7.60347779e-05 9.93813980e-01 5.70109704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.0450998929999 meters 0.05533954461746336 Centerline is valid? [True, True] Translation: X:535.40, Y:110.16, Z:57.02 [[ 9.57342887e-01 -2.68438451e-01 -1.06936404e-01 5.35398182e+02] [ 2.66772794e-01 9.63296836e-01 -2.98576879e-02 1.10161942e+02] [ 1.11026451e-01 5.63218932e-05 9.93817450e-01 5.70176800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.1050998929999 meters 0.05643670910868568 Centerline is valid? [True, True] Translation: X:535.46, Y:110.18, Z:57.02 [[ 9.57402133e-01 -2.68014892e-01 -1.07467078e-01 5.35457548e+02] [ 2.66329868e-01 9.63414763e-01 -3.00065810e-02 1.10176527e+02] [ 1.11577580e-01 1.06671978e-04 9.93755721e-01 5.70243720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.1650998929999 meters 0.05551524289982393 Centerline is valid? [True, True] Translation: X:535.52, Y:110.19, Z:57.03 [[ 9.57158393e-01 -2.69134084e-01 -1.06839390e-01 5.35515074e+02] [ 2.67475948e-01 9.63102717e-01 -2.98290632e-02 1.10190110e+02] [ 1.10925325e-01 -2.58290490e-05 9.93828744e-01 5.70299785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.2250998929999 meters 0.055113526178499544 Centerline is valid? [True, True] Translation: X:535.57, Y:110.20, Z:57.04 [[ 9.56352883e-01 -2.72361835e-01 -1.05868755e-01 5.35570810e+02] [ 2.70752949e-01 9.62194823e-01 -2.95628747e-02 1.10200090e+02] [ 1.09918167e-01 -3.91737151e-04 9.93940563e-01 5.70352381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.2850998929998 meters 0.055768498583405525 Centerline is valid? [True, True] Translation: X:535.63, Y:110.22, Z:57.04 [[ 9.55617872e-01 -2.75483228e-01 -1.04419697e-01 5.35630490e+02] [ 2.73935736e-01 9.61305600e-01 -2.91677227e-02 1.10215419e+02] [ 1.08414457e-01 -7.31089313e-04 9.94105513e-01 5.70445483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.3450998929999 meters 0.05541800335904463 Centerline is valid? [True, True] Translation: X:535.69, Y:110.23, Z:57.05 [[ 9.54752924e-01 -2.78733937e-01 -1.03702680e-01 5.35691179e+02] [ 2.77227193e-01 9.60367737e-01 -2.89636382e-02 1.10225750e+02] [ 1.07665857e-01 -1.09608468e-03 9.94186533e-01 5.70504026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4050998929998 meters 0.05542950428073463 Centerline is valid? [True, True] Translation: X:535.75, Y:110.24, Z:57.06 [[ 9.54273746e-01 -2.80369508e-01 -1.03704174e-01 5.35750712e+02] [ 2.78872659e-01 9.59891292e-01 -2.89611535e-02 1.10241838e+02] [ 1.07664558e-01 -1.28339030e-03 9.94186449e-01 5.70569547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4650998929999 meters 0.05537564716234629 Centerline is valid? [True, True] Translation: X:535.81, Y:110.25, Z:57.06 [[ 9.54405580e-01 -2.79910142e-01 -1.03731872e-01 5.35809992e+02] [ 2.78410184e-01 9.60025409e-01 -2.89652093e-02 1.10254597e+02] [ 1.07692888e-01 -1.23545216e-03 9.94183442e-01 5.70618999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.5250998929998 meters 0.055352733909571405 Centerline is valid? [True, True] Translation: X:535.87, Y:110.27, Z:57.07 [[ 9.55385659e-01 -2.76681168e-01 -1.03372020e-01 5.35865846e+02] [ 2.75172850e-01 9.60961381e-01 -2.88639356e-02 1.10272196e+02] [ 1.07322626e-01 -8.68983043e-04 9.94223868e-01 5.70679947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.5850998929999 meters 0.055557053114745895 Centerline is valid? [True, True] Translation: X:535.92, Y:110.29, Z:57.08 [[ 9.57827171e-01 -2.68245734e-01 -1.03011346e-01 5.35923424e+02] [ 2.66698829e-01 9.63350518e-01 -2.87665639e-02 1.10294085e+02] [ 1.06952541e-01 8.03912576e-05 9.94264124e-01 5.70756968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.6450998929998 meters 0.05570349619318546 Centerline is valid? [True, True] Translation: X:535.98, Y:110.31, Z:57.08 [[ 9.59512279e-01 -2.62279513e-01 -1.02691988e-01 5.35980554e+02] [ 2.60708486e-01 9.64991663e-01 -2.86736075e-02 1.10314486e+02] [ 1.06617412e-01 7.40005813e-04 9.94299844e-01 5.70818489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.7050998929999 meters 0.05557745628821448 Centerline is valid? [True, True] Translation: X:536.04, Y:110.33, Z:57.09 [[ 9.60796553e-01 -2.57837043e-01 -1.01931564e-01 5.36039512e+02] [ 2.56264597e-01 9.66187646e-01 -2.84585538e-02 1.10330277e+02] [ 1.05822687e-01 1.22142935e-03 9.94384265e-01 5.70892802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.7650998929998 meters 0.056008702984532845 Centerline is valid? [True, True] Translation: X:536.10, Y:110.34, Z:57.09 [[ 9.60112837e-01 -2.60051796e-01 -1.02744363e-01 5.36097748e+02] [ 2.58466830e-01 9.65594167e-01 -2.86845451e-02 1.10340348e+02] [ 1.06668825e-01 9.84390291e-04 9.94294118e-01 5.70945802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.8250998929999 meters 0.05554744842785875 Centerline is valid? [True, True] Translation: X:536.16, Y:110.35, Z:57.10 [[ 9.58805410e-01 -2.64708543e-01 -1.03061016e-01 5.36155759e+02] [ 2.63140211e-01 9.64328349e-01 -2.87761034e-02 1.10352769e+02] [ 1.07001940e-01 4.71186002e-04 9.94258700e-01 5.70992588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.8850998929998 meters 0.05601920677898874 Centerline is valid? [True, True] Translation: X:536.22, Y:110.36, Z:57.11 [[ 9.55865587e-01 -2.74960261e-01 -1.03526972e-01 5.36215157e+02] [ 2.73437222e-01 9.61455354e-01 -2.89082645e-02 1.10357181e+02] [ 1.07485185e-01 -6.75712357e-04 9.94206457e-01 5.71059189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.9450998929999 meters 0.05556288601414718 Centerline is valid? [True, True] Translation: X:536.28, Y:110.36, Z:57.11 [[ 9.53206853e-01 -2.84358046e-01 -1.02650846e-01 5.36275941e+02] [ 2.82913645e-01 9.58716635e-01 -2.86754917e-02 1.10359639e+02] [ 1.06567181e-01 -1.70764992e-03 9.94304038e-01 5.71127881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.0050998929999 meters 0.05575369848650273 Centerline is valid? [True, True] Translation: X:536.34, Y:110.37, Z:57.12 [[ 9.51991309e-01 -2.88677258e-01 -1.01872416e-01 5.36335528e+02] [ 2.87279264e-01 9.57424001e-01 -2.84588604e-02 1.10369170e+02] [ 1.05750522e-01 -2.17324494e-03 9.94390318e-01 5.71194561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.0650998929999 meters 0.05652520914890051 Centerline is valid? [True, True] Translation: X:536.39, Y:110.38, Z:57.13 [[ 9.51237066e-01 -2.91316257e-01 -1.01404552e-01 5.36394085e+02] [ 2.89945946e-01 9.56623654e-01 -2.83290201e-02 1.10379873e+02] [ 1.05258698e-01 -2.45422494e-03 9.94441845e-01 5.71256737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.1250998929999 meters 0.05586054786869279 Centerline is valid? [True, True] Translation: X:536.45, Y:110.40, Z:57.13 [[ 9.51538308e-01 -2.89949365e-01 -1.02490068e-01 5.36449961e+02] [ 2.88541374e-01 9.57039161e-01 -2.86342524e-02 1.10395496e+02] [ 1.06389492e-01 -2.32603693e-03 9.94321812e-01 5.71300485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.1850998929999 meters 0.0558906213269807 Centerline is valid? [True, True] Translation: X:536.51, Y:110.41, Z:57.14 [[ 9.52312229e-01 -2.87203861e-01 -1.03030871e-01 5.36507276e+02] [ 2.85763658e-01 9.57867354e-01 -2.87969588e-02 1.10412252e+02] [ 1.06960506e-01 -2.01878266e-03 9.94261221e-01 5.71357556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.2450998929999 meters 0.05584904181221507 Centerline is valid? [True, True] Translation: X:536.56, Y:110.43, Z:57.14 [[ 9.54319721e-01 -2.80403120e-01 -1.03188953e-01 5.36564116e+02] [ 2.78918768e-01 9.59881508e-01 -2.88411526e-02 1.10433209e+02] [ 1.07136317e-01 -1.25765493e-03 9.94243546e-01 5.71426026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.3050998929999 meters 0.055213924185508544 Centerline is valid? [True, True] Translation: X:536.62, Y:110.45, Z:57.15 [[ 9.55101802e-01 -2.77804098e-01 -1.02982676e-01 5.36620171e+02] [ 2.76310559e-01 9.60637265e-01 -2.87840272e-02 1.10450586e+02] [ 1.06925317e-01 -9.63524649e-04 9.94266588e-01 5.71491074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.3650998929999 meters 0.05587262795594636 Centerline is valid? [True, True] Translation: X:536.68, Y:110.47, Z:57.15 [[ 9.57244588e-01 -2.70258751e-01 -1.03164943e-01 5.36675203e+02] [ 2.68715382e-01 9.62787720e-01 -2.88417924e-02 1.10468946e+02] [ 1.07120687e-01 -1.13357437e-04 9.94246019e-01 5.71548427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.4250998929999 meters 0.05624163061538357 Centerline is valid? [True, True] Translation: X:536.73, Y:110.49, Z:57.16 [[ 9.57975025e-01 -2.67309662e-01 -1.04064389e-01 5.36731001e+02] [ 2.65721371e-01 9.63610655e-01 -2.90973848e-02 1.10485354e+02] [ 1.08055566e-01 2.22435936e-04 9.94144831e-01 5.71606366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.4850998929999 meters 0.056339360558043824 Centerline is valid? [True, True] Translation: X:536.79, Y:110.50, Z:57.17 [[ 9.57892583e-01 -2.66957214e-01 -1.05714925e-01 5.36787022e+02] [ 2.65314523e-01 9.63708342e-01 -2.95708479e-02 1.10500323e+02] [ 1.09772506e-01 2.77990943e-04 9.93956699e-01 5.71665470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.5450998929999 meters 0.05608229270498255 Centerline is valid? [True, True] Translation: X:536.84, Y:110.51, Z:57.17 [[ 9.56417165e-01 -2.71724283e-01 -1.06921095e-01 5.36843855e+02] [ 2.70072598e-01 9.62375106e-01 -2.99156784e-02 1.10511943e+02] [ 1.11027016e-01 -2.64589396e-04 9.93817353e-01 5.71717251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.6050998929999 meters 0.05538807484323941 Centerline is valid? [True, True] Translation: X:536.90, Y:110.52, Z:57.18 [[ 9.55092661e-01 -2.76494056e-01 -1.06531899e-01 5.36900766e+02] [ 2.74883157e-01 9.61015288e-01 -2.98138695e-02 1.10524227e+02] [ 1.10622141e-01 -8.08816783e-04 9.93862208e-01 5.71790625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.6650998929999 meters 0.056275405962820144 Centerline is valid? [True, True] Translation: X:536.96, Y:110.53, Z:57.18 [[ 9.53349671e-01 -2.82785673e-01 -1.05625131e-01 5.36959434e+02] [ 2.81239733e-01 9.59181922e-01 -2.95677651e-02 1.10531323e+02] [ 1.09675056e-01 -1.51756437e-03 9.93966337e-01 5.71849782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.7250998929999 meters 0.05634156248985364 Centerline is valid? [True, True] Translation: X:537.02, Y:110.54, Z:57.19 [[ 9.52051724e-01 -2.87640754e-01 -1.04212816e-01 5.37018606e+02] [ 2.86164493e-01 9.57736194e-01 -2.91764730e-02 1.10541144e+02] [ 1.08200728e-01 -2.04449607e-03 9.94126965e-01 5.71915848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.7850998929998 meters 0.05615701889993075 Centerline is valid? [True, True] Translation: X:537.07, Y:110.56, Z:57.20 [[ 9.51652767e-01 -2.89088515e-01 -1.03850089e-01 5.37074810e+02] [ 2.87631077e-01 9.57299841e-01 -2.90753639e-02 1.10558247e+02] [ 1.07821027e-01 -2.20086236e-03 9.94167884e-01 5.71985235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.8450998929999 meters 0.056690705039914926 Centerline is valid? [True, True] Translation: X:537.13, Y:110.57, Z:57.20 [[ 9.52675295e-01 -2.85954602e-01 -1.03149156e-01 5.37131540e+02] [ 2.84497192e-01 9.58241435e-01 -2.88911883e-02 1.10571363e+02] [ 1.07103364e-01 -1.82172394e-03 9.94246222e-01 5.72046252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9050998929998 meters 0.05590772617298465 Centerline is valid? [True, True] Translation: X:537.19, Y:110.59, Z:57.21 [[ 9.54113193e-01 -2.81436351e-01 -1.02281937e-01 5.37187392e+02] [ 2.79977219e-01 9.59579017e-01 -2.86507905e-02 1.10591420e+02] [ 1.06210975e-01 -1.30051512e-03 9.94342767e-01 5.72117833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9650998929999 meters 0.05604561432482534 Centerline is valid? [True, True] Translation: X:537.24, Y:110.61, Z:57.22 [[ 9.55891272e-01 -2.75199422e-01 -1.02650643e-01 5.37242868e+02] [ 2.73693704e-01 9.61386971e-01 -2.87549739e-02 1.10612203e+02] [ 1.06600343e-01 -6.08206177e-04 9.94301764e-01 5.72184065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.0250998929998 meters 0.05587969935772906 Centerline is valid? [True, True] Translation: X:537.30, Y:110.63, Z:57.22 [[ 9.56429106e-01 -2.72914465e-01 -1.03735528e-01 5.37299940e+02] [ 2.71363020e-01 9.62038237e-01 -2.90610134e-02 1.10625780e+02] [ 1.07728716e-01 -3.55187176e-04 9.94180264e-01 5.72217906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.0850998929999 meters 0.05628780414047656 Centerline is valid? [True, True] Translation: X:537.36, Y:110.64, Z:57.23 [[ 9.55988929e-01 -2.73734427e-01 -1.05615484e-01 5.37356403e+02] [ 2.72129767e-01 9.61805212e-01 -2.95993968e-02 1.10640413e+02] [ 1.09683897e-01 -4.44421322e-04 9.93966421e-01 5.72268552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.1450998929998 meters 0.056599363810978284 Centerline is valid? [True, True] Translation: X:537.41, Y:110.65, Z:57.23 [[ 9.54306126e-01 -2.78991913e-01 -1.07066942e-01 5.37414210e+02] [ 2.77374769e-01 9.60292871e-01 -3.00139780e-02 1.10651276e+02] [ 1.11189278e-01 -1.05514520e-03 9.93798687e-01 5.72318118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.2050998929999 meters 0.05627203515005281 Centerline is valid? [True, True] Translation: X:537.47, Y:110.66, Z:57.24 [[ 9.52753555e-01 -2.84274387e-01 -1.06998768e-01 5.37471755e+02] [ 2.82692013e-01 9.58741517e-01 -2.99988153e-02 1.10663042e+02] [ 1.11112056e-01 -1.66621928e-03 9.93806488e-01 5.72385315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.2650998929998 meters 0.05640557685109121 Centerline is valid? [True, True] Translation: X:537.53, Y:110.67, Z:57.25 [[ 9.50287516e-01 -2.92813741e-01 -1.05894998e-01 5.37531571e+02] [ 2.91316320e-01 9.56165875e-01 -2.96921022e-02 1.10673521e+02] [ 1.09947439e-01 -2.63290698e-03 9.93933916e-01 5.72460475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.3250998929999 meters 0.05618039245668032 Centerline is valid? [True, True] Translation: X:537.59, Y:110.69, Z:57.25 [[ 9.48794369e-01 -2.97925144e-01 -1.05023111e-01 5.37589625e+02] [ 2.96483485e-01 9.54583879e-01 -2.94475997e-02 1.10688186e+02] [ 1.09026549e-01 -3.19790122e-03 9.94033694e-01 5.72531921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.3850998929998 meters 0.05777757319879912 Centerline is valid? [True, True] Translation: X:537.65, Y:110.69, Z:57.26 [[ 9.47213593e-01 -3.03159557e-01 -1.04310555e-01 5.37649292e+02] [ 3.01768969e-01 9.52932339e-01 -2.92480052e-02 1.10692714e+02] [ 1.08267713e-01 -3.77358053e-03 9.94114612e-01 5.72584806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.4450998929999 meters 0.05763450109602151 Centerline is valid? [True, True] Translation: X:537.71, Y:110.71, Z:57.26 [[ 9.45783339e-01 -3.07646176e-01 -1.04152322e-01 5.37706249e+02] [ 3.06286990e-01 9.51491198e-01 -2.92023881e-02 1.10707908e+02] [ 1.08084021e-01 -4.28136899e-03 9.94132544e-01 5.72647101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.5050998929999 meters 0.05803000699946478 Centerline is valid? [True, True] Translation: X:537.76, Y:110.72, Z:57.27 [[ 9.43621372e-01 -3.13970258e-01 -1.04887477e-01 5.37764152e+02] [ 3.12630387e-01 9.49419447e-01 -2.94101219e-02 1.10723996e+02] [ 1.08816114e-01 -5.03899288e-03 9.94049125e-01 5.72712325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.5650998929999 meters 0.05803549022711547 Centerline is valid? [True, True] Translation: X:537.82, Y:110.74, Z:57.28 [[ 9.42160979e-01 -3.18352698e-01 -1.04805770e-01 5.37821643e+02] [ 3.17041939e-01 9.47956146e-01 -2.93862955e-02 1.10739531e+02] [ 1.08706480e-01 -5.54120342e-03 9.94058447e-01 5.72775852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.6250998929999 meters 0.0589254580146275 Centerline is valid? [True, True] Translation: X:537.88, Y:110.75, Z:57.28 [[ 9.40693530e-01 -3.22589166e-01 -1.05032915e-01 5.37880026e+02] [ 3.21298892e-01 9.46519787e-01 -2.94502021e-02 1.10751988e+02] [ 1.08916048e-01 -6.04334457e-03 9.94032581e-01 5.72829403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.6850998929999 meters 0.05497172867726967 Centerline is valid? [True, True] Translation: X:537.93, Y:110.79, Z:57.29 [[ 9.39956235e-01 -3.24396338e-01 -1.06062683e-01 5.37932250e+02] [ 3.23091920e-01 9.45900181e-01 -2.97398690e-02 1.10789152e+02] [ 1.09972215e-01 -6.31382048e-03 9.93914608e-01 5.72900850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.7450998929999 meters 0.05497324731854855 Centerline is valid? [True, True] Translation: X:537.99, Y:110.81, Z:57.30 [[ 9.39685439e-01 -3.24876682e-01 -1.06987930e-01 5.37990650e+02] [ 3.23552632e-01 9.45734543e-01 -2.99978091e-02 1.10810146e+02] [ 1.10927770e-01 -6.42772188e-03 9.93807685e-01 5.72956875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.8050998929999 meters 0.05629739351507588 Centerline is valid? [True, True] Translation: X:538.05, Y:110.82, Z:57.30 [[ 9.40380217e-01 -3.23013450e-01 -1.06523980e-01 5.38049685e+02] [ 3.21689404e-01 9.46374169e-01 -2.98640173e-02 1.10820129e+02] [ 1.10458022e-01 -6.18410453e-03 9.93861551e-01 5.73010708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.8650998929999 meters 0.059226013587017935 Centerline is valid? [True, True] Translation: X:538.11, Y:110.83, Z:57.31 [[ 9.42812697e-01 -3.16374865e-01 -1.04934089e-01 5.38107419e+02] [ 3.15049107e-01 9.48619317e-01 -2.94185616e-02 1.10832659e+02] [ 1.08849797e-01 -5.32319750e-03 9.94043955e-01 5.73076322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.9250998929999 meters 0.05635093243103977 Centerline is valid? [True, True] Translation: X:538.16, Y:110.87, Z:57.32 [[ 9.46648059e-01 -3.05608838e-01 -1.02277515e-01 5.38160389e+02] [ 3.04286588e-01 9.52148846e-01 -2.86748651e-02 1.10865231e+02] [ 1.06146710e-01 -3.97667055e-03 9.94342528e-01 5.73163330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.9850998929999 meters 0.056554552805677956 Centerline is valid? [True, True] Translation: X:538.21, Y:110.89, Z:57.32 [[ 9.50036889e-01 -2.94384002e-01 -1.03768828e-01 5.38214678e+02] [ 2.92955836e-01 9.55683234e-01 -2.90935479e-02 1.10890507e+02] [ 1.07734804e-01 -2.75974002e-03 9.94175837e-01 5.73201453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.0450998929999 meters 0.05613283467519596 Centerline is valid? [True, True] Translation: X:538.27, Y:110.91, Z:57.33 [[ 9.51837020e-01 -2.88213037e-01 -1.04592222e-01 5.38270954e+02] [ 2.86724818e-01 9.57564062e-01 -2.93248441e-02 1.10913639e+02] [ 1.08605556e-01 -2.07671367e-03 9.94082753e-01 5.73257133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.1050998929999 meters 0.055585892977315726 Centerline is valid? [True, True] Translation: X:538.33, Y:110.94, Z:57.33 [[ 9.53782626e-01 -2.81761405e-01 -1.04447179e-01 5.38326070e+02] [ 2.80238750e-01 9.59483567e-01 -2.92835787e-02 1.10939963e+02] [ 1.08466334e-01 -1.33997829e-03 9.94099220e-01 5.73327127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.1650998929999 meters 0.05540056847870116 Centerline is valid? [True, True] Translation: X:538.38, Y:110.96, Z:57.34 [[ 9.54564578e-01 -2.78814731e-01 -1.05208427e-01 5.38381881e+02] [ 2.77251880e-01 9.60344376e-01 -2.94970173e-02 1.10959036e+02] [ 1.09260524e-01 -1.01242640e-03 9.94012632e-01 5.73385504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.2250998929999 meters 0.05521137480161448 Centerline is valid? [True, True] Translation: X:538.44, Y:110.98, Z:57.34 [[ 9.55062576e-01 -2.76859627e-01 -1.05849999e-01 5.38436337e+02] [ 2.75264307e-01 9.60910056e-01 -2.96888186e-02 1.10976784e+02] [ 1.09931964e-01 -7.82047037e-04 9.93938807e-01 5.73432245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.2850998929998 meters 0.05530684302923871 Centerline is valid? [True, True] Translation: X:538.49, Y:110.99, Z:57.35 [[ 9.55489981e-01 -2.75463095e-01 -1.05636073e-01 5.38490650e+02] [ 2.73865207e-01 9.61311450e-01 -2.96334898e-02 1.10994914e+02] [ 1.09712099e-01 -6.15542292e-04 9.93963217e-01 5.73499219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.3450998929999 meters 0.05475964283073383 Centerline is valid? [True, True] Translation: X:538.55, Y:111.01, Z:57.36 [[ 9.55521454e-01 -2.75776973e-01 -1.04526611e-01 5.38546224e+02] [ 2.74213912e-01 9.61221437e-01 -2.93271016e-02 1.11010982e+02] [ 1.08560958e-01 -6.39976138e-04 9.94089588e-01 5.73575297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4050998929998 meters 0.054850785164907156 Centerline is valid? [True, True] Translation: X:538.60, Y:111.02, Z:57.36 [[ 9.54629762e-01 -2.79027800e-01 -1.04045684e-01 5.38603188e+02] [ 2.77496908e-01 9.60282512e-01 -2.92055268e-02 1.11024173e+02] [ 1.08062405e-01 -9.91890456e-04 9.94143618e-01 5.73636001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4650998929999 meters 0.05572446849151366 Centerline is valid? [True, True] Translation: X:538.66, Y:111.03, Z:57.37 [[ 9.52053677e-01 -2.87576945e-01 -1.04370956e-01 5.38662990e+02] [ 2.86086271e-01 9.57755540e-01 -2.93082033e-02 1.11030896e+02] [ 1.08390225e-01 -1.95611503e-03 9.94106500e-01 5.73684873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.5250998929998 meters 0.056129143301765494 Centerline is valid? [True, True] Translation: X:538.72, Y:111.04, Z:57.37 [[ 9.48155359e-01 -2.99864761e-01 -1.05273642e-01 5.38723256e+02] [ 2.98423291e-01 9.53975708e-01 -2.95615769e-02 1.11039109e+02] [ 1.09292972e-01 -3.38713920e-03 9.94003810e-01 5.73740782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.5850998929999 meters 0.05540377994340085 Centerline is valid? [True, True] Translation: X:538.78, Y:111.06, Z:57.38 [[ 9.45509798e-01 -3.08019535e-01 -1.05523398e-01 5.38780736e+02] [ 3.06621566e-01 9.51370141e-01 -2.96322318e-02 1.11057741e+02] [ 1.09519116e-01 -4.33818413e-03 9.93975223e-01 5.73810408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.6450998929998 meters 0.055165093599164626 Centerline is valid? [True, True] Translation: X:538.84, Y:111.07, Z:57.39 [[ 9.42488296e-01 -3.17276955e-01 -1.05124432e-01 5.38838465e+02] [ 3.15946656e-01 9.48317599e-01 -2.95202093e-02 1.11069550e+02] [ 1.09057431e-01 -5.39126099e-03 9.94020830e-01 5.73873850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.7050998929999 meters 0.054634109708070935 Centerline is valid? [True, True] Translation: X:538.90, Y:111.09, Z:57.39 [[ 9.41057103e-01 -3.21555318e-01 -1.04946210e-01 5.38896132e+02] [ 3.20256146e-01 9.46872548e-01 -2.94682692e-02 1.11086497e+02] [ 1.08846364e-01 -5.87834450e-03 9.94041203e-01 5.73940220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.7650998929998 meters 0.05531751635558787 Centerline is valid? [True, True] Translation: X:538.95, Y:111.10, Z:57.40 [[ 9.40226714e-01 -3.24223687e-01 -1.04176427e-01 5.38953978e+02] [ 3.22959899e-01 9.45960504e-01 -2.92511282e-02 1.11099257e+02] [ 1.08030694e-01 -6.14211623e-03 9.94128585e-01 5.74004973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.8250998929999 meters 0.055373179930317595 Centerline is valid? [True, True] Translation: X:539.01, Y:111.12, Z:57.41 [[ 9.40631892e-01 -3.23038082e-01 -1.04201923e-01 5.39012315e+02] [ 3.21766491e-01 9.46366897e-01 -2.92578524e-02 1.11118817e+02] [ 1.08064651e-01 -6.00781807e-03 9.94125715e-01 5.74072523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.8850998929998 meters 0.055342355989245647 Centerline is valid? [True, True] Translation: X:539.07, Y:111.13, Z:57.41 [[ 9.41236276e-01 -3.21252041e-01 -1.04266003e-01 5.39069764e+02] [ 3.19968378e-01 9.46975910e-01 -2.92722324e-02 1.11133696e+02] [ 1.08141157e-01 -5.80973685e-03 9.94118573e-01 5.74134824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.9450998929999 meters 0.05710987018054962 Centerline is valid? [True, True] Translation: X:539.13, Y:111.15, Z:57.42 [[ 9.41536210e-01 -3.20087769e-01 -1.05135078e-01 5.39127879e+02] [ 3.18775364e-01 9.47370602e-01 -2.95162636e-02 1.11146189e+02] [ 1.09049677e-01 -5.72384169e-03 9.94019822e-01 5.74184623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.0050998929999 meters 0.056583216198816365 Centerline is valid? [True, True] Translation: X:539.18, Y:111.17, Z:57.42 [[ 9.40863088e-01 -3.21605364e-01 -1.06520609e-01 5.39184929e+02] [ 3.20267653e-01 9.46854930e-01 -2.99060528e-02 1.11167315e+02] [ 1.10477510e-01 -5.97760412e-03 9.93860648e-01 5.74244043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.0650998929999 meters 0.055071766596193214 Centerline is valid? [True, True] Translation: X:539.24, Y:111.19, Z:57.43 [[ 9.40330284e-01 -3.22225333e-01 -1.09315100e-01 5.39242495e+02] [ 3.20820671e-01 9.46642617e-01 -3.06896292e-02 1.11189268e+02] [ 1.13371309e-01 -6.21215598e-03 9.93533268e-01 5.74293730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.1250998929999 meters 0.05680103700356592 Centerline is valid? [True, True] Translation: X:539.30, Y:111.20, Z:57.43 [[ 9.41372872e-01 -3.19403198e-01 -1.08621878e-01 5.39301326e+02] [ 3.17997824e-01 9.47600939e-01 -3.04933541e-02 1.11199224e+02] [ 1.12669869e-01 -5.83590472e-03 9.93615340e-01 5.74337946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.1850998929999 meters 0.055631036767787224 Centerline is valid? [True, True] Translation: X:539.36, Y:111.23, Z:57.44 [[ 9.42890938e-01 -3.15254621e-01 -1.07569527e-01 5.39355640e+02] [ 3.13849417e-01 9.48992401e-01 -3.01987791e-02 1.11226820e+02] [ 1.11602968e-01 -5.28647798e-03 9.93738814e-01 5.74420201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.2450998929999 meters 0.057203374843089204 Centerline is valid? [True, True] Translation: X:539.41, Y:111.24, Z:57.45 [[ 9.45879305e-01 -3.06431381e-01 -1.06827658e-01 5.39412944e+02] [ 3.04989447e-01 9.51883421e-01 -2.99898445e-02 1.11241177e+02] [ 1.10877306e-01 -4.21453523e-03 9.93825166e-01 5.74472846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.3050998929999 meters 0.0552619937415251 Centerline is valid? [True, True] Translation: X:539.47, Y:111.27, Z:57.45 [[ 9.48776241e-01 -2.97448107e-01 -1.06528253e-01 5.39466713e+02] [ 2.95957608e-01 9.54732780e-01 -2.99067336e-02 1.11270013e+02] [ 1.10601717e-01 -3.15304873e-03 9.93859808e-01 5.74546857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.3650998929999 meters 0.05519290979574131 Centerline is valid? [True, True] Translation: X:539.52, Y:111.29, Z:57.46 [[ 9.50737686e-01 -2.91173054e-01 -1.06377180e-01 5.39522622e+02] [ 2.89647563e-01 9.56667342e-01 -2.98644641e-02 1.11292804e+02] [ 1.10463301e-01 -2.41861944e-03 9.93877261e-01 5.74616801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.4250998929999 meters 0.05455100152705672 Centerline is valid? [True, True] Translation: X:539.58, Y:111.32, Z:57.47 [[ 9.53467864e-01 -2.82095023e-01 -1.06402207e-01 5.39578398e+02] [ 2.80512314e-01 9.59385498e-01 -2.98715299e-02 1.11315412e+02] [ 1.10507344e-01 -1.36558564e-03 9.93874369e-01 5.74686796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.4850998929999 meters 0.055109002320351194 Centerline is valid? [True, True] Translation: X:539.63, Y:111.34, Z:57.48 [[ 9.55089552e-01 -2.76857372e-01 -1.05612228e-01 5.39634562e+02] [ 2.75266193e-01 9.60910728e-01 -2.96495455e-02 1.11335155e+02] [ 1.09692618e-01 -7.53504612e-04 9.93965272e-01 5.74758685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.5450998929999 meters 0.05519517519653023 Centerline is valid? [True, True] Translation: X:539.69, Y:111.35, Z:57.48 [[ 9.56776933e-01 -2.70982071e-01 -1.05577542e-01 5.39692115e+02] [ 2.69356221e-01 9.62584391e-01 -2.96397618e-02 1.11352923e+02] [ 1.09659138e-01 -7.93273316e-05 9.93969249e-01 5.74810230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.6050998929999 meters 0.05529082410638926 Centerline is valid? [True, True] Translation: X:539.75, Y:111.37, Z:57.49 [[ 9.57289102e-01 -2.68934152e-01 -1.06169664e-01 5.39751958e+02] [ 2.67277520e-01 9.63158553e-01 -2.98048599e-02 1.11368890e+02] [ 1.10273765e-01 1.55103039e-04 9.93901239e-01 5.74870765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.6650998929999 meters 0.0551123860748759 Centerline is valid? [True, True] Translation: X:539.81, Y:111.38, Z:57.49 [[ 9.57046468e-01 -2.70046057e-01 -1.05532860e-01 5.39809395e+02] [ 2.68416539e-01 9.62847406e-01 -2.96215279e-02 1.11381830e+02] [ 1.09611218e-01 2.24135991e-05 9.93974537e-01 5.74923697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.7250998929999 meters 0.055045499519342074 Centerline is valid? [True, True] Translation: X:539.87, Y:111.39, Z:57.50 [[ 9.56144686e-01 -2.73295472e-01 -1.05341942e-01 5.39866244e+02] [ 2.71691378e-01 9.61930072e-01 -2.95690946e-02 1.11392078e+02] [ 1.09412682e-01 -3.48164819e-04 9.93996350e-01 5.74977279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.7850998929998 meters 0.054469491741317724 Centerline is valid? [True, True] Translation: X:539.92, Y:111.40, Z:57.50 [[ 9.54586213e-01 -2.78778956e-01 -1.05106878e-01 5.39923633e+02] [ 2.77214610e-01 9.60354806e-01 -2.95077347e-02 1.11401844e+02] [ 1.09166031e-01 -9.69485393e-04 9.94023057e-01 5.75040506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.8450998929999 meters 0.05531116141876771 Centerline is valid? [True, True] Translation: X:539.98, Y:111.41, Z:57.51 [[ 9.51499004e-01 -2.89224014e-01 -1.04876669e-01 5.39984224e+02] [ 2.87729082e-01 9.57259013e-01 -2.94475330e-02 1.11408095e+02] [ 1.08911070e-01 -2.15676939e-03 9.94049157e-01 5.75101112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9050998929998 meters 0.05596653094769495 Centerline is valid? [True, True] Translation: X:540.05, Y:111.41, Z:57.52 [[ 9.48703967e-01 -2.98534671e-01 -1.04104915e-01 5.40045710e+02] [ 2.97117400e-01 9.54393425e-01 -2.92308095e-02 1.11409768e+02] [ 1.08083456e-01 -3.19999664e-03 9.94136674e-01 5.75152911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9650998929999 meters 0.05484029874550097 Centerline is valid? [True, True] Translation: X:540.10, Y:111.42, Z:57.52 [[ 9.46551192e-01 -3.05760556e-01 -1.02719634e-01 5.40103599e+02] [ 3.04423078e-01 9.52100165e-01 -2.88420819e-02 1.11424243e+02] [ 1.06618151e-01 -3.96972015e-03 9.94292116e-01 5.75222900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.0250998929998 meters 0.056526796948172295 Centerline is valid? [True, True] Translation: X:540.16, Y:111.43, Z:57.53 [[ 9.44909463e-01 -3.10756505e-01 -1.02842118e-01 5.40162887e+02] [ 3.09445302e-01 9.50478717e-01 -2.88758119e-02 1.11430088e+02] [ 1.06722590e-01 -4.53898231e-03 9.94278475e-01 5.75274089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.0850998929999 meters 0.056526796948172295 Centerline is valid? [True, True] Translation: X:540.22, Y:111.45, Z:57.53 [[ 9.44870606e-01 -3.10874809e-01 -1.02841579e-01 5.40217955e+02] [ 3.09564096e-01 9.50439976e-01 -2.88777285e-02 1.11445535e+02] [ 1.06722107e-01 -4.55034372e-03 9.94278475e-01 5.75333911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.1450998929998 meters 0.055625095304807186 Centerline is valid? [True, True] Translation: X:540.27, Y:111.47, Z:57.54 [[ 9.43556916e-01 -3.14800294e-01 -1.02961747e-01 5.40274787e+02] [ 3.13508270e-01 9.49144828e-01 -2.89250624e-02 1.11466672e+02] [ 1.06831228e-01 -4.98691661e-03 9.94264663e-01 5.75386767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.2050998929999 meters 0.05599784571680302 Centerline is valid? [True, True] Translation: X:540.33, Y:111.48, Z:57.54 [[ 9.43113498e-01 -3.15943888e-01 -1.03519993e-01 5.40333574e+02] [ 3.14644653e-01 9.48763929e-01 -2.90817808e-02 1.11476900e+02] [ 1.07404246e-01 -5.14459218e-03 9.94202123e-01 5.75437281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.2650998929998 meters 0.05548363948509947 Centerline is valid? [True, True] Translation: X:540.39, Y:111.50, Z:57.55 [[ 9.43487916e-01 -3.14611045e-01 -1.04165460e-01 5.40390901e+02] [ 3.13287344e-01 9.49207383e-01 -2.92640495e-02 1.11496671e+02] [ 1.08081417e-01 -5.02344328e-03 9.94129354e-01 5.75495394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.3250998929999 meters 0.05625456632696039 Centerline is valid? [True, True] Translation: X:540.45, Y:111.51, Z:57.56 [[ 9.44537714e-01 -3.11426775e-01 -1.04220296e-01 5.40448386e+02] [ 3.10082219e-01 9.50258727e-01 -2.92808619e-02 1.11510692e+02] [ 1.08155090e-01 -4.65998227e-03 9.94123112e-01 5.75551211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.3850998929998 meters 0.055992866677175485 Centerline is valid? [True, True] Translation: X:540.50, Y:111.53, Z:57.56 [[ 9.46967751e-01 -3.03968761e-01 -1.04187671e-01 5.40504644e+02] [ 3.02579890e-01 9.52674402e-01 -2.92727559e-02 1.11531410e+02] [ 1.08154930e-01 -3.80473812e-03 9.94126770e-01 5.75612676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.4450998929999 meters 0.054725572160809435 Centerline is valid? [True, True] Translation: X:540.56, Y:111.55, Z:57.57 [[ 9.48705974e-01 -2.98875043e-01 -1.03105205e-01 5.40561043e+02] [ 2.97484884e-01 9.54286926e-01 -2.89690523e-02 1.11554516e+02] [ 1.07050076e-01 -3.18912686e-03 9.94248516e-01 5.75683238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.5050998929999 meters 0.055522651880593896 Centerline is valid? [True, True] Translation: X:540.62, Y:111.57, Z:57.58 [[ 9.50813326e-01 -2.92367941e-01 -1.02347477e-01 5.40616967e+02] [ 2.90960723e-01 9.56302796e-01 -2.87544600e-02 1.11572586e+02] [ 1.06282061e-01 -2.43897219e-03 9.94333030e-01 5.75752493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.5650998929999 meters 0.05514905260854724 Centerline is valid? [True, True] Translation: X:540.67, Y:111.59, Z:57.58 [[ 9.51638164e-01 -2.89829664e-01 -1.01899804e-01 5.40673951e+02] [ 2.88420044e-01 9.57075843e-01 -2.86305675e-02 1.11590942e+02] [ 1.05823829e-01 -2.14400525e-03 9.94382583e-01 5.75827290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.6250998929999 meters 0.055111789730598285 Centerline is valid? [True, True] Translation: X:540.73, Y:111.61, Z:57.59 [[ 9.51661890e-01 -2.89847140e-01 -1.01628161e-01 5.40730163e+02] [ 2.88445025e-01 9.57070561e-01 -2.85553497e-02 1.11605439e+02] [ 1.05542008e-01 -2.13909938e-03 9.94412545e-01 5.75894800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.6850998929999 meters 0.05547444557720768 Centerline is valid? [True, True] Translation: X:540.79, Y:111.62, Z:57.60 [[ 9.50568143e-01 -2.93222294e-01 -1.02180686e-01 5.40788293e+02] [ 2.91822801e-01 9.56040985e-01 -2.87243375e-02 1.11616752e+02] [ 1.06111540e-01 -2.51421388e-03 9.94351055e-01 5.75959684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.7450998929999 meters 0.05545394835073097 Centerline is valid? [True, True] Translation: X:540.85, Y:111.63, Z:57.60 [[ 9.49392436e-01 -2.96709351e-01 -1.03041558e-01 5.40845953e+02] [ 2.95306461e-01 9.54963345e-01 -2.89672820e-02 1.11633140e+02] [ 1.06995774e-01 -2.92751933e-03 9.94255165e-01 5.76022389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.8050998929999 meters 0.05525486444135445 Centerline is valid? [True, True] Translation: X:540.90, Y:111.65, Z:57.61 [[ 9.47350556e-01 -3.03143964e-01 -1.03105100e-01 5.40903069e+02] [ 3.01777119e-01 9.52937763e-01 -2.89860441e-02 1.11650180e+02] [ 1.07039688e-01 -3.65481505e-03 9.94248031e-01 5.76095926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.8650998929999 meters 0.05573779244950652 Centerline is valid? [True, True] Translation: X:540.96, Y:111.66, Z:57.62 [[ 9.45355761e-01 -3.09583119e-01 -1.02277946e-01 5.40961833e+02] [ 3.08275511e-01 9.50862450e-01 -2.87543130e-02 1.11663301e+02] [ 1.06154108e-01 -4.34673051e-03 9.94340189e-01 5.76170904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.9250998929999 meters 0.05825391443775115 Centerline is valid? [True, True] Translation: X:541.02, Y:111.67, Z:57.62 [[ 9.44117676e-01 -3.13355136e-01 -1.02227069e-01 5.41021551e+02] [ 3.12070801e-01 9.49624044e-01 -2.87400626e-02 1.11667363e+02] [ 1.06083128e-01 -4.76808207e-03 9.94345833e-01 5.76231484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.9850998929999 meters 0.05790828206565353 Centerline is valid? [True, True] Translation: X:541.08, Y:111.69, Z:57.63 [[ 9.42671751e-01 -3.17797851e-01 -1.01855271e-01 5.41078067e+02] [ 3.16548723e-01 9.48143961e-01 -2.86345035e-02 1.11686270e+02] [ 1.05673443e-01 -5.24921827e-03 9.94387032e-01 5.76301495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.0450998929999 meters 0.05675125045447883 Centerline is valid? [True, True] Translation: X:541.13, Y:111.71, Z:57.64 [[ 9.42103886e-01 -3.19370769e-01 -1.02188942e-01 5.41134702e+02] [ 3.18122666e-01 9.47614202e-01 -2.87279220e-02 1.11705476e+02] [ 1.06010551e-01 -5.44393175e-03 9.94350103e-01 5.76361082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.1050998929999 meters 0.057563286340630695 Centerline is valid? [True, True] Translation: X:541.19, Y:111.72, Z:57.64 [[ 9.41956070e-01 -3.19421861e-01 -1.03384897e-01 5.41190928e+02] [ 3.18144505e-01 9.47596581e-01 -2.90653264e-02 1.11719188e+02] [ 1.07251276e-01 -5.51307637e-03 9.94216661e-01 5.76411851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.1650998929999 meters 0.056558471210064167 Centerline is valid? [True, True] Translation: X:541.25, Y:111.74, Z:57.65 [[ 9.42561201e-01 -3.17445424e-01 -1.03955692e-01 5.41246325e+02] [ 3.16141463e-01 9.48261657e-01 -2.92302121e-02 1.11741663e+02] [ 1.07856194e-01 -5.31344068e-03 9.94152307e-01 5.76467818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.2250998929999 meters 0.0554230472258019 Centerline is valid? [True, True] Translation: X:541.30, Y:111.76, Z:57.65 [[ 9.43445522e-01 -3.14574016e-01 -1.04660089e-01 5.41302314e+02] [ 3.13234555e-01 9.49219684e-01 -2.94296561e-02 1.11763565e+02] [ 1.08603222e-01 -5.01787921e-03 9.94072513e-01 5.76526333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.2850998929998 meters 0.057990625153613945 Centerline is valid? [True, True] Translation: X:541.36, Y:111.78, Z:57.66 [[ 9.45535715e-01 -3.07781430e-01 -1.05984920e-01 5.41360517e+02] [ 3.06365327e-01 9.51447408e-01 -2.98012751e-02 1.11777417e+02] [ 1.10011356e-01 -4.29193460e-03 9.93921064e-01 5.76573500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.3450998929999 meters 0.05613359996734359 Centerline is valid? [True, True] Translation: X:541.42, Y:111.80, Z:57.66 [[ 9.47393896e-01 -3.02166181e-01 -1.05548119e-01 5.41416369e+02] [ 3.00726958e-01 9.53248377e-01 -2.96787658e-02 1.11801309e+02] [ 1.09581493e-01 -3.62368326e-03 9.93971210e-01 5.76642386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4050998929998 meters 0.05507244700021048 Centerline is valid? [True, True] Translation: X:541.47, Y:111.83, Z:57.67 [[ 9.50366958e-01 -2.92875666e-01 -1.05007095e-01 5.41471750e+02] [ 2.91394355e-01 9.56147172e-01 -2.95282219e-02 1.11827155e+02] [ 1.09050334e-01 -2.53582823e-03 9.94032995e-01 5.76712220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4650998929999 meters 0.05559892768043018 Centerline is valid? [True, True] Translation: X:541.53, Y:111.85, Z:57.68 [[ 9.52210508e-01 -2.86691331e-01 -1.05371862e-01 5.41527164e+02] [ 2.85161863e-01 9.58021253e-01 -2.96309277e-02 1.11847531e+02] [ 1.09443414e-01 -1.83315582e-03 9.93991337e-01 5.76773128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.5250998929998 meters 0.05496692421022628 Centerline is valid? [True, True] Translation: X:541.58, Y:111.87, Z:57.68 [[ 9.54489198e-01 -2.79260988e-01 -1.04707549e-01 5.41581175e+02] [ 2.77706005e-01 9.60214744e-01 -2.94452122e-02 1.11873932e+02] [ 1.08764631e-01 -9.72778186e-04 9.94067054e-01 5.76841671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.5850998929999 meters 0.05492783149234624 Centerline is valid? [True, True] Translation: X:541.64, Y:111.89, Z:57.69 [[ 9.55399149e-01 -2.75984768e-01 -1.05094600e-01 5.41636299e+02] [ 2.74398293e-01 9.61161822e-01 -2.95555344e-02 1.11892849e+02] [ 1.09169794e-01 -6.00446388e-04 9.94022935e-01 5.76900605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.6450998929998 meters 0.05484646242075311 Centerline is valid? [True, True] Translation: X:541.69, Y:111.91, Z:57.70 [[ 9.56153496e-01 -2.73403949e-01 -1.04979870e-01 5.41691909e+02] [ 2.71804019e-01 9.61899265e-01 -2.95360809e-02 1.11912293e+02] [ 1.09055340e-01 -2.92923479e-04 9.94035637e-01 5.76976292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.7050998929999 meters 0.054914176147796034 Centerline is valid? [True, True] Translation: X:541.75, Y:111.93, Z:57.70 [[ 9.56080662e-01 -2.73800884e-01 -1.04608049e-01 5.41750167e+02] [ 2.72213916e-01 9.61786341e-01 -2.94383614e-02 1.11929059e+02] [ 1.08670842e-01 -3.30318593e-04 9.94077733e-01 5.77040877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.7650998929998 meters 0.0549285861609858 Centerline is valid? [True, True] Translation: X:541.81, Y:111.94, Z:57.71 [[ 9.54871543e-01 -2.77653545e-01 -1.05493343e-01 5.41806414e+02] [ 2.76063211e-01 9.60680959e-01 -2.96849917e-02 1.11940740e+02] [ 1.09587589e-01 -7.77477087e-04 9.93976839e-01 5.77084962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.8250998929999 meters 0.05476120121169707 Centerline is valid? [True, True] Translation: X:541.86, Y:111.95, Z:57.71 [[ 9.53418086e-01 -2.82476727e-01 -1.05834080e-01 5.41864652e+02] [ 2.80905137e-01 9.59273228e-01 -2.97855330e-02 1.11953694e+02] [ 1.09937519e-01 -1.33127086e-03 9.93937608e-01 5.77149078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.8850998929998 meters 0.05524023473763097 Centerline is valid? [True, True] Translation: X:541.92, Y:111.96, Z:57.72 [[ 9.50670026e-01 -2.91617011e-01 -1.05763984e-01 5.41923675e+02] [ 2.90103511e-01 9.56532195e-01 -2.97676643e-02 1.11961129e+02] [ 1.09847413e-01 -2.38327671e-03 9.93945605e-01 5.77205066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.9450998929999 meters 0.05448055735079128 Centerline is valid? [True, True] Translation: X:541.98, Y:111.98, Z:57.73 [[ 9.48841986e-01 -2.97497671e-01 -1.05801806e-01 5.41981800e+02] [ 2.96019248e-01 9.54717631e-01 -2.97800322e-02 1.11975554e+02] [ 1.09870339e-01 -3.06282604e-03 9.93941209e-01 5.77269625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.0050998929999 meters 0.05545658319996989 Centerline is valid? [True, True] Translation: X:542.04, Y:111.99, Z:57.73 [[ 9.48004239e-01 -3.00077388e-01 -1.06026056e-01 5.42038804e+02] [ 2.98608724e-01 9.53908912e-01 -2.98432150e-02 1.11989102e+02] [ 1.10094473e-01 -3.36881093e-03 9.93915418e-01 5.77328385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.0650998929999 meters 0.055997420199968055 Centerline is valid? [True, True] Translation: X:542.10, Y:112.00, Z:57.74 [[ 9.45884058e-01 -3.06878046e-01 -1.05495091e-01 5.42097274e+02] [ 3.05465922e-01 9.51739855e-01 -2.96954225e-02 1.12003126e+02] [ 1.09516756e-01 -4.13672860e-03 9.93976342e-01 5.77398947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.1250998929999 meters 0.055057424114051894 Centerline is valid? [True, True] Translation: X:542.16, Y:112.02, Z:57.75 [[ 9.43911205e-01 -3.13202913e-01 -1.04573291e-01 5.42155334e+02] [ 3.11854062e-01 9.49673959e-01 -2.94349252e-02 1.12019306e+02] [ 1.08529636e-01 -4.82764988e-03 9.94081492e-01 5.77471934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.1850998929999 meters 0.05610241001430398 Centerline is valid? [True, True] Translation: X:542.21, Y:112.03, Z:57.75 [[ 9.42606123e-01 -3.17200314e-01 -1.04296013e-01 5.42214222e+02] [ 3.15882930e-01 9.48343900e-01 -2.93568134e-02 1.12028567e+02] [ 1.08220478e-01 -5.27341794e-03 9.94112931e-01 5.77533696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.2450998929999 meters 0.05533047392583848 Centerline is valid? [True, True] Translation: X:542.27, Y:112.05, Z:57.76 [[ 9.40757834e-01 -3.22684660e-01 -1.04160013e-01 5.42271491e+02] [ 3.21403926e-01 9.46488174e-01 -2.93198348e-02 1.12047781e+02] [ 1.08047281e-01 -5.89457263e-03 9.94128281e-01 5.77606573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.3050998929999 meters 0.05370806906922702 Centerline is valid? [True, True] Translation: X:542.33, Y:112.08, Z:57.77 [[ 9.39629075e-01 -3.25807757e-01 -1.04625553e-01 5.42326778e+02] [ 3.24534786e-01 9.45415169e-01 -2.94505000e-02 1.12075146e+02] [ 1.08509786e-01 -6.28208522e-03 9.94075531e-01 5.77676969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.3650998929999 meters 0.05353129943347629 Centerline is valid? [True, True] Translation: X:542.38, Y:112.09, Z:57.77 [[ 9.38279616e-01 -3.29278839e-01 -1.05862216e-01 5.42384778e+02] [ 3.27997638e-01 9.44208497e-01 -2.97970320e-02 1.12093210e+02] [ 1.09767536e-01 -6.76460910e-03 9.93934268e-01 5.77738928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.4250998929999 meters 0.05408007646749369 Centerline is valid? [True, True] Translation: X:542.44, Y:112.11, Z:57.78 [[ 9.37128292e-01 -3.32212695e-01 -1.06889146e-01 5.42442437e+02] [ 3.30925541e-01 9.43177177e-01 -3.00848639e-02 1.12110359e+02] [ 1.10809977e-01 -7.17897127e-03 9.93815683e-01 5.77797165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.4850998929999 meters 0.05393727407998258 Centerline is valid? [True, True] Translation: X:542.50, Y:112.13, Z:57.79 [[ 9.36646491e-01 -3.33385846e-01 -1.07458031e-01 5.42498631e+02] [ 3.32092739e-01 9.42761758e-01 -3.02436877e-02 1.12130623e+02] [ 1.11390140e-01 -7.35838790e-03 9.93749511e-01 5.77860410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.5450998929999 meters 0.05416710281750502 Centerline is valid? [True, True] Translation: X:542.56, Y:112.15, Z:57.79 [[ 9.37301324e-01 -3.31622052e-01 -1.07205612e-01 5.42555870e+02] [ 3.30323560e-01 9.43385369e-01 -3.01726894e-02 1.12148113e+02] [ 1.11142135e-01 -7.13163767e-03 9.93778932e-01 5.77917916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.6050998929999 meters 0.05399995037008833 Centerline is valid? [True, True] Translation: X:542.61, Y:112.17, Z:57.80 [[ 9.40111927e-01 -3.24187490e-01 -1.05318741e-01 5.42611557e+02] [ 3.22887838e-01 9.45972929e-01 -2.96422250e-02 1.12170858e+02] [ 1.09238316e-01 -6.13913116e-03 9.93996630e-01 5.77994404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.6650998929999 meters 0.054707573281170964 Centerline is valid? [True, True] Translation: X:542.67, Y:112.19, Z:57.81 [[ 9.42601510e-01 -3.17161890e-01 -1.04454434e-01 5.42668612e+02] [ 3.15840581e-01 9.48356715e-01 -2.93984559e-02 1.12189350e+02] [ 1.08384134e-01 -5.27992033e-03 9.94095067e-01 5.78060189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.7250998929999 meters 0.05411274420126513 Centerline is valid? [True, True] Translation: X:542.72, Y:112.22, Z:57.81 [[ 9.46506534e-01 -3.05492913e-01 -1.03920453e-01 5.42724309e+02] [ 3.04114923e-01 9.52186277e-01 -2.92473475e-02 1.12215525e+02] [ 1.07886487e-01 -3.92095513e-03 9.94155487e-01 5.78128359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.7850998929998 meters 0.05515796994658781 Centerline is valid? [True, True] Translation: X:542.78, Y:112.23, Z:57.82 [[ 9.49594174e-01 -2.95614475e-01 -1.04321556e-01 5.42781881e+02] [ 2.94166009e-01 9.55303204e-01 -2.93623603e-02 1.12231578e+02] [ 1.08338656e-01 -2.80552959e-03 9.94110087e-01 5.78174864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.8450998929999 meters 0.05479988003623235 Centerline is valid? [True, True] Translation: X:542.84, Y:112.25, Z:57.82 [[ 9.51256486e-01 -2.90011014e-01 -1.04903335e-01 5.42838316e+02] [ 2.88512348e-01 9.57020826e-01 -2.95256334e-02 1.12254815e+02] [ 1.08957435e-01 -2.17945722e-03 9.94044027e-01 5.78235999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9050998929998 meters 0.05498970580013421 Centerline is valid? [True, True] Translation: X:542.89, Y:112.28, Z:57.83 [[ 9.53572972e-01 -2.81904366e-01 -1.05964693e-01 5.42894572e+02] [ 2.80325144e-01 9.59441675e-01 -2.98242430e-02 1.12276878e+02] [ 1.10074527e-01 -1.26497590e-03 9.93922531e-01 5.78290871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9650998929999 meters 0.05423794772535316 Centerline is valid? [True, True] Translation: X:542.95, Y:112.30, Z:57.84 [[ 9.55178656e-01 -2.76596547e-01 -1.05489736e-01 5.42952199e+02] [ 2.74999286e-01 9.60985914e-01 -2.96894996e-02 1.12296906e+02] [ 1.09586163e-01 -6.50825679e-04 9.93977087e-01 5.78353886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.0250998929998 meters 0.055015750096597385 Centerline is valid? [True, True] Translation: X:543.01, Y:112.32, Z:57.84 [[ 9.57254380e-01 -2.69890538e-01 -1.04034369e-01 5.43010241e+02] [ 2.68297810e-01 9.62891004e-01 -2.92779860e-02 1.12317914e+02] [ 1.08075610e-01 1.14286870e-04 9.94142671e-01 5.78429761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.0850998929999 meters 0.054890377455145474 Centerline is valid? [True, True] Translation: X:543.07, Y:112.33, Z:57.85 [[ 9.58121288e-01 -2.66179392e-01 -1.05603643e-01 5.43068600e+02] [ 2.64516145e-01 9.63923360e-01 -2.97147343e-02 1.12334767e+02] [ 1.09703268e-01 5.36450972e-04 9.93964237e-01 5.78473524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.1450998929998 meters 0.05430814142937227 Centerline is valid? [True, True] Translation: X:543.13, Y:112.35, Z:57.85 [[ 9.58524096e-01 -2.65327008e-01 -1.04082349e-01 5.43128069e+02] [ 2.63706790e-01 9.64158282e-01 -2.92837379e-02 1.12351125e+02] [ 1.08121626e-01 6.21946167e-04 9.94137479e-01 5.78543261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.2050998929999 meters 0.05445625185630286 Centerline is valid? [True, True] Translation: X:543.19, Y:112.36, Z:57.86 [[ 9.58033784e-01 -2.67494766e-01 -1.03042799e-01 5.43187680e+02] [ 2.65919821e-01 9.63559242e-01 -2.89868111e-02 1.12364399e+02] [ 1.07041662e-01 3.69221546e-04 9.94254468e-01 5.78606778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.2650998929998 meters 0.05408502459101928 Centerline is valid? [True, True] Translation: X:543.25, Y:112.37, Z:57.87 [[ 9.56334948e-01 -2.73453130e-01 -1.03183590e-01 5.43247919e+02] [ 2.71908680e-01 9.61885282e-01 -2.90236819e-02 1.12373755e+02] [ 1.07187393e-01 -3.00152399e-04 9.94238791e-01 5.78654275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.3250998929999 meters 0.05403265293195892 Centerline is valid? [True, True] Translation: X:543.31, Y:112.39, Z:57.87 [[ 9.55098700e-01 -2.77902466e-01 -1.02745766e-01 5.43308846e+02] [ 2.76397054e-01 9.60608964e-01 -2.88978624e-02 1.12385634e+02] [ 1.06729291e-01 -7.98316179e-04 9.94287796e-01 5.78720486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.3850998929998 meters 0.054903860344617667 Centerline is valid? [True, True] Translation: X:543.37, Y:112.39, Z:57.88 [[ 9.53548735e-01 -2.83452836e-01 -1.01976954e-01 5.43369875e+02] [ 2.82001887e-01 9.58985139e-01 -2.86781902e-02 1.12391040e+02] [ 1.05923298e-01 -1.41164146e-03 9.94373301e-01 5.78775336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.4450998929999 meters 0.05464071595646548 Centerline is valid? [True, True] Translation: X:543.43, Y:112.40, Z:57.88 [[ 9.52661175e-01 -2.86519974e-01 -1.01700498e-01 5.43427695e+02] [ 2.85094487e-01 9.58072672e-01 -2.85987587e-02 1.12402733e+02] [ 1.05630583e-01 -1.74932424e-03 9.94403902e-01 5.78833262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.5050998929999 meters 0.054111633183033615 Centerline is valid? [True, True] Translation: X:543.49, Y:112.42, Z:57.89 [[ 9.51404204e-01 -2.90868151e-01 -1.01122498e-01 5.43486005e+02] [ 2.89483040e-01 9.56760579e-01 -2.84387679e-02 1.12419304e+02] [ 1.05021952e-01 -2.21648486e-03 9.94467434e-01 5.78894688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.5650998929999 meters 0.054350854790443166 Centerline is valid? [True, True] Translation: X:543.55, Y:112.42, Z:57.89 [[ 9.49897636e-01 -2.95498233e-01 -1.01859094e-01 5.43546285e+02] [ 2.94119406e-01 9.55339331e-01 -2.86450210e-02 1.12423136e+02] [ 1.05774551e-01 -2.74889838e-03 9.94386337e-01 5.78936825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.6250998929999 meters 0.05579995238461751 Centerline is valid? [True, True] Translation: X:543.61, Y:112.43, Z:57.90 [[ 9.48586676e-01 -2.99559530e-01 -1.02212558e-01 5.43606330e+02] [ 2.98194572e-01 9.54072202e-01 -2.87442426e-02 1.12429333e+02] [ 1.06128773e-01 -3.21282457e-03 9.94347204e-01 5.78990321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.6850998929999 meters 0.05641705259515516 Centerline is valid? [True, True] Translation: X:543.67, Y:112.44, Z:57.90 [[ 9.45921335e-01 -3.07834757e-01 -1.02325905e-01 5.43665865e+02] [ 3.06514729e-01 9.51430814e-01 -2.87771887e-02 1.12440927e+02] [ 1.06214638e-01 -4.14344038e-03 9.94334593e-01 5.79039954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.7450998929999 meters 0.05921743588342724 Centerline is valid? [True, True] Translation: X:543.73, Y:112.44, Z:57.91 [[ 9.43230998e-01 -3.16058289e-01 -1.02090358e-01 5.43727315e+02] [ 3.14792089e-01 9.48726302e-01 -2.87113892e-02 1.12442571e+02] [ 1.05930281e-01 -5.05576492e-03 9.94360707e-01 5.79096120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.8050998929999 meters 0.05343151163150704 Centerline is valid? [True, True] Translation: X:543.78, Y:112.48, Z:57.92 [[ 9.41060516e-01 -3.22322481e-01 -1.02534502e-01 5.43779364e+02] [ 3.21082102e-01 9.46612248e-01 -2.88363497e-02 1.12480392e+02] [ 1.06355020e-01 -5.78524340e-03 9.94311390e-01 5.79162945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.8650998929999 meters 0.05306292267218262 Centerline is valid? [True, True] Translation: X:543.84, Y:112.50, Z:57.92 [[ 9.40325785e-01 -3.24399262e-01 -1.02725538e-01 5.43837577e+02] [ 3.23166561e-01 9.45901021e-01 -2.88900251e-02 1.12497621e+02] [ 1.06540094e-01 -6.03142312e-03 9.94290114e-01 5.79228082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.9250998929999 meters 0.053989263948522874 Centerline is valid? [True, True] Translation: X:543.90, Y:112.51, Z:57.93 [[ 9.40186345e-01 -3.24844342e-01 -1.02595274e-01 5.43897377e+02] [ 3.23617569e-01 9.45747980e-01 -2.88518266e-02 1.12510246e+02] [ 1.06401626e-01 -6.07553968e-03 9.94304673e-01 5.79286285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.9850998929999 meters 0.05400559182212201 Centerline is valid? [True, True] Translation: X:543.96, Y:112.53, Z:57.93 [[ 9.40269447e-01 -3.24562220e-01 -1.02726492e-01 5.43956030e+02] [ 3.23331941e-01 9.45844916e-01 -2.88764876e-02 1.12526327e+02] [ 1.06535547e-01 -6.06307708e-03 9.94290408e-01 5.79346176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.0450998929999 meters 0.053057312523929034 Centerline is valid? [True, True] Translation: X:544.01, Y:112.55, Z:57.94 [[ 9.40645843e-01 -3.23069619e-01 -1.03977971e-01 5.44012515e+02] [ 3.21800868e-01 9.46356348e-01 -2.92209617e-02 1.12549308e+02] [ 1.07840618e-01 -5.97362513e-03 9.94150249e-01 5.79406096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.1050998929999 meters 0.05421367041226501 Centerline is valid? [True, True] Translation: X:544.07, Y:112.57, Z:57.95 [[ 9.40958716e-01 -3.22157515e-01 -1.03977069e-01 5.44071984e+02] [ 3.20883362e-01 9.46667882e-01 -2.92196779e-02 1.12565885e+02] [ 1.07845091e-01 -5.87000088e-03 9.94150381e-01 5.79463349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.1650998929999 meters 0.05312957273012313 Centerline is valid? [True, True] Translation: X:544.13, Y:112.59, Z:57.95 [[ 9.41381888e-01 -3.21237789e-01 -1.02987495e-01 5.44129387e+02] [ 3.19982785e-01 9.46981332e-01 -2.89374097e-02 1.12588599e+02] [ 1.06823025e-01 -5.71307205e-03 9.94261637e-01 5.79527274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.2250998929999 meters 0.07142391654287626 Centerline is valid? [True, True] Translation: X:544.20, Y:112.56, Z:57.96 [[ 9.42638034e-01 -3.17241947e-01 -1.03880143e-01 5.44199886e+02] [ 3.15941375e-01 9.48329768e-01 -2.91838698e-02 1.12559081e+02] [ 1.07770980e-01 -5.31020967e-03 9.94161565e-01 5.79556374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.2850998929998 meters 0.05299507288982915 Centerline is valid? [True, True] Translation: X:544.24, Y:112.63, Z:57.97 [[ 9.44889989e-01 -3.11097435e-01 -1.01986733e-01 5.44240977e+02] [ 3.09808227e-01 9.50367258e-01 -2.86520060e-02 1.12632830e+02] [ 1.05838417e-01 -4.52333512e-03 9.94373053e-01 5.79653099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.3450998929999 meters 0.05402247192024429 Centerline is valid? [True, True] Translation: X:544.30, Y:112.65, Z:57.97 [[ 9.46717357e-01 -3.05633297e-01 -1.01560494e-01 5.44298923e+02] [ 3.04323599e-01 9.52141328e-01 -2.85313722e-02 1.12648188e+02] [ 1.05420081e-01 -3.89610975e-03 9.94420146e-01 5.79709335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4050998929998 meters 0.05533522094566302 Centerline is valid? [True, True] Translation: X:544.36, Y:112.66, Z:57.98 [[ 9.49715086e-01 -2.96105899e-01 -1.01796622e-01 5.44356837e+02] [ 2.94735481e-01 9.55150882e-01 -2.85969985e-02 1.12661472e+02] [ 1.05698874e-01 -2.84407553e-03 9.94394117e-01 5.79767350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4650998929999 meters 0.05355025556004967 Centerline is valid? [True, True] Translation: X:544.41, Y:112.69, Z:57.98 [[ 9.51941065e-01 -2.89256890e-01 -1.00690919e-01 5.44411926e+02] [ 2.87877770e-01 9.57249295e-01 -2.82873845e-02 1.12688819e+02] [ 1.04568632e-01 -2.05875437e-03 9.94515542e-01 5.79839400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.5250998929998 meters 0.05304982859742159 Centerline is valid? [True, True] Translation: X:544.47, Y:112.72, Z:57.99 [[ 9.54771466e-01 -2.80016437e-01 -1.00011214e-01 5.44466977e+02] [ 2.78605402e-01 9.59994643e-01 -2.80947625e-02 1.12715051e+02] [ 1.03877225e-01 -1.03958687e-03 9.94589584e-01 5.79899311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.5850998929999 meters 0.053742951526001496 Centerline is valid? [True, True] Translation: X:544.53, Y:112.73, Z:58.00 [[ 9.55970327e-01 -2.75525457e-01 -1.01027007e-01 5.44525631e+02] [ 2.74060506e-01 9.61293614e-01 -2.83800497e-02 1.12731605e+02] [ 1.04936043e-01 -5.57027098e-04 9.94478817e-01 5.79952831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.6450998929998 meters 0.05397733620491339 Centerline is valid? [True, True] Translation: X:544.58, Y:112.75, Z:58.00 [[ 9.56471699e-01 -2.73237151e-01 -1.02485847e-01 5.44580977e+02] [ 2.71716741e-01 9.61946652e-01 -2.87863077e-02 1.12752785e+02] [ 1.06451406e-01 -3.13831772e-04 9.94317856e-01 5.80009368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.7050998929999 meters 0.05338458878289642 Centerline is valid? [True, True] Translation: X:544.64, Y:112.77, Z:58.01 [[ 9.55869923e-01 -2.75105450e-01 -1.03100349e-01 5.44641084e+02] [ 2.73576836e-01 9.61413918e-01 -2.89653742e-02 1.12769395e+02] [ 1.07090642e-01 -5.18737179e-04 9.94249126e-01 5.80059452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.7650998929998 meters 0.05411191063817777 Centerline is valid? [True, True] Translation: X:544.70, Y:112.78, Z:58.01 [[ 9.54920721e-01 -2.78801099e-01 -1.01962561e-01 5.44700455e+02] [ 2.77327590e-01 9.60348420e-01 -2.86412239e-02 1.12784719e+02] [ 1.05904789e-01 -9.26933143e-04 9.94375843e-01 5.80127427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.8250998929999 meters 0.053487543900533396 Centerline is valid? [True, True] Translation: X:544.76, Y:112.80, Z:58.02 [[ 9.54093526e-01 -2.81905295e-01 -1.01167920e-01 5.44760751e+02] [ 2.80472400e-01 9.59441404e-01 -2.84152468e-02 1.12799436e+02] [ 1.05075099e-01 -1.26400612e-03 9.94463486e-01 5.80198066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.8850998929998 meters 0.05354818842244172 Centerline is valid? [True, True] Translation: X:544.82, Y:112.81, Z:58.03 [[ 9.52320824e-01 -2.87582546e-01 -1.01888797e-01 5.44818622e+02] [ 2.86161928e-01 9.57753956e-01 -2.86131319e-02 1.12812863e+02] [ 1.05813036e-01 -1.90781331e-03 9.94384212e-01 5.80261295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.9450998929999 meters 0.054199620905439956 Centerline is valid? [True, True] Translation: X:544.88, Y:112.83, Z:58.03 [[ 9.50916903e-01 -2.92232983e-01 -1.01768992e-01 5.44877637e+02] [ 2.90842569e-01 9.56344082e-01 -2.85761751e-02 1.12826710e+02] [ 1.05677074e-01 -2.42518702e-03 9.94397544e-01 5.80324614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.0050998929999 meters 0.05390977639683302 Centerline is valid? [True, True] Translation: X:544.94, Y:112.84, Z:58.04 [[ 9.48957329e-01 -2.98794899e-01 -1.01002954e-01 5.44937367e+02] [ 2.97462433e-01 9.54312213e-01 -2.83602131e-02 1.12837823e+02] [ 1.04862240e-01 -3.13195242e-03 9.94481826e-01 5.80394945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.0650998929999 meters 0.05233438274569484 Centerline is valid? [True, True] Translation: X:544.99, Y:112.86, Z:58.05 [[ 9.46892444e-01 -3.05063285e-01 -1.01641976e-01 5.44994601e+02] [ 3.03749825e-01 9.52324297e-01 -2.85390388e-02 1.12856763e+02] [ 1.05502336e-01 -3.85033223e-03 9.94411601e-01 5.80460070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.1250998929999 meters 0.055013149522957466 Centerline is valid? [True, True] Translation: X:545.05, Y:112.87, Z:58.05 [[ 9.45693557e-01 -3.08469320e-01 -1.02520122e-01 5.45054132e+02] [ 3.07153019e-01 9.51224718e-01 -2.87846992e-02 1.12865772e+02] [ 1.06398871e-01 -4.26786048e-03 9.94314370e-01 5.80518178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.1850998929999 meters 0.05363865594376279 Centerline is valid? [True, True] Translation: X:545.11, Y:112.89, Z:58.06 [[ 9.44384215e-01 -3.12302532e-01 -1.02983414e-01 5.45111155e+02] [ 3.10997010e-01 9.49970966e-01 -2.89140762e-02 1.12888227e+02] [ 1.06861192e-01 -4.72153665e-03 9.94262738e-01 5.80578158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.2450998929999 meters 0.05395693231242745 Centerline is valid? [True, True] Translation: X:545.17, Y:112.90, Z:58.06 [[ 9.44215395e-01 -3.12707042e-01 -1.03303409e-01 5.45170520e+02] [ 3.11396077e-01 9.49837571e-01 -2.90012487e-02 1.12902848e+02] [ 1.07190354e-01 -4.78485083e-03 9.94227003e-01 5.80645953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.3050998929999 meters 0.052453398016633006 Centerline is valid? [True, True] Translation: X:545.23, Y:112.93, Z:58.07 [[ 9.44445071e-01 -3.12045237e-01 -1.03205027e-01 5.45226576e+02] [ 3.10734130e-01 9.50055537e-01 -2.89616397e-02 1.12932032e+02] [ 1.07087849e-01 -4.71664648e-03 9.94238375e-01 5.80723453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.3650998929999 meters 0.05350344694606858 Centerline is valid? [True, True] Translation: X:545.29, Y:112.94, Z:58.08 [[ 9.45136454e-01 -3.09513895e-01 -1.04490342e-01 5.45285525e+02] [ 3.08155915e-01 9.50884280e-01 -2.93090030e-02 1.12943903e+02] [ 1.08429768e-01 -4.49830990e-03 9.94093935e-01 5.80784834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.4250998929999 meters 0.052695706096165924 Centerline is valid? [True, True] Translation: X:545.34, Y:112.97, Z:58.09 [[ 9.45834282e-01 -3.07449605e-01 -1.04270086e-01 5.45340253e+02] [ 3.06084863e-01 9.51554863e-01 -2.92472222e-02 1.12971165e+02] [ 1.08210754e-01 -4.25246953e-03 9.94118881e-01 5.80864806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.4850998929999 meters 0.054953942417327435 Centerline is valid? [True, True] Translation: X:545.40, Y:112.98, Z:58.09 [[ 9.47397669e-01 -3.02979339e-01 -1.03156085e-01 5.45400200e+02] [ 3.01617233e-01 9.52989939e-01 -2.89347799e-02 1.12975395e+02] [ 1.07073352e-01 -3.70090994e-03 9.94244236e-01 5.80923364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.5450998929999 meters 0.05447201192926429 Centerline is valid? [True, True] Translation: X:545.46, Y:113.00, Z:58.10 [[ 9.49094693e-01 -2.98008931e-01 -1.02029116e-01 5.45456599e+02] [ 2.96647729e-01 9.54558035e-01 -2.86196182e-02 1.12995854e+02] [ 1.05921614e-01 -3.10397783e-03 9.94369638e-01 5.81006142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.6050998929999 meters 0.05351393454421213 Centerline is valid? [True, True] Translation: X:545.51, Y:113.02, Z:58.11 [[ 9.50389189e-01 -2.94006263e-01 -1.01590878e-01 5.45513276e+02] [ 2.92634021e-01 9.55799828e-01 -2.84959212e-02 1.13016797e+02] [ 1.05478523e-01 -2.64673174e-03 9.94418059e-01 5.81075132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.6650998929999 meters 0.05346008368557576 Centerline is valid? [True, True] Translation: X:545.57, Y:113.04, Z:58.11 [[ 9.52259251e-01 -2.88003853e-01 -1.01272401e-01 5.45571080e+02] [ 2.86606359e-01 9.57627213e-01 -2.84062700e-02 1.13035203e+02] [ 1.05162322e-01 -1.97518062e-03 9.94453108e-01 5.81134002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.7250998929999 meters 0.053430255037855166 Centerline is valid? [True, True] Translation: X:545.63, Y:113.05, Z:58.12 [[ 9.53624988e-01 -2.83480709e-01 -1.01183344e-01 5.45628260e+02] [ 2.82060025e-01 9.58976809e-01 -2.83835018e-02 1.13051699e+02] [ 1.05078655e-01 -1.47255977e-03 9.94462824e-01 5.81195036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.7850998929998 meters 0.0535768466547264 Centerline is valid? [True, True] Translation: X:545.68, Y:113.07, Z:58.13 [[ 9.55842460e-01 -2.75653952e-01 -1.01882730e-01 5.45684571e+02] [ 2.74169076e-01 9.61256740e-01 -2.85796750e-02 1.13073917e+02] [ 1.05813561e-01 -6.15426964e-04 9.94385796e-01 5.81253441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.8450998929999 meters 0.05338652865347127 Centerline is valid? [True, True] Translation: X:545.74, Y:113.09, Z:58.13 [[ 9.56555654e-01 -2.73106186e-01 -1.02050443e-01 5.45743807e+02] [ 2.71602040e-01 9.61983835e-01 -2.86257330e-02 1.13090709e+02] [ 1.05988741e-01 -3.35001670e-04 9.94367273e-01 5.81315491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9050998929998 meters 0.05428720875675354 Centerline is valid? [True, True] Translation: X:545.80, Y:113.11, Z:58.14 [[ 9.58292599e-01 -2.66687162e-01 -1.02729027e-01 5.45803524e+02] [ 2.65126545e-01 9.63783076e-01 -2.88114069e-02 1.13107089e+02] [ 1.06692130e-01 3.73566128e-04 9.94292035e-01 5.81379648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9650998929999 meters 0.054443584166267 Centerline is valid? [True, True] Translation: X:545.86, Y:113.12, Z:58.14 [[ 9.58957502e-01 -2.64295588e-01 -1.02705170e-01 5.45863907e+02] [ 2.62722414e-01 9.64441516e-01 -2.88009613e-02 1.13121360e+02] [ 1.06665097e-01 6.35947729e-04 9.94294802e-01 5.81444735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.0250998929998 meters 0.054813910725192906 Centerline is valid? [True, True] Translation: X:545.93, Y:113.13, Z:58.15 [[ 9.59254510e-01 -2.63287386e-01 -1.02520910e-01 5.45925132e+02] [ 2.61714535e-01 9.64717161e-01 -2.87454720e-02 1.13131614e+02] [ 1.06472001e-01 7.43011411e-04 9.94315423e-01 5.81518861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.0850998929999 meters 0.05432424745800586 Centerline is valid? [True, True] Translation: X:545.98, Y:113.14, Z:58.16 [[ 9.59344807e-01 -2.63373132e-01 -1.01450158e-01 5.45984464e+02] [ 2.61833955e-01 9.64693771e-01 -2.84413032e-02 1.13143889e+02] [ 1.05359010e-01 7.21920562e-04 9.94433989e-01 5.81583333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.1450998929998 meters 0.05446541578063467 Centerline is valid? [True, True] Translation: X:546.05, Y:113.15, Z:58.17 [[ 9.59065482e-01 -2.64677534e-01 -1.00693613e-01 5.46046183e+02] [ 2.63169254e-01 9.64336809e-01 -2.82216591e-02 1.13151453e+02] [ 1.04572196e-01 5.66956114e-04 9.94517136e-01 5.81651322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.2050998929999 meters 0.053722646989959974 Centerline is valid? [True, True] Translation: X:546.11, Y:113.16, Z:58.17 [[ 9.58563110e-01 -2.66573213e-01 -1.00476294e-01 5.46106655e+02] [ 2.65082331e-01 9.63814607e-01 -2.81560252e-02 1.13157518e+02] [ 1.04346162e-01 3.54836817e-04 9.94540976e-01 5.81700009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.2650998929998 meters 0.05470132187427695 Centerline is valid? [True, True] Translation: X:546.17, Y:113.16, Z:58.17 [[ 9.57726849e-01 -2.69704406e-01 -1.00094040e-01 5.46166396e+02] [ 2.68242015e-01 9.62943162e-01 -2.80479573e-02 1.13160975e+02] [ 1.03949529e-01 1.28546869e-05 9.94582573e-01 5.81749348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.3250998929999 meters 0.054662491785647895 Centerline is valid? [True, True] Translation: X:546.22, Y:113.17, Z:58.18 [[ 9.57262025e-01 -2.71518843e-01 -9.96339980e-02 5.46224134e+02] [ 2.70078465e-01 9.62433108e-01 -2.79308853e-02 1.13168513e+02] [ 1.03474820e-01 -1.71821425e-04 9.94632059e-01 5.81810840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.3850998929998 meters 0.05451694552361527 Centerline is valid? [True, True] Translation: X:546.28, Y:113.17, Z:58.19 [[ 9.56994953e-01 -2.72330565e-01 -9.99836123e-02 5.46282903e+02] [ 2.70883088e-01 9.62203722e-01 -2.80419495e-02 1.13174360e+02] [ 1.03841284e-01 -2.47865517e-04 9.94593850e-01 5.81861412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.4450998929999 meters 0.05537462124407495 Centerline is valid? [True, True] Translation: X:546.34, Y:113.18, Z:58.19 [[ 9.57491767e-01 -2.70008422e-01 -1.01513388e-01 5.46339684e+02] [ 2.68501669e-01 9.62857960e-01 -2.84851242e-02 1.13181280e+02] [ 1.05434197e-01 1.77579488e-05 9.94426282e-01 5.81908126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.5050998929999 meters 0.05553482949728837 Centerline is valid? [True, True] Translation: X:546.40, Y:113.19, Z:58.20 [[ 9.58096042e-01 -2.67756420e-01 -1.01776589e-01 5.46397528e+02] [ 2.66228436e-01 9.63486598e-01 -2.85656208e-02 1.13192176e+02] [ 1.05709008e-01 2.72785988e-04 9.94397069e-01 5.81965884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.5650998929999 meters 0.05545820374736193 Centerline is valid? [True, True] Translation: X:546.46, Y:113.20, Z:58.20 [[ 9.58932532e-01 -2.64720846e-01 -1.01839448e-01 5.46456085e+02] [ 2.63172696e-01 9.64324889e-01 -2.85944335e-02 1.13199187e+02] [ 1.05775857e-01 6.18770492e-04 9.94389805e-01 5.82040575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.6250998929999 meters 0.05584662203094984 Centerline is valid? [True, True] Translation: X:546.51, Y:113.21, Z:58.21 [[ 9.59044638e-01 -2.64335546e-01 -1.01784585e-01 5.46513316e+02] [ 2.62785584e-01 9.64430540e-01 -2.85914450e-02 1.13210239e+02] [ 1.05721898e-01 6.72950444e-04 9.94395509e-01 5.82093994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.6850998929999 meters 0.0562161411331235 Centerline is valid? [True, True] Translation: X:546.57, Y:113.22, Z:58.21 [[ 9.58386681e-01 -2.66524147e-01 -1.02273403e-01 5.46571754e+02] [ 2.64970176e-01 9.63828138e-01 -2.87424139e-02 1.13215492e+02] [ 1.06234531e-01 4.46945006e-04 9.94341000e-01 5.82144133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.7450998929999 meters 0.05578504922225134 Centerline is valid? [True, True] Translation: X:546.63, Y:113.22, Z:58.22 [[ 9.57327416e-01 -2.69995895e-01 -1.03084601e-01 5.46630347e+02] [ 2.68436622e-01 9.62861471e-01 -2.89752953e-02 1.13222740e+02] [ 1.07079401e-01 6.71625151e-05 9.94250470e-01 5.82206960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.8050998929999 meters 0.056242886630244945 Centerline is valid? [True, True] Translation: X:546.69, Y:113.23, Z:58.23 [[ 9.55645034e-01 -2.76017458e-01 -1.02746933e-01 5.46688915e+02] [ 2.74501678e-01 9.61152439e-01 -2.88932018e-02 1.13226903e+02] [ 1.06730494e-01 -5.92560779e-04 9.94287811e-01 5.82274357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.8650998929999 meters 0.05598514350159998 Centerline is valid? [True, True] Translation: X:546.75, Y:113.23, Z:58.23 [[ 9.54502186e-01 -2.80066287e-01 -1.02413146e-01 5.46747588e+02] [ 2.78583063e-01 9.59980104e-01 -2.88041222e-02 1.13233686e+02] [ 1.06381646e-01 -1.03697042e-03 9.94324831e-01 5.82339097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.9250998929999 meters 0.056681506062951525 Centerline is valid? [True, True] Translation: X:546.81, Y:113.24, Z:58.24 [[ 9.52720241e-01 -2.86147320e-01 -1.02195179e-01 5.46809024e+02] [ 2.84703961e-01 9.58184127e-01 -2.87547191e-02 1.13238176e+02] [ 1.06149884e-01 -1.70016921e-03 9.94348687e-01 5.82403331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.9850998929999 meters 0.05647280079001168 Centerline is valid? [True, True] Translation: X:546.87, Y:113.25, Z:58.25 [[ 9.51436518e-01 -2.90428199e-01 -1.02078470e-01 5.46868160e+02] [ 2.89012765e-01 9.56894314e-01 -2.87209733e-02 1.13248754e+02] [ 1.06019688e-01 -2.17579804e-03 9.94361650e-01 5.82469801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.0450998929999 meters 0.056801723193845056 Centerline is valid? [True, True] Translation: X:546.93, Y:113.26, Z:58.25 [[ 9.49711616e-01 -2.96066072e-01 -1.01944725e-01 5.46928268e+02] [ 2.94686561e-01 9.55163359e-01 -2.86842997e-02 1.13256727e+02] [ 1.05866314e-01 -2.79992790e-03 9.94376430e-01 5.82532581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.1050998929999 meters 0.05767706787485212 Centerline is valid? [True, True] Translation: X:546.99, Y:113.26, Z:58.26 [[ 9.47589178e-01 -3.03118553e-01 -1.00964812e-01 5.46987388e+02] [ 3.01805253e-01 9.52946235e-01 -2.84088305e-02 1.13264351e+02] [ 1.04825281e-01 -3.55181035e-03 9.94484311e-01 5.82598819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.1650998929999 meters 0.05974590512744123 Centerline is valid? [True, True] Translation: X:547.05, Y:113.27, Z:58.26 [[ 9.44518290e-01 -3.12051801e-01 -1.02512793e-01 5.47048231e+02] [ 3.10749859e-01 9.50053904e-01 -2.88462107e-02 1.13267313e+02] [ 1.06394191e-01 -4.61006229e-03 9.94313343e-01 5.82648664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.2250998929999 meters 0.0618731298801206 Centerline is valid? [True, True] Translation: X:547.11, Y:113.28, Z:58.27 [[ 9.42837139e-01 -3.16708456e-01 -1.03700929e-01 5.47106960e+02] [ 3.15404042e-01 9.48508707e-01 -2.91808678e-02 1.13276819e+02] [ 1.07603062e-01 -5.19488628e-03 9.94180363e-01 5.82700033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.2850998929998 meters 0.07489259937158237 Centerline is valid? [True, True] Translation: X:547.17, Y:113.26, Z:58.27 [[ 9.41493830e-01 -3.20413332e-01 -1.04521122e-01 5.47172550e+02] [ 3.19110767e-01 9.47260912e-01 -2.94123063e-02 1.13264385e+02] [ 1.08432868e-01 -5.66231047e-03 9.94087648e-01 5.82735993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.3450998929999 meters 0.05873611271555874 Centerline is valid? [True, True] Translation: X:547.22, Y:113.32, Z:58.28 [[ 9.41671074e-01 -3.19980611e-01 -1.04249684e-01 5.47216925e+02] [ 3.18682067e-01 9.47407560e-01 -2.93369315e-02 1.13321679e+02] [ 1.08154188e-01 -5.59676509e-03 9.94118377e-01 5.82830179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4050998929998 meters 0.06620296413477939 Centerline is valid? [True, True] Translation: X:547.28, Y:113.32, Z:58.29 [[ 9.42792121e-01 -3.16492582e-01 -1.04763845e-01 5.47278564e+02] [ 3.15159015e-01 9.48580645e-01 -2.94882414e-02 1.13320520e+02] [ 1.08709765e-01 -5.21598846e-03 9.94059848e-01 5.82872164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4650998929999 meters 0.05931979887501764 Centerline is valid? [True, True] Translation: X:547.33, Y:113.36, Z:58.30 [[ 9.44999821e-01 -3.10115432e-01 -1.03941121e-01 5.47327899e+02] [ 3.08764142e-01 9.50688522e-01 -2.92581285e-02 1.13363687e+02] [ 1.07889028e-01 -4.44436473e-03 9.94153009e-01 5.82962682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.5250998929998 meters 0.0576544267995866 Centerline is valid? [True, True] Translation: X:547.38, Y:113.39, Z:58.30 [[ 9.46486873e-01 -3.05769457e-01 -1.03284261e-01 5.47381528e+02] [ 3.04409398e-01 9.52097500e-01 -2.90735051e-02 1.13392162e+02] [ 1.07226477e-01 -3.92300893e-03 9.94226882e-01 5.83035306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.5850998929999 meters 0.05648982261652313 Centerline is valid? [True, True] Translation: X:547.44, Y:113.42, Z:58.31 [[ 9.48786836e-01 -2.98990331e-01 -1.02021186e-01 5.47436597e+02] [ 2.97624219e-01 9.54251052e-01 -2.87185201e-02 1.13418823e+02] [ 1.05940384e-01 -3.11622201e-03 9.94367600e-01 5.83110745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.6450998929998 meters 0.056485685868046524 Centerline is valid? [True, True] Translation: X:547.49, Y:113.44, Z:58.32 [[ 9.50593829e-01 -2.93120179e-01 -1.02234700e-01 5.47490993e+02] [ 2.91714362e-01 9.56072424e-01 -2.87793462e-02 1.13441437e+02] [ 1.06179585e-01 -2.46586137e-03 9.94343912e-01 5.83170022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.7050998929999 meters 0.055826716684472144 Centerline is valid? [True, True] Translation: X:547.55, Y:113.47, Z:58.32 [[ 9.52272998e-01 -2.87267403e-01 -1.03216162e-01 5.47546322e+02] [ 2.85799886e-01 9.57848681e-01 -2.90573503e-02 1.13465859e+02] [ 1.07212694e-01 -1.82863738e-03 9.94234426e-01 5.83230164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.7650998929998 meters 0.05602440968077702 Centerline is valid? [True, True] Translation: X:547.60, Y:113.49, Z:58.33 [[ 9.53769799e-01 -2.81980153e-01 -1.03972902e-01 5.47601829e+02] [ 2.80459585e-01 9.59419433e-01 -2.92706729e-02 1.13485165e+02] [ 1.08007371e-01 -1.24271309e-03 9.94149316e-01 5.83278802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.8250998929999 meters 0.05663910305513905 Centerline is valid? [True, True] Translation: X:547.66, Y:113.51, Z:58.33 [[ 9.55230403e-01 -2.76469491e-01 -1.05354152e-01 5.47656071e+02] [ 2.74874406e-01 9.61022492e-01 -2.96619425e-02 1.13509066e+02] [ 1.09448332e-01 -6.25170622e-04 9.93992290e-01 5.83339881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.8850998929998 meters 0.056205590088959326 Centerline is valid? [True, True] Translation: X:547.71, Y:113.53, Z:58.34 [[ 9.55701218e-01 -2.74694180e-01 -1.05727429e-01 5.47711756e+02] [ 2.73075541e-01 9.61531559e-01 -2.97793652e-02 1.13528200e+02] [ 1.09840478e-01 -4.11399340e-04 9.93949144e-01 5.83399284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.9450998929999 meters 0.0563001127607758 Centerline is valid? [True, True] Translation: X:547.77, Y:113.55, Z:58.35 [[ 9.55385798e-01 -2.75543987e-01 -1.06364881e-01 5.47766516e+02] [ 2.73909523e-01 9.61288334e-01 -2.99718477e-02 1.13547084e+02] [ 1.10505882e-01 -4.99676197e-04 9.93875345e-01 5.83474994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.0050998929999 meters 0.05665350183288987 Centerline is valid? [True, True] Translation: X:547.82, Y:113.56, Z:58.36 [[ 9.53490993e-01 -2.82116698e-01 -1.06137153e-01 5.47823186e+02] [ 2.80529233e-01 9.59379277e-01 -2.99124047e-02 1.13561951e+02] [ 1.10264574e-01 -1.25336574e-03 9.93901480e-01 5.83550135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.0650998929999 meters 0.057429040514696605 Centerline is valid? [True, True] Translation: X:547.88, Y:113.56, Z:58.36 [[ 9.51193135e-01 -2.89588086e-01 -1.06631894e-01 5.47884155e+02] [ 2.88032199e-01 9.57149006e-01 -3.00538372e-02 1.13564806e+02] [ 1.10765845e-01 -2.12641534e-03 9.93844256e-01 5.83580090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.1250998929999 meters 0.057020401576750486 Centerline is valid? [True, True] Translation: X:547.94, Y:113.58, Z:58.37 [[ 9.47069238e-01 -3.02731711e-01 -1.06833373e-01 5.47941608e+02] [ 3.01252796e-01 9.53068764e-01 -3.01112070e-02 1.13582593e+02] [ 1.10935168e-01 -3.66645457e-03 9.93820882e-01 5.83676248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.1850998929999 meters 0.06896227772133551 Centerline is valid? [True, True] Translation: X:548.01, Y:113.56, Z:58.37 [[ 9.43009671e-01 -3.14824229e-01 -1.07788985e-01 5.48009264e+02] [ 3.13397111e-01 9.49136111e-01 -3.03791495e-02 1.13561685e+02] [ 1.11870510e-01 -5.13292464e-03 9.93709536e-01 5.83675932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.2450998929999 meters 0.07234627089038509 Centerline is valid? [True, True] Translation: X:548.07, Y:113.57, Z:58.37 [[ 9.40777014e-01 -3.21498534e-01 -1.07597880e-01 5.48069273e+02] [ 3.20119739e-01 9.46891604e-01 -3.03256024e-02 1.13571570e+02] [ 1.11633166e-01 -5.91457545e-03 9.93731882e-01 5.83744601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.3050998929999 meters 0.09250887752449141 Centerline is valid? [True, True] Translation: X:548.14, Y:113.56, Z:58.38 [[ 9.37834758e-01 -3.30072541e-01 -1.07322336e-01 5.48135864e+02] [ 3.28756399e-01 9.43930239e-01 -3.02478857e-02 1.13557566e+02] [ 1.11288795e-01 -6.91538623e-03 9.93764047e-01 5.83788546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.3650998929999 meters 0.0660644009281008 Centerline is valid? [True, True] Translation: X:548.18, Y:113.62, Z:58.39 [[ 9.36987010e-01 -3.31979484e-01 -1.08834579e-01 5.48180058e+02] [ 3.30638650e-01 9.43258796e-01 -3.06745240e-02 1.13620231e+02] [ 1.12842487e-01 -7.24328776e-03 9.93586487e-01 5.83888532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.4250998929999 meters 0.07915466600951504 Centerline is valid? [True, True] Translation: X:548.24, Y:113.62, Z:58.39 [[ 9.37849902e-01 -3.29827821e-01 -1.07940585e-01 5.48242307e+02] [ 3.28494873e-01 9.44015693e-01 -3.04218714e-02 1.13619260e+02] [ 1.11931586e-01 -6.92677978e-03 9.93691773e-01 5.83926444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.4850998929999 meters 0.0900622058946457 Centerline is valid? [True, True] Translation: X:548.30, Y:113.63, Z:58.40 [[ 9.39218578e-01 -3.25814901e-01 -1.08227132e-01 5.48303250e+02] [ 3.24448218e-01 9.45411479e-01 -3.05039326e-02 1.13625137e+02] [ 1.12257809e-01 -6.46423997e-03 9.93658089e-01 5.83952861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.5450998929999 meters 0.09056572728166812 Centerline is valid? [True, True] Translation: X:548.36, Y:113.64, Z:58.40 [[ 9.39729377e-01 -3.23943941e-01 -1.09403022e-01 5.48360631e+02] [ 3.22534656e-01 9.46055244e-01 -3.08361975e-02 1.13644943e+02] [ 1.13490502e-01 -6.30858533e-03 9.93519053e-01 5.83981560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.6050998929999 meters 0.07524725891720155 Centerline is valid? [True, True] Translation: X:548.41, Y:113.69, Z:58.41 [[ 9.39584847e-01 -3.23750077e-01 -1.11203433e-01 5.48407319e+02] [ 3.22292338e-01 9.46121072e-01 -3.13459139e-02 1.13690568e+02] [ 1.15360153e-01 -6.38786868e-03 9.93303191e-01 5.84056321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.6650998929999 meters 0.07710079247157521 Centerline is valid? [True, True] Translation: X:548.46, Y:113.71, Z:58.41 [[ 9.39305900e-01 -3.24499267e-01 -1.11376173e-01 5.48463790e+02] [ 3.23040795e-01 9.45863762e-01 -3.14068340e-02 1.13708940e+02] [ 1.15538180e-01 -6.47842283e-03 9.93281913e-01 5.84110812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.7250998929999 meters 0.07918414415988623 Centerline is valid? [True, True] Translation: X:548.52, Y:113.73, Z:58.42 [[ 9.40186054e-01 -3.22501777e-01 -1.09739634e-01 5.48520599e+02] [ 3.21072304e-01 9.46548949e-01 -3.09461152e-02 1.13728699e+02] [ 1.13854112e-01 -6.13925099e-03 9.93478510e-01 5.84192769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.7850998929998 meters 0.06898448574498053 Centerline is valid? [True, True] Translation: X:548.57, Y:113.77, Z:58.43 [[ 9.41480427e-01 -3.19019608e-01 -1.08816797e-01 5.48571385e+02] [ 3.17590981e-01 9.47731159e-01 -3.06858048e-02 1.13768154e+02] [ 1.12918442e-01 -5.66914850e-03 9.93588087e-01 5.84301553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.8450998929999 meters 0.07379651723952764 Centerline is valid? [True, True] Translation: X:548.63, Y:113.78, Z:58.44 [[ 9.43349264e-01 -3.13880145e-01 -1.07570540e-01 5.48629997e+02] [ 3.12450761e-01 9.49449480e-01 -3.03349296e-02 1.13780775e+02] [ 1.11654326e-01 -4.99406364e-03 9.93734558e-01 5.84351215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9050998929998 meters 0.0587639935831873 Centerline is valid? [True, True] Translation: X:548.68, Y:113.84, Z:58.45 [[ 9.46510570e-01 -3.04441719e-01 -1.06925120e-01 5.48676032e+02] [ 3.02969375e-01 9.52523163e-01 -3.01526272e-02 1.13837918e+02] [ 1.11028371e-01 -3.85525647e-03 9.93809759e-01 5.84467469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9650998929999 meters 0.054825948028226275 Centerline is valid? [True, True] Translation: X:548.73, Y:113.88, Z:58.46 [[ 9.49610211e-01 -2.94823375e-01 -1.06393729e-01 5.48727415e+02] [ 2.93305304e-01 9.55547910e-01 -3.00031657e-02 1.13877504e+02] [ 1.10509940e-01 -2.71453236e-03 9.93871312e-01 5.84559682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.0250998929998 meters 0.054526660021032444 Centerline is valid? [True, True] Translation: X:548.78, Y:113.90, Z:58.46 [[ 9.51639799e-01 -2.88275444e-01 -1.06202458e-01 5.48783596e+02] [ 2.86721942e-01 9.57545546e-01 -2.99508684e-02 1.13899283e+02] [ 1.10327791e-01 -1.94813661e-03 9.93893346e-01 5.84616743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.0850998929999 meters 0.05443631817611805 Centerline is valid? [True, True] Translation: X:548.84, Y:113.92, Z:58.47 [[ 9.54185979e-01 -2.79802469e-01 -1.06017435e-01 5.48838707e+02] [ 2.78202081e-01 9.60057106e-01 -2.98990827e-02 1.13923169e+02] [ 1.10148629e-01 -9.64985468e-04 9.93914659e-01 5.84677448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.1450998929998 meters 0.054588895949152436 Centerline is valid? [True, True] Translation: X:548.89, Y:113.94, Z:58.47 [[ 9.55304432e-01 -2.76001250e-01 -1.05909167e-01 5.48893707e+02] [ 2.74380692e-01 9.61157133e-01 -2.98697360e-02 1.13942816e+02] [ 1.10039436e-01 -5.24739251e-04 9.93927083e-01 5.84727963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.2050998929999 meters 0.05437335835606935 Centerline is valid? [True, True] Translation: X:548.95, Y:113.96, Z:58.48 [[ 9.55284451e-01 -2.75290000e-01 -1.07921422e-01 5.48951585e+02] [ 2.73602318e-01 9.61361126e-01 -3.04394081e-02 1.13964098e+02] [ 1.12131124e-01 -4.49257879e-04 9.93693317e-01 5.84794664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.2650998929998 meters 0.05426098441382356 Centerline is valid? [True, True] Translation: X:549.01, Y:113.98, Z:58.49 [[ 9.52553935e-01 -2.84492478e-01 -1.08189792e-01 5.49009192e+02] [ 2.82855933e-01 9.58677036e-01 -3.05100314e-02 1.13979597e+02] [ 1.12398944e-01 -1.53967421e-03 9.93661968e-01 5.84865560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.3250998929999 meters 0.054594949689446635 Centerline is valid? [True, True] Translation: X:549.07, Y:113.99, Z:58.49 [[ 9.51408815e-01 -2.88280823e-01 -1.08237854e-01 5.49067696e+02] [ 2.86667688e-01 9.57543837e-01 -3.05194493e-02 1.13994673e+02] [ 1.12440662e-01 -1.99182237e-03 9.93656445e-01 5.84928695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.3850998929998 meters 0.05552058483966306 Centerline is valid? [True, True] Translation: X:549.13, Y:114.00, Z:58.50 [[ 9.49045391e-01 -2.95746685e-01 -1.08842754e-01 5.49129366e+02] [ 2.94164447e-01 9.55262020e-01 -3.06879702e-02 1.13998256e+02] [ 1.13049214e-01 -2.89339177e-03 9.93585177e-01 5.84955086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.4450998929999 meters 0.06589568423664866 Centerline is valid? [True, True] Translation: X:549.20, Y:113.98, Z:58.50 [[ 9.44881040e-01 -3.08940162e-01 -1.08424153e-01 5.49197406e+02] [ 3.07456432e-01 9.51071054e-01 -3.05678418e-02 1.13981556e+02] [ 1.12562707e-01 -4.45272893e-03 9.93634646e-01 5.84973911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.5050998929999 meters 0.0734404079731989 Centerline is valid? [True, True] Translation: X:549.26, Y:113.98, Z:58.50 [[ 9.42510352e-01 -3.16374976e-01 -1.07615567e-01 5.49259710e+02] [ 3.14961513e-01 9.48619411e-01 -3.03390711e-02 1.13982889e+02] [ 1.11684739e-01 -5.29987328e-03 9.93729556e-01 5.85040744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.5650998929999 meters 0.0710226407132163 Centerline is valid? [True, True] Translation: X:549.32, Y:114.00, Z:58.51 [[ 9.40177884e-01 -3.23772701e-01 -1.06003695e-01 5.49316425e+02] [ 3.22448024e-01 9.46115330e-01 -2.98840050e-02 1.14001373e+02] [ 1.09967346e-01 -6.08440155e-03 9.93916577e-01 5.85143062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.6250998929999 meters 0.07779265862609246 Centerline is valid? [True, True] Translation: X:549.38, Y:114.01, Z:58.52 [[ 9.39634844e-01 -3.25451649e-01 -1.05676790e-01 5.49376848e+02] [ 3.24145635e-01 9.45537956e-01 -2.97922978e-02 1.14006499e+02] [ 1.09617369e-01 -6.26078906e-03 9.93954141e-01 5.85196523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.6850998929999 meters 0.0686914073251096 Centerline is valid? [True, True] Translation: X:549.43, Y:114.04, Z:58.53 [[ 9.38605729e-01 -3.28368464e-01 -1.05799045e-01 5.49429608e+02] [ 3.27077721e-01 9.44526592e-01 -2.98275253e-02 1.14038074e+02] [ 1.09724430e-01 -6.60822426e-03 9.93940079e-01 5.85275101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.7450998929999 meters 0.08885590015103796 Centerline is valid? [True, True] Translation: X:549.50, Y:114.02, Z:58.53 [[ 9.38489340e-01 -3.28520047e-01 -1.06359474e-01 5.49495850e+02] [ 3.27216383e-01 9.44473515e-01 -2.99869523e-02 1.14020760e+02] [ 1.10305021e-01 -6.66012734e-03 9.93875468e-01 5.85293402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.8050998929999 meters 0.06518408194805571 Centerline is valid? [True, True] Translation: X:549.54, Y:114.08, Z:58.54 [[ 9.39175435e-01 -3.26261839e-01 -1.07250710e-01 5.49541852e+02] [ 3.24920334e-01 9.45257509e-01 -3.02492784e-02 1.14078094e+02] [ 1.11248724e-01 -6.43855749e-03 9.93771738e-01 5.85391030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.8650998929999 meters 0.05851867841868945 Centerline is valid? [True, True] Translation: X:549.59, Y:114.11, Z:58.55 [[ 9.41318648e-01 -3.19893724e-01 -1.07643893e-01 5.49594536e+02] [ 3.18500958e-01 9.47436245e-01 -3.03595229e-02 1.14110937e+02] [ 1.11697546e-01 -5.70669786e-03 9.93725863e-01 5.85467550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.9250998929999 meters 0.06609609262945053 Centerline is valid? [True, True] Translation: X:549.66, Y:114.11, Z:58.55 [[ 9.43435615e-01 -3.13538677e-01 -1.07808808e-01 5.49657206e+02] [ 3.12100276e-01 9.49562471e-01 -3.04060974e-02 1.14113480e+02] [ 1.11904686e-01 -4.96096358e-03 9.93706561e-01 5.85492540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.9850998929999 meters 0.057794413387733896 Centerline is valid? [True, True] Translation: X:549.71, Y:114.15, Z:58.56 [[ 9.47444086e-01 -3.01431575e-01 -1.07185395e-01 5.49708192e+02] [ 2.99932370e-01 9.53481362e-01 -3.02302185e-02 1.14152763e+02] [ 1.11311619e-01 -3.50692773e-03 9.93779364e-01 5.85579387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.0450998929999 meters 0.05488791282877182 Centerline is valid? [True, True] Translation: X:549.76, Y:114.19, Z:58.57 [[ 9.50075913e-01 -2.93345341e-01 -1.06321546e-01 5.49761032e+02] [ 2.91819731e-01 9.56003176e-01 -2.99862149e-02 1.14185092e+02] [ 1.10440052e-01 -2.53754441e-03 9.93879548e-01 5.85675540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.1050998929999 meters 0.05410586252232501 Centerline is valid? [True, True] Translation: X:549.82, Y:114.21, Z:58.57 [[ 9.53411289e-01 -2.82821765e-01 -1.04970294e-01 5.49816967e+02] [ 2.81271018e-01 9.59171601e-01 -2.96049513e-02 1.14208626e+02] [ 1.09057450e-01 -1.29940676e-03 9.94034599e-01 5.85749035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.1650998929999 meters 0.054263282082716226 Centerline is valid? [True, True] Translation: X:549.87, Y:114.23, Z:58.58 [[ 9.55421239e-01 -2.74818990e-01 -1.07910975e-01 5.49872619e+02] [ 2.73128737e-01 9.61495901e-01 -3.04356107e-02 1.14232185e+02] [ 1.12120244e-01 -3.94759360e-04 9.93694568e-01 5.85785071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.2250998929999 meters 0.05467406201704525 Centerline is valid? [True, True] Translation: X:549.93, Y:114.25, Z:58.59 [[ 9.57158604e-01 -2.69298048e-01 -1.06423527e-01 5.49930965e+02] [ 2.67620077e-01 9.63056851e-01 -3.00165878e-02 1.14252190e+02] [ 1.10575315e-01 2.49562774e-04 9.93867716e-01 5.85881434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.2850998929998 meters 0.05527031002639837 Centerline is valid? [True, True] Translation: X:549.99, Y:114.27, Z:58.60 [[ 9.57907206e-01 -2.66925655e-01 -1.05662105e-01 5.49991062e+02] [ 2.65257809e-01 9.63716986e-01 -2.97970664e-02 1.14267254e+02] [ 1.09781967e-01 5.15126180e-04 9.93955560e-01 5.85966699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.3450998929999 meters 0.05470063386958758 Centerline is valid? [True, True] Translation: X:550.05, Y:114.28, Z:58.60 [[ 9.57918166e-01 -2.66748362e-01 -1.06009900e-01 5.50050434e+02] [ 2.65068764e-01 9.63766064e-01 -2.98918775e-02 1.14282891e+02] [ 1.10142353e-01 5.34059325e-04 9.93915679e-01 5.86022031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4050998929998 meters 0.05398790543112873 Centerline is valid? [True, True] Translation: X:550.11, Y:114.29, Z:58.60 [[ 9.56855559e-01 -2.70160896e-01 -1.06960412e-01 5.50108078e+02] [ 2.68472468e-01 9.62815180e-01 -3.01573157e-02 1.14293956e+02] [ 1.11130436e-01 1.40269446e-04 9.93805819e-01 5.86031402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4650998929999 meters 0.054560097717668794 Centerline is valid? [True, True] Translation: X:550.17, Y:114.30, Z:58.61 [[ 9.55946982e-01 -2.73920514e-01 -1.05512650e-01 5.50165379e+02] [ 2.72300067e-01 9.61752290e-01 -2.97523956e-02 1.14303251e+02] [ 1.09626824e-01 -2.89388957e-04 9.93972774e-01 5.86133770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.5250998929998 meters 0.05438335098145066 Centerline is valid? [True, True] Translation: X:550.23, Y:114.31, Z:58.62 [[ 9.54490693e-01 -2.78941724e-01 -1.05541610e-01 5.50225779e+02] [ 2.77349796e-01 9.60307650e-01 -2.97709282e-02 1.14314391e+02] [ 1.09656770e-01 -8.55870332e-04 9.93969145e-01 5.86215670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.5850998929999 meters 0.05455479265852554 Centerline is valid? [True, True] Translation: X:550.28, Y:114.33, Z:58.63 [[ 9.54011583e-01 -2.80356718e-01 -1.06122619e-01 5.50283009e+02] [ 2.78756188e-01 9.59895336e-01 -2.99321090e-02 1.14328172e+02] [ 1.10258275e-01 -1.02675800e-03 9.93902439e-01 5.86283717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.6450998929998 meters 0.05477328403845336 Centerline is valid? [True, True] Translation: X:550.34, Y:114.34, Z:58.63 [[ 9.53909208e-01 -2.81144819e-01 -1.04951479e-01 5.50344816e+02] [ 2.79584215e-01 9.59664718e-01 -2.96023043e-02 1.14339478e+02] [ 1.09040766e-01 -1.10486627e-03 9.94036665e-01 5.86343785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.7050998929999 meters 0.05474746055330412 Centerline is valid? [True, True] Translation: X:550.41, Y:114.35, Z:58.64 [[ 9.54108214e-01 -2.80404906e-01 -1.05121853e-01 5.50405274e+02] [ 2.78835641e-01 9.59881257e-01 -2.96421502e-02 1.14352203e+02] [ 1.09216301e-01 -1.02990032e-03 9.94017474e-01 5.86401365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.7650998929998 meters 0.05462932552977179 Centerline is valid? [True, True] Translation: X:550.47, Y:114.37, Z:58.65 [[ 9.54284656e-01 -2.79759321e-01 -1.05240290e-01 5.50465767e+02] [ 2.78182939e-01 9.60069685e-01 -2.96724054e-02 1.14367056e+02] [ 1.09339144e-01 -9.60131971e-04 9.94004039e-01 5.86461834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.8250998929999 meters 0.0548185294265278 Centerline is valid? [True, True] Translation: X:550.53, Y:114.38, Z:58.65 [[ 9.54800591e-01 -2.78044779e-01 -1.05104384e-01 5.50525697e+02] [ 2.76462545e-01 9.60567808e-01 -2.96301878e-02 1.14380823e+02] [ 1.09198407e-01 -7.66504651e-04 9.94019678e-01 5.86528762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.8850998929998 meters 0.05488815586121304 Centerline is valid? [True, True] Translation: X:550.59, Y:114.39, Z:58.66 [[ 9.55450580e-01 -2.75001997e-01 -1.07182510e-01 5.50585980e+02] [ 2.73337743e-01 9.61443558e-01 -3.02119556e-02 1.14394404e+02] [ 1.11358282e-01 -4.30994977e-04 9.93780231e-01 5.86583618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.9450998929999 meters 0.054710066013524614 Centerline is valid? [True, True] Translation: X:550.65, Y:114.41, Z:58.67 [[ 9.56269901e-01 -2.71619905e-01 -1.08491952e-01 5.50645287e+02] [ 2.69893347e-01 9.62404606e-01 -3.05770486e-02 1.14409634e+02] [ 1.12718489e-01 -4.13447766e-05 9.93626962e-01 5.86652298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.0050998929999 meters 0.05494721547758296 Centerline is valid? [True, True] Translation: X:550.71, Y:114.41, Z:58.67 [[ 9.55484260e-01 -2.74151188e-01 -1.09045652e-01 5.50705046e+02] [ 2.72423473e-01 9.61686544e-01 -3.07317875e-02 1.14413295e+02] [ 1.13292892e-01 -3.42856011e-04 9.93561575e-01 5.86692683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.0650998929999 meters 0.05492657903101371 Centerline is valid? [True, True] Translation: X:550.76, Y:114.42, Z:58.67 [[ 9.54487440e-01 -2.76934620e-01 -1.10729142e-01 5.50762248e+02] [ 2.75170276e-01 9.60888529e-01 -3.12178605e-02 1.14422560e+02] [ 1.15043669e-01 -6.72312913e-04 9.93360208e-01 5.86704398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.1250998929999 meters 0.05435110589527003 Centerline is valid? [True, True] Translation: X:550.82, Y:114.43, Z:58.67 [[ 9.53921178e-01 -2.78765133e-01 -1.11015256e-01 5.50823507e+02] [ 2.77003427e-01 9.60358895e-01 -3.13032620e-02 1.14434385e+02] [ 1.15340747e-01 -8.90761771e-04 9.93325585e-01 5.86739408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.1850998929999 meters 0.055001548713221195 Centerline is valid? [True, True] Translation: X:550.88, Y:114.45, Z:58.68 [[ 9.52739973e-01 -2.82728948e-01 -1.11134540e-01 5.50883709e+02] [ 2.80990738e-01 9.59198858e-01 -3.13329787e-02 1.14446463e+02] [ 1.15458864e-01 -1.37559514e-03 9.93311310e-01 5.86840013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.2450998929999 meters 0.0567288191329454 Centerline is valid? [True, True] Translation: X:550.95, Y:114.45, Z:58.69 [[ 9.51025211e-01 -2.88870317e-01 -1.10022669e-01 5.50947160e+02] [ 2.87208771e-01 9.57365915e-01 -3.10100905e-02 1.14447295e+02] [ 1.14289848e-01 -2.10809779e-03 9.93445211e-01 5.86879758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.3050998929999 meters 0.060268147563828 Centerline is valid? [True, True] Translation: X:551.01, Y:114.45, Z:58.69 [[ 9.49774085e-01 -2.93501802e-01 -1.08562795e-01 5.51008927e+02] [ 2.91914438e-01 9.55954901e-01 -3.05972042e-02 1.14451875e+02] [ 1.12761470e-01 -2.63061556e-03 9.93618604e-01 5.86948073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.3650998929999 meters 0.0582183276290339 Centerline is valid? [True, True] Translation: X:551.07, Y:114.47, Z:58.70 [[ 9.49683747e-01 -2.94032615e-01 -1.07914788e-01 5.51067516e+02] [ 2.92467666e-01 9.55791635e-01 -3.04140440e-02 1.14472347e+02] [ 1.12086772e-01 -2.67786278e-03 9.93694815e-01 5.87039805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.4250998929999 meters 0.05639438877859616 Centerline is valid? [True, True] Translation: X:551.12, Y:114.49, Z:58.71 [[ 9.50164518e-01 -2.92615763e-01 -1.07533270e-01 5.51124541e+02] [ 2.91053179e-01 9.56226826e-01 -3.03035387e-02 1.14494324e+02] [ 1.11693491e-01 -2.50455294e-03 9.93739549e-01 5.87126051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.4850998929999 meters 0.05735679732028595 Centerline is valid? [True, True] Translation: X:551.18, Y:114.51, Z:58.72 [[ 9.51847079e-01 -2.87364913e-01 -1.06810792e-01 5.51183046e+02] [ 2.85790472e-01 9.57819339e-01 -3.00985039e-02 1.14509536e+02] [ 1.10954697e-01 -1.87633382e-03 9.93823694e-01 5.87181768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.5450998929999 meters 0.056804522263214856 Centerline is valid? [True, True] Translation: X:551.24, Y:114.53, Z:58.73 [[ 9.52434941e-01 -2.85541030e-01 -1.06461276e-01 5.51240681e+02] [ 2.83965555e-01 9.58365051e-01 -2.99998908e-02 1.14528333e+02] [ 1.10594965e-01 -1.65839093e-03 9.93864178e-01 5.87256716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.6050998929999 meters 0.05639154273408812 Centerline is valid? [True, True] Translation: X:551.30, Y:114.55, Z:58.73 [[ 9.52959746e-01 -2.83803047e-01 -1.06412187e-01 5.51299396e+02] [ 2.82218404e-01 9.58881487e-01 -2.99844339e-02 1.14548082e+02] [ 1.10546350e-01 -1.45751914e-03 9.93869901e-01 5.87332783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.6650998929999 meters 0.057076974335305036 Centerline is valid? [True, True] Translation: X:551.36, Y:114.56, Z:58.74 [[ 9.52377097e-01 -2.85116458e-01 -1.08103979e-01 5.51361643e+02] [ 2.83489668e-01 9.58491481e-01 -3.04579816e-02 1.14557261e+02] [ 1.12300815e-01 -1.63887704e-03 9.93672904e-01 5.87351110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.7250998929999 meters 0.05835184633177024 Centerline is valid? [True, True] Translation: X:551.42, Y:114.57, Z:58.74 [[ 9.51084897e-01 -2.88643458e-01 -1.10102100e-01 5.51422004e+02] [ 2.86979677e-01 9.57434363e-01 -3.10178362e-02 1.14566295e+02] [ 1.14368630e-01 -2.09646965e-03 9.93436169e-01 5.87380250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.7850998929998 meters 0.056332223518025686 Centerline is valid? [True, True] Translation: X:551.48, Y:114.59, Z:58.75 [[ 9.50650733e-01 -2.90003134e-01 -1.10278587e-01 5.51478062e+02] [ 2.88343336e-01 9.57023014e-01 -3.10655936e-02 1.14591003e+02] [ 1.14548265e-01 -2.26556644e-03 9.93415101e-01 5.87504792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.8450998929999 meters 0.05821090902764236 Centerline is valid? [True, True] Translation: X:551.54, Y:114.60, Z:58.76 [[ 9.51050881e-01 -2.89185582e-01 -1.08967527e-01 5.51538547e+02] [ 2.87560039e-01 9.57270655e-01 -3.06939374e-02 1.14603233e+02] [ 1.13187660e-01 -2.14321011e-03 9.93571316e-01 5.87571810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9050998929998 meters 0.058072567161669336 Centerline is valid? [True, True] Translation: X:551.60, Y:114.62, Z:58.77 [[ 9.51370231e-01 -2.88825524e-01 -1.07119095e-01 5.51598085e+02] [ 2.87252783e-01 9.57379521e-01 -3.01710447e-02 1.14617195e+02] [ 1.11267796e-01 -2.06642443e-03 9.93788311e-01 5.87659192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9650998929999 meters 0.058442085529975846 Centerline is valid? [True, True] Translation: X:551.66, Y:114.63, Z:58.78 [[ 9.51329844e-01 -2.89485807e-01 -1.05685831e-01 5.51657039e+02] [ 2.87959215e-01 9.57179967e-01 -2.97657723e-02 1.14633891e+02] [ 1.09777129e-01 -2.11614126e-03 9.93953975e-01 5.87750697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.0250998929998 meters 0.05622633076936458 Centerline is valid? [True, True] Translation: X:551.71, Y:114.66, Z:58.78 [[ 9.51225708e-01 -2.89941996e-01 -1.05372156e-01 5.51714870e+02] [ 2.88427597e-01 9.57041771e-01 -2.96744024e-02 1.14657312e+02] [ 1.09449411e-01 -2.16518344e-03 9.93990009e-01 5.87832161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.0850998929999 meters 0.058208559251464495 Centerline is valid? [True, True] Translation: X:551.78, Y:114.67, Z:58.79 [[ 9.51133493e-01 -2.89766541e-01 -1.06679100e-01 5.51775805e+02] [ 2.88213485e-01 9.57094887e-01 -3.00393967e-02 1.14668479e+02] [ 1.10806433e-01 -2.17487871e-03 9.93839627e-01 5.87866044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.1450998929998 meters 0.05796087246987829 Centerline is valid? [True, True] Translation: X:551.83, Y:114.69, Z:58.79 [[ 9.50606395e-01 -2.91249338e-01 -1.07337346e-01 5.51834671e+02] [ 2.89686688e-01 9.56644256e-01 -3.02223654e-02 1.14687195e+02] [ 1.11485900e-01 -2.36462644e-03 9.93763203e-01 5.87932530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.2050998929999 meters 0.05909432706337401 Centerline is valid? [True, True] Translation: X:551.89, Y:114.70, Z:58.80 [[ 9.49119364e-01 -2.95612606e-01 -1.08561598e-01 5.51893690e+02] [ 2.94042737e-01 9.55303461e-01 -3.05641263e-02 1.14698447e+02] [ 1.12744412e-01 -2.91274537e-03 9.93619753e-01 5.87980024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.2650998929998 meters 0.0579310689024233 Centerline is valid? [True, True] Translation: X:551.95, Y:114.72, Z:58.81 [[ 9.47998530e-01 -2.99002606e-01 -1.09069836e-01 5.51950375e+02] [ 2.97440334e-01 9.54246478e-01 -3.07067954e-02 1.14717975e+02] [ 1.13260918e-01 -3.33177139e-03 9.93559693e-01 5.88053988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.3250998929999 meters 0.0577986551957471 Centerline is valid? [True, True] Translation: X:552.01, Y:114.74, Z:58.81 [[ 9.47119860e-01 -3.01780647e-01 -1.09052333e-01 5.52007929e+02] [ 3.00237296e-01 9.53370346e-01 -3.07009842e-02 1.14735657e+02] [ 1.13232223e-01 -3.66406561e-03 9.93561794e-01 5.88119597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.3850998929998 meters 0.060536457075543525 Centerline is valid? [True, True] Translation: X:552.07, Y:114.74, Z:58.82 [[ 9.46897215e-01 -3.02395454e-01 -1.09282446e-01 5.52066669e+02] [ 3.00849554e-01 9.53175202e-01 -3.07665386e-02 1.14744403e+02] [ 1.13468979e-01 -3.74482543e-03 9.93534482e-01 5.88152206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.4450998929999 meters 0.0585306535224072 Centerline is valid? [True, True] Translation: X:552.12, Y:114.77, Z:58.82 [[ 9.46761275e-01 -3.02608941e-01 -1.09867724e-01 5.52120457e+02] [ 3.01046536e-01 9.53107308e-01 -3.09425772e-02 1.14767957e+02] [ 1.14079231e-01 -3.78006395e-03 9.93464463e-01 5.88232264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.5050998929999 meters 0.06039718286314683 Centerline is valid? [True, True] Translation: X:552.18, Y:114.78, Z:58.83 [[ 9.46678433e-01 -3.02990317e-01 -1.09529958e-01 5.52177828e+02] [ 3.01438752e-01 9.52986046e-01 -3.08589429e-02 1.14781347e+02] [ 1.13730483e-01 -3.80307814e-03 9.93504360e-01 5.88287450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.5650998929999 meters 0.060914463155450856 Centerline is valid? [True, True] Translation: X:552.24, Y:114.80, Z:58.84 [[ 9.46247087e-01 -3.04676995e-01 -1.08574303e-01 5.52235443e+02] [ 3.03162205e-01 9.52447506e-01 -3.06010767e-02 1.14796199e+02] [ 1.12734768e-01 -3.95944548e-03 9.93617228e-01 5.88360273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.6250998929999 meters 0.05977963874117606 Centerline is valid? [True, True] Translation: X:552.29, Y:114.82, Z:58.84 [[ 9.45881953e-01 -3.06056365e-01 -1.07874154e-01 5.52290258e+02] [ 3.04569822e-01 9.52004585e-01 -3.04054773e-02 1.14818684e+02] [ 1.12002479e-01 -4.09521964e-03 9.93699489e-01 5.88434657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.6850998929999 meters 0.059830075715833424 Centerline is valid? [True, True] Translation: X:552.35, Y:114.84, Z:58.85 [[ 9.46026635e-01 -3.05545238e-01 -1.08054215e-01 5.52346070e+02] [ 3.04050111e-01 9.52168994e-01 -3.04587749e-02 1.14836830e+02] [ 1.12192407e-01 -4.03908379e-03 9.93678293e-01 5.88489982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.7450998929999 meters 0.05583817902438857 Centerline is valid? [True, True] Translation: X:552.40, Y:114.88, Z:58.86 [[ 9.46889640e-01 -3.02618161e-01 -1.08730208e-01 5.52396794e+02] [ 3.01083677e-01 9.53104677e-01 -3.06609452e-02 1.14876158e+02] [ 1.12909829e-01 -3.70435944e-03 9.93598333e-01 5.88597133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.8050998929999 meters 0.05620712976396417 Centerline is valid? [True, True] Translation: X:552.46, Y:114.89, Z:58.87 [[ 9.47679298e-01 -3.00540219e-01 -1.07608198e-01 5.52455530e+02] [ 2.99023922e-01 9.53763010e-01 -3.03449270e-02 1.14890475e+02] [ 1.11752590e-01 -3.42016627e-03 9.93730175e-01 5.88655572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.8650998929999 meters 0.060425990303385746 Centerline is valid? [True, True] Translation: X:552.52, Y:114.90, Z:58.87 [[ 9.47736532e-01 -3.00492506e-01 -1.07236741e-01 5.52515134e+02] [ 2.98986459e-01 9.53778104e-01 -3.02394763e-02 1.14895233e+02] [ 1.11366792e-01 -3.40327717e-03 9.93773543e-01 5.88683428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.9250998929999 meters 0.060281519985731405 Centerline is valid? [True, True] Translation: X:552.57, Y:114.91, Z:58.87 [[ 9.46914864e-01 -3.02624121e-01 -1.08493694e-01 5.52572313e+02] [ 3.01095202e-01 9.53102852e-01 -3.06044575e-02 1.14914107e+02] [ 1.12667296e-01 -3.68711497e-03 9.93625928e-01 5.88736928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.9850998929999 meters 0.060396067496143 Centerline is valid? [True, True] Translation: X:552.63, Y:114.93, Z:58.88 [[ 9.45710023e-01 -3.06068977e-01 -1.09335877e-01 5.52629889e+02] [ 3.04539062e-01 9.52000383e-01 -3.08420307e-02 1.14930670e+02] [ 1.13527585e-01 -4.12942780e-03 9.93526263e-01 5.88788536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.0450998929999 meters 0.05754411535727368 Centerline is valid? [True, True] Translation: X:552.68, Y:114.96, Z:58.89 [[ 9.43385913e-01 -3.12938304e-01 -1.09966532e-01 5.52683872e+02] [ 3.11436953e-01 9.49760380e-01 -3.10200605e-02 1.14957498e+02] [ 1.14149220e-01 -4.98375338e-03 9.93451115e-01 5.88884065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.1050998929999 meters 0.05785227385693916 Centerline is valid? [True, True] Translation: X:552.74, Y:114.97, Z:58.90 [[ 9.41251362e-01 -3.19443766e-01 -1.09551601e-01 5.52742569e+02] [ 3.17997373e-01 9.47587796e-01 -3.09037339e-02 1.14971087e+02] [ 1.13681766e-01 -5.74893978e-03 9.93500582e-01 5.88953269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.1650998929999 meters 0.05812486867060351 Centerline is valid? [True, True] Translation: X:552.80, Y:114.99, Z:58.90 [[ 9.40303952e-01 -3.22615546e-01 -1.08386748e-01 5.52799696e+02] [ 3.21220665e-01 9.46510653e-01 -3.05755994e-02 1.14990819e+02] [ 1.12453375e-01 -6.06570633e-03 9.93638488e-01 5.89032303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.2250998929999 meters 0.06045839461783942 Centerline is valid? [True, True] Translation: X:552.86, Y:115.00, Z:58.91 [[ 9.39651000e-01 -3.24912082e-01 -1.07182725e-01 5.52858994e+02] [ 3.23562907e-01 9.45723446e-01 -3.02358892e-02 1.15003219e+02] [ 1.11189221e-01 -6.26917041e-03 9.93779480e-01 5.89089227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.2850998929998 meters 0.05973677967363442 Centerline is valid? [True, True] Translation: X:552.92, Y:115.02, Z:58.91 [[ 9.39157565e-01 -3.26311683e-01 -1.07255553e-01 5.52916072e+02] [ 3.24969728e-01 9.45240298e-01 -3.02564689e-02 1.15022460e+02] [ 1.11255310e-01 -6.43921619e-03 9.93770996e-01 5.89148289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.3450998929999 meters 0.05978850623059034 Centerline is valid? [True, True] Translation: X:552.97, Y:115.04, Z:58.92 [[ 9.38700085e-01 -3.27734725e-01 -1.06920997e-01 5.52972329e+02] [ 3.26410304e-01 9.44746824e-01 -3.01620917e-02 1.15044018e+02] [ 1.10898437e-01 -6.58695705e-03 9.93809916e-01 5.89216729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4050998929998 meters 0.05553356466442006 Centerline is valid? [True, True] Translation: X:553.03, Y:115.07, Z:58.93 [[ 9.37674234e-01 -3.30552599e-01 -1.07247426e-01 5.53026673e+02] [ 3.29238358e-01 9.43762043e-01 -3.02540724e-02 1.15074908e+02] [ 1.11216612e-01 -6.94150229e-03 9.93771946e-01 5.89295567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4650998929999 meters 0.05737143665419462 Centerline is valid? [True, True] Translation: X:553.08, Y:115.09, Z:58.94 [[ 9.37346940e-01 -3.31431979e-01 -1.07394404e-01 5.53084910e+02] [ 3.30120018e-01 9.43452724e-01 -3.02940733e-02 1.15087479e+02] [ 1.11361967e-01 -7.05698554e-03 9.93754855e-01 5.89351855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.5250998929998 meters 0.05774787727467029 Centerline is valid? [True, True] Translation: X:553.14, Y:115.10, Z:58.94 [[ 9.36622037e-01 -3.33333087e-01 -1.07834195e-01 5.53141807e+02] [ 3.32022839e-01 9.42780765e-01 -3.04181351e-02 1.15103684e+02] [ 1.11803376e-01 -7.31312005e-03 9.93703438e-01 5.89405934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.5850998929999 meters 0.058596565900641294 Centerline is valid? [True, True] Translation: X:553.20, Y:115.12, Z:58.95 [[ 9.36348928e-01 -3.33784201e-01 -1.08806210e-01 5.53198715e+02] [ 3.32453197e-01 9.42620200e-01 -3.06925153e-02 1.15121237e+02] [ 1.12807608e-01 -7.43406844e-03 9.93589039e-01 5.89454862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.6450998929998 meters 0.05686254625327682 Centerline is valid? [True, True] Translation: X:553.26, Y:115.15, Z:58.95 [[ 9.36268984e-01 -3.33672247e-01 -1.09832697e-01 5.53255834e+02] [ 3.32315070e-01 9.42659391e-01 -3.09833478e-02 1.15145090e+02] [ 1.13873106e-01 -7.49031271e-03 9.93467066e-01 5.89517596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.7050998929999 meters 0.0529738821871234 Centerline is valid? [True, True] Translation: X:553.31, Y:115.18, Z:58.96 [[ 9.36529057e-01 -3.32762455e-01 -1.10374244e-01 5.53309511e+02] [ 3.31385989e-01 9.42981491e-01 -3.11325206e-02 1.15180953e+02] [ 1.14440603e-01 -7.41996787e-03 9.93402382e-01 5.89603368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.7650998929998 meters 0.05523774170439298 Centerline is valid? [True, True] Translation: X:553.37, Y:115.19, Z:58.97 [[ 9.36917530e-01 -3.31984885e-01 -1.09414711e-01 5.53368865e+02] [ 3.30627415e-01 9.43256738e-01 -3.08583611e-02 1.15191953e+02] [ 1.13450673e-01 -7.26376350e-03 9.93517077e-01 5.89661089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.8250998929999 meters 0.06087557319492034 Centerline is valid? [True, True] Translation: X:553.43, Y:115.19, Z:58.97 [[ 9.37681580e-01 -3.30301682e-01 -1.07953945e-01 5.53430152e+02] [ 3.28969272e-01 9.43849715e-01 -3.04455847e-02 1.15194684e+02] [ 1.11948528e-01 -6.96526690e-03 9.93689595e-01 5.89711495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.8850998929998 meters 0.05821446768060295 Centerline is valid? [True, True] Translation: X:553.48, Y:115.22, Z:58.98 [[ 9.38359082e-01 -3.28838572e-01 -1.06524300e-01 5.53484287e+02] [ 3.27531813e-01 9.44362388e-01 -3.00431699e-02 1.15223072e+02] [ 1.10476895e-01 -6.69881561e-03 9.93856117e-01 5.89785837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.9450998929999 meters 0.05453279540951995 Centerline is valid? [True, True] Translation: X:553.54, Y:115.26, Z:58.99 [[ 9.38290192e-01 -3.29040098e-01 -1.06508821e-01 5.53539488e+02] [ 3.27735060e-01 9.44292025e-01 -3.00383442e-02 1.15255081e+02] [ 1.10459250e-01 -6.72199108e-03 9.93857922e-01 5.89859168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.0050998929999 meters 0.05486544664865718 Centerline is valid? [True, True] Translation: X:553.60, Y:115.27, Z:58.99 [[ 9.37361311e-01 -3.31375563e-01 -1.07443046e-01 5.53598178e+02] [ 3.30063193e-01 9.43472494e-01 -3.02975537e-02 1.15271641e+02] [ 1.11409428e-01 -7.06324021e-03 9.93749491e-01 5.89907878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.0650998929999 meters 0.05524916438405129 Centerline is valid? [True, True] Translation: X:553.66, Y:115.28, Z:59.00 [[ 9.35819587e-01 -3.35548661e-01 -1.07929589e-01 5.53655747e+02] [ 3.34252020e-01 9.41992252e-01 -3.04332857e-02 1.15284747e+02] [ 1.11880685e-01 -7.59561837e-03 9.93692618e-01 5.89955993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.1250998929999 meters 0.052062302612012 Centerline is valid? [True, True] Translation: X:553.71, Y:115.31, Z:59.00 [[ 9.34808775e-01 -3.38375774e-01 -1.07862829e-01 5.53709664e+02] [ 3.37099596e-01 9.40977652e-01 -3.04125183e-02 1.15314629e+02] [ 1.11787371e-01 -7.93062717e-03 9.93700503e-01 5.90034841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.1850998929999 meters 0.05295014212509478 Centerline is valid? [True, True] Translation: X:553.77, Y:115.33, Z:59.01 [[ 9.33802898e-01 -3.41174457e-01 -1.07759629e-01 5.53768219e+02] [ 3.39919207e-01 9.39963723e-01 -3.03831007e-02 1.15325581e+02] [ 1.11656080e-01 -8.25774031e-03 9.93712599e-01 5.90081916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.2450998929999 meters 0.05141847048395058 Centerline is valid? [True, True] Translation: X:553.83, Y:115.35, Z:59.02 [[ 9.33865368e-01 -3.41069146e-01 -1.07551440e-01 5.53825798e+02] [ 3.39818107e-01 9.40002188e-01 -3.03239262e-02 1.15353532e+02] [ 1.11441145e-01 -8.22946218e-03 9.93736961e-01 5.90159794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.3050998929999 meters 0.05255417420297238 Centerline is valid? [True, True] Translation: X:553.89, Y:115.37, Z:59.02 [[ 9.33612464e-01 -3.41679269e-01 -1.07810226e-01 5.53885199e+02] [ 3.40427758e-01 9.39779654e-01 -3.03832759e-02 1.15365608e+02] [ 1.11699192e-01 -8.33538849e-03 9.93707106e-01 5.90217422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.3650998929999 meters 0.05149837005428983 Centerline is valid? [True, True] Translation: X:553.94, Y:115.39, Z:59.03 [[ 9.33209232e-01 -3.42929353e-01 -1.07331205e-01 5.53940678e+02] [ 3.41697327e-01 9.39323205e-01 -3.02465497e-02 1.15391745e+02] [ 1.11191121e-01 -8.44842637e-03 9.93763130e-01 5.90285563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.4250998929999 meters 0.05155053474312767 Centerline is valid? [True, True] Translation: X:554.00, Y:115.40, Z:59.03 [[ 9.33070462e-01 -3.43351690e-01 -1.07187358e-01 5.54001040e+02] [ 3.42125908e-01 9.39168546e-01 -3.02043827e-02 1.15402264e+02] [ 1.11037721e-01 -8.48875500e-03 9.93779938e-01 5.90338245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.4850998929999 meters 0.06378676752296213 Centerline is valid? [True, True] Translation: X:554.07, Y:115.38, Z:59.04 [[ 9.33253995e-01 -3.42791446e-01 -1.07382520e-01 5.54070438e+02] [ 3.41558755e-01 9.39373544e-01 -3.02483459e-02 1.15379193e+02] [ 1.11241173e-01 -8.44805020e-03 9.93757532e-01 5.90357489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.5450998929999 meters 0.051917748613174206 Centerline is valid? [True, True] Translation: X:554.12, Y:115.43, Z:59.04 [[ 9.34331172e-01 -3.40491088e-01 -1.05314196e-01 5.54119152e+02] [ 3.39291063e-01 9.40213578e-01 -2.96648296e-02 1.15429750e+02] [ 1.09118447e-01 -8.01539037e-03 9.93996438e-01 5.90447732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.6050998929999 meters 0.0637529194251919 Centerline is valid? [True, True] Translation: X:554.19, Y:115.41, Z:59.05 [[ 9.35867577e-01 -3.36499487e-01 -1.04498680e-01 5.54186039e+02] [ 3.35293447e-01 9.41653847e-01 -2.94335898e-02 1.15411182e+02] [ 1.08305972e-01 -7.49178020e-03 9.94089377e-01 5.90490295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.6650998929999 meters 0.056027503140272036 Centerline is valid? [True, True] Translation: X:554.24, Y:115.45, Z:59.06 [[ 9.39202465e-01 -3.27568266e-01 -1.02945426e-01 5.54237902e+02] [ 3.26344313e-01 9.44806097e-01 -2.89970340e-02 1.15447449e+02] [ 1.06761974e-01 -6.36156829e-03 9.94264256e-01 5.90570661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.7250998929999 meters 0.05476854184228438 Centerline is valid? [True, True] Translation: X:554.29, Y:115.47, Z:59.06 [[ 9.43256650e-01 -3.15615928e-01 -1.03215693e-01 5.54293986e+02] [ 3.14314134e-01 9.48873751e-01 -2.90728325e-02 1.15470916e+02] [ 1.07114511e-01 -5.01900850e-03 9.94234022e-01 5.90623067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.7850998929998 meters 0.05402549000401233 Centerline is valid? [True, True] Translation: X:554.35, Y:115.49, Z:59.07 [[ 9.47384116e-01 -3.03213097e-01 -1.02592174e-01 5.54349490e+02] [ 3.01854298e-01 9.52916011e-01 -2.88973976e-02 1.15494794e+02] [ 1.06523795e-01 -3.59095331e-03 9.94303669e-01 5.90687894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.8450998929999 meters 0.05288538031605149 Centerline is valid? [True, True] Translation: X:554.40, Y:115.52, Z:59.08 [[ 9.49830409e-01 -2.95345456e-01 -1.02923539e-01 5.54403151e+02] [ 2.93931751e-01 9.55386666e-01 -2.89904098e-02 1.15521758e+02] [ 1.06893963e-01 -2.71652337e-03 9.94266715e-01 5.90765920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9050998929998 meters 0.053217313489305355 Centerline is valid? [True, True] Translation: X:554.46, Y:115.53, Z:59.08 [[ 9.52803588e-01 -2.85813670e-01 -1.02351694e-01 5.54463392e+02] [ 2.84360684e-01 9.58283815e-01 -2.88293670e-02 1.15532168e+02] [ 1.06321799e-01 -1.63607330e-03 9.94330427e-01 5.90817809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9650998929999 meters 0.054073224798521106 Centerline is valid? [True, True] Translation: X:554.52, Y:115.55, Z:59.09 [[ 9.54432692e-01 -2.79977847e-01 -1.03298798e-01 5.54521434e+02] [ 2.78463666e-01 9.60005946e-01 -2.90959003e-02 1.15550541e+02] [ 1.07313668e-01 -9.94883469e-04 9.94224717e-01 5.90874068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.0250998929998 meters 0.0536397421836221 Centerline is valid? [True, True] Translation: X:554.58, Y:115.57, Z:59.09 [[ 9.54596312e-01 -2.79188423e-01 -1.03921631e-01 5.54577285e+02] [ 2.77651380e-01 9.60235904e-01 -2.92697905e-02 1.15565220e+02] [ 1.07961068e-01 -9.13150212e-04 9.94154703e-01 5.90929026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.0850998929999 meters 0.053758133507632935 Centerline is valid? [True, True] Translation: X:554.63, Y:115.58, Z:59.10 [[ 9.53492377e-01 -2.83137966e-01 -1.03369143e-01 5.54633981e+02] [ 2.81639917e-01 9.59078242e-01 -2.91184442e-02 1.15581786e+02] [ 1.07383633e-01 -1.34866217e-03 9.94216745e-01 5.91010124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.1450998929998 meters 0.0539250745202153 Centerline is valid? [True, True] Translation: X:554.69, Y:115.59, Z:59.11 [[ 9.52081635e-01 -2.88162959e-01 -1.02482532e-01 5.54694242e+02] [ 2.86719361e-01 9.57579506e-01 -2.88703461e-02 1.15587389e+02] [ 1.06454537e-01 -1.89679987e-03 9.94315762e-01 5.91069299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.2050998929999 meters 0.05696011284347279 Centerline is valid? [True, True] Translation: X:554.76, Y:115.59, Z:59.11 [[ 9.48993062e-01 -2.97934373e-01 -1.03185646e-01 5.54757202e+02] [ 2.96528224e-01 9.54581604e-01 -2.90684279e-02 1.15586667e+02] [ 1.07159603e-01 -3.01171996e-03 9.94237270e-01 5.91126673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.2650998929998 meters 0.05511849696824155 Centerline is valid? [True, True] Translation: X:554.81, Y:115.61, Z:59.12 [[ 9.46559086e-01 -3.05341310e-01 -1.03887347e-01 5.54814125e+02] [ 3.03960222e-01 9.52235090e-01 -2.92663164e-02 1.15607917e+02] [ 1.07861393e-01 -3.87532349e-03 9.94158389e-01 5.91200260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.3250998929999 meters 0.05493504547364511 Centerline is valid? [True, True] Translation: X:554.87, Y:115.62, Z:59.13 [[ 9.44630488e-01 -3.11316772e-01 -1.03706843e-01 5.54872770e+02] [ 3.09976371e-01 9.50295305e-01 -2.92144290e-02 1.15620399e+02] [ 1.07647067e-01 -4.54983038e-03 9.94178761e-01 5.91275891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.3850998929998 meters 0.06010693697943773 Centerline is valid? [True, True] Translation: X:554.93, Y:115.62, Z:59.13 [[ 9.43326195e-01 -3.15412031e-01 -1.03203397e-01 5.54934384e+02] [ 3.14109001e-01 9.48941688e-01 -2.90724618e-02 1.15619546e+02] [ 1.07103810e-01 -4.99230119e-03 9.94235310e-01 5.91341023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.4450998929999 meters 0.05871491152015654 Centerline is valid? [True, True] Translation: X:554.99, Y:115.64, Z:59.14 [[ 9.42226837e-01 -3.18641564e-01 -1.03325419e-01 5.54990769e+02] [ 3.17354653e-01 9.47860102e-01 -2.91075922e-02 1.15638350e+02] [ 1.07212931e-01 -5.36484783e-03 9.94221608e-01 5.91419997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.5050998929999 meters 0.05612896915217409 Centerline is valid? [True, True] Translation: X:555.05, Y:115.66, Z:59.15 [[ 9.41491965e-01 -3.20695433e-01 -1.03669280e-01 5.55046844e+02] [ 3.19412251e-01 9.47165713e-01 -2.92048957e-02 1.15661596e+02] [ 1.07557865e-01 -5.61706357e-03 9.94182958e-01 5.91484054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.5650998929999 meters 0.05529225702471507 Centerline is valid? [True, True] Translation: X:555.11, Y:115.68, Z:59.15 [[ 9.41204909e-01 -3.21206476e-01 -1.04688678e-01 5.55105492e+02] [ 3.19901155e-01 9.46991834e-01 -2.94909829e-02 1.15678929e+02] [ 1.08612018e-01 -5.73297122e-03 9.94067685e-01 5.91542191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.6250998929999 meters 0.05577298876717149 Centerline is valid? [True, True] Translation: X:555.16, Y:115.70, Z:59.16 [[ 9.41435932e-01 -3.19920043e-01 -1.06534273e-01 5.55163213e+02] [ 3.18560227e-01 9.47427483e-01 -3.00090939e-02 1.15696663e+02] [ 1.10534008e-01 -5.68594273e-03 9.93856078e-01 5.91597423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.6850998929999 meters 0.05425406885511007 Centerline is valid? [True, True] Translation: X:555.22, Y:115.72, Z:59.17 [[ 9.41818508e-01 -3.18530427e-01 -1.07313862e-01 5.55219830e+02] [ 3.17141830e-01 9.47896299e-01 -3.02269202e-02 1.15720532e+02] [ 1.11350606e-01 -5.56544161e-03 9.93765600e-01 5.91674053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.7450998929999 meters 0.05453184188781719 Centerline is valid? [True, True] Translation: X:555.28, Y:115.74, Z:59.17 [[ 9.42654042e-01 -3.15829655e-01 -1.07958262e-01 5.55276722e+02] [ 3.14406865e-01 9.48801219e-01 -3.04067492e-02 1.15742042e+02] [ 1.12034284e-01 -5.27977364e-03 9.93690316e-01 5.91740665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.8050998929999 meters 0.056360227684669216 Centerline is valid? [True, True] Translation: X:555.33, Y:115.75, Z:59.18 [[ 9.43789169e-01 -3.12235280e-01 -1.08494865e-01 5.55334898e+02] [ 3.10774622e-01 9.49992286e-01 -3.05579925e-02 1.15753643e+02] [ 1.12610568e-01 -4.87714813e-03 9.93627231e-01 5.91787633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.8650998929999 meters 0.054962983241990976 Centerline is valid? [True, True] Translation: X:555.39, Y:115.79, Z:59.19 [[ 9.45474450e-01 -3.07476264e-01 -1.07407684e-01 5.55388171e+02] [ 3.06014093e-01 9.51546192e-01 -3.02525973e-02 1.15786776e+02] [ 1.11505328e-01 -4.26520715e-03 9.93754683e-01 5.91881906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.9250998929999 meters 0.05400534747001584 Centerline is valid? [True, True] Translation: X:555.44, Y:115.80, Z:59.19 [[ 9.46605296e-01 -3.04205912e-01 -1.06757558e-01 5.55444472e+02] [ 3.02740798e-01 9.52598493e-01 -3.00686056e-02 1.15804216e+02] [ 1.10844136e-01 -3.85676680e-03 9.93830319e-01 5.91947160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.9850998929999 meters 0.05607873862878798 Centerline is valid? [True, True] Translation: X:555.50, Y:115.82, Z:59.20 [[ 9.47372028e-01 -3.01948869e-01 -1.06363154e-01 5.55501706e+02] [ 3.00480318e-01 9.53317406e-01 -2.99583443e-02 1.15821454e+02] [ 1.10443734e-01 -3.57833685e-03 9.93875937e-01 5.92014238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.0450998929999 meters 0.05625181321333196 Centerline is valid? [True, True] Translation: X:555.56, Y:115.84, Z:59.21 [[ 9.46871877e-01 -3.03295507e-01 -1.06983571e-01 5.55559550e+02] [ 3.01818305e-01 9.52889142e-01 -3.01329429e-02 1.15840046e+02] [ 1.11082669e-01 -3.75756398e-03 9.93804066e-01 5.92073986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.1050998929999 meters 0.05655982901996441 Centerline is valid? [True, True] Translation: X:555.62, Y:115.86, Z:59.21 [[ 9.46130727e-01 -3.05398590e-01 -1.07556255e-01 5.55617556e+02] [ 3.03919266e-01 9.52216086e-01 -3.02920014e-02 1.15856788e+02] [ 1.11667931e-01 -4.02822469e-03 9.93737413e-01 5.92130652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.1650998929999 meters 0.05656116311672451 Centerline is valid? [True, True] Translation: X:555.67, Y:115.87, Z:59.22 [[ 9.45075088e-01 -3.08706471e-01 -1.07393634e-01 5.55674724e+02] [ 3.07252943e-01 9.51147119e-01 -3.02454444e-02 1.15874338e+02] [ 1.11484110e-01 -4.41279413e-03 9.93756419e-01 5.92197419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.2250998929999 meters 0.05680520421741421 Centerline is valid? [True, True] Translation: X:555.73, Y:115.89, Z:59.23 [[ 9.44051762e-01 -3.11785407e-01 -1.07499447e-01 5.55731966e+02] [ 3.10348772e-01 9.50140520e-01 -3.02759162e-02 1.15892286e+02] [ 1.11579169e-01 -4.78028920e-03 9.93744051e-01 5.92262095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.2850998929998 meters 0.055650667243847686 Centerline is valid? [True, True] Translation: X:555.79, Y:115.91, Z:59.23 [[ 9.43321002e-01 -3.13951173e-01 -1.07611098e-01 5.55788171e+02] [ 3.12525556e-01 9.49425744e-01 -3.03073279e-02 1.15914530e+02] [ 1.11683767e-01 -5.04167918e-03 9.93731009e-01 5.92337143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.3450998929999 meters 0.05752051541110624 Centerline is valid? [True, True] Translation: X:555.85, Y:115.93, Z:59.24 [[ 9.42428742e-01 -3.16834320e-01 -1.06977007e-01 5.55846979e+02] [ 3.15443963e-01 9.48465802e-01 -3.01285311e-02 1.15926873e+02] [ 1.11009786e-01 -5.35125738e-03 9.93804906e-01 5.92396819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4050998929998 meters 0.056725406496837036 Centerline is valid? [True, True] Translation: X:555.90, Y:115.95, Z:59.25 [[ 9.42022379e-01 -3.18497913e-01 -1.05607372e-01 5.55903475e+02] [ 3.17153406e-01 9.47907747e-01 -2.97425585e-02 1.15949357e+02] [ 1.09578989e-01 -5.47558191e-03 9.93963009e-01 5.92477625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4650998929999 meters 0.0565478796879557 Centerline is valid? [True, True] Translation: X:555.96, Y:115.96, Z:59.25 [[ 9.41406864e-01 -3.20662197e-01 -1.04541249e-01 5.55961491e+02] [ 3.19358206e-01 9.47176646e-01 -2.94404145e-02 1.15964029e+02] [ 1.08459457e-01 -5.67069736e-03 9.94084699e-01 5.92549262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.5250998929998 meters 0.05400471150057848 Centerline is valid? [True, True] Translation: X:556.02, Y:115.99, Z:59.26 [[ 9.40715318e-01 -3.22593548e-01 -1.04824104e-01 5.56017019e+02] [ 3.21294494e-01 9.46519134e-01 -2.95190975e-02 1.15990557e+02] [ 1.08740691e-01 -5.91034039e-03 9.94052579e-01 5.92617852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.5850998929999 meters 0.05533484781892197 Centerline is valid? [True, True] Translation: X:556.08, Y:116.00, Z:59.27 [[ 9.40525043e-01 -3.22921164e-01 -1.05520447e-01 5.56077311e+02] [ 3.21606934e-01 9.46406916e-01 -2.97141194e-02 1.16001321e+02] [ 1.09460599e-01 -5.98923396e-03 9.93973091e-01 5.92670793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.6450998929998 meters 0.05384365758370619 Centerline is valid? [True, True] Translation: X:556.13, Y:116.03, Z:59.27 [[ 9.40471860e-01 -3.22427657e-01 -1.07485282e-01 5.56134544e+02] [ 3.21062030e-01 9.46574745e-01 -3.02559752e-02 1.16025401e+02] [ 1.11498217e-01 -6.05454967e-03 9.93746190e-01 5.92720811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.7050998929999 meters 0.058790552293923964 Centerline is valid? [True, True] Translation: X:556.20, Y:116.03, Z:59.28 [[ 9.41165850e-01 -3.20620954e-01 -1.06813136e-01 5.56195518e+02] [ 3.19262085e-01 9.47189737e-01 -3.00553460e-02 1.16026856e+02] [ 1.10808680e-01 -5.81431932e-03 9.93824748e-01 5.92764242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.7650998929998 meters 0.052847697946379175 Centerline is valid? [True, True] Translation: X:556.25, Y:116.07, Z:59.29 [[ 9.42566752e-01 -3.16691225e-01 -1.06181858e-01 5.56246607e+02] [ 3.15323888e-01 9.48513752e-01 -2.98748708e-02 1.16067632e+02] [ 1.10176062e-01 -5.32261629e-03 9.93897834e-01 5.92853555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.8250998929999 meters 0.056149390877300386 Centerline is valid? [True, True] Translation: X:556.31, Y:116.07, Z:59.29 [[ 9.43002610e-01 -3.15211390e-01 -1.06713907e-01 5.56307815e+02] [ 3.13821053e-01 9.49007362e-01 -3.00228724e-02 1.16072767e+02] [ 1.10735835e-01 -5.17742357e-03 9.93836390e-01 5.92897260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.8850998929998 meters 0.05576871790172618 Centerline is valid? [True, True] Translation: X:556.37, Y:116.09, Z:59.30 [[ 9.42995706e-01 -3.15146014e-01 -1.06967702e-01 5.56368466e+02] [ 3.13748758e-01 9.49029042e-01 -3.00930861e-02 1.16089971e+02] [ 1.10999172e-01 -5.18333258e-03 9.93806982e-01 5.92963262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.9450998929999 meters 0.05480286856730917 Centerline is valid? [True, True] Translation: X:556.43, Y:116.11, Z:59.30 [[ 9.42993244e-01 -3.15279089e-01 -1.06596611e-01 5.56426788e+02] [ 3.13892937e-01 9.48984829e-01 -2.99836290e-02 1.16109789e+02] [ 1.10611778e-01 -5.18556365e-03 9.93850162e-01 5.93029261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.0050998929999 meters 0.05538326714765571 Centerline is valid? [True, True] Translation: X:556.49, Y:116.13, Z:59.31 [[ 9.43122927e-01 -3.14874486e-01 -1.06645222e-01 5.56486345e+02] [ 3.13484960e-01 9.49119377e-01 -2.99931247e-02 1.16126052e+02] [ 1.10663116e-01 -5.14446950e-03 9.93844660e-01 5.93086572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.0650998929999 meters 0.05477179933513223 Centerline is valid? [True, True] Translation: X:556.54, Y:116.15, Z:59.32 [[ 9.42950906e-01 -3.15229230e-01 -1.07117325e-01 5.56544549e+02] [ 3.13830069e-01 9.49001241e-01 -3.01219541e-02 1.16145634e+02] [ 1.11149795e-01 -5.21311363e-03 9.93789991e-01 5.93154368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.1250998929999 meters 0.05572706018387727 Centerline is valid? [True, True] Translation: X:556.60, Y:116.15, Z:59.32 [[ 9.42263433e-01 -3.17116301e-01 -1.07595882e-01 5.56604327e+02] [ 3.15718003e-01 9.48370881e-01 -3.02459179e-02 1.16153958e+02] [ 1.11632275e-01 -5.47033452e-03 9.93734527e-01 5.93207682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.1850998929999 meters 0.05933199258108301 Centerline is valid? [True, True] Translation: X:556.67, Y:116.16, Z:59.33 [[ 9.42081163e-01 -3.18063725e-01 -1.06388673e-01 5.56667468e+02] [ 3.16702744e-01 9.48053269e-01 -2.99060461e-02 1.16159349e+02] [ 1.10374158e-01 -5.51966213e-03 9.93874780e-01 5.93267261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.2450998929999 meters 0.05581914282926395 Centerline is valid? [True, True] Translation: X:556.72, Y:116.19, Z:59.34 [[ 9.42227071e-01 -3.17897905e-01 -1.05589151e-01 5.56723892e+02] [ 3.16556672e-01 9.48109220e-01 -2.96779474e-02 1.16185244e+02] [ 1.09544605e-01 -5.46158479e-03 9.93966876e-01 5.93350752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.3050998929999 meters 0.053837475828538366 Centerline is valid? [True, True] Translation: X:556.78, Y:116.21, Z:59.34 [[ 9.42784374e-01 -3.16693672e-01 -1.04224477e-01 5.56780892e+02] [ 3.15379963e-01 9.48513312e-01 -2.92912221e-02 1.16206733e+02] [ 1.08134648e-01 -5.25500514e-03 9.94122368e-01 5.93429284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.3650998929999 meters 0.053303420241172766 Centerline is valid? [True, True] Translation: X:556.84, Y:116.23, Z:59.35 [[ 9.42946298e-01 -3.16235331e-01 -1.04151303e-01 5.56839329e+02] [ 3.14920830e-01 9.48666525e-01 -2.92693612e-02 1.16226494e+02] [ 1.08060861e-01 -5.19997898e-03 9.94130681e-01 5.93496212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.4250998929999 meters 0.05373969609613412 Centerline is valid? [True, True] Translation: X:556.90, Y:116.24, Z:59.35 [[ 9.42411614e-01 -3.17065809e-01 -1.06440700e-01 5.56897921e+02] [ 3.15699388e-01 9.48388026e-01 -2.99006518e-02 1.16238405e+02] [ 1.10427560e-01 -5.42454240e-03 9.93869372e-01 5.93538308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.4850998929999 meters 0.05518938334312294 Centerline is valid? [True, True] Translation: X:556.96, Y:116.25, Z:59.36 [[ 9.42008442e-01 -3.17800379e-01 -1.07810081e-01 5.56958572e+02] [ 3.16403313e-01 9.48141210e-01 -3.02851436e-02 1.16248660e+02] [ 1.11843811e-01 -5.58260578e-03 9.93710117e-01 5.93576276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.5450998929999 meters 0.05760967153138348 Centerline is valid? [True, True] Translation: X:557.02, Y:116.25, Z:59.36 [[ 9.42317764e-01 -3.17311758e-01 -1.06538630e-01 5.57018799e+02] [ 3.15944673e-01 9.48305555e-01 -2.99255254e-02 1.16254926e+02] [ 1.10526896e-01 -5.46095841e-03 9.93858130e-01 5.93640008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.6050998929999 meters 0.053031990730156325 Centerline is valid? [True, True] Translation: X:557.07, Y:116.29, Z:59.37 [[ 9.42784871e-01 -3.16391673e-01 -1.05133230e-01 5.57072555e+02] [ 3.15054897e-01 9.48613938e-01 -2.95297715e-02 1.16288714e+02] [ 1.09073821e-01 -5.28251727e-03 9.94019616e-01 5.93737652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.6650998929999 meters 0.05333875343170046 Centerline is valid? [True, True] Translation: X:557.13, Y:116.30, Z:59.38 [[ 9.42971342e-01 -3.16052173e-01 -1.04480009e-01 5.57132196e+02] [ 3.14730384e-01 9.48727481e-01 -2.93419759e-02 1.16300859e+02] [ 1.08396651e-01 -5.21439078e-03 9.94094048e-01 5.93800553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.7250998929999 meters 0.05309636317858565 Centerline is valid? [True, True] Translation: X:557.19, Y:116.32, Z:59.39 [[ 9.43244953e-01 -3.15376922e-01 -1.04049777e-01 5.57192061e+02] [ 3.14063133e-01 9.48952645e-01 -2.92100457e-02 1.16316470e+02] [ 1.07950486e-01 -5.12597086e-03 9.94143057e-01 5.93861830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.7850998929998 meters 0.054801923202667704 Centerline is valid? [True, True] Translation: X:557.25, Y:116.33, Z:59.39 [[ 9.43077519e-01 -3.15718348e-01 -1.04530943e-01 5.57252807e+02] [ 3.14395713e-01 9.48838702e-01 -2.93334929e-02 1.16325690e+02] [ 1.08444126e-01 -5.20032250e-03 9.94088944e-01 5.93910945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.8450998929999 meters 0.054303273884347844 Centerline is valid? [True, True] Translation: X:557.31, Y:116.34, Z:59.40 [[ 9.42832262e-01 -3.16030312e-01 -1.05793040e-01 5.57312580e+02] [ 3.14678112e-01 9.48734256e-01 -2.96815956e-02 1.16340190e+02] [ 1.09749765e-01 -5.30598805e-03 9.93945087e-01 5.93959731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9050998929998 meters 0.05393304703654648 Centerline is valid? [True, True] Translation: X:557.37, Y:116.36, Z:59.40 [[ 9.43077788e-01 -3.14759170e-01 -1.07382266e-01 5.57370668e+02] [ 3.13358051e-01 9.49157110e-01 -3.01249570e-02 1.16359707e+02] [ 1.11404747e-01 -5.23891967e-03 9.93761307e-01 5.94021571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9650998929999 meters 0.05345283217092701 Centerline is valid? [True, True] Translation: X:557.43, Y:116.38, Z:59.41 [[ 9.43709394e-01 -3.12751051e-01 -1.07700323e-01 5.57428721e+02] [ 3.11328779e-01 9.49821876e-01 -3.02125098e-02 1.16378091e+02] [ 1.11745117e-01 -5.01838074e-03 9.93724230e-01 5.94082607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.0250998929998 meters 0.052837588009265 Centerline is valid? [True, True] Translation: X:557.49, Y:116.40, Z:59.42 [[ 9.45573201e-01 -3.07305167e-01 -1.07027360e-01 5.57485678e+02] [ 3.05865962e-01 9.51601091e-01 -3.00229386e-02 1.16397824e+02] [ 1.11073557e-01 -4.34714012e-03 9.93802680e-01 5.94150452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.0850998929999 meters 0.054319420338493116 Centerline is valid? [True, True] Translation: X:557.54, Y:116.41, Z:59.42 [[ 9.47708096e-01 -3.00746789e-01 -1.06774217e-01 5.57543736e+02] [ 2.99272886e-01 9.53697347e-01 -2.99517867e-02 1.16409020e+02] [ 1.10838192e-01 -3.56907738e-03 9.93832057e-01 5.94200054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.1450998929998 meters 0.05390983065532142 Centerline is valid? [True, True] Translation: X:557.60, Y:116.43, Z:59.43 [[ 9.48653781e-01 -2.97644027e-01 -1.07070244e-01 5.57600746e+02] [ 2.96142263e-01 9.54671510e-01 -3.00344510e-02 1.16429539e+02] [ 1.11156486e-01 -3.21572878e-03 9.93797713e-01 5.94268061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.2050998929999 meters 0.05384687488734557 Centerline is valid? [True, True] Translation: X:557.66, Y:116.45, Z:59.43 [[ 9.48767694e-01 -2.96848397e-01 -1.08263064e-01 5.57658533e+02] [ 2.95307963e-01 9.54919392e-01 -3.03671061e-02 1.16451509e+02] [ 1.12396926e-01 -3.15961578e-03 9.93658366e-01 5.94339947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.2650998929998 meters 0.05309711722099866 Centerline is valid? [True, True] Translation: X:557.72, Y:116.47, Z:59.44 [[ 9.48077561e-01 -2.99105703e-01 -1.08095864e-01 5.57716534e+02] [ 2.97585025e-01 9.54213837e-01 -3.03167539e-02 1.16468921e+02] [ 1.12214483e-01 -3.42507626e-03 9.93678106e-01 5.94408990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.3250998929999 meters 0.05371767375021037 Centerline is valid? [True, True] Translation: X:557.78, Y:116.48, Z:59.45 [[ 9.47402790e-01 -3.01222753e-01 -1.08133284e-01 5.57775752e+02] [ 2.99714844e-01 9.53546709e-01 -3.03263324e-02 1.16481114e+02] [ 1.12245119e-01 -3.67789860e-03 9.93673742e-01 5.94463126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.3850998929998 meters 0.05360052666023736 Centerline is valid? [True, True] Translation: X:557.83, Y:116.50, Z:59.45 [[ 9.46442096e-01 -3.04303531e-01 -1.07919970e-01 5.57832540e+02] [ 3.02821598e-01 9.52566571e-01 -3.02656008e-02 1.16500126e+02] [ 1.12010885e-01 -4.03585911e-03 9.93698784e-01 5.94536855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.4450998929999 meters 0.053066465318565764 Centerline is valid? [True, True] Translation: X:557.89, Y:116.52, Z:59.46 [[ 9.45700062e-01 -3.06871730e-01 -1.07150050e-01 5.57891136e+02] [ 3.05427405e-01 9.51741126e-01 -3.00487951e-02 1.16516957e+02] [ 1.11200235e-01 -4.30941444e-03 9.93788678e-01 5.94610656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.5050998929999 meters 0.052731677828375734 Centerline is valid? [True, True] Translation: X:557.95, Y:116.53, Z:59.47 [[ 9.45392908e-01 -3.08029084e-01 -1.06537941e-01 5.57950364e+02] [ 3.06608828e-01 9.51366663e-01 -2.98747119e-02 1.16533341e+02] [ 1.10558926e-01 -4.42213253e-03 9.93859733e-01 5.94677902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.5650998929999 meters 0.05549904723396516 Centerline is valid? [True, True] Translation: X:558.01, Y:116.54, Z:59.47 [[ 9.45337904e-01 -3.08443123e-01 -1.05825743e-01 5.58011113e+02] [ 3.07045681e-01 9.51232372e-01 -2.96635094e-02 1.16540822e+02] [ 1.09814378e-01 -4.45129776e-03 9.93942145e-01 5.94729687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.6250998929999 meters 0.05476379603825544 Centerline is valid? [True, True] Translation: X:558.07, Y:116.56, Z:59.48 [[ 9.45542356e-01 -3.07647390e-01 -1.06314327e-01 5.58069669e+02] [ 3.06232675e-01 9.51490333e-01 -2.97942216e-02 1.16560624e+02] [ 1.10323169e-01 -4.38522239e-03 9.93886094e-01 5.94792620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.6850998929999 meters 0.05450655246625195 Centerline is valid? [True, True] Translation: X:558.13, Y:116.58, Z:59.48 [[ 9.45743506e-01 -3.06548366e-01 -1.07690853e-01 5.58128602e+02] [ 3.05089984e-01 9.51845298e-01 -3.01766514e-02 1.16578112e+02] [ 1.11755636e-01 -4.31602866e-03 9.93726346e-01 5.94844862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.7450998929999 meters 0.053855833092156476 Centerline is valid? [True, True] Translation: X:558.19, Y:116.60, Z:59.49 [[ 9.45800742e-01 -3.05957792e-01 -1.08861314e-01 5.58187013e+02] [ 3.04463876e-01 9.52035387e-01 -3.05019786e-02 1.16599184e+02] [ 1.12972141e-01 -4.29554347e-03 9.93588871e-01 5.94909032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.8050998929999 meters 0.05387534747476016 Centerline is valid? [True, True] Translation: X:558.25, Y:116.61, Z:59.50 [[ 9.46048547e-01 -3.05197846e-01 -1.08841268e-01 5.58246469e+02] [ 3.03699938e-01 9.52279669e-01 -3.04922838e-02 1.16613638e+02] [ 1.12953506e-01 -4.20790563e-03 9.93591364e-01 5.94968968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.8650998929999 meters 0.053619505707646994 Centerline is valid? [True, True] Translation: X:558.30, Y:116.64, Z:59.50 [[ 9.46547522e-01 -3.03293104e-01 -1.09822959e-01 5.58303771e+02] [ 3.01756456e-01 9.52888805e-01 -3.07565728e-02 1.16637279e+02] [ 1.13977325e-01 -4.02722916e-03 9.93475189e-01 5.95044725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.9250998929999 meters 0.054377688984519716 Centerline is valid? [True, True] Translation: X:558.36, Y:116.66, Z:59.51 [[ 9.47319175e-01 -3.00792532e-01 -1.10046509e-01 5.58361635e+02] [ 2.99233254e-01 9.53682275e-01 -3.08152133e-02 1.16655508e+02] [ 1.14218391e-01 -3.73773261e-03 9.93448634e-01 5.95107620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.9850998929999 meters 0.05399090145153176 Centerline is valid? [True, True] Translation: X:558.42, Y:116.67, Z:59.52 [[ 9.48004121e-01 -2.98809092e-01 -1.09550504e-01 5.58419742e+02] [ 2.97250789e-01 9.54306550e-01 -3.06753520e-02 1.16673494e+02] [ 1.13710838e-01 -3.48361361e-03 9.93507780e-01 5.95177553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.0450998929999 meters 0.05372564521890171 Centerline is valid? [True, True] Translation: X:558.48, Y:116.69, Z:59.52 [[ 9.48889647e-01 -2.96431880e-01 -1.08335490e-01 5.58476406e+02] [ 2.94892772e-01 9.55048757e-01 -3.03335535e-02 1.16690435e+02] [ 1.12457507e-01 -3.16415800e-03 9.93651497e-01 5.95249646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.1050998929999 meters 0.054694492341019495 Centerline is valid? [True, True] Translation: X:558.53, Y:116.71, Z:59.53 [[ 9.50047129e-01 -2.93081832e-01 -1.07300939e-01 5.58533328e+02] [ 2.91550677e-01 9.56083434e-01 -3.00444794e-02 1.16706168e+02] [ 1.11394141e-01 -2.73998996e-03 9.93772528e-01 5.95312327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.1650998929999 meters 0.054095137182272914 Centerline is valid? [True, True] Translation: X:558.59, Y:116.72, Z:59.54 [[ 9.50443148e-01 -2.91938732e-01 -1.06909308e-01 5.58591876e+02] [ 2.90411943e-01 9.56433489e-01 -2.99313333e-02 1.16724760e+02] [ 1.10989758e-01 -2.59970933e-03 9.93818150e-01 5.95383766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.2250998929999 meters 0.05489267720935851 Centerline is valid? [True, True] Translation: X:558.65, Y:116.74, Z:59.54 [[ 9.51755945e-01 -2.87819135e-01 -1.06399093e-01 5.58649252e+02] [ 2.86281687e-01 9.57682454e-01 -2.97844493e-02 1.16741927e+02] [ 1.10469079e-01 -2.11258502e-03 9.93877316e-01 5.95441913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.2850998929998 meters 0.05430226694020508 Centerline is valid? [True, True] Translation: X:558.71, Y:116.76, Z:59.55 [[ 9.52293051e-01 -2.85796907e-01 -1.07042392e-01 5.58708057e+02] [ 2.84228047e-01 9.58288348e-01 -2.99643070e-02 1.16760040e+02] [ 1.11141184e-01 -1.88964891e-03 9.93802831e-01 5.95507149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.3450998929999 meters 0.05450037414927248 Centerline is valid? [True, True] Translation: X:558.77, Y:116.77, Z:59.56 [[ 9.52946914e-01 -2.83682371e-01 -1.06847982e-01 5.58767194e+02] [ 2.82106338e-01 9.58916895e-01 -2.99065475e-02 1.16774319e+02] [ 1.10942296e-01 -1.64314088e-03 9.93825491e-01 5.95553565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4050998929998 meters 0.05465862343636294 Centerline is valid? [True, True] Translation: X:558.83, Y:116.79, Z:59.56 [[ 9.53226603e-01 -2.82811748e-01 -1.06660953e-01 5.58827708e+02] [ 2.81236010e-01 9.59174198e-01 -2.98523954e-02 1.16789173e+02] [ 1.10749042e-01 -1.54080347e-03 9.93847209e-01 5.95616865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4650998929999 meters 0.05473711943729112 Centerline is valid? [True, True] Translation: X:558.89, Y:116.81, Z:59.57 [[ 9.53452258e-01 -2.82197923e-01 -1.06269108e-01 5.58886655e+02] [ 2.80630348e-01 9.59355085e-01 -2.97393405e-02 1.16807067e+02] [ 1.10342190e-01 -1.46729559e-03 9.93892574e-01 5.95695637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.5250998929998 meters 0.054892178467311384 Centerline is valid? [True, True] Translation: X:558.95, Y:116.82, Z:59.57 [[ 9.53727579e-01 -2.81299323e-01 -1.06180961e-01 5.58945898e+02] [ 2.79729179e-01 9.59619105e-01 -2.97112782e-02 1.16820359e+02] [ 1.10251041e-01 -1.36544761e-03 9.93902834e-01 5.95749522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.5850998929999 meters 0.055541201756576175 Centerline is valid? [True, True] Translation: X:559.01, Y:116.83, Z:59.58 [[ 9.53739021e-01 -2.81489985e-01 -1.05571154e-01 5.59007343e+02] [ 2.79939324e-01 9.59563171e-01 -2.95380453e-02 1.16832268e+02] [ 1.09616855e-01 -1.38193104e-03 9.93972955e-01 5.95807553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.6450998929998 meters 0.05546947001083362 Centerline is valid? [True, True] Translation: X:559.07, Y:116.84, Z:59.59 [[ 9.52966665e-01 -2.84413651e-01 -1.04706308e-01 5.59068934e+02] [ 2.82906304e-01 9.58700141e-01 -2.92927042e-02 1.16841487e+02] [ 1.08713198e-01 -1.70710408e-03 9.94071691e-01 5.95875055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.7050998929999 meters 0.05644826890389448 Centerline is valid? [True, True] Translation: X:559.13, Y:116.85, Z:59.59 [[ 9.51405828e-01 -2.89889212e-01 -1.03880678e-01 5.59129293e+02] [ 2.88438510e-01 9.57057404e-01 -2.90577364e-02 1.16850260e+02] [ 1.07843296e-01 -2.31748804e-03 9.94165204e-01 5.95944613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.7650998929998 meters 0.05498394209914297 Centerline is valid? [True, True] Translation: X:559.19, Y:116.86, Z:59.60 [[ 9.50229708e-01 -2.94257831e-01 -1.02351509e-01 5.59188482e+02] [ 2.92874865e-01 9.55722056e-01 -2.86297843e-02 1.16864547e+02] [ 1.06244133e-01 -2.77131290e-03 9.94336213e-01 5.96012701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.8250998929999 meters 0.056532995547165746 Centerline is valid? [True, True] Translation: X:559.25, Y:116.87, Z:59.61 [[ 9.48841955e-01 -2.99213548e-01 -1.00847393e-01 5.59249134e+02] [ 2.97898986e-01 9.54180544e-01 -2.82078668e-02 1.16866240e+02] [ 1.04666796e-01 -3.27752860e-03 9.94501946e-01 5.96073098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.8850998929998 meters 0.05526314650751575 Centerline is valid? [True, True] Translation: X:559.31, Y:116.88, Z:59.61 [[ 9.47887058e-01 -3.02740416e-01 -9.92893024e-02 5.59308346e+02] [ 3.01485347e-01 9.53066221e-01 -2.77734447e-02 1.16879611e+02] [ 1.03037424e-01 -3.60818099e-03 9.94670936e-01 5.96132726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.9450998929999 meters 0.05522576836838507 Centerline is valid? [True, True] Translation: X:559.37, Y:116.89, Z:59.62 [[ 9.47662881e-01 -3.03654403e-01 -9.86360336e-02 5.59369034e+02] [ 3.02420767e-01 9.52775125e-01 -2.75905926e-02 1.16891695e+02] [ 1.02355964e-01 -3.68300441e-03 9.94741018e-01 5.96187717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.0050998929999 meters 0.0556317428155995 Centerline is valid? [True, True] Translation: X:559.43, Y:116.90, Z:59.62 [[ 9.47782131e-01 -3.03443562e-01 -9.81378473e-02 5.59430504e+02] [ 3.02221651e-01 9.52842441e-01 -2.74473487e-02 1.16900705e+02] [ 1.01838627e-01 -3.64527562e-03 9.94794253e-01 5.96245275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.0650998929999 meters 0.05647252264998967 Centerline is valid? [True, True] Translation: X:559.49, Y:116.91, Z:59.63 [[ 9.48127109e-01 -3.02760584e-01 -9.69072422e-02 5.59491865e+02] [ 3.01566865e-01 9.53060076e-01 -2.70909087e-02 1.16906079e+02] [ 1.00560483e-01 -3.53838829e-03 9.94924655e-01 5.96323345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.1250998929999 meters 0.05693957041710506 Centerline is valid? [True, True] Translation: X:559.55, Y:116.91, Z:59.64 [[ 9.47601834e-01 -3.03144517e-01 -1.00767884e-01 5.59552016e+02] [ 3.01856031e-01 9.52937312e-01 -2.81676347e-02 1.16913382e+02] [ 1.04564340e-01 -3.72569109e-03 9.94511145e-01 5.96355478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.1850998929999 meters 0.05652855924468189 Centerline is valid? [True, True] Translation: X:559.61, Y:116.93, Z:59.64 [[ 9.48325526e-01 -3.00734351e-01 -1.01180762e-01 5.59610514e+02] [ 2.99421831e-01 9.53701612e-01 -2.82807647e-02 1.16928203e+02] [ 1.05001253e-01 -3.47635781e-03 9.94466013e-01 5.96406490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.2450998929999 meters 0.05730428523229863 Centerline is valid? [True, True] Translation: X:559.67, Y:116.94, Z:59.65 [[ 9.49864458e-01 -2.96258743e-01 -9.99413241e-02 5.59670017e+02] [ 2.94953529e-01 9.55103182e-01 -2.79343322e-02 1.16936249e+02] [ 1.03730067e-01 -2.94421692e-03 9.94601129e-01 5.96488800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.3050998929999 meters 0.058886741444612985 Centerline is valid? [True, True] Translation: X:559.72, Y:116.98, Z:59.66 [[ 9.51332823e-01 -2.90763221e-01 -1.02091184e-01 5.59718509e+02] [ 2.89369505e-01 9.56792042e-01 -2.85355460e-02 1.16984934e+02] [ 1.05977119e-01 -2.39527368e-03 9.94365684e-01 5.96589513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.3650998929999 meters 0.057233708054571515 Centerline is valid? [True, True] Translation: X:559.79, Y:116.96, Z:59.66 [[ 9.52238057e-01 -2.88875387e-01 -9.89630937e-02 5.59786868e+02] [ 2.87555796e-01 9.57364365e-01 -2.76611106e-02 1.16959071e+02] [ 1.02734353e-01 -2.11744896e-03 9.94706574e-01 5.96622422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.4250998929999 meters 0.05719090819308222 Centerline is valid? [True, True] Translation: X:559.84, Y:116.97, Z:59.67 [[ 9.52394432e-01 -2.88774329e-01 -9.77457540e-02 5.59843411e+02] [ 2.87485506e-01 9.57394955e-01 -2.73310035e-02 1.16968914e+02] [ 1.01473784e-01 -2.07059204e-03 9.94836059e-01 5.96688407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.4850998929999 meters 0.05732955102028768 Centerline is valid? [True, True] Translation: X:559.90, Y:116.98, Z:59.67 [[ 9.51916259e-01 -2.90295417e-01 -9.78979434e-02 5.59901772e+02] [ 2.89009228e-01 9.56934495e-01 -2.73868374e-02 1.16976764e+02] [ 1.01632192e-01 -2.22343329e-03 9.94819558e-01 5.96742539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.5450998929999 meters 0.05855663381993466 Centerline is valid? [True, True] Translation: X:559.96, Y:116.98, Z:59.68 [[ 9.50735658e-01 -2.94203983e-01 -9.77022258e-02 5.59962729e+02] [ 2.92942376e-01 9.55739046e-01 -2.73429955e-02 1.16978041e+02] [ 1.01422250e-01 -2.62516136e-03 9.94840005e-01 5.96812454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.6050998929999 meters 0.0574409387529423 Centerline is valid? [True, True] Translation: X:560.02, Y:116.99, Z:59.69 [[ 9.49334737e-01 -2.98892094e-01 -9.70931194e-02 5.60021406e+02] [ 2.97670425e-01 9.54281866e-01 -2.71742343e-02 1.16993201e+02] [ 1.00776367e-01 -3.10430552e-03 9.94904260e-01 5.96872387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.6650998929999 meters 0.05784067242253675 Centerline is valid? [True, True] Translation: X:560.08, Y:117.00, Z:59.69 [[ 9.47272438e-01 -3.05295006e-01 -9.73133456e-02 5.60080925e+02] [ 3.04101448e-01 9.52250263e-01 -2.72350021e-02 1.16998980e+02] [ 1.00981369e-01 -3.79416248e-03 9.94881082e-01 5.96926679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.7250998929999 meters 0.059775476265208766 Centerline is valid? [True, True] Translation: X:560.14, Y:117.00, Z:59.70 [[ 9.45508182e-01 -3.10974015e-01 -9.64854401e-02 5.60141581e+02] [ 3.09830090e-01 9.50408403e-01 -2.70033707e-02 1.17002233e+02] [ 1.00097920e-01 -4.36218471e-03 9.94968029e-01 5.96996528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.7850998929998 meters 0.06216622501601022 Centerline is valid? [True, True] Translation: X:560.20, Y:117.01, Z:59.71 [[ 9.43892857e-01 -3.15973317e-01 -9.60579870e-02 5.60201719e+02] [ 3.14865150e-01 9.48755582e-01 -2.68846147e-02 1.17005838e+02] [ 9.96303723e-02 -4.86911673e-03 9.95012603e-01 5.97065519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.8450998929999 meters 0.05892200197539441 Centerline is valid? [True, True] Translation: X:560.26, Y:117.02, Z:59.71 [[ 9.41644525e-01 -3.22512050e-01 -9.63927749e-02 5.60259706e+02] [ 3.21430107e-01 9.46548915e-01 -2.69784788e-02 1.17023283e+02] [ 9.99413610e-02 -5.57940316e-03 9.94977686e-01 5.97114468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9050998929998 meters 0.06235864657561243 Centerline is valid? [True, True] Translation: X:560.32, Y:117.02, Z:59.72 [[ 9.38883868e-01 -3.30384150e-01 -9.66612398e-02 5.60321609e+02] [ 3.29337486e-01 9.43824623e-01 -2.70536848e-02 1.17022694e+02] [ 1.00169367e-01 -6.43390151e-03 9.94949598e-01 5.97172621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9650998929999 meters 0.05968193609871394 Centerline is valid? [True, True] Translation: X:560.38, Y:117.04, Z:59.72 [[ 9.36695446e-01 -3.35525507e-01 -1.00121302e-01 5.60378922e+02] [ 3.34431558e-01 9.42003335e-01 -2.80223046e-02 1.17040470e+02] [ 1.03716798e-01 -7.23535776e-03 9.94580553e-01 5.97205462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.0250998929998 meters 0.05888621848994838 Centerline is valid? [True, True] Translation: X:560.44, Y:117.06, Z:59.73 [[ 9.36211966e-01 -3.36649841e-01 -1.00866440e-01 5.60435354e+02] [ 3.35546074e-01 9.41600706e-01 -2.82301921e-02 1.17059976e+02] [ 1.04479601e-01 -7.41589417e-03 9.94499380e-01 5.97261679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.0850998929999 meters 0.05888621848994838 Centerline is valid? [True, True] Translation: X:560.49, Y:117.08, Z:59.73 [[ 9.36169844e-01 -3.36767034e-01 -1.00866191e-01 5.60490539e+02] [ 3.35663845e-01 9.41558702e-01 -2.82310807e-02 1.17075378e+02] [ 1.04478737e-01 -7.42804716e-03 9.94499380e-01 5.97321604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.1450998929998 meters 0.05834775371977971 Centerline is valid? [True, True] Translation: X:560.55, Y:117.09, Z:59.74 [[ 9.35587481e-01 -3.38150189e-01 -1.01639142e-01 5.60547831e+02] [ 3.37036654e-01 9.41061241e-01 -2.84611085e-02 1.17092658e+02] [ 1.05272787e-01 -7.62825970e-03 9.94414124e-01 5.97383172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.2050998929999 meters 0.061897374933938605 Centerline is valid? [True, True] Translation: X:560.61, Y:117.10, Z:59.74 [[ 9.34610624e-01 -3.40394176e-01 -1.03125104e-01 5.60607555e+02] [ 3.39261350e-01 9.40248821e-01 -2.88771643e-02 1.17097395e+02] [ 1.06792876e-01 -7.99745737e-03 9.94249125e-01 5.97438391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.2650998929998 meters 0.06158793592108503 Centerline is valid? [True, True] Translation: X:560.66, Y:117.11, Z:59.75 [[ 9.34089908e-01 -3.41808387e-01 -1.03165258e-01 5.60664885e+02] [ 3.40683280e-01 9.39734215e-01 -2.88878483e-02 1.17113942e+02] [ 1.06822031e-01 -8.16283082e-03 9.94244649e-01 5.97497321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.3250998929999 meters 0.060975937282933136 Centerline is valid? [True, True] Translation: X:560.72, Y:117.13, Z:59.76 [[ 9.33963788e-01 -3.42126904e-01 -1.03251264e-01 5.60720279e+02] [ 3.41001882e-01 9.39617920e-01 -2.89116139e-02 1.17131202e+02] [ 1.06908179e-01 -8.20647481e-03 9.94235030e-01 5.97560447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.3850998929998 meters 0.06460066568050472 Centerline is valid? [True, True] Translation: X:560.78, Y:117.14, Z:59.76 [[ 9.34170279e-01 -3.41719090e-01 -1.02732439e-01 5.60778038e+02] [ 3.40602439e-01 9.39767112e-01 -2.87707263e-02 1.17140086e+02] [ 1.06376074e-01 -8.11416179e-03 9.94292860e-01 5.97631808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.4450998929999 meters 0.06088465678973012 Centerline is valid? [True, True] Translation: X:560.83, Y:117.17, Z:59.77 [[ 9.34416492e-01 -3.41641758e-01 -1.00730970e-01 5.60831717e+02] [ 3.40567414e-01 9.39796695e-01 -2.82136297e-02 1.17166480e+02] [ 1.04305587e-01 -7.94240511e-03 9.94513581e-01 5.97711830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.5050998929999 meters 0.06657653462706678 Centerline is valid? [True, True] Translation: X:560.89, Y:117.17, Z:59.78 [[ 9.34858846e-01 -3.40671685e-01 -9.99086658e-02 5.60891997e+02] [ 3.39608157e-01 9.40150309e-01 -2.79945694e-02 1.17169746e+02] [ 1.03466120e-01 -7.75882698e-03 9.94602716e-01 5.97783642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.5650998929999 meters 0.06500773752012241 Centerline is valid? [True, True] Translation: X:560.95, Y:117.19, Z:59.79 [[ 9.34987415e-01 -3.40294906e-01 -9.99895491e-02 5.60946439e+02] [ 3.39227339e-01 9.40287057e-01 -2.80189635e-02 1.17192029e+02] [ 1.03553589e-01 -7.72181036e-03 9.94593901e-01 5.97850174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.6250998929999 meters 0.056107129989849264 Centerline is valid? [True, True] Translation: X:561.00, Y:117.24, Z:59.79 [[ 9.34784511e-01 -3.40557768e-01 -1.00986759e-01 5.60997037e+02] [ 3.39469963e-01 9.40191023e-01 -2.83016594e-02 1.17235416e+02] [ 1.04585194e-01 -7.82601838e-03 9.94485138e-01 5.97911960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.6850998929999 meters 0.059703436862718624 Centerline is valid? [True, True] Translation: X:561.06, Y:117.24, Z:59.80 [[ 9.34924523e-01 -3.39487826e-01 -1.03267385e-01 5.61057318e+02] [ 3.38343825e-01 9.40577421e-01 -2.89408347e-02 1.17238949e+02] [ 1.06956032e-01 -7.88238598e-03 9.94232506e-01 5.97957080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.7450998929999 meters 0.057195101333285474 Centerline is valid? [True, True] Translation: X:561.11, Y:117.27, Z:59.80 [[ 9.35186651e-01 -3.38611318e-01 -1.03770431e-01 5.61111782e+02] [ 3.37450682e-01 9.40893846e-01 -2.90827747e-02 1.17265281e+02] [ 1.07484716e-01 -7.81957992e-03 9.94175985e-01 5.98022538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.8050998929999 meters 0.05842669253695223 Centerline is valid? [True, True] Translation: X:561.17, Y:117.28, Z:59.81 [[ 9.36203825e-01 -3.36041686e-01 -1.02948453e-01 5.61169907e+02] [ 3.34883714e-01 9.41817554e-01 -2.88546899e-02 1.17281549e+02] [ 1.06655039e-01 -7.46188927e-03 9.94268084e-01 5.98094577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.8650998929999 meters 0.06327633880396748 Centerline is valid? [True, True] Translation: X:561.23, Y:117.28, Z:59.82 [[ 9.37942367e-01 -3.31513163e-01 -1.01799499e-01 5.61230399e+02] [ 3.30354486e-01 9.43425590e-01 -2.85318956e-02 1.17284880e+02] [ 1.05498951e-01 -6.86864742e-03 9.94395692e-01 5.98158582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.9250998929999 meters 0.06515135323015402 Centerline is valid? [True, True] Translation: X:561.29, Y:117.30, Z:59.82 [[ 9.39392745e-01 -3.27771396e-01 -1.00534485e-01 5.61288134e+02] [ 3.26619991e-01 9.44735615e-01 -2.81779991e-02 1.17299288e+02] [ 1.04214451e-01 -6.36636475e-03 9.94534473e-01 5.98227246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.9850998929999 meters 0.06422719416211739 Centerline is valid? [True, True] Translation: X:561.34, Y:117.32, Z:59.83 [[ 9.39484327e-01 -3.27631604e-01 -1.00133565e-01 5.61343661e+02] [ 3.26488524e-01 9.44784383e-01 -2.80662263e-02 1.17319270e+02] [ 1.03800011e-01 -6.32468010e-03 9.94578079e-01 5.98289377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.0450998929999 meters 0.05644372939182803 Centerline is valid? [True, True] Translation: X:561.40, Y:117.35, Z:59.83 [[ 9.38299354e-01 -3.30721717e-01 -1.01081492e-01 5.61395678e+02] [ 3.29573536e-01 9.43704396e-01 -2.83425004e-02 1.17354715e+02] [ 1.04764528e-01 -6.72003473e-03 9.94474351e-01 5.98346601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.1050998929999 meters 0.06277975358390118 Centerline is valid? [True, True] Translation: X:561.46, Y:117.35, Z:59.84 [[ 9.36671729e-01 -3.35159070e-01 -1.01560181e-01 5.61457282e+02] [ 3.34025826e-01 9.42133658e-01 -2.84766327e-02 1.17352493e+02] [ 1.05227466e-01 -7.25046645e-03 9.94421747e-01 5.98395849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.1650998929998 meters 0.06137956903945765 Centerline is valid? [True, True] Translation: X:561.51, Y:117.37, Z:59.85 [[ 9.35763112e-01 -3.37693644e-01 -1.01540140e-01 5.61514910e+02] [ 3.36575705e-01 9.41225921e-01 -2.84703436e-02 1.17370097e+02] [ 1.05186466e-01 -7.53444679e-03 9.94423974e-01 5.98456285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.2250998929999 meters 0.057926704393586576 Centerline is valid? [True, True] Translation: X:561.57, Y:117.40, Z:59.85 [[ 9.34680573e-01 -3.40579985e-01 -1.01870018e-01 5.61569920e+02] [ 3.39471747e-01 9.40182483e-01 -2.85627632e-02 1.17396172e+02] [ 1.05504312e-01 -7.88493297e-03 9.94387584e-01 5.98511715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.2850998929998 meters 0.06675474130408679 Centerline is valid? [True, True] Translation: X:561.63, Y:117.39, Z:59.86 [[ 9.34316893e-01 -3.41393778e-01 -1.02480397e-01 5.61632532e+02] [ 3.40277023e-01 9.39886105e-01 -2.87342462e-02 1.17389187e+02] [ 1.06129594e-01 -8.02483284e-03 9.94319924e-01 5.98556537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.3450998929999 meters 0.06120240714648716 Centerline is valid? [True, True] Translation: X:561.69, Y:117.42, Z:59.86 [[ 9.33928576e-01 -3.42332735e-01 -1.02886900e-01 5.61686839e+02] [ 3.41212462e-01 9.39543339e-01 -2.88508190e-02 1.17416805e+02] [ 1.06543281e-01 -8.16168804e-03 9.94274568e-01 5.98620778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4050998929998 meters 0.06496976620903692 Centerline is valid? [True, True] Translation: X:561.75, Y:117.42, Z:59.87 [[ 9.33566166e-01 -3.43595223e-01 -1.01963408e-01 5.61746816e+02] [ 3.42502334e-01 9.39081786e-01 -2.85928469e-02 1.17423277e+02] [ 1.05576345e-01 -8.22939093e-03 9.94377148e-01 5.98691171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4650998929999 meters 0.06315637678331286 Centerline is valid? [True, True] Translation: X:561.80, Y:117.44, Z:59.87 [[ 9.32904142e-01 -3.45039717e-01 -1.03138041e-01 5.61803126e+02] [ 3.43930251e-01 9.38549679e-01 -2.89220068e-02 1.17444680e+02] [ 1.06779417e-01 -8.49083258e-03 9.94246479e-01 5.98742136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.5250998929998 meters 0.06092150624878372 Centerline is valid? [True, True] Translation: X:561.86, Y:117.46, Z:59.88 [[ 9.32178865e-01 -3.46568745e-01 -1.04559405e-01 5.61860573e+02] [ 3.45437974e-01 9.37983422e-01 -2.93207401e-02 1.17463344e+02] [ 1.08236641e-01 -8.78661484e-03 9.94086327e-01 5.98789760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.5850998929999 meters 0.0607288471075841 Centerline is valid? [True, True] Translation: X:561.92, Y:117.48, Z:59.88 [[ 9.31753865e-01 -3.47539234e-01 -1.05124762e-01 5.61918256e+02] [ 3.46402302e-01 9.37622746e-01 -2.94793213e-02 1.17481094e+02] [ 1.08812589e-01 -8.94798815e-03 9.94022009e-01 5.98848816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.6450998929998 meters 0.058905209315529984 Centerline is valid? [True, True] Translation: X:561.97, Y:117.50, Z:59.89 [[ 9.31711344e-01 -3.47580615e-01 -1.05364543e-01 5.61972138e+02] [ 3.46438679e-01 9.37607169e-01 -2.95472179e-02 1.17503377e+02] [ 1.09060591e-01 -8.97287485e-03 9.93994605e-01 5.98910953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.7050998929999 meters 0.06395826675398877 Centerline is valid? [True, True] Translation: X:562.03, Y:117.51, Z:59.90 [[ 9.32444645e-01 -3.45602691e-01 -1.05383891e-01 5.62032538e+02] [ 3.44446422e-01 9.38340317e-01 -2.95653971e-02 1.17505336e+02] [ 1.09103835e-01 -8.73100802e-03 9.93992013e-01 5.98967484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.7650998929998 meters 0.06020119004547736 Centerline is valid? [True, True] Translation: X:562.09, Y:117.53, Z:59.90 [[ 9.32852165e-01 -3.44475765e-01 -1.05466986e-01 5.62087220e+02] [ 3.43310290e-01 9.38755783e-01 -2.95909649e-02 1.17530859e+02] [ 1.09201114e-01 -8.60390591e-03 9.93982439e-01 5.99032481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.8250998929999 meters 0.059099700379755926 Centerline is valid? [True, True] Translation: X:562.14, Y:117.55, Z:59.91 [[ 9.33001937e-01 -3.44022742e-01 -1.05620729e-01 5.62142890e+02] [ 3.42850918e-01 9.38922270e-01 -2.96347467e-02 1.17549068e+02] [ 1.09364682e-01 -8.56288795e-03 9.93964810e-01 5.99093950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.8850998929998 meters 0.05725238903253843 Centerline is valid? [True, True] Translation: X:562.20, Y:117.57, Z:59.92 [[ 9.32480199e-01 -3.45316575e-01 -1.06005386e-01 5.62199457e+02] [ 3.44144124e-01 9.38445528e-01 -2.97457940e-02 1.17570641e+02] [ 1.09751997e-01 -8.74376697e-03 9.93920543e-01 5.99160829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.9450998929999 meters 0.05665778170155897 Centerline is valid? [True, True] Translation: X:562.26, Y:117.59, Z:59.92 [[ 9.32101390e-01 -3.46271832e-01 -1.06220608e-01 5.62256017e+02] [ 3.45100810e-01 9.38092242e-01 -2.98056516e-02 1.17589662e+02] [ 1.09965586e-01 -8.87492868e-03 9.93895772e-01 5.99229570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.0050998929999 meters 0.05671666494809787 Centerline is valid? [True, True] Translation: X:562.31, Y:117.60, Z:59.93 [[ 9.30716789e-01 -3.49974316e-01 -1.06227290e-01 5.62314606e+02] [ 3.48826859e-01 9.36713015e-01 -2.98085639e-02 1.17602735e+02] [ 1.09936717e-01 -9.31160084e-03 9.93894971e-01 5.99298873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.0650998929999 meters 0.0601614173565395 Centerline is valid? [True, True] Translation: X:562.38, Y:117.61, Z:59.94 [[ 9.29669362e-01 -3.52873286e-01 -1.05807950e-01 5.62375657e+02] [ 3.51753457e-01 9.35621707e-01 -2.96905248e-02 1.17608525e+02] [ 1.09473208e-01 -9.61594094e-03 9.93943233e-01 5.99354855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.1250998929999 meters 0.05919051669098832 Centerline is valid? [True, True] Translation: X:562.43, Y:117.63, Z:59.94 [[ 9.29459060e-01 -3.53366173e-01 -1.06010397e-01 5.62431315e+02] [ 3.52245245e-01 9.35434870e-01 -2.97471370e-02 1.17625671e+02] [ 1.09677453e-01 -9.69291215e-03 9.93919968e-01 5.99417614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.1850998929999 meters 0.05876497306218252 Centerline is valid? [True, True] Translation: X:562.49, Y:117.64, Z:59.95 [[ 9.30724512e-01 -3.50069424e-01 -1.05845553e-01 5.62488494e+02] [ 3.48929558e-01 9.36677806e-01 -2.97128038e-02 1.17644723e+02] [ 1.09544725e-01 -9.27820723e-03 9.93938564e-01 5.99478902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.2450998929999 meters 0.06313999444112449 Centerline is valid? [True, True] Translation: X:562.55, Y:117.65, Z:59.95 [[ 9.33281404e-01 -3.43008554e-01 -1.06446953e-01 5.62548407e+02] [ 3.41809852e-01 9.39293871e-01 -2.98839312e-02 1.17650597e+02] [ 1.10235414e-01 -8.49449997e-03 9.93869205e-01 5.99529563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.3050998929999 meters 0.059794394094186326 Centerline is valid? [True, True] Translation: X:562.60, Y:117.68, Z:59.96 [[ 9.35138915e-01 -3.37777164e-01 -1.06872804e-01 5.62604146e+02] [ 3.36534842e-01 9.41192885e-01 -3.00042333e-02 1.17675651e+02] [ 1.10722667e-01 -7.90829591e-03 9.93819878e-01 5.99593391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.3650998929999 meters 0.06342494460190351 Centerline is valid? [True, True] Translation: X:562.66, Y:117.68, Z:59.96 [[ 9.38538683e-01 -3.28392881e-01 -1.06316770e-01 5.62663041e+02] [ 3.27103301e-01 9.44517021e-01 -2.98500800e-02 1.17683455e+02] [ 1.10220552e-01 -6.76111153e-03 9.93884157e-01 5.99647433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.4250998929999 meters 0.05693045431199551 Centerline is valid? [True, True] Translation: X:562.72, Y:117.72, Z:59.97 [[ 9.40907137e-01 -3.21628755e-01 -1.06059900e-01 5.62715550e+02] [ 3.20302530e-01 9.46847144e-01 -2.97787611e-02 1.17718780e+02] [ 1.10000220e-01 -5.95220553e-03 9.93913740e-01 5.99732179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.4850998929999 meters 0.06180820877742888 Centerline is valid? [True, True] Translation: X:562.78, Y:117.72, Z:59.98 [[ 9.44846402e-01 -3.09887271e-01 -1.05996019e-01 5.62777423e+02] [ 3.08488644e-01 9.50762288e-01 -2.97628708e-02 1.17719468e+02] [ 1.10000152e-01 -4.57722665e-03 9.93921031e-01 5.99765800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.5450998929999 meters 0.05779412145232521 Centerline is valid? [True, True] Translation: X:562.83, Y:117.75, Z:59.98 [[ 9.48102896e-01 -2.99166383e-01 -1.07705028e-01 5.62831896e+02] [ 2.97652996e-01 9.54194959e-01 -3.02435884e-02 1.17747709e+02] [ 1.11819460e-01 -3.38469063e-03 9.93722774e-01 5.99817853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.6050998929999 meters 0.056760188120439974 Centerline is valid? [True, True] Translation: X:562.89, Y:117.77, Z:59.99 [[ 9.50244050e-01 -2.92288431e-01 -1.07720555e-01 5.62887854e+02] [ 2.90730155e-01 9.56326753e-01 -3.02509268e-02 1.17768986e+02] [ 1.11858044e-01 -2.57185033e-03 9.93720868e-01 5.99893949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.6650998929998 meters 0.05636087106748568 Centerline is valid? [True, True] Translation: X:562.95, Y:117.78, Z:60.00 [[ 9.52996200e-01 -2.83338681e-01 -1.07319308e-01 5.62945123e+02] [ 2.81735168e-01 9.59018719e-01 -3.01395374e-02 1.17784691e+02] [ 1.11460922e-01 -1.51275858e-03 9.93767666e-01 5.99962815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.7250998929999 meters 0.057828305233692937 Centerline is valid? [True, True] Translation: X:563.00, Y:117.81, Z:60.02 [[ 9.54567699e-01 -2.78092884e-01 -1.07074067e-01 5.62997486e+02] [ 2.76463584e-01 9.60553770e-01 -3.00722760e-02 1.17811436e+02] [ 1.11213285e-01 -8.96057046e-04 9.93796157e-01 6.00150130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.7850998929998 meters 0.058700938932543724 Centerline is valid? [True, True] Translation: X:563.06, Y:117.81, Z:60.02 [[ 9.56314043e-01 -2.72269477e-01 -1.06455545e-01 5.63061420e+02] [ 2.70622862e-01 9.62221017e-01 -2.98995219e-02 1.17812709e+02] [ 1.10574490e-01 -2.15971678e-04 9.93867816e-01 6.00224204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.8450998929999 meters 0.05778656391621579 Centerline is valid? [True, True] Translation: X:563.12, Y:117.82, Z:60.03 [[ 9.56624459e-01 -2.71306095e-01 -1.06125619e-01 5.63123616e+02] [ 2.69665035e-01 9.62493112e-01 -2.97956196e-02 1.17816342e+02] [ 1.10228911e-01 -1.15150451e-04 9.93906220e-01 6.00255957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9050998929998 meters 0.05849947868132718 Centerline is valid? [True, True] Translation: X:563.18, Y:117.83, Z:60.03 [[ 9.55752606e-01 -2.74284492e-01 -1.06324846e-01 5.63181595e+02] [ 2.72656683e-01 9.61648479e-01 -2.98418348e-02 1.17826474e+02] [ 1.10432279e-01 -4.68768568e-04 9.93883540e-01 6.00320794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9650998929999 meters 0.059376710877839634 Centerline is valid? [True, True] Translation: X:563.24, Y:117.84, Z:60.04 [[ 9.53232539e-01 -2.82889698e-01 -1.06400873e-01 5.63241508e+02] [ 2.81312531e-01 9.59151333e-01 -2.98660345e-02 1.17838183e+02] [ 1.10503333e-01 -1.46262308e-03 9.93874677e-01 6.00383519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.0250998929998 meters 0.05827911432848201 Centerline is valid? [True, True] Translation: X:563.31, Y:117.81, Z:60.03 [[ 9.49600318e-01 -2.94711393e-01 -1.06791534e-01 5.63312651e+02] [ 2.93196927e-01 9.55582068e-01 -2.99745407e-02 1.17807197e+02] [ 1.10881914e-01 -2.84711640e-03 9.93829510e-01 6.00323435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.0850998929999 meters 0.058694986647792366 Centerline is valid? [True, True] Translation: X:563.37, Y:117.81, Z:60.04 [[ 9.46995673e-01 -3.03019874e-01 -1.06668420e-01 5.63373240e+02] [ 3.01561206e-01 9.52976606e-01 -2.99403884e-02 1.17812074e+02] [ 1.10725042e-01 -3.81363933e-03 9.93843761e-01 6.00392805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.1450998929998 meters 0.05970514531021608 Centerline is valid? [True, True] Translation: X:563.44, Y:117.81, Z:60.04 [[ 9.43368831e-01 -3.13965431e-01 -1.07149231e-01 5.63436615e+02] [ 3.12563504e-01 9.49420618e-01 -3.00756875e-02 1.17807450e+02] [ 1.11172415e-01 -5.11847282e-03 9.93787953e-01 6.00448138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.2050998929999 meters 0.06060905521346604 Centerline is valid? [True, True] Translation: X:563.50, Y:117.81, Z:60.05 [[ 9.41471780e-01 -3.19738207e-01 -1.06763130e-01 5.63498958e+02] [ 3.18383125e-01 9.47488311e-01 -2.99680842e-02 1.17807620e+02] [ 1.10738759e-01 -5.77747330e-03 9.93832757e-01 6.00506898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.2650998929998 meters 0.06164416366477006 Centerline is valid? [True, True] Translation: X:563.56, Y:117.80, Z:60.06 [[ 9.39172611e-01 -3.26739068e-01 -1.05812988e-01 5.63563254e+02] [ 3.25452146e-01 9.45091938e-01 -2.97006705e-02 1.17801547e+02] [ 1.09707371e-01 -6.54300770e-03 9.93942394e-01 6.00574234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.3250998929999 meters 0.06440806408752307 Centerline is valid? [True, True] Translation: X:563.63, Y:117.80, Z:60.06 [[ 9.38552791e-01 -3.28398875e-01 -1.06173622e-01 5.63625025e+02] [ 3.27113573e-01 9.44514951e-01 -2.98029897e-02 1.17800772e+02] [ 1.10069842e-01 -6.75915378e-03 9.93900872e-01 6.00624371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.3850998929998 meters 0.06420861574519267 Centerline is valid? [True, True] Translation: X:563.68, Y:117.80, Z:60.07 [[ 9.38845370e-01 -3.27786796e-01 -1.05476002e-01 5.63683756e+02] [ 3.26514310e-01 9.44728380e-01 -2.96090168e-02 1.17803718e+02] [ 1.09351617e-01 -6.64113554e-03 9.93980945e-01 6.00687462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.4450998929999 meters 0.06420141064498659 Centerline is valid? [True, True] Translation: X:563.74, Y:117.81, Z:60.07 [[ 9.39554186e-01 -3.25809522e-01 -1.05290492e-01 5.63743138e+02] [ 3.24528716e-01 9.45413800e-01 -2.95611111e-02 1.17812700e+02] [ 1.09174376e-01 -6.39552274e-03 9.94002039e-01 6.00749210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.5050998929999 meters 0.06312742483691769 Centerline is valid? [True, True] Translation: X:563.80, Y:117.82, Z:60.08 [[ 9.40883370e-01 -3.21878201e-01 -1.05512591e-01 5.63802583e+02] [ 3.20567356e-01 9.46762380e-01 -2.96237407e-02 1.17821562e+02] [ 1.09430588e-01 -5.95140729e-03 9.93976623e-01 6.00813661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.5650998929999 meters 0.06265109160990417 Centerline is valid? [True, True] Translation: X:563.86, Y:117.83, Z:60.09 [[ 9.42440681e-01 -3.17530012e-01 -1.04786709e-01 5.63862257e+02] [ 3.16210244e-01 9.48232809e-01 -2.94214560e-02 1.17825275e+02] [ 1.08704391e-01 -5.40665378e-03 9.94059417e-01 6.00878179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.6250998929999 meters 0.0631352241707955 Centerline is valid? [True, True] Translation: X:563.92, Y:117.83, Z:60.09 [[ 9.43477543e-01 -3.14647487e-01 -1.04149336e-01 5.63921031e+02] [ 3.13326085e-01 9.49195208e-01 -2.92441800e-02 1.17831502e+02] [ 1.08059659e-01 -5.04147665e-03 9.94131628e-01 6.00942956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.6850998929999 meters 0.06132578322585142 Centerline is valid? [True, True] Translation: X:563.98, Y:117.84, Z:60.10 [[ 9.44357983e-01 -3.11332138e-01 -1.06114562e-01 5.63979893e+02] [ 3.09939220e-01 9.50289297e-01 -2.97981897e-02 1.17844673e+02] [ 1.10116666e-01 -4.74890613e-03 9.93907324e-01 6.00997102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.7450998929999 meters 0.060963438128093704 Centerline is valid? [True, True] Translation: X:564.04, Y:117.85, Z:60.11 [[ 9.44832636e-01 -3.10466196e-01 -1.04412794e-01 5.64039148e+02] [ 3.09112358e-01 9.50573426e-01 -2.93208528e-02 1.17850213e+02] [ 1.08355161e-01 -4.57198629e-03 9.94101733e-01 6.01067219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.8050998929999 meters 0.06183640023282353 Centerline is valid? [True, True] Translation: X:564.10, Y:117.85, Z:60.11 [[ 9.45028727e-01 -3.10549732e-01 -1.02369768e-01 5.64099037e+02] [ 3.09248578e-01 9.50546540e-01 -2.87505130e-02 1.17848422e+02] [ 1.06235693e-01 -4.48764440e-03 9.94330850e-01 6.01129669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.8650998929999 meters 0.06080563842030846 Centerline is valid? [True, True] Translation: X:564.15, Y:117.86, Z:60.12 [[ 9.45015845e-01 -3.10631232e-01 -1.02241332e-01 5.64154798e+02] [ 3.09333127e-01 9.50519923e-01 -2.87209499e-02 1.17863946e+02] [ 1.06104047e-01 -4.48487829e-03 9.94344919e-01 6.01191195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.9250998929999 meters 0.06365013074116925 Centerline is valid? [True, True] Translation: X:564.20, Y:117.90, Z:60.13 [[ 9.45637206e-01 -3.08989398e-01 -1.01468351e-01 5.64204613e+02] [ 3.07700078e-01 9.51055964e-01 -2.85169484e-02 1.17904624e+02] [ 1.05313515e-01 -4.25513209e-03 9.94429966e-01 6.01255277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.9850998929999 meters 0.06289974945709999 Centerline is valid? [True, True] Translation: X:564.27, Y:117.91, Z:60.13 [[ 9.46556071e-01 -3.06439418e-01 -1.00630448e-01 5.64265923e+02] [ 3.05156816e-01 9.51882024e-01 -2.82830480e-02 1.17909013e+02] [ 1.04455355e-01 -3.93657629e-03 9.94521786e-01 6.01312557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.0450998929999 meters 0.062155327896276695 Centerline is valid? [True, True] Translation: X:564.33, Y:117.90, Z:60.14 [[ 9.48145148e-01 -3.01921643e-01 -9.93181728e-02 5.64329257e+02] [ 3.00647559e-01 9.53326708e-01 -2.79147512e-02 1.17904861e+02] [ 1.03110734e-01 -3.39253034e-03 9.94664098e-01 6.01365911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.1050998929999 meters 0.05979635286356857 Centerline is valid? [True, True] Translation: X:564.39, Y:117.90, Z:60.14 [[ 9.48936092e-01 -2.99475621e-01 -9.91697846e-02 5.64392363e+02] [ 2.98191978e-01 9.54098847e-01 -2.78735558e-02 1.17896848e+02] [ 1.02965227e-01 -3.12141112e-03 9.94680058e-01 6.01431008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.1650998929998 meters 0.058719898751943944 Centerline is valid? [True, True] Translation: X:564.45, Y:117.89, Z:60.15 [[ 9.49021735e-01 -2.99672057e-01 -9.77466401e-02 5.64454150e+02] [ 2.98425978e-01 9.54037249e-01 -2.74747623e-02 1.17892846e+02] [ 1.01487354e-01 -3.09599012e-03 9.94832012e-01 6.01484639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.2250998929999 meters 0.060398916511992834 Centerline is valid? [True, True] Translation: X:564.51, Y:117.90, Z:60.15 [[ 9.47064256e-01 -3.05611070e-01 -9.83421003e-02 5.64514692e+02] [ 3.04380524e-01 9.52149069e-01 -2.76522641e-02 1.17898891e+02] [ 1.02087177e-01 -3.74494906e-03 9.94768407e-01 6.01548143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.2850998929998 meters 0.06032406587394019 Centerline is valid? [True, True] Translation: X:564.58, Y:117.90, Z:60.16 [[ 9.45249708e-01 -3.11163980e-01 -9.83868201e-02 5.64575804e+02] [ 3.09962132e-01 9.50346303e-01 -2.76655332e-02 1.17902228e+02] [ 1.02110068e-01 -4.34535132e-03 9.94763616e-01 6.01611938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.3450998929999 meters 0.05904330598831546 Centerline is valid? [True, True] Translation: X:564.64, Y:117.89, Z:60.17 [[ 9.42913680e-01 -3.18440678e-01 -9.75157761e-02 5.64640989e+02] [ 3.17298613e-01 9.47929148e-01 -2.74211734e-02 1.17889882e+02] [ 1.01170064e-01 -5.08582101e-03 9.94856147e-01 6.01685346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4050998929998 meters 0.06023008564141138 Centerline is valid? [True, True] Translation: X:564.70, Y:117.89, Z:60.17 [[ 9.40417687e-01 -3.25938571e-01 -9.68432905e-02 5.64702229e+02] [ 3.24851499e-01 9.45372857e-01 -2.72335085e-02 1.17894144e+02] [ 1.00429469e-01 -5.84881499e-03 9.94926989e-01 6.01741189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4650998929999 meters 0.06067767599550279 Centerline is valid? [True, True] Translation: X:564.76, Y:117.90, Z:60.18 [[ 9.38567968e-01 -3.31100168e-01 -9.72771706e-02 5.64761916e+02] [ 3.30030669e-01 9.43573716e-01 -2.73568923e-02 1.17901774e+02] [ 1.00846053e-01 -6.42814696e-03 9.94881276e-01 6.01794667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.5250998929998 meters 0.06611766282827017 Centerline is valid? [True, True] Translation: X:564.82, Y:117.92, Z:60.18 [[ 9.35378726e-01 -3.39920167e-01 -9.75751938e-02 5.64820205e+02] [ 3.38891409e-01 9.40425192e-01 -2.74421523e-02 1.17915170e+02] [ 1.01090311e-01 -7.39858948e-03 9.94849742e-01 6.01842126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.5850998929999 meters 0.07115784923391232 Centerline is valid? [True, True] Translation: X:564.88, Y:117.93, Z:60.19 [[ 9.31557807e-01 -3.50116645e-01 -9.80733775e-02 5.64879453e+02] [ 3.49132960e-01 9.36667134e-01 -2.75836328e-02 1.17926736e+02] [ 1.01519598e-01 -8.54490010e-03 9.94796841e-01 6.01902399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.6450998929998 meters 0.059610041480510176 Centerline is valid? [True, True] Translation: X:564.95, Y:117.89, Z:60.20 [[ 9.28365155e-01 -3.58407545e-01 -9.83980235e-02 5.64949406e+02] [ 3.57463092e-01 9.33517092e-01 -2.76762687e-02 1.17892511e+02] [ 1.01775620e-01 -9.47997824e-03 9.94762209e-01 6.01982107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.7050998929999 meters 0.063535408469655 Centerline is valid? [True, True] Translation: X:565.00, Y:117.92, Z:60.20 [[ 9.25239122e-01 -3.66411559e-01 -9.83622700e-02 5.65004850e+02] [ 3.65512139e-01 9.30395280e-01 -2.76676690e-02 1.17915056e+02] [ 1.01653545e-01 -1.03533938e-02 9.94765985e-01 6.02044562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.7650998929998 meters 0.07250101312093135 Centerline is valid? [True, True] Translation: X:565.06, Y:117.95, Z:60.21 [[ 9.22389248e-01 -3.73432088e-01 -9.87246224e-02 5.65057968e+02] [ 3.72565354e-01 9.27590325e-01 -2.77713390e-02 1.17945570e+02] [ 1.01946714e-01 -1.11653894e-02 9.94727200e-01 6.02102042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.8250998929999 meters 0.05985643286609637 Centerline is valid? [True, True] Translation: X:565.13, Y:117.91, Z:60.22 [[ 9.19340130e-01 -3.80898780e-01 -9.86399728e-02 5.65129006e+02] [ 3.80075488e-01 9.24539132e-01 -2.77491913e-02 1.17913616e+02] [ 1.01766148e-01 -1.19796906e-02 9.94736215e-01 6.02169372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.8850998929998 meters 0.058908817955737575 Centerline is valid? [True, True] Translation: X:565.19, Y:117.92, Z:60.22 [[ 9.17991553e-01 -3.84020912e-01 -9.90931273e-02 5.65189664e+02] [ 3.83207732e-01 9.23241378e-01 -2.78781683e-02 1.17915351e+02] [ 1.02192675e-01 -1.23813295e-02 9.94687569e-01 6.02232925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.9450998929999 meters 0.058484087149373414 Centerline is valid? [True, True] Translation: X:565.25, Y:117.92, Z:60.23 [[ 9.16180825e-01 -3.88101241e-01 -9.99505961e-02 5.65250066e+02] [ 3.87297468e-01 9.21525817e-01 -2.81218914e-02 1.17920321e+02] [ 1.03021196e-01 -1.29458751e-02 9.94594911e-01 6.02302434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.0050998929999 meters 0.05953024570176794 Centerline is valid? [True, True] Translation: X:565.30, Y:117.95, Z:60.24 [[ 9.15592294e-01 -3.89520806e-01 -9.98213020e-02 5.65303140e+02] [ 3.88727297e-01 9.20924673e-01 -2.80862218e-02 1.17952186e+02] [ 1.02868068e-01 -1.30877367e-02 9.94608904e-01 6.02372466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.0650998929999 meters 0.0586284263332032 Centerline is valid? [True, True] Translation: X:565.36, Y:117.95, Z:60.24 [[ 9.17208311e-01 -3.85864909e-01 -9.91825948e-02 5.65363841e+02] [ 3.85060491e-01 9.22469315e-01 -2.79066610e-02 1.17951959e+02] [ 1.02261101e-01 -1.25950773e-02 9.94677853e-01 6.02432353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.1250998929999 meters 0.06683228411495336 Centerline is valid? [True, True] Translation: X:565.41, Y:118.00, Z:60.25 [[ 9.19199382e-01 -3.81016960e-01 -9.94915668e-02 5.65411458e+02] [ 3.80179333e-01 9.24488990e-01 -2.79961042e-02 1.18002199e+02] [ 1.02645849e-01 -1.20906359e-02 9.94644482e-01 6.02489029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.1850998929999 meters 0.06533809786127574 Centerline is valid? [True, True] Translation: X:565.47, Y:118.01, Z:60.25 [[ 9.21288512e-01 -3.75752067e-01 -1.00189132e-01 5.65470490e+02] [ 3.74871756e-01 9.26647844e-01 -2.81946813e-02 1.18013317e+02] [ 1.03434253e-01 -1.15826397e-02 9.94568850e-01 6.02549702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.2450998929999 meters 0.06416571074113112 Centerline is valid? [True, True] Translation: X:565.53, Y:118.02, Z:60.26 [[ 9.25231054e-01 -3.66000308e-01 -9.99563442e-02 5.65528927e+02] [ 3.65067593e-01 9.30555908e-01 -2.81310286e-02 1.18022591e+02] [ 1.03310932e-01 -1.04631207e-02 9.94594075e-01 6.02617526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.3050998929999 meters 0.062411833700338745 Centerline is valid? [True, True] Translation: X:565.59, Y:118.03, Z:60.27 [[ 9.27986656e-01 -3.59077586e-01 -9.95191085e-02 5.65588185e+02] [ 3.58113408e-01 9.33257861e-01 -2.80098517e-02 1.18033489e+02] [ 1.02934700e-01 -9.64635856e-03 9.94641340e-01 6.02679698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.3650998929999 meters 0.058716454267060555 Centerline is valid? [True, True] Translation: X:565.65, Y:118.03, Z:60.27 [[ 9.30414299e-01 -3.52944649e-01 -9.87892001e-02 5.65648556e+02] [ 3.51960100e-01 9.35601888e-01 -2.78063856e-02 1.18034282e+02] [ 1.02241477e-01 -8.89839793e-03 9.94719809e-01 6.02739002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.4250998929999 meters 0.05628897348586372 Centerline is valid? [True, True] Translation: X:565.71, Y:118.03, Z:60.28 [[ 9.32124701e-01 -3.48321128e-01 -9.90753981e-02 5.65709943e+02] [ 3.47304755e-01 9.37337510e-01 -2.78890366e-02 1.18032426e+02] [ 1.02581428e-01 -8.41329706e-03 9.94689030e-01 6.02802143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.4850998929999 meters 0.05749313841227763 Centerline is valid? [True, True] Translation: X:565.77, Y:118.05, Z:60.29 [[ 9.31752514e-01 -3.49137972e-01 -9.96991931e-02 5.65767684e+02] [ 3.48113167e-01 9.37032274e-01 -2.80667120e-02 1.18046001e+02] [ 1.03220517e-01 -8.55537243e-03 9.94621702e-01 6.02866536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.5450998929999 meters 0.056633519405745104 Centerline is valid? [True, True] Translation: X:565.83, Y:118.05, Z:60.29 [[ 9.30717126e-01 -3.51702969e-01 -1.00352644e-01 5.65828152e+02] [ 3.50679155e-01 9.36069381e-01 -2.82532188e-02 1.18049965e+02] [ 1.03873778e-01 -8.89582567e-03 9.94550704e-01 6.02927300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.6050998929999 meters 0.05811580652852131 Centerline is valid? [True, True] Translation: X:565.89, Y:118.07, Z:60.30 [[ 9.30230237e-01 -3.52837794e-01 -1.00882102e-01 5.65885521e+02] [ 3.51809521e-01 9.35640557e-01 -2.84044052e-02 1.18066818e+02] [ 1.04411533e-01 -9.06864725e-03 9.94492831e-01 6.02989738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.6650998929998 meters 0.056344071432850196 Centerline is valid? [True, True] Translation: X:565.95, Y:118.06, Z:60.31 [[ 9.30881781e-01 -3.51563956e-01 -9.93070791e-02 5.65947711e+02] [ 3.50560234e-01 9.36122660e-01 -2.79622569e-02 1.18061457e+02] [ 1.02794129e-01 -8.78355740e-03 9.94663871e-01 6.03053950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.7250998929999 meters 0.0570395598532209 Centerline is valid? [True, True] Translation: X:566.01, Y:118.05, Z:60.31 [[ 9.33525162e-01 -3.44836542e-01 -9.80741137e-02 5.66010497e+02] [ 3.43820594e-01 9.38629175e-01 -2.76164959e-02 1.18053982e+02] [ 1.01578401e-01 -7.93920616e-03 9.94795857e-01 6.03120847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.7850998929998 meters 0.054436456515445264 Centerline is valid? [True, True] Translation: X:566.06, Y:118.08, Z:60.32 [[ 9.35897438e-01 -3.38397028e-01 -9.78950337e-02 5.66064212e+02] [ 3.37349544e-01 9.40975701e-01 -2.75683695e-02 1.18080769e+02] [ 1.01445902e-01 -7.22367860e-03 9.94814831e-01 6.03194014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.8450998929999 meters 0.05427570852297621 Centerline is valid? [True, True] Translation: X:566.12, Y:118.10, Z:60.33 [[ 9.38078014e-01 -3.32244305e-01 -9.80987380e-02 5.66121847e+02] [ 3.31158708e-01 9.43170492e-01 -2.76285040e-02 1.18096503e+02] [ 1.01703248e-01 -6.56855914e-03 9.94793096e-01 6.03258757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9050998929998 meters 0.05469392523960387 Centerline is valid? [True, True] Translation: X:566.18, Y:118.12, Z:60.33 [[ 9.38056917e-01 -3.32166912e-01 -9.85614721e-02 5.66177212e+02] [ 3.31070330e-01 9.43197609e-01 -2.77615982e-02 1.18117603e+02] [ 1.02184429e-01 -6.58881990e-03 9.94743650e-01 6.03311615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9650998929999 meters 0.05590368675385869 Centerline is valid? [True, True] Translation: X:566.23, Y:118.14, Z:60.34 [[ 9.34546778e-01 -3.42211758e-01 -9.75368268e-02 5.66233315e+02] [ 3.41190934e-01 9.39592164e-01 -2.74829434e-02 1.18136526e+02] [ 1.01049825e-01 -7.59458484e-03 9.94852379e-01 6.03372636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.0250998929998 meters 0.05527047453598493 Centerline is valid? [True, True] Translation: X:566.29, Y:118.16, Z:60.34 [[ 9.32025900e-01 -3.49333712e-01 -9.64037299e-02 5.66288870e+02] [ 3.48373882e-01 9.36961923e-01 -2.71660202e-02 1.18158792e+02] [ 9.98166308e-02 -8.26510724e-03 9.94971521e-01 6.03440641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.0850998929999 meters 0.05509587400626428 Centerline is valid? [True, True] Translation: X:566.35, Y:118.16, Z:60.35 [[ 9.28974377e-01 -3.56949512e-01 -9.79471996e-02 5.66348709e+02] [ 3.56000201e-01 9.34078111e-01 -2.76032474e-02 1.18163874e+02] [ 1.01343301e-01 -9.22651317e-03 9.94808729e-01 6.03509378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.1450998929998 meters 0.05557350332336607 Centerline is valid? [True, True] Translation: X:566.40, Y:118.19, Z:60.36 [[ 9.28480574e-01 -3.57605689e-01 -1.00209757e-01 5.66402680e+02] [ 3.56615568e-01 9.33824217e-01 -2.82430135e-02 1.18187323e+02] [ 1.03678160e-01 -9.51327007e-03 9.94565401e-01 6.03551497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.2050998929999 meters 0.056225742921928605 Centerline is valid? [True, True] Translation: X:566.46, Y:118.19, Z:60.36 [[ 9.27887110e-01 -3.58322952e-01 -1.03102734e-01 5.66463112e+02] [ 3.57278872e-01 9.33545518e-01 -2.90615587e-02 1.18190940e+02] [ 1.06664519e-01 -9.87058281e-03 9.94246072e-01 6.03594739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.2650998929998 meters 0.05541270419415074 Centerline is valid? [True, True] Translation: X:566.52, Y:118.22, Z:60.37 [[ 9.27605261e-01 -3.58662208e-01 -1.04450469e-01 5.66516723e+02] [ 3.57592233e-01 9.33413467e-01 -2.94464816e-02 1.18216561e+02] [ 1.08056814e-01 -1.00359650e-02 9.94094062e-01 6.03666005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.3250998929999 meters 0.05528536904030043 Centerline is valid? [True, True] Translation: X:566.57, Y:118.23, Z:60.37 [[ 9.27527619e-01 -3.59318689e-01 -1.02871742e-01 5.66573273e+02] [ 3.58283725e-01 9.33161888e-01 -2.90114233e-02 1.18230112e+02] [ 1.06420336e-01 -9.94837445e-03 9.94271463e-01 6.03739130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.3850998929998 meters 0.055649890650097525 Centerline is valid? [True, True] Translation: X:566.63, Y:118.25, Z:60.38 [[ 9.28646877e-01 -3.57247824e-01 -9.99448359e-02 5.66629046e+02] [ 3.56258813e-01 9.33962034e-01 -2.81882517e-02 1.18250995e+02] [ 1.03414874e-01 -9.42929668e-03 9.94593612e-01 6.03810066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.4450998929999 meters 0.055225661766862486 Centerline is valid? [True, True] Translation: X:566.69, Y:118.25, Z:60.39 [[ 9.30160487e-01 -3.53329954e-01 -9.97968567e-02 5.66688731e+02] [ 3.52321291e-01 9.35455689e-01 -2.81489057e-02 1.18254320e+02] [ 1.03301389e-01 -8.97755755e-03 9.94609585e-01 6.03868795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.5050998929999 meters 0.054978271431414004 Centerline is valid? [True, True] Translation: X:566.75, Y:118.27, Z:60.39 [[ 9.33543335e-01 -3.43941925e-01 -1.00998978e-01 5.66746490e+02] [ 3.42853349e-01 9.38956626e-01 -2.84962376e-02 1.18269088e+02] [ 1.04634711e-01 -8.02536516e-03 9.94478341e-01 6.03910407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.5650998929999 meters 0.055344138267929686 Centerline is valid? [True, True] Translation: X:566.80, Y:118.30, Z:60.40 [[ 9.36071941e-01 -3.36853857e-01 -1.01483001e-01 5.66798111e+02] [ 3.35713117e-01 9.41528921e-01 -2.86355307e-02 1.18304600e+02] [ 1.05195169e-01 -7.26425765e-03 9.94425064e-01 6.03972186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.6250998929999 meters 0.054302019117169704 Centerline is valid? [True, True] Translation: X:566.86, Y:118.30, Z:60.40 [[ 9.39434672e-01 -3.27370559e-01 -1.01444640e-01 5.66859428e+02] [ 3.26175342e-01 9.44875724e-01 -2.86271296e-02 1.18304157e+02] [ 1.05224257e-01 -6.19542201e-03 9.94429219e-01 6.04032964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.6850998929999 meters 0.053813606748876926 Centerline is valid? [True, True] Translation: X:566.91, Y:118.33, Z:60.41 [[ 9.41953200e-01 -3.19835144e-01 -1.02125658e-01 5.66914735e+02] [ 3.18579406e-01 9.47457898e-01 -2.88217675e-02 1.18325918e+02] [ 1.05977975e-01 -5.38637531e-03 9.94353889e-01 6.04097682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.7450998929999 meters 0.053533317280809456 Centerline is valid? [True, True] Translation: X:566.97, Y:118.35, Z:60.42 [[ 9.43330742e-01 -3.15803057e-01 -1.01958523e-01 5.66971087e+02] [ 3.14527721e-01 9.48811993e-01 -2.87769883e-02 1.18345588e+02] [ 1.05827330e-01 -4.92256427e-03 9.94372337e-01 6.04162253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.8050998929999 meters 0.053662855993504635 Centerline is valid? [True, True] Translation: X:567.03, Y:118.35, Z:60.42 [[ 9.44502952e-01 -3.12586131e-01 -1.01015266e-01 5.67030975e+02] [ 3.11315626e-01 9.49878686e-01 -2.85142609e-02 1.18348994e+02] [ 1.04865411e-01 -4.51582722e-03 9.94476170e-01 6.04218879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.8650998929999 meters 0.052625875986161356 Centerline is valid? [True, True] Translation: X:567.09, Y:118.37, Z:60.43 [[ 9.45481032e-01 -3.09913547e-01 -1.00096014e-01 5.67086324e+02] [ 3.08650999e-01 9.50755558e-01 -2.82564930e-02 1.18369808e+02] [ 1.03923912e-01 -4.17875655e-03 9.94576472e-01 6.04284529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.9250998929999 meters 0.052889222132501655 Centerline is valid? [True, True] Translation: X:567.15, Y:118.38, Z:60.44 [[ 9.46533072e-01 -3.06803666e-01 -9.97329136e-02 5.67145340e+02] [ 3.05532915e-01 9.51765153e-01 -2.81554959e-02 1.18379082e+02] [ 1.03560521e-01 -3.82157979e-03 9.94615812e-01 6.04353140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.9850998929999 meters 0.05180966496239246 Centerline is valid? [True, True] Translation: X:567.20, Y:118.40, Z:60.44 [[ 9.48858310e-01 -2.98868883e-01 -1.01711839e-01 5.67202540e+02] [ 2.97501408e-01 9.54289431e-01 -2.87157562e-02 1.18396963e+02] [ 1.05644779e-01 -3.01223153e-03 9.94399370e-01 6.04408469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.0450998929999 meters 0.05200398779746591 Centerline is valid? [True, True] Translation: X:567.26, Y:118.41, Z:60.45 [[ 9.50215902e-01 -2.93959155e-01 -1.03333220e-01 5.67259491e+02] [ 2.92518232e-01 9.55814708e-01 -2.91775291e-02 1.18413984e+02] [ 1.07344413e-01 -2.50189863e-03 9.94218747e-01 6.04450399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.1050998929999 meters 0.05208105005150108 Centerline is valid? [True, True] Translation: X:567.32, Y:118.43, Z:60.45 [[ 9.52154806e-01 -2.87441245e-01 -1.03820792e-01 5.67316232e+02] [ 2.85947791e-01 9.57796631e-01 -2.93167959e-02 1.18431001e+02] [ 1.07866061e-01 -1.77319802e-03 9.94163854e-01 6.04505472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.1650998929998 meters 0.053169714805753984 Centerline is valid? [True, True] Translation: X:567.37, Y:118.44, Z:60.46 [[ 9.54032618e-01 -2.81874804e-01 -1.01825139e-01 5.67374895e+02] [ 2.80406516e-01 9.59450542e-01 -2.87548888e-02 1.18441486e+02] [ 1.05801464e-01 -1.11933074e-03 9.94386644e-01 6.04564843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.2250998929999 meters 0.05253504591135804 Centerline is valid? [True, True] Translation: X:567.43, Y:118.46, Z:60.46 [[ 9.55005207e-01 -2.78668753e-01 -1.01532171e-01 5.67431181e+02] [ 2.77190014e-01 9.60386983e-01 -2.86799343e-02 1.18458407e+02] [ 1.05502377e-01 -7.54217413e-04 9.94418765e-01 6.04630498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.2850998929998 meters 0.05175451648238756 Centerline is valid? [True, True] Translation: X:567.49, Y:118.48, Z:60.47 [[ 9.56558554e-01 -2.73064824e-01 -1.02133908e-01 5.67486318e+02] [ 2.71536221e-01 9.61995626e-01 -2.88530165e-02 1.18478843e+02] [ 1.06131116e-01 -1.33455676e-04 9.94352135e-01 6.04694819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.3450998929999 meters 0.05192874959237046 Centerline is valid? [True, True] Translation: X:567.54, Y:118.50, Z:60.47 [[ 9.57465909e-01 -2.69889411e-01 -1.02072226e-01 5.67540893e+02] [ 2.68343548e-01 9.62891299e-01 -2.88459195e-02 1.18497542e+02] [ 1.06069666e-01 2.28561382e-04 9.94358675e-01 6.04744014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4050998929998 meters 0.05183837441024295 Centerline is valid? [True, True] Translation: X:567.60, Y:118.51, Z:60.48 [[ 9.57994024e-01 -2.67875091e-01 -1.02422581e-01 5.67597015e+02] [ 2.66305814e-01 9.63453538e-01 -2.89567578e-02 1.18514003e+02] [ 1.06436192e-01 4.64672257e-04 9.94319426e-01 6.04806351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4650998929999 meters 0.05167228518068808 Centerline is valid? [True, True] Translation: X:567.65, Y:118.53, Z:60.49 [[ 9.58361928e-01 -2.66748606e-01 -1.01919562e-01 5.67652315e+02] [ 2.65187305e-01 9.63765960e-01 -2.88247863e-02 1.18533127e+02] [ 1.05915576e-01 5.96803818e-04 9.94374947e-01 6.04854618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.5250998929998 meters 0.05086837660362725 Centerline is valid? [True, True] Translation: X:567.71, Y:118.54, Z:60.49 [[ 9.58428493e-01 -2.66497479e-01 -1.01950563e-01 5.67708543e+02] [ 2.64932709e-01 9.63835406e-01 -2.88438784e-02 1.18544591e+02] [ 1.05950383e-01 6.34756148e-04 9.94371215e-01 6.04930212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.5850998929999 meters 0.05248445775711923 Centerline is valid? [True, True] Translation: X:567.76, Y:118.57, Z:60.50 [[ 9.58710008e-01 -2.65562195e-01 -1.01743998e-01 5.67762765e+02] [ 2.63997280e-01 9.64093440e-01 -2.87971340e-02 1.18566809e+02] [ 1.05738151e-01 7.47962020e-04 9.94393727e-01 6.04977105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.6450998929998 meters 0.05243557173874794 Centerline is valid? [True, True] Translation: X:567.82, Y:118.58, Z:60.50 [[ 9.58919146e-01 -2.64791012e-01 -1.01783062e-01 5.67819875e+02] [ 2.63219465e-01 9.64305454e-01 -2.88184724e-02 1.18579725e+02] [ 1.05780834e-01 8.43301891e-04 9.94389111e-01 6.05045175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.7050998929999 meters 0.05199380021584688 Centerline is valid? [True, True] Translation: X:567.88, Y:118.60, Z:60.51 [[ 9.59092761e-01 -2.64148027e-01 -1.01817957e-01 5.67875758e+02] [ 2.62570692e-01 9.64481708e-01 -2.88386380e-02 1.18598816e+02] [ 1.05819227e-01 9.24517543e-04 9.94384954e-01 6.05096708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.7650998929998 meters 0.052644134247609976 Centerline is valid? [True, True] Translation: X:567.93, Y:118.61, Z:60.52 [[ 9.59273070e-01 -2.63454889e-01 -1.01915156e-01 5.67932839e+02] [ 2.61869532e-01 9.64671186e-01 -2.88764712e-02 1.18611771e+02] [ 1.05922262e-01 1.01194701e-03 9.94373899e-01 6.05158895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.8250998929999 meters 0.05198292730300312 Centerline is valid? [True, True] Translation: X:567.99, Y:118.62, Z:60.52 [[ 9.59569415e-01 -2.61470138e-01 -1.04210870e-01 5.67990210e+02] [ 2.59799483e-01 9.65210731e-01 -2.95376599e-02 1.18622541e+02] [ 1.08308666e-01 1.26950495e-03 9.94116503e-01 6.05236718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.8850998929998 meters 0.05216194407193152 Centerline is valid? [True, True] Translation: X:568.05, Y:118.64, Z:60.53 [[ 9.60123285e-01 -2.59297688e-01 -1.04537010e-01 5.68045433e+02] [ 2.57602599e-01 9.65796237e-01 -2.96400048e-02 1.18643274e+02] [ 1.08647035e-01 1.52905333e-03 9.94079214e-01 6.05277358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.9450998929999 meters 0.051592653039884785 Centerline is valid? [True, True] Translation: X:568.10, Y:118.65, Z:60.54 [[ 9.60426409e-01 -2.57940689e-01 -1.05108107e-01 5.68102675e+02] [ 2.56217680e-01 9.66159253e-01 -2.98127132e-02 1.18654771e+02] [ 1.09241082e-01 1.70236168e-03 9.94013827e-01 6.05361658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.0050998929999 meters 0.05224777933321535 Centerline is valid? [True, True] Translation: X:568.16, Y:118.68, Z:60.54 [[ 9.60588403e-01 -2.58106209e-01 -1.03204192e-01 5.68156987e+02] [ 2.56445100e-01 9.66115118e-01 -2.92829325e-02 1.18677264e+02] [ 1.07265236e-01 1.66263609e-03 9.94229050e-01 6.05408791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.0650998929999 meters 0.054014280521338984 Centerline is valid? [True, True] Translation: X:568.21, Y:118.70, Z:60.55 [[ 9.60671929e-01 -2.58663754e-01 -1.01007458e-01 5.68212105e+02] [ 2.57074839e-01 9.65966138e-01 -2.86696251e-02 1.18695068e+02] [ 1.04985577e-01 1.57562806e-03 9.94472496e-01 6.05497677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.1250998929999 meters 0.05464726473612924 Centerline is valid? [True, True] Translation: X:568.27, Y:118.71, Z:60.56 [[ 9.60655864e-01 -2.58820914e-01 -1.00757361e-01 5.68269055e+02] [ 2.57239674e-01 9.65924059e-01 -2.86088020e-02 1.18707203e+02] [ 1.04728516e-01 1.56442272e-03 9.94499618e-01 6.05561515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.1850998929999 meters 0.05350662341113362 Centerline is valid? [True, True] Translation: X:568.32, Y:118.73, Z:60.56 [[ 9.60615919e-01 -2.58343856e-01 -1.02349926e-01 5.68324710e+02] [ 2.56708095e-01 9.66051612e-01 -2.90729626e-02 1.18727695e+02] [ 1.06386133e-01 1.65389604e-03 9.94323516e-01 6.05605152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.2450998929999 meters 0.052499078024401194 Centerline is valid? [True, True] Translation: X:568.38, Y:118.73, Z:60.57 [[ 9.60542838e-01 -2.57416060e-01 -1.05330092e-01 5.68383475e+02] [ 2.55676550e-01 9.66298951e-01 -2.99305709e-02 1.18733151e+02] [ 1.09484967e-01 1.81916094e-03 9.93986787e-01 6.05681034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.3050998929999 meters 0.05465588684129579 Centerline is valid? [True, True] Translation: X:568.44, Y:118.76, Z:60.57 [[ 9.61300920e-01 -2.54209416e-01 -1.06198462e-01 5.68436933e+02] [ 2.52420036e-01 9.67146661e-01 -3.01904087e-02 1.18760247e+02] [ 1.10384174e-01 2.21544814e-03 9.93886526e-01 6.05698844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.3650998929999 meters 0.05435345319831332 Centerline is valid? [True, True] Translation: X:568.49, Y:118.78, Z:60.58 [[ 9.62137954e-01 -2.50415586e-01 -1.07622450e-01 5.68494049e+02] [ 2.48553711e-01 9.68134701e-01 -3.05982539e-02 1.18778871e+02] [ 1.11855308e-01 2.68978210e-03 9.93720864e-01 6.05755592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.4250998929999 meters 0.05217905409839711 Centerline is valid? [True, True] Translation: X:568.55, Y:118.78, Z:60.59 [[ 9.62405942e-01 -2.49457549e-01 -1.07451075e-01 5.68552378e+02] [ 2.47595508e-01 9.68381693e-01 -3.05509699e-02 1.18784682e+02] [ 1.11674823e-01 2.79803158e-03 9.93740864e-01 6.05863053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.4850998929999 meters 0.05225112174742667 Centerline is valid? [True, True] Translation: X:568.61, Y:118.80, Z:60.59 [[ 9.62826688e-01 -2.48618720e-01 -1.05610141e-01 5.68608570e+02] [ 2.46813742e-01 9.68597216e-01 -3.00401278e-02 1.18798664e+02] [ 1.09762226e-01 2.85740275e-03 9.93953766e-01 6.05937315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.5450998929999 meters 0.05406327444931916 Centerline is valid? [True, True] Translation: X:568.66, Y:118.83, Z:60.60 [[ 9.63821608e-01 -2.45819020e-01 -1.03057837e-01 5.68660431e+02] [ 2.44084042e-01 9.69310775e-01 -2.93189803e-02 1.18828513e+02] [ 1.07102235e-01 3.10349331e-03 9.94243169e-01 6.06000855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.6050998929999 meters 0.05299442201441343 Centerline is valid? [True, True] Translation: X:568.72, Y:118.83, Z:60.61 [[ 9.64109405e-01 -2.44757216e-01 -1.02892958e-01 5.68719334e+02] [ 2.43021339e-01 9.69579051e-01 -2.92761566e-02 1.18834106e+02] [ 1.06928407e-01 3.22023353e-03 9.94261508e-01 6.06076990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.6650998929998 meters 0.05276289690283537 Centerline is valid? [True, True] Translation: X:568.78, Y:118.85, Z:60.61 [[ 9.64410198e-01 -2.43215988e-01 -1.03725374e-01 5.68776396e+02] [ 2.41441505e-01 9.69966085e-01 -2.95261416e-02 1.18849379e+02] [ 1.07791324e-01 3.43170169e-03 9.94167619e-01 6.06129151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.7250998929999 meters 0.05284758772429013 Centerline is valid? [True, True] Translation: X:568.83, Y:118.86, Z:60.62 [[ 9.64905469e-01 -2.40042221e-01 -1.06476138e-01 5.68834345e+02] [ 2.38152397e-01 9.70754651e-01 -3.03124427e-02 1.18861008e+02] [ 1.10638472e-01 3.89109414e-03 9.93853102e-01 6.06176589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.7850998929998 meters 0.05550033547756571 Centerline is valid? [True, True] Translation: X:568.89, Y:118.89, Z:60.62 [[ 9.65023440e-01 -2.38647108e-01 -1.08523352e-01 5.68886539e+02] [ 2.36674495e-01 9.71097563e-01 -3.08983249e-02 1.18893252e+02] [ 1.12760559e-01 4.13289813e-03 9.93613595e-01 6.06190659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.8450998929999 meters 0.056366416003414396 Centerline is valid? [True, True] Translation: X:568.94, Y:118.91, Z:60.62 [[ 9.65058469e-01 -2.38732813e-01 -1.08022200e-01 5.68942549e+02] [ 2.36778596e-01 9.71076607e-01 -3.07590548e-02 1.18911915e+02] [ 1.12241027e-01 4.10694151e-03 9.93672524e-01 6.06245475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9050998929998 meters 0.054031366599268923 Centerline is valid? [True, True] Translation: X:569.00, Y:118.92, Z:60.63 [[ 9.64937560e-01 -2.40306427e-01 -1.05585636e-01 5.69002733e+02] [ 2.38447945e-01 9.70689468e-01 -3.00754851e-02 1.18916182e+02] [ 1.09718197e-01 3.84428736e-03 9.93955300e-01 6.06344918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9650998929999 meters 0.05291451697052493 Centerline is valid? [True, True] Translation: X:569.06, Y:118.93, Z:60.64 [[ 9.65286090e-01 -2.40065100e-01 -1.02915074e-01 5.69059067e+02] [ 2.38297696e-01 9.70749436e-01 -2.93213530e-02 1.18926946e+02] [ 1.06943783e-01 3.77906928e-03 9.94257887e-01 6.06417632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.0250998929998 meters 0.05264670639186614 Centerline is valid? [True, True] Translation: X:569.12, Y:118.95, Z:60.65 [[ 9.66040215e-01 -2.36905400e-01 -1.03160724e-01 5.69115603e+02] [ 2.35109849e-01 9.71523840e-01 -2.94072654e-02 1.18945782e+02] [ 1.07189843e-01 4.15449862e-03 9.94229892e-01 6.06476821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.0850998929999 meters 0.05433888687337761 Centerline is valid? [True, True] Translation: X:569.17, Y:118.97, Z:60.65 [[ 9.67550254e-01 -2.30166838e-01 -1.04258010e-01 5.69169023e+02] [ 2.28293652e-01 9.73138569e-01 -2.97209347e-02 1.18971300e+02] [ 1.08298264e-01 4.95505608e-03 9.94106098e-01 6.06518732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.1450998929998 meters 0.052461810231616904 Centerline is valid? [True, True] Translation: X:569.23, Y:118.98, Z:60.66 [[ 9.67751004e-01 -2.29964471e-01 -1.02831589e-01 5.69227237e+02] [ 2.28140884e-01 9.73186628e-01 -2.93176328e-02 1.18979149e+02] [ 1.06816341e-01 4.91207898e-03 9.94266635e-01 6.06581470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.2050998929999 meters 0.052396671180834756 Centerline is valid? [True, True] Translation: X:569.28, Y:118.99, Z:60.66 [[ 9.67618680e-01 -2.31198905e-01 -1.01297367e-01 5.69284122e+02] [ 2.29434817e-01 9.72895069e-01 -2.88937485e-02 1.18993394e+02] [ 1.05231912e-01 4.71698792e-03 9.94436521e-01 6.06646628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.2650998929998 meters 0.053071834994772436 Centerline is valid? [True, True] Translation: X:569.34, Y:119.01, Z:60.67 [[ 9.67166064e-01 -2.33706827e-01 -9.98545176e-02 5.69341779e+02] [ 2.32005745e-01 9.72297230e-01 -2.84856119e-02 1.19009566e+02] [ 1.03745553e-01 4.38349535e-03 9.94594211e-01 6.06709551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.3250998929999 meters 0.052849941620393984 Centerline is valid? [True, True] Translation: X:569.40, Y:119.02, Z:60.68 [[ 9.66993819e-01 -2.34695410e-01 -9.92019069e-02 5.69399647e+02] [ 2.33021615e-01 9.72059668e-01 -2.83006778e-02 1.19021929e+02] [ 1.03072212e-01 4.25039194e-03 9.94664794e-01 6.06776187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.3850998929998 meters 0.05332875916312002 Centerline is valid? [True, True] Translation: X:569.46, Y:119.04, Z:60.68 [[ 9.66110859e-01 -2.38682123e-01 -9.82886132e-02 5.69456093e+02] [ 2.37058319e-01 9.71090309e-01 -2.80528996e-02 1.19039496e+02] [ 1.02142845e-01 3.80207758e-03 9.94762476e-01 6.06826331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.4450998929999 meters 0.05317816762507126 Centerline is valid? [True, True] Translation: X:569.51, Y:119.05, Z:60.69 [[ 9.65155151e-01 -2.43146273e-01 -9.67234445e-02 5.69514168e+02] [ 2.41596070e-01 9.69984096e-01 -2.76078448e-02 1.19054136e+02] [ 1.00532947e-01 3.27784954e-03 9.94928330e-01 6.06892481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.5050998929999 meters 0.0533679361112579 Centerline is valid? [True, True] Translation: X:569.57, Y:119.07, Z:60.70 [[ 9.63769803e-01 -2.49022654e-01 -9.55797304e-02 5.69570894e+02] [ 2.47537690e-01 9.68494078e-01 -2.72820882e-02 1.19070350e+02] [ 9.93622609e-02 2.63406703e-03 9.95047839e-01 6.06952080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.5650998929999 meters 0.0540641640991863 Centerline is valid? [True, True] Translation: X:569.63, Y:119.09, Z:60.70 [[ 9.63544956e-01 -2.49685812e-01 -9.61151021e-02 5.69626006e+02] [ 2.48187335e-01 9.68323466e-01 -2.74355987e-02 1.19087803e+02] [ 9.99207885e-02 2.58088165e-03 9.94992048e-01 6.07025025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.6250998929999 meters 0.053861071229833864 Centerline is valid? [True, True] Translation: X:569.68, Y:119.10, Z:60.71 [[ 9.62522618e-01 -2.54034499e-01 -9.49562166e-02 5.69684377e+02] [ 2.52592696e-01 9.67192861e-01 -2.71090292e-02 1.19100872e+02] [ 9.87276035e-02 2.10780704e-03 9.95112264e-01 6.07079547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.6850998929999 meters 0.05526542024070135 Centerline is valid? [True, True] Translation: X:569.74, Y:119.12, Z:60.71 [[ 9.61663008e-01 -2.57513265e-01 -9.42930354e-02 5.69740612e+02] [ 2.56107193e-01 9.66273181e-01 -2.69303940e-02 1.19117395e+02] [ 9.80477649e-02 1.74883911e-03 9.95180173e-01 6.07149813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.7450998929999 meters 0.054940795449885366 Centerline is valid? [True, True] Translation: X:569.80, Y:119.13, Z:60.72 [[ 9.61070668e-01 -2.60213679e-01 -9.29086304e-02 5.69797220e+02] [ 2.58861071e-01 9.65549962e-01 -2.65370923e-02 1.19133100e+02] [ 9.66132389e-02 1.45359346e-03 9.95320938e-01 6.07200896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.8050998929999 meters 0.0550869862091132 Centerline is valid? [True, True] Translation: X:569.85, Y:119.15, Z:60.72 [[ 9.60957852e-01 -2.60435522e-01 -9.34523692e-02 5.69852757e+02] [ 2.59066779e-01 9.65490150e-01 -2.67053192e-02 1.19150254e+02] [ 9.71823557e-02 1.45228192e-03 9.95265533e-01 6.07245461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.8650998929999 meters 0.05461692598248302 Centerline is valid? [True, True] Translation: X:569.91, Y:119.17, Z:60.73 [[ 9.61314535e-01 -2.58215791e-01 -9.59112616e-02 5.69907294e+02] [ 2.56761244e-01 9.66085705e-01 -2.74239742e-02 1.19167635e+02] [ 9.97398020e-02 1.73677014e-03 9.95012038e-01 6.07300933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.9250998929999 meters 0.054576553028252046 Centerline is valid? [True, True] Translation: X:569.96, Y:119.18, Z:60.73 [[ 9.60760241e-01 -2.60373915e-01 -9.56304541e-02 5.69964371e+02] [ 2.58937882e-01 9.65506670e-01 -2.73503850e-02 1.19181584e+02] [ 9.94531682e-02 1.51481525e-03 9.95041091e-01 6.07337232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.9850998929999 meters 0.05485043292037052 Centerline is valid? [True, True] Translation: X:570.02, Y:119.20, Z:60.74 [[ 9.60988960e-01 -2.58563864e-01 -9.82086867e-02 5.70018849e+02] [ 2.57038197e-01 9.65992558e-01 -2.81023837e-02 1.19202335e+02] [ 1.02135121e-01 1.76269670e-03 9.94768973e-01 6.07385830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.0450998929999 meters 0.05453850610153982 Centerline is valid? [True, True] Translation: X:570.08, Y:119.22, Z:60.74 [[ 9.60218497e-01 -2.61013832e-01 -9.92583381e-02 5.70075253e+02] [ 2.59467793e-01 9.65333859e-01 -2.84078528e-02 1.19218607e+02] [ 1.03232277e-01 1.52340387e-03 9.94656110e-01 6.07434916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.1050998929999 meters 0.056085946689703035 Centerline is valid? [True, True] Translation: X:570.13, Y:119.24, Z:60.75 [[ 9.59742110e-01 -2.62303998e-01 -1.00457432e-01 5.70130122e+02] [ 2.60726892e-01 9.64984268e-01 -2.87550093e-02 1.19235771e+02] [ 1.04482395e-01 1.40543933e-03 9.94525743e-01 6.07491795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.1650998929998 meters 0.05701146217996384 Centerline is valid? [True, True] Translation: X:570.19, Y:119.25, Z:60.76 [[ 9.58710171e-01 -2.66176656e-01 -1.00123907e-01 5.70187806e+02] [ 2.64630565e-01 9.63923761e-01 -2.86643727e-02 1.19249080e+02] [ 1.04141600e-01 9.84979522e-04 9.94561993e-01 6.07556487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.2250998929999 meters 0.055323635229437035 Centerline is valid? [True, True] Translation: X:570.24, Y:119.27, Z:60.76 [[ 9.56750417e-01 -2.73692921e-01 -9.85942377e-02 5.70244661e+02] [ 2.72232617e-01 9.61817111e-01 -2.82355733e-02 1.19265361e+02] [ 1.02557501e-01 1.73829153e-04 9.94727062e-01 6.07615250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.2850998929998 meters 0.057465219975063764 Centerline is valid? [True, True] Translation: X:570.30, Y:119.28, Z:60.77 [[ 9.58025847e-01 -2.68175721e-01 -1.01332416e-01 5.70299543e+02] [ 2.66601325e-01 9.63369687e-01 -2.90272364e-02 1.19284823e+02] [ 1.05404978e-01 7.93486399e-04 9.94429063e-01 6.07652943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.3450998929999 meters 0.05712584178129283 Centerline is valid? [True, True] Translation: X:570.36, Y:119.30, Z:60.77 [[ 9.58984907e-01 -2.64111634e-01 -1.02922266e-01 5.70355465e+02] [ 2.62463081e-01 9.64491284e-01 -2.94905670e-02 1.19304397e+02] [ 1.07056430e-01 1.26771369e-03 9.94252138e-01 6.07691030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4050998929998 meters 0.058002530255319554 Centerline is valid? [True, True] Translation: X:570.41, Y:119.32, Z:60.78 [[ 9.60057215e-01 -2.59838154e-01 -1.03799218e-01 5.70412161e+02] [ 2.58136124e-01 9.65650573e-01 -2.97440967e-02 1.19319417e+02] [ 1.07962425e-01 1.76170691e-03 9.94153414e-01 6.07768610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4650998929999 meters 0.05555093058731469 Centerline is valid? [True, True] Translation: X:570.47, Y:119.33, Z:60.79 [[ 9.59925802e-01 -2.63113586e-01 -9.65074865e-02 5.70470101e+02] [ 2.61659305e-01 9.64763993e-01 -2.76558435e-02 1.19326733e+02] [ 1.00383576e-01 1.29547596e-03 9.94947968e-01 6.07898276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 7297.70 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 ... Number of 2D slices and alignment frames are not equal! The alignment track is not used for filteration! 0it [00:00, ?it/s] 15it [00:00, 149.20it/s] 31it [00:00, 151.15it/s] 47it [00:00, 150.24it/s] 63it [00:00, 149.66it/s] 78it [00:00, 149.76it/s] 93it [00:00, 149.46it/s] 108it [00:00, 149.30it/s] 124it [00:00, 150.17it/s] 140it [00:00, 151.83it/s] 156it [00:01, 153.03it/s] 172it [00:01, 154.55it/s] 188it [00:01, 155.11it/s] 204it [00:01, 154.96it/s] 220it [00:01, 155.49it/s] 236it [00:01, 156.34it/s] 252it [00:01, 157.00it/s] 268it [00:01, 157.50it/s] 284it [00:01, 157.54it/s] 300it [00:01, 156.98it/s] 316it [00:02, 157.11it/s] 332it [00:02, 157.64it/s] 348it [00:02, 157.92it/s] 364it [00:02, 158.49it/s] 380it [00:02, 158.26it/s] 396it [00:02, 158.18it/s] 412it [00:02, 157.32it/s] 428it [00:02, 157.43it/s] 444it [00:02, 157.89it/s] 460it [00:02, 158.17it/s] 476it [00:03, 157.53it/s] 492it [00:03, 156.56it/s] 508it [00:03, 156.83it/s] 524it [00:03, 157.12it/s] 540it [00:03, 157.59it/s] 556it [00:03, 157.87it/s] 572it [00:03, 158.03it/s] 588it [00:03, 158.50it/s] 604it [00:03, 158.41it/s] 620it [00:03, 157.10it/s] 636it [00:04, 155.67it/s] 652it [00:04, 155.62it/s] 668it [00:04, 156.12it/s] 684it [00:04, 156.78it/s] 700it [00:04, 157.31it/s] 716it [00:04, 156.86it/s] 732it [00:04, 156.09it/s] 748it [00:04, 156.74it/s] 764it [00:04, 157.30it/s] 780it [00:05, 156.58it/s] 796it [00:05, 155.97it/s] 812it [00:05, 156.48it/s] 828it [00:05, 156.00it/s] 844it [00:05, 155.53it/s] 860it [00:05, 156.49it/s] 876it [00:05, 156.66it/s] 892it [00:05, 156.80it/s] 908it [00:05, 157.66it/s] 924it [00:05, 157.04it/s] 940it [00:06, 156.87it/s] 956it [00:06, 157.36it/s] 972it [00:06, 157.52it/s] 988it [00:06, 155.97it/s] 1004it [00:06, 156.21it/s] 1020it [00:06, 155.81it/s] 1036it [00:06, 155.03it/s] 1052it [00:06, 155.14it/s] 1068it [00:06, 155.66it/s] 1084it [00:06, 156.34it/s] 1100it [00:07, 156.68it/s] 1116it [00:07, 155.84it/s] 1132it [00:07, 154.25it/s] 1148it [00:07, 154.15it/s] 1164it [00:07, 154.41it/s] 1180it [00:07, 154.61it/s] 1196it [00:07, 154.92it/s] 1212it [00:07, 155.84it/s] 1228it [00:07, 156.25it/s] 1244it [00:07, 156.23it/s] 1260it [00:08, 156.73it/s] 1276it [00:08, 157.36it/s] 1292it [00:08, 157.01it/s] 1308it [00:08, 157.29it/s] 1324it [00:08, 156.90it/s] 1340it [00:08, 155.83it/s] 1356it [00:08, 154.99it/s] 1372it [00:08, 155.00it/s] 1388it [00:08, 155.54it/s] 1404it [00:09, 154.65it/s] 1420it [00:09, 153.93it/s] 1436it [00:09, 153.89it/s] 1452it [00:09, 153.75it/s] 1468it [00:09, 154.01it/s] 1484it [00:09, 154.30it/s] 1500it [00:09, 154.91it/s] 1516it [00:09, 154.48it/s] 1532it [00:09, 155.17it/s] 1548it [00:09, 155.56it/s] 1564it [00:10, 155.31it/s] 1580it [00:10, 155.29it/s] 1596it [00:10, 155.87it/s] 1613it [00:10, 157.87it/s] 1630it [00:10, 158.60it/s] 1646it [00:10, 158.93it/s] 1662it [00:10, 158.13it/s] 1678it [00:10, 157.66it/s] 1694it [00:10, 157.23it/s] 1710it [00:10, 157.10it/s] 1726it [00:11, 157.21it/s] 1742it [00:11, 154.12it/s] 1758it [00:11, 155.14it/s] 1774it [00:11, 155.93it/s] 1790it [00:11, 155.76it/s] 1806it [00:11, 156.51it/s] 1822it [00:11, 156.88it/s] 1838it [00:11, 157.32it/s] 1854it [00:11, 157.31it/s] 1870it [00:11, 157.00it/s] 1886it [00:12, 156.50it/s] 1902it [00:12, 155.86it/s] 1918it [00:12, 156.61it/s] 1934it [00:12, 157.12it/s] 1950it [00:12, 157.39it/s] 1966it [00:12, 157.38it/s] 1982it [00:12, 156.91it/s] 1998it [00:12, 157.60it/s] 2014it [00:12, 158.13it/s] 2030it [00:13, 157.26it/s] 2046it [00:13, 155.58it/s] 2062it [00:13, 154.30it/s] 2078it [00:13, 153.21it/s] 2094it [00:13, 152.92it/s] 2110it [00:13, 152.57it/s] 2126it [00:13, 152.35it/s] 2142it [00:13, 152.97it/s] 2158it [00:13, 152.48it/s] 2174it [00:13, 152.25it/s] 2190it [00:14, 152.63it/s] 2206it [00:14, 153.16it/s] 2222it [00:14, 153.44it/s] 2238it [00:14, 153.83it/s] 2254it [00:14, 154.55it/s] 2270it [00:14, 155.26it/s] 2286it [00:14, 155.33it/s] 2302it [00:14, 156.23it/s] 2318it [00:14, 156.16it/s] 2334it [00:14, 155.86it/s] 2350it [00:15, 155.03it/s] 2366it [00:15, 155.21it/s] 2382it [00:15, 154.86it/s] 2398it [00:15, 154.39it/s] 2414it [00:15, 153.98it/s] 2430it [00:15, 153.25it/s] 2446it [00:15, 152.59it/s] 2462it [00:15, 153.57it/s] 2478it [00:15, 154.19it/s] 2494it [00:16, 154.57it/s] 2511it [00:16, 156.46it/s] 2527it [00:16, 156.35it/s] 2543it [00:16, 152.51it/s] 2559it [00:16, 152.47it/s] 2575it [00:16, 152.40it/s] 2591it [00:16, 151.98it/s] 2607it [00:16, 152.21it/s] 2623it [00:16, 152.81it/s] 2639it [00:16, 153.12it/s] 2655it [00:17, 153.19it/s] 2671it [00:17, 153.30it/s] 2687it [00:17, 152.10it/s] 2703it [00:17, 151.95it/s] 2719it [00:17, 152.00it/s] 2735it [00:17, 152.26it/s] 2751it [00:17, 152.12it/s] 2767it [00:17, 152.47it/s] 2783it [00:17, 152.95it/s] 2799it [00:18, 153.59it/s] 2815it [00:18, 154.18it/s] 2831it [00:18, 154.05it/s] 2847it [00:18, 153.83it/s] 2863it [00:18, 153.85it/s] 2879it [00:18, 152.91it/s] 2895it [00:18, 152.30it/s] 2911it [00:18, 152.63it/s] 2927it [00:18, 152.86it/s] 2943it [00:18, 151.83it/s] 2959it [00:19, 152.12it/s] 2975it [00:19, 152.23it/s] 2991it [00:19, 152.84it/s] 3007it [00:19, 152.59it/s] 3023it [00:19, 152.56it/s] 3039it [00:19, 152.47it/s] 3055it [00:19, 152.14it/s] 3071it [00:19, 151.94it/s] 3087it [00:19, 152.28it/s] 3103it [00:20, 152.07it/s] 3119it [00:20, 152.30it/s] 3135it [00:20, 153.13it/s] 3151it [00:20, 153.90it/s] 3167it [00:20, 154.10it/s] 3183it [00:20, 153.87it/s] 3199it [00:20, 153.43it/s] 3215it [00:20, 153.32it/s] 3231it [00:20, 152.90it/s] 3247it [00:20, 152.55it/s] 3263it [00:21, 152.79it/s] 3279it [00:21, 153.35it/s] 3295it [00:21, 153.95it/s] 3311it [00:21, 153.32it/s] 3327it [00:21, 152.92it/s] 3343it [00:21, 152.95it/s] 3359it [00:21, 152.39it/s] 3375it [00:21, 152.06it/s] 3391it [00:21, 151.95it/s] 3407it [00:21, 152.08it/s] 3423it [00:22, 152.40it/s] 3439it [00:22, 153.24it/s] 3455it [00:22, 153.03it/s] 3471it [00:22, 152.64it/s] 3487it [00:22, 152.89it/s] 3503it [00:22, 153.32it/s] 3519it [00:22, 153.73it/s] 3535it [00:22, 154.33it/s] 3551it [00:22, 154.99it/s] 3567it [00:23, 156.07it/s] 3583it [00:23, 156.59it/s] 3599it [00:23, 157.16it/s] 3615it [00:23, 157.60it/s] 3631it [00:23, 157.64it/s] 3647it [00:23, 156.53it/s] 3663it [00:23, 154.65it/s] 3679it [00:23, 153.78it/s] 3695it [00:23, 153.12it/s] 3711it [00:23, 153.11it/s] 3727it [00:24, 152.99it/s] 3743it [00:24, 152.92it/s] 3759it [00:24, 153.32it/s] 3775it [00:24, 154.15it/s] 3791it [00:24, 154.25it/s] 3807it [00:24, 154.24it/s] 3823it [00:24, 154.25it/s] 3839it [00:24, 154.12it/s] 3855it [00:24, 154.07it/s] 3871it [00:24, 154.70it/s] 3887it [00:25, 155.44it/s] 3903it [00:25, 155.70it/s] 3919it [00:25, 156.04it/s] 3935it [00:25, 156.25it/s] 3951it [00:25, 156.02it/s] 3967it [00:25, 154.87it/s] 3983it [00:25, 153.93it/s] 3999it [00:25, 153.63it/s] 4015it [00:25, 153.84it/s] 4031it [00:26, 154.18it/s] 4047it [00:26, 154.63it/s] 4063it [00:26, 155.18it/s] 4079it [00:26, 155.18it/s] 4095it [00:26, 155.19it/s] 4111it [00:26, 154.80it/s] 4127it [00:26, 154.09it/s] 4143it [00:26, 153.93it/s] 4159it [00:26, 153.87it/s] 4175it [00:26, 153.31it/s] 4191it [00:27, 153.24it/s] 4207it [00:27, 152.77it/s] 4223it [00:27, 152.62it/s] 4239it [00:27, 152.24it/s] 4255it [00:27, 152.63it/s] 4271it [00:27, 152.90it/s] 4287it [00:27, 151.79it/s] 4303it [00:27, 151.09it/s] 4319it [00:27, 151.33it/s] 4335it [00:28, 150.78it/s] 4351it [00:28, 150.19it/s] 4367it [00:28, 150.25it/s] 4383it [00:28, 151.01it/s] 4399it [00:28, 152.34it/s] 4415it [00:28, 153.92it/s] 4431it [00:28, 153.40it/s] 4447it [00:28, 153.32it/s] 4463it [00:28, 153.43it/s] 4479it [00:28, 153.32it/s] 4495it [00:29, 153.62it/s] 4511it [00:29, 153.92it/s] 4527it [00:29, 154.42it/s] 4543it [00:29, 155.09it/s] 4559it [00:29, 155.79it/s] 4575it [00:29, 156.26it/s] 4591it [00:29, 156.51it/s] 4607it [00:29, 157.04it/s] 4623it [00:29, 157.10it/s] 4639it [00:29, 156.33it/s] 4655it [00:30, 155.25it/s] 4671it [00:30, 155.08it/s] 4687it [00:30, 155.24it/s] 4703it [00:30, 155.89it/s] 4719it [00:30, 155.46it/s] 4735it [00:30, 155.16it/s] 4751it [00:30, 155.21it/s] 4767it [00:30, 155.00it/s] 4783it [00:30, 154.74it/s] 4799it [00:31, 154.33it/s] 4815it [00:31, 154.06it/s] 4831it [00:31, 154.11it/s] 4847it [00:31, 153.61it/s] 4863it [00:31, 153.39it/s] 4879it [00:31, 153.35it/s] 4895it [00:31, 152.91it/s] 4911it [00:31, 152.67it/s] 4927it [00:31, 152.20it/s] 4943it [00:31, 152.16it/s] 4959it [00:32, 151.75it/s] 4975it [00:32, 152.23it/s] 4991it [00:32, 152.55it/s] 5007it [00:32, 152.40it/s] 5023it [00:32, 153.29it/s] 5039it [00:32, 154.06it/s] 5055it [00:32, 154.39it/s] 5071it [00:32, 154.73it/s] 5087it [00:32, 154.44it/s] 5103it [00:33, 154.19it/s] 5119it [00:33, 154.11it/s] 5135it [00:33, 153.81it/s] 5151it [00:33, 153.55it/s] 5167it [00:33, 152.13it/s] 5183it [00:33, 153.09it/s] 5199it [00:33, 153.14it/s] 5215it [00:33, 153.74it/s] 5231it [00:33, 154.15it/s] 5247it [00:33, 154.10it/s] 5263it [00:34, 153.97it/s] 5279it [00:34, 154.23it/s] 5295it [00:34, 154.71it/s] 5311it [00:34, 154.60it/s] 5327it [00:34, 154.48it/s] 5343it [00:34, 154.77it/s] 5359it [00:34, 155.17it/s] 5375it [00:34, 155.74it/s] 5391it [00:34, 154.93it/s] 5407it [00:34, 154.24it/s] 5423it [00:35, 154.37it/s] 5439it [00:35, 154.87it/s] 5455it [00:35, 155.02it/s] 5471it [00:35, 155.66it/s] 5487it [00:35, 155.29it/s] 5503it [00:35, 155.53it/s] 5519it [00:35, 154.86it/s] 5535it [00:35, 154.61it/s] 5551it [00:35, 154.30it/s] 5567it [00:36, 154.26it/s] 5583it [00:36, 154.69it/s] 5599it [00:36, 155.07it/s] 5615it [00:36, 154.81it/s] 5631it [00:36, 154.67it/s] 5647it [00:36, 154.82it/s] 5663it [00:36, 153.93it/s] 5679it [00:36, 152.09it/s] 5695it [00:36, 152.21it/s] 5711it [00:36, 153.03it/s] 5727it [00:37, 153.66it/s] 5743it [00:37, 154.08it/s] 5759it [00:37, 154.72it/s] 5775it [00:37, 155.26it/s] 5791it [00:37, 155.65it/s] 5807it [00:37, 155.99it/s] 5823it [00:37, 155.64it/s] 5839it [00:37, 155.56it/s] 5855it [00:37, 155.97it/s] 5871it [00:37, 156.20it/s] 5887it [00:38, 155.57it/s] 5903it [00:38, 155.36it/s] 5919it [00:38, 155.33it/s] 5935it [00:38, 155.15it/s] 5951it [00:38, 155.33it/s] 5967it [00:38, 155.42it/s] 5983it [00:38, 155.13it/s] 5999it [00:38, 155.57it/s] 6015it [00:38, 156.14it/s] 6031it [00:39, 156.36it/s] 6047it [00:39, 155.64it/s] 6063it [00:39, 155.09it/s] 6079it [00:39, 153.95it/s] 6095it [00:39, 152.71it/s] 6111it [00:39, 152.19it/s] 6127it [00:39, 152.17it/s] 6143it [00:39, 152.52it/s] 6159it [00:39, 152.70it/s] 6175it [00:39, 153.35it/s] 6191it [00:40, 154.18it/s] 6207it [00:40, 154.17it/s] 6223it [00:40, 153.55it/s] 6239it [00:40, 153.32it/s] 6255it [00:40, 152.76it/s] 6271it [00:40, 152.27it/s] 6287it [00:40, 152.07it/s] 6303it [00:40, 152.38it/s] 6319it [00:40, 153.33it/s] 6335it [00:40, 154.30it/s] 6351it [00:41, 154.61it/s] 6367it [00:41, 153.57it/s] 6383it [00:41, 153.74it/s] 6399it [00:41, 154.45it/s] 6415it [00:41, 155.44it/s] 6431it [00:41, 155.71it/s] 6447it [00:41, 155.99it/s] 6463it [00:41, 156.39it/s] 6479it [00:41, 156.81it/s] 6495it [00:42, 156.97it/s] 6511it [00:42, 157.10it/s] 6527it [00:42, 157.28it/s] 6543it [00:42, 156.48it/s] 6559it [00:42, 155.59it/s] 6575it [00:42, 154.61it/s] 6591it [00:42, 153.09it/s] 6607it [00:42, 152.78it/s] 6623it [00:42, 153.16it/s] 6639it [00:42, 153.45it/s] 6655it [00:43, 153.82it/s] 6671it [00:43, 154.30it/s] 6687it [00:43, 154.77it/s] 6703it [00:43, 155.31it/s] 6719it [00:43, 155.19it/s] 6735it [00:43, 155.38it/s] 6751it [00:43, 155.23it/s] 6767it [00:43, 155.14it/s] 6783it [00:43, 155.06it/s] 6799it [00:43, 155.04it/s] 6815it [00:44, 154.49it/s] 6831it [00:44, 153.74it/s] 6847it [00:44, 153.58it/s] 6863it [00:44, 153.40it/s] 6879it [00:44, 153.45it/s] 6895it [00:44, 153.27it/s] 6911it [00:44, 153.21it/s] 6927it [00:44, 153.12it/s] 6943it [00:44, 152.98it/s] 6959it [00:45, 153.31it/s] 6975it [00:45, 153.65it/s] 6991it [00:45, 153.75it/s] 7007it [00:45, 153.84it/s] 7023it [00:45, 154.33it/s] 7039it [00:45, 155.25it/s] 7055it [00:45, 155.30it/s] 7071it [00:45, 155.34it/s] 7087it [00:45, 155.49it/s] 7103it [00:45, 155.07it/s] 7119it [00:46, 154.13it/s] 7135it [00:46, 154.07it/s] 7151it [00:46, 154.40it/s] 7167it [00:46, 153.75it/s] 7183it [00:46, 153.44it/s] 7199it [00:46, 153.19it/s] 7215it [00:46, 152.09it/s] 7231it [00:46, 151.81it/s] 7247it [00:46, 152.30it/s] 7263it [00:47, 152.90it/s] 7279it [00:47, 153.83it/s] 7295it [00:47, 154.28it/s] 7311it [00:47, 154.85it/s] 7327it [00:47, 153.98it/s] 7343it [00:47, 153.24it/s] 7359it [00:47, 153.45it/s] 7375it [00:47, 153.80it/s] 7391it [00:47, 154.51it/s] 7407it [00:47, 154.66it/s] 7423it [00:48, 154.84it/s] 7439it [00:48, 154.90it/s] 7455it [00:48, 155.02it/s] 7471it [00:48, 155.24it/s] 7487it [00:48, 155.24it/s] 7503it [00:48, 154.89it/s] 7519it [00:48, 153.63it/s] 7535it [00:48, 153.27it/s] 7551it [00:48, 152.72it/s] 7567it [00:48, 152.10it/s] 7583it [00:49, 151.77it/s] 7599it [00:49, 151.33it/s] 7615it [00:49, 151.89it/s] 7631it [00:49, 152.92it/s] 7647it [00:49, 153.71it/s] 7663it [00:49, 154.08it/s] 7679it [00:49, 154.02it/s] 7695it [00:49, 154.60it/s] 7711it [00:49, 155.50it/s] 7727it [00:50, 156.07it/s] 7743it [00:50, 156.47it/s] 7759it [00:50, 156.81it/s] 7775it [00:50, 156.70it/s] 7791it [00:50, 156.51it/s] 7807it [00:50, 156.13it/s] 7823it [00:50, 154.84it/s] 7839it [00:50, 154.46it/s] 7855it [00:50, 154.54it/s] 7871it [00:50, 155.01it/s] 7887it [00:51, 155.45it/s] 7903it [00:51, 155.33it/s] 7919it [00:51, 155.15it/s] 7935it [00:51, 155.65it/s] 7951it [00:51, 155.78it/s] 7967it [00:51, 156.33it/s] 7983it [00:51, 156.05it/s] 7999it [00:51, 155.77it/s] 8015it [00:51, 156.49it/s] 8031it [00:51, 156.20it/s] 8047it [00:52, 155.88it/s] 8063it [00:52, 155.54it/s] 8079it [00:52, 155.20it/s] 8095it [00:52, 154.83it/s] 8111it [00:52, 154.54it/s] 8127it [00:52, 154.27it/s] 8143it [00:52, 153.49it/s] 8159it [00:52, 153.43it/s] 8175it [00:52, 153.28it/s] 8191it [00:53, 153.13it/s] 8207it [00:53, 153.26it/s] 8223it [00:53, 153.64it/s] 8239it [00:53, 154.23it/s] 8255it [00:53, 155.36it/s] 8271it [00:53, 156.67it/s] 8287it [00:53, 156.57it/s] 8303it [00:53, 155.82it/s] 8319it [00:53, 155.41it/s] 8335it [00:53, 155.69it/s] 8351it [00:54, 155.51it/s] 8367it [00:54, 155.53it/s] 8383it [00:54, 155.94it/s] 8399it [00:54, 156.24it/s] 8415it [00:54, 156.11it/s] 8431it [00:54, 156.13it/s] 8447it [00:54, 155.61it/s] 8463it [00:54, 155.62it/s] 8479it [00:54, 155.74it/s] 8495it [00:54, 155.87it/s] 8511it [00:55, 155.32it/s] 8527it [00:55, 155.33it/s] 8543it [00:55, 153.84it/s] 8559it [00:55, 154.47it/s] 8575it [00:55, 155.07it/s] 8591it [00:55, 155.62it/s] 8607it [00:55, 153.86it/s] 8623it [00:55, 154.36it/s] 8639it [00:55, 154.80it/s] 8655it [00:55, 155.34it/s] 8671it [00:56, 155.00it/s] 8687it [00:56, 155.12it/s] 8703it [00:56, 155.26it/s] 8719it [00:56, 155.40it/s] 8735it [00:56, 154.47it/s] 8751it [00:56, 154.34it/s] 8767it [00:56, 154.54it/s] 8783it [00:56, 155.78it/s] 8799it [00:56, 156.13it/s] 8815it [00:57, 156.11it/s] 8831it [00:57, 155.32it/s] 8847it [00:57, 155.36it/s] 8863it [00:57, 154.97it/s] 8879it [00:57, 154.49it/s] 8895it [00:57, 154.43it/s] 8911it [00:57, 154.66it/s] 8927it [00:57, 155.08it/s] 8943it [00:57, 154.83it/s] 8959it [00:57, 154.48it/s] 8975it [00:58, 154.65it/s] 8991it [00:58, 154.97it/s] 9007it [00:58, 155.35it/s] 9023it [00:58, 155.75it/s] 9039it [00:58, 154.73it/s] 9055it [00:58, 154.55it/s] 9071it [00:58, 155.01it/s] 9087it [00:58, 155.34it/s] 9103it [00:58, 155.58it/s] 9119it [00:58, 155.12it/s] 9135it [00:59, 154.92it/s] 9151it [00:59, 154.48it/s] 9167it [00:59, 154.06it/s] 9183it [00:59, 154.00it/s] 9199it [00:59, 153.89it/s] 9215it [00:59, 154.32it/s] 9231it [00:59, 155.24it/s] 9247it [00:59, 156.28it/s] 9263it [00:59, 156.63it/s] 9279it [01:00, 156.38it/s] 9295it [01:00, 156.21it/s] 9311it [01:00, 155.87it/s] 9327it [01:00, 155.81it/s] 9343it [01:00, 154.81it/s] 9359it [01:00, 154.61it/s] 9375it [01:00, 153.97it/s] 9391it [01:00, 153.53it/s] 9407it [01:00, 152.77it/s] 9423it [01:00, 152.77it/s] 9439it [01:01, 152.37it/s] 9455it [01:01, 152.17it/s] 9471it [01:01, 151.19it/s] 9487it [01:01, 151.29it/s] 9503it [01:01, 152.04it/s] 9519it [01:01, 152.86it/s] 9535it [01:01, 152.88it/s] 9551it [01:01, 153.59it/s] 9567it [01:01, 154.21it/s] 9583it [01:01, 154.20it/s] 9599it [01:02, 154.47it/s] 9615it [01:02, 154.22it/s] 9631it [01:02, 153.56it/s] 9647it [01:02, 154.03it/s] 9663it [01:02, 154.37it/s] 9679it [01:02, 154.78it/s] 9695it [01:02, 154.96it/s] 9711it [01:02, 155.09it/s] 9727it [01:02, 154.81it/s] 9743it [01:03, 154.48it/s] 9759it [01:03, 154.03it/s] 9775it [01:03, 153.75it/s] 9791it [01:03, 153.80it/s] 9807it [01:03, 154.37it/s] 9823it [01:03, 154.35it/s] 9839it [01:03, 154.00it/s] 9855it [01:03, 153.97it/s] 9871it [01:03, 153.90it/s] 9887it [01:03, 153.70it/s] 9903it [01:04, 153.13it/s] 9919it [01:04, 153.75it/s] 9935it [01:04, 154.47it/s] 9951it [01:04, 155.02it/s] 9967it [01:04, 155.19it/s] 9983it [01:04, 154.89it/s] 9999it [01:04, 153.55it/s] 10015it [01:04, 153.68it/s] 10031it [01:04, 153.48it/s] 10047it [01:05, 154.32it/s] 10063it [01:05, 154.33it/s] 10079it [01:05, 153.58it/s] 10095it [01:05, 153.13it/s] 10111it [01:05, 152.76it/s] 10127it [01:05, 152.65it/s] 10143it [01:05, 152.27it/s] 10159it [01:05, 152.50it/s] 10175it [01:05, 153.44it/s] 10191it [01:05, 155.05it/s] 10207it [01:06, 155.77it/s] 10223it [01:06, 155.67it/s] 10239it [01:06, 155.32it/s] 10255it [01:06, 155.03it/s] 10271it [01:06, 154.09it/s] 10287it [01:06, 152.54it/s] 10303it [01:06, 151.67it/s] 10319it [01:06, 151.90it/s] 10335it [01:06, 152.25it/s] 10351it [01:06, 152.75it/s] 10367it [01:07, 153.93it/s] 10383it [01:07, 154.16it/s] 10399it [01:07, 155.07it/s] 10415it [01:07, 155.93it/s] 10431it [01:07, 156.16it/s] 10447it [01:07, 155.76it/s] 10463it [01:07, 155.19it/s] 10479it [01:07, 155.10it/s] 10495it [01:07, 154.37it/s] 10511it [01:08, 154.26it/s] 10527it [01:08, 154.30it/s] 10543it [01:08, 153.78it/s] 10559it [01:08, 154.00it/s] 10575it [01:08, 154.18it/s] 10591it [01:08, 154.42it/s] 10607it [01:08, 153.60it/s] 10623it [01:08, 154.18it/s] 10639it [01:08, 154.35it/s] 10655it [01:08, 154.41it/s] 10671it [01:09, 154.40it/s] 10687it [01:09, 154.16it/s] 10703it [01:09, 153.44it/s] 10719it [01:09, 153.23it/s] 10735it [01:09, 153.01it/s] 10751it [01:09, 153.18it/s] 10767it [01:09, 153.36it/s] 10783it [01:09, 153.63it/s] 10799it [01:09, 153.98it/s] 10815it [01:09, 153.67it/s] 10831it [01:10, 153.68it/s] 10847it [01:10, 154.16it/s] 10863it [01:10, 154.55it/s] 10879it [01:10, 154.01it/s] 10895it [01:10, 153.97it/s] 10911it [01:10, 154.41it/s] 10927it [01:10, 153.93it/s] 10943it [01:10, 154.39it/s] 10959it [01:10, 154.10it/s] 10975it [01:11, 153.94it/s] 10991it [01:11, 153.31it/s] 11007it [01:11, 151.62it/s] 11023it [01:11, 152.05it/s] 11039it [01:11, 152.31it/s] 11055it [01:11, 152.26it/s] 11071it [01:11, 151.80it/s] 11087it [01:11, 151.51it/s] 11103it [01:11, 151.65it/s] 11119it [01:11, 151.99it/s] 11135it [01:12, 152.01it/s] 11151it [01:12, 152.61it/s] 11167it [01:12, 153.57it/s] 11183it [01:12, 154.17it/s] 11199it [01:12, 154.70it/s] 11215it [01:12, 154.67it/s] 11231it [01:12, 154.56it/s] 11247it [01:12, 155.19it/s] 11263it [01:12, 156.18it/s] 11279it [01:13, 156.23it/s] 11295it [01:13, 156.24it/s] 11311it [01:13, 156.51it/s] 11327it [01:13, 157.02it/s] 11343it [01:13, 157.15it/s] 11359it [01:13, 157.12it/s] 11375it [01:13, 156.05it/s] 11391it [01:13, 155.68it/s] 11407it [01:13, 155.42it/s] 11423it [01:13, 155.00it/s] 11439it [01:14, 155.31it/s] 11455it [01:14, 155.46it/s] 11471it [01:14, 155.39it/s] 11487it [01:14, 155.62it/s] 11503it [01:14, 155.89it/s] 11519it [01:14, 155.62it/s] 11535it [01:14, 154.63it/s] 11551it [01:14, 154.28it/s] 11567it [01:14, 154.24it/s] 11583it [01:14, 154.23it/s] 11599it [01:15, 154.25it/s] 11615it [01:15, 154.69it/s] 11631it [01:15, 155.07it/s] 11647it [01:15, 155.01it/s] 11663it [01:15, 155.05it/s] 11679it [01:15, 154.95it/s] 11695it [01:15, 154.16it/s] 11711it [01:15, 154.37it/s] 11727it [01:15, 155.04it/s] 11743it [01:15, 155.63it/s] 11759it [01:16, 155.57it/s] 11775it [01:16, 155.16it/s] 11791it [01:16, 154.03it/s] 11807it [01:16, 154.02it/s] 11823it [01:16, 153.50it/s] 11839it [01:16, 153.33it/s] 11855it [01:16, 153.72it/s] 11871it [01:16, 153.43it/s] 11887it [01:16, 153.16it/s] 11903it [01:17, 153.01it/s] 11919it [01:17, 153.26it/s] 11935it [01:17, 153.43it/s] 11951it [01:17, 153.02it/s] 11967it [01:17, 152.66it/s] 11983it [01:17, 152.71it/s] 11999it [01:17, 151.33it/s] 12015it [01:17, 151.42it/s] 12031it [01:17, 151.62it/s] 12047it [01:17, 151.41it/s] 12063it [01:18, 151.42it/s] 12079it [01:18, 151.33it/s] 12095it [01:18, 151.13it/s] 12111it [01:18, 151.62it/s] 12127it [01:18, 152.12it/s] 12143it [01:18, 152.44it/s] 12159it [01:18, 152.81it/s] 12175it [01:18, 152.71it/s] 12191it [01:18, 148.34it/s] 12207it [01:19, 149.99it/s] 12223it [01:19, 150.85it/s] 12239it [01:19, 151.87it/s] 12255it [01:19, 153.06it/s] 12271it [01:19, 153.89it/s] 12287it [01:19, 154.48it/s] 12303it [01:19, 154.72it/s] 12319it [01:19, 155.14it/s] 12335it [01:19, 154.89it/s] 12351it [01:19, 154.17it/s] 12367it [01:20, 153.22it/s] 12383it [01:20, 152.77it/s] 12399it [01:20, 152.72it/s] 12415it [01:20, 152.20it/s] 12431it [01:20, 151.69it/s] 12447it [01:20, 151.60it/s] 12463it [01:20, 151.68it/s] 12479it [01:20, 152.41it/s] 12495it [01:20, 152.53it/s] 12511it [01:21, 152.25it/s] 12527it [01:21, 152.74it/s] 12543it [01:21, 153.03it/s] 12559it [01:21, 152.30it/s] 12575it [01:21, 151.66it/s] 12591it [01:21, 151.30it/s] 12607it [01:21, 150.80it/s] 12623it [01:21, 151.27it/s] 12639it [01:21, 151.92it/s] 12655it [01:21, 152.32it/s] 12671it [01:22, 152.26it/s] 12687it [01:22, 152.22it/s] 12703it [01:22, 152.68it/s] 12719it [01:22, 153.13it/s] 12735it [01:22, 153.13it/s] 12751it [01:22, 152.67it/s] 12767it [01:22, 151.65it/s] 12783it [01:22, 151.58it/s] 12799it [01:22, 151.82it/s] 12815it [01:23, 152.36it/s] 12831it [01:23, 152.29it/s] 12847it [01:23, 153.15it/s] 12863it [01:23, 153.47it/s] 12879it [01:23, 153.69it/s] 12895it [01:23, 154.15it/s] 12911it [01:23, 153.70it/s] 12927it [01:23, 154.46it/s] 12943it [01:23, 154.68it/s] 12959it [01:23, 155.09it/s] 12975it [01:24, 155.02it/s] 12991it [01:24, 154.22it/s] 13007it [01:24, 153.68it/s] 13023it [01:24, 152.88it/s] 13039it [01:24, 152.34it/s] 13055it [01:24, 152.49it/s] 13071it [01:24, 152.21it/s] 13087it [01:24, 153.12it/s] 13103it [01:24, 153.14it/s] 13119it [01:25, 152.93it/s] 13135it [01:25, 152.77it/s] 13151it [01:25, 152.42it/s] 13167it [01:25, 152.25it/s] 13183it [01:25, 153.09it/s] 13199it [01:25, 154.05it/s] 13215it [01:25, 154.29it/s] 13231it [01:25, 154.45it/s] 13247it [01:25, 154.76it/s] 13263it [01:25, 154.53it/s] 13279it [01:26, 154.38it/s] 13295it [01:26, 154.78it/s] 13311it [01:26, 153.93it/s] 13327it [01:26, 153.89it/s] 13343it [01:26, 153.82it/s] 13359it [01:26, 150.70it/s] 13375it [01:26, 150.17it/s] 13391it [01:26, 150.34it/s] 13407it [01:26, 150.42it/s] 13423it [01:27, 151.41it/s] 13439it [01:27, 152.54it/s] 13455it [01:27, 153.22it/s] 13471it [01:27, 152.34it/s] 13487it [01:27, 151.94it/s] 13503it [01:27, 152.33it/s] 13519it [01:27, 152.08it/s] 13535it [01:27, 151.75it/s] 13551it [01:27, 152.64it/s] 13567it [01:27, 153.08it/s] 13583it [01:28, 153.31it/s] 13599it [01:28, 153.30it/s] 13615it [01:28, 152.88it/s] 13631it [01:28, 152.34it/s] 13647it [01:28, 151.85it/s] 13663it [01:28, 151.23it/s] 13679it [01:28, 151.05it/s] 13695it [01:28, 151.47it/s] 13711it [01:28, 152.35it/s] 13727it [01:28, 153.10it/s] 13743it [01:29, 153.24it/s] 13759it [01:29, 153.74it/s] 13775it [01:29, 154.16it/s] 13791it [01:29, 153.77it/s] 13807it [01:29, 153.33it/s] 13823it [01:29, 153.32it/s] 13839it [01:29, 152.76it/s] 13855it [01:29, 152.97it/s] 13871it [01:29, 152.80it/s] 13887it [01:30, 152.65it/s] 13903it [01:30, 152.81it/s] 13919it [01:30, 152.66it/s] 13935it [01:30, 152.18it/s] 13951it [01:30, 152.36it/s] 13967it [01:30, 152.14it/s] 13983it [01:30, 151.58it/s] 13999it [01:30, 151.75it/s] 14015it [01:30, 151.92it/s] 14031it [01:30, 152.05it/s] 14047it [01:31, 152.41it/s] 14063it [01:31, 153.15it/s] 14079it [01:31, 153.77it/s] 14095it [01:31, 153.83it/s] 14111it [01:31, 153.66it/s] 14127it [01:31, 152.69it/s] 14143it [01:31, 151.64it/s] 14159it [01:31, 151.80it/s] 14175it [01:31, 152.31it/s] 14191it [01:32, 153.23it/s] 14207it [01:32, 154.01it/s] 14223it [01:32, 155.07it/s] 14239it [01:32, 155.47it/s] 14255it [01:32, 155.50it/s] 14271it [01:32, 155.18it/s] 14287it [01:32, 153.90it/s] 14303it [01:32, 153.34it/s] 14319it [01:32, 153.05it/s] 14335it [01:32, 153.01it/s] 14351it [01:33, 153.19it/s] 14367it [01:33, 153.29it/s] 14383it [01:33, 153.17it/s] 14399it [01:33, 153.51it/s] 14415it [01:33, 153.70it/s] 14431it [01:33, 153.76it/s] 14447it [01:33, 153.46it/s] 14463it [01:33, 153.66it/s] 14479it [01:33, 154.24it/s] 14495it [01:34, 154.31it/s] 14511it [01:34, 154.35it/s] 14527it [01:34, 154.48it/s] 14543it [01:34, 154.88it/s] 14559it [01:34, 155.34it/s] 14575it [01:34, 155.54it/s] 14591it [01:34, 155.45it/s] 14607it [01:34, 154.06it/s] 14623it [01:34, 153.63it/s] 14639it [01:34, 153.12it/s] 14655it [01:35, 152.64it/s] 14671it [01:35, 152.23it/s] 14687it [01:35, 151.99it/s] 14703it [01:35, 152.15it/s] 14719it [01:35, 152.53it/s] 14735it [01:35, 152.44it/s] 14751it [01:35, 151.94it/s] 14767it [01:35, 150.80it/s] 14783it [01:35, 150.33it/s] 14799it [01:35, 150.39it/s] 14815it [01:36, 150.76it/s] 14831it [01:36, 151.30it/s] 14847it [01:36, 151.85it/s] 14863it [01:36, 152.11it/s] 14879it [01:36, 151.12it/s] 14895it [01:36, 151.75it/s] 14911it [01:36, 152.58it/s] 14927it [01:36, 152.96it/s] 14943it [01:36, 153.71it/s] 14959it [01:37, 153.84it/s] 14975it [01:37, 153.81it/s] 14991it [01:37, 153.25it/s] 15007it [01:37, 152.53it/s] 15023it [01:37, 152.60it/s] 15039it [01:37, 152.76it/s] 15055it [01:37, 151.84it/s] 15071it [01:37, 151.57it/s] 15087it [01:37, 150.73it/s] 15103it [01:37, 150.42it/s] 15119it [01:38, 150.85it/s] 15135it [01:38, 150.99it/s] 15151it [01:38, 150.85it/s] 15167it [01:38, 151.10it/s] 15183it [01:38, 151.37it/s] 15199it [01:38, 150.94it/s] 15215it [01:38, 150.77it/s] 15231it [01:38, 150.72it/s] 15247it [01:38, 150.07it/s] 15263it [01:39, 149.68it/s] 15278it [01:39, 149.34it/s] 15293it [01:39, 149.37it/s] 15308it [01:39, 149.10it/s] 15324it [01:39, 149.70it/s] 15340it [01:39, 150.09it/s] 15356it [01:39, 150.61it/s] 15372it [01:39, 151.22it/s] 15388it [01:39, 152.17it/s] 15404it [01:39, 153.51it/s] 15420it [01:40, 153.76it/s] 15436it [01:40, 154.01it/s] 15452it [01:40, 154.12it/s] 15468it [01:40, 154.31it/s] 15484it [01:40, 154.22it/s] 15500it [01:40, 153.97it/s] 15516it [01:40, 153.91it/s] 15532it [01:40, 154.41it/s] 15548it [01:40, 154.87it/s] 15564it [01:41, 154.77it/s] 15580it [01:41, 154.26it/s] 15596it [01:41, 153.80it/s] 15612it [01:41, 153.64it/s] 15628it [01:41, 153.43it/s] 15644it [01:41, 152.96it/s] 15660it [01:41, 152.94it/s] 15676it [01:41, 153.16it/s] 15692it [01:41, 153.33it/s] 15708it [01:41, 153.73it/s] 15724it [01:42, 154.10it/s] 15740it [01:42, 153.71it/s] 15756it [01:42, 153.61it/s] 15772it [01:42, 153.73it/s] 15788it [01:42, 153.52it/s] 15804it [01:42, 153.13it/s] 15820it [01:42, 151.94it/s] 15836it [01:42, 151.12it/s] 15852it [01:42, 150.52it/s] 15868it [01:43, 149.98it/s] 15884it [01:43, 150.01it/s] 15900it [01:43, 150.01it/s] 15916it [01:43, 150.11it/s] 15932it [01:43, 149.79it/s] 15947it [01:43, 149.74it/s] 15962it [01:43, 149.35it/s] 15978it [01:43, 149.63it/s] 15994it [01:43, 149.96it/s] 16010it [01:43, 150.22it/s] 16026it [01:44, 151.39it/s] 16042it [01:44, 152.26it/s] 16058it [01:44, 152.35it/s] 16074it [01:44, 151.98it/s] 16090it [01:44, 151.84it/s] 16106it [01:44, 152.10it/s] 16122it [01:44, 151.87it/s] 16138it [01:44, 152.24it/s] 16154it [01:44, 153.01it/s] 16170it [01:45, 153.25it/s] 16186it [01:45, 153.78it/s] 16202it [01:45, 153.98it/s] 16218it [01:45, 153.93it/s] 16234it [01:45, 153.92it/s] 16250it [01:45, 154.32it/s] 16266it [01:45, 154.29it/s] 16282it [01:45, 154.05it/s] 16298it [01:45, 154.18it/s] 16314it [01:45, 154.27it/s] 16330it [01:46, 154.60it/s] 16346it [01:46, 154.94it/s] 16362it [01:46, 155.26it/s] 16378it [01:46, 154.97it/s] 16394it [01:46, 154.70it/s] 16410it [01:46, 153.90it/s] 16426it [01:46, 153.29it/s] 16442it [01:46, 153.14it/s] 16458it [01:46, 153.31it/s] 16474it [01:46, 153.46it/s] 16490it [01:47, 153.93it/s] 16506it [01:47, 154.01it/s] 16522it [01:47, 154.29it/s] 16538it [01:47, 154.12it/s] 16554it [01:47, 153.71it/s] 16570it [01:47, 153.14it/s] 16586it [01:47, 151.90it/s] 16602it [01:47, 151.58it/s] 16618it [01:47, 151.61it/s] 16634it [01:48, 152.06it/s] 16650it [01:48, 152.44it/s] 16666it [01:48, 152.88it/s] 16682it [01:48, 152.85it/s] 16698it [01:48, 152.21it/s] 16714it [01:48, 151.95it/s] 16730it [01:48, 151.56it/s] 16746it [01:48, 151.43it/s] 16762it [01:48, 151.23it/s] 16778it [01:48, 150.84it/s] 16794it [01:49, 150.37it/s] 16810it [01:49, 150.46it/s] 16826it [01:49, 150.95it/s] 16842it [01:49, 151.75it/s] 16858it [01:49, 152.16it/s] 16874it [01:49, 151.69it/s] 16890it [01:49, 150.60it/s] 16906it [01:49, 150.21it/s] 16922it [01:49, 150.24it/s] 16938it [01:50, 150.71it/s] 16954it [01:50, 151.55it/s] 16970it [01:50, 151.75it/s] 16986it [01:50, 152.11it/s] 17002it [01:50, 152.34it/s] 17018it [01:50, 151.95it/s] 17034it [01:50, 150.60it/s] 17050it [01:50, 150.55it/s] 17066it [01:50, 150.68it/s] 17082it [01:50, 151.16it/s] 17098it [01:51, 152.05it/s] 17114it [01:51, 152.65it/s] 17130it [01:51, 152.70it/s] 17146it [01:51, 152.68it/s] 17162it [01:51, 152.76it/s] 17178it [01:51, 151.81it/s] 17194it [01:51, 151.37it/s] 17210it [01:51, 151.57it/s] 17226it [01:51, 151.88it/s] 17242it [01:52, 152.55it/s] 17258it [01:52, 153.27it/s] 17274it [01:52, 153.38it/s] 17290it [01:52, 153.42it/s] 17306it [01:52, 152.85it/s] 17322it [01:52, 153.06it/s] 17338it [01:52, 152.41it/s] 17354it [01:52, 152.21it/s] 17370it [01:52, 152.01it/s] 17386it [01:52, 151.77it/s] 17402it [01:53, 151.47it/s] 17418it [01:53, 151.30it/s] 17434it [01:53, 151.57it/s] 17450it [01:53, 151.55it/s] 17466it [01:53, 152.37it/s] 17482it [01:53, 152.97it/s] 17498it [01:53, 153.42it/s] 17514it [01:53, 153.21it/s] 17530it [01:53, 151.97it/s] 17546it [01:54, 151.78it/s] 17562it [01:54, 152.14it/s] 17578it [01:54, 152.70it/s] 17594it [01:54, 153.01it/s] 17610it [01:54, 152.92it/s] 17626it [01:54, 152.99it/s] 17642it [01:54, 153.34it/s] 17658it [01:54, 153.73it/s] 17674it [01:54, 153.62it/s] 17690it [01:54, 153.55it/s] 17706it [01:55, 153.77it/s] 17722it [01:55, 153.99it/s] 17738it [01:55, 154.13it/s] 17754it [01:55, 154.20it/s] 17770it [01:55, 153.88it/s] 17786it [01:55, 153.51it/s] 17802it [01:55, 152.55it/s] 17818it [01:55, 152.44it/s] 17834it [01:55, 152.65it/s] 17850it [01:56, 152.52it/s] 17866it [01:56, 151.85it/s] 17882it [01:56, 151.36it/s] 17898it [01:56, 151.31it/s] 17914it [01:56, 151.04it/s] 17930it [01:56, 151.77it/s] 17946it [01:56, 151.88it/s] 17962it [01:56, 152.77it/s] 17978it [01:56, 153.85it/s] 17994it [01:56, 154.13it/s] 18010it [01:57, 153.50it/s] 18026it [01:57, 153.61it/s] 18042it [01:57, 153.29it/s] 18058it [01:57, 153.75it/s] 18074it [01:57, 153.63it/s] 18090it [01:57, 154.03it/s] 18106it [01:57, 153.73it/s] 18122it [01:57, 154.09it/s] 18138it [01:57, 154.69it/s] 18154it [01:58, 154.85it/s] 18170it [01:58, 154.18it/s] 18186it [01:58, 153.96it/s] 18202it [01:58, 153.55it/s] 18218it [01:58, 153.23it/s] 18234it [01:58, 152.84it/s] 18250it [01:58, 152.65it/s] 18266it [01:58, 153.17it/s] 18282it [01:58, 153.74it/s] 18298it [01:58, 153.70it/s] 18314it [01:59, 153.52it/s] 18330it [01:59, 153.54it/s] 18346it [01:59, 153.58it/s] 18362it [01:59, 153.80it/s] 18378it [01:59, 153.46it/s] 18394it [01:59, 153.81it/s] 18410it [01:59, 153.87it/s] 18426it [01:59, 154.30it/s] 18442it [01:59, 154.74it/s] 18458it [01:59, 154.75it/s] 18474it [02:00, 154.56it/s] 18490it [02:00, 154.25it/s] 18506it [02:00, 153.67it/s] 18522it [02:00, 153.83it/s] 18538it [02:00, 153.74it/s] 18554it [02:00, 153.30it/s] 18570it [02:00, 152.85it/s] 18586it [02:00, 152.75it/s] 18602it [02:00, 153.06it/s] 18618it [02:01, 153.20it/s] 18634it [02:01, 153.24it/s] 18650it [02:01, 153.54it/s] 18666it [02:01, 153.07it/s] 18682it [02:01, 153.14it/s] 18698it [02:01, 153.62it/s] 18714it [02:01, 154.17it/s] 18730it [02:01, 154.16it/s] 18746it [02:01, 154.03it/s] 18762it [02:01, 153.97it/s] 18778it [02:02, 154.12it/s] 18794it [02:02, 153.51it/s] 18810it [02:02, 153.27it/s] 18826it [02:02, 153.59it/s] 18842it [02:02, 153.24it/s] 18858it [02:02, 152.84it/s] 18874it [02:02, 152.32it/s] 18890it [02:02, 151.78it/s] 18906it [02:02, 152.39it/s] 18922it [02:03, 152.91it/s] 18938it [02:03, 153.70it/s] 18954it [02:03, 154.60it/s] 18970it [02:03, 154.84it/s] 18986it [02:03, 155.13it/s] 19002it [02:03, 155.12it/s] 19018it [02:03, 155.18it/s] 19034it [02:03, 155.40it/s] 19050it [02:03, 155.66it/s] 19066it [02:03, 155.60it/s] 19082it [02:04, 155.76it/s] 19098it [02:04, 156.37it/s] 19114it [02:04, 156.74it/s] 19130it [02:04, 156.25it/s] 19146it [02:04, 155.43it/s] 19162it [02:04, 155.56it/s] 19178it [02:04, 155.95it/s] 19194it [02:04, 155.82it/s] 19210it [02:04, 156.49it/s] 19226it [02:04, 156.58it/s] 19242it [02:05, 156.73it/s] 19258it [02:05, 156.57it/s] 19274it [02:05, 156.78it/s] 19290it [02:05, 156.56it/s] 19306it [02:05, 155.59it/s] 19322it [02:05, 154.97it/s] 19338it [02:05, 153.61it/s] 19354it [02:05, 152.95it/s] 19370it [02:05, 152.74it/s] 19386it [02:05, 153.10it/s] 19402it [02:06, 153.54it/s] 19418it [02:06, 153.77it/s] 19434it [02:06, 153.52it/s] 19450it [02:06, 152.84it/s] 19466it [02:06, 150.83it/s] 19482it [02:06, 149.72it/s] 19497it [02:06, 149.22it/s] 19513it [02:06, 149.67it/s] 19528it [02:06, 149.36it/s] 19544it [02:07, 149.50it/s] 19560it [02:07, 149.81it/s] 19576it [02:07, 149.97it/s] 19592it [02:07, 150.50it/s] 19608it [02:07, 152.00it/s] 19624it [02:07, 152.80it/s] 19640it [02:07, 153.84it/s] 19656it [02:07, 153.43it/s] 19672it [02:07, 152.86it/s] 19684it [02:07, 153.83it/s] Writing Lidar 2D slices PTD file in binary format... Completed! Making a constant density centerline ... Completed! Writing the SLAM model ... Completed!