+ python -m lidar_slam --no-model /working/21c347ca-12e6-479f-b57a-69ae3df519c2 Lidar SLAM 0.0.7 ===================================================== The recording path: /working/21c347ca-12e6-479f-b57a-69ae3df519c2 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 0.004203822 Adjusted end_distance from 9.223372036854776e+18 to 319.194203822 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.004203822 meters SLAMing on 0.064203822 meters SLAMing on 0.12420382199999998 meters 1.3852373837043022 Centerline is valid? [0, False] SLAMing on 0.18420382199999996 meters 1.3836022530036702 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.01, Z:0.00 [[ 9.99999891e-01 -4.63730630e-04 5.25944112e-05 -9.54358341e-04] [ 4.63769670e-04 9.99999615e-01 -7.44702892e-04 5.27814213e-03] [-5.22490494e-05 7.44727202e-04 9.99999721e-01 9.00990794e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24420382199999996 meters 1.4294038999371201 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:0.00 [[ 9.99999863e-01 -5.12889337e-04 -1.08814946e-04 2.86281642e-04] [ 5.12796431e-04 9.99999505e-01 -8.52112216e-04 5.83763030e-03] [ 1.09251932e-04 8.52056299e-04 9.99999631e-01 3.03922758e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.30420382199999996 meters 0.8828520205603818 Centerline is valid? [False, False] Translation: X:0.00, Y:0.02, Z:-0.00 [[ 9.99999024e-01 -1.38997586e-03 -1.44673377e-04 7.23292146e-04] [ 1.38962828e-03 9.99996213e-01 -2.37553258e-03 1.65246359e-02] [ 1.47974762e-04 2.37532921e-03 9.99997168e-01 -2.65881416e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.36420382199999995 meters 0.8727955566429677 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:0.00 [[ 9.99999306e-01 -1.15368915e-03 -2.40314385e-04 9.94609589e-04] [ 1.15324085e-03 9.99997610e-01 -1.85736078e-03 1.29984779e-02] [ 2.42456627e-04 1.85708235e-03 9.99998246e-01 2.19302652e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.42420382199999995 meters 0.8876742577718917 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.01, Z:0.01 [[ 9.99997684e-01 -2.03893599e-03 6.89679123e-04 -7.40753525e-03] [ 2.04008842e-03 9.99996517e-01 -1.67442005e-03 8.71990437e-03] [-6.86262685e-04 1.67582317e-03 9.99998360e-01 6.79671252e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.48420382199999995 meters 0.8729580927143548 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:-0.00 [[ 9.99998583e-01 1.63827901e-03 -3.87413127e-04 2.43703566e-03] [-1.63729291e-03 9.99995454e-01 2.53210467e-03 8.83548596e-03] [ 3.91559660e-04 -2.53146677e-03 9.99996719e-01 -6.21061541e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.544203822 meters 0.8688596294769371 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99997625e-01 2.11805601e-03 -5.13405187e-04 3.37860155e-03] [-2.11639839e-03 9.99992615e-01 3.20800310e-03 3.78522683e-03] [ 5.20196125e-04 -3.20690892e-03 9.99994723e-01 -7.27187500e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6042038219999999 meters 0.8782288092950484 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:-0.00 [[ 9.99998664e-01 1.49756747e-03 -6.55805995e-04 4.82148188e-03] [-1.49612005e-03 9.99996456e-01 2.20204200e-03 1.07194365e-02] [ 6.59101378e-04 -2.20105790e-03 9.99997360e-01 -1.95278796e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6642038219999999 meters 0.8628859410335767 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 9.99998935e-01 1.19473297e-03 -8.37654782e-04 6.04300364e-03] [-1.19338822e-03 9.99998001e-01 1.60404030e-03 1.47285334e-02] [ 8.39569508e-04 -1.60303895e-03 9.99998363e-01 -2.48432634e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7242038219999999 meters 0.8728188852641856 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.00 [[ 9.99998577e-01 1.38604044e-03 -9.62168498e-04 6.94639417e-03] [-1.38421483e-03 9.99997246e-01 1.89547308e-03 1.26869925e-02] [ 9.64793050e-04 -1.89413854e-03 9.99997741e-01 -2.71025539e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7842038219999999 meters 0.8391180004286348 Centerline is valid? [False, False] Translation: X:0.00, Y:0.02, Z:0.00 [[ 9.99997326e-01 2.29652690e-03 -2.72492036e-04 5.72989832e-05] [-2.29602121e-03 9.99995668e-01 1.84180113e-03 1.95709897e-02] [ 2.76720601e-04 -1.84117056e-03 9.99998267e-01 2.17659516e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8442038219999999 meters 0.8581658464559578 Centerline is valid? [False, False] Translation: X:0.00, Y:0.02, Z:0.00 [[ 9.99996675e-01 2.55500176e-03 -3.48526830e-04 7.45030240e-05] [-2.55421687e-03 9.99994242e-01 2.23416631e-03 1.68811604e-02] [ 3.54233122e-04 -2.23326867e-03 9.99997444e-01 2.93506651e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9042038219999999 meters 0.8508972201925388 Centerline is valid? [False, False] Translation: X:0.00, Y:0.02, Z:0.00 [[ 9.99996170e-01 2.71972176e-03 -5.12484953e-04 1.45362616e-03] [-2.71845137e-03 9.99993271e-01 2.46346846e-03 1.52452164e-02] [ 5.19181453e-04 -2.46206586e-03 9.99996834e-01 2.22304678e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9642038219999999 meters 0.5024054527351142 Centerline is valid? [False, False] Translation: X:0.00, Y:0.02, Z:0.00 [[ 9.99992032e-01 3.95536953e-03 -5.39827462e-04 1.29068979e-03] [-3.95423370e-03 9.99990000e-01 2.08915459e-03 2.42117376e-02] [ 5.48085442e-04 -2.08700334e-03 9.99997672e-01 2.41436852e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0242038219999998 meters 0.8039385383405264 Centerline is valid? [False, False] Translation: X:0.00, Y:0.02, Z:0.00 [[ 9.99991149e-01 4.16492928e-03 -5.96754841e-04 1.77426744e-03] [-4.16349278e-03 9.99988480e-01 2.38853958e-03 2.20314615e-02] [ 6.06696065e-04 -2.38603385e-03 9.99996969e-01 2.24926379e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0842038219999999 meters 0.5177982062338169 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:-0.00 [[ 0.99999106 0.00409272 -0.00106727 0.00928864] [-0.00409055 0.99998958 0.00202549 0.02620992] [ 0.00107555 -0.00202111 0.99999738 -0.00409736] [ 0. 0. 0. 1. ]] SLAMing on 1.144203822 meters 0.6697525493380734 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:-0.00 [[ 9.99999283e-01 -2.78999282e-04 -1.16467149e-03 9.79758033e-03] [ 2.76238878e-04 9.99997154e-01 -2.36960205e-03 2.65905098e-02] [ 1.16532929e-03 2.36927862e-03 9.99996514e-01 -4.14806791e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2042038219999998 meters 0.515544202126248 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:-0.00 [[ 9.99999123e-01 -4.12492441e-04 -1.25887844e-03 1.05450574e-02] [ 4.09220693e-04 9.99996541e-01 -2.59809058e-03 2.81226320e-02] [ 1.25994577e-03 2.59757314e-03 9.99995833e-01 -4.59382335e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2642038219999998 meters 0.5332075622004455 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:-0.00 [[ 9.99998946e-01 -6.63404950e-04 -1.29178281e-03 1.05341132e-02] [ 6.59505691e-04 9.99995233e-01 -3.01659988e-03 3.09147702e-02] [ 1.29377788e-03 3.01574476e-03 9.99994616e-01 -4.21325470e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3242038219999999 meters 0.5080422422535489 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:-0.00 [[ 9.99998774e-01 -8.05459965e-04 -1.34308159e-03 1.06730322e-02] [ 8.01090273e-04 9.99994395e-01 -3.25085276e-03 3.24522139e-02] [ 1.34569249e-03 3.24977284e-03 9.99993814e-01 -3.95799547e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.384203822 meters 1.072783588946667 Centerline is valid? [False, False] Translation: X:0.01, Y:0.04, Z:-0.00 [[ 0.9999984 -0.00112679 -0.00139036 0.01087796] [ 0.00112152 0.9999922 -0.00378667 0.03597166] [ 0.00139462 0.00378511 0.99999186 -0.00384367] [ 0. 0. 0. 1. ]] SLAMing on 1.4442038219999997 meters 0.5140434343823558 Centerline is valid? [False, False] Translation: X:0.01, Y:0.04, Z:-0.00 [[ 0.9999982 -0.00117447 -0.00148711 0.01161677] [ 0.00116872 0.99999188 -0.00385781 0.03641839] [ 0.00149163 0.00385607 0.99999145 -0.00428149] [ 0. 0. 0. 1. ]] SLAMing on 1.5042038219999998 meters 0.52974072712322 Centerline is valid? [False, False] Translation: X:0.01, Y:0.04, Z:-0.00 [[ 0.99999767 -0.00148423 -0.00156755 0.01236011] [ 0.00147731 0.9999892 -0.00440723 0.04008807] [ 0.00157408 0.0044049 0.99998906 -0.00480665] [ 0. 0. 0. 1. ]] SLAMing on 1.5642038219999999 meters 0.5396110280949827 Centerline is valid? [False, False] Translation: X:0.01, Y:0.05, Z:-0.00 [[ 0.99999677 -0.00195389 -0.00162567 0.01279981] [ 0.00194539 0.99998451 -0.00521573 0.04541593] [ 0.00163584 0.00521255 0.99998508 -0.00495535] [ 0. 0. 0. 1. ]] SLAMing on 1.6242038219999997 meters 0.5571665011383502 Centerline is valid? [False, False] Translation: X:0.01, Y:0.04, Z:-0.00 [[ 0.99999681 -0.00188798 -0.00167506 0.01290725] [ 0.00187942 0.99998526 -0.00509409 0.04459301] [ 0.00168466 0.00509092 0.99998562 -0.0046339 ] [ 0. 0. 0. 1. ]] SLAMing on 1.6842038219999997 meters 0.5567443046059152 Centerline is valid? [False, False] Translation: X:0.00, Y:0.04, Z:0.00 [[ 9.99995780e-01 -2.80787450e-03 -7.45601692e-04 4.17993601e-03] [ 2.80396848e-03 9.99982605e-01 -5.18910380e-03 4.21880337e-02] [ 7.60159075e-04 5.18699126e-03 9.99986259e-01 1.54455965e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7442038219999998 meters 0.5573216957702489 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.04, Z:0.01 [[ 9.99999984e-01 1.24324274e-04 -1.29658015e-04 -1.19453586e-03] [-1.24451462e-04 9.99999511e-01 -9.81402948e-04 3.85112884e-02] [ 1.29535939e-04 9.81419069e-04 9.99999510e-01 5.76386486e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8042038219999998 meters 0.5489426677581716 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.03, Z:0.01 [[ 9.99999698e-01 -2.94289214e-04 7.19371444e-04 -1.01270345e-02] [ 2.94449676e-04 9.99999932e-01 -2.22962039e-04 2.98716383e-02] [-7.19305779e-04 2.23173791e-04 9.99999716e-01 1.25507537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8642038219999997 meters 0.5663870383914251 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.03, Z:0.01 [[ 9.99999828e-01 -7.49019848e-05 5.81747053e-04 -9.35626549e-03] [ 7.51182114e-05 9.99999928e-01 -3.71671934e-04 3.14725014e-02] [-5.81719172e-04 3.71715569e-04 9.99999762e-01 1.22695376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9242038219999997 meters 0.5702291908172554 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.03, Z:0.01 [[ 9.99999643e-01 6.53758840e-04 5.34521623e-04 -8.95046842e-03] [-6.53530309e-04 9.99999695e-01 -4.27605885e-04 3.32663026e-02] [-5.34801011e-04 4.27256406e-04 9.99999766e-01 1.18775196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9842038219999998 meters 0.591766221638074 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.03, Z:0.01 [[ 9.99999566e-01 8.25895346e-04 4.30824860e-04 -8.18502144e-03] [-8.25794630e-04 9.99999632e-01 -2.33900796e-04 3.21458813e-02] [-4.31017878e-04 2.33544921e-04 9.99999880e-01 1.12700086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0442038219999996 meters 0.6032314783474217 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.04, Z:0.02 [[ 9.99997648e-01 1.64716675e-03 1.41131447e-03 -1.77367274e-02] [-1.64665630e-03 9.99998578e-01 -3.62775436e-04 3.58523426e-02] [-1.41191001e-03 3.60450633e-04 9.99998938e-01 1.87322199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1042038219999997 meters 0.5912479932632619 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.03, Z:0.02 [[ 0.9999957 -0.00257136 0.00141225 -0.01778834] [ 0.00257766 0.99998665 -0.00447846 0.03449041] [-0.00140071 0.00448208 0.99998897 0.01885291] [ 0. 0. 0. 1. ]] SLAMing on 2.1642038219999997 meters 0.6064810512945391 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.03, Z:0.02 [[ 0.99999024 -0.00384303 0.00217939 -0.02395229] [ 0.00385375 0.99998039 -0.00493564 0.03195978] [-0.00216038 0.00494399 0.99998544 0.02307002] [ 0. 0. 0. 1. ]] SLAMing on 2.2242038219999998 meters 0.6155256094527569 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.03, Z:0.02 [[ 9.99997610e-01 5.87735006e-04 2.10585184e-03 -2.37198558e-02] [-5.86973939e-04 9.99999762e-01 -3.62005689e-04 3.04987296e-02] [-2.10606410e-03 3.60768744e-04 9.99997717e-01 2.31509127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.284203822 meters 0.6451035610935754 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.03, Z:0.02 [[ 9.99997457e-01 9.53599411e-04 2.04390724e-03 -2.35591109e-02] [-9.54432925e-04 9.99999462e-01 4.06867760e-04 2.58183531e-02] [-2.04351815e-03 -4.08817498e-04 9.99997828e-01 2.33991070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.344203822 meters 0.6661791392329578 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.02, Z:0.02 [[ 9.99997377e-01 1.13565276e-03 1.98898735e-03 -2.35806754e-02] [-1.13724472e-03 9.99999034e-01 7.99440329e-04 2.34673185e-02] [-1.98807755e-03 -8.01700198e-04 9.99997702e-01 2.39495202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4042038219999995 meters 0.6795112896348356 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.02, Z:0.02 [[ 9.99997556e-01 1.17231288e-03 1.87456208e-03 -2.34308787e-02] [-1.17395887e-03 9.99998926e-01 8.77209632e-04 2.30143728e-02] [-1.87353170e-03 -8.79408147e-04 9.99997858e-01 2.46811427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4642038219999995 meters 1.041268593103336 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.02, Z:0.03 [[ 9.99996910e-01 8.93016877e-05 2.48451539e-03 -2.95324811e-02] [-9.07265055e-05 9.99999832e-01 5.73372378e-04 1.86874912e-02] [-2.48446376e-03 -5.73596017e-04 9.99996749e-01 2.99097087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5242038219999996 meters 0.7366106718983324 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.02, Z:0.03 [[ 9.99997093e-01 6.05704104e-05 2.41025783e-03 -2.92865456e-02] [-6.17973770e-05 9.99999869e-01 5.08989078e-04 1.90704838e-02] [-2.41022668e-03 -5.09136546e-04 9.99996966e-01 3.00701858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5842038219999997 meters 1.0676702936003668 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.02, Z:0.03 [[ 9.99997300e-01 1.16891369e-04 2.32073519e-03 -2.90652376e-02] [-1.18384907e-04 9.99999786e-01 6.43435262e-04 1.83156176e-02] [-2.32065948e-03 -6.43708265e-04 9.99997100e-01 3.04031296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6442038219999997 meters 1.086633675308006 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.02, Z:0.03 [[ 9.99997424e-01 1.53160126e-04 2.26469882e-03 -2.88712308e-02] [-1.54819718e-04 9.99999720e-01 7.32651608e-04 1.78161356e-02] [-2.26458597e-03 -7.33000341e-04 9.99997167e-01 3.04906943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7042038219999998 meters 1.063255773734199 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.02, Z:0.03 [[ 0.99999431 0.00157186 0.00298624 -0.03436364] [-0.00157718 0.99999717 0.00177966 0.01776804] [-0.00298344 -0.00178436 0.99999396 0.0344802 ] [ 0. 0. 0. 1. ]] SLAMing on 2.764203822 meters 1.1010299526868157 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.02, Z:0.04 [[ 0.99998834 0.00303147 0.00375978 -0.04039858] [-0.00304158 0.99999177 0.00268501 0.01908033] [-0.00375161 -0.00269642 0.99998933 0.03935981] [ 0. 0. 0. 1. ]] SLAMing on 2.8242038219999994 meters 1.1055711598854063 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.02, Z:0.04 [[ 0.99998881 0.00303114 0.00363149 -0.04029145] [-0.00304087 0.99999179 0.00267688 0.01918898] [-0.00362335 -0.0026879 0.99998982 0.04029883] [ 0. 0. 0. 1. ]] SLAMing on 2.8842038219999995 meters 1.1155977729449662 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.02, Z:0.05 [[ 0.99999034 -0.00361466 0.00249897 -0.0225301 ] [ 0.00359985 0.99997608 0.00590668 0.01553244] [-0.00252027 -0.00589763 0.99997943 0.04658666] [ 0. 0. 0. 1. ]] SLAMing on 2.9442038219999995 meters 1.1215439311362236 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.02, Z:0.05 [[ 0.99998967 -0.00381238 0.00247674 -0.02237933] [ 0.00379893 0.99997814 0.00541246 0.01819079] [-0.00249732 -0.005403 0.99998229 0.04644999] [ 0. 0. 0. 1. ]] SLAMing on 3.0042038219999996 meters 1.1125184656692786 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.02, Z:0.05 [[ 0.99997713 -0.00583152 0.00342392 -0.028898 ] [ 0.00582021 0.99997761 0.00330272 0.01895248] [-0.00344311 -0.00328272 0.99998868 0.05153534] [ 0. 0. 0. 1. ]] SLAMing on 3.0642038219999996 meters 0.7873812577605019 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.02, Z:0.06 [[ 0.99998213 -0.00440996 0.00403605 -0.03410145] [ 0.00439121 0.99997959 0.00464132 0.01773391] [-0.00405643 -0.00462351 0.99998108 0.05610099] [ 0. 0. 0. 1. ]] SLAMing on 3.1242038219999997 meters 0.7854281877761282 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.02, Z:0.06 [[ 9.99987062e-01 1.75667197e-03 4.77395186e-03 -2.07414553e-02] [-1.75442385e-03 9.99998348e-01 -4.75061394e-04 2.35272351e-02] [-4.77477850e-03 4.66679712e-04 9.99988492e-01 6.46603386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1842038219999997 meters 0.7903933889107685 Centerline is valid? [False, False] Translation: X:-0.02, Y:0.02, Z:0.07 [[ 9.99987158e-01 1.97168066e-03 4.66871057e-03 -2.06977535e-02] [-1.97252974e-03 9.99998039e-01 1.77268439e-04 2.02640064e-02] [-4.66835190e-03 -1.86475333e-04 9.99989086e-01 6.55149867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2442038219999993 meters 0.787661872382301 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.02, Z:0.07 [[ 9.99984067e-01 -4.24987389e-04 5.62888415e-03 -2.69496903e-02] [ 4.36660589e-04 9.99997757e-01 -2.07273698e-03 1.99905507e-02] [-5.62799064e-03 2.07516187e-03 9.99982010e-01 7.06892472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3042038219999994 meters 0.7811199137077038 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.01, Z:0.08 [[ 0.9999742 -0.00254646 0.00671633 -0.03338571] [ 0.00257002 0.99999057 -0.00350162 0.01480409] [-0.00670735 0.00351879 0.99997131 0.07601017] [ 0. 0. 0. 1. ]] SLAMing on 3.3642038219999995 meters 0.7782393785778043 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.01, Z:0.08 [[ 0.99997509 -0.00232929 0.00666255 -0.03319791] [ 0.00234876 0.99999299 -0.00291603 0.01185277] [-0.00665571 0.00293161 0.99997355 0.07595726] [ 0. 0. 0. 1. ]] SLAMing on 3.4242038219999995 meters 0.7652175891862529 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.01, Z:0.08 [[ 9.99970046e-01 -6.63190232e-05 7.73966036e-03 -3.98888428e-02] [ 6.96308980e-05 9.99999906e-01 -4.27640892e-04 9.50182620e-03] [-7.73963128e-03 4.28167002e-04 9.99969957e-01 8.11675935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4842038219999996 meters 0.7780269299464635 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.01, Z:0.08 [[ 0.99997581 0.00249858 0.00649116 -0.03313499] [-0.00251375 0.99999413 0.00232951 0.00627544] [-0.0064853 -0.00234577 0.99997622 0.07670414] [ 0. 0. 0. 1. ]] SLAMing on 3.5442038219999996 meters 0.7729591230885448 Centerline is valid? [False, False] Translation: X:-0.03, Y:0.01, Z:0.08 [[ 0.99997535 0.00240415 0.00659705 -0.03364606] [-0.00241621 0.99999542 0.00182165 0.00883251] [-0.00659264 -0.00183755 0.99997658 0.07741561] [ 0. 0. 0. 1. ]] SLAMing on 3.6042038219999997 meters 0.7319118784622216 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.01, Z:0.08 [[ 0.99995982 0.00461032 0.00768764 -0.04032539] [-0.00464083 0.99998141 0.00395501 0.00867229] [-0.00766926 -0.00399053 0.99996263 0.0828565 ] [ 0. 0. 0. 1. ]] SLAMing on 3.6642038219999993 meters 0.7417754185603282 Centerline is valid? [False, False] Translation: X:-0.04, Y:0.01, Z:0.08 [[ 0.99996068 0.00442902 0.00768315 -0.04026825] [-0.00445527 0.99998428 0.00340302 0.01127486] [-0.00766796 -0.00343712 0.99996469 0.08275793] [ 0. 0. 0. 1. ]] SLAMing on 3.7242038219999993 meters 0.728259314724532 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.02, Z:0.09 [[ 9.99958548e-01 2.06021336e-03 8.86892077e-03 -4.66573582e-02] [-2.06467421e-03 9.99997747e-01 4.93849374e-04 1.52599861e-02] [-8.86788335e-03 -5.12140335e-04 9.99960548e-01 8.72081046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7842038219999994 meters 0.70124132797366 Centerline is valid? [False, False] Translation: X:-0.05, Y:0.02, Z:0.09 [[ 9.99949821e-01 -3.26035909e-04 1.00124733e-02 -5.35821961e-02] [ 3.46501013e-04 9.99997854e-01 -2.04229422e-03 1.68056210e-02] [-1.00117859e-02 2.04566107e-03 9.99947788e-01 9.28522050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8442038219999994 meters 0.5991699206379043 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.02, Z:0.10 [[ 0.99996526 -0.00512608 0.00657254 -0.07447713] [ 0.00510137 0.99997988 0.00377104 0.01625785] [-0.00659174 -0.00373738 0.99997129 0.09600003] [ 0. 0. 0. 1. ]] SLAMing on 3.9042038219999995 meters 0.5770053475068012 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.02, Z:0.10 [[ 0.99997899 -0.00495313 0.00418084 -0.09422054] [ 0.00498024 0.99996649 -0.00649815 0.01846653] [-0.00414852 0.00651884 0.99997015 0.09669897] [ 0. 0. 0. 1. ]] SLAMing on 3.9642038219999995 meters 0.5705903897175837 Centerline is valid? [False, False] Translation: X:-0.08, Y:0.02, Z:0.10 [[ 9.99977659e-01 -6.64689859e-03 7.06934132e-04 -7.56379492e-02] [ 6.64633267e-03 9.99977593e-01 7.99888227e-04 1.72339700e-02] [-7.12235067e-04 -7.95171838e-04 9.99999430e-01 1.04229149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.024203822 meters 0.4533494221758324 Centerline is valid? [False, False] Translation: X:-0.10, Y:0.02, Z:0.11 [[ 0.99999539 -0.00257583 -0.00161033 -0.09567143] [ 0.00256686 0.99998131 -0.00554861 0.01966737] [ 0.00162459 0.00554445 0.99998331 0.10519227] [ 0. 0. 0. 1. ]] SLAMing on 4.084203821999999 meters 0.5617635279847681 Centerline is valid? [False, False] Translation: X:-0.07, Y:0.02, Z:0.10 [[ 9.99990611e-01 -4.33330630e-03 -2.93524159e-05 -7.30977841e-02] [ 4.33336265e-03 9.99987929e-01 2.31579240e-03 2.30818277e-02] [ 1.93170238e-05 -2.31589786e-03 9.99997318e-01 1.03054880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.144203822 meters 0.3951442495672151 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.03, Z:0.11 [[ 0.99999005 -0.00172461 -0.00411394 -0.0932227 ] [ 0.00170112 0.99998227 -0.00570676 0.03065464] [ 0.00412371 0.0056997 0.99997525 0.10557672] [ 0. 0. 0. 1. ]] SLAMing on 4.204203821999999 meters 0.3962338022456324 Centerline is valid? [False, False] Translation: X:-0.09, Y:0.03, Z:0.10 [[ 9.99985678e-01 3.01842428e-04 -5.34350490e-03 -8.66975801e-02] [-3.23389017e-04 9.99991820e-01 -4.03189035e-03 3.49096018e-02] [ 5.34224419e-03 4.03356063e-03 9.99977595e-01 1.01596051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.264203822 meters 0.3601319738236971 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.04, Z:0.10 [[ 9.99991929e-01 -3.94621974e-03 7.54809094e-04 -1.12729558e-01] [ 3.94674702e-03 9.99991968e-01 -6.98350221e-04 4.39312957e-02] [-7.52047188e-04 7.01323625e-04 9.99999471e-01 9.90330292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.324203821999999 meters 0.4041022744079486 Centerline is valid? [False, False] Translation: X:-0.11, Y:0.05, Z:0.10 [[ 9.99990928e-01 -4.19391919e-03 7.44353169e-04 -1.12592552e-01] [ 4.19492709e-03 9.99990280e-01 -1.35771241e-03 4.69032508e-02] [-7.38651798e-04 1.36082260e-03 9.99998801e-01 9.87248630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.384203821999999 meters 0.031021890079285765 Centerline is valid? [False, True] Translation: X:-0.11, Y:0.05, Z:0.09 [[ 9.99997329e-01 -2.25057371e-03 -5.25852130e-04 -1.05774802e-01] [ 2.25060410e-03 9.99997466e-01 5.71966241e-05 5.24956703e-02] [ 5.25722072e-04 -5.83799563e-05 9.99999860e-01 9.39087740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4442038219999995 meters 0.029453094188944547 Centerline is valid? [True, True] Translation: X:-0.05, Y:0.07, Z:0.09 [[ 0.99996116 -0.00459714 -0.00751899 -0.04591108] [ 0.00442141 0.99972052 -0.02322344 0.07464294] [ 0.00762365 0.0231893 0.99970202 0.08986133] [ 0. 0. 0. 1. ]] SLAMing on 4.504203821999999 meters 0.03589747277281896 Centerline is valid? [True, True] Translation: X:0.01, Y:0.07, Z:0.07 [[ 0.9999585 -0.00860561 -0.00298923 0.01210681] [ 0.00863793 0.99990249 0.01097258 0.06837981] [ 0.00289451 -0.01099795 0.99993533 0.06893062] [ 0. 0. 0. 1. ]] SLAMing on 4.564203822 meters 0.03819495204879664 Centerline is valid? [True, True] Translation: X:0.07, Y:0.08, Z:0.06 [[ 9.99953411e-01 -9.05553319e-03 -3.34252828e-03 6.98224105e-02] [ 9.05528517e-03 9.99958996e-01 -8.93295911e-05 8.24722241e-02] [ 3.34320015e-03 5.90578826e-05 9.99994410e-01 6.08872070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.624203821999999 meters 0.03573606729537016 Centerline is valid? [True, True] Translation: X:0.13, Y:0.09, Z:0.06 [[ 9.99948970e-01 -9.46021853e-03 -3.54410932e-03 1.28689493e-01] [ 9.45992994e-03 9.99955249e-01 -9.81823761e-05 8.79154194e-02] [ 3.54487955e-03 6.46503400e-05 9.99993715e-01 6.05643266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.684203822 meters 0.06284700034686172 Centerline is valid? [True, True] Translation: X:0.18, Y:0.21, Z:0.09 [[ 9.97104018e-01 2.92685462e-04 -7.60492712e-02 1.77731695e-01] [-1.48393372e-02 9.81519611e-01 -1.90785342e-01 2.07075574e-01] [ 7.45880110e-02 1.91361352e-01 9.78681491e-01 9.24250501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.744203821999999 meters 0.03141196481220407 Centerline is valid? [True, True] Translation: X:0.28, Y:-0.03, Z:0.08 [[ 0.99981318 -0.01781086 -0.00750804 0.27523252] [ 0.01890995 0.98175788 0.18919268 -0.03047312] [ 0.00400139 -0.18929931 0.98191128 0.07822121] [ 0. 0. 0. 1. ]] SLAMing on 4.804203821999999 meters 0.02691346273493035 Centerline is valid? [True, True] Translation: X:0.33, Y:0.09, Z:0.07 [[ 9.99923900e-01 -1.20823960e-02 -2.49211202e-03 3.32176471e-01] [ 1.20822702e-02 9.99927005e-01 -6.55353930e-05 9.26830397e-02] [ 2.49272193e-03 3.54200350e-05 9.99996893e-01 7.03100746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8642038219999995 meters 0.03168790311101704 Centerline is valid? [True, True] Translation: X:0.39, Y:0.11, Z:0.07 [[ 9.99968114e-01 -7.98176957e-03 -2.49141219e-04 3.90607262e-01] [ 7.98176792e-03 9.99968145e-01 -7.61221064e-06 1.05438419e-01] [ 2.49194041e-04 5.62338053e-06 9.99999969e-01 6.87089630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.924203821999999 meters 0.036982695536488516 Centerline is valid? [True, True] Translation: X:0.45, Y:0.12, Z:0.07 [[ 9.99999263e-01 -1.57575306e-04 1.20415631e-03 4.50198670e-01] [ 1.57537886e-04 9.99999987e-01 3.11699792e-05 1.23547641e-01] [-1.20416121e-03 -3.09802559e-05 9.99999275e-01 7.08734020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.984203822 meters 0.04277877584538183 Centerline is valid? [True, True] Translation: X:0.51, Y:0.13, Z:0.07 [[ 9.99982610e-01 5.89331469e-03 2.18535579e-04 5.10838157e-01] [-5.89331610e-03 9.99982634e-01 5.81707242e-06 1.31644831e-01] [-2.18497502e-04 -7.10487051e-06 9.99999976e-01 6.81760757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.044203821999999 meters 0.04753121091363787 Centerline is valid? [True, True] Translation: X:0.57, Y:0.15, Z:0.07 [[ 9.99950371e-01 9.89734590e-03 1.13902750e-03 5.70970272e-01] [-9.89738650e-03 9.99951019e-01 3.00143294e-05 1.45585294e-01] [-1.13867464e-03 -4.12862352e-05 9.99999351e-01 6.70108456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.104203822 meters 0.047227548772024806 Centerline is valid? [True, True] Translation: X:0.63, Y:0.14, Z:0.07 [[ 9.99938742e-01 1.05856455e-02 3.23361062e-03 6.32127306e-01] [-1.05859773e-02 9.99943963e-01 8.55090102e-05 1.44881595e-01] [-3.23252425e-03 -1.19734701e-04 9.99994768e-01 6.92605700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.164203821999999 meters 0.047127994133364846 Centerline is valid? [True, True] Translation: X:0.69, Y:0.15, Z:0.07 [[ 9.99944197e-01 1.02087236e-02 2.71732777e-03 6.94619463e-01] [-1.02089673e-02 9.99947884e-01 7.58253444e-05 1.47056611e-01] [-2.71641208e-03 -1.03562223e-04 9.99996305e-01 6.52137263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.224203821999999 meters 0.046334628405799175 Centerline is valid? [True, True] Translation: X:0.76, Y:0.15, Z:0.06 [[ 9.99947119e-01 9.73335703e-03 3.31983923e-03 7.55439499e-01] [-9.73370110e-03 9.99952623e-01 8.74987402e-05 1.53012363e-01] [-3.31883029e-03 -1.19808436e-04 9.99994485e-01 6.38143326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.284203821999999 meters 0.04491653673601776 Centerline is valid? [True, True] Translation: X:0.82, Y:0.15, Z:0.06 [[ 9.99960253e-01 7.99071813e-03 3.95484035e-03 8.16916257e-01] [-7.99119192e-03 9.99968065e-01 1.04012750e-04 1.52555904e-01] [-3.95388292e-03 -1.35612504e-04 9.99992174e-01 6.39910281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.344203821999999 meters 0.041747873666218606 Centerline is valid? [True, True] Translation: X:0.88, Y:0.15, Z:0.06 [[ 9.99978961e-01 5.18133179e-03 3.90284549e-03 8.78885502e-01] [-5.18177265e-03 9.99986569e-01 1.02854324e-04 1.54961687e-01] [-3.90226015e-03 -1.23075818e-04 9.99992379e-01 6.26436407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4042038219999995 meters 0.03934087842357874 Centerline is valid? [True, True] Translation: X:0.94, Y:0.16, Z:0.06 [[ 9.99991444e-01 2.33877963e-03 3.41200733e-03 9.40036477e-01] [-2.33909906e-03 9.99997260e-01 8.96308774e-05 1.55914134e-01] [-3.41178836e-03 -9.76111337e-05 9.99994175e-01 5.75975113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.464203821999999 meters 0.037073714068593486 Centerline is valid? [True, True] Translation: X:1.00, Y:0.16, Z:0.06 [[ 9.99984696e-01 -7.97198035e-04 5.47460635e-03 9.99776350e-01] [ 7.96428517e-04 9.99999673e-01 1.42739920e-04 1.57312458e-01] [-5.47471835e-03 -1.38377603e-04 9.99985004e-01 5.92938890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.524203822 meters 0.03818139706061998 Centerline is valid? [True, True] Translation: X:1.06, Y:0.17, Z:0.06 [[ 9.99980206e-01 1.26244292e-03 6.16385713e-03 1.06145046e+00] [-1.26346393e-03 9.99999189e-01 1.61753879e-04 1.68902126e-01] [-6.16364793e-03 -1.69538489e-04 9.99980990e-01 5.85649258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.584203821999999 meters 0.04283566473888648 Centerline is valid? [True, True] Translation: X:1.12, Y:0.18, Z:0.06 [[ 9.99972819e-01 4.21281307e-03 6.05089607e-03 1.12123742e+00] [-4.21384310e-03 9.99991109e-01 1.57488896e-04 1.76406526e-01] [-6.05017880e-03 -1.82982142e-04 9.99981681e-01 5.60924571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.644203821999999 meters 0.04754353562711197 Centerline is valid? [True, True] Translation: X:1.18, Y:0.20, Z:0.06 [[ 9.99945525e-01 8.17203857e-03 6.49349987e-03 1.18130013e+00] [-8.17330981e-03 9.99966584e-01 1.69259030e-04 1.97908873e-01] [-6.49189969e-03 -2.22323196e-04 9.99978903e-01 5.62122630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.704203821999999 meters 0.050743286414294035 Centerline is valid? [True, True] Translation: X:1.24, Y:0.21, Z:0.06 [[ 9.99911196e-01 1.08209009e-02 7.77867320e-03 1.24252887e+00] [-1.08228151e-02 9.99941411e-01 2.04030326e-04 2.13590394e-01] [-7.77600967e-03 -2.88199349e-04 9.99969725e-01 5.62323755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.764203821999999 meters 0.047638872795457705 Centerline is valid? [True, True] Translation: X:1.30, Y:0.22, Z:0.05 [[ 9.99940004e-01 7.49030194e-03 7.99274504e-03 1.30340894e+00] [-7.49219991e-03 9.99971912e-01 2.07545626e-04 2.19062626e-01] [-7.99096595e-03 -2.67416417e-04 9.99968036e-01 5.26394367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.824203821999999 meters 0.03999026684460287 Centerline is valid? [True, True] Translation: X:1.36, Y:0.22, Z:0.05 [[ 9.99960489e-01 7.25684022e-04 8.85972151e-03 1.36332776e+00] [-7.27748451e-04 9.99999709e-01 2.29791221e-04 2.24784179e-01] [-8.85955217e-03 -2.36229790e-04 9.99960725e-01 5.24623459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.884203821999999 meters 0.03164466277235839 Centerline is valid? [True, True] Translation: X:1.42, Y:0.21, Z:0.05 [[ 9.99945751e-01 -7.47366270e-03 7.25530154e-03 1.42296567e+00] [ 7.47249553e-03 9.99972063e-01 1.87967531e-04 2.13143858e-01] [-7.25650366e-03 -1.33742126e-04 9.99973662e-01 4.59606120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9442038219999995 meters 0.025581921365303326 Centerline is valid? [True, True] Translation: X:1.48, Y:0.21, Z:0.05 [[ 9.99883529e-01 -1.23331761e-02 8.99006917e-03 1.48427581e+00] [ 1.23315765e-02 9.99923936e-01 2.33340495e-04 2.12175146e-01] [-8.99226318e-03 -1.22451592e-04 9.99959561e-01 4.74896528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.004203821999999 meters 0.021856053453074238 Centerline is valid? [True, True] Translation: X:1.55, Y:0.21, Z:0.04 [[ 9.99823655e-01 -1.64846641e-02 8.99530453e-03 1.54588432e+00] [ 1.64832261e-02 9.99864115e-01 2.33973064e-04 2.10174360e-01] [-8.99793917e-03 -8.56601653e-05 9.99959514e-01 4.46910194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.064203821999999 meters 0.019565555186730567 Centerline is valid? [True, True] Translation: X:1.61, Y:0.21, Z:0.04 [[ 9.99759018e-01 -2.06358645e-02 7.48774372e-03 1.60780642e+00] [ 2.06349855e-02 9.99787057e-01 1.94639085e-04 2.07172800e-01] [-7.49016580e-03 -4.00826981e-05 9.99971948e-01 3.89450496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.124203821999999 meters 0.013684871989162168 Centerline is valid? [True, True] Translation: X:1.67, Y:0.20, Z:0.05 [[ 9.99677691e-01 -2.36764173e-02 9.16191529e-03 1.67054326e+00] [ 2.36752335e-02 9.99719674e-01 2.37654531e-04 2.02381739e-01] [-9.16497378e-03 -2.06674482e-05 9.99958001e-01 4.98914500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.184203821999999 meters 0.013204777655361965 Centerline is valid? [True, True] Translation: X:1.73, Y:0.20, Z:0.05 [[ 9.99701123e-01 -2.22930772e-02 1.00341361e-02 1.73256668e+00] [ 2.22915939e-02 9.99751478e-01 2.59655944e-04 2.04194982e-01] [-1.00374309e-02 -3.59014518e-05 9.99949623e-01 4.85937621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.244203821999999 meters 0.02403723849430062 Centerline is valid? [True, True] Translation: X:1.79, Y:0.22, Z:0.03 [[ 9.99843025e-01 -1.56712388e-02 8.26661373e-03 1.79272022e+00] [ 1.56700093e-02 9.99877195e-01 2.13483366e-04 2.22300519e-01] [-8.26894410e-03 -8.39119407e-05 9.99965808e-01 3.09979830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.304203821999999 meters 0.03149666425575851 Centerline is valid? [True, True] Translation: X:1.85, Y:0.24, Z:0.03 [[ 9.99927857e-01 -9.94864523e-03 6.73096516e-03 1.85341885e+00] [ 9.94770499e-03 9.99950505e-01 1.73153525e-04 2.38181274e-01] [-6.73235465e-03 -1.06183378e-04 9.99977332e-01 2.57247461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3642038219999995 meters 0.028773611101478615 Centerline is valid? [True, True] Translation: X:1.92, Y:0.24, Z:0.04 [[ 9.99953646e-01 -5.09654643e-03 8.16891872e-03 1.91543245e+00] [ 5.09499214e-03 9.99986998e-01 2.11068286e-04 2.42507762e-01] [-8.16988823e-03 -1.69437925e-04 9.99966612e-01 3.56403302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.424203821999999 meters 0.030288995114322963 Centerline is valid? [True, True] Translation: X:1.98, Y:0.25, Z:0.03 [[ 9.99965965e-01 -2.96792100e-03 7.69803828e-03 1.97703806e+00] [ 2.96648479e-03 9.99995580e-01 1.97979497e-04 2.48724090e-01] [-7.69859185e-03 -1.75136645e-04 9.99970350e-01 3.28803764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.484203821999999 meters 0.026984918024728945 Centerline is valid? [True, True] Translation: X:2.04, Y:0.25, Z:0.04 [[ 9.99927772e-01 -3.92114550e-03 1.13611791e-02 2.03863694e+00] [ 3.91809136e-03 9.99992282e-01 2.91067954e-04 2.45253079e-01] [-1.13622328e-02 -2.46532793e-04 9.99935417e-01 3.72492886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.544203821999999 meters 0.021468299703992687 Centerline is valid? [True, True] Translation: X:2.10, Y:0.24, Z:0.04 [[ 9.99865760e-01 -9.13821997e-03 1.35998425e-02 2.09950276e+00] [ 9.13433511e-03 9.99958221e-01 3.47744114e-04 2.40682818e-01] [-1.36024521e-02 -2.23471914e-04 9.99907457e-01 3.84004295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.604203821999999 meters 0.018747925980861408 Centerline is valid? [True, True] Translation: X:2.16, Y:0.24, Z:0.04 [[ 9.99803302e-01 -1.34844098e-02 1.45440304e-02 2.16036277e+00] [ 1.34804269e-02 9.99909066e-01 3.71857498e-04 2.37655289e-01] [-1.45477221e-02 -1.75724615e-04 9.99894161e-01 3.53257402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.664203821999999 meters 0.01890465827070012 Centerline is valid? [True, True] Translation: X:2.22, Y:0.23, Z:0.03 [[ 9.99836927e-01 -1.32170391e-02 1.23056477e-02 2.22205128e+00] [ 1.32141572e-02 9.99912639e-01 3.15481822e-04 2.31331070e-01] [-1.23087424e-02 -1.52821614e-04 9.99924233e-01 3.08213477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.724203821999999 meters 0.02346215664811777 Centerline is valid? [True, True] Translation: X:2.28, Y:0.24, Z:0.02 [[ 9.99907145e-01 -9.61374067e-03 9.65804019e-03 2.28225916e+00] [ 9.61181441e-03 9.99953775e-01 2.45843699e-04 2.36638353e-01] [-9.65995723e-03 -1.52989582e-04 9.99953330e-01 2.42113145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.784203821999999 meters 0.0298306680687825 Centerline is valid? [True, True] Translation: X:2.34, Y:0.25, Z:0.02 [[ 9.99943830e-01 -2.66474356e-03 1.02584285e-02 2.34312946e+00] [ 2.66220627e-03 9.99996422e-01 2.60983900e-04 2.47618879e-01] [-1.02590872e-02 -2.33659188e-04 9.99947347e-01 2.49339574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.844203821999999 meters 0.03221791443827439 Centerline is valid? [True, True] Translation: X:2.41, Y:0.25, Z:0.03 [[ 9.99904255e-01 2.25803507e-03 1.36522049e-02 2.40542148e+00] [-2.26299163e-03 9.99997379e-01 3.47622008e-04 2.48292629e-01] [-1.36513841e-02 -3.78483550e-04 9.99906744e-01 2.97918438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.904203821999999 meters 0.033558141766466154 Centerline is valid? [True, True] Translation: X:2.47, Y:0.25, Z:0.03 [[ 9.99881435e-01 4.66085376e-03 1.46762303e-02 2.46751301e+00] [-4.66682830e-03 9.99989041e-01 3.72868341e-04 2.53841843e-01] [-1.46743316e-02 -4.41315578e-04 9.99892229e-01 2.95241758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.964203821999999 meters 0.036726691507473326 Centerline is valid? [True, True] Translation: X:2.53, Y:0.25, Z:0.02 [[ 9.99917528e-01 3.88964662e-03 1.22395947e-02 2.52815165e+00] [-3.89374870e-03 9.99992371e-01 3.11335673e-04 2.54328545e-01] [-1.22382903e-02 -3.58967903e-04 9.99925045e-01 2.03930174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.024203821999999 meters 0.036265791997788004 Centerline is valid? [True, True] Translation: X:2.59, Y:0.26, Z:0.02 [[ 9.99925929e-01 3.91392067e-03 1.15246720e-02 2.59137440e+00] [-3.91756745e-03 9.99992283e-01 2.93873897e-04 2.55341607e-01] [-1.15234328e-02 -3.39000809e-04 9.99933546e-01 1.79838351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.084203821999999 meters 0.0397399143875914 Centerline is valid? [True, True] Translation: X:2.65, Y:0.26, Z:0.02 [[ 9.99883347e-01 4.43486233e-03 1.46158688e-02 2.65231273e+00] [-4.44071388e-03 9.99990072e-01 3.67926477e-04 2.64517062e-01] [-1.46140919e-02 -4.32788448e-04 9.99893115e-01 1.99879389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.144203821999999 meters 0.0326795789281022 Centerline is valid? [True, True] Translation: X:2.71, Y:0.26, Z:0.02 [[ 9.99888264e-01 3.45250864e-03 1.45443704e-02 2.71450660e+00] [-3.45817149e-03 9.99993954e-01 3.64218288e-04 2.59633906e-01] [-1.45430250e-02 -4.14474519e-04 9.99894159e-01 2.05855293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.204203821999999 meters 0.030040153596737926 Centerline is valid? [True, True] Translation: X:2.77, Y:0.26, Z:0.01 [[ 9.99916760e-01 -1.63227828e-03 1.27987977e-02 2.77470284e+00] [ 1.62836319e-03 9.99998624e-01 3.16310491e-04 2.60388523e-01] [-1.27992964e-02 -2.95443070e-04 9.99918042e-01 1.40001839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.264203821999999 meters 0.024773697436170205 Centerline is valid? [True, True] Translation: X:2.84, Y:0.26, Z:0.01 [[ 9.99909912e-01 -5.86616978e-03 1.20729091e-02 2.83677143e+00] [ 5.86298803e-03 9.99982768e-01 2.98920670e-04 2.57229695e-01] [-1.20744546e-02 -2.28110420e-04 9.99927075e-01 1.19157818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3242038219999985 meters 0.018865130308208918 Centerline is valid? [True, True] Translation: X:2.90, Y:0.25, Z:0.01 [[ 9.99845983e-01 -1.11296674e-02 1.35698723e-02 2.89873483e+00] [ 1.11261476e-02 9.99938046e-01 3.34850886e-04 2.54481426e-01] [-1.35727584e-02 -1.83818911e-04 9.99907869e-01 1.36912622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.384203821999999 meters 0.014902007017811976 Centerline is valid? [True, True] Translation: X:2.96, Y:0.25, Z:0.01 [[ 9.99797227e-01 -1.56192497e-02 1.27099661e-02 2.96148810e+00] [ 1.56165176e-02 9.99878005e-01 3.14183597e-04 2.51605468e-01] [-1.27133229e-02 -1.15634479e-04 9.99919176e-01 1.11961806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.444203821999999 meters 0.014660083163489402 Centerline is valid? [True, True] Translation: X:3.02, Y:0.25, Z:0.00 [[ 9.99777801e-01 -1.75340763e-02 1.17006389e-02 3.02364873e+00] [ 1.75319092e-02 9.99846263e-01 2.87757449e-04 2.48487869e-01] [-1.17038857e-02 -8.25589691e-05 9.99931504e-01 4.30911619e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.504203821999999 meters 0.014583863091291642 Centerline is valid? [True, True] Translation: X:3.09, Y:0.25, Z:0.01 [[ 9.99756174e-01 -1.76942912e-02 1.32100357e-02 3.08529727e+00] [ 1.76915601e-02 9.99843440e-01 3.23588989e-04 2.53086282e-01] [-1.32136932e-02 -8.98039503e-05 9.99912691e-01 5.25090816e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.564203821999999 meters 0.014384828211868282 Centerline is valid? [True, True] Translation: X:3.15, Y:0.25, Z:0.00 [[ 9.99777178e-01 -1.70629752e-02 1.24277417e-02 3.14761346e+00] [ 1.70605154e-02 9.99854413e-01 3.03919941e-04 2.53270188e-01] [-1.24311181e-02 -9.18285424e-05 9.99922726e-01 4.08559222e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.624203821999999 meters 0.015718676495999628 Centerline is valid? [True, True] Translation: X:3.21, Y:0.25, Z:0.00 [[ 9.99800185e-01 -1.50304160e-02 1.31786529e-02 3.20910787e+00] [ 1.50274860e-02 9.99887029e-01 3.21335431e-04 2.52436267e-01] [-1.31819939e-02 -1.23229202e-04 9.99913106e-01 2.82363166e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.684203821999999 meters 0.018307876582045513 Centerline is valid? [True, True] Translation: X:3.27, Y:0.26, Z:0.00 [[ 9.99845199e-01 -1.09554452e-02 1.37679174e-02 3.27139727e+00] [ 1.09518660e-02 9.99939970e-01 3.35338794e-04 2.58900314e-01] [-1.37707647e-02 -1.84502496e-04 9.99905162e-01 2.14673283e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7442038219999985 meters 0.020938858465592403 Centerline is valid? [True, True] Translation: X:3.33, Y:0.26, Z:-0.00 [[ 9.99867373e-01 -8.44102765e-03 1.39278785e-02 3.33224888e+00] [ 8.43712224e-03 9.99964349e-01 3.39138208e-04 2.62383825e-01] [-1.39302446e-02 -2.21582016e-04 9.99902945e-01 -9.49050186e-06] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.804203821999999 meters 0.026014535763282363 Centerline is valid? [True, True] Translation: X:3.39, Y:0.27, Z:-0.00 [[ 9.99916368e-01 -3.15817716e-03 1.25412171e-02 3.39351656e+00] [ 3.15462001e-03 9.99994978e-01 3.03408415e-04 2.65305409e-01] [-1.25421123e-02 -2.63820266e-04 9.99921310e-01 -3.31428034e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.864203821999999 meters 0.029960343830083305 Centerline is valid? [True, True] Translation: X:3.45, Y:0.28, Z:-0.00 [[ 9.99896265e-01 -8.42439741e-04 1.43787924e-02 3.45415193e+00] [ 8.37528480e-04 9.99999589e-01 3.47581102e-04 2.75097573e-01] [-1.43790793e-02 -3.35502397e-04 9.99896559e-01 -4.26341029e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.924203821999999 meters 0.030778639850031937 Centerline is valid? [True, True] Translation: X:3.52, Y:0.27, Z:-0.01 [[ 9.99896311e-01 -7.61107732e-05 1.44000406e-02 3.51669098e+00] [ 7.11105901e-05 9.99999937e-01 3.47745663e-04 2.71554822e-01] [-1.44000662e-02 -3.46685610e-04 9.99896254e-01 -5.68014362e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.984203821999999 meters 0.02785171746237773 Centerline is valid? [True, True] Translation: X:3.58, Y:0.27, Z:-0.01 [[ 9.99891156e-01 -2.80628884e-03 1.44844756e-02 3.57765185e+00] [ 2.80153183e-03 9.99996015e-01 3.48701289e-04 2.68032824e-01] [-1.44853965e-02 -3.08084616e-04 9.99895034e-01 -9.18314985e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.044203821999998 meters 0.028322422410160343 Centerline is valid? [True, True] Translation: X:3.64, Y:0.28, Z:-0.01 [[ 9.99902537e-01 -2.32744793e-03 1.37658965e-02 3.63911665e+00] [ 2.32310762e-03 9.99997247e-01 3.31276875e-04 2.75272126e-01] [-1.37666296e-02 -2.99264928e-04 9.99905191e-01 -1.09770681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.104203821999999 meters 0.033839707446106405 Centerline is valid? [True, True] Translation: X:3.70, Y:0.29, Z:-0.01 [[ 9.99912613e-01 2.61593591e-03 1.29585060e-02 3.69948649e+00] [-2.62018665e-03 9.99996519e-01 3.11060572e-04 2.85386416e-01] [-1.29576472e-02 -3.44987094e-04 9.99915987e-01 -1.46495935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.164203821999998 meters 0.03730021945203707 Centerline is valid? [True, True] Translation: X:3.76, Y:0.29, Z:-0.02 [[ 9.99918063e-01 5.23918664e-03 1.16798420e-02 3.75993918e+00] [-5.24281741e-03 9.99986217e-01 2.80260484e-04 2.93137896e-01] [-1.16782127e-02 -3.41472799e-04 9.99931749e-01 -1.92704647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.224203821999998 meters 0.0346275825215006 Centerline is valid? [True, True] Translation: X:3.82, Y:0.30, Z:-0.02 [[ 9.99903745e-01 3.31068362e-03 1.34736661e-02 3.82113477e+00] [-3.31534011e-03 9.99994452e-01 3.23277881e-04 2.99396719e-01] [-1.34725211e-02 -3.67916550e-04 9.99909174e-01 -1.74047703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.284203821999998 meters 0.028740157155332978 Centerline is valid? [True, True] Translation: X:3.88, Y:0.29, Z:-0.02 [[ 9.99912145e-01 -1.29064157e-03 1.31922831e-02 3.88174828e+00] [ 1.28658665e-03 9.99999122e-01 3.15853401e-04 2.93939287e-01] [-1.31926791e-02 -2.98852636e-04 9.99912928e-01 -1.97941460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.344203821999997 meters 0.026338283071550252 Centerline is valid? [True, True] Translation: X:3.94, Y:0.29, Z:-0.02 [[ 9.99910117e-01 -3.94371608e-03 1.28142406e-02 3.94402361e+00] [ 3.94007319e-03 9.99992190e-01 3.09517461e-04 2.91715828e-01] [-1.28153612e-02 -2.59000595e-04 9.99917846e-01 -2.20273653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.404203821999998 meters 0.024149072115313835 Centerline is valid? [True, True] Translation: X:4.01, Y:0.30, Z:-0.02 [[ 9.99894900e-01 -6.41708279e-03 1.30003966e-02 4.00563259e+00] [ 6.41357188e-03 9.99979384e-01 3.11735332e-04 2.95142667e-01] [-1.30021290e-02 -2.28323590e-04 9.99915443e-01 -2.29789235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.464203821999998 meters 0.023494136930644043 Centerline is valid? [True, True] Translation: X:4.07, Y:0.30, Z:-0.02 [[ 9.99894649e-01 -4.93487659e-03 1.36505996e-02 4.06727739e+00] [ 4.93092632e-03 9.99987791e-01 3.23026215e-04 3.02061567e-01] [-1.36520271e-02 -2.55682083e-04 9.99906774e-01 -2.17223016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.524203821999999 meters 0.026669565115233856 Centerline is valid? [True, True] Translation: X:4.13, Y:0.31, Z:-0.03 [[ 9.99913191e-01 -2.74392561e-03 1.28872582e-02 4.12842774e+00] [ 2.74023283e-03 9.99996199e-01 3.04194218e-04 3.09044118e-01] [-1.28880439e-02 -2.68853723e-04 9.99916910e-01 -2.57791756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.584203821999997 meters 0.026057591716947655 Centerline is valid? [True, True] Translation: X:4.19, Y:0.32, Z:-0.03 [[ 9.99907172e-01 -4.07866919e-03 1.30004283e-02 4.18929168e+00] [ 4.07500546e-03 9.99991650e-01 3.08293049e-04 3.19279626e-01] [-1.30015771e-02 -2.55287615e-04 9.99915443e-01 -2.84226834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.644203821999998 meters 0.019780699757024713 Centerline is valid? [True, True] Translation: X:4.25, Y:0.31, Z:-0.03 [[ 9.99852688e-01 -9.89448526e-03 1.40250291e-02 4.25007758e+00] [ 9.89086204e-03 9.99951031e-01 3.27680509e-04 3.14507227e-01] [-1.40275845e-02 -1.88912609e-04 9.99901591e-01 -2.78493404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.704203821999998 meters 0.014070756264010024 Centerline is valid? [True, True] Translation: X:4.31, Y:0.31, Z:-0.03 [[ 9.99745321e-01 -1.55736241e-02 1.63326542e-02 4.31219936e+00] [ 1.55694573e-02 9.99878716e-01 3.82253449e-04 3.07317709e-01] [-1.63366263e-02 -1.27865535e-04 9.99866540e-01 -2.51857756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.764203821999997 meters 0.012330935943240811 Centerline is valid? [True, True] Translation: X:4.37, Y:0.31, Z:-0.03 [[ 9.99694239e-01 -1.76054720e-02 1.73630568e-02 4.37470458e+00] [ 1.76010874e-02 9.99845007e-01 4.05324102e-04 3.06683210e-01] [-1.73675016e-02 -9.95914899e-05 9.99849169e-01 -2.57007683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.824203821999998 meters 0.012881850803188056 Centerline is valid? [True, True] Translation: X:4.44, Y:0.31, Z:-0.03 [[ 9.99713583e-01 -1.73182177e-02 1.65175836e-02 4.43646091e+00] [ 1.73142225e-02 9.99850024e-01 3.84858237e-04 3.11394130e-01] [-1.65217714e-02 -9.87588897e-05 9.99863501e-01 -2.89334430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.884203821999998 meters 0.014142873976631113 Centerline is valid? [True, True] Translation: X:4.50, Y:0.31, Z:-0.03 [[ 9.99747611e-01 -1.65722497e-02 1.51682066e-02 4.49717532e+00] [ 1.65687954e-02 9.99862666e-01 3.53377891e-04 3.11871873e-01] [-1.51719797e-02 -1.01969792e-04 9.99884894e-01 -3.44632073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.944203821999999 meters 0.014265406106043928 Centerline is valid? [True, True] Translation: X:4.56, Y:0.31, Z:-0.04 [[ 9.99757712e-01 -1.64799112e-02 1.45921273e-02 4.55976348e+00] [ 1.64767307e-02 9.99864192e-01 3.38159615e-04 3.12792196e-01] [-1.45957184e-02 -9.76471309e-05 9.99893472e-01 -3.73917244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.004203821999997 meters 0.015334281256131338 Centerline is valid? [True, True] Translation: X:4.62, Y:0.32, Z:-0.04 [[ 9.99786918e-01 -1.61542800e-02 1.28513493e-02 4.62037306e+00] [ 1.61517944e-02 9.99869507e-01 2.97184436e-04 3.15353403e-01] [-1.28544730e-02 -8.95487613e-05 9.99917374e-01 -4.28145842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.064203821999998 meters 0.015380637409474839 Centerline is valid? [True, True] Translation: X:4.68, Y:0.32, Z:-0.04 [[ 9.99809318e-01 -1.45445653e-02 1.30300760e-02 4.68274996e+00] [ 1.45418766e-02 9.99894216e-01 3.01073147e-04 3.15069873e-01] [-1.30330766e-02 -1.11533981e-04 9.99915060e-01 -4.19905950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.124203821999998 meters 0.01526873649226042 Centerline is valid? [True, True] Translation: X:4.74, Y:0.32, Z:-0.04 [[ 9.99804394e-01 -1.43390832e-02 1.36222297e-02 4.74480141e+00] [ 1.43361352e-02 9.99897183e-01 3.14036391e-04 3.17685187e-01] [-1.36253321e-02 -1.18684836e-04 9.99907164e-01 -4.26432664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.184203821999997 meters 0.01701844554132035 Centerline is valid? [True, True] Translation: X:4.81, Y:0.32, Z:-0.05 [[ 9.99838525e-01 -1.28377701e-02 1.25744117e-02 4.80537317e+00] [ 1.28351385e-02 9.99917584e-01 2.89959349e-04 3.18327997e-01] [-1.25770978e-02 -1.28518213e-04 9.99920897e-01 -4.84403821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.244203821999998 meters 0.01949877891119921 Centerline is valid? [True, True] Translation: X:4.87, Y:0.32, Z:-0.05 [[ 9.99865189e-01 -1.07592370e-02 1.24033483e-02 4.86667940e+00] [ 1.07565392e-02 9.99942106e-01 2.84198144e-04 3.18813774e-01] [-1.24056880e-02 -1.50742729e-04 9.99923035e-01 -5.26219491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.304203821999998 meters 0.018417088465932166 Centerline is valid? [True, True] Translation: X:4.93, Y:0.32, Z:-0.05 [[ 9.99861456e-01 -1.04493103e-02 1.29568816e-02 4.92912430e+00] [ 1.04463442e-02 9.99945391e-01 2.96584368e-04 3.21590075e-01] [-1.29592731e-02 -1.61191234e-04 9.99916012e-01 -5.10010815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.364203821999999 meters 0.02091459867832438 Centerline is valid? [True, True] Translation: X:4.99, Y:0.32, Z:-0.05 [[ 9.99852086e-01 -9.37968961e-03 1.44162464e-02 4.98980045e+00] [ 9.37592149e-03 9.99955991e-01 3.28945446e-04 3.22763290e-01] [-1.44186974e-02 -1.93731195e-04 9.99896026e-01 -5.36603139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.424203821999997 meters 0.020449129344016548 Centerline is valid? [True, True] Translation: X:5.05, Y:0.32, Z:-0.05 [[ 9.99845191e-01 -7.26793585e-03 1.60240628e-02 5.05242228e+00] [ 7.26301775e-03 9.99973557e-01 3.65094690e-04 3.24501431e-01] [-1.60262926e-02 -2.48655118e-04 9.99871540e-01 -4.97714984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.484203821999998 meters 0.022290990616851202 Centerline is valid? [True, True] Translation: X:5.11, Y:0.33, Z:-0.06 [[ 9.99867034e-01 -7.50419561e-03 1.44776225e-02 5.11288445e+00] [ 7.50020491e-03 9.99971819e-01 3.29922624e-04 3.31383432e-01] [-1.44796903e-02 -2.21293620e-04 9.99895139e-01 -5.68218537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.544203821999998 meters 0.017889756524456134 Centerline is valid? [True, True] Translation: X:5.17, Y:0.32, Z:-0.06 [[ 9.99855359e-01 -1.12975325e-02 1.27132228e-02 5.17498568e+00] [ 1.12947571e-02 9.99936170e-01 2.90087342e-04 3.24623418e-01] [-1.27156886e-02 -1.46452620e-04 9.99919142e-01 -6.09335574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.604203821999997 meters 0.015984640673916528 Centerline is valid? [True, True] Translation: X:5.24, Y:0.33, Z:-0.06 [[ 9.99805408e-01 -1.38135749e-02 1.40829828e-02 5.23639454e+00] [ 1.38104872e-02 9.99904581e-01 3.16485343e-04 3.25184679e-01] [-1.40860108e-02 -1.21930905e-04 9.99900780e-01 -6.05113424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.664203821999998 meters 0.01636641112999921 Centerline is valid? [True, True] Translation: X:5.30, Y:0.34, Z:-0.06 [[ 9.99787720e-01 -1.22776266e-02 1.65461549e-02 5.29874500e+00] [ 1.22731642e-02 9.99924613e-01 3.71212552e-04 3.35193567e-01] [-1.65494652e-02 -1.68060074e-04 9.99863034e-01 -5.78429618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.724203821999998 meters 0.017200595059548632 Centerline is valid? [True, True] Translation: X:5.36, Y:0.34, Z:-0.06 [[ 9.99820421e-01 -1.07569451e-02 1.56017006e-02 5.36067749e+00] [ 1.07528024e-02 9.99942126e-01 3.49389105e-04 3.42641543e-01] [-1.56045560e-02 -1.81564358e-04 9.99878225e-01 -6.01191076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.784203821999998 meters 0.01854320429263108 Centerline is valid? [True, True] Translation: X:5.42, Y:0.35, Z:-0.06 [[ 9.99832478e-01 -1.07516371e-02 1.48127438e-02 5.42165697e+00] [ 1.07479145e-02 9.99942185e-01 3.30898227e-04 3.54422801e-01] [-1.48154451e-02 -1.71636691e-04 9.99890231e-01 -6.48954278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.844203821999997 meters 0.015514488138027806 Centerline is valid? [True, True] Translation: X:5.48, Y:0.36, Z:-0.07 [[ 9.99782354e-01 -1.38937664e-02 1.55630368e-02 5.48411049e+00] [ 1.38900451e-02 9.99903468e-01 3.47182531e-04 3.55037782e-01] [-1.55663582e-02 -1.30935685e-04 9.99878828e-01 -6.62293490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.904203821999998 meters 0.011784482143881309 Centerline is valid? [True, True] Translation: X:5.55, Y:0.35, Z:-0.06 [[ 9.99700640e-01 -1.77471029e-02 1.68425084e-02 5.54601529e+00] [ 1.77433060e-02 9.99842505e-01 3.74851528e-04 3.53066778e-01] [-1.68465083e-02 -7.58975324e-05 9.99858085e-01 -6.48386043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.964203821999998 meters 0.011734266537000618 Centerline is valid? [True, True] Translation: X:5.61, Y:0.36, Z:-0.07 [[ 9.99597316e-01 -2.35053992e-02 1.58966259e-02 5.60762867e+00] [ 2.35027290e-02 9.99723710e-01 3.54794177e-04 3.57251034e-01] [-1.59005734e-02 1.89627841e-05 9.99873578e-01 -7.04770081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.024203821999997 meters 0.014207856472841162 Centerline is valid? [True, True] Translation: X:5.67, Y:0.35, Z:-0.07 [[ 9.99470936e-01 -2.84639748e-02 1.57369127e-02 5.66973864e+00] [ 2.84620426e-02 9.99594814e-01 3.46780949e-04 3.52968404e-01] [-1.57404071e-02 1.01307200e-04 9.99876107e-01 -7.24673837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.084203821999997 meters 0.017066428583284145 Centerline is valid? [True, True] Translation: X:5.73, Y:0.35, Z:-0.07 [[ 9.99348082e-01 -3.19801676e-02 1.67534806e-02 5.73167899e+00] [ 3.19784855e-02 9.99488490e-01 3.68355959e-04 3.49705762e-01] [-1.67566911e-02 1.67635116e-04 9.99859583e-01 -7.27787019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.144203821999998 meters 0.018232598103847617 Centerline is valid? [True, True] Translation: X:5.79, Y:0.35, Z:-0.07 [[ 9.99226607e-01 -3.50052668e-02 1.79114201e-02 5.79347094e+00] [ 3.50038473e-02 9.99387100e-01 3.92848467e-04 3.47446659e-01] [-1.79141940e-02 2.34423973e-04 9.99839500e-01 -7.05783303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.204203821999998 meters 0.016806629027260045 Centerline is valid? [True, True] Translation: X:5.86, Y:0.35, Z:-0.07 [[ 9.99282049e-01 -3.40040984e-02 1.67064910e-02 5.85676094e+00] [ 3.40027247e-02 9.99421673e-01 3.66356409e-04 3.52502864e-01] [-1.67092868e-02 2.01972831e-04 9.99860370e-01 -7.27221526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.264203821999997 meters 0.014490697178600227 Centerline is valid? [True, True] Translation: X:5.92, Y:0.36, Z:-0.08 [[ 9.99445673e-01 -2.99659371e-02 1.45047958e-02 5.91885766e+00] [ 2.99644924e-02 9.99550914e-01 3.16969573e-04 3.60001950e-01] [-1.45077802e-02 1.17834975e-04 9.99894750e-01 -7.86448157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.324203821999998 meters 0.011078412299614709 Centerline is valid? [True, True] Translation: X:5.98, Y:0.37, Z:-0.08 [[ 9.99616987e-01 -2.30967209e-02 1.52453690e-02 5.98079682e+00] [ 2.30943377e-02 9.99733235e-01 3.32380929e-04 3.69224646e-01] [-1.52489790e-02 1.98280777e-05 9.99883727e-01 -7.90263827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.384203821999998 meters 0.012070751389659483 Centerline is valid? [True, True] Translation: X:6.04, Y:0.38, Z:-0.08 [[ 9.99719031e-01 -1.78001156e-02 1.56529581e-02 6.04238368e+00] [ 1.77969638e-02 9.99841563e-01 3.40642176e-04 3.78770021e-01] [-1.56565416e-02 -6.19713374e-05 9.99877427e-01 -8.10209431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.444203821999997 meters 0.014303338350562895 Centerline is valid? [True, True] Translation: X:6.10, Y:0.39, Z:-0.08 [[ 9.99775858e-01 -1.22675079e-02 1.72551767e-02 6.10418365e+00] [ 1.22628764e-02 9.99924738e-01 3.74198149e-04 3.88087058e-01] [-1.72584686e-02 -1.62516177e-04 9.99851048e-01 -7.86959934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.504203821999997 meters 0.01704193571153466 Centerline is valid? [True, True] Translation: X:6.17, Y:0.39, Z:-0.08 [[ 9.99809692e-01 -9.87472790e-03 1.68246626e-02 6.16521614e+00] [ 9.87000174e-03 9.99951224e-01 3.63921070e-04 3.89939387e-01] [-1.68274356e-02 -1.97792364e-04 9.99858389e-01 -8.26500030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.564203821999998 meters 0.01430846522460019 Centerline is valid? [True, True] Translation: X:6.23, Y:0.38, Z:-0.08 [[ 9.99744084e-01 -1.20983248e-02 1.91153490e-02 6.22780603e+00] [ 1.20926442e-02 9.99926796e-01 4.12741674e-04 3.84637282e-01] [-1.91189432e-02 -1.81480932e-04 9.99817200e-01 -7.97903093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.624203821999998 meters 0.012482905233739072 Centerline is valid? [True, True] Translation: X:6.29, Y:0.38, Z:-0.08 [[ 9.99686250e-01 -1.49922399e-02 2.00657409e-02 6.28890748e+00] [ 1.49865650e-02 9.99887601e-01 4.33169807e-04 3.78918642e-01] [-2.00699797e-02 -1.32317370e-04 9.99798569e-01 -8.05748759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.684203821999997 meters 0.01109564266086298 Centerline is valid? [True, True] Translation: X:6.35, Y:0.37, Z:-0.08 [[ 9.99661601e-01 -1.65646266e-02 2.00573316e-02 6.35170362e+00] [ 1.65593523e-02 9.99862792e-01 4.29032564e-04 3.72898432e-01] [-2.00616864e-02 -9.67509591e-05 9.99798739e-01 -8.29502163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.744203821999998 meters 0.011807993373317408 Centerline is valid? [True, True] Translation: X:6.41, Y:0.37, Z:-0.08 [[ 9.99678380e-01 -1.54162831e-02 2.01363927e-02 6.41394739e+00] [ 1.54107598e-02 9.99881155e-01 4.29451235e-04 3.70952381e-01] [-2.01406201e-02 -1.18996004e-04 9.99797150e-01 -8.41735055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.804203821999998 meters 0.013036750492082859 Centerline is valid? [True, True] Translation: X:6.48, Y:0.37, Z:-0.09 [[ 9.99690970e-01 -1.37180030e-02 2.07311741e-02 6.47623922e+00] [ 1.37118041e-02 9.99905891e-01 4.41134335e-04 3.73172503e-01] [-2.07352746e-02 -1.56736214e-04 9.99784989e-01 -8.57783476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.864203821999997 meters 0.012103391271093665 Centerline is valid? [True, True] Translation: X:6.54, Y:0.37, Z:-0.09 [[ 9.99687715e-01 -1.52713517e-02 1.97802650e-02 6.53878047e+00] [ 1.52660066e-02 9.99883379e-01 4.21199434e-04 3.65391463e-01] [-1.97843905e-02 -1.19102243e-04 9.99804263e-01 -9.08008283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.924203821999997 meters 0.010727962474960169 Centerline is valid? [True, True] Translation: X:6.60, Y:0.36, Z:-0.09 [[ 9.99657687e-01 -1.86642959e-02 1.83344558e-02 6.60046791e+00] [ 1.86603367e-02 9.99825806e-01 3.87012933e-04 3.58914843e-01] [-1.83384853e-02 -4.47533348e-05 9.99831835e-01 -9.48922006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.984203821999998 meters 0.011352224498055338 Centerline is valid? [True, True] Translation: X:6.66, Y:0.36, Z:-0.10 [[ 9.99710530e-01 -1.79273889e-02 1.60457282e-02 6.66298525e+00] [ 1.79242977e-02 9.99839290e-01 3.36457730e-04 3.57825274e-01] [-1.60491813e-02 -4.87519270e-05 9.99871202e-01 -9.78133853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.044203821999998 meters 0.01262148830813384 Centerline is valid? [True, True] Translation: X:6.73, Y:0.36, Z:-0.10 [[ 9.99739167e-01 -1.44126740e-02 1.77164426e-02 6.72566018e+00] [ 1.44083709e-02 9.99896125e-01 3.70514640e-04 3.59420281e-01] [-1.77199425e-02 -1.15152921e-04 9.99842983e-01 -9.72882442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.104203821999997 meters 0.01458199622786312 Centerline is valid? [True, True] Translation: X:6.79, Y:0.37, Z:-0.10 [[ 9.99753068e-01 -1.15203456e-02 1.90022446e-02 6.78754926e+00] [ 1.15148917e-02 9.99933623e-01 3.96407250e-04 3.68621811e-01] [-1.90055500e-02 -1.77500576e-04 9.99819362e-01 -9.66655587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.164203821999998 meters 0.012917828426061026 Centerline is valid? [True, True] Translation: X:6.85, Y:0.37, Z:-0.10 [[ 9.99724913e-01 -1.26832887e-02 1.97289762e-02 6.84935400e+00] [ 1.26776550e-02 9.99919551e-01 4.10601942e-04 3.68404438e-01] [-1.97325968e-02 -1.60371836e-04 9.99805280e-01 -9.59828247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.224203821999998 meters 0.010142817102189842 Centerline is valid? [True, True] Translation: X:6.91, Y:0.36, Z:-0.10 [[ 9.99648875e-01 -1.66942021e-02 2.05774125e-02 6.91216333e+00] [ 1.66889428e-02 9.99860639e-01 4.27297138e-04 3.57928042e-01] [-2.05816782e-02 -8.37318425e-05 9.99788171e-01 -9.73264372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.284203821999997 meters 0.009349369535206938 Centerline is valid? [True, True] Translation: X:6.97, Y:0.35, Z:-0.10 [[ 9.99579330e-01 -2.12411867e-02 1.97477867e-02 6.97482446e+00] [ 2.12372501e-02 9.99774380e-01 4.09063681e-04 3.54699688e-01] [-1.97520202e-02 1.04970845e-05 9.99804910e-01 -1.01772470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.344203821999997 meters 0.01015832645470874 Centerline is valid? [True, True] Translation: X:7.04, Y:0.35, Z:-0.11 [[ 9.99575867e-01 -2.29057730e-02 1.79836353e-02 7.03711336e+00] [ 2.29028026e-02 9.99737628e-01 3.71134529e-04 3.50925463e-01] [-1.79874180e-02 4.08985306e-05 9.99838212e-01 -1.06344406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.404203821999998 meters 0.010089370692193948 Centerline is valid? [True, True] Translation: X:7.10, Y:0.35, Z:-0.11 [[ 9.99576910e-01 -2.24517962e-02 1.84909947e-02 7.09881063e+00] [ 2.24485956e-02 9.99747926e-01 3.80661564e-04 3.51406307e-01] [-1.84948801e-02 3.45963523e-05 9.99828954e-01 -1.07090854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.464203821999998 meters 0.010124725671597636 Centerline is valid? [True, True] Translation: X:7.16, Y:0.36, Z:-0.11 [[ 9.99659778e-01 -1.93028219e-02 1.75422007e-02 7.16124778e+00] [ 1.92994700e-02 9.99813683e-01 3.60366798e-04 3.56654411e-01] [-1.75458884e-02 -2.16890171e-05 9.99846059e-01 -1.10808987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.524203821999997 meters 0.0100903651244622 Centerline is valid? [True, True] Translation: X:7.22, Y:0.36, Z:-0.11 [[ 9.99653283e-01 -1.76062345e-02 1.95789127e-02 7.22206726e+00] [ 1.76017576e-02 9.99844997e-01 4.00977784e-04 3.60147736e-01] [-1.95829376e-02 -5.62154839e-05 9.99808234e-01 -1.09919500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.584203821999997 meters 0.010467660125458318 Centerline is valid? [True, True] Translation: X:7.28, Y:0.36, Z:-0.11 [[ 9.99665194e-01 -1.73275132e-02 1.92160726e-02 7.28291932e+00] [ 1.73231623e-02 9.99849866e-01 3.92866665e-04 3.64920141e-01] [-1.92199950e-02 -5.98519855e-05 9.99815277e-01 -1.12500529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.644203821999998 meters 0.011005517441506114 Centerline is valid? [True, True] Translation: X:7.34, Y:0.37, Z:-0.12 [[ 9.99679592e-01 -1.71751796e-02 1.85937131e-02 7.34374119e+00] [ 1.71710912e-02 9.99852494e-01 3.79519065e-04 3.65346372e-01] [-1.85974888e-02 -6.01231201e-05 9.99827050e-01 -1.18464814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.704203821999997 meters 0.012671066934867433 Centerline is valid? [True, True] Translation: X:7.41, Y:0.38, Z:-0.12 [[ 9.99728991e-01 -1.52403730e-02 1.75975809e-02 7.40550272e+00] [ 1.52364190e-02 9.99883855e-01 3.58751354e-04 3.75364338e-01] [-1.76010045e-02 -9.05300140e-05 9.99845086e-01 -1.21994797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.764203821999997 meters 0.01276068128843453 Centerline is valid? [True, True] Translation: X:7.47, Y:0.38, Z:-0.12 [[ 9.99762451e-01 -1.38369444e-02 1.68398649e-02 7.46769095e+00] [ 1.38331355e-02 9.99904259e-01 3.42650204e-04 3.84123033e-01] [-1.68429938e-02 -1.09620676e-04 9.99858141e-01 -1.23457128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.824203821999998 meters 0.011216086384439728 Centerline is valid? [True, True] Translation: X:7.53, Y:0.39, Z:-0.12 [[ 9.99709594e-01 -1.59669791e-02 1.80494519e-02 7.52902043e+00] [ 1.59629584e-02 9.99872517e-01 3.66815795e-04 3.87604791e-01] [-1.80530079e-02 -7.85866183e-05 9.99837028e-01 -1.23546291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.884203821999998 meters 0.009143231706217617 Centerline is valid? [True, True] Translation: X:7.59, Y:0.39, Z:-0.12 [[ 9.99576247e-01 -2.05112465e-02 2.06546644e-02 7.59137779e+00] [ 2.05070082e-02 9.99789622e-01 4.17006873e-04 3.87041996e-01] [-2.06588724e-02 6.73520664e-06 9.99786583e-01 -1.20280690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.944203821999997 meters 0.010801283379934348 Centerline is valid? [True, True] Translation: X:7.65, Y:0.38, Z:-0.12 [[ 9.99405480e-01 -2.57130293e-02 2.29679404e-02 7.65318017e+00] [ 2.57091728e-02 9.99669357e-01 4.63222401e-04 3.81183199e-01] [-2.29722571e-02 1.27539743e-04 9.99736095e-01 -1.18643755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.004203821999997 meters 0.01259381688171104 Centerline is valid? [True, True] Translation: X:7.71, Y:0.38, Z:-0.12 [[ 9.99358763e-01 -2.75362112e-02 2.28871214e-02 7.71399343e+00] [ 2.75329655e-02 9.99620792e-01 4.56976474e-04 3.80522845e-01] [-2.28910259e-02 1.73466882e-04 9.99737951e-01 -1.21050807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.064203821999998 meters 0.00990629610679386 Centerline is valid? [True, True] Translation: X:7.78, Y:0.39, Z:-0.13 [[ 9.99540333e-01 -2.28736782e-02 1.98976730e-02 7.77646824e+00] [ 2.28703320e-02 9.99738361e-01 3.95736588e-04 3.91852817e-01] [-1.99015190e-02 5.95117084e-05 9.99801943e-01 -1.27823779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.124203821999997 meters 0.009314435467632422 Centerline is valid? [True, True] Translation: X:7.84, Y:0.41, Z:-0.13 [[ 9.99607180e-01 -1.86904064e-02 2.08842983e-02 7.83704345e+00] [ 1.86858368e-02 9.99825319e-01 4.13942591e-04 4.05263146e-01] [-2.08883870e-02 -2.35393971e-05 9.99781814e-01 -1.28100282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.184203821999997 meters 0.009306766188447484 Centerline is valid? [True, True] Translation: X:7.90, Y:0.41, Z:-0.13 [[ 9.99624152e-01 -1.77630696e-02 2.08813030e-02 7.89966285e+00] [ 1.77583437e-02 9.99842223e-01 4.11740370e-04 4.09115757e-01] [-2.08853222e-02 -4.07682624e-05 9.99781877e-01 -1.28791788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.244203821999998 meters 0.009752615162786948 Centerline is valid? [True, True] Translation: X:7.96, Y:0.41, Z:-0.13 [[ 9.99648946e-01 -1.61924074e-02 2.09711853e-02 7.96245246e+00] [ 1.61873268e-02 9.99868892e-01 4.12007666e-04 4.12268275e-01] [-2.09751072e-02 -7.23955993e-05 9.99779996e-01 -1.32425419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.304203821999998 meters 0.009739229203275867 Centerline is valid? [True, True] Translation: X:8.02, Y:0.42, Z:-0.14 [[ 9.99634914e-01 -1.65619708e-02 2.13480571e-02 8.02473208e+00] [ 1.65568067e-02 9.99862839e-01 4.18637065e-04 4.16381230e-01] [-2.13520624e-02 -6.50285726e-05 9.99772017e-01 -1.35318960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.364203821999997 meters 0.009568097387056407 Centerline is valid? [True, True] Translation: X:8.09, Y:0.41, Z:-0.14 [[ 9.99586187e-01 -2.13995102e-02 1.92227707e-02 8.08647118e+00] [ 2.13962985e-02 9.99771004e-01 3.72754968e-04 4.12167628e-01] [-1.92263456e-02 3.86954224e-05 9.99815156e-01 -1.39183683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.424203821999997 meters 0.01155270169684796 Centerline is valid? [True, True] Translation: X:8.15, Y:0.41, Z:-0.14 [[ 9.99500978e-01 -2.50790909e-02 1.92050795e-02 8.14717248e+00] [ 2.50765664e-02 9.99685464e-01 3.72295262e-04 4.06160123e-01] [-1.92083756e-02 1.09487974e-04 9.99815496e-01 -1.43825776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.484203821999998 meters 0.013048406216930292 Centerline is valid? [True, True] Translation: X:8.21, Y:0.40, Z:-0.14 [[ 9.99445071e-01 -2.68920923e-02 1.96561989e-02 8.20806639e+00] [ 2.68898605e-02 9.99638331e-01 3.77884990e-04 4.00902474e-01] [-1.96592520e-02 1.50877156e-04 9.99806727e-01 -1.44792878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.544203821999997 meters 0.013254707214230416 Centerline is valid? [True, True] Translation: X:8.27, Y:0.40, Z:-0.15 [[ 9.99509144e-01 -2.64844470e-02 1.67345281e-02 8.26957861e+00] [ 2.64827913e-02 9.99649218e-01 3.20575902e-04 4.04796624e-01] [-1.67371482e-02 1.22758469e-04 9.99859917e-01 -1.50637714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.604203821999997 meters 0.011813280600124569 Centerline is valid? [True, True] Translation: X:8.33, Y:0.40, Z:-0.15 [[ 9.99522321e-01 -2.46383693e-02 1.86569337e-02 8.33045297e+00] [ 2.46360357e-02 9.99696424e-01 3.54940928e-04 4.01519680e-01] [-1.86600150e-02 1.04861504e-04 9.99825881e-01 -1.51247020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.664203821999998 meters 0.010411448642651894 Centerline is valid? [True, True] Translation: X:8.39, Y:0.40, Z:-0.15 [[ 9.99533301e-01 -2.26820227e-02 2.04622999e-02 8.39139739e+00] [ 2.26788224e-02 9.99742727e-01 3.88470600e-04 4.02990563e-01] [-2.04658468e-02 7.57715652e-05 9.99790550e-01 -1.50404726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.724203821999998 meters 0.009665887608802043 Centerline is valid? [True, True] Translation: X:8.45, Y:0.41, Z:-0.15 [[ 9.99590838e-01 -2.06708504e-02 1.97705020e-02 8.45457394e+00] [ 2.06674755e-02 9.99786335e-01 3.75030920e-04 4.09735175e-01] [-1.97740300e-02 3.37288949e-05 9.99804474e-01 -1.52797002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.784203821999997 meters 0.010887031457176876 Centerline is valid? [True, True] Translation: X:8.52, Y:0.41, Z:-0.16 [[ 9.99717240e-01 -1.67229961e-02 1.69050903e-02 8.51622455e+00] [ 1.67199846e-02 9.99860160e-01 3.19472472e-04 4.07968899e-01] [-1.69080688e-02 -3.67292879e-05 9.99857048e-01 -1.60950537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.844203821999997 meters 0.011119954800899466 Centerline is valid? [True, True] Translation: X:8.58, Y:0.41, Z:-0.16 [[ 9.99719197e-01 -1.51328985e-02 1.82351858e-02 8.57773711e+00] [ 1.51291499e-02 9.99885489e-01 3.43512002e-04 4.12146693e-01] [-1.82382960e-02 -6.75326825e-05 9.99833666e-01 -1.59996783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.904203821999998 meters 0.009267089063932815 Centerline is valid? [True, True] Translation: X:8.64, Y:0.41, Z:-0.16 [[ 9.99628105e-01 -1.80850105e-02 2.04103878e-02 8.63997319e+00] [ 1.80809443e-02 9.99836453e-01 3.83760370e-04 4.07740595e-01] [-2.04139901e-02 -1.45785662e-05 9.99791613e-01 -1.58172381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.964203821999996 meters 0.009731823987488166 Centerline is valid? [True, True] Translation: X:8.70, Y:0.40, Z:-0.16 [[ 9.99617994e-01 -2.02312400e-02 1.88298236e-02 8.70206723e+00] [ 2.02281747e-02 9.99795327e-01 3.53253403e-04 4.01597542e-01] [-1.88331164e-02 2.77745026e-05 9.99822641e-01 -1.62499772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.024203821999997 meters 0.009993294089401594 Centerline is valid? [True, True] Translation: X:8.76, Y:0.40, Z:-0.17 [[ 9.99622693e-01 -2.00855286e-02 1.87361418e-02 8.76382980e+00] [ 2.00824830e-02 9.99798265e-01 3.50709840e-04 4.01883311e-01] [-1.87394063e-02 2.56907339e-05 9.99824402e-01 -1.66309028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.084203821999997 meters 0.009835602840905632 Centerline is valid? [True, True] Translation: X:8.82, Y:0.40, Z:-0.17 [[ 9.99609532e-01 -1.97802928e-02 1.97363756e-02 8.82469821e+00] [ 1.97768733e-02 9.99804351e-01 3.68445113e-04 4.04296994e-01] [-1.97398021e-02 2.20225523e-05 9.99805151e-01 -1.67367668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.144203821999998 meters 0.009505735532424304 Centerline is valid? [True, True] Translation: X:8.89, Y:0.40, Z:-0.17 [[ 9.99583095e-01 -2.02784287e-02 2.05528835e-02 8.88720493e+00] [ 2.02748749e-02 9.99794371e-01 3.81290957e-04 4.04241285e-01] [-2.05563892e-02 3.55751476e-05 9.99788694e-01 -1.67658841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.204203821999997 meters 0.010485739377775945 Centerline is valid? [True, True] Translation: X:8.95, Y:0.40, Z:-0.17 [[ 9.99619155e-01 -2.11212459e-02 1.77605583e-02 8.94935505e+00] [ 2.11187366e-02 9.99776921e-01 3.28848822e-04 4.03369231e-01] [-1.77635419e-02 4.63569713e-05 9.99842215e-01 -1.74664533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.264203821999997 meters 0.010584042157227384 Centerline is valid? [True, True] Translation: X:9.01, Y:0.40, Z:-0.18 [[ 9.99657139e-01 -1.95986758e-02 1.73636277e-02 9.01123135e+00] [ 1.95960594e-02 9.99807927e-01 3.20828723e-04 4.04137355e-01] [-1.73665805e-02 1.95399573e-05 9.99849189e-01 -1.77320886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.324203821999998 meters 0.01090684680692466 Centerline is valid? [True, True] Translation: X:9.07, Y:0.41, Z:-0.18 [[ 9.99708198e-01 -1.74111854e-02 1.67442633e-02 9.07289128e+00] [ 1.74084640e-02 9.99848414e-01 3.08279238e-04 4.09503700e-01] [-1.67470926e-02 -1.66973770e-05 9.99859757e-01 -1.80792629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.384203821999996 meters 0.011520409395993669 Centerline is valid? [True, True] Translation: X:9.14, Y:0.41, Z:-0.19 [[ 9.99743572e-01 -1.60078327e-02 1.60168207e-02 9.13519179e+00] [ 1.60051735e-02 9.99871866e-01 2.94206075e-04 4.12091513e-01] [-1.60194780e-02 -3.77786383e-05 9.99871679e-01 -1.85803450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.444203821999997 meters 0.011613297410184516 Centerline is valid? [True, True] Translation: X:9.20, Y:0.41, Z:-0.19 [[ 9.99754387e-01 -1.47370393e-02 1.65525259e-02 9.19692004e+00] [ 1.47340383e-02 9.99891402e-01 3.03241531e-04 4.14900889e-01] [-1.65551972e-02 -5.92814991e-05 9.99862952e-01 -1.86638989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.504203821999997 meters 0.013034910562081845 Centerline is valid? [True, True] Translation: X:9.26, Y:0.42, Z:-0.19 [[ 9.99795029e-01 -1.25229349e-02 1.59083422e-02 9.25918799e+00] [ 1.25198939e-02 9.99921581e-01 2.90741007e-04 4.24858834e-01] [-1.59107356e-02 -9.15106582e-05 9.99873412e-01 -1.89601525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.564203821999998 meters 0.011769551019135158 Centerline is valid? [True, True] Translation: X:9.32, Y:0.43, Z:-0.19 [[ 9.99752935e-01 -1.41234608e-02 1.71637988e-02 9.32098886e+00] [ 1.41201723e-02 9.99900256e-01 3.12771720e-04 4.30283604e-01] [-1.71665042e-02 -7.03386500e-05 9.99852642e-01 -1.89235315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.624203821999997 meters 0.010067367618950536 Centerline is valid? [True, True] Translation: X:9.38, Y:0.43, Z:-0.19 [[ 9.99666584e-01 -1.86728226e-02 1.78338567e-02 9.38355288e+00] [ 1.86699876e-02 9.99825648e-01 3.25459878e-04 4.28437599e-01] [-1.78368246e-02 7.60651903e-06 9.99840911e-01 -1.89821447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.684203821999997 meters 0.012873649567183138 Centerline is valid? [True, True] Translation: X:9.44, Y:0.43, Z:-0.20 [[ 9.99649001e-01 -2.25928730e-02 1.38360377e-02 9.44477362e+00] [ 2.25915777e-02 9.99744747e-01 2.49926159e-04 4.29188244e-01] [-1.38381525e-02 6.27394847e-05 9.99904246e-01 -1.99180431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.744203821999998 meters 0.014012875447998837 Centerline is valid? [True, True] Translation: X:9.51, Y:0.43, Z:-0.20 [[ 9.99632155e-01 -2.39600646e-02 1.27070585e-02 9.50691670e+00] [ 2.39590999e-02 9.99712914e-01 2.28164201e-04 4.32798258e-01] [-1.27088773e-02 7.63694130e-05 9.99919236e-01 -2.03307870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.804203821999996 meters 0.012879335831874679 Centerline is valid? [True, True] Translation: X:9.57, Y:0.44, Z:-0.20 [[ 9.99644352e-01 -2.25265716e-02 1.42731346e-02 9.56768402e+00] [ 2.25252228e-02 9.99746242e-01 2.55274383e-04 4.39138023e-01] [-1.42752631e-02 6.63219411e-05 9.99898101e-01 -2.01819941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.864203821999997 meters 0.011434321966897134 Centerline is valid? [True, True] Translation: X:9.63, Y:0.45, Z:-0.20 [[ 9.99616213e-01 -2.19494255e-02 1.69011629e-02 9.62969781e+00] [ 2.19474622e-02 9.99759080e-01 3.01659834e-04 4.48102544e-01] [-1.69037123e-02 6.93935718e-05 9.99857120e-01 -1.98754483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.924203821999997 meters 0.012945811493404338 Centerline is valid? [True, True] Translation: X:9.69, Y:0.45, Z:-0.21 [[ 9.99629418e-01 -2.30369010e-02 1.45026865e-02 9.69086725e+00] [ 2.30355795e-02 9.99734612e-01 2.58181703e-04 4.50426378e-01] [-1.45047854e-02 7.59917637e-05 9.99894797e-01 -2.07009707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.984203821999998 meters 0.01167908791208929 Centerline is valid? [True, True] Translation: X:9.75, Y:0.46, Z:-0.21 [[ 9.99667027e-01 -2.11859956e-02 1.47305233e-02 9.75250723e+00] [ 2.11844366e-02 9.99775550e-01 2.61885190e-04 4.58206547e-01] [-1.47327653e-02 5.02598470e-05 9.99891466e-01 -2.06831914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.044203821999997 meters 0.012574477441539689 Centerline is valid? [True, True] Translation: X:9.81, Y:0.47, Z:-0.21 [[ 9.99762103e-01 -1.78234903e-02 1.25722257e-02 9.81291989e+00] [ 1.78220963e-02 9.99841149e-01 2.22912786e-04 4.74698469e-01] [-1.25742017e-02 1.20366101e-06 9.99920942e-01 -2.13189470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.104203821999997 meters 0.012815163127916196 Centerline is valid? [True, True] Translation: X:9.87, Y:0.48, Z:-0.22 [[ 9.99790855e-01 -1.70470866e-02 1.12979458e-02 9.87475608e+00] [ 1.70459123e-02 9.99854688e-01 2.00237859e-04 4.78973757e-01] [-1.12997175e-02 -7.61218837e-06 9.99936156e-01 -2.16971046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.164203821999998 meters 0.012873978766377837 Centerline is valid? [True, True] Translation: X:9.94, Y:0.48, Z:-0.22 [[ 9.99764641e-01 -1.90163050e-02 1.04423322e-02 9.93711846e+00] [ 1.90154131e-02 9.99819174e-01 1.84697492e-04 4.75435050e-01] [-1.04439562e-02 1.39112387e-05 9.99945460e-01 -2.20498804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.224203821999996 meters 0.013777342499332717 Centerline is valid? [True, True] Translation: X:10.00, Y:0.48, Z:-0.22 [[ 9.99721022e-01 -2.10904678e-02 1.06334269e-02 9.99866011e+00] [ 2.10896638e-02 9.99777571e-01 1.87744473e-04 4.75537666e-01] [-1.06350214e-02 3.65633026e-05 9.99943446e-01 -2.22642629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.284203821999997 meters 0.01318820855902828 Centerline is valid? [True, True] Translation: X:10.06, Y:0.48, Z:-0.22 [[ 9.99709291e-01 -2.07528073e-02 1.22741386e-02 1.00611105e+01] [ 2.07517259e-02 9.99784637e-01 2.15471292e-04 4.79199475e-01] [-1.22759669e-02 3.93009079e-05 9.99924647e-01 -2.21606584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.344203821999997 meters 0.012972366719662436 Centerline is valid? [True, True] Translation: X:10.12, Y:0.48, Z:-0.22 [[ 9.99737887e-01 -1.93269493e-02 1.22730243e-02 1.01229988e+01] [ 1.93257676e-02 9.99813217e-01 2.14881061e-04 4.78140265e-01] [-1.22748849e-02 2.23608785e-05 9.99924661e-01 -2.24076240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.404203821999998 meters 0.0126583557630916 Centerline is valid? [True, True] Translation: X:10.18, Y:0.48, Z:-0.23 [[ 9.99748341e-01 -1.89286357e-02 1.20399915e-02 1.01846901e+01] [ 1.89274757e-02 9.99820837e-01 2.10293599e-04 4.80382682e-01] [-1.20418150e-02 1.76459705e-05 9.99927495e-01 -2.25400689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.464203821999996 meters 0.015237754883544096 Centerline is valid? [True, True] Translation: X:10.25, Y:0.48, Z:-0.24 [[ 9.99812222e-01 -1.74045858e-02 8.52064621e-03 1.02454984e+01] [ 1.74039516e-02 9.99848529e-01 1.48575128e-04 4.84565604e-01] [-8.52194146e-03 -2.54314495e-07 9.99963688e-01 -2.37365246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.524203821999997 meters 0.01688735239538055 Centerline is valid? [True, True] Translation: X:10.31, Y:0.49, Z:-0.24 [[ 9.99890795e-01 -1.25944203e-02 7.73167740e-03 1.03074349e+01] [ 1.25937540e-02 9.99920686e-01 1.34857332e-04 4.92478981e-01] [-7.73276262e-03 -3.74717621e-05 9.99970101e-01 -2.41132317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.584203821999997 meters 0.018643743303446095 Centerline is valid? [True, True] Translation: X:10.37, Y:0.50, Z:-0.24 [[ 9.99954054e-01 -8.38475677e-03 4.64610237e-03 1.03682635e+01] [ 8.38447076e-03 9.99964846e-01 8.10336280e-05 5.04778234e-01] [-4.64661849e-03 -4.20747954e-05 9.99989204e-01 -2.43708066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.644203821999996 meters 0.0205766256900647 Centerline is valid? [True, True] Translation: X:10.43, Y:0.52, Z:-0.25 [[ 9.99968875e-01 -6.72444847e-03 4.12684655e-03 1.04288798e+01] [ 6.72420838e-03 9.99977390e-01 7.20510074e-05 5.15676234e-01] [-4.12723774e-03 -4.42989887e-05 9.99991482e-01 -2.47472381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.704203821999997 meters 0.019602608510391622 Centerline is valid? [True, True] Translation: X:10.49, Y:0.52, Z:-0.25 [[ 9.99969191e-01 -5.74048149e-03 5.35389333e-03 1.04910243e+01] [ 5.74006428e-03 9.99983521e-01 9.32894086e-05 5.24251730e-01] [-5.35434063e-03 -6.25548425e-05 9.99985663e-01 -2.45717113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.764203821999997 meters 0.019114677305289495 Centerline is valid? [True, True] Translation: X:10.55, Y:0.53, Z:-0.25 [[ 9.99952124e-01 -8.75923445e-03 4.36182725e-03 1.05524816e+01] [ 8.75898611e-03 9.99961636e-01 7.60344179e-05 5.28952078e-01] [-4.36232592e-03 -3.78255934e-05 9.99990484e-01 -2.51848372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.824203821999998 meters 0.016444040459127604 Centerline is valid? [True, True] Translation: X:10.61, Y:0.53, Z:-0.25 [[ 9.99898188e-01 -1.29949005e-02 5.89453925e-03 1.06142030e+01] [ 1.29945270e-02 9.99915562e-01 1.01661174e-04 5.34116680e-01] [-5.89536260e-03 -2.50540746e-05 9.99982622e-01 -2.50686277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.884203821999996 meters 0.01472713851408571 Centerline is valid? [True, True] Translation: X:10.68, Y:0.54, Z:-0.25 [[ 9.99842710e-01 -1.59582036e-02 7.73888244e-03 1.06760981e+01] [ 1.59576513e-02 9.99872660e-01 1.33122457e-04 5.36456737e-01] [-7.74002137e-03 -9.60713152e-06 9.99970046e-01 -2.49718145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.944203821999997 meters 0.014412127233523165 Centerline is valid? [True, True] Translation: X:10.74, Y:0.54, Z:-0.25 [[ 9.99750468e-01 -2.06660539e-02 8.48038255e-03 1.07380099e+01] [ 2.06655643e-02 9.99786434e-01 1.45363392e-04 5.37747115e-01] [-8.48157552e-03 2.99247723e-05 9.99964030e-01 -2.49686422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.004203821999997 meters 0.017459164860084107 Centerline is valid? [True, True] Translation: X:10.80, Y:0.54, Z:-0.26 [[ 9.99682971e-01 -2.46403892e-02 5.17767388e-03 1.07990853e+01] [ 2.46402615e-02 9.99696379e-01 8.84695243e-05 5.40698888e-01] [-5.17828175e-03 3.91377613e-05 9.99986592e-01 -2.57723620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.064203821999996 meters 0.018819891960326112 Centerline is valid? [True, True] Translation: X:10.86, Y:0.54, Z:-0.26 [[ 9.99616888e-01 -2.74694765e-02 3.39204794e-03 1.08613032e+01] [ 2.74694352e-02 9.99622642e-01 5.87485749e-05 5.41221845e-01] [-3.39238171e-03 3.44515736e-05 9.99994245e-01 -2.60402754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.124203821999997 meters 0.021047351300904713 Centerline is valid? [True, True] Translation: X:10.92, Y:0.55, Z:-0.26 [[ 9.99601417e-01 -2.78425723e-02 4.66876962e-03 1.09223922e+01] [ 2.78425032e-02 9.99612319e-01 7.98054644e-05 5.47003831e-01] [-4.66918162e-03 5.02165780e-05 9.99989098e-01 -2.64683276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.184203821999997 meters 0.018959218867514203 Centerline is valid? [True, True] Translation: X:10.98, Y:0.55, Z:-0.26 [[ 9.99613343e-01 -2.73670089e-02 4.92053849e-03 1.09843059e+01] [ 2.73669263e-02 9.99625452e-01 8.41472130e-05 5.52535947e-01] [-4.92099837e-03 5.05453371e-05 9.99987891e-01 -2.62368029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.244203821999998 meters 0.019916778751707304 Centerline is valid? [True, True] Translation: X:11.05, Y:0.55, Z:-0.27 [[ 9.99648217e-01 -2.61937056e-02 4.16328586e-03 1.10456509e+01] [ 2.61936374e-02 9.99656885e-01 7.09147340e-05 5.52651745e-01] [-4.16371490e-03 3.81618129e-05 9.99991331e-01 -2.68284731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.304203821999996 meters 0.019016493856756772 Centerline is valid? [True, True] Translation: X:11.11, Y:0.56, Z:-0.27 [[ 9.99726467e-01 -2.32082489e-02 2.89277329e-03 1.11076229e+01] [ 2.32082021e-02 9.99730652e-01 4.97429750e-05 5.55512338e-01] [-2.89314858e-03 1.74066986e-05 9.99995815e-01 -2.73066725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.364203821999997 meters 0.01771162896849854 Centerline is valid? [True, True] Translation: X:11.17, Y:0.57, Z:-0.27 [[ 9.99854729e-01 -1.68956105e-02 2.24911620e-03 1.11697929e+01] [ 1.68955657e-02 9.99857259e-01 3.88824503e-05 5.65955100e-01] [-2.24945210e-03 -8.76711234e-07 9.99997470e-01 -2.73723046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.424203821999997 meters 0.02072060809569349 Centerline is valid? [True, True] Translation: X:11.23, Y:0.58, Z:-0.27 [[ 9.99965161e-01 -7.78544816e-03 3.01054413e-03 1.12320119e+01] [ 7.78532849e-03 9.99969693e-01 5.14665417e-05 5.81415406e-01] [-3.01085358e-03 -2.80266736e-05 9.99995467e-01 -2.73706288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.484203821999996 meters 0.026837352334225125 Centerline is valid? [True, True] Translation: X:11.29, Y:0.60, Z:-0.27 [[ 9.99995174e-01 1.43420749e-03 2.75592971e-03 1.12932448e+01] [-1.43434113e-03 9.99998970e-01 4.65170335e-05 5.97563242e-01] [-2.75586016e-03 -5.04697524e-05 9.99996201e-01 -2.74764610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.544203821999997 meters 0.02830290335716321 Centerline is valid? [True, True] Translation: X:11.35, Y:0.60, Z:-0.27 [[ 9.99985479e-01 2.99925258e-03 4.47741281e-03 1.13546265e+01] [-2.99961989e-03 9.99995498e-01 7.53246929e-05 6.03772683e-01] [-4.47716673e-03 -8.87541356e-05 9.99989973e-01 -2.73456649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.604203821999997 meters 0.025192514230123503 Centerline is valid? [True, True] Translation: X:11.42, Y:0.60, Z:-0.27 [[ 9.99985307e-01 8.10777438e-04 5.35986480e-03 1.14159953e+01] [-8.11268811e-04 9.99999667e-01 8.95030215e-05 5.99744279e-01] [-5.35979045e-03 -9.38499976e-05 9.99985632e-01 -2.72523544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.664203821999998 meters 0.0218921512164269 Centerline is valid? [True, True] Translation: X:11.48, Y:0.59, Z:-0.28 [[ 9.99982076e-01 -4.05871539e-03 4.40155714e-03 1.14785541e+01] [ 4.05841581e-03 9.99991762e-01 7.69919318e-05 5.94503015e-01] [-4.40183336e-03 -5.91272027e-05 9.99990310e-01 -2.76201865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.724203821999996 meters 0.017331355065109418 Centerline is valid? [True, True] Translation: X:11.54, Y:0.59, Z:-0.27 [[ 9.99940036e-01 -8.52425626e-03 6.87465473e-03 1.15398990e+01] [ 8.52367876e-03 9.99963666e-01 1.13299162e-04 5.86912911e-01] [-6.87537074e-03 -5.46950192e-05 9.99976363e-01 -2.73975907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.784203821999997 meters 0.017816706143769366 Centerline is valid? [True, True] Translation: X:11.60, Y:0.58, Z:-0.28 [[ 9.99928593e-01 -1.03249375e-02 6.01707903e-03 1.16013077e+01] [ 1.03245265e-02 9.99946696e-01 9.93702407e-05 5.78836117e-01] [-6.01778429e-03 -3.72396531e-05 9.99981892e-01 -2.80532802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.844203821999997 meters 0.01961754165605998 Centerline is valid? [True, True] Translation: X:11.66, Y:0.58, Z:-0.28 [[ 9.99957343e-01 -8.79804637e-03 2.81169939e-03 1.16625697e+01] [ 8.79795023e-03 9.99961296e-01 4.65611538e-05 5.83200266e-01] [-2.81200022e-03 -2.18219764e-05 9.99996046e-01 -2.84859282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.904203821999996 meters 0.022283615609194233 Centerline is valid? [True, True] Translation: X:11.72, Y:0.58, Z:-0.29 [[ 9.99977730e-01 -6.59088622e-03 1.04867101e-03 1.17236941e+01] [ 6.59087088e-03 9.99978280e-01 1.80829042e-05 5.81259520e-01] [-1.04876742e-03 -1.11708463e-05 9.99999450e-01 -2.91566345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.964203821999996 meters 0.022644527244074657 Centerline is valid? [True, True] Translation: X:11.78, Y:0.58, Z:-0.29 [[ 9.99981926e-01 -5.75330798e-03 1.74548552e-03 1.17848710e+01] [ 5.75326603e-03 9.99983449e-01 2.90546743e-05 5.81094829e-01] [-1.74562379e-03 -1.90119067e-05 9.99998476e-01 -2.92445270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.024203821999997 meters 0.0226244899264639 Centerline is valid? [True, True] Translation: X:11.85, Y:0.58, Z:-0.30 [[ 9.99978477e-01 -6.52388016e-03 6.95786748e-04 1.18465385e+01] [ 6.52387318e-03 9.99978719e-01 1.22933951e-05 5.77428682e-01] [-6.95852142e-04 -7.75390597e-06 9.99999758e-01 -2.96091300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.084203822 meters 0.021116724255334507 Centerline is valid? [True, True] Translation: X:11.91, Y:0.57, Z:-0.30 [[ 9.99965503e-01 -8.28067219e-03 -6.50810119e-04 1.19090964e+01] [ 8.28066799e-03 9.99965715e-01 -9.15344856e-06 5.66953491e-01] [ 6.50863602e-04 3.76399027e-06 9.99999788e-01 -2.99614073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.144203821999998 meters 0.02171706009591255 Centerline is valid? [True, True] Translation: X:11.97, Y:0.57, Z:-0.30 [[ 9.99977424e-01 -6.71023883e-03 3.53766716e-04 1.19700426e+01] [ 6.71023698e-03 9.99977486e-01 6.39895662e-06 5.67095090e-01] [-3.53801689e-04 -4.02495365e-06 9.99999937e-01 -2.99141828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.204203822 meters 0.0258359085067101 Centerline is valid? [True, True] Translation: X:12.03, Y:0.57, Z:-0.30 [[ 9.99996578e-01 -1.79517539e-03 -1.90285340e-03 1.20305868e+01] [ 1.79512129e-03 9.99998388e-01 -3.01371317e-05 5.72565024e-01] [ 1.90290443e-03 2.67211760e-05 9.99998189e-01 -3.03250669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.264203822 meters 0.030204389252364648 Centerline is valid? [True, True] Translation: X:12.09, Y:0.58, Z:-0.31 [[ 9.99989274e-01 3.86042944e-03 -2.55900853e-03 1.20904185e+01] [-3.86054899e-03 9.99992547e-01 -4.17808554e-05 5.82646272e-01] [ 2.55882817e-03 5.16595851e-05 9.99996725e-01 -3.06361144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.324203821999998 meters 0.029072479833206766 Centerline is valid? [True, True] Translation: X:12.15, Y:0.58, Z:-0.31 [[ 9.99996702e-01 2.12956414e-03 -1.43572730e-03 1.21492003e+01] [-2.12960119e-03 9.99997732e-01 -2.42816165e-05 5.81601426e-01] [ 1.43567233e-03 2.73390630e-05 9.99998969e-01 -3.08104169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.384203822 meters 0.023419999288568985 Centerline is valid? [True, True] Translation: X:12.21, Y:0.58, Z:-0.31 [[ 9.99991650e-01 -3.23582536e-03 -2.49600268e-03 1.22087264e+01] [ 3.23573263e-03 9.99994764e-01 -4.11880366e-05 5.76354417e-01] [ 2.49612289e-03 3.31112954e-05 9.99996884e-01 -3.07465974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.444203822 meters 0.023319631175477955 Centerline is valid? [True, True] Translation: X:12.27, Y:0.57, Z:-0.32 [[ 9.99952725e-01 -9.34823773e-03 -2.67534047e-03 1.22682141e+01] [ 9.34815409e-03 9.99956304e-01 -4.37642768e-05 5.67701188e-01] [ 2.67563269e-03 1.87527128e-05 9.99996420e-01 -3.18188604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.504203821999997 meters 0.02093226270857877 Centerline is valid? [True, True] Translation: X:12.33, Y:0.56, Z:-0.32 [[ 9.99887772e-01 -1.43384875e-02 -4.34173714e-03 1.23288479e+01] [ 1.43383167e-02 9.99897199e-01 -7.04486389e-05 5.60257053e-01] [ 4.34230093e-03 8.18753034e-06 9.99990572e-01 -3.18630396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.564203822 meters 0.02033685449100305 Centerline is valid? [True, True] Translation: X:12.39, Y:0.56, Z:-0.32 [[ 9.99845045e-01 -1.68398599e-02 -5.12889451e-03 1.23898001e+01] [ 1.68396546e-02 9.99858200e-01 -8.32209841e-05 5.58781867e-01] [ 5.12956866e-03 -3.16072345e-06 9.99986844e-01 -3.18746206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.624203822 meters 0.019440876018222728 Centerline is valid? [True, True] Translation: X:12.45, Y:0.56, Z:-0.32 [[ 9.99838668e-01 -1.77246652e-02 -2.91108275e-03 1.24503318e+01] [ 1.77246028e-02 9.99842906e-01 -4.72349686e-05 5.58375677e-01] [ 2.91146266e-03 -4.37043730e-06 9.99995762e-01 -3.17258672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.684203821999997 meters 0.02203513554839808 Centerline is valid? [True, True] Translation: X:12.51, Y:0.55, Z:-0.33 [[ 9.99780873e-01 -2.05080973e-02 -4.19815981e-03 1.25102440e+01] [ 2.05079937e-02 9.99789687e-01 -6.77293569e-05 5.53241930e-01] [ 4.19866588e-03 -1.83813196e-05 9.99991185e-01 -3.25130661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.744203822 meters 0.019972018349633434 Centerline is valid? [True, True] Translation: X:12.57, Y:0.55, Z:-0.32 [[ 9.99721812e-01 -2.35471215e-02 -1.35368547e-03 1.25715410e+01] [ 2.35471139e-02 9.99722728e-01 -2.15876760e-05 5.50153149e-01] [ 1.35381846e-03 -1.02937155e-05 9.99999084e-01 -3.17424847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.804203821999998 meters 0.02050783353469108 Centerline is valid? [True, True] Translation: X:12.63, Y:0.54, Z:-0.32 [[ 9.99672644e-01 -2.55852558e-02 1.42224177e-05 1.26335702e+01] [ 2.55852558e-02 9.99672644e-01 1.25456301e-06 5.36935015e-01] [-1.42498602e-05 -8.90268130e-07 1.00000000e+00 -3.17826439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.864203821999997 meters 0.02145435267515213 Centerline is valid? [True, True] Translation: X:12.69, Y:0.54, Z:-0.33 [[ 9.99729976e-01 -2.29165167e-02 -3.84810025e-03 1.26941145e+01] [ 2.29164485e-02 9.99737382e-01 -6.18283953e-05 5.39415651e-01] [ 3.84850656e-03 -2.63730908e-05 9.99992594e-01 -3.25636242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.924203822 meters 0.020139244822641428 Centerline is valid? [True, True] Translation: X:12.75, Y:0.55, Z:-0.32 [[ 9.99837048e-01 -1.80057385e-02 -1.29242180e-03 1.27539574e+01] [ 1.80057266e-02 9.99837884e-01 -2.08793488e-05 5.45185346e-01] [ 1.29258822e-03 -2.39504699e-06 9.99999165e-01 -3.24184787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.984203821999998 meters 0.018969365144225737 Centerline is valid? [True, True] Translation: X:12.82, Y:0.55, Z:-0.32 [[ 9.99910107e-01 -1.33582302e-02 1.15598520e-03 1.28156457e+01] [ 1.33582168e-02 9.99910775e-01 1.93160847e-05 5.47120398e-01] [-1.15614008e-03 -3.87244745e-06 9.99999332e-01 -3.21364509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.044203822 meters 0.01831747695931276 Centerline is valid? [True, True] Translation: X:12.88, Y:0.55, Z:-0.32 [[ 9.99959092e-01 -8.72588110e-03 2.38192543e-03 1.28774017e+01] [ 8.72581277e-03 9.99961929e-01 3.90763853e-05 5.52850531e-01] [-2.38217572e-03 -1.82905514e-05 9.99997162e-01 -3.16035144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.104203822 meters 0.020507464895363328 Centerline is valid? [True, True] Translation: X:12.94, Y:0.55, Z:-0.33 [[ 9.99951123e-01 -9.85339599e-03 8.13961965e-04 1.29384225e+01] [ 9.85338774e-03 9.99951454e-01 1.41380911e-05 5.52082457e-01] [-8.14061759e-04 -6.11711725e-06 9.99999669e-01 -3.26369467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.164203821999998 meters 0.019918638284935706 Centerline is valid? [True, True] Translation: X:13.00, Y:0.55, Z:-0.33 [[ 9.99937603e-01 -1.10368881e-02 -1.72544322e-03 1.30000224e+01] [ 1.10368586e-02 9.99939092e-01 -2.66321608e-05 5.47870552e-01] [ 1.72563207e-03 7.58702627e-06 9.99998511e-01 -3.30625519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.224203822 meters 0.023154329218538827 Centerline is valid? [True, True] Translation: X:13.06, Y:0.56, Z:-0.33 [[ 9.99973253e-01 -6.73469477e-03 -2.85241507e-03 1.30599460e+01] [ 6.73459277e-03 9.99977321e-01 -4.53603814e-05 5.58245705e-01] [ 2.85265587e-03 2.61493143e-05 9.99995931e-01 -3.33932659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.284203822 meters 0.025536718255036173 Centerline is valid? [True, True] Translation: X:13.12, Y:0.57, Z:-0.34 [[ 9.99990032e-01 -3.14645728e-03 -3.16804083e-03 1.31197640e+01] [ 3.14631104e-03 9.99995049e-01 -5.11441402e-05 5.68232783e-01] [ 3.16818606e-03 4.11759885e-05 9.99994980e-01 -3.36925740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.344203821999997 meters 0.02899955618365496 Centerline is valid? [True, True] Translation: X:13.18, Y:0.58, Z:-0.34 [[ 9.99989321e-01 -1.88631112e-03 -4.21887542e-03 1.31781666e+01] [ 1.88603755e-03 9.99998219e-01 -6.88217270e-05 5.80117058e-01] [ 4.21899773e-03 6.08640346e-05 9.99991098e-01 -3.43923985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.404203822 meters 0.024820143463812117 Centerline is valid? [True, True] Translation: X:13.24, Y:0.59, Z:-0.34 [[ 9.99986434e-01 -4.46740541e-03 -2.67861013e-03 1.32382468e+01] [ 4.46730332e-03 9.99990021e-01 -4.40959526e-05 5.85065510e-01] [ 2.67878039e-03 3.21291905e-05 9.99996412e-01 -3.40198242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.464203821999998 meters 0.02154112281873425 Centerline is valid? [True, True] Translation: X:13.30, Y:0.58, Z:-0.34 [[ 9.99944183e-01 -1.05467834e-02 -6.28963572e-04 1.32978429e+01] [ 1.05467800e-02 9.99944381e-01 -8.77585621e-06 5.84135310e-01] [ 6.29021147e-04 2.14182595e-06 9.99999802e-01 -3.41247719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.524203821999997 meters 0.01830219047606246 Centerline is valid? [True, True] Translation: X:13.36, Y:0.58, Z:-0.34 [[ 9.99845715e-01 -1.75614914e-02 -3.74171866e-04 1.33602396e+01] [ 1.75614922e-02 9.99845785e-01 -1.12288619e-06 5.78233411e-01] [ 3.74133883e-04 -5.44830338e-06 9.99999930e-01 -3.35800275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.584203822 meters 0.018315725121352846 Centerline is valid? [True, True] Translation: X:13.42, Y:0.57, Z:-0.33 [[ 9.99701600e-01 -2.44215878e-02 5.44801911e-04 1.34225324e+01] [ 2.44215859e-02 9.99701749e-01 1.00698064e-05 5.74676035e-01] [-5.44885344e-04 3.23812508e-06 9.99999852e-01 -3.32892800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.644203821999998 meters 0.022538834485085063 Centerline is valid? [True, True] Translation: X:13.48, Y:0.56, Z:-0.34 [[ 9.99546609e-01 -2.99846769e-02 2.73789875e-03 1.34838971e+01] [ 2.99846680e-02 9.99550358e-01 4.43356980e-05 5.63700215e-01] [-2.73799706e-03 3.77793883e-05 9.99996251e-01 -3.35301151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.704203821999997 meters 0.022934861318232018 Centerline is valid? [True, True] Translation: X:13.55, Y:0.56, Z:-0.34 [[ 9.99533270e-01 -3.04760350e-02 2.11021705e-03 1.35460957e+01] [ 3.04760298e-02 9.99535497e-01 3.46095663e-05 5.62508315e-01] [-2.11029161e-03 2.97176247e-05 9.99997773e-01 -3.36627365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.764203822 meters 0.01765119253848845 Centerline is valid? [True, True] Translation: X:13.61, Y:0.57, Z:-0.33 [[ 9.99708573e-01 -2.39787532e-02 2.79076233e-03 1.36079842e+01] [ 2.39787212e-02 9.99712468e-01 4.49340277e-05 5.74041698e-01] [-2.79103736e-03 2.19979792e-05 9.99996105e-01 -3.33396084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.824203821999998 meters 0.01662006146781064 Centerline is valid? [True, True] Translation: X:13.67, Y:0.59, Z:-0.34 [[ 9.99887117e-01 -1.48446565e-02 2.32134037e-03 1.36691448e+01] [ 1.48446095e-02 9.99889812e-01 3.74644847e-05 5.85574037e-01] [-2.32164074e-03 -3.00086427e-06 9.99997305e-01 -3.38514674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.884203822 meters 0.017590560000150045 Centerline is valid? [True, True] Translation: X:13.73, Y:0.59, Z:-0.34 [[ 9.99906300e-01 -1.35943599e-02 1.60788419e-03 1.37303257e+01] [ 1.35943354e-02 9.99907592e-01 2.61957041e-05 5.87929563e-01] [-1.60809172e-03 -4.33513265e-06 9.99998707e-01 -3.42704038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.944203822 meters 0.01836934889333883 Centerline is valid? [True, True] Translation: X:13.79, Y:0.59, Z:-0.35 [[ 9.99911442e-01 -1.31297169e-02 2.17246815e-03 1.37917274e+01] [ 1.31296692e-02 9.99913802e-01 3.62096852e-05 5.91556566e-01] [-2.17275631e-03 -7.68269045e-06 9.99997640e-01 -3.45366339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.004203821999997 meters 0.016679062918984175 Centerline is valid? [True, True] Translation: X:13.85, Y:0.59, Z:-0.35 [[ 9.99872618e-01 -1.59355552e-02 8.97516497e-04 1.38535948e+01] [ 1.59355473e-02 9.99873021e-01 1.59068608e-05 5.86186243e-01] [-8.97656016e-04 -1.60241794e-06 9.99999597e-01 -3.45226491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.064203822 meters 0.018773023996000508 Centerline is valid? [True, True] Translation: X:13.91, Y:0.58, Z:-0.35 [[ 9.99841402e-01 -1.77809494e-02 1.00434878e-03 1.39142418e+01] [ 1.77809417e-02 9.99841906e-01 1.65796716e-05 5.82323039e-01] [-1.00448480e-03 1.28122506e-06 9.99999496e-01 -3.52472050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.124203822 meters 0.017665341388318555 Centerline is valid? [True, True] Translation: X:13.98, Y:0.58, Z:-0.35 [[ 9.99802826e-01 -1.97830396e-02 1.71502338e-03 1.39763478e+01] [ 1.97830210e-02 9.99804297e-01 2.78067110e-05 5.80761231e-01] [-1.71523785e-03 6.12711537e-06 9.99998529e-01 -3.49193374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.184203821999997 meters 0.017670558881229887 Centerline is valid? [True, True] Translation: X:14.04, Y:0.58, Z:-0.35 [[ 9.99756540e-01 -2.18920835e-02 2.75647664e-03 1.40384627e+01] [ 2.18920461e-02 9.99760339e-01 4.37379134e-05 5.78791838e-01] [-2.75677353e-03 1.66176488e-05 9.99996200e-01 -3.48177386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.244203822 meters 0.018319552001465293 Centerline is valid? [True, True] Translation: X:14.10, Y:0.58, Z:-0.35 [[ 9.99762002e-01 -2.17870366e-02 1.12406266e-03 1.41010123e+01] [ 2.17870295e-02 9.99762634e-01 1.85974923e-05 5.75500250e-01] [-1.12420103e-03 5.89692006e-06 9.99999368e-01 -3.51473903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.304203821999998 meters 0.018893773791766152 Centerline is valid? [True, True] Translation: X:14.16, Y:0.57, Z:-0.36 [[ 9.99761694e-01 -2.18060128e-02 1.02600297e-03 1.41625881e+01] [ 2.18060071e-02 9.99762221e-01 1.67055308e-05 5.71855956e-01] [-1.02612329e-03 5.67147829e-06 9.99999474e-01 -3.55290684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.364203821999997 meters 0.018602824720018795 Centerline is valid? [True, True] Translation: X:14.22, Y:0.57, Z:-0.36 [[ 9.99789847e-01 -2.03320477e-02 2.62102146e-03 1.42228296e+01] [ 2.03320117e-02 9.99793282e-01 4.03660926e-05 5.68034106e-01] [-2.62130037e-03 1.29330294e-05 9.99996564e-01 -3.57124667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.424203822 meters 0.015549928144265163 Centerline is valid? [True, True] Translation: X:14.29, Y:0.57, Z:-0.35 [[ 9.99850186e-01 -1.70390899e-02 3.04551833e-03 1.42851515e+01] [ 1.70390234e-02 9.99854824e-01 4.77958883e-05 5.67413003e-01] [-3.04589059e-03 4.10393015e-06 9.99995361e-01 -3.51083658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.484203821999998 meters 0.018309401244198893 Centerline is valid? [True, True] Translation: X:14.35, Y:0.57, Z:-0.36 [[ 9.99938825e-01 -1.09283140e-02 1.70813564e-03 1.43464334e+01] [ 1.09282838e-02 9.99940284e-01 2.70063663e-05 5.70422333e-01] [-1.70832877e-03 -8.33772325e-06 9.99998541e-01 -3.57684687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.544203821999997 meters 0.01917430021242976 Centerline is valid? [True, True] Translation: X:14.41, Y:0.57, Z:-0.35 [[ 9.99981907e-01 -5.26769370e-03 2.90475072e-03 1.44083937e+01] [ 5.26758403e-03 9.99986125e-01 4.54054453e-05 5.73591203e-01] [-2.90494960e-03 -3.01036053e-05 9.99995780e-01 -3.54825560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.604203822 meters 0.020609147934139375 Centerline is valid? [True, True] Translation: X:14.47, Y:0.57, Z:-0.36 [[ 9.99994116e-01 -2.63165545e-03 2.20032993e-03 1.44708707e+01] [ 2.63158556e-03 9.99996537e-01 3.46582318e-05 5.68959570e-01] [-2.20041352e-03 -2.88676714e-05 9.99997579e-01 -3.57169590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.664203821999998 meters 0.022327883387187136 Centerline is valid? [True, True] Translation: X:14.53, Y:0.57, Z:-0.36 [[ 9.99995288e-01 -2.10209424e-03 2.23710078e-03 1.45321769e+01] [ 2.10202174e-03 9.99997790e-01 3.47577668e-05 5.69798468e-01] [-2.23716890e-03 -3.00551685e-05 9.99997497e-01 -3.60542783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.724203822 meters 0.02526944536786858 Centerline is valid? [True, True] Translation: X:14.59, Y:0.57, Z:-0.36 [[ 9.99998265e-01 8.28690206e-04 1.66858175e-03 1.45930125e+01] [-8.28733809e-04 9.99999656e-01 2.54402161e-05 5.70118164e-01] [-1.66856009e-03 -2.68229820e-05 9.99998608e-01 -3.64933245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.784203822 meters 0.02824067086460849 Centerline is valid? [True, True] Translation: X:14.65, Y:0.57, Z:-0.37 [[ 9.99993726e-01 3.39517411e-03 1.01033329e-03 1.46527502e+01] [-3.39519275e-03 9.99994236e-01 1.67318794e-05 5.73499429e-01] [-1.01027066e-03 -2.01620507e-05 9.99999489e-01 -3.68436928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.844203821999997 meters 0.028866661630864196 Centerline is valid? [True, True] Translation: X:14.71, Y:0.58, Z:-0.37 [[ 9.99989802e-01 4.50289466e-03 3.46345460e-04 1.47126034e+01] [-4.50289661e-03 9.99989862e-01 4.84457361e-06 5.79829870e-01] [-3.46320134e-04 -6.40408201e-06 9.99999940e-01 -3.70809983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.904203822 meters 0.02818518741788918 Centerline is valid? [True, True] Translation: X:14.77, Y:0.58, Z:-0.38 [[ 9.99997924e-01 1.79518628e-03 9.63822475e-04 1.47718615e+01] [-1.79520192e-03 9.99998389e-01 1.53684935e-05 5.76394415e-01] [-9.63793333e-04 -1.70987176e-05 9.99999535e-01 -3.75053899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.964203821999998 meters 0.021047330383475435 Centerline is valid? [True, True] Translation: X:14.83, Y:0.57, Z:-0.37 [[ 9.99991100e-01 -3.41357034e-03 2.47954826e-03 1.48328985e+01] [ 3.41348803e-03 9.99994173e-01 3.74235446e-05 5.70045727e-01] [-2.47966156e-03 -2.89593032e-05 9.99996925e-01 -3.70490821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.024203821999997 meters 0.02485082505956296 Centerline is valid? [True, True] Translation: X:14.89, Y:0.57, Z:-0.38 [[ 9.99957569e-01 -9.20993769e-03 1.95469307e-04 1.48941915e+01] [ 9.20993641e-03 9.99957588e-01 7.44080781e-06 5.67436293e-01] [-1.95529546e-04 -5.64023221e-06 9.99999981e-01 -3.77581919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.084203822 meters 0.01866324052693393 Centerline is valid? [True, True] Translation: X:14.96, Y:0.56, Z:-0.38 [[ 9.99899261e-01 -1.41924610e-02 -2.06319340e-04 1.49565437e+01] [ 1.41924617e-02 9.99899282e-01 1.78650118e-06 5.63987726e-01] [ 2.06273205e-04 -4.71450054e-06 9.99999979e-01 -3.79836728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.144203821999998 meters 0.01889187732757078 Centerline is valid? [True, True] Translation: X:15.02, Y:0.56, Z:-0.38 [[ 9.99853574e-01 -1.70202047e-02 -1.77313905e-03 1.50182681e+01] [ 1.70201874e-02 9.99855146e-01 -2.48246737e-05 5.64750322e-01] [ 1.77330472e-03 -5.35812031e-06 9.99998428e-01 -3.83048598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.204203821999997 meters 0.02010449459067218 Centerline is valid? [True, True] Translation: X:15.08, Y:0.57, Z:-0.39 [[ 9.99801715e-01 -1.95607977e-02 -3.72915464e-03 1.50792626e+01] [ 1.95607337e-02 9.99808669e-01 -5.36257377e-05 5.69098928e-01] [ 3.72949010e-03 -1.93298964e-05 9.99993045e-01 -3.86161658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.264203822 meters 0.019460067814096794 Centerline is valid? [True, True] Translation: X:15.14, Y:0.57, Z:-0.38 [[ 9.99776710e-01 -2.11298677e-02 -2.41672181e-04 1.51393822e+01] [ 2.11298675e-02 9.99776739e-01 -3.52042628e-06 5.73474858e-01] [ 2.41692612e-04 -1.58686096e-06 9.99999971e-01 -3.84144670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.324203821999998 meters 0.020350863282929076 Centerline is valid? [True, True] Translation: X:15.20, Y:0.58, Z:-0.39 [[ 9.99776232e-01 -2.10337373e-02 -2.25120558e-03 1.52008251e+01] [ 2.10337192e-02 9.99778766e-01 -3.16840509e-05 5.79380699e-01] [ 2.25137397e-03 -1.56742651e-05 9.99997466e-01 -3.90262977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.384203821999996 meters 0.01909629720459509 Centerline is valid? [True, True] Translation: X:15.26, Y:0.59, Z:-0.39 [[ 9.99807067e-01 -1.96240732e-02 -8.51061368e-04 1.52621103e+01] [ 1.96240703e-02 9.99807429e-01 -1.16552649e-05 5.92725478e-01] [ 8.51126203e-04 -5.04827192e-06 9.99999638e-01 -3.87543686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.444203822 meters 0.01798227079367981 Centerline is valid? [True, True] Translation: X:15.32, Y:0.60, Z:-0.39 [[ 9.99808143e-01 -1.95874438e-02 9.21433100e-05 1.53230003e+01] [ 1.95874437e-02 9.99808148e-01 2.03579901e-06 5.97615718e-01] [-9.21655082e-05 -2.30556533e-07 9.99999996e-01 -3.86771730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.504203821999997 meters 0.018741735486123758 Centerline is valid? [True, True] Translation: X:15.38, Y:0.59, Z:-0.39 [[ 9.99759374e-01 -2.18564494e-02 1.86828369e-03 1.53844930e+01] [ 2.18564351e-02 9.99761119e-01 2.80283815e-05 5.93899354e-01] [-1.86844999e-03 1.28123841e-05 9.99998254e-01 -3.88026302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.564203822 meters 0.01930053342742666 Centerline is valid? [True, True] Translation: X:15.45, Y:0.60, Z:-0.39 [[ 9.99701406e-01 -2.44308534e-02 4.82030350e-04 1.54460359e+01] [ 2.44308524e-02 9.99701522e-01 8.01105477e-06 5.96546700e-01] [-4.82082191e-04 3.76774961e-06 9.99999884e-01 -3.88007876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.624203822 meters 0.021673228461901173 Centerline is valid? [True, True] Translation: X:15.51, Y:0.59, Z:-0.39 [[ 9.99686626e-01 -2.50157707e-02 9.27406669e-04 1.55076395e+01] [ 2.50157678e-02 9.99687057e-01 1.47192090e-05 5.91969532e-01] [-9.27484656e-04 8.48519348e-06 9.99999570e-01 -3.93800049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.684203821999997 meters 0.02135685217988595 Centerline is valid? [True, True] Translation: X:15.57, Y:0.59, Z:-0.39 [[ 9.99676471e-01 -2.53858054e-02 1.58574104e-03 1.55703559e+01] [ 2.53857987e-02 9.99677728e-01 2.43614470e-05 5.92700031e-01] [-1.58584843e-03 1.59017373e-05 9.99998742e-01 -3.92305955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.744203822 meters 0.01901931963356832 Centerline is valid? [True, True] Translation: X:15.63, Y:0.59, Z:-0.39 [[ 9.99709324e-01 -2.38835294e-02 3.29323331e-03 1.56317273e+01] [ 2.38835017e-02 9.99714747e-01 4.77187484e-05 5.94133813e-01] [-3.29343360e-03 3.09490658e-05 9.99994576e-01 -3.88677840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.804203821999998 meters 0.017930208534020702 Centerline is valid? [True, True] Translation: X:15.69, Y:0.59, Z:-0.39 [[ 9.99743895e-01 -2.21564452e-02 4.60831911e-03 1.56932191e+01] [ 2.21563732e-02 9.99754515e-01 6.66713366e-05 5.93481234e-01] [-4.60866503e-03 3.54493764e-05 9.99989379e-01 -3.89976707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.864203821999997 meters 0.017105832261731693 Centerline is valid? [True, True] Translation: X:15.75, Y:0.60, Z:-0.39 [[ 9.99791986e-01 -1.98092633e-02 4.85576100e-03 1.57538984e+01] [ 1.98091513e-02 9.99803777e-01 7.11534398e-05 6.02186378e-01] [-4.85621768e-03 2.50498655e-05 9.99988208e-01 -3.90292709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.924203822 meters 0.015938094679591334 Centerline is valid? [True, True] Translation: X:15.82, Y:0.61, Z:-0.39 [[ 9.99828949e-01 -1.74637527e-02 6.09021724e-03 1.58160539e+01] [ 1.74635449e-02 9.99847497e-01 8.73119131e-05 6.07222712e-01] [-6.09081325e-03 1.90598037e-05 9.99981451e-01 -3.91066290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.984203821999998 meters 0.01707519245844308 Centerline is valid? [True, True] Translation: X:15.88, Y:0.61, Z:-0.40 [[ 9.99863137e-01 -1.57590960e-02 5.03559047e-03 1.58772999e+01] [ 1.57589296e-02 9.99875818e-01 7.27276245e-05 6.10230604e-01] [-5.03611126e-03 6.63784485e-06 9.99987319e-01 -3.97266068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.044203821999997 meters 0.015682407154709078 Centerline is valid? [True, True] Translation: X:15.94, Y:0.61, Z:-0.39 [[ 9.99855382e-01 -1.63755495e-02 4.58865239e-03 1.59399917e+01] [ 1.63754207e-02 9.99865912e-01 6.56368285e-05 6.14072596e-01] [-4.58911195e-03 9.51377713e-06 9.99989470e-01 -3.94133248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.104203822 meters 0.016491800933316647 Centerline is valid? [True, True] Translation: X:16.00, Y:0.61, Z:-0.40 [[ 9.99857690e-01 -1.65036939e-02 3.49691831e-03 1.60020213e+01] [ 1.65036194e-02 9.99863805e-01 5.01715910e-05 6.09962545e-01] [-3.49727006e-03 7.54735776e-06 9.99993885e-01 -3.98857967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.164203821999998 meters 0.023047904065628202 Centerline is valid? [True, True] Translation: X:16.06, Y:0.61, Z:-0.40 [[ 9.99827404e-01 -1.81857272e-02 3.80028578e-03 1.60643116e+01] [ 1.81856525e-02 9.99834626e-01 5.42196365e-05 6.10571669e-01] [-3.80064334e-03 1.49003981e-05 9.99992777e-01 -3.97296848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.224203821999996 meters 0.015819695457889298 Centerline is valid? [True, True] Translation: X:16.13, Y:0.61, Z:-0.40 [[ 9.99850762e-01 -1.66063899e-02 4.76244044e-03 1.61263138e+01] [ 1.66062574e-02 9.99862104e-01 6.73796556e-05 6.09032389e-01] [-4.76290266e-03 1.17167117e-05 9.99988657e-01 -3.99300470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.284203822 meters 0.014893333964586064 Centerline is valid? [True, True] Translation: X:16.19, Y:0.62, Z:-0.40 [[ 9.99874987e-01 -1.39861124e-02 7.37552884e-03 1.61872482e+01] [ 1.39857351e-02 9.99902190e-01 1.02725880e-04 6.15897065e-01] [-7.37624418e-03 4.39154551e-07 9.99972795e-01 -3.96872750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.344203821999997 meters 0.015858430453685547 Centerline is valid? [True, True] Translation: X:16.25, Y:0.61, Z:-0.40 [[ 9.99897937e-01 -1.35117984e-02 4.64185107e-03 1.62488740e+01] [ 1.35116418e-02 9.99908711e-01 6.50860188e-05 6.14613356e-01] [-4.64230675e-03 -2.36034689e-06 9.99989224e-01 -4.03248226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.404203822 meters 0.015084147175298783 Centerline is valid? [True, True] Translation: X:16.31, Y:0.62, Z:-0.40 [[ 9.99896776e-01 -1.26118821e-02 6.88309326e-03 1.63112971e+01] [ 1.26115199e-02 9.99920467e-01 9.60244583e-05 6.15712700e-01] [-6.88375687e-03 -9.20827901e-06 9.99976307e-01 -4.01316948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.464203821999998 meters 0.015312221739877589 Centerline is valid? [True, True] Translation: X:16.37, Y:0.62, Z:-0.40 [[ 9.99899060e-01 -1.27146595e-02 6.34099127e-03 1.63728935e+01] [ 1.27143571e-02 9.99919165e-01 8.80059381e-05 6.17903989e-01] [-6.34159767e-03 -7.37542740e-06 9.99979892e-01 -4.03257290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.524203821999997 meters 0.015919069436592208 Centerline is valid? [True, True] Translation: X:16.43, Y:0.61, Z:-0.41 [[ 9.99866519e-01 -1.56102368e-02 4.82339865e-03 1.64348528e+01] [ 1.56100938e-02 9.99878153e-01 6.73054349e-05 6.06948150e-01] [-4.82386159e-03 7.99725448e-06 9.99988365e-01 -4.09412150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.584203822 meters 0.015703872915541463 Centerline is valid? [True, True] Translation: X:16.50, Y:0.60, Z:-0.41 [[ 9.99843235e-01 -1.71071416e-02 4.56626270e-03 1.64973053e+01] [ 1.71070295e-02 9.99853662e-01 6.36012893e-05 6.02186828e-01] [-4.56668252e-03 1.45238719e-05 9.99989573e-01 -4.08787839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.644203821999998 meters 0.01581085069934478 Centerline is valid? [True, True] Translation: X:16.56, Y:0.60, Z:-0.41 [[ 9.99867173e-01 -1.51063474e-02 6.11831199e-03 1.65590578e+01] [ 1.51061135e-02 9.99885893e-01 8.44393593e-05 5.98737659e-01] [-6.11888942e-03 7.99577196e-06 9.99981279e-01 -4.10302125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.704203821999997 meters 0.01507827030649343 Centerline is valid? [True, True] Translation: X:16.62, Y:0.60, Z:-0.41 [[ 9.99912827e-01 -1.10785209e-02 7.18368299e-03 1.66211485e+01] [ 1.10780988e-02 9.99938631e-01 9.85453444e-05 6.00474776e-01] [-7.18433387e-03 -1.89552037e-05 9.99974192e-01 -4.09006994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.764203822 meters 0.01771005068608535 Centerline is valid? [True, True] Translation: X:16.68, Y:0.60, Z:-0.42 [[ 9.99959832e-01 -6.61735032e-03 6.04523567e-03 1.66820168e+01] [ 6.61697200e-03 9.99978104e-01 8.25804882e-05 5.99394417e-01] [-6.04564977e-03 -4.25760159e-05 9.99981724e-01 -4.15261012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.824203821999998 meters 0.02315906872658706 Centerline is valid? [True, True] Translation: X:16.74, Y:0.60, Z:-0.42 [[ 9.99975635e-01 -3.94718305e-03 5.75758367e-03 1.67444036e+01] [ 3.94679499e-03 9.99992208e-01 7.87615906e-05 6.04983783e-01] [-5.75784970e-03 -5.60356692e-05 9.99983422e-01 -4.15471793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.884203821999996 meters 0.020864236021646432 Centerline is valid? [True, True] Translation: X:16.81, Y:0.60, Z:-0.42 [[ 9.99982905e-01 -4.70815172e-03 3.46738325e-03 1.68058075e+01] [ 4.70801531e-03 9.99988916e-01 4.75020514e-05 5.99743881e-01] [-3.46756847e-03 -3.11767459e-05 9.99993987e-01 -4.24417338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.944203822 meters 0.017850398966126883 Centerline is valid? [True, True] Translation: X:16.87, Y:0.59, Z:-0.42 [[ 9.99950031e-01 -7.27303839e-03 6.85840084e-03 1.68670543e+01] [ 7.27257518e-03 9.99973550e-01 9.24753605e-05 5.89483485e-01] [-6.85889201e-03 -4.25925039e-05 9.99976477e-01 -4.21091597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.004203821999997 meters 0.015610218044236263 Centerline is valid? [True, True] Translation: X:16.93, Y:0.59, Z:-0.42 [[ 9.99935805e-01 -8.63195628e-03 7.33994976e-03 1.69290783e+01] [ 8.63145993e-03 9.99962743e-01 9.92982913e-05 5.85347278e-01] [-7.34053344e-03 -3.59374346e-05 9.99973057e-01 -4.18388330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.064203821999996 meters 0.01576500473486677 Centerline is valid? [True, True] Translation: X:16.99, Y:0.58, Z:-0.42 [[ 9.99929848e-01 -1.04003535e-02 5.66846515e-03 1.69908094e+01] [ 1.04000856e-02 9.99945915e-01 7.67289205e-05 5.80984038e-01] [-5.66895658e-03 -1.77710149e-05 9.99983931e-01 -4.23240212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.124203822 meters 0.019449524264145358 Centerline is valid? [True, True] Translation: X:17.05, Y:0.59, Z:-0.43 [[ 9.99956870e-01 -8.01077006e-03 4.69948359e-03 1.70527818e+01] [ 8.01055955e-03 9.99967913e-01 6.36149703e-05 5.85043206e-01] [-4.69984240e-03 -2.59667335e-05 9.99988955e-01 -4.26103936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.184203821999997 meters 0.01796449701350382 Centerline is valid? [True, True] Translation: X:17.11, Y:0.59, Z:-0.43 [[ 9.99963230e-01 -5.26258637e-03 6.77083688e-03 1.71146053e+01] [ 5.26209272e-03 9.99986151e-01 9.07206997e-05 5.93591089e-01] [-6.77122054e-03 -5.50885924e-05 9.99977074e-01 -4.26645143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.244203822 meters 0.018876464623318594 Centerline is valid? [True, True] Translation: X:17.18, Y:0.59, Z:-0.43 [[ 9.99974627e-01 -4.99331221e-03 5.08062542e-03 1.71768172e+01] [ 4.99303029e-03 9.99987532e-01 6.81725596e-05 5.94065326e-01] [-5.08090248e-03 -4.28031133e-05 9.99987091e-01 -4.31919975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.304203821999998 meters 0.018487560781029238 Centerline is valid? [True, True] Translation: X:17.24, Y:0.60, Z:-0.44 [[ 9.99971126e-01 -6.41362924e-03 4.07584727e-03 1.72390633e+01] [ 6.41345925e-03 9.99979432e-01 5.47741324e-05 5.96873284e-01] [-4.07611474e-03 -2.86322705e-05 9.99991692e-01 -4.35680737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.364203821999997 meters 0.015086219888058415 Centerline is valid? [True, True] Translation: X:17.30, Y:0.59, Z:-0.43 [[ 9.99915179e-01 -1.07592578e-02 7.33978051e-03 1.73011827e+01] [ 1.07588361e-02 9.99942117e-01 9.69412268e-05 5.93175687e-01] [-7.34039867e-03 -1.79655089e-05 9.99973059e-01 -4.31812535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.424203822 meters 0.017314778877917054 Centerline is valid? [True, True] Translation: X:17.36, Y:0.58, Z:-0.44 [[ 9.99813259e-01 -1.84172078e-02 5.85258729e-03 1.73622595e+01] [ 1.84170551e-02 9.99830388e-01 7.99920089e-05 5.79727722e-01] [-5.85306785e-03 2.78103513e-05 9.99982870e-01 -4.38915600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.484203821999998 meters 0.020804083537937043 Centerline is valid? [True, True] Translation: X:17.42, Y:0.56, Z:-0.44 [[ 9.99625376e-01 -2.69508408e-02 4.77077219e-03 1.74232785e+01] [ 2.69508522e-02 9.99636758e-01 6.19063535e-05 5.64741319e-01] [-4.77070767e-03 6.66932142e-05 9.99988618e-01 -4.38504702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.544203821999997 meters 0.02388874759279292 Centerline is valid? [True, True] Translation: X:17.48, Y:0.56, Z:-0.44 [[ 9.99598196e-01 -2.78528294e-02 5.25984999e-03 1.74844228e+01] [ 2.78528483e-02 9.99612032e-01 6.96730594e-05 5.56268066e-01] [-5.25974993e-03 7.68567394e-05 9.99986164e-01 -4.42681669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.604203822 meters 0.02058340977984116 Centerline is valid? [True, True] Translation: X:17.55, Y:0.56, Z:-0.44 [[ 9.99627830e-01 -2.64297323e-02 6.75794613e-03 1.75467680e+01] [ 2.64297431e-02 9.99650669e-01 8.77294975e-05 5.56318439e-01] [-6.75790404e-03 9.09139328e-05 9.99977161e-01 -4.39446823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.664203821999998 meters 0.017094962814401565 Centerline is valid? [True, True] Translation: X:17.61, Y:0.56, Z:-0.44 [[ 9.99713761e-01 -2.28641454e-02 7.04467211e-03 1.76089278e+01] [ 2.28640710e-02 9.99738579e-01 9.11037267e-05 5.55356139e-01] [-7.04491349e-03 6.99922342e-05 9.99975182e-01 -4.39492356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.724203821999996 meters 0.01785608139818012 Centerline is valid? [True, True] Translation: X:17.67, Y:0.55, Z:-0.44 [[ 9.99735605e-01 -2.18058317e-02 7.29561747e-03 1.76705374e+01] [ 2.18057268e-02 9.99762222e-01 9.39262924e-05 5.53406005e-01] [-7.29593088e-03 6.51847827e-05 9.99973382e-01 -4.44441758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.784203822 meters 0.016864759043417055 Centerline is valid? [True, True] Translation: X:17.73, Y:0.55, Z:-0.45 [[ 9.99779285e-01 -1.97608390e-02 7.13382795e-03 1.77327654e+01] [ 1.97606892e-02 9.99804734e-01 9.14870969e-05 5.52399097e-01] [-7.13424282e-03 4.95024526e-05 9.99974550e-01 -4.46718586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.844203821999997 meters 0.015276912837508512 Centerline is valid? [True, True] Translation: X:17.79, Y:0.55, Z:-0.45 [[ 9.99838759e-01 -1.66919411e-02 6.62084045e-03 1.77947065e+01] [ 1.66917460e-02 9.99860680e-01 8.47268833e-05 5.51134538e-01] [-6.62133229e-03 2.58001654e-05 9.99978078e-01 -4.46362918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.904203821999996 meters 0.015245828831070096 Centerline is valid? [True, True] Translation: X:17.86, Y:0.55, Z:-0.45 [[ 9.99894527e-01 -1.32594386e-02 5.92646885e-03 1.78569320e+01] [ 1.32592229e-02 9.99912090e-01 7.56946562e-05 5.49266419e-01] [-5.92695152e-03 2.89369891e-06 9.99982435e-01 -4.50717596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.964203821999998 meters 0.015444764253756736 Centerline is valid? [True, True] Translation: X:17.92, Y:0.55, Z:-0.45 [[ 9.99915771e-01 -1.08976391e-02 7.04926408e-03 1.79182603e+01] [ 1.08972813e-02 9.99940619e-01 8.91675245e-05 5.52258486e-01] [-7.04981720e-03 -1.23422002e-05 9.99975150e-01 -4.53012181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.024203821999997 meters 0.01610321933524891 Centerline is valid? [True, True] Translation: X:17.98, Y:0.55, Z:-0.46 [[ 9.99914810e-01 -1.04973926e-02 7.75745894e-03 1.79791459e+01] [ 1.04969504e-02 9.99944901e-01 9.77267516e-05 5.52767770e-01] [-7.75805739e-03 -1.62887648e-05 9.99969906e-01 -4.55385496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.084203822 meters 0.015039581735015557 Centerline is valid? [True, True] Translation: X:18.04, Y:0.55, Z:-0.46 [[ 9.99887676e-01 -1.32669773e-02 6.97293792e-03 1.80411370e+01] [ 1.32666863e-02 9.99911990e-01 8.79923179e-05 5.47774832e-01] [-6.97349163e-03 4.52534575e-06 9.99975685e-01 -4.55295732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.144203821999998 meters 0.015964662129960814 Centerline is valid? [True, True] Translation: X:18.10, Y:0.54, Z:-0.46 [[ 9.99835405e-01 -1.65905589e-02 7.34279010e-03 1.81030424e+01] [ 1.65903271e-02 9.99862367e-01 9.24813636e-05 5.43637637e-01] [-7.34331380e-03 2.93531481e-05 9.99973037e-01 -4.58376845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.204203821999997 meters 0.015841559376179457 Centerline is valid? [True, True] Translation: X:18.17, Y:0.55, Z:-0.46 [[ 9.99826196e-01 -1.68022282e-02 8.07856176e-03 1.81657170e+01] [ 1.68019601e-02 9.99858832e-01 1.01063942e-04 5.46431068e-01] [-8.07911943e-03 3.46892951e-05 9.99967363e-01 -4.58896850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.264203822 meters 0.015558197340318132 Centerline is valid? [True, True] Translation: X:18.23, Y:0.55, Z:-0.46 [[ 9.99825262e-01 -1.71694090e-02 7.39297524e-03 1.82279616e+01] [ 1.71691982e-02 9.99852594e-01 9.19915737e-05 5.47218967e-01] [-7.39346491e-03 3.49559575e-05 9.99972667e-01 -4.59949498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.324203821999998 meters 0.017222534226774236 Centerline is valid? [True, True] Translation: X:18.29, Y:0.55, Z:-0.46 [[ 9.99811283e-01 -1.74509357e-02 8.53597051e-03 1.82905376e+01] [ 1.74506700e-02 9.99847720e-01 1.05609844e-04 5.49217724e-01] [-8.53651364e-03 4.33684907e-05 9.99963562e-01 -4.57528914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.384203821999996 meters 0.016745392665613992 Centerline is valid? [True, True] Translation: X:18.35, Y:0.55, Z:-0.46 [[ 9.99783420e-01 -1.93681003e-02 7.61509127e-03 1.83518339e+01] [ 1.93679482e-02 9.99812419e-01 9.37264572e-05 5.49708000e-01] [-7.61547813e-03 5.37825351e-05 9.99971000e-01 -4.62763107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.444203822 meters 0.016528912116441776 Centerline is valid? [True, True] Translation: X:18.41, Y:0.55, Z:-0.46 [[ 9.99764967e-01 -1.97033455e-02 9.04372182e-03 1.84143361e+01] [ 1.97031475e-02 9.99805868e-01 1.10999885e-04 5.46750076e-01] [-9.04415322e-03 6.72159893e-05 9.99959099e-01 -4.63681871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.504203821999997 meters 0.01616755671412836 Centerline is valid? [True, True] Translation: X:18.48, Y:0.54, Z:-0.46 [[ 9.99748752e-01 -2.05015124e-02 9.06201035e-03 1.84765742e+01] [ 2.05013500e-02 9.99789819e-01 1.10826880e-04 5.44282087e-01] [-9.06237780e-03 7.49844112e-05 9.99958933e-01 -4.63149280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.564203821999996 meters 0.027843629568744154 Centerline is valid? [True, True] Translation: X:18.54, Y:0.55, Z:-0.47 [[ 9.99791509e-01 -1.90637477e-02 7.31518051e-03 1.85377266e+01] [ 1.90635987e-02 9.99818269e-01 9.01045661e-05 5.45275694e-01] [-7.31556884e-03 4.93678853e-05 9.99973240e-01 -4.68224610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.624203822 meters 0.015316761007421437 Centerline is valid? [True, True] Translation: X:18.60, Y:0.55, Z:-0.47 [[ 9.99853042e-01 -1.49013435e-02 8.47615772e-03 1.85993451e+01] [ 1.49010090e-02 9.99888969e-01 1.02613635e-04 5.48998435e-01] [-8.47674568e-03 2.37047474e-05 9.99964071e-01 -4.70837982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.684203821999997 meters 0.015596340140486237 Centerline is valid? [True, True] Translation: X:18.66, Y:0.55, Z:-0.48 [[ 9.99882613e-01 -1.40355179e-02 6.14524726e-03 1.86608363e+01] [ 1.40353268e-02 9.99901497e-01 7.42292423e-05 5.50854568e-01] [-6.14568378e-03 1.20300245e-05 9.99981115e-01 -4.76775661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.744203821999996 meters 0.023217687706552092 Centerline is valid? [True, True] Translation: X:18.72, Y:0.54, Z:-0.48 [[ 9.99830364e-01 -1.78095955e-02 4.69692793e-03 1.87232528e+01] [ 1.78095237e-02 9.99841396e-01 5.70947287e-05 5.42621721e-01] [-4.69719981e-03 2.65650061e-05 9.99988968e-01 -4.79169224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.804203821999998 meters 0.020928259312872222 Centerline is valid? [True, True] Translation: X:18.78, Y:0.53, Z:-0.49 [[ 9.99743349e-01 -2.22989793e-02 3.99893934e-03 1.87840758e+01] [ 2.22989598e-02 9.99751346e-01 4.94863700e-05 5.29431764e-01] [-3.99904848e-03 3.96985181e-05 9.99992003e-01 -4.85758562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.864203821999997 meters 0.022195143079620797 Centerline is valid? [True, True] Translation: X:18.85, Y:0.52, Z:-0.48 [[ 9.99645124e-01 -2.57758504e-02 6.72541728e-03 1.88469193e+01] [ 2.57758935e-02 9.99667743e-01 8.02778253e-05 5.17029154e-01] [-6.72525194e-03 9.31043029e-05 9.99977381e-01 -4.82094537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.924203822 meters 0.022356015948180326 Centerline is valid? [True, True] Translation: X:18.91, Y:0.51, Z:-0.48 [[ 9.99615185e-01 -2.69271482e-02 6.66414285e-03 1.89093263e+01] [ 2.69272180e-02 9.99637394e-01 7.92676834e-05 5.10027393e-01] [-6.66386085e-03 1.00209647e-04 9.99977791e-01 -4.82633216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.984203821999998 meters 0.02117756305873652 Centerline is valid? [True, True] Translation: X:18.97, Y:0.50, Z:-0.49 [[ 9.99670710e-01 -2.47293845e-02 6.85053435e-03 1.89718102e+01] [ 2.47294092e-02 9.99694178e-01 8.11115583e-05 5.03160138e-01] [-6.85044515e-03 8.83248181e-05 9.99976532e-01 -4.85646247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.044203821999997 meters 0.018477733391122582 Centerline is valid? [True, True] Translation: X:19.03, Y:0.50, Z:-0.48 [[ 9.99819103e-01 -1.81805115e-02 5.58838775e-03 1.90344615e+01] [ 1.81804254e-02 9.99834720e-01 6.62175336e-05 5.00460953e-01] [-5.58866797e-03 3.53937115e-05 9.99984383e-01 -4.84545203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.104203822 meters 0.014131024872568686 Centerline is valid? [True, True] Translation: X:19.10, Y:0.51, Z:-0.48 [[ 9.99901951e-01 -1.15006569e-02 7.98900249e-03 1.90952545e+01] [ 1.15002800e-02 9.99933865e-01 9.31206293e-05 5.06818922e-01] [-7.98954509e-03 -1.23573369e-06 9.99968083e-01 -4.84219664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.164203821999998 meters 0.01677371713504171 Centerline is valid? [True, True] Translation: X:19.16, Y:0.50, Z:-0.49 [[ 9.99966625e-01 -6.64336499e-03 4.75558247e-03 1.91559721e+01] [ 6.64317460e-03 9.99977932e-01 5.58288544e-05 5.04751190e-01] [-4.75584841e-03 -2.42348264e-05 9.99988691e-01 -4.92127013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.224203821999996 meters 0.018242003366787912 Centerline is valid? [True, True] Translation: X:19.22, Y:0.50, Z:-0.50 [[ 9.99972044e-01 -5.13495640e-03 5.43537182e-03 1.92167306e+01] [ 5.13468688e-03 9.99986815e-01 6.35401130e-05 4.97908794e-01] [-5.43562643e-03 -3.56294043e-05 9.99985226e-01 -4.96613533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.284203822 meters 0.01934207005478416 Centerline is valid? [True, True] Translation: X:19.28, Y:0.50, Z:-0.49 [[ 9.99971788e-01 -2.32569703e-03 7.14236534e-03 1.92794837e+01] [ 2.32516079e-03 9.99997293e-01 8.33817538e-05 5.00542119e-01] [-7.14253993e-03 -6.67722536e-05 9.99974490e-01 -4.93943944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.344203821999997 meters 0.019567168252291302 Centerline is valid? [True, True] Translation: X:19.34, Y:0.50, Z:-0.49 [[ 9.99977021e-01 3.19086733e-04 6.77170405e-03 1.93412162e+01] [-3.19624151e-04 9.99999946e-01 7.82802107e-05 5.00734104e-01] [-6.77167870e-03 -8.04428121e-05 9.99977069e-01 -4.93629390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.404203821999996 meters 0.017401722175167403 Centerline is valid? [True, True] Translation: X:19.40, Y:0.50, Z:-0.50 [[ 9.99975163e-01 -2.58518122e-03 6.55667819e-03 1.94038862e+01] [ 2.58473745e-03 9.99996657e-01 7.61545299e-05 4.95277464e-01] [-6.55685314e-03 -5.92053468e-05 9.99978502e-01 -4.96026111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.464203821999998 meters 0.016865638377936663 Centerline is valid? [True, True] Translation: X:19.47, Y:0.49, Z:-0.50 [[ 9.99958765e-01 -7.36565708e-03 5.31186353e-03 1.94656140e+01] [ 7.36541781e-03 9.99972873e-01 6.46066294e-05 4.88768073e-01] [-5.31219530e-03 -2.54798711e-05 9.99985890e-01 -5.01970417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.524203821999997 meters 0.014595753768547033 Centerline is valid? [True, True] Translation: X:19.53, Y:0.48, Z:-0.50 [[ 9.99924599e-01 -1.02724643e-02 6.72847584e-03 1.95285470e+01] [ 1.02721826e-02 9.99947237e-01 7.64323538e-05 4.82529417e-01] [-6.72890597e-03 -7.31045842e-06 9.99977361e-01 -4.98328010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.584203821999996 meters 0.014759828158330752 Centerline is valid? [True, True] Translation: X:19.59, Y:0.48, Z:-0.50 [[ 9.99890387e-01 -1.30690089e-02 6.95811239e-03 1.95897547e+01] [ 1.30687826e-02 9.99914597e-01 7.79841530e-05 4.76414835e-01] [-6.95853732e-03 1.29584536e-05 9.99975789e-01 -4.99293487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.644203821999998 meters 0.018290152584823492 Centerline is valid? [True, True] Translation: X:19.65, Y:0.46, Z:-0.51 [[ 9.99816732e-01 -1.86508334e-02 4.31846561e-03 1.96494219e+01] [ 1.86507948e-02 9.99826058e-01 4.92226359e-05 4.61639988e-01] [-4.31863249e-03 3.13292010e-05 9.99990674e-01 -5.08255953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.704203821999997 meters 0.01874793208656157 Centerline is valid? [True, True] Translation: X:19.71, Y:0.46, Z:-0.51 [[ 9.99807320e-01 -1.92227876e-02 3.97586672e-03 1.97113266e+01] [ 1.92227610e-02 9.99815225e-01 4.49144821e-05 4.55262070e-01] [-3.97599546e-03 3.15213077e-05 9.99992095e-01 -5.09457602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.764203822 meters 0.017214810798935228 Centerline is valid? [True, True] Translation: X:19.77, Y:0.47, Z:-0.51 [[ 9.99924675e-01 -1.17266497e-02 3.62352853e-03 1.97715281e+01] [ 1.17265819e-02 9.99931240e-01 3.99576747e-05 4.66347293e-01] [-3.62374794e-03 2.53693924e-06 9.99993434e-01 -5.12829952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.824203821999998 meters 0.01905754344709417 Centerline is valid? [True, True] Translation: X:19.83, Y:0.47, Z:-0.52 [[ 9.99978768e-01 -6.21089502e-03 1.97175726e-03 1.98322871e+01] [ 6.21086396e-03 9.99980712e-01 2.18725818e-05 4.74416636e-01] [-1.97185507e-03 -9.62580132e-06 9.99998056e-01 -5.18531948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.884203821999996 meters 0.017147584764866483 Centerline is valid? [True, True] Translation: X:19.89, Y:0.48, Z:-0.52 [[ 9.99961735e-01 -7.72821498e-03 4.09925830e-03 1.98936846e+01] [ 7.72809396e-03 9.99970137e-01 4.53619801e-05 4.75346679e-01] [-4.09948645e-03 -1.36807910e-05 9.99991597e-01 -5.15257493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.944203822 meters 0.016256532737059477 Centerline is valid? [True, True] Translation: X:19.95, Y:0.47, Z:-0.52 [[ 9.99918231e-01 -1.15129237e-02 5.56637222e-03 1.99546801e+01] [ 1.15127598e-02 9.99933724e-01 6.14825621e-05 4.66672441e-01] [-5.56671115e-03 2.60677181e-06 9.99984506e-01 -5.15393385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.004203821999997 meters 0.028089986811181907 Centerline is valid? [True, True] Translation: X:20.02, Y:0.46, Z:-0.52 [[ 9.99860852e-01 -1.63106714e-02 3.49839906e-03 2.00171379e+01] [ 1.63106341e-02 9.99866972e-01 3.91863125e-05 4.60752402e-01] [-3.49857283e-03 1.78802472e-05 9.99993880e-01 -5.20441451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.064203821999996 meters 0.018825635214429443 Centerline is valid? [True, True] Translation: X:20.08, Y:0.46, Z:-0.52 [[ 9.99837730e-01 -1.78130440e-02 2.68480465e-03 2.00788860e+01] [ 1.78130286e-02 9.99841335e-01 2.96670561e-05 4.59020046e-01] [-2.68490713e-03 1.81622600e-05 9.99996395e-01 -5.21999496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.124203822 meters 0.017197343658835865 Centerline is valid? [True, True] Translation: X:20.14, Y:0.46, Z:-0.52 [[ 9.99874499e-01 -1.55725656e-02 2.91240586e-03 2.01405905e+01] [ 1.55725383e-02 9.99878740e-01 3.20655298e-05 4.61637336e-01] [-2.91255205e-03 1.32920462e-05 9.99995758e-01 -5.22327517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.184203821999997 meters 0.017278497857776604 Centerline is valid? [True, True] Translation: X:20.20, Y:0.46, Z:-0.52 [[ 9.99882258e-01 -1.45204725e-02 4.96246396e-03 2.02012096e+01] [ 1.45203847e-02 9.99894572e-01 5.37135780e-05 4.64479962e-01] [-4.96272072e-03 1.83496321e-05 9.99987685e-01 -5.23498560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.244203821999996 meters 0.017823486908054853 Centerline is valid? [True, True] Translation: X:20.26, Y:0.46, Z:-0.52 [[ 9.99832617e-01 -1.75230088e-02 5.26140053e-03 2.02632269e+01] [ 1.75229477e-02 9.99846460e-01 5.77088362e-05 4.61371689e-01] [-5.26160393e-03 3.44960698e-05 9.99986157e-01 -5.24243477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.304203821999998 meters 0.019716318233375274 Centerline is valid? [True, True] Translation: X:20.33, Y:0.45, Z:-0.52 [[ 9.99721797e-01 -2.21690174e-02 8.05378992e-03 2.03260586e+01] [ 2.21690341e-02 9.99754233e-01 8.72116894e-05 4.47969849e-01] [-8.05374397e-03 9.13573168e-05 9.99967564e-01 -5.20843949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.364203821999997 meters 0.02345380115025144 Centerline is valid? [True, True] Translation: X:20.39, Y:0.44, Z:-0.53 [[ 9.99670725e-01 -2.51835831e-02 4.92218314e-03 2.03872683e+01] [ 2.51836273e-02 9.99682841e-01 5.30243550e-05 4.42525910e-01] [-4.92195737e-03 7.09515301e-05 9.99987885e-01 -5.27830183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.424203821999996 meters 0.028131709121015654 Centerline is valid? [True, True] Translation: X:20.45, Y:0.44, Z:-0.53 [[ 9.99734186e-01 -2.28055792e-02 3.38565324e-03 2.04489516e+01] [ 2.28055859e-02 9.99739918e-01 3.66308561e-05 4.44503286e-01] [-3.38560808e-03 4.05906867e-05 9.99994268e-01 -5.29623194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.484203821999998 meters 0.02089586429235232 Centerline is valid? [True, True] Translation: X:20.51, Y:0.44, Z:-0.54 [[ 9.99805764e-01 -1.94889281e-02 2.93537090e-03 2.05087110e+01] [ 1.94889197e-02 9.99810072e-01 3.14597865e-05 4.44650045e-01] [-2.93542651e-03 2.57535319e-05 9.99995691e-01 -5.36998048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.544203821999997 meters 0.01775278079669492 Centerline is valid? [True, True] Translation: X:20.57, Y:0.46, Z:-0.54 [[ 9.99895400e-01 -1.40746106e-02 3.33074668e-03 2.05695748e+01] [ 1.40745701e-02 9.99900948e-01 3.55984953e-05 4.56345439e-01] [-3.33091780e-03 1.12840559e-05 9.99994452e-01 -5.36853226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.604203822 meters 0.01600933860595634 Centerline is valid? [True, True] Translation: X:20.63, Y:0.46, Z:-0.54 [[ 9.99954367e-01 -8.70464152e-03 3.93622653e-03 2.06311804e+01] [ 8.70454251e-03 9.99962114e-01 4.22865426e-05 4.63714296e-01] [-3.93644550e-03 -8.02156171e-06 9.99992252e-01 -5.35458031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.664203821999998 meters 0.021599007439644605 Centerline is valid? [True, True] Translation: X:20.69, Y:0.47, Z:-0.54 [[ 9.99951741e-01 -9.63584511e-03 1.91446214e-03 2.06917533e+01] [ 9.63581961e-03 9.99953574e-01 2.25472916e-05 4.69312324e-01] [-1.91459052e-03 -4.09879175e-06 9.99998167e-01 -5.40496511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.724203821999996 meters 0.019438765660216357 Centerline is valid? [True, True] Translation: X:20.75, Y:0.45, Z:-0.55 [[ 9.99850997e-01 -1.71513176e-02 1.95371822e-03 2.07533624e+01] [ 1.71513055e-02 9.99852905e-01 2.29522522e-05 4.53601890e-01] [-1.95382450e-03 1.05599859e-05 9.99998091e-01 -5.45849836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.784203822 meters 0.022898839817695305 Centerline is valid? [True, True] Translation: X:20.81, Y:0.44, Z:-0.54 [[ 9.99708878e-01 -2.37063018e-02 4.49118597e-03 2.08136878e+01] [ 2.37063302e-02 9.99718964e-01 4.69183190e-05 4.39070120e-01] [-4.49103604e-03 5.95648773e-05 9.99989913e-01 -5.44192625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.844203821999997 meters 0.021365859574240535 Centerline is valid? [True, True] Translation: X:20.88, Y:0.44, Z:-0.54 [[ 9.99712357e-01 -2.36717303e-02 3.85396408e-03 2.08752212e+01] [ 2.36717496e-02 9.99719784e-01 4.05887027e-05 4.35375655e-01] [-3.85384494e-03 5.06530453e-05 9.99992573e-01 -5.42898420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.904203821999996 meters 0.01813347626383311 Centerline is valid? [True, True] Translation: X:20.94, Y:0.44, Z:-0.55 [[ 9.99862484e-01 -1.65687145e-02 7.00635909e-04 2.09363357e+01] [ 1.65687130e-02 9.99862729e-01 7.96196125e-06 4.44535759e-01] [-7.00671651e-04 3.64776890e-06 9.99999755e-01 -5.49008741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.964203821999998 meters 0.01835541454783244 Centerline is valid? [True, True] Translation: X:21.00, Y:0.45, Z:-0.55 [[ 9.99954230e-01 -8.74618200e-03 3.87840043e-03 2.09959153e+01] [ 8.74609254e-03 9.99961751e-01 4.00273300e-05 4.52768000e-01] [-3.87860217e-03 -6.10464893e-06 9.99992478e-01 -5.52311964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.024203821999997 meters 0.016620365729630677 Centerline is valid? [True, True] Translation: X:21.06, Y:0.45, Z:-0.55 [[ 9.99945783e-01 -8.97654146e-03 5.27751018e-03 2.10585031e+01] [ 8.97637313e-03 9.99959710e-01 5.55817652e-05 4.50329748e-01] [-5.27779648e-03 -8.20585116e-06 9.99986072e-01 -5.50454382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.084203821999996 meters 0.01591263942420449 Centerline is valid? [True, True] Translation: X:21.12, Y:0.44, Z:-0.55 [[ 9.99920276e-01 -1.06846246e-02 6.72913035e-03 2.11204411e+01] [ 1.06843943e-02 9.99942918e-01 7.01751868e-05 4.42503006e-01] [-6.72949604e-03 1.72709005e-06 9.99977357e-01 -5.49435813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.144203821999998 meters 0.0287519742110276 Centerline is valid? [True, True] Translation: X:21.18, Y:0.44, Z:-0.55 [[ 9.99906481e-01 -1.26218093e-02 5.26496482e-03 2.11826942e+01] [ 1.26216949e-02 9.99920342e-01 5.49692284e-05 4.38487611e-01] [-5.26523923e-03 1.14886917e-05 9.99986138e-01 -5.51599561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.204203821999997 meters 0.017207349162229768 Centerline is valid? [True, True] Translation: X:21.24, Y:0.43, Z:-0.56 [[ 9.99886732e-01 -1.47298267e-02 3.09133762e-03 2.12445473e+01] [ 1.47297959e-02 9.99891510e-01 3.27542009e-05 4.31448865e-01] [-3.09148471e-03 1.27842813e-05 9.99995221e-01 -5.55907942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.264203821999995 meters 0.01857190121642377 Centerline is valid? [True, True] Translation: X:21.31, Y:0.42, Z:-0.56 [[ 9.99834498e-01 -1.78658370e-02 3.43350231e-03 2.13057716e+01] [ 1.78658207e-02 9.99840393e-01 3.54106551e-05 4.18506380e-01] [-3.43358694e-03 2.59375421e-05 9.99994105e-01 -5.56856969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.324203821999998 meters 0.017502100397972717 Centerline is valid? [True, True] Translation: X:21.37, Y:0.42, Z:-0.56 [[ 9.99861946e-01 -1.60523547e-02 4.29080355e-03 2.13668549e+01] [ 1.60523139e-02 9.99871152e-01 4.39624501e-05 4.21684513e-01] [-4.29095639e-03 2.49209444e-05 9.99990793e-01 -5.56967624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.384203821999996 meters 0.016563255400151432 Centerline is valid? [True, True] Translation: X:21.43, Y:0.42, Z:-0.56 [[ 9.99909869e-01 -1.28899148e-02 3.75557615e-03 2.14281548e+01] [ 1.28898612e-02 9.99916922e-01 3.84778819e-05 4.24469658e-01] [-3.75576012e-03 9.93444141e-06 9.99992947e-01 -5.59783556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.444203822 meters 0.01847659655597006 Centerline is valid? [True, True] Translation: X:21.49, Y:0.44, Z:-0.57 [[ 9.99958768e-01 -8.94512934e-03 1.56398105e-03 2.14881647e+01] [ 8.94511516e-03 9.99959992e-01 1.60614655e-05 4.35729369e-01] [-1.56406215e-03 -2.07081271e-06 9.99998777e-01 -5.69025352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.504203821999997 meters 0.018176330410460715 Centerline is valid? [True, True] Translation: X:21.55, Y:0.44, Z:-0.57 [[ 9.99975970e-01 -6.78336352e-03 1.43036404e-03 2.15498394e+01] [ 6.78334895e-03 9.99976993e-01 1.50378838e-05 4.42777732e-01] [-1.43043313e-03 -5.33486410e-06 9.99998977e-01 -5.70317429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.564203821999996 meters 0.019639954459499915 Centerline is valid? [True, True] Translation: X:21.61, Y:0.44, Z:-0.58 [[ 9.99974009e-01 -6.95917379e-03 -1.88437976e-03 2.16108455e+01] [ 6.95915200e-03 9.99975785e-01 -1.81226980e-05 4.42005739e-01] [ 1.88446025e-03 5.00854176e-06 9.99998224e-01 -5.76672134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.624203822 meters 0.01926875106328451 Centerline is valid? [True, True] Translation: X:21.67, Y:0.45, Z:-0.58 [[ 9.99924477e-01 -1.22420063e-02 -1.08309137e-03 2.16706064e+01] [ 1.22420009e-02 9.99925064e-01 -1.15559866e-05 4.45487258e-01] [ 1.08315167e-03 -1.70409169e-06 9.99999413e-01 -5.77235041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.684203821999997 meters 0.0199998491287157 Centerline is valid? [True, True] Translation: X:21.73, Y:0.44, Z:-0.58 [[ 9.99887813e-01 -1.49768223e-02 -2.35118296e-04 2.17295085e+01] [ 1.49768219e-02 9.99887841e-01 -3.40568649e-06 4.44259149e-01] [ 2.35142932e-04 -1.16020432e-07 9.99999972e-01 -5.79263940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.744203821999996 meters 0.019686295092116897 Centerline is valid? [True, True] Translation: X:21.79, Y:0.44, Z:-0.58 [[ 9.99868794e-01 -1.61985280e-02 5.17832785e-05 2.17896671e+01] [ 1.61985280e-02 9.99868795e-01 -1.79506939e-07 4.43237911e-01] [-5.17735765e-05 1.01829627e-06 9.99999999e-01 -5.78991802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.804203821999998 meters 0.023060410141982467 Centerline is valid? [True, True] Translation: X:21.85, Y:0.46, Z:-0.59 [[ 9.99887477e-01 -1.41679471e-02 -4.92971914e-03 2.18481326e+01] [ 1.41678717e-02 9.99899629e-01 -5.02080326e-05 4.58918840e-01] [ 4.92993569e-03 -1.96412453e-05 9.99987848e-01 -5.93104037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.864203821999997 meters 0.02128905183739977 Centerline is valid? [True, True] Translation: X:21.91, Y:0.46, Z:-0.59 [[ 9.99908616e-01 -1.17751409e-02 -6.64118781e-03 2.19066948e+01] [ 1.17749144e-02 9.99930671e-01 -7.32112235e-05 4.62318020e-01] [ 6.64158945e-03 -4.99488457e-06 9.99977944e-01 -5.91731866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.924203821999996 meters 0.019976100425973666 Centerline is valid? [True, True] Translation: X:21.97, Y:0.48, Z:-0.59 [[ 9.99955537e-01 -9.01616932e-03 -2.76261776e-03 2.19654629e+01] [ 9.01612321e-03 9.99959354e-01 -2.91438261e-05 4.79329054e-01] [ 2.76276823e-03 4.23442814e-06 9.99996184e-01 -5.87612732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.984203821999998 meters 0.021606446081908464 Centerline is valid? [True, True] Translation: X:22.02, Y:0.49, Z:-0.60 [[ 9.99959824e-01 -8.14759820e-03 -3.73736004e-03 2.20236248e+01] [ 8.14750690e-03 9.99966808e-01 -3.96539209e-05 4.87535961e-01] [ 3.73755907e-03 9.20216104e-06 9.99993015e-01 -5.95735645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.044203821999997 meters 0.021488644312036453 Centerline is valid? [True, True] Translation: X:22.08, Y:0.49, Z:-0.60 [[ 9.99923112e-01 -1.13791134e-02 -4.92815609e-03 2.20823333e+01] [ 1.13789726e-02 9.99935256e-01 -5.65952765e-05 4.87201041e-01] [ 4.92848102e-03 5.13571804e-07 9.99987855e-01 -5.96774812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.104203821999995 meters 0.027506991097604443 Centerline is valid? [True, True] Translation: X:22.14, Y:0.50, Z:-0.59 [[ 9.99908669e-01 -1.30809666e-02 -3.39732776e-03 2.21410148e+01] [ 1.30809023e-02 9.99914440e-01 -4.11278561e-05 5.00306140e-01] [ 3.39757508e-03 -3.31601276e-06 9.99994228e-01 -5.92233863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.164203821999998 meters 0.01944111635516651 Centerline is valid? [True, True] Translation: X:22.20, Y:0.50, Z:-0.59 [[ 9.99897168e-01 -1.43312529e-02 -5.19239714e-04 2.22007472e+01] [ 1.43312516e-02 9.99897302e-01 -6.24253780e-06 4.99441557e-01] [ 5.19275852e-04 -1.19945910e-06 9.99999865e-01 -5.91176248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.224203821999996 meters 0.021026790866965003 Centerline is valid? [True, True] Translation: X:22.26, Y:0.49, Z:-0.59 [[ 9.99830262e-01 -1.84231301e-02 1.85733196e-04 2.22605872e+01] [ 1.84231301e-02 9.99830280e-01 1.64565701e-06 4.94144690e-01] [-1.85731992e-04 1.77640916e-06 9.99999983e-01 -5.91970564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.284203822 meters 0.022724843320307286 Centerline is valid? [True, True] Translation: X:22.32, Y:0.50, Z:-0.60 [[ 9.99785256e-01 -2.07186949e-02 -4.21036305e-04 2.23209033e+01] [ 2.07186949e-02 9.99785345e-01 -4.50555423e-06 4.97430120e-01] [ 4.21039277e-04 -4.21873605e-06 9.99999911e-01 -5.96303820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.344203821999997 meters 0.02348403671873491 Centerline is valid? [True, True] Translation: X:22.38, Y:0.49, Z:-0.60 [[ 9.99780621e-01 -2.09297571e-02 -8.09580848e-04 2.23800518e+01] [ 2.09297567e-02 9.99780949e-01 -9.00789949e-06 4.94317252e-01] [ 8.09592041e-04 -7.93840681e-06 9.99999672e-01 -5.99158430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.404203821999996 meters 0.02032021669422659 Centerline is valid? [True, True] Translation: X:22.44, Y:0.50, Z:-0.59 [[ 9.99812298e-01 -1.93099477e-02 1.57960288e-03 2.24400866e+01] [ 1.93099461e-02 9.99813545e-01 1.62731484e-05 5.01070598e-01] [-1.57962259e-03 1.42319525e-05 9.99998752e-01 -5.91849369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.464203821999998 meters 0.0195353903632392 Centerline is valid? [True, True] Translation: X:22.50, Y:0.51, Z:-0.60 [[ 9.99877127e-01 -1.54238609e-02 2.79918807e-03 2.24990865e+01] [ 1.54238381e-02 9.99881045e-01 2.97466538e-05 5.08326073e-01] [-2.79931390e-03 1.34312249e-05 9.99996082e-01 -5.96009051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.524203821999997 meters 0.019880162929846214 Centerline is valid? [True, True] Translation: X:22.56, Y:0.50, Z:-0.60 [[ 9.99863824e-01 -1.64419130e-02 1.41286337e-03 2.25602890e+01] [ 1.64419071e-02 9.99864823e-01 1.58233408e-05 5.03001327e-01] [-1.41293255e-03 7.40898221e-06 9.99999002e-01 -5.99006169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.584203821999996 meters 0.018796615762920726 Centerline is valid? [True, True] Translation: X:22.62, Y:0.50, Z:-0.59 [[ 9.99808388e-01 -1.90787484e-02 4.38050804e-03 2.26214817e+01] [ 1.90787257e-02 9.99817983e-01 4.69727639e-05 5.00235555e-01] [-4.38060690e-03 3.66107478e-05 9.99990404e-01 -5.92924671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.644203821999998 meters 0.023460310823475147 Centerline is valid? [True, True] Translation: X:22.68, Y:0.49, Z:-0.60 [[ 9.99796701e-01 -1.97070176e-02 4.26491741e-03 2.26828214e+01] [ 1.97069980e-02 9.99805797e-01 4.66224335e-05 4.93333090e-01] [-4.26500794e-03 3.74357636e-05 9.99990904e-01 -5.95088447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.704203821999997 meters 0.017511702304504446 Centerline is valid? [True, True] Translation: X:22.74, Y:0.50, Z:-0.60 [[ 9.99891985e-01 -1.45676393e-02 1.94969792e-03 2.27438134e+01] [ 1.45676251e-02 9.99893886e-01 2.15002738e-05 5.01613806e-01] [-1.94980424e-03 6.90451695e-06 9.99998099e-01 -5.98520657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.764203821999995 meters 0.023471315941044724 Centerline is valid? [True, True] Translation: X:22.81, Y:0.51, Z:-0.60 [[ 9.99962236e-01 -8.47523477e-03 1.92281580e-03 2.28050586e+01] [ 8.47520973e-03 9.99964085e-01 2.11687901e-05 5.12768960e-01] [-1.92292615e-03 -4.87172354e-06 9.99998151e-01 -5.99562543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.824203821999998 meters 0.02928083009032861 Centerline is valid? [True, True] Translation: X:22.87, Y:0.51, Z:-0.61 [[ 9.99959856e-01 -8.35771302e-03 3.23044562e-03 2.28657425e+01] [ 8.35764356e-03 9.99965074e-01 3.49985906e-05 5.12923108e-01] [-3.23062530e-03 -7.99827256e-06 9.99994781e-01 -6.05022991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.884203821999996 meters 0.016918281173316247 Centerline is valid? [True, True] Translation: X:22.93, Y:0.51, Z:-0.61 [[ 9.99947366e-01 -9.92901671e-03 2.58450614e-03 2.29275038e+01] [ 9.92897562e-03 9.99950706e-01 2.87293137e-05 5.14761613e-01] [-2.58466400e-03 -3.06630305e-06 9.99996660e-01 -6.05598023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.944203821999995 meters 0.018609411702209068 Centerline is valid? [True, True] Translation: X:22.99, Y:0.52, Z:-0.61 [[ 9.99947420e-01 -1.02397785e-02 5.52095065e-04 2.29876992e+01] [ 1.02397767e-02 9.99947572e-01 6.17739837e-06 5.18275011e-01] [-5.52129375e-04 -5.23743402e-07 9.99999848e-01 -6.13111577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.004203821999997 meters 0.018748009383479675 Centerline is valid? [True, True] Translation: X:23.05, Y:0.53, Z:-0.62 [[ 9.99951369e-01 -9.77159491e-03 -1.33219653e-03 2.30486687e+01] [ 9.77158584e-03 9.99952257e-01 -1.33178569e-05 5.28940760e-01] [ 1.33226307e-03 2.99536443e-07 9.99999113e-01 -6.17419692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.064203821999996 meters 0.019413743990918886 Centerline is valid? [True, True] Translation: X:23.11, Y:0.54, Z:-0.62 [[ 9.99948497e-01 -9.87996472e-03 -2.32154379e-03 2.31086916e+01] [ 9.87993459e-03 9.99951192e-01 -2.44482618e-05 5.37189679e-01] [ 2.32167203e-03 1.51030185e-06 9.99997305e-01 -6.19614853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.124203822 meters 0.024758900958017818 Centerline is valid? [True, True] Translation: X:23.17, Y:0.54, Z:-0.62 [[ 9.99912441e-01 -1.31129953e-02 -1.77745590e-03 2.31684775e+01] [ 1.31129814e-02 9.99914021e-01 -1.94668095e-05 5.39990033e-01] [ 1.77755834e-03 -3.84264112e-06 9.99998420e-01 -6.19531550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.184203821999997 meters 0.019625626066674264 Centerline is valid? [True, True] Translation: X:23.23, Y:0.53, Z:-0.62 [[ 9.99807572e-01 -1.95885933e-02 1.05133719e-03 2.32287502e+01] [ 1.95885928e-02 9.99808125e-01 1.07541392e-05 5.30786231e-01] [-1.05134613e-03 9.84214635e-06 9.99999447e-01 -6.18270423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.244203821999996 meters 0.031221398684463796 Centerline is valid? [True, True] Translation: X:23.29, Y:0.52, Z:-0.62 [[ 9.99683578e-01 -2.51502332e-02 4.58909375e-04 2.32884928e+01] [ 2.51502336e-02 9.99683683e-01 4.84959585e-06 5.21711855e-01] [-4.58886182e-04 6.69361666e-06 9.99999895e-01 -6.23192140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.304203821999998 meters 0.024290139517244284 Centerline is valid? [True, True] Translation: X:23.35, Y:0.52, Z:-0.62 [[ 9.99657887e-01 -2.61554072e-02 -5.63381001e-05 2.33492156e+01] [ 2.61554072e-02 9.99657889e-01 -5.95361594e-07 5.22868833e-01] [ 5.63343981e-05 -8.78388039e-07 9.99999998e-01 -6.22869287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.364203821999997 meters 0.02261709868335778 Centerline is valid? [True, True] Translation: X:23.41, Y:0.53, Z:-0.62 [[ 9.99736641e-01 -2.29263731e-02 1.01532470e-03 2.34087864e+01] [ 2.29263744e-02 9.99737156e-01 1.03929118e-05 5.25153427e-01] [-1.01529610e-03 1.28875395e-05 9.99999485e-01 -6.24098916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.424203821999996 meters 0.021869761126431356 Centerline is valid? [True, True] Translation: X:23.47, Y:0.53, Z:-0.63 [[ 9.99743313e-01 -2.26556836e-02 -1.65789952e-04 2.34697104e+01] [ 2.26556838e-02 9.99743327e-01 -1.04261478e-06 5.28126290e-01] [ 1.65771019e-04 -2.71373756e-06 9.99999986e-01 -6.25476897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.484203821999998 meters 0.02335757843095254 Centerline is valid? [True, True] Translation: X:23.53, Y:0.52, Z:-0.63 [[ 9.99736012e-01 -2.29541871e-02 1.00597603e-03 2.35290577e+01] [ 2.29541884e-02 9.99736518e-01 1.02790672e-05 5.23128105e-01] [-1.00594692e-03 1.28150097e-05 9.99999494e-01 -6.28815121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.544203821999997 meters 0.021386455981613827 Centerline is valid? [True, True] Translation: X:23.59, Y:0.52, Z:-0.62 [[ 9.99716815e-01 -2.35520476e-02 3.40462145e-03 2.35902004e+01] [ 2.35520606e-02 9.99722611e-01 3.62889348e-05 5.23979790e-01] [-3.40453172e-03 4.39071923e-05 9.99994204e-01 -6.23252630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.604203821999995 meters 0.02437365353391935 Centerline is valid? [True, True] Translation: X:23.65, Y:0.52, Z:-0.63 [[ 9.99665039e-01 -2.56910451e-02 3.12740334e-03 2.36507710e+01] [ 2.56910655e-02 9.99669930e-01 3.36333472e-05 5.17352255e-01] [-3.12723515e-03 4.67242428e-05 9.99995109e-01 -6.28707121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.664203821999998 meters 0.026529651165841203 Centerline is valid? [True, True] Translation: X:23.71, Y:0.51, Z:-0.63 [[ 9.99610610e-01 -2.78196940e-02 2.16653108e-03 2.37122013e+01] [ 2.78197085e-02 9.99612957e-01 2.34429790e-05 5.11324937e-01] [-2.16634471e-03 3.68384125e-05 9.99997653e-01 -6.31322512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.724203821999996 meters 0.02467225055984983 Centerline is valid? [True, True] Translation: X:23.77, Y:0.52, Z:-0.63 [[ 9.99651009e-01 -2.63832037e-02 1.33635621e-03 2.37734085e+01] [ 2.63832077e-02 9.99651902e-01 1.47025638e-05 5.15274650e-01] [-1.33627893e-03 2.05599307e-05 9.99999107e-01 -6.32638528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.784203821999995 meters 0.03189179510626675 Centerline is valid? [True, True] Translation: X:23.83, Y:0.52, Z:-0.63 [[ 9.99720186e-01 -2.36362329e-02 9.37623370e-04 2.38336979e+01] [ 2.36362341e-02 9.99720625e-01 9.82995164e-06 5.15171651e-01] [-9.37593764e-04 1.23346844e-05 9.99999560e-01 -6.32999548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.844203821999997 meters 0.02421902241465515 Centerline is valid? [True, True] Translation: X:23.89, Y:0.52, Z:-0.64 [[ 9.99753152e-01 -2.21871800e-02 -1.16780897e-03 2.38934064e+01] [ 2.21871812e-02 9.99753834e-01 -1.18808506e-05 5.17886093e-01] [ 1.16778510e-03 -1.40324715e-05 9.99999318e-01 -6.44345721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.904203821999996 meters 0.02479277603274367 Centerline is valid? [True, True] Translation: X:23.95, Y:0.52, Z:-0.63 [[ 9.99676646e-01 -2.53913197e-02 1.37260085e-03 2.39544017e+01] [ 2.53913239e-02 9.99677588e-01 1.43737146e-05 5.17123827e-01] [-1.37252327e-03 2.04830859e-05 9.99999058e-01 -6.33221732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.964203821999998 meters 0.02673869961230029 Centerline is valid? [True, True] Translation: X:24.01, Y:0.51, Z:-0.64 [[ 9.99634655e-01 -2.70208854e-02 -6.53932369e-04 2.40142651e+01] [ 2.70208877e-02 9.99634869e-01 -5.36672776e-06 5.07071022e-01] [ 6.53838612e-04 -1.23050660e-05 9.99999786e-01 -6.44255428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.024203821999997 meters 0.022556952250381786 Centerline is valid? [True, True] Translation: X:24.07, Y:0.52, Z:-0.64 [[ 9.99703650e-01 -2.43233672e-02 -9.92833260e-04 2.40739294e+01] [ 2.43233682e-02 9.99704143e-01 -1.10947581e-05 5.18464919e-01] [ 9.92809386e-04 -1.30575788e-05 9.99999507e-01 -6.41165334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.084203821999996 meters 0.01926326905220673 Centerline is valid? [True, True] Translation: X:24.13, Y:0.53, Z:-0.64 [[ 9.99830958e-01 -1.83773350e-02 5.73906141e-04 2.41327110e+01] [ 1.83773350e-02 9.99831123e-01 5.29632046e-06 5.29947982e-01] [-5.73906553e-04 5.25144027e-06 9.99999835e-01 -6.41569851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.144203821999998 meters 0.017456461145006538 Centerline is valid? [True, True] Translation: X:24.19, Y:0.55, Z:-0.64 [[ 9.99966841e-01 -7.84309487e-03 2.19142418e-03 2.41920427e+01] [ 7.84306412e-03 9.99969242e-01 2.26225610e-05 5.48148640e-01] [-2.19153420e-03 -5.43433054e-06 9.99997599e-01 -6.42429085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.204203821999997 meters 0.027415679515579904 Centerline is valid? [True, True] Translation: X:24.25, Y:0.56, Z:-0.64 [[ 9.99989143e-01 -3.81988153e-03 2.66861488e-03 2.42535414e+01] [ 3.81981875e-03 9.99992704e-01 2.86198686e-05 5.62718186e-01] [-2.66870474e-03 -1.84259327e-05 9.99996439e-01 -6.42171198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.264203821999995 meters 0.01843660802628275 Centerline is valid? [True, True] Translation: X:24.32, Y:0.57, Z:-0.64 [[ 9.99990839e-01 -2.83338154e-03 3.20837791e-03 2.43159509e+01] [ 2.83328440e-03 9.99995986e-01 3.48233980e-05 5.65206322e-01] [-3.20846370e-03 -2.57328319e-05 9.99994853e-01 -6.43594060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.324203821999998 meters 0.020045432612018594 Centerline is valid? [True, True] Translation: X:24.38, Y:0.58, Z:-0.65 [[ 9.99995556e-01 -2.27538285e-03 1.92644157e-03 2.43771556e+01] [ 2.27534654e-03 9.99997411e-01 2.10415799e-05 5.76745990e-01] [-1.92648446e-03 -1.66581642e-05 9.99998144e-01 -6.48924054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.384203821999996 meters 0.016777038429807073 Centerline is valid? [True, True] Translation: X:24.44, Y:0.58, Z:-0.64 [[ 9.99977308e-01 -4.73172063e-03 4.79526935e-03 2.44389528e+01] [ 4.73153223e-03 9.99988805e-01 5.06322452e-05 5.81374575e-01] [-4.79545524e-03 -2.79421248e-05 9.99988501e-01 -6.42559065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.444203821999995 meters 0.015613002854794633 Centerline is valid? [True, True] Translation: X:24.50, Y:0.58, Z:-0.64 [[ 9.99955715e-01 -5.57882642e-03 7.57925509e-03 2.44996780e+01] [ 5.57838892e-03 9.99984438e-01 7.88625380e-05 5.84770732e-01] [-7.57957710e-03 -3.65790129e-05 9.99971274e-01 -6.40554664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.504203821999997 meters 0.023526454664980073 Centerline is valid? [True, True] Translation: X:24.56, Y:0.59, Z:-0.64 [[ 9.99930284e-01 -9.78241348e-03 6.61298013e-03 2.45620918e+01] [ 9.78215085e-03 9.99952151e-01 7.20591892e-05 5.94873674e-01] [-6.61336861e-03 -7.36499638e-06 9.99978131e-01 -6.42164305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.564203821999996 meters 0.016976316632878057 Centerline is valid? [True, True] Translation: X:24.62, Y:0.59, Z:-0.65 [[ 9.99892871e-01 -1.37496261e-02 5.01935296e-03 2.46233697e+01] [ 1.37495337e-02 9.99905469e-01 5.29181154e-05 5.93949866e-01] [-5.01960609e-03 1.61013166e-05 9.99987402e-01 -6.51536418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.624203821999995 meters 0.025365898414704494 Centerline is valid? [True, True] Translation: X:24.69, Y:0.60, Z:-0.65 [[ 9.99835744e-01 -1.75284459e-02 4.60848448e-03 2.46851799e+01] [ 1.75284130e-02 9.99846364e-01 4.75177099e-05 5.98792583e-01] [-4.60860936e-03 3.32695145e-05 9.99989380e-01 -6.50911867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.684203821999997 meters 0.022243402786903278 Centerline is valid? [True, True] Translation: X:24.75, Y:0.60, Z:-0.66 [[ 9.99707808e-01 -2.41528454e-02 9.69335325e-04 2.47452536e+01] [ 2.41528472e-02 9.99708277e-01 9.79188362e-06 6.00997653e-01] [-9.69289050e-04 1.36231855e-05 9.99999530e-01 -6.57997471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.744203821999996 meters 0.03153027425933211 Centerline is valid? [True, True] Translation: X:24.81, Y:0.60, Z:-0.66 [[ 9.99628430e-01 -2.71724731e-02 2.15837014e-03 2.48076180e+01] [ 2.71724870e-02 9.99630760e-01 2.29022878e-05 5.99890141e-01] [-2.15819550e-03 3.57545067e-05 9.99997670e-01 -6.56677692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.804203821999998 meters 0.026965487484928084 Centerline is valid? [True, True] Translation: X:24.87, Y:0.60, Z:-0.66 [[ 9.99634936e-01 -2.66412403e-02 4.49867881e-03 2.48683732e+01] [ 2.66413058e-02 9.99645056e-01 4.53748461e-05 6.04386802e-01] [-4.49829087e-03 7.44923962e-05 9.99989880e-01 -6.56626948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.864203821999997 meters 0.020451361289878598 Centerline is valid? [True, True] Translation: X:24.93, Y:0.62, Z:-0.66 [[ 9.99716022e-01 -2.33442149e-02 4.78773048e-03 2.49295267e+01] [ 2.33442521e-02 9.99727485e-01 4.81326771e-05 6.15262079e-01] [-4.78754936e-03 6.36469786e-05 9.99988538e-01 -6.58530679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.924203821999996 meters 0.021589304101329206 Centerline is valid? [True, True] Translation: X:24.99, Y:0.62, Z:-0.66 [[ 9.99763950e-01 -2.14726789e-02 3.31197396e-03 2.49903783e+01] [ 2.14726850e-02 9.99769435e-01 3.37318500e-05 6.20199600e-01] [-3.31193465e-03 3.73930858e-05 9.99994515e-01 -6.64814245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.984203821999998 meters 0.02058195629392023 Centerline is valid? [True, True] Translation: X:25.05, Y:0.62, Z:-0.66 [[ 9.99741603e-01 -2.23286954e-02 4.26102762e-03 2.50525650e+01] [ 2.23287139e-02 9.99750682e-01 4.32389965e-05 6.22385605e-01] [-4.26093074e-03 5.19154431e-05 9.99990921e-01 -6.62170263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.044203821999997 meters 0.03340437204182004 Centerline is valid? [True, True] Translation: X:25.11, Y:0.62, Z:-0.67 [[ 9.99721332e-01 -2.33361000e-02 3.56144208e-03 2.51133341e+01] [ 2.33361169e-02 9.99727675e-01 3.68147592e-05 6.16055338e-01] [-3.56133133e-03 4.63057287e-05 9.99993657e-01 -6.66927355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.104203821999995 meters 0.030213520813791955 Centerline is valid? [True, True] Translation: X:25.18, Y:0.62, Z:-0.67 [[ 9.99769721e-01 -2.13350982e-02 2.30630682e-03 2.51755476e+01] [ 2.13351001e-02 9.99772381e-01 2.37807319e-05 6.20472849e-01] [-2.30628923e-03 2.54300313e-05 9.99997340e-01 -6.67710005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.164203821999998 meters 0.018268911107828485 Centerline is valid? [True, True] Translation: X:25.24, Y:0.63, Z:-0.66 [[ 9.99876895e-01 -1.49330148e-02 4.81664790e-03 2.52365542e+01] [ 1.49329615e-02 9.99888496e-01 4.70291445e-05 6.32952948e-01] [-4.81681311e-03 2.49034626e-05 9.99988399e-01 -6.64905446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.224203821999996 meters 0.016551314157412882 Centerline is valid? [True, True] Translation: X:25.30, Y:0.64, Z:-0.67 [[ 9.99915596e-01 -1.23286218e-02 4.09948437e-03 2.52975057e+01] [ 1.23285544e-02 9.99924000e-01 4.17084309e-05 6.36297726e-01] [-4.09968702e-03 8.83580561e-06 9.99991596e-01 -6.71117885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.284203821999995 meters 0.01622570799967798 Centerline is valid? [True, True] Translation: X:25.36, Y:0.64, Z:-0.67 [[ 9.99923760e-01 -1.14723330e-02 4.56735678e-03 2.53596081e+01] [ 1.14722469e-02 9.99934191e-01 4.50449237e-05 6.42339136e-01] [-4.56757297e-03 7.35635521e-06 9.99989569e-01 -6.71262437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.344203821999997 meters 0.016867532364413636 Centerline is valid? [True, True] Translation: X:25.42, Y:0.65, Z:-0.68 [[ 9.99938502e-01 -1.06578388e-02 3.06625182e-03 2.54214810e+01] [ 1.06577953e-02 9.99943204e-01 3.05443154e-05 6.48099325e-01] [-3.06640320e-03 2.13704715e-06 9.99995299e-01 -6.75270977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.404203821999996 meters 0.01652021254081399 Centerline is valid? [True, True] Translation: X:25.48, Y:0.65, Z:-0.68 [[ 9.99942042e-01 -1.05620422e-02 2.08704451e-03 2.54834265e+01] [ 1.05620210e-02 9.99944220e-01 2.11707120e-05 6.50549197e-01] [-2.08715170e-03 8.73923040e-07 9.99997822e-01 -6.77442826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.464203821999995 meters 0.01746050425956941 Centerline is valid? [True, True] Translation: X:25.54, Y:0.66, Z:-0.68 [[ 9.99940658e-01 -1.06788369e-02 2.15476188e-03 2.55444739e+01] [ 1.06788157e-02 9.99942980e-01 2.13713520e-05 6.61285785e-01] [-2.15486724e-03 1.64022121e-06 9.99997678e-01 -6.80925406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.524203821999997 meters 0.017712688947708832 Centerline is valid? [True, True] Translation: X:25.61, Y:0.66, Z:-0.68 [[ 9.99896729e-01 -1.42380565e-02 1.95179002e-03 2.56066496e+01] [ 1.42380451e-02 9.99898634e-01 1.96983296e-05 6.64634165e-01] [-1.95187264e-03 8.09337907e-06 9.99998095e-01 -6.83646171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.584203821999996 meters 0.028880945137869273 Centerline is valid? [True, True] Translation: X:25.67, Y:0.66, Z:-0.68 [[ 9.99719162e-01 -2.34973189e-02 3.07785483e-03 2.56683263e+01] [ 2.34973290e-02 9.99723899e-01 3.28608244e-05 6.62466709e-01] [-3.07777717e-03 3.94697718e-05 9.99995263e-01 -6.83767441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.644203821999998 meters 0.030621183933426627 Centerline is valid? [True, True] Translation: X:25.73, Y:0.66, Z:-0.70 [[ 9.99577780e-01 -2.90561495e-02 -4.84038323e-05 2.57277107e+01] [ 2.90561495e-02 9.99577781e-01 -1.34707912e-07 6.56046736e-01] [ 4.83873094e-05 -1.27177795e-06 9.99999999e-01 -6.95033782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.704203821999997 meters 0.035104108448393206 Centerline is valid? [True, True] Translation: X:25.79, Y:0.65, Z:-0.69 [[ 9.99414495e-01 -3.41947324e-02 1.17789641e-03 2.57889152e+01] [ 3.41947426e-02 9.99415189e-01 1.14829458e-05 6.52742916e-01] [-1.17760021e-03 2.88016419e-05 9.99999306e-01 -6.94237392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.764203821999995 meters 0.04260695048481445 Centerline is valid? [True, True] Translation: X:25.85, Y:0.64, Z:-0.69 [[ 9.99078196e-01 -4.28992810e-02 1.55228249e-03 2.58497918e+01] [ 4.28993102e-02 9.99079401e-01 1.44646988e-05 6.41911737e-01] [-1.55147399e-03 5.21404829e-05 9.99998795e-01 -6.93284594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.824203821999998 meters 0.04163421476906966 Centerline is valid? [True, True] Translation: X:25.91, Y:0.64, Z:-0.69 [[ 9.98948670e-01 -4.58378223e-02 6.70491045e-04 2.59104558e+01] [ 4.58378281e-02 9.98948894e-01 6.85431855e-06 6.40856111e-01] [-6.70100475e-04 2.38867408e-05 9.99999775e-01 -6.92198556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.884203821999996 meters 0.039726508799123685 Centerline is valid? [True, True] Translation: X:25.97, Y:0.64, Z:-0.69 [[ 9.99188777e-01 -4.01793178e-02 2.72201952e-03 2.59702449e+01] [ 4.01793988e-02 9.99192482e-01 2.49325511e-05 6.44749511e-01] [-2.72082321e-03 8.44567826e-05 9.99996295e-01 -6.93244151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.944203821999995 meters 0.02864175690515363 Centerline is valid? [True, True] Translation: X:26.03, Y:0.66, Z:-0.69 [[ 9.99528026e-01 -3.07062755e-02 9.21724964e-04 2.60309548e+01] [ 3.07062807e-02 9.99528451e-01 8.45879202e-06 6.62960420e-01] [-9.21550064e-04 1.98479458e-05 9.99999575e-01 -6.94397068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.004203821999997 meters 0.02101656197219621 Centerline is valid? [True, True] Translation: X:26.09, Y:0.68, Z:-0.70 [[ 9.99801351e-01 -1.99171350e-02 7.52076368e-04 2.60916555e+01] [ 1.99171353e-02 9.99801634e-01 7.00901872e-06 6.83322518e-01] [-7.52066781e-04 7.97158042e-06 9.99999717e-01 -6.97516329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.064203821999996 meters 0.02474340778793361 Centerline is valid? [True, True] Translation: X:26.15, Y:0.70, Z:-0.69 [[ 9.99877643e-01 -1.49477903e-02 4.61112915e-03 2.61517476e+01] [ 1.49477544e-02 9.99888275e-01 4.22537149e-05 6.95371372e-01] [-4.61124557e-03 2.66774813e-05 9.99989368e-01 -6.94024340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.124203821999995 meters 0.025765511124622366 Centerline is valid? [True, True] Translation: X:26.21, Y:0.69, Z:-0.69 [[ 9.99810819e-01 -1.90111501e-02 4.11122406e-03 2.62136307e+01] [ 1.90111486e-02 9.99819271e-01 3.94381058e-05 6.92133382e-01] [-4.11123080e-03 3.87284466e-05 9.99991548e-01 -6.93680996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.184203821999997 meters 0.030811199916349313 Centerline is valid? [True, True] Translation: X:26.27, Y:0.68, Z:-0.70 [[ 9.99710608e-01 -2.40052101e-02 1.56540783e-03 2.62739881e+01] [ 2.40052168e-02 9.99711833e-01 1.45568705e-05 6.81802587e-01] [-1.56530618e-03 2.30252965e-05 9.99998775e-01 -7.01808560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.244203821999996 meters 0.021942467912816916 Centerline is valid? [True, True] Translation: X:26.34, Y:0.68, Z:-0.70 [[ 9.99702208e-01 -2.40000805e-02 4.41493363e-03 2.63355636e+01] [ 2.40001349e-02 9.99711954e-01 4.06746255e-05 6.81759746e-01] [-4.41463812e-03 6.52964899e-05 9.99990253e-01 -6.96312239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.304203821999995 meters 0.01940210690997431 Centerline is valid? [True, True] Translation: X:26.40, Y:0.68, Z:-0.70 [[ 9.99756211e-01 -2.10543591e-02 6.65069814e-03 2.63974556e+01] [ 2.10544189e-02 9.99778329e-01 6.10210754e-05 6.79979454e-01] [-6.65050863e-03 7.90203857e-05 9.99977882e-01 -6.96353043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.364203821999997 meters 0.017671341944291003 Centerline is valid? [True, True] Translation: X:26.46, Y:0.68, Z:-0.70 [[ 9.99812955e-01 -1.83189864e-02 6.20233997e-03 2.64592124e+01] [ 1.83189850e-02 9.99832192e-01 5.70323963e-05 6.83065808e-01] [-6.20234394e-03 5.65988442e-05 9.99980764e-01 -6.97735180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.424203821999996 meters 0.023362521479591666 Centerline is valid? [True, True] Translation: X:26.52, Y:0.69, Z:-0.71 [[ 9.99917982e-01 -1.25189915e-02 2.70276399e-03 2.65199293e+01] [ 1.25189692e-02 9.99921634e-01 2.51796905e-05 6.93215821e-01] [-2.70286741e-03 8.65819380e-06 9.99996347e-01 -7.05790141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.484203821999998 meters 0.017251270082489344 Centerline is valid? [True, True] Translation: X:26.58, Y:0.70, Z:-0.70 [[ 9.99966483e-01 -6.39235551e-03 5.11575003e-03 2.65816508e+01] [ 6.39220217e-03 9.99979569e-01 4.63235560e-05 7.02297214e-01] [-5.11594162e-03 -1.36210949e-05 9.99986913e-01 -6.97217720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.544203821999997 meters 0.017205417346223738 Centerline is valid? [True, True] Translation: X:26.64, Y:0.71, Z:-0.70 [[ 9.99973134e-01 -3.49490145e-03 6.44338498e-03 2.66424153e+01] [ 3.49459176e-03 9.99993892e-01 5.93203364e-05 7.14211385e-01] [-6.44355294e-03 -3.68017427e-05 9.99979239e-01 -7.03225097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.604203821999995 meters 0.015027866003821232 Centerline is valid? [True, True] Translation: X:26.70, Y:0.70, Z:-0.71 [[ 9.99948226e-01 -8.75873172e-03 5.17974081e-03 2.67045322e+01] [ 8.75859149e-03 9.99961642e-01 4.97573493e-05 7.03765291e-01] [-5.17997793e-03 -4.38753944e-06 9.99986584e-01 -7.05707504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.664203821999998 meters 0.01629056362310688 Centerline is valid? [True, True] Translation: X:26.77, Y:0.70, Z:-0.71 [[ 9.99887300e-01 -1.39059682e-02 5.65788175e-03 2.67661353e+01] [ 1.39058915e-02 9.99903307e-01 5.29050049e-05 6.98272904e-01] [-5.65807037e-03 2.57788469e-05 9.99983993e-01 -7.06326871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.724203821999996 meters 0.02402345612475383 Centerline is valid? [True, True] Translation: X:26.83, Y:0.70, Z:-0.70 [[ 9.99852934e-01 -1.58149843e-02 6.63302253e-03 2.68289722e+01] [ 1.58149487e-02 9.99874934e-01 5.78194788e-05 6.96344114e-01] [-6.63310738e-03 4.70899357e-05 9.99978000e-01 -7.03386000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.784203821999995 meters 0.01591245652129622 Centerline is valid? [True, True] Translation: X:26.89, Y:0.70, Z:-0.71 [[ 9.99860343e-01 -1.48065619e-02 7.74981775e-03 2.68901096e+01] [ 1.48064944e-02 9.99890376e-01 6.60882663e-05 6.96575365e-01] [-7.74994672e-03 4.86685968e-05 9.99969968e-01 -7.05380965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.844203821999997 meters 0.013919678218994607 Centerline is valid? [True, True] Translation: X:26.95, Y:0.70, Z:-0.71 [[ 9.99910941e-01 -1.04998366e-02 8.23790059e-03 2.69522445e+01] [ 1.04996152e-02 9.99944875e-01 7.01299691e-05 7.00802911e-01] [-8.23818283e-03 1.63710626e-05 9.99966065e-01 -7.05960173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.904203821999996 meters 0.016609483874058875 Centerline is valid? [True, True] Translation: X:27.01, Y:0.71, Z:-0.71 [[ 9.99967684e-01 -3.76463876e-03 7.10341637e-03 2.70126922e+01] [ 3.76430893e-03 9.99992913e-01 5.98022861e-05 7.10236089e-01] [-7.10359117e-03 -3.30608999e-05 9.99974769e-01 -7.11915856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.964203821999995 meters 0.016042505445158475 Centerline is valid? [True, True] Translation: X:27.07, Y:0.71, Z:-0.71 [[ 9.99977652e-01 -3.16153052e-03 5.89076542e-03 2.70744786e+01] [ 3.16129002e-03 9.99995002e-01 5.01386206e-05 7.10217481e-01] [-5.89089449e-03 -3.15150822e-05 9.99982648e-01 -7.12668414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.024203821999997 meters 0.015168574133854343 Centerline is valid? [True, True] Translation: X:27.14, Y:0.71, Z:-0.71 [[ 9.99956767e-01 -4.96976026e-03 7.85911456e-03 2.71355868e+01] [ 4.96937705e-03 9.99987650e-01 6.82869144e-05 7.05881727e-01] [-7.85935687e-03 -2.92290586e-05 9.99969114e-01 -7.13801752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.084203821999996 meters 0.014349151781041392 Centerline is valid? [True, True] Translation: X:27.20, Y:0.70, Z:-0.72 [[ 9.99930009e-01 -8.20225975e-03 8.52646522e-03 2.71983571e+01] [ 8.20195231e-03 9.99966361e-01 7.10246800e-05 6.95951323e-01] [-8.52676096e-03 -1.08604780e-06 9.99963647e-01 -7.15147386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.144203821999998 meters 0.013410636933052455 Centerline is valid? [True, True] Translation: X:27.26, Y:0.69, Z:-0.71 [[ 9.99914744e-01 -1.00816872e-02 8.29841562e-03 2.72607120e+01] [ 1.00814727e-02 9.99949178e-01 6.76736911e-05 6.92497008e-01] [-8.29867614e-03 1.59923292e-05 9.99965565e-01 -7.12363537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.204203821999997 meters 0.014173483751547969 Centerline is valid? [True, True] Translation: X:27.32, Y:0.69, Z:-0.72 [[ 9.99901130e-01 -1.06551594e-02 9.17594160e-03 2.73217823e+01] [ 1.06549182e-02 9.99943232e-01 7.51747385e-05 6.92106177e-01] [-9.17622170e-03 2.26016012e-05 9.99957897e-01 -7.15620403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.264203821999995 meters 0.014716942120328534 Centerline is valid? [True, True] Translation: X:27.38, Y:0.69, Z:-0.72 [[ 9.99928880e-01 -9.26659320e-03 7.50763892e-03 2.73835450e+01] [ 9.26640234e-03 9.99957064e-01 6.02083608e-05 6.88784312e-01] [-7.50787450e-03 9.36472399e-06 9.99971815e-01 -7.20312207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.324203821999998 meters 0.015985611177251335 Centerline is valid? [True, True] Translation: X:27.45, Y:0.69, Z:-0.72 [[ 9.99977373e-01 -3.63544250e-03 5.66010367e-03 2.74451363e+01] [ 3.63524484e-03 9.99993391e-01 4.52087147e-05 6.94663919e-01] [-5.66023062e-03 -2.46318291e-05 9.99983980e-01 -7.23861123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.384203821999996 meters 0.02169406518233793 Centerline is valid? [True, True] Translation: X:27.51, Y:0.71, Z:-0.73 [[ 9.99984102e-01 4.04728390e-03 3.92634330e-03 2.75051661e+01] [-4.04743817e-03 9.99991809e-01 3.13466215e-05 7.08729495e-01] [-3.92618427e-03 -4.72377548e-05 9.99992291e-01 -7.29471711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.444203821999995 meters 0.02449591167482611 Centerline is valid? [True, True] Translation: X:27.57, Y:0.72, Z:-0.73 [[ 9.99937121e-01 8.85950632e-03 6.87486225e-03 2.75668937e+01] [-8.86009038e-03 9.99960747e-01 5.45048738e-05 7.21480391e-01] [-6.87410951e-03 -1.15413347e-04 9.99976366e-01 -7.25764240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.504203821999997 meters 0.024505620032159295 Centerline is valid? [True, True] Translation: X:27.63, Y:0.72, Z:-0.72 [[ 9.99903974e-01 1.02537161e-02 9.32225629e-03 2.76293259e+01] [-1.02548641e-02 9.99947415e-01 7.53475103e-05 7.23965124e-01] [-9.32099348e-03 -1.70938746e-04 9.99956544e-01 -7.23278442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.564203821999996 meters 0.022858702210772706 Centerline is valid? [True, True] Translation: X:27.69, Y:0.73, Z:-0.72 [[ 9.99910514e-01 8.26015329e-03 1.05229724e-02 2.76898207e+01] [-8.26146135e-03 9.99965870e-01 8.08422671e-05 7.25984998e-01] [-1.05219455e-02 -1.67770163e-04 9.99944629e-01 -7.23276292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.624203821999995 meters 0.017918836514947828 Centerline is valid? [True, True] Translation: X:27.75, Y:0.72, Z:-0.73 [[ 9.99952104e-01 3.10926897e-03 9.28019509e-03 2.77522433e+01] [-3.11007879e-03 9.99995161e-01 7.28330903e-05 7.21973244e-01] [-9.27992373e-03 -1.01691740e-04 9.99956935e-01 -7.25589598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.684203821999997 meters 0.01498015304538303 Centerline is valid? [True, True] Translation: X:27.81, Y:0.71, Z:-0.73 [[ 9.99943605e-01 -2.88337687e-03 1.02212213e-02 2.78126516e+01] [ 2.88276019e-03 9.99995842e-01 7.50658812e-05 7.13665470e-01] [-1.02213952e-02 -4.55963180e-05 9.99947759e-01 -7.29524837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.744203821999996 meters 0.014064377396733954 Centerline is valid? [True, True] Translation: X:27.88, Y:0.71, Z:-0.73 [[ 9.99944282e-01 -6.39477440e-03 8.39874994e-03 2.78750215e+01] [ 6.39445566e-03 9.99979553e-01 6.48037143e-05 7.08675191e-01] [-8.39899262e-03 -1.10946694e-05 9.99964728e-01 -7.32390337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.804203821999995 meters 0.013866497349164056 Centerline is valid? [True, True] Translation: X:27.94, Y:0.70, Z:-0.73 [[ 9.99876664e-01 -1.17682668e-02 1.04001939e-02 2.79375800e+01] [ 1.17680984e-02 9.99930751e-01 7.73859947e-05 7.01722213e-01] [-1.04003843e-02 4.50140548e-05 9.99945914e-01 -7.30566336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.864203821999997 meters 0.017650375979347713 Centerline is valid? [True, True] Translation: X:28.00, Y:0.69, Z:-0.74 [[ 9.99841883e-01 -1.64788353e-02 6.68254454e-03 2.79988752e+01] [ 1.64788881e-02 9.99864213e-01 4.71678633e-05 6.91193935e-01] [-6.68241441e-03 6.29604984e-05 9.99977670e-01 -7.37871937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.924203821999996 meters 0.020806541737451337 Centerline is valid? [True, True] Translation: X:28.06, Y:0.69, Z:-0.74 [[ 9.99847875e-01 -1.58589448e-02 7.26090735e-03 2.80608145e+01] [ 1.58589885e-02 9.99874237e-01 5.15576329e-05 6.85608571e-01] [-7.26081185e-03 6.36008565e-05 9.99973638e-01 -7.37187286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.984203821999998 meters 0.02433339339670483 Centerline is valid? [True, True] Translation: X:28.12, Y:0.68, Z:-0.74 [[ 9.99865918e-01 -1.47083331e-02 7.19796549e-03 2.81222196e+01] [ 1.47083506e-02 9.99891825e-01 5.05055206e-05 6.82610075e-01] [-7.19792971e-03 5.53714512e-05 9.99974093e-01 -7.39302520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.04420382199999 meters 0.01837130450017098 Centerline is valid? [True, True] Translation: X:28.18, Y:0.67, Z:-0.74 [[ 9.99883015e-01 -1.26889986e-02 8.54085076e-03 2.81837398e+01] [ 1.26889540e-02 9.99919490e-01 5.94139589e-05 6.71465663e-01] [-8.54091704e-03 4.89674539e-05 9.99963525e-01 -7.41808334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.104203821999995 meters 0.016068446637087903 Centerline is valid? [True, True] Translation: X:28.25, Y:0.67, Z:-0.75 [[ 9.99918365e-01 -1.06498350e-02 7.05999069e-03 2.82462020e+01] [ 1.06497527e-02 9.99943289e-01 4.92574386e-05 6.67345428e-01] [-7.06011489e-03 2.59337372e-05 9.99975077e-01 -7.47803114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.164203822 meters 0.02652755374731147 Centerline is valid? [True, True] Translation: X:28.31, Y:0.67, Z:-0.75 [[ 9.99981558e-01 -3.94356414e-03 4.61859154e-03 2.83085357e+01] [ 3.94345624e-03 9.99992224e-01 3.24679651e-05 6.67632371e-01] [-4.61868366e-03 -1.42541527e-05 9.99989334e-01 -7.52581360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.22420382199999 meters 0.025002810152333563 Centerline is valid? [True, True] Translation: X:28.37, Y:0.67, Z:-0.75 [[ 9.99984600e-01 1.87500103e-03 5.22349259e-03 2.83707085e+01] [-1.87521684e-03 9.99998241e-01 3.64187829e-05 6.70258721e-01] [-5.22341512e-03 -4.62134033e-05 9.99986357e-01 -7.46441774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.284203821999995 meters 0.02108420578661655 Centerline is valid? [True, True] Translation: X:28.43, Y:0.67, Z:-0.76 [[ 9.99974269e-01 3.39790027e-03 6.31788154e-03 2.84317798e+01] [-3.39824069e-03 9.99994225e-01 4.31475421e-05 6.65238923e-01] [-6.31769844e-03 -6.46161140e-05 9.99980041e-01 -7.55157414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.344203822 meters 0.03268680086845432 Centerline is valid? [True, True] Translation: X:28.49, Y:0.67, Z:-0.75 [[ 9.99957672e-01 7.03249248e-03 5.93286163e-03 2.84935704e+01] [-7.03285552e-03 9.99975268e-01 4.03321294e-05 6.70612940e-01] [-5.93243127e-03 -8.20553809e-05 9.99982400e-01 -7.52697508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.404203822 meters 0.025390316486110072 Centerline is valid? [True, True] Translation: X:28.56, Y:0.67, Z:-0.75 [[ 9.99893624e-01 1.20337500e-02 8.24191792e-03 2.85559970e+01] [-1.20346169e-02 9.99927580e-01 5.55954448e-05 6.74551370e-01] [-8.24065201e-03 -1.54777855e-04 9.99966033e-01 -7.49742572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.464203821999995 meters 0.02286671899863823 Centerline is valid? [True, True] Translation: X:28.62, Y:0.67, Z:-0.75 [[ 9.99917155e-01 9.46240481e-03 8.72619866e-03 2.86183419e+01] [-9.46329553e-03 9.99955220e-01 6.07890729e-05 6.66525039e-01] [-8.72523270e-03 -1.43362634e-04 9.99961924e-01 -7.51913856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.524203822 meters 0.016438391956116984 Centerline is valid? [True, True] Translation: X:28.68, Y:0.65, Z:-0.75 [[ 9.99940847e-01 2.21031065e-03 1.06497679e-02 2.86795206e+01] [-2.21116498e-03 9.99997553e-01 6.84472892e-05 6.52996676e-01] [-1.06495905e-02 -9.19916341e-05 9.99943287e-01 -7.49404552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.584203822 meters 0.015684918965253127 Centerline is valid? [True, True] Translation: X:28.74, Y:0.65, Z:-0.76 [[ 9.99970954e-01 -5.73720466e-04 7.60011156e-03 2.87416032e+01] [ 5.73340267e-04 9.99999834e-01 5.22041356e-05 6.45683365e-01] [-7.60014025e-03 -4.78451693e-05 9.99971117e-01 -7.55061044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.644203821999994 meters 0.020449056145576856 Centerline is valid? [True, True] Translation: X:28.80, Y:0.65, Z:-0.76 [[ 9.99969534e-01 5.05238969e-03 5.95023784e-03 2.88012318e+01] [-5.05269957e-03 9.99987234e-01 3.70461541e-05 6.52196147e-01] [-5.94997471e-03 -6.71097896e-05 9.99982296e-01 -7.60642093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.704203822 meters 0.02950562947284486 Centerline is valid? [True, True] Translation: X:28.86, Y:0.67, Z:-0.77 [[ 9.99894072e-01 1.40205044e-02 3.90769898e-03 2.88617221e+01] [-1.40207067e-02 9.99901705e-01 2.43862328e-05 6.67316383e-01] [-3.90697296e-03 -7.91723509e-05 9.99992365e-01 -7.67507028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.764203822 meters 0.034523052260360114 Centerline is valid? [True, True] Translation: X:28.92, Y:0.68, Z:-0.77 [[ 9.99817104e-01 1.89733868e-02 2.40179695e-03 2.89221873e+01] [-1.89734775e-02 9.99819987e-01 1.49499898e-05 6.80790802e-01] [-2.40108094e-03 -6.05176958e-05 9.99997116e-01 -7.71244252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.824203821999994 meters 0.030787874018652725 Centerline is valid? [True, True] Translation: X:28.98, Y:0.68, Z:-0.77 [[ 9.99856889e-01 1.67702381e-02 2.22705299e-03 2.89815664e+01] [-1.67703091e-02 9.99859368e-01 1.32002363e-05 6.79420569e-01] [-2.22651842e-03 -5.05467141e-05 9.99997520e-01 -7.71647415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.884203821999996 meters 0.02906828073040373 Centerline is valid? [True, True] Translation: X:29.04, Y:0.68, Z:-0.77 [[ 9.99894479e-01 1.43605217e-02 2.19211589e-03 2.90421900e+01] [-1.43605863e-02 9.99896881e-01 1.36970650e-05 6.78785102e-01] [-2.19169315e-03 -4.51756891e-05 9.99997597e-01 -7.74023833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.944203822 meters 0.02688068699260632 Centerline is valid? [True, True] Translation: X:29.10, Y:0.68, Z:-0.77 [[ 9.99920865e-01 1.17246730e-02 4.56018052e-03 2.91024783e+01] [-1.17249248e-02 9.99931260e-01 2.84935160e-05 6.81241096e-01] [-4.55953298e-03 -8.19590349e-05 9.99989602e-01 -7.72559446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.004203821999994 meters 0.03260596034596672 Centerline is valid? [True, True] Translation: X:29.16, Y:0.68, Z:-0.77 [[ 9.99946045e-01 9.69928484e-03 3.71908222e-03 2.91642623e+01] [-9.69944174e-03 9.99952959e-01 2.41531759e-05 6.83810475e-01] [-3.71867300e-03 -6.02248940e-05 9.99993084e-01 -7.73513401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.064203821999996 meters 0.021602657994632127 Centerline is valid? [True, True] Translation: X:29.23, Y:0.68, Z:-0.78 [[ 9.99991490e-01 3.37040053e-03 2.37897643e-03 2.92253339e+01] [-3.37045500e-03 9.99994320e-01 1.88882591e-05 6.77201428e-01] [-2.37889926e-03 -2.69063314e-05 9.99997170e-01 -7.81708995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.124203822 meters 0.018157041515409263 Centerline is valid? [True, True] Translation: X:29.29, Y:0.67, Z:-0.78 [[ 9.99994670e-01 9.19214494e-04 3.13291979e-03 2.92866049e+01] [-9.19280431e-04 9.99999577e-01 1.96064326e-05 6.71626955e-01] [-3.13290045e-03 -2.24863599e-05 9.99995092e-01 -7.78589399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.18420382199999 meters 0.014750375950503415 Centerline is valid? [True, True] Translation: X:29.35, Y:0.67, Z:-0.77 [[ 9.99974724e-01 -4.56139648e-03 5.45392812e-03 2.93487321e+01] [ 4.56128008e-03 9.99989597e-01 3.37813602e-05 6.67875234e-01] [-5.45402547e-03 -8.90361262e-06 9.99985127e-01 -7.72811672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.244203821999996 meters 0.02539668568017196 Centerline is valid? [True, True] Translation: X:29.41, Y:0.66, Z:-0.78 [[ 9.99967029e-01 -6.64892990e-03 4.66180029e-03 2.94097345e+01] [ 6.64886767e-03 9.99977896e-01 2.88461389e-05 6.64400297e-01] [-4.66188904e-03 2.15050544e-06 9.99989133e-01 -7.76753637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.304203822 meters 0.015120186586528576 Centerline is valid? [True, True] Translation: X:29.47, Y:0.67, Z:-0.78 [[ 9.99953187e-01 -6.86974656e-03 6.81397613e-03 2.94707563e+01] [ 6.86961501e-03 9.99976403e-01 4.27104129e-05 6.65243500e-01] [-6.81410875e-03 4.10097918e-06 9.99976784e-01 -7.79255964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.36420382199999 meters 0.015102879512785838 Centerline is valid? [True, True] Translation: X:29.53, Y:0.67, Z:-0.78 [[ 9.99972531e-01 -5.49158013e-03 4.97787584e-03 2.95329327e+01] [ 5.49149702e-03 9.99984921e-01 3.03623373e-05 6.67904367e-01] [-4.97796752e-03 -3.02551289e-06 9.99987610e-01 -7.80573351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.424203821999996 meters 0.028771223441511992 Centerline is valid? [True, True] Translation: X:29.59, Y:0.66, Z:-0.78 [[ 9.99968101e-01 -5.95939908e-03 5.31822284e-03 2.95937254e+01] [ 5.95931431e-03 9.99982243e-01 3.17862492e-05 6.64197271e-01] [-5.31831782e-03 -9.22737464e-08 9.99985858e-01 -7.82816615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.484203822 meters 0.015533484413149508 Centerline is valid? [True, True] Translation: X:29.66, Y:0.67, Z:-0.78 [[ 9.99977298e-01 -5.57322538e-03 3.78728282e-03 2.96561126e+01] [ 5.57317778e-03 9.99984469e-01 2.31218256e-05 6.65619015e-01] [-3.78735287e-03 -2.01410018e-06 9.99992828e-01 -7.84201620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.54420382199999 meters 0.015406112045803217 Centerline is valid? [True, True] Translation: X:29.72, Y:0.67, Z:-0.78 [[ 9.99970844e-01 -2.23832050e-03 7.30080042e-03 2.97171316e+01] [ 2.23807085e-03 9.99997495e-01 4.23644627e-05 6.70201834e-01] [-7.30087695e-03 -2.60235189e-05 9.99973348e-01 -7.82714458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.604203821999995 meters 0.018881579483650428 Centerline is valid? [True, True] Translation: X:29.78, Y:0.67, Z:-0.79 [[ 9.99988440e-01 1.67583831e-03 4.50672173e-03 2.97778734e+01] [-1.67597251e-03 9.99998595e-01 2.60010395e-05 6.71167939e-01] [-4.50667182e-03 -3.35538807e-05 9.99989844e-01 -7.90842681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.664203822 meters 0.023579954414124388 Centerline is valid? [True, True] Translation: X:29.84, Y:0.69, Z:-0.79 [[ 9.99955811e-01 8.71504015e-03 3.52491991e-03 2.98388228e+01] [-8.71516611e-03 9.99962022e-01 2.03763936e-05 6.86088620e-01] [-3.52460846e-03 -5.10957558e-05 9.99993787e-01 -7.91271824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.72420382199999 meters 0.030465207038900342 Centerline is valid? [True, True] Translation: X:29.90, Y:0.70, Z:-0.79 [[ 9.99864732e-01 1.48344830e-02 7.10316321e-03 2.98992589e+01] [-1.48351458e-02 9.99889952e-01 4.06236522e-05 7.01740295e-01] [-7.10177890e-03 -1.45994619e-04 9.99974771e-01 -7.88578388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.784203821999995 meters 0.03106022001488633 Centerline is valid? [True, True] Translation: X:29.96, Y:0.70, Z:-0.79 [[ 9.99834325e-01 1.67226914e-02 7.18846911e-03 2.99618673e+01] [-1.67234422e-02 9.99860152e-01 4.43446409e-05 7.01120850e-01] [-7.18672226e-03 -1.64553242e-04 9.99974162e-01 -7.89247828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.844203822 meters 0.03221770125443305 Centerline is valid? [True, True] Translation: X:30.02, Y:0.70, Z:-0.79 [[ 9.99815398e-01 1.80450811e-02 6.59879445e-03 3.00230380e+01] [-1.80457172e-02 9.99837162e-01 3.68671371e-05 7.03054686e-01] [-6.59705464e-03 -1.55940310e-04 9.99978227e-01 -7.93058671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.90420382199999 meters 0.03126561150094193 Centerline is valid? [True, True] Translation: X:30.08, Y:0.71, Z:-0.79 [[ 9.99822908e-01 1.74482085e-02 7.05073009e-03 3.00841142e+01] [-1.74489184e-02 9.99847755e-01 3.91773259e-05 7.06119785e-01] [-7.04897308e-03 -1.62198002e-04 9.99975143e-01 -7.93742997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.964203821999995 meters 0.032170213335782724 Centerline is valid? [True, True] Translation: X:30.15, Y:0.70, Z:-0.79 [[ 9.99886296e-01 1.34297724e-02 6.85835461e-03 3.01452730e+01] [-1.34303487e-02 9.99909808e-01 3.79719863e-05 6.99355561e-01] [-6.85722609e-03 -1.30077762e-04 9.99976480e-01 -7.94029704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.024203822 meters 0.0190076179120208 Centerline is valid? [True, True] Translation: X:30.21, Y:0.68, Z:-0.80 [[ 9.99960130e-01 4.54112776e-03 7.68871116e-03 3.02059773e+01] [-4.54158526e-03 9.99989686e-01 4.20443007e-05 6.84581225e-01] [-7.68844093e-03 -7.69615617e-05 9.99970441e-01 -7.95206869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.084203822 meters 0.01637820494166876 Centerline is valid? [True, True] Translation: X:30.27, Y:0.68, Z:-0.80 [[ 9.99975430e-01 1.99768612e-04 7.00708414e-03 3.02682857e+01] [-2.00065199e-04 9.99999979e-01 4.16258324e-05 6.75865944e-01] [-7.00707567e-03 -4.30266833e-05 9.99975449e-01 -7.98441812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.144203821999994 meters 0.017126673779095124 Centerline is valid? [True, True] Translation: X:30.33, Y:0.67, Z:-0.80 [[ 9.99989904e-01 -2.28868220e-04 4.48775618e-03 3.03305984e+01] [ 2.28759401e-04 9.99999974e-01 2.47611149e-05 6.70720563e-01] [-4.48776173e-03 -2.37342485e-05 9.99989930e-01 -8.04390422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.204203822 meters 0.018416452236401305 Centerline is valid? [True, True] Translation: X:30.39, Y:0.67, Z:-0.81 [[ 9.99991179e-01 2.11803929e-03 3.62696059e-03 3.03922387e+01] [-2.11812508e-03 9.99997757e-01 1.98137699e-05 6.72920614e-01] [-3.62691049e-03 -2.74959514e-05 9.99993422e-01 -8.07089846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.264203822 meters 0.030305322392212355 Centerline is valid? [True, True] Translation: X:30.45, Y:0.68, Z:-0.81 [[ 9.99969849e-01 6.81769283e-03 3.71764028e-03 3.04535165e+01] [-6.81781373e-03 9.99976758e-01 1.98484295e-05 6.77816540e-01] [-3.71741855e-03 -4.51940099e-05 9.99993089e-01 -8.07488080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.324203821999994 meters 0.022959203729427755 Centerline is valid? [True, True] Translation: X:30.52, Y:0.68, Z:-0.81 [[ 9.99949905e-01 9.20969447e-03 3.92027535e-03 3.05150482e+01] [-9.20984678e-03 9.99957588e-01 2.07997292e-05 6.79099184e-01] [-3.91991752e-03 -5.69038225e-05 9.99992315e-01 -8.09983438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.384203821999996 meters 0.02742882400929895 Centerline is valid? [True, True] Translation: X:30.58, Y:0.69, Z:-0.81 [[ 9.99919146e-01 1.20927463e-02 3.93290798e-03 3.05750118e+01] [-1.20929235e-02 9.99926878e-01 2.12715306e-05 6.85408917e-01] [-3.93236317e-03 -6.88301659e-05 9.99992266e-01 -8.14691983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.444203822 meters 0.024958631878217435 Centerline is valid? [True, True] Translation: X:30.64, Y:0.68, Z:-0.81 [[ 9.99910286e-01 1.24282673e-02 4.99583980e-03 3.06369332e+01] [-1.24285522e-02 9.99922762e-01 2.59824317e-05 6.81573603e-01] [-4.99513101e-03 -8.80711565e-05 9.99987520e-01 -8.09618988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.504203821999994 meters 0.02457743525834618 Centerline is valid? [True, True] Translation: X:30.70, Y:0.68, Z:-0.81 [[ 9.99926107e-01 1.09963599e-02 5.18265341e-03 3.06983491e+01] [-1.09966627e-02 9.99939534e-01 2.99384976e-05 6.79447284e-01] [-5.18201082e-03 -8.69281769e-05 9.99986570e-01 -8.13316946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.564203821999996 meters 0.01982112661899035 Centerline is valid? [True, True] Translation: X:30.76, Y:0.66, Z:-0.81 [[ 9.99966162e-01 5.96214130e-03 5.66806631e-03 3.07595320e+01] [-5.96239779e-03 9.99982224e-01 2.83551857e-05 6.64641584e-01] [-5.66779650e-03 -6.21494923e-05 9.99983936e-01 -8.12921834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.624203822 meters 0.016344366137055408 Centerline is valid? [True, True] Translation: X:30.82, Y:0.65, Z:-0.81 [[ 9.99977456e-01 2.24673961e-04 6.71093010e-03 3.08201110e+01] [-2.24900536e-04 9.99999974e-01 3.30074693e-05 6.51008321e-01] [-6.71092251e-03 -3.45160169e-05 9.99977481e-01 -8.13871117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.68420382199999 meters 0.014293454588194499 Centerline is valid? [True, True] Translation: X:30.88, Y:0.64, Z:-0.81 [[ 9.99963752e-01 -3.15634293e-03 7.90773193e-03 3.08828806e+01] [ 3.15612727e-03 9.99995019e-01 3.97511022e-05 6.43938279e-01] [-7.90781801e-03 -1.47918529e-05 9.99968733e-01 -8.12362498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.744203821999996 meters 0.014033379823093708 Centerline is valid? [True, True] Translation: X:30.95, Y:0.63, Z:-0.81 [[ 9.99954736e-01 -5.84370117e-03 7.50844041e-03 3.09463622e+01] [ 5.84356334e-03 9.99982925e-01 4.02950963e-05 6.31678207e-01] [-7.50854768e-03 3.58277473e-06 9.99971810e-01 -8.13856331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.804203822 meters 0.01467410018405523 Centerline is valid? [True, True] Translation: X:31.01, Y:0.63, Z:-0.82 [[ 9.99961875e-01 -3.84877051e-03 7.83811130e-03 3.10077145e+01] [ 3.84859945e-03 9.99992593e-01 3.69073031e-05 6.25883074e-01] [-7.83819530e-03 -6.74014511e-06 9.99969281e-01 -8.15803547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.86420382199999 meters 0.014894036680865124 Centerline is valid? [True, True] Translation: X:31.07, Y:0.63, Z:-0.81 [[ 9.99964051e-01 6.23385068e-04 8.45626747e-03 3.10700840e+01] [-6.23742949e-04 9.99999805e-01 3.96841674e-05 6.30020135e-01] [-8.45624108e-03 -4.49572780e-05 9.99964244e-01 -8.14105271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.924203821999996 meters 0.023549058524620133 Centerline is valid? [True, True] Translation: X:31.13, Y:0.64, Z:-0.82 [[ 9.99922020e-01 1.03536339e-02 6.98251569e-03 3.11301778e+01] [-1.03541088e-02 9.99946394e-01 3.18662014e-05 6.39924618e-01] [-6.98181146e-03 -1.04161444e-04 9.99975621e-01 -8.21429149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.984203822 meters 0.028169416236115036 Centerline is valid? [True, True] Translation: X:31.19, Y:0.65, Z:-0.82 [[ 9.99839104e-01 1.64980918e-02 7.04127685e-03 3.11910524e+01] [-1.64987264e-02 9.99863886e-01 3.20482999e-05 6.47786917e-01] [-7.03978970e-03 -1.48215244e-04 9.99975209e-01 -8.22354872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.04420382199999 meters 0.03438039191044096 Centerline is valid? [True, True] Translation: X:31.25, Y:0.66, Z:-0.83 [[ 9.99768207e-01 2.05299424e-02 6.48488474e-03 3.12512035e+01] [-2.05305651e-02 9.99789225e-01 2.94624631e-05 6.57313400e-01] [-6.48291303e-03 -1.62593982e-04 9.99978972e-01 -8.27335390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.104203821999995 meters 0.03311191791108843 Centerline is valid? [True, True] Translation: X:31.31, Y:0.66, Z:-0.83 [[ 9.99735121e-01 2.21588750e-02 6.21863428e-03 3.13127561e+01] [-2.21594805e-02 9.99754448e-01 2.84789261e-05 6.56609961e-01] [-6.21647622e-03 -1.66273088e-04 9.99980664e-01 -8.26573859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.164203822 meters 0.03267548470124077 Centerline is valid? [True, True] Translation: X:31.37, Y:0.66, Z:-0.83 [[ 9.99766642e-01 2.05583303e-02 6.63444642e-03 3.13728618e+01] [-2.05589811e-02 9.99788641e-01 2.98934974e-05 6.55836320e-01] [-6.63242961e-03 -1.66283980e-04 9.99977991e-01 -8.28721962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.22420382199999 meters 0.030899917511350298 Centerline is valid? [True, True] Translation: X:31.43, Y:0.65, Z:-0.83 [[ 9.99815110e-01 1.81685986e-02 6.29663359e-03 3.14343262e+01] [-1.81691576e-02 9.99834927e-01 3.15837923e-05 6.54188436e-01] [-6.29502036e-03 -1.45982481e-04 9.99980176e-01 -8.31508429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.284203821999995 meters 0.025969848458853174 Centerline is valid? [True, True] Translation: X:31.50, Y:0.65, Z:-0.83 [[ 9.99891970e-01 1.38871141e-02 4.81626664e-03 3.14961666e+01] [-1.38873791e-02 9.99903565e-01 2.15790102e-05 6.48279890e-01] [-4.81550252e-03 -8.84619997e-05 9.99988401e-01 -8.34871806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.344203822 meters 0.022311836833822606 Centerline is valid? [True, True] Translation: X:31.56, Y:0.64, Z:-0.84 [[ 9.99941517e-01 8.72208173e-03 6.39430313e-03 3.15557111e+01] [-8.72243244e-03 9.99961958e-01 2.69617989e-05 6.43648371e-01] [-6.39382472e-03 -8.27340992e-05 9.99979556e-01 -8.36438316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.40420382199999 meters 0.018486364582193486 Centerline is valid? [True, True] Translation: X:31.62, Y:0.64, Z:-0.84 [[ 9.99965617e-01 5.18998224e-03 6.46754356e-03 3.16184455e+01] [-5.19027826e-03 9.99986530e-01 2.89860147e-05 6.37569003e-01] [-6.46730600e-03 -6.25533688e-05 9.99979085e-01 -8.35540373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.464203821999995 meters 0.01749897878687061 Centerline is valid? [True, True] Translation: X:31.68, Y:0.63, Z:-0.84 [[ 9.99985411e-01 1.68450456e-03 5.13231207e-03 3.16802168e+01] [-1.68465956e-03 9.99998581e-01 2.58772303e-05 6.34952072e-01] [-5.13226120e-03 -3.45230513e-05 9.99986829e-01 -8.41186197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.524203822 meters 0.01823387912061519 Centerline is valid? [True, True] Translation: X:31.74, Y:0.63, Z:-0.85 [[ 9.99994894e-01 1.03064920e-03 3.02484386e-03 3.17421185e+01] [-1.03070368e-03 9.99999469e-01 1.64523659e-05 6.30658014e-01] [-3.02482529e-03 -1.95699995e-05 9.99995425e-01 -8.46341401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.58420382199999 meters 0.02418935569876575 Centerline is valid? [True, True] Translation: X:31.80, Y:0.64, Z:-0.84 [[ 9.99982692e-01 3.27117711e-03 4.89038992e-03 3.18047091e+01] [-3.27131427e-03 9.99994649e-01 2.00481658e-05 6.35934792e-01] [-4.89029817e-03 -3.60458212e-05 9.99988042e-01 -8.44452661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.644203821999994 meters 0.020303401069559704 Centerline is valid? [True, True] Translation: X:31.87, Y:0.64, Z:-0.84 [[ 9.99960696e-01 6.05258050e-03 6.47864224e-03 3.18661534e+01] [-6.05287923e-03 9.99981681e-01 2.65033334e-05 6.42443109e-01] [-6.47836315e-03 -6.57167308e-05 9.99979013e-01 -8.44766206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.704203822 meters 0.02676957863725223 Centerline is valid? [True, True] Translation: X:31.93, Y:0.64, Z:-0.84 [[ 9.99959135e-01 6.37179524e-03 6.41310641e-03 3.19287571e+01] [-6.37210767e-03 9.99979698e-01 2.82854272e-05 6.44682858e-01] [-6.41279598e-03 -6.91492758e-05 9.99979435e-01 -8.44580115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.764203822 meters 0.016992323417348684 Centerline is valid? [True, True] Translation: X:31.99, Y:0.63, Z:-0.85 [[ 9.99974264e-01 4.15075345e-03 5.85167329e-03 3.19909564e+01] [-4.15096960e-03 9.99991384e-01 2.47932434e-05 6.34750424e-01] [-5.85151996e-03 -4.90827233e-05 9.99982879e-01 -8.46388877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.824203821999994 meters 0.02932907984326583 Centerline is valid? [True, True] Translation: X:32.05, Y:0.63, Z:-0.85 [[ 9.99977686e-01 2.07885321e-03 6.34867970e-03 3.20520616e+01] [-2.07905416e-03 9.99997838e-01 2.50526537e-05 6.30595580e-01] [-6.34861390e-03 -3.82513436e-05 9.99979847e-01 -8.46643708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.884203821999996 meters 0.014720575265844579 Centerline is valid? [True, True] Translation: X:32.11, Y:0.63, Z:-0.85 [[ 9.99972165e-01 -7.30413374e-04 7.42536132e-03 3.21144126e+01] [ 7.30228860e-04 9.99999733e-01 2.75603203e-05 6.27734541e-01] [-7.42537947e-03 -2.21373400e-05 9.99972431e-01 -8.47110107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.944203822 meters 0.023867126216738595 Centerline is valid? [True, True] Translation: X:32.18, Y:0.63, Z:-0.85 [[ 9.99980004e-01 -2.50788187e-04 6.31884178e-03 3.21768611e+01] [ 2.50664249e-04 9.99999968e-01 2.04059087e-05 6.27449002e-01] [-6.31884670e-03 -1.88215930e-05 9.99980036e-01 -8.49262387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.004203821999994 meters 0.022134920180802486 Centerline is valid? [True, True] Translation: X:32.24, Y:0.63, Z:-0.85 [[ 9.99976178e-01 4.05121820e-04 6.89059087e-03 3.22375376e+01] [-4.05279667e-04 9.99999918e-01 2.15112644e-05 6.25266735e-01] [-6.89058159e-03 -2.43033683e-05 9.99976259e-01 -8.52295752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.064203821999996 meters 0.015811590819935176 Centerline is valid? [True, True] Translation: X:32.30, Y:0.62, Z:-0.86 [[ 9.99987208e-01 2.66006812e-04 5.05104089e-03 3.22993672e+01] [-2.66106523e-04 9.99999964e-01 1.90684669e-05 6.24248301e-01] [-5.05103564e-03 -2.04123379e-05 9.99987243e-01 -8.55433758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.124203822 meters 0.016744227518234688 Centerline is valid? [True, True] Translation: X:32.36, Y:0.63, Z:-0.86 [[ 9.99980028e-01 3.87606280e-03 4.99197363e-03 3.23613306e+01] [-3.87618680e-03 9.99992487e-01 1.51646423e-05 6.30560450e-01] [-4.99187734e-03 -3.45141617e-05 9.99987540e-01 -8.56765475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.18420382199999 meters 0.021607371315965913 Centerline is valid? [True, True] Translation: X:32.42, Y:0.64, Z:-0.86 [[ 9.99951419e-01 9.20420797e-03 3.52737573e-03 3.24213359e+01] [-9.20430054e-03 9.99957639e-01 1.00098297e-05 6.36191527e-01] [-3.52713417e-03 -4.24763697e-05 9.99993779e-01 -8.62942236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.244203821999996 meters 0.027930068978646576 Centerline is valid? [True, True] Translation: X:32.48, Y:0.65, Z:-0.86 [[ 9.99847313e-01 1.64786771e-02 5.81411530e-03 3.24817184e+01] [-1.64790523e-02 9.99864211e-01 1.66181756e-05 6.52285493e-01] [-5.81305196e-03 -1.12426748e-04 9.99983098e-01 -8.61495448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.304203822 meters 0.028940239997257644 Centerline is valid? [True, True] Translation: X:32.54, Y:0.66, Z:-0.86 [[ 9.99800446e-01 1.92092190e-02 5.48403996e-03 3.25429635e+01] [-1.92095924e-02 9.99815479e-01 1.54232722e-05 6.59217861e-01] [-5.48273177e-03 -1.20766367e-04 9.99984962e-01 -8.60870152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.36420382199999 meters 0.032575592684704585 Centerline is valid? [True, True] Translation: X:32.60, Y:0.67, Z:-0.86 [[ 9.99792425e-01 1.88311188e-02 7.77789247e-03 3.26045408e+01] [-1.88318547e-02 9.99822665e-01 2.13821127e-05 6.65993060e-01] [-7.77611052e-03 -1.67849815e-04 9.99969752e-01 -8.59655280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.424203821999996 meters 0.022268496517927665 Centerline is valid? [True, True] Translation: X:32.66, Y:0.66, Z:-0.86 [[ 9.99868161e-01 1.26182576e-02 1.02196210e-02 3.26642186e+01] [-1.26191941e-02 9.99920374e-01 2.71558768e-05 6.55299945e-01] [-1.02184646e-02 -1.56115678e-04 9.99947778e-01 -8.58671041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.484203822 meters 0.017330192690323085 Centerline is valid? [True, True] Translation: X:32.73, Y:0.65, Z:-0.86 [[ 9.99908607e-01 7.40488625e-03 1.13113161e-02 3.27255736e+01] [-7.40570497e-03 9.99972577e-01 3.04959574e-05 6.49340001e-01] [-1.13107801e-02 -1.14261440e-04 9.99936025e-01 -8.58283078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.54420382199999 meters 0.02280593087908524 Centerline is valid? [True, True] Translation: X:32.79, Y:0.64, Z:-0.86 [[ 9.99939415e-01 -2.40572848e-03 1.07414202e-02 3.27874513e+01] [ 2.40553081e-03 9.99997106e-01 3.13219946e-05 6.36233945e-01] [-1.07414644e-02 -5.48127985e-06 9.99942309e-01 -8.59456511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.604203821999995 meters 0.027895510100710577 Centerline is valid? [True, True] Translation: X:32.85, Y:0.62, Z:-0.86 [[ 9.99906384e-01 -9.21982085e-03 1.01103036e-02 3.28480292e+01] [ 9.22003527e-03 9.99957494e-01 2.54031274e-05 6.19030380e-01] [-1.01101081e-02 6.78166069e-05 9.99948889e-01 -8.62970348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.664203822 meters 0.0280773418734089 Centerline is valid? [True, True] Translation: X:32.91, Y:0.61, Z:-0.87 [[ 9.99921047e-01 -9.11848271e-03 8.64602475e-03 3.29102327e+01] [ 9.11863253e-03 9.99958424e-01 2.20937308e-05 6.13867178e-01] [-8.64586675e-03 5.67479361e-05 9.99962622e-01 -8.66518084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.72420382199999 meters 0.022016378021199438 Centerline is valid? [True, True] Translation: X:32.97, Y:0.62, Z:-0.87 [[ 9.99974592e-01 -2.84058545e-03 6.53806155e-03 3.29724909e+01] [ 2.84053673e-03 9.99995966e-01 1.67372061e-05 6.19719103e-01] [-6.53808271e-03 1.83482318e-06 9.99978627e-01 -8.71773595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.784203821999995 meters 0.029207285934319437 Centerline is valid? [True, True] Translation: X:33.03, Y:0.63, Z:-0.87 [[ 9.99956943e-01 7.53404968e-03 5.41762265e-03 3.30340495e+01] [-7.53423764e-03 9.99971617e-01 1.42862770e-05 6.30590104e-01] [-5.41736125e-03 -5.51033184e-05 9.99985324e-01 -8.72366354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.844203822 meters 0.023317195379000406 Centerline is valid? [True, True] Translation: X:33.10, Y:0.63, Z:-0.88 [[ 9.99896578e-01 1.29516733e-02 6.25201957e-03 3.30954062e+01] [-1.29520210e-02 9.99916119e-01 1.51325406e-05 6.34474603e-01] [-6.25129915e-03 -9.61072645e-05 9.99980456e-01 -8.76016241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.90420382199999 meters 0.027928327901497112 Centerline is valid? [True, True] Translation: X:33.16, Y:0.64, Z:-0.88 [[ 9.99820330e-01 1.85028081e-02 4.11758571e-03 3.31565746e+01] [-1.85030044e-02 9.99828805e-01 9.56933623e-06 6.42179674e-01] [-4.11670374e-03 -8.57553233e-05 9.99991523e-01 -8.79958028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.964203821999995 meters 0.03182420765352736 Centerline is valid? [True, True] Translation: X:33.22, Y:0.65, Z:-0.88 [[ 9.99784688e-01 2.01452450e-02 4.97451769e-03 3.32167240e+01] [-2.01455511e-02 9.99797058e-01 1.14221808e-05 6.49046722e-01] [-4.97327805e-03 -1.11634122e-04 9.99987627e-01 -8.83858491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.024203822 meters 0.03207784122613912 Centerline is valid? [True, True] Translation: X:33.28, Y:0.65, Z:-0.88 [[ 9.99729935e-01 2.27592378e-02 4.69838697e-03 3.32783286e+01] [-2.27595410e-02 9.99740968e-01 1.10494465e-05 6.47729079e-01] [-4.69691846e-03 -1.17979593e-04 9.99988962e-01 -8.84173864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.08420382199999 meters 0.033102845518138815 Centerline is valid? [True, True] Translation: X:33.34, Y:0.65, Z:-0.89 [[ 9.99745239e-01 2.21021816e-02 4.57714020e-03 3.33383343e+01] [-2.21024605e-02 9.99755711e-01 1.03660106e-05 6.49073408e-01] [-4.57579294e-03 -1.11529430e-04 9.99989525e-01 -8.88224437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.144203821999994 meters 0.026111509002971333 Centerline is valid? [True, True] Translation: X:33.40, Y:0.64, Z:-0.88 [[ 9.99827030e-01 1.69932098e-02 7.55918687e-03 3.33987965e+01] [-1.69938209e-02 9.99855594e-01 1.66166430e-05 6.37840504e-01] [-7.55781291e-03 -1.45073237e-04 9.99971429e-01 -8.83054267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.204203822 meters 0.024533363999532102 Centerline is valid? [True, True] Translation: X:33.46, Y:0.63, Z:-0.88 [[ 9.99921660e-01 9.15622688e-03 8.53444587e-03 3.34599518e+01] [-9.15672158e-03 9.99958076e-01 1.88914642e-05 6.25830129e-01] [-8.53391510e-03 -9.70375289e-05 9.99963581e-01 -8.81414548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.26420382199999 meters 0.01983212629122917 Centerline is valid? [True, True] Translation: X:33.52, Y:0.62, Z:-0.88 [[ 9.99952843e-01 2.56101965e-03 9.36770469e-03 3.35200748e+01] [-2.56132485e-03 9.99996720e-01 2.05828286e-05 6.15044729e-01] [-9.36762125e-03 -4.45755927e-05 9.99956122e-01 -8.83013464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.324203821999994 meters 0.013486733569451738 Centerline is valid? [True, True] Translation: X:33.58, Y:0.59, Z:-0.88 [[ 9.99936658e-01 -4.80877481e-03 1.01762494e-02 3.35819964e+01] [ 4.80876769e-03 9.99988437e-01 2.51686571e-05 5.94055359e-01] [-1.01762527e-02 2.37681562e-05 9.99948220e-01 -8.83466132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.384203821999996 meters 0.014555511635541144 Centerline is valid? [True, True] Translation: X:33.64, Y:0.59, Z:-0.89 [[ 9.99933593e-01 -7.26792721e-03 8.94355098e-03 3.36442414e+01] [ 7.26804988e-03 9.99973587e-01 1.87869273e-05 5.88580405e-01] [-8.94345129e-03 4.62164948e-05 9.99960005e-01 -8.86053376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.444203822 meters 0.014377995188288454 Centerline is valid? [True, True] Translation: X:33.71, Y:0.59, Z:-0.89 [[ 9.99928368e-01 -7.07128914e-03 9.65689036e-03 3.37066988e+01] [ 7.07142877e-03 9.99974997e-01 1.96856103e-05 5.85366117e-01] [-9.65678811e-03 4.86038122e-05 9.99953371e-01 -8.87286462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.504203821999994 meters 0.014707141035181929 Centerline is valid? [True, True] Translation: X:33.77, Y:0.59, Z:-0.89 [[ 9.99972830e-01 -2.80550111e-03 6.81672092e-03 3.37686840e+01] [ 2.80547108e-03 9.99996065e-01 1.39671419e-05 5.85384947e-01] [-6.81673328e-03 5.15735093e-06 9.99976766e-01 -8.94631781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.564203821999996 meters 0.015696821687999518 Centerline is valid? [True, True] Translation: X:33.83, Y:0.59, Z:-0.90 [[ 9.99974103e-01 2.55448320e-03 6.72820940e-03 3.38312292e+01] [-2.55463172e-03 9.99996737e-01 1.34797884e-05 5.92414373e-01] [-6.72815301e-03 -3.06675364e-05 9.99977365e-01 -8.95770758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.624203822 meters 0.02046080182197075 Centerline is valid? [True, True] Translation: X:33.89, Y:0.61, Z:-0.90 [[ 9.99918227e-01 1.09920487e-02 6.53560687e-03 3.38927947e+01] [-1.09923656e-02 9.99939582e-01 1.25688773e-05 6.05831812e-01] [-6.53507384e-03 -8.44096296e-05 9.99978643e-01 -8.97319831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.68420382199999 meters 0.02884498572521579 Centerline is valid? [True, True] Translation: X:33.95, Y:0.62, Z:-0.90 [[ 9.99811666e-01 1.85788515e-02 5.60880115e-03 3.39521851e+01] [-1.85791990e-02 9.99827392e-01 9.86535630e-06 6.19864697e-01] [-5.60764974e-03 -1.14070531e-04 9.99984271e-01 -9.02490966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.744203821999996 meters 0.030325790340053314 Centerline is valid? [True, True] Translation: X:34.01, Y:0.63, Z:-0.90 [[ 9.99750541e-01 2.13652308e-02 6.51026122e-03 3.40141555e+01] [-2.13657829e-02 9.99771725e-01 1.52637975e-05 6.25870490e-01] [-6.50844897e-03 -1.54356818e-04 9.99978808e-01 -9.01316237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.804203822 meters 0.032566186508132686 Centerline is valid? [True, True] Translation: X:34.07, Y:0.64, Z:-0.90 [[ 9.99726802e-01 2.22500842e-02 7.15928642e-03 3.40749043e+01] [-2.22507504e-02 9.99752421e-01 1.34076816e-05 6.36323602e-01] [-7.15721561e-03 -1.72703514e-04 9.99974372e-01 -9.04433483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.86420382199999 meters 0.028374028029927903 Centerline is valid? [True, True] Translation: X:34.14, Y:0.63, Z:-0.90 [[ 9.99736119e-01 2.10008790e-02 9.30891359e-03 3.41370552e+01] [-2.10019287e-02 9.99779435e-01 1.50120181e-05 6.34516214e-01] [-9.30654510e-03 -2.10513196e-04 9.99956671e-01 -9.00422189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.924203821999996 meters 0.026284931965469202 Centerline is valid? [True, True] Translation: X:34.20, Y:0.63, Z:-0.91 [[ 9.99820960e-01 1.69638510e-02 8.38300208e-03 3.41977134e+01] [-1.69645526e-02 9.99856092e-01 1.25848460e-05 6.33297779e-01] [-8.38158221e-03 -1.54796472e-04 9.99964862e-01 -9.05846872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.984203822 meters 0.021392572563260638 Centerline is valid? [True, True] Translation: X:34.26, Y:0.63, Z:-0.91 [[ 9.99906573e-01 1.11128712e-02 7.95921572e-03 3.42580398e+01] [-1.11133150e-02 9.99938245e-01 1.15278544e-05 6.29938630e-01] [-7.95859609e-03 -9.99800485e-05 9.99968325e-01 -9.09359829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.04420382199999 meters 0.01956768068648655 Centerline is valid? [True, True] Translation: X:34.32, Y:0.63, Z:-0.91 [[ 9.99929659e-01 9.42445234e-03 7.20123056e-03 3.43212583e+01] [-9.42479968e-03 9.99955585e-01 1.42974839e-05 6.27852189e-01] [-7.20077598e-03 -8.21666337e-05 9.99974071e-01 -9.11608102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.104203821999995 meters 0.019483255803477154 Centerline is valid? [True, True] Translation: X:34.38, Y:0.63, Z:-0.91 [[ 9.99929018e-01 1.00815336e-02 6.34989999e-03 3.43835370e+01] [-1.00818104e-02 9.99949177e-01 1.15849446e-05 6.30300373e-01] [-6.34946047e-03 -7.56026102e-05 9.99979839e-01 -9.13757456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.164203822 meters 0.01934826533270336 Centerline is valid? [True, True] Translation: X:34.45, Y:0.64, Z:-0.91 [[ 9.99916230e-01 1.08796647e-02 7.01186949e-03 3.44461447e+01] [-1.08800100e-02 9.99940811e-01 1.11034606e-05 6.35451947e-01] [-7.01133366e-03 -8.73917405e-05 9.99975416e-01 -9.14152437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.22420382199999 meters 0.031113363188830456 Centerline is valid? [True, True] Translation: X:34.51, Y:0.65, Z:-0.92 [[ 9.99892219e-01 1.29185471e-02 6.97575327e-03 3.45075540e+01] [-1.29189178e-02 9.99916547e-01 8.08262496e-06 6.45003163e-01] [-6.97506670e-03 -9.82009370e-05 9.99975669e-01 -9.15315701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.284203821999995 meters 0.023192840343434475 Centerline is valid? [True, True] Translation: X:34.57, Y:0.65, Z:-0.92 [[ 9.99871580e-01 1.39512278e-02 7.88580588e-03 3.45690931e+01] [-1.39517358e-02 9.99902670e-01 9.41899541e-06 6.47492403e-01] [-7.88490694e-03 -1.19438466e-04 9.99968907e-01 -9.19785546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.344203822 meters 0.022467426121869916 Centerline is valid? [True, True] Translation: X:34.63, Y:0.66, Z:-0.92 [[ 9.99857477e-01 1.48620398e-02 8.00903904e-03 3.46316167e+01] [-1.48625849e-02 9.99889546e-01 8.54742285e-06 6.55169630e-01] [-8.00802738e-03 -1.27581227e-04 9.99967927e-01 -9.18838918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.40420382199999 meters 0.02393347531227048 Centerline is valid? [True, True] Translation: X:34.69, Y:0.66, Z:-0.92 [[ 9.99847280e-01 1.58466482e-02 7.36891659e-03 3.46933040e+01] [-1.58471278e-02 9.99874426e-01 6.69510693e-06 6.59992963e-01] [-7.36788515e-03 -1.23470248e-04 9.99972849e-01 -9.22943608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.464203821999995 meters 0.035649840818712523 Centerline is valid? [True, True] Translation: X:34.76, Y:0.67, Z:-0.93 [[ 9.99836914e-01 1.71753381e-02 5.58143040e-03 3.47557792e+01] [-1.71756211e-02 9.99852488e-01 2.77977398e-06 6.66099383e-01] [-5.58055933e-03 -9.86438545e-05 9.99984424e-01 -9.25564955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.524203822 meters 0.024529596457306506 Centerline is valid? [True, True] Translation: X:34.82, Y:0.67, Z:-0.93 [[ 9.99834257e-01 1.67772163e-02 7.06990740e-03 3.48169585e+01] [-1.67776515e-02 9.99859245e-01 2.25492219e-06 6.67401644e-01] [-7.06887445e-03 -1.20870991e-04 9.99975008e-01 -9.27519937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.58420382199999 meters 0.02434005317835937 Centerline is valid? [True, True] Translation: X:34.88, Y:0.67, Z:-0.93 [[ 9.99856732e-01 1.53122031e-02 7.21473474e-03 3.48783157e+01] [-1.53126376e-02 9.99882755e-01 4.97901696e-06 6.71697511e-01] [-7.21381261e-03 -1.15454922e-04 9.99973973e-01 -9.30553854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.644203821999994 meters 0.02194810942606514 Centerline is valid? [True, True] Translation: X:34.94, Y:0.67, Z:-0.93 [[ 9.99887654e-01 1.31447468e-02 7.20382905e-03 3.49403397e+01] [-1.31451171e-02 9.99913599e-01 4.06649406e-06 6.70860177e-01] [-7.20315318e-03 -9.87612139e-05 9.99974052e-01 -9.31935294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.704203822 meters 0.019213793920983824 Centerline is valid? [True, True] Translation: X:35.00, Y:0.67, Z:-0.93 [[ 9.99926844e-01 9.53364391e-03 7.44416048e-03 3.50025054e+01] [-9.53392859e-03 9.99954551e-01 2.75551755e-06 6.67501682e-01] [-7.44379588e-03 -7.37274104e-05 9.99972292e-01 -9.34183347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.76420382199999 meters 0.015043342997257216 Centerline is valid? [True, True] Translation: X:35.06, Y:0.66, Z:-0.93 [[ 9.99937378e-01 5.27433285e-03 9.87018904e-03 3.50644485e+01] [-5.27457069e-03 9.99986089e-01 -1.93450801e-06 6.58951627e-01] [-9.87006194e-03 -5.01266229e-05 9.99951288e-01 -9.30047556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.824203821999994 meters 0.013720545259723774 Centerline is valid? [True, True] Translation: X:35.13, Y:0.66, Z:-0.93 [[ 9.99946224e-01 3.58492830e-03 9.73124537e-03 3.51275899e+01] [-3.58510643e-03 9.99993573e-01 8.60682449e-07 6.56697210e-01] [-9.73117975e-03 -3.57481865e-05 9.99952650e-01 -9.29910657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.884203821999996 meters 0.013871523439435514 Centerline is valid? [True, True] Translation: X:35.19, Y:0.65, Z:-0.93 [[ 9.99949085e-01 -3.69111762e-04 1.00841945e-02 3.51883538e+01] [ 3.69162533e-04 9.99999932e-01 -3.17336272e-06 6.50709817e-01] [-1.00841926e-02 6.89590793e-06 9.99949153e-01 -9.33283396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.94420382199999 meters 0.012471935901072945 Centerline is valid? [True, True] Translation: X:35.25, Y:0.65, Z:-0.93 [[ 9.99931496e-01 -1.04956662e-03 1.16577289e-02 3.52511245e+01] [ 1.04970010e-03 9.99999449e-01 -5.33058583e-06 6.47565469e-01] [-1.16577169e-02 1.75673398e-05 9.99932046e-01 -9.29561659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.004203821999994 meters 0.013367006867998282 Centerline is valid? [True, True] Translation: X:35.31, Y:0.65, Z:-0.94 [[ 9.99940134e-01 -1.87181134e-04 1.09404636e-02 3.53125653e+01] [ 1.87267485e-04 9.99999982e-01 -6.86840753e-06 6.47654653e-01] [-1.09404621e-02 8.91678944e-06 9.99940151e-01 -9.35632723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.064203821999996 meters 0.0143524203870908 Centerline is valid? [True, True] Translation: X:35.37, Y:0.65, Z:-0.94 [[ 9.99953161e-01 1.35659413e-03 9.58311705e-03 3.53734127e+01] [-1.35659643e-03 9.99999080e-01 -6.26085448e-06 6.47419793e-01] [-9.58311672e-03 -6.73986114e-06 9.99954081e-01 -9.41658448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.124203822 meters 0.014208396314808835 Centerline is valid? [True, True] Translation: X:35.44, Y:0.64, Z:-0.94 [[ 9.99962531e-01 1.86007255e-03 8.45441204e-03 3.54353669e+01] [-1.86011408e-03 9.99998270e-01 -2.95147035e-06 6.43701304e-01] [-8.45440290e-03 -1.27748111e-05 9.99964261e-01 -9.43248134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.18420382199999 meters 0.0137782021829513 Centerline is valid? [True, True] Translation: X:35.50, Y:0.64, Z:-0.94 [[ 9.99964126e-01 1.74507363e-03 8.28864935e-03 3.54985115e+01] [-1.74510350e-03 9.99998477e-01 -3.62838210e-06 6.44511638e-01] [-8.28864306e-03 -1.08362991e-05 9.99965649e-01 -9.42295115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.244203821999996 meters 0.014196914878782404 Centerline is valid? [True, True] Translation: X:35.56, Y:0.64, Z:-0.95 [[ 9.99972974e-01 1.15975413e-03 7.25995129e-03 3.55604608e+01] [-1.15975257e-03 9.99999327e-01 -4.42482287e-06 6.38359259e-01] [-7.25995154e-03 -3.99504387e-06 9.99973646e-01 -9.46855393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.304203822 meters 0.021134076700917947 Centerline is valid? [True, True] Translation: X:35.62, Y:0.63, Z:-0.95 [[ 9.99957492e-01 1.10429989e-03 9.15390761e-03 3.56216493e+01] [-1.10425520e-03 9.99999390e-01 -9.93662275e-06 6.31262420e-01] [-9.15391301e-03 -1.72049708e-07 9.99958102e-01 -9.46146451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.36420382199999 meters 0.01406150601800136 Centerline is valid? [True, True] Translation: X:35.68, Y:0.63, Z:-0.95 [[ 9.99947746e-01 1.76593807e-03 1.00691185e-02 3.56826202e+01] [-1.76589311e-03 9.99998441e-01 -1.33558736e-05 6.29799050e-01] [-1.00691264e-02 -4.42581116e-06 9.99949305e-01 -9.48406246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.424203821999996 meters 0.013436208968963774 Centerline is valid? [True, True] Translation: X:35.74, Y:0.63, Z:-0.94 [[ 9.99922223e-01 5.41480128e-03 1.12351171e-02 3.57445127e+01] [-5.41497235e-03 9.99985339e-01 -1.51942961e-05 6.28892311e-01] [-1.12350346e-02 -4.56447340e-05 9.99936884e-01 -9.44771508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.484203822 meters 0.029593348922568305 Centerline is valid? [True, True] Translation: X:35.80, Y:0.63, Z:-0.95 [[ 9.99879291e-01 1.24681147e-02 9.27092020e-03 3.58045353e+01] [-1.24685257e-02 9.99922265e-01 -1.34755297e-05 6.33983183e-01] [-9.27036753e-03 -1.02120803e-04 9.99957024e-01 -9.51125927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.54420382199999 meters 0.024735829862645362 Centerline is valid? [True, True] Translation: X:35.87, Y:0.64, Z:-0.95 [[ 9.99778148e-01 1.86005520e-02 9.88303291e-03 3.58650513e+01] [-1.86013193e-02 9.99826980e-01 -1.42867645e-05 6.42485112e-01] [-9.88158870e-03 -1.69553855e-04 9.99951162e-01 -9.52813938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.604203821999995 meters 0.03607206321744201 Centerline is valid? [True, True] Translation: X:35.93, Y:0.66, Z:-0.96 [[ 9.99569987e-01 2.81135005e-02 8.33504355e-03 3.59252106e+01] [-2.81143729e-02 9.99604713e-01 -1.25050035e-05 6.55917716e-01] [-8.33210037e-03 -2.21834897e-04 9.99965263e-01 -9.58518293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.664203822 meters 0.042999712054232135 Centerline is valid? [True, True] Translation: X:35.99, Y:0.66, Z:-0.96 [[ 9.99370258e-01 3.42776806e-02 9.17217153e-03 3.59861528e+01] [-3.42789952e-02 9.99412302e-01 -1.38904262e-05 6.61415255e-01] [-9.16725720e-03 -3.00531145e-04 9.99957935e-01 -9.56030954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.72420382199999 meters 0.04329503681907175 Centerline is valid? [True, True] Translation: X:36.05, Y:0.67, Z:-0.96 [[ 9.99328758e-01 3.52290526e-02 1.00472286e-02 3.60466368e+01] [-3.52306793e-02 9.99379207e-01 -1.50922727e-05 6.67553128e-01] [-1.00415230e-02 -3.38888547e-04 9.99949525e-01 -9.58164192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.784203821999995 meters 0.03936857289831339 Centerline is valid? [True, True] Translation: X:36.11, Y:0.66, Z:-0.96 [[ 9.99459156e-01 3.13786968e-02 9.83729515e-03 3.61069229e+01] [-3.13800665e-02 9.99507524e-01 -1.51171894e-05 6.60910686e-01] [-9.83292488e-03 -2.93585963e-04 9.99951613e-01 -9.61746521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.844203822 meters 0.032631883557661466 Centerline is valid? [True, True] Translation: X:36.17, Y:0.65, Z:-0.96 [[ 9.99576254e-01 2.69258113e-02 1.10595371e-02 3.61677191e+01] [-2.69272726e-02 9.99637395e-01 -1.67806068e-05 6.49139107e-01] [-1.10559787e-02 -2.81029676e-04 9.99938841e-01 -9.60613548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.90420382199999 meters 0.026053889607676402 Centerline is valid? [True, True] Translation: X:36.23, Y:0.63, Z:-0.96 [[ 9.99775786e-01 1.93438296e-02 8.61364099e-03 3.62287788e+01] [-1.93444348e-02 9.99812879e-01 -1.30590838e-05 6.34072109e-01] [-8.61228181e-03 -1.53569860e-04 9.99962902e-01 -9.64804401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.964203821999995 meters 0.018559243615382387 Centerline is valid? [True, True] Translation: X:36.29, Y:0.62, Z:-0.97 [[ 9.99883356e-01 1.20181412e-02 9.42540035e-03 3.62882773e+01] [-1.20185340e-02 9.99927775e-01 -1.49650901e-05 6.19859780e-01] [-9.42489945e-03 -9.83161505e-05 9.99955580e-01 -9.66311811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.024203822 meters 0.026419820925800266 Centerline is valid? [True, True] Translation: X:36.35, Y:0.61, Z:-0.97 [[ 9.99918360e-01 9.43258460e-03 8.61970271e-03 3.63501962e+01] [-9.43285014e-03 9.99955510e-01 -9.84961988e-06 6.10649043e-01] [-8.61941213e-03 -7.14595482e-05 9.99962850e-01 -9.67511399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.08420382199999 meters 0.01648311997624492 Centerline is valid? [True, True] Translation: X:36.41, Y:0.61, Z:-0.97 [[ 9.99914320e-01 9.75252197e-03 8.73155881e-03 3.64132693e+01] [-9.75279709e-03 9.99952440e-01 -1.10713305e-05 6.10130078e-01] [-8.73125152e-03 -7.40867395e-05 9.99961879e-01 -9.69725386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.144203821999994 meters 0.023705654705474397 Centerline is valid? [True, True] Translation: X:36.47, Y:0.61, Z:-0.97 [[ 9.99889704e-01 1.24384046e-02 8.11582746e-03 3.64745930e+01] [-1.24387146e-02 9.99922636e-01 -1.22858808e-05 6.14170435e-01] [-8.11535240e-03 -8.86659354e-05 9.99967066e-01 -9.74864797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.204203822 meters 0.021134945811877824 Centerline is valid? [True, True] Translation: X:36.54, Y:0.61, Z:-0.98 [[ 9.99865070e-01 1.50033980e-02 6.68872293e-03 3.65361363e+01] [-1.50036643e-02 9.99887439e-01 -1.03666256e-05 6.12463479e-01] [-6.68812557e-03 -8.99901264e-05 9.99977630e-01 -9.77241033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.26420382199999 meters 0.03121430788466107 Centerline is valid? [True, True] Translation: X:36.60, Y:0.62, Z:-0.98 [[ 9.99847039e-01 1.60044121e-02 7.05387148e-03 3.65994767e+01] [-1.60047295e-02 9.99871916e-01 -1.14529105e-05 6.15248222e-01] [-7.05315129e-03 -1.01444146e-04 9.99975121e-01 -9.76505186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.324203821999994 meters 0.021516720643922425 Centerline is valid? [True, True] Translation: X:36.66, Y:0.62, Z:-0.98 [[ 9.99845389e-01 1.54381014e-02 8.41800532e-03 3.66611302e+01] [-1.54385055e-02 9.99880819e-01 -1.69874840e-05 6.16659211e-01] [-8.41726431e-03 -1.12976564e-04 9.99964568e-01 -9.80091131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.384203821999996 meters 0.01860935967972567 Centerline is valid? [True, True] Translation: X:36.72, Y:0.61, Z:-0.98 [[ 9.99832623e-01 1.44536720e-02 1.12167927e-02 3.67224538e+01] [-1.44542591e-02 9.99895531e-01 -2.87267548e-05 6.10726684e-01] [-1.12160361e-02 -1.33408482e-04 9.99937089e-01 -9.75253541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.44420382199999 meters 0.02234200320061146 Centerline is valid? [True, True] Translation: X:36.78, Y:0.61, Z:-0.99 [[ 9.99857691e-01 1.48743441e-02 7.95943161e-03 3.67832638e+01] [-1.48746753e-02 9.99889366e-01 -1.75909146e-05 6.12833246e-01] [-7.95881267e-03 -1.00805549e-04 9.99968323e-01 -9.86158822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.504203821999994 meters 0.02427951770322176 Centerline is valid? [True, True] Translation: X:36.85, Y:0.61, Z:-0.99 [[ 9.99833385e-01 1.67382959e-02 7.28233880e-03 3.68455974e+01] [-1.67386185e-02 9.99859899e-01 -1.66421341e-05 6.12093624e-01] [-7.28159711e-03 -1.05256930e-04 9.99973483e-01 -9.86485144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.564203821999996 meters 0.023830155273532085 Centerline is valid? [True, True] Translation: X:36.91, Y:0.61, Z:-0.99 [[ 9.99805603e-01 1.90222266e-02 5.18764216e-03 3.69070393e+01] [-1.90224230e-02 9.99819057e-01 -1.14824711e-05 6.06180083e-01] [-5.18692191e-03 -8.72012846e-05 9.99986544e-01 -9.90595622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.62420382199999 meters 0.03099571439720581 Centerline is valid? [True, True] Translation: X:36.97, Y:0.62, Z:-0.99 [[ 9.99690358e-01 2.44666165e-02 4.53580537e-03 3.69665871e+01] [-2.44668102e-02 9.99700643e-01 -1.27781801e-05 6.19893935e-01] [-4.53476018e-03 -9.82024657e-05 9.99989713e-01 -9.94295933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.68420382199999 meters 0.038170574072058996 Centerline is valid? [True, True] Translation: X:37.03, Y:0.63, Z:-1.00 [[ 9.99557214e-01 2.93305548e-02 5.00952246e-03 3.70264069e+01] [-2.93308502e-02 9.99569758e-01 -1.45220748e-05 6.30038941e-01] [-5.00779310e-03 -1.32417908e-04 9.99987452e-01 -9.97086793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.744203821999996 meters 0.037121915555783334 Centerline is valid? [True, True] Translation: X:37.09, Y:0.63, Z:-0.99 [[ 9.99405387e-01 3.40439840e-02 5.46617404e-03 3.70873322e+01] [-3.40443965e-02 9.99420321e-01 -1.75829657e-05 6.32776997e-01] [-5.46360401e-03 -1.68520086e-04 9.99985060e-01 -9.90997633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.804203822 meters 0.04473366933548538 Centerline is valid? [True, True] Translation: X:37.15, Y:0.64, Z:-0.99 [[ 9.99242325e-01 3.83887048e-02 6.40957849e-03 3.71463123e+01] [-3.83893628e-02 9.99262857e-01 -2.03795344e-05 6.43672025e-01] [-6.40563605e-03 -2.25695541e-04 9.99979458e-01 -9.93461083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.86420382199999 meters 0.04645122945970554 Centerline is valid? [True, True] Translation: X:37.21, Y:0.65, Z:-1.00 [[ 9.99147067e-01 4.10168753e-02 4.77020344e-03 3.72062847e+01] [-4.10172672e-02 9.99158438e-01 -1.56838237e-05 6.49277960e-01] [-4.76683231e-03 -1.79990262e-04 9.99988622e-01 -9.98300130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.924203821999996 meters 0.049398050116797 Centerline is valid? [True, True] Translation: X:37.27, Y:0.65, Z:-1.00 [[ 9.99245168e-01 3.84838852e-02 5.29960244e-03 3.72652569e+01] [-3.84843324e-02 9.99259204e-01 -1.75993571e-05 6.54953311e-01] [-5.29635381e-03 -1.86365589e-04 9.99985957e-01 -1.00315710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.984203822 meters 0.0347976607572749 Centerline is valid? [True, True] Translation: X:37.33, Y:0.65, Z:-0.99 [[ 9.99487247e-01 3.14231296e-02 6.15058153e-03 3.73256966e+01] [-3.14236032e-02 9.99506156e-01 -1.96568025e-05 6.45590081e-01] [-6.14816179e-03 -1.73626710e-04 9.99981085e-01 -9.94949530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.04420382199999 meters 0.032560661355998034 Centerline is valid? [True, True] Translation: X:37.39, Y:0.64, Z:-1.00 [[ 9.99676975e-01 2.47633321e-02 5.72036870e-03 3.73855121e+01] [-2.47636328e-02 9.99693334e-01 -1.82508744e-05 6.40347912e-01] [-5.71906641e-03 -1.23412131e-04 9.99983638e-01 -1.00178194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.104203821999995 meters 0.02781419709671579 Centerline is valid? [True, True] Translation: X:37.45, Y:0.64, Z:-1.00 [[ 9.99746388e-01 2.19952287e-02 4.83425613e-03 3.74465884e+01] [-2.19954140e-02 9.99758072e-01 -1.48468812e-05 6.37772721e-01] [-4.83341314e-03 -9.14883491e-05 9.99988315e-01 -1.00229821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.164203822 meters 0.024672058806622117 Centerline is valid? [True, True] Translation: X:37.51, Y:0.64, Z:-1.00 [[ 9.99827941e-01 1.80611325e-02 4.22898170e-03 3.75070197e+01] [-1.80612365e-02 9.99836882e-01 -1.35936086e-05 6.43341552e-01] [-4.22853740e-03 -6.27893691e-05 9.99991058e-01 -1.00487009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.22420382199999 meters 0.022606054396732172 Centerline is valid? [True, True] Translation: X:37.57, Y:0.64, Z:-1.01 [[ 9.99896063e-01 1.43619283e-02 1.26446501e-03 3.75682574e+01] [-1.43619355e-02 9.99896862e-01 -3.40304075e-06 6.37245510e-01] [-1.26438347e-03 -1.47574778e-05 9.99999201e-01 -1.01211206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.284203821999995 meters 0.0187880912175347 Centerline is valid? [True, True] Translation: X:37.63, Y:0.63, Z:-1.01 [[ 9.99948399e-01 9.69990188e-03 3.01844588e-03 3.76287706e+01] [-9.69991657e-03 9.99952955e-01 -9.77450438e-06 6.31357917e-01] [-3.01839869e-03 -1.95046732e-05 9.99995444e-01 -1.00826225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.344203822 meters 0.017437557632284693 Centerline is valid? [True, True] Translation: X:37.69, Y:0.63, Z:-1.01 [[ 9.99945781e-01 8.80753753e-03 5.55543166e-03 3.76900308e+01] [-8.80757659e-03 9.99961212e-01 -1.74347588e-05 6.29591883e-01] [-5.55536973e-03 -3.14960764e-05 9.99984568e-01 -1.00510626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.40420382199999 meters 0.016590823738863215 Centerline is valid? [True, True] Translation: X:37.75, Y:0.63, Z:-1.00 [[ 9.99932341e-01 9.35171822e-03 6.91805663e-03 3.77520806e+01] [-9.35181144e-03 9.99956271e-01 -1.88744564e-05 6.28398064e-01] [-6.91793061e-03 -4.58231818e-05 9.99976070e-01 -1.00331886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.464203821999995 meters 0.01888803514736634 Centerline is valid? [True, True] Translation: X:37.81, Y:0.63, Z:-1.01 [[ 9.99922343e-01 1.14795123e-02 4.85054463e-03 3.78141103e+01] [-1.14795722e-02 9.99934107e-01 -1.54883180e-05 6.29922608e-01] [-4.85040282e-03 -4.01950623e-05 9.99988236e-01 -1.00899464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.524203822 meters 0.019318850343304262 Centerline is valid? [True, True] Translation: X:37.88, Y:0.63, Z:-1.01 [[ 9.99898608e-01 1.32806269e-02 5.13798055e-03 3.78760967e+01] [-1.32807312e-02 9.99911807e-01 -1.38246399e-05 6.27308709e-01] [-5.13771102e-03 -5.44129003e-05 9.99986800e-01 -1.00897451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.58420382199999 meters 0.021235230079437423 Centerline is valid? [True, True] Translation: X:37.94, Y:0.63, Z:-1.01 [[ 9.99883524e-01 1.51855891e-02 1.52879269e-03 3.79368158e+01] [-1.51855989e-02 9.99884692e-01 -5.23439665e-06 6.27016050e-01] [-1.52869590e-03 -1.79818456e-05 9.99998831e-01 -1.01321699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.644203821999994 meters 0.0221421698554115 Centerline is valid? [True, True] Translation: X:38.00, Y:0.63, Z:-1.01 [[ 9.99859355e-01 1.62873268e-02 3.99909160e-03 3.79962784e+01] [-1.62873973e-02 9.99867351e-01 -1.49356796e-05 6.29500818e-01] [-3.99880439e-03 -5.02012147e-05 9.99992003e-01 -1.01243151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.704203822 meters 0.025040345257970206 Centerline is valid? [True, True] Translation: X:38.06, Y:0.63, Z:-1.02 [[ 9.99809754e-01 1.92844331e-02 2.92681372e-03 3.80569998e+01] [-1.92844854e-02 9.99814037e-01 -1.03577363e-05 6.29384241e-01] [-2.92646918e-03 -4.60863305e-05 9.99995717e-01 -1.01623950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.76420382199999 meters 0.03432319639664612 Centerline is valid? [True, True] Translation: X:38.12, Y:0.63, Z:-1.02 [[ 9.99751284e-01 2.22523419e-02 1.48419264e-03 3.81166259e+01] [-2.22523579e-02 9.99752386e-01 -5.75813971e-06 6.33108256e-01] [-1.48395327e-03 -2.72700783e-05 9.99998899e-01 -1.02177027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.824203821999994 meters 0.028464764590545356 Centerline is valid? [True, True] Translation: X:38.18, Y:0.63, Z:-1.02 [[ 9.99737881e-01 2.26889094e-02 3.06326671e-03 3.81767534e+01] [-2.26889789e-02 9.99742572e-01 -1.20716801e-05 6.30659895e-01] [-3.06275203e-03 -5.74338777e-05 9.99995308e-01 -1.02020598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.884203821999996 meters 0.02416777682853335 Centerline is valid? [True, True] Translation: X:38.24, Y:0.62, Z:-1.01 [[ 9.99773180e-01 2.05812083e-02 5.47751143e-03 3.82377417e+01] [-2.05814103e-02 9.99788180e-01 -1.94911234e-05 6.23202632e-01] [-5.47675234e-03 -9.32482077e-05 9.99984998e-01 -1.01451986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.94420382199999 meters 0.02733654493658474 Centerline is valid? [True, True] Translation: X:38.30, Y:0.63, Z:-1.02 [[ 9.99783343e-01 2.01476391e-02 5.22866076e-03 3.82985771e+01] [-2.01478352e-02 9.99797012e-01 -1.51714457e-05 6.25226312e-01] [-5.22790507e-03 -9.01780364e-05 9.99986330e-01 -1.02229679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.004203821999994 meters 0.026908808328632176 Centerline is valid? [True, True] Translation: X:38.36, Y:0.62, Z:-1.02 [[ 9.99762334e-01 2.14354164e-02 3.97474760e-03 3.83596758e+01] [-2.14355283e-02 9.99770233e-01 -1.44391593e-05 6.18133927e-01] [-3.97414384e-03 -7.07650872e-05 9.99992101e-01 -1.02421862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.064203821999996 meters 0.027610712531433535 Centerline is valid? [True, True] Translation: X:38.42, Y:0.61, Z:-1.03 [[ 9.99736545e-01 2.27405803e-02 3.11559000e-03 3.84202270e+01] [-2.27406538e-02 9.99741398e-01 -1.18604315e-05 6.14619421e-01] [-3.11505402e-03 -5.89932466e-05 9.99995146e-01 -1.02510481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.12420382199999 meters 0.031588877751601886 Centerline is valid? [True, True] Translation: X:38.48, Y:0.62, Z:-1.03 [[ 9.99661999e-01 2.59062154e-02 2.18075847e-03 3.84798533e+01] [-2.59062589e-02 9.99664377e-01 -8.30171382e-06 6.15419446e-01] [-2.18024163e-03 -4.81963858e-05 9.99997622e-01 -1.03002209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.18420382199999 meters 0.03469229660447426 Centerline is valid? [True, True] Translation: X:38.54, Y:0.62, Z:-1.03 [[ 9.99577418e-01 2.89906985e-02 2.12730953e-03 3.85395206e+01] [-2.89907456e-02 9.99579680e-01 -8.73738522e-06 6.18129004e-01] [-2.12666869e-03 -5.29385965e-05 9.99997737e-01 -1.03136798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.244203821999996 meters 0.038955901410065344 Centerline is valid? [True, True] Translation: X:38.60, Y:0.62, Z:-1.03 [[ 9.99381685e-01 3.51200565e-02 1.68186592e-03 3.85998621e+01] [-3.51200954e-02 9.99383099e-01 -6.43010441e-06 6.19128597e-01] [-1.68105420e-03 -5.26411629e-05 9.99998586e-01 -1.03061436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.30420382199999 meters 0.04663556355431047 Centerline is valid? [True, True] Translation: X:38.66, Y:0.63, Z:-1.03 [[ 9.99202975e-01 3.96854679e-02 4.29874185e-03 3.86585617e+01] [-3.96857609e-02 9.99212210e-01 -1.71419509e-05 6.31827256e-01] [-4.29603563e-03 -1.53470553e-04 9.99990760e-01 -1.03039568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.36420382199999 meters 0.04729813200092932 Centerline is valid? [True, True] Translation: X:38.72, Y:0.63, Z:-1.03 [[ 9.99119786e-01 4.13326135e-02 7.16017393e-03 3.87182860e+01] [-4.13334775e-02 9.99145406e-01 -2.73203282e-05 6.32884880e-01] [-7.15518411e-03 -2.68658608e-04 9.99974365e-01 -1.02614813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.424203821999996 meters 0.04565037338000672 Centerline is valid? [True, True] Translation: X:38.78, Y:0.63, Z:-1.03 [[ 9.99089048e-01 4.20789923e-02 7.10163424e-03 3.87789413e+01] [-4.20798660e-02 9.99114250e-01 -2.64259759e-05 6.31660731e-01] [-7.09645595e-03 -2.72433914e-04 9.99974783e-01 -1.02772649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.484203822 meters 0.048013842442252215 Centerline is valid? [True, True] Translation: X:38.84, Y:0.63, Z:-1.03 [[ 9.99126125e-01 4.12637422e-02 6.65500497e-03 3.88379847e+01] [-4.12644895e-02 9.99148258e-01 -2.50300619e-05 6.32094765e-01] [-6.65036946e-03 -2.49607194e-04 9.99977855e-01 -1.03284317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.54420382199999 meters 0.043906522067796334 Centerline is valid? [True, True] Translation: X:38.90, Y:0.63, Z:-1.04 [[ 9.99279457e-01 3.75552967e-02 5.49232736e-03 3.88988987e+01] [-3.75557534e-02 9.99294534e-01 -1.99819780e-05 6.28252192e-01] [-5.48920313e-03 -1.86300912e-04 9.99984917e-01 -1.03525790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.604203821999995 meters 0.035411247702177434 Centerline is valid? [True, True] Translation: X:38.96, Y:0.62, Z:-1.04 [[ 9.99489300e-01 3.17613063e-02 3.51541341e-03 3.89599464e+01] [-3.17614576e-02 9.99495478e-01 -1.27888799e-05 6.15090835e-01] [-3.51404600e-03 -9.88723054e-05 9.99993821e-01 -1.03744707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.664203822 meters 0.03578782566017858 Centerline is valid? [True, True] Translation: X:39.02, Y:0.61, Z:-1.04 [[ 9.99525853e-01 3.04367029e-02 4.65583077e-03 3.90196412e+01] [-3.04369504e-02 9.99536689e-01 -1.76953417e-05 6.14264561e-01] [-4.65421226e-03 -1.24022339e-04 9.99989161e-01 -1.03917296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.72420382199999 meters 0.03337609651932709 Centerline is valid? [True, True] Translation: X:39.08, Y:0.61, Z:-1.03 [[ 9.99550936e-01 2.89288430e-02 7.81337671e-03 3.90804102e+01] [-2.89294987e-02 9.99581454e-01 -2.91120509e-05 6.08379649e-01] [-7.81094863e-03 -1.96938094e-04 9.99969475e-01 -1.03467393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.784203821999995 meters 0.029975555087337694 Centerline is valid? [True, True] Translation: X:39.14, Y:0.61, Z:-1.03 [[ 9.99566035e-01 2.81435965e-02 8.69944534e-03 3.91430167e+01] [-2.81444101e-02 9.99603867e-01 -2.89002436e-05 6.05933848e-01] [-8.69681256e-03 -2.15953056e-04 9.99962159e-01 -1.03214961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.844203822 meters 0.03062258067117662 Centerline is valid? [True, True] Translation: X:39.20, Y:0.61, Z:-1.04 [[ 9.99606643e-01 2.61097429e-02 1.02391735e-02 3.92035188e+01] [-2.61107053e-02 9.99659057e-01 -3.96915184e-05 6.06354547e-01] [-1.02367188e-02 -2.27676136e-04 9.99947578e-01 -1.03601355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.90420382199999 meters 0.027383874648769346 Centerline is valid? [True, True] Translation: X:39.27, Y:0.60, Z:-1.04 [[ 9.99654291e-01 2.41827954e-02 1.03194053e-02 3.92653465e+01] [-2.41836987e-02 9.99707531e-01 -3.72588749e-05 5.96135961e-01] [-1.03172882e-02 -2.12315394e-04 9.99946753e-01 -1.03622103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.964203821999995 meters 0.023013774008244395 Centerline is valid? [True, True] Translation: X:39.33, Y:0.59, Z:-1.04 [[ 9.99711960e-01 2.17983813e-02 1.00412558e-02 3.93274203e+01] [-2.17991025e-02 9.99762371e-01 -3.76367884e-05 5.85647140e-01] [-1.00396901e-02 -1.81264416e-04 9.99949585e-01 -1.03547167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.024203822 meters 0.026880481721728466 Centerline is valid? [True, True] Translation: X:39.39, Y:0.59, Z:-1.04 [[ 9.99695692e-01 2.24368178e-02 1.02524232e-02 3.93896826e+01] [-2.24375859e-02 9.99748245e-01 -4.01175523e-05 5.88465894e-01] [-1.02507422e-02 -1.89934283e-04 9.99947442e-01 -1.04101374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.08420382199999 meters 0.026395753103229783 Centerline is valid? [True, True] Translation: X:39.45, Y:0.58, Z:-1.04 [[ 9.99672167e-01 2.34865644e-02 1.01951230e-02 3.94517616e+01] [-2.34873557e-02 9.99724133e-01 -4.21260621e-05 5.84357423e-01] [-1.01932999e-02 -1.97344229e-04 9.99948027e-01 -1.04304711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.144203821999994 meters 0.024208678212455592 Centerline is valid? [True, True] Translation: X:39.51, Y:0.58, Z:-1.04 [[ 9.99691761e-01 2.22184940e-02 1.10779935e-02 3.95142331e+01] [-2.22193258e-02 9.99753119e-01 -4.80040982e-05 5.75705397e-01] [-1.10763251e-02 -1.98156245e-04 9.99938636e-01 -1.04212820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.204203822 meters 0.02231279653706403 Centerline is valid? [True, True] Translation: X:39.58, Y:0.57, Z:-1.04 [[ 9.99712140e-01 2.12054691e-02 1.12234060e-02 3.95766698e+01] [-2.12062377e-02 9.99775121e-01 -5.05319341e-05 5.69086124e-01] [-1.12219536e-02 -1.87488827e-04 9.99937014e-01 -1.04156629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.26420382199999 meters 0.022016109872815954 Centerline is valid? [True, True] Translation: X:39.64, Y:0.56, Z:-1.04 [[ 9.99724775e-01 2.00758181e-02 1.21382169e-02 3.96380795e+01] [-2.00766010e-02 9.99798443e-01 -5.73615774e-05 5.64726599e-01] [-1.21369220e-02 -1.86348348e-04 9.99926327e-01 -1.04300841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.324203821999994 meters 0.018381487823898694 Centerline is valid? [True, True] Translation: X:39.70, Y:0.55, Z:-1.04 [[ 9.99750084e-01 1.79263607e-02 1.33572326e-02 3.97005877e+01] [-1.79270632e-02 9.99839295e-01 -6.71497945e-05 5.47881271e-01] [-1.33562898e-02 -1.72322940e-04 9.99910786e-01 -1.04241423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.384203821999996 meters 0.019298348726226704 Centerline is valid? [True, True] Translation: X:39.76, Y:0.54, Z:-1.05 [[ 9.99757619e-01 1.86040540e-02 1.17725200e-02 3.97626736e+01] [-1.86046629e-02 9.99826917e-01 -5.77991309e-05 5.40588908e-01] [-1.17715577e-02 -1.61238646e-04 9.99930700e-01 -1.04683926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.44420382199999 meters 0.023461973410157728 Centerline is valid? [True, True] Translation: X:39.82, Y:0.54, Z:-1.05 [[ 9.99716674e-01 2.15053631e-02 1.02025038e-02 3.98231551e+01] [-2.15059438e-02 9.99768719e-01 -5.28008580e-05 5.41361758e-01] [-1.02012797e-02 -1.66628576e-04 9.99947952e-01 -1.05298021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.504203821999994 meters 0.028692958184012997 Centerline is valid? [True, True] Translation: X:39.88, Y:0.54, Z:-1.06 [[ 9.99623639e-01 2.59369749e-02 8.93605192e-03 3.98834974e+01] [-2.59375801e-02 9.99663563e-01 -4.81780025e-05 5.43065339e-01] [-8.93429509e-03 -1.83619692e-04 9.99960072e-01 -1.05762354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.564203821999996 meters 0.030867065776770307 Centerline is valid? [True, True] Translation: X:39.95, Y:0.54, Z:-1.06 [[ 9.99527026e-01 2.93123170e-02 9.30118406e-03 3.99450980e+01] [-2.93131437e-02 9.99570276e-01 -4.74588940e-05 5.43905089e-01] [-9.29857825e-03 -2.25210498e-04 9.99956742e-01 -1.05794023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.62420382199999 meters 0.03519704536706397 Centerline is valid? [True, True] Translation: X:40.01, Y:0.55, Z:-1.06 [[ 9.99402449e-01 3.37971363e-02 7.24563034e-03 4.00054395e+01] [-3.37977311e-02 9.99428693e-01 -4.03685631e-05 5.45301790e-01] [-7.24285520e-03 -2.04541425e-04 9.99973749e-01 -1.06367270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.68420382199999 meters 0.03920726398372112 Centerline is valid? [True, True] Translation: X:40.07, Y:0.55, Z:-1.06 [[ 9.99266562e-01 3.70289542e-02 9.75673784e-03 4.00668732e+01] [-3.70302140e-02 9.99314145e-01 -5.15616108e-05 5.51701944e-01] [-9.75195540e-03 -3.09770296e-04 9.99952401e-01 -1.06245023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.744203821999996 meters 0.03727406168774521 Centerline is valid? [True, True] Translation: X:40.13, Y:0.55, Z:-1.06 [[ 9.99236957e-01 3.78926866e-02 9.46830740e-03 4.01288997e+01] [-3.78939022e-02 9.99281767e-01 -5.10389675e-05 5.50797016e-01] [-9.46344095e-03 -3.07791093e-04 9.99955173e-01 -1.06333502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.80420382199999 meters 0.03517836066527335 Centerline is valid? [True, True] Translation: X:40.19, Y:0.55, Z:-1.07 [[ 9.99325262e-01 3.56747439e-02 8.73692036e-03 4.01908432e+01] [-3.56756845e-02 9.99363419e-01 -4.82179712e-05 5.46430203e-01] [-8.73307877e-03 -2.63510178e-04 9.99961831e-01 -1.06622615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.86420382199999 meters 0.03586234702105612 Centerline is valid? [True, True] Translation: X:40.25, Y:0.55, Z:-1.07 [[ 9.99407454e-01 3.35139042e-02 7.84590777e-03 4.02518001e+01] [-3.35145874e-02 9.99438227e-01 -4.44151353e-05 5.46996946e-01] [-7.84298868e-03 -2.18563544e-04 9.99969219e-01 -1.07240495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.924203821999996 meters 0.030375381904163588 Centerline is valid? [True, True] Translation: X:40.31, Y:0.54, Z:-1.07 [[ 9.99519744e-01 2.94236634e-02 9.72265880e-03 4.03128185e+01] [-2.94244670e-02 9.99567005e-01 -6.04138218e-05 5.42185770e-01] [-9.72022653e-03 -2.25699245e-04 9.99952732e-01 -1.07075512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.98420382199999 meters 0.027514431795205335 Centerline is valid? [True, True] Translation: X:40.37, Y:0.54, Z:-1.07 [[ 9.99597449e-01 2.63758851e-02 1.04524336e-02 4.03739637e+01] [-2.63766481e-02 9.99652074e-01 -6.48790374e-05 5.39737439e-01] [-1.04505082e-02 -2.10847243e-04 9.99945370e-01 -1.07154683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.04420382199999 meters 0.024359342545218658 Centerline is valid? [True, True] Translation: X:40.44, Y:0.53, Z:-1.08 [[ 9.99702915e-01 2.28644893e-02 8.44372912e-03 4.04357630e+01] [-2.28648858e-02 9.99738563e-01 -4.95837989e-05 5.28454454e-01] [-8.44265532e-03 -1.43495834e-04 9.99964350e-01 -1.07781425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.104203821999995 meters 0.022495503673724437 Centerline is valid? [True, True] Translation: X:40.50, Y:0.53, Z:-1.08 [[ 9.99737213e-01 2.09288565e-02 9.35348515e-03 4.04969020e+01] [-2.09292367e-02 9.99780958e-01 -5.72361333e-05 5.28849952e-01] [-9.35263423e-03 -1.38540213e-04 9.99956254e-01 -1.07761186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.164203822 meters 0.022804158243306876 Centerline is valid? [True, True] Translation: X:40.56, Y:0.53, Z:-1.08 [[ 9.99691351e-01 2.20052662e-02 1.15313168e-02 4.05588181e+01] [-2.20058862e-02 9.99757838e-01 -7.31301688e-05 5.30298397e-01] [-1.15301336e-02 -1.80649248e-04 9.99933509e-01 -1.07589511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.22420382199999 meters 0.02339879520228709 Centerline is valid? [True, True] Translation: X:40.62, Y:0.53, Z:-1.07 [[ 9.99619007e-01 2.40582771e-02 1.35292079e-02 4.06219892e+01] [-2.40592834e-02 9.99710530e-01 -8.84033035e-05 5.28383443e-01] [-1.35274185e-02 -2.37133425e-04 9.99908472e-01 -1.07370640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.284203821999995 meters 0.02616163760207255 Centerline is valid? [True, True] Translation: X:40.68, Y:0.53, Z:-1.08 [[ 9.99590195e-01 2.58441132e-02 1.23095315e-02 4.06833592e+01] [-2.58450366e-02 9.99665958e-01 -8.40827136e-05 5.32706620e-01] [-1.23075926e-02 -2.34092035e-04 9.99924231e-01 -1.07799377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.344203822 meters 0.029397998763226282 Centerline is valid? [True, True] Translation: X:40.74, Y:0.54, Z:-1.08 [[ 9.99546221e-01 2.84664144e-02 9.84961012e-03 4.07439826e+01] [-2.84671164e-02 9.99594727e-01 -6.89454663e-05 5.39243193e-01] [-9.84758097e-03 -2.11475817e-04 9.99951489e-01 -1.08387538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.40420382199999 meters 0.029383742758882263 Centerline is valid? [True, True] Translation: X:40.81, Y:0.54, Z:-1.08 [[ 9.99481775e-01 3.07262695e-02 9.59569141e-03 4.08059766e+01] [-3.07270458e-02 9.99527811e-01 -6.65515150e-05 5.38961074e-01] [-9.59320530e-03 -2.28330223e-04 9.99953958e-01 -1.08427022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.464203821999995 meters 0.03441936344492009 Centerline is valid? [True, True] Translation: X:40.87, Y:0.55, Z:-1.09 [[ 9.99448534e-01 3.18864506e-02 9.26727127e-03 4.08666640e+01] [-3.18872403e-02 9.99491471e-01 -6.25694741e-05 5.45357327e-01] [-9.26455371e-03 -2.32972737e-04 9.99957056e-01 -1.09147889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.524203822 meters 0.03299100078606266 Centerline is valid? [True, True] Translation: X:40.93, Y:0.54, Z:-1.09 [[ 9.99394704e-01 3.25515222e-02 1.22729196e-02 4.09294272e+01] [-3.25529024e-02 9.99470010e-01 -8.73473531e-05 5.41703783e-01] [-1.22692583e-02 -3.12224671e-04 9.99924681e-01 -1.08683905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.58420382199999 meters 0.031140585137882006 Centerline is valid? [True, True] Translation: X:40.99, Y:0.54, Z:-1.09 [[ 9.99398010e-01 3.23904424e-02 1.24288849e-02 4.09919885e+01] [-3.23918471e-02 9.99475243e-01 -8.83209026e-05 5.38229157e-01] [-1.24252236e-02 -3.14326807e-04 9.99922755e-01 -1.08690710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.644203821999994 meters 0.030327114774969563 Centerline is valid? [True, True] Translation: X:41.05, Y:0.54, Z:-1.09 [[ 9.99451766e-01 3.07463171e-02 1.22813678e-02 4.10533024e+01] [-3.07475374e-02 9.99527179e-01 -8.94943528e-05 5.38431726e-01] [-1.22783125e-02 -2.88176526e-04 9.99924577e-01 -1.09049496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.704203822 meters 0.02556483139729098 Centerline is valid? [True, True] Translation: X:41.12, Y:0.53, Z:-1.09 [[ 9.99564017e-01 2.68415142e-02 1.23007713e-02 4.11151894e+01] [-2.68423957e-02 9.99639674e-01 -9.34653959e-05 5.27417212e-01] [-1.22988477e-02 -2.36757522e-04 9.99924338e-01 -1.09116861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.76420382199999 meters 0.021654529146338575 Centerline is valid? [True, True] Translation: X:41.18, Y:0.52, Z:-1.10 [[ 9.99691993e-01 2.21379203e-02 1.12175021e-02 4.11754249e+01] [-2.21383490e-02 9.99754913e-01 -8.59651979e-05 5.16541885e-01] [-1.12166560e-02 -1.62398258e-04 9.99937078e-01 -1.09526404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.824203821999994 meters 0.01999321430203032 Centerline is valid? [True, True] Translation: X:41.24, Y:0.51, Z:-1.10 [[ 9.99739778e-01 1.92700470e-02 1.22082805e-02 4.12361687e+01] [-1.92703673e-02 9.99814305e-01 -9.14025914e-05 5.09337483e-01] [-1.22077749e-02 -1.43879244e-04 9.99925472e-01 -1.09728944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.884203821999996 meters 0.019577919229041885 Centerline is valid? [True, True] Translation: X:41.30, Y:0.51, Z:-1.09 [[ 9.99697719e-01 2.07002507e-02 1.32654121e-02 4.12992148e+01] [-2.07007310e-02 9.99785712e-01 -1.01121708e-04 5.06349264e-01] [-1.32646627e-02 -1.73512585e-04 9.99912005e-01 -1.09459310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.94420382199999 meters 0.023454275402033518 Centerline is valid? [True, True] Translation: X:41.36, Y:0.51, Z:-1.10 [[ 9.99627693e-01 2.46736025e-02 1.16485728e-02 4.13606055e+01] [-2.46741918e-02 9.99695541e-01 -9.31403858e-05 5.09172127e-01] [-1.16473244e-02 -1.94313411e-04 9.99932149e-01 -1.09953443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.004203821999994 meters 0.03034647028848628 Centerline is valid? [True, True] Translation: X:41.42, Y:0.52, Z:-1.10 [[ 9.99442509e-01 3.13016997e-02 1.16135494e-02 4.14216362e+01] [-3.13027298e-02 9.99509945e-01 -9.31075552e-05 5.20868506e-01] [-1.16107725e-02 -2.70480149e-04 9.99932556e-01 -1.10232351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.064203821999996 meters 0.03379542493457759 Centerline is valid? [True, True] Translation: X:41.48, Y:0.53, Z:-1.11 [[ 9.99343431e-01 3.45557559e-02 1.08906228e-02 4.14831223e+01] [-3.45568521e-02 9.99402730e-01 -8.75616595e-05 5.25370337e-01] [-1.08871439e-02 -2.88841473e-04 9.99940692e-01 -1.10547923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.12420382199999 meters 0.035554644176361325 Centerline is valid? [True, True] Translation: X:41.54, Y:0.53, Z:-1.11 [[ 9.99311713e-01 3.59567181e-02 9.12218026e-03 4.15449808e+01] [-3.59575488e-02 9.99353316e-01 -7.29809362e-05 5.28532601e-01] [-9.11890524e-03 -2.55080537e-04 9.99958389e-01 -1.11077448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.18420382199999 meters 0.034772227850913544 Centerline is valid? [True, True] Translation: X:41.61, Y:0.53, Z:-1.11 [[ 9.99305699e-01 3.57601719e-02 1.04561349e-02 4.16071010e+01] [-3.57612682e-02 9.99360358e-01 -8.21587336e-05 5.29744852e-01] [-1.04523847e-02 -2.91822953e-04 9.99945330e-01 -1.10885077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.244203821999996 meters 0.03422953239446702 Centerline is valid? [True, True] Translation: X:41.67, Y:0.53, Z:-1.11 [[ 9.99319314e-01 3.58871449e-02 8.54531983e-03 4.16690629e+01] [-3.58878776e-02 9.99355820e-01 -6.76333469e-05 5.28408094e-01] [-8.54224228e-03 -2.39086082e-04 9.99963486e-01 -1.11353267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.30420382199999 meters 0.03354668873913483 Centerline is valid? [True, True] Translation: X:41.73, Y:0.53, Z:-1.11 [[ 9.99345714e-01 3.45000741e-02 1.08576386e-02 4.17298969e+01] [-3.45011132e-02 9.99404655e-01 -9.16493495e-05 5.31931211e-01] [-1.08543365e-02 -2.83011234e-04 9.99941050e-01 -1.11282142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.36420382199999 meters 0.030791324074258157 Centerline is valid? [True, True] Translation: X:41.79, Y:0.53, Z:-1.11 [[ 9.99416538e-01 3.21763826e-02 1.14570063e-02 4.17914638e+01] [-3.21773834e-02 9.99482169e-01 -9.70193208e-05 5.29919891e-01] [-1.14541952e-02 -2.71693771e-04 9.99934362e-01 -1.11396766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.424203821999996 meters 0.027436381926093448 Centerline is valid? [True, True] Translation: X:41.85, Y:0.52, Z:-1.12 [[ 9.99575170e-01 2.67590708e-02 1.15513048e-02 4.18510850e+01] [-2.67597186e-02 9.99641890e-01 -9.85050504e-05 5.23997041e-01] [-1.15498040e-02 -2.10646463e-04 9.99933277e-01 -1.11832730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.48420382199999 meters 0.0208808199337158 Centerline is valid? [True, True] Translation: X:41.91, Y:0.51, Z:-1.12 [[ 9.99654987e-01 2.26556117e-02 1.32902594e-02 4.19128765e+01] [-2.26561140e-02 9.99743311e-01 -1.12780973e-04 5.14588435e-01] [-1.32894031e-02 -1.88363570e-04 9.99911674e-01 -1.11592608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.54420382199999 meters 0.019488865782900808 Centerline is valid? [True, True] Translation: X:41.98, Y:0.51, Z:-1.12 [[ 9.99713283e-01 2.09485200e-02 1.15978876e-02 4.19757204e+01] [-2.09488153e-02 9.99780545e-01 -9.60344442e-05 5.09852288e-01] [-1.15973541e-02 -1.46955095e-04 9.99932738e-01 -1.12063375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.604203821999995 meters 0.019174019365860863 Centerline is valid? [True, True] Translation: X:42.04, Y:0.50, Z:-1.13 [[ 9.99746337e-01 2.03244320e-02 9.70454195e-03 4.20374590e+01] [-2.03245961e-02 9.99793431e-01 -8.17249548e-05 5.04766180e-01] [-9.70419830e-03 -1.15536672e-04 9.99952906e-01 -1.12539140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.66420382199999 meters 0.02093985563776336 Centerline is valid? [True, True] Translation: X:42.10, Y:0.51, Z:-1.13 [[ 9.99737494e-01 2.13439757e-02 8.32937732e-03 4.20987619e+01] [-2.13441239e-02 9.99772186e-01 -7.11058154e-05 5.05537004e-01] [-8.32899745e-03 -1.06696112e-04 9.99965308e-01 -1.13033203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.72420382199999 meters 0.02342462836258316 Centerline is valid? [True, True] Translation: X:42.16, Y:0.51, Z:-1.13 [[ 9.99663189e-01 2.45871245e-02 8.30556480e-03 4.21606192e+01] [-2.45873752e-02 9.99697682e-01 -7.19353140e-05 5.06927351e-01] [-8.30482256e-03 -1.32300952e-04 9.99965506e-01 -1.13166589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.784203821999995 meters 0.024610741415379583 Centerline is valid? [True, True] Translation: X:42.22, Y:0.51, Z:-1.13 [[ 9.99569132e-01 2.81744732e-02 8.23094885e-03 4.22230038e+01] [-2.81748105e-02 9.99603008e-01 -7.49912905e-05 5.06887136e-01] [-8.22979407e-03 -1.56946445e-04 9.99966122e-01 -1.12925224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.844203822 meters 0.03286901996991989 Centerline is valid? [True, True] Translation: X:42.28, Y:0.52, Z:-1.13 [[ 9.99253001e-01 3.73055523e-02 1.00864070e-02 4.22836614e+01] [-3.73065064e-02 9.99303866e-01 -9.35973900e-05 5.23616778e-01] [-1.00828773e-02 -2.82761137e-04 9.99949127e-01 -1.12876840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.90420382199999 meters 0.04165011321334586 Centerline is valid? [True, True] Translation: X:42.34, Y:0.54, Z:-1.13 [[ 9.98999402e-01 4.30645068e-02 1.20682740e-02 4.23442511e+01] [-4.30662938e-02 9.99072211e-01 -1.11879979e-04 5.37386662e-01] [-1.20618953e-02 -4.07967803e-04 9.99927169e-01 -1.12986197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.964203821999995 meters 0.04456939243197293 Centerline is valid? [True, True] Translation: X:42.40, Y:0.55, Z:-1.13 [[ 9.98750660e-01 4.84852946e-02 1.20952883e-02 4.24048952e+01] [-4.84874827e-02 9.98823784e-01 -1.12447456e-04 5.49811525e-01] [-1.20865136e-02 -4.74163110e-04 9.99926843e-01 -1.13105943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.024203822 meters 0.043818666267496316 Centerline is valid? [True, True] Translation: X:42.47, Y:0.55, Z:-1.14 [[ 9.98902050e-01 4.56652460e-02 1.04585035e-02 4.24653029e+01] [-4.56667408e-02 9.98956726e-01 -9.59654161e-05 5.54055347e-01] [-1.04519747e-02 -3.81745718e-04 9.99945304e-01 -1.13753506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.08420382199999 meters 0.03998572383776139 Centerline is valid? [True, True] Translation: X:42.53, Y:0.55, Z:-1.14 [[ 9.99064210e-01 4.17936071e-02 1.11354958e-02 4.25258692e+01] [-4.17950403e-02 9.99126200e-01 -1.04080282e-04 5.53205410e-01] [-1.11301155e-02 -3.61425611e-04 9.99937993e-01 -1.13775896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.144203821999994 meters 0.032809008239657954 Centerline is valid? [True, True] Translation: X:42.59, Y:0.55, Z:-1.14 [[ 9.99244561e-01 3.70725570e-02 1.16590079e-02 4.25868019e+01] [-3.70738046e-02 9.99312524e-01 -1.09174637e-04 5.52124392e-01] [-1.16550400e-02 -3.23151620e-04 9.99932025e-01 -1.13705252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.204203822 meters 0.03230917004710115 Centerline is valid? [True, True] Translation: X:42.65, Y:0.56, Z:-1.14 [[ 9.99313055e-01 3.44864515e-02 1.35684558e-02 4.26473419e+01] [-3.44878980e-02 9.99405107e-01 -1.27434811e-04 5.57372963e-01] [-1.35647788e-02 -3.40600248e-04 9.99907936e-01 -1.13765411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.26420382199999 meters 0.028042671747103086 Centerline is valid? [True, True] Translation: X:42.71, Y:0.56, Z:-1.14 [[ 9.99475145e-01 2.99760963e-02 1.22828749e-02 4.27088076e+01] [-2.99769420e-02 9.99550584e-01 -1.15289868e-04 5.59913306e-01] [-1.22808107e-02 -2.52973671e-04 9.99924556e-01 -1.14155070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.324203821999994 meters 0.02562026061202477 Centerline is valid? [True, True] Translation: X:42.77, Y:0.56, Z:-1.14 [[ 9.99533122e-01 2.77325788e-02 1.28235326e-02 4.27711884e+01] [-2.77333408e-02 9.99615350e-01 -1.18436378e-04 5.60722088e-01] [-1.28218845e-02 -2.37258317e-04 9.99917768e-01 -1.14307348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.384203821999996 meters 0.022728837581527776 Centerline is valid? [True, True] Translation: X:42.83, Y:0.57, Z:-1.14 [[ 9.99524015e-01 2.71416424e-02 1.46654136e-02 4.28333358e+01] [-2.71425320e-02 9.99631564e-01 -1.38411217e-04 5.66120225e-01] [-1.46637670e-02 -2.59711122e-04 9.99892447e-01 -1.13961719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.44420382199999 meters 0.02369452005576899 Centerline is valid? [True, True] Translation: X:42.90, Y:0.57, Z:-1.14 [[ 9.99531286e-01 2.69982883e-02 1.44326520e-02 4.28956201e+01] [-2.69990901e-02 9.99635448e-01 -1.39325538e-04 5.68629904e-01] [-1.44311521e-02 -2.50408238e-04 9.99895834e-01 -1.14280886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.504203821999994 meters 0.021865635696797107 Centerline is valid? [True, True] Translation: X:42.96, Y:0.57, Z:-1.14 [[ 9.99551873e-01 2.63709370e-02 1.41642788e-02 4.29579888e+01] [-2.63716333e-02 9.99652199e-01 -1.37649186e-04 5.74170343e-01] [-1.41629824e-02 -2.35947666e-04 9.99899672e-01 -1.14285054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.564203821999996 meters 0.02096510366215014 Centerline is valid? [True, True] Translation: X:43.02, Y:0.58, Z:-1.14 [[ 9.99535507e-01 2.61143049e-02 1.57102982e-02 4.30204865e+01] [-2.61150799e-02 9.99658931e-01 -1.55849984e-04 5.76810684e-01] [-1.57090098e-02 -2.54498100e-04 9.99876574e-01 -1.14188124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.62420382199999 meters 0.020331585006370067 Centerline is valid? [True, True] Translation: X:43.08, Y:0.58, Z:-1.14 [[ 9.99546277e-01 2.54941553e-02 1.60402360e-02 4.30826947e+01] [-2.54948376e-02 9.99674941e-01 -1.61976009e-04 5.77112555e-01] [-1.60391514e-02 -2.47040696e-04 9.99871334e-01 -1.14350059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.68420382199999 meters 0.01905222256690122 Centerline is valid? [True, True] Translation: X:43.15, Y:0.58, Z:-1.15 [[ 9.99568110e-01 2.47455094e-02 1.58509516e-02 4.31453134e+01] [-2.47460404e-02 9.99693757e-01 -1.62664775e-04 5.76179077e-01] [-1.58501225e-02 -2.29653767e-04 9.99874353e-01 -1.14500958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.744203821999996 meters 0.02000015302778011 Centerline is valid? [True, True] Translation: X:43.21, Y:0.58, Z:-1.15 [[ 9.99621599e-01 2.36774613e-02 1.40012890e-02 4.32060366e+01] [-2.36777425e-02 9.99719632e-01 -1.45712637e-04 5.81804774e-01] [-1.40008136e-02 -1.85861415e-04 9.99901967e-01 -1.15224822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.80420382199999 meters 0.01951497974788842 Centerline is valid? [True, True] Translation: X:43.27, Y:0.58, Z:-1.15 [[ 9.99617275e-01 2.45350395e-02 1.27802657e-02 4.32683491e+01] [-2.45353261e-02 9.99698955e-01 -1.34391239e-04 5.79539242e-01] [-1.27797155e-02 -1.79228182e-04 9.99918320e-01 -1.15395623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.86420382199999 meters 0.020631524668600115 Centerline is valid? [True, True] Translation: X:43.33, Y:0.58, Z:-1.15 [[ 9.99580405e-01 2.52923969e-02 1.41176507e-02 4.33291711e+01] [-2.52927654e-02 9.99680075e-01 -1.52477527e-04 5.83335247e-01] [-1.41169906e-02 -2.04660879e-04 9.99900329e-01 -1.15431399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.924203821999996 meters 0.022006052806084652 Centerline is valid? [True, True] Translation: X:43.39, Y:0.59, Z:-1.16 [[ 9.99564648e-01 2.61657497e-02 1.36333475e-02 4.33900654e+01] [-2.61661698e-02 9.99657596e-01 -1.47596017e-04 5.86671431e-01] [-1.36325414e-02 -2.09200725e-04 9.99907051e-01 -1.15844259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.98420382199999 meters 0.022669269814011843 Centerline is valid? [True, True] Translation: X:43.45, Y:0.59, Z:-1.16 [[ 9.99521365e-01 2.76686889e-02 1.38378218e-02 4.34521573e+01] [-2.76692383e-02 9.99617122e-01 -1.51784737e-04 5.87269566e-01] [-1.38367233e-02 -2.31169901e-04 9.99904241e-01 -1.15895936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.04420382199999 meters 0.026792298328552185 Centerline is valid? [True, True] Translation: X:43.51, Y:0.60, Z:-1.16 [[ 9.99438048e-01 3.03451559e-02 1.42393557e-02 4.35130275e+01] [-3.03459436e-02 9.99539443e-01 -1.60792546e-04 5.96957390e-01] [-1.42376770e-02 -2.71404499e-04 9.99898602e-01 -1.16047965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.104203821999995 meters 0.02623745415821568 Centerline is valid? [True, True] Translation: X:43.57, Y:0.60, Z:-1.16 [[ 9.99394624e-01 3.21190813e-02 1.33697248e-02 4.35747598e+01] [-3.21199587e-02 9.99484010e-01 -1.49153370e-04 5.99371839e-01] [-1.33676169e-02 -2.80371934e-04 9.99910610e-01 -1.16155853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.16420382199999 meters 0.03031903440324764 Centerline is valid? [True, True] Translation: X:43.63, Y:0.61, Z:-1.17 [[ 9.99350348e-01 3.45099548e-02 1.03896458e-02 4.36346744e+01] [-3.45105878e-02 9.99404325e-01 -1.18404319e-04 6.10701626e-01] [-1.03875431e-02 -2.40225386e-04 9.99946019e-01 -1.17084664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.22420382199999 meters 0.02648163428122064 Centerline is valid? [True, True] Translation: X:43.70, Y:0.61, Z:-1.17 [[ 9.99428675e-01 3.19022419e-02 1.11611471e-02 4.36961329e+01] [-3.19027950e-02 9.99490968e-01 -1.28522966e-04 6.09746412e-01] [-1.11595659e-02 -2.27622251e-04 9.99937704e-01 -1.17070433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.284203821999995 meters 0.02106383916494555 Centerline is valid? [True, True] Translation: X:43.76, Y:0.61, Z:-1.17 [[ 9.99566307e-01 2.69944496e-02 1.17684963e-02 4.37578936e+01] [-2.69947232e-02 9.99635567e-01 -1.35627936e-04 6.07284930e-01] [-1.17678686e-02 -1.82118184e-04 9.99930740e-01 -1.16971904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.344203822 meters 0.012895579663027724 Centerline is valid? [True, True] Translation: X:43.82, Y:0.60, Z:-1.16 [[ 9.99725796e-01 1.76250207e-02 1.54172663e-02 4.38173269e+01] [-1.76243520e-02 9.99844663e-01 -1.79246320e-04 5.97439035e-01] [-1.54180306e-02 -9.25221585e-05 9.99881131e-01 -1.16470501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.40420382199999 meters 0.01140391171560741 Centerline is valid? [True, True] Translation: X:43.88, Y:0.59, Z:-1.17 [[ 9.99790281e-01 1.33261108e-02 1.55502219e-02 4.38783489e+01] [-1.33249482e-02 9.99911203e-01 -1.78374261e-04 5.91235041e-01] [-1.55512181e-02 -2.88690484e-05 9.99879072e-01 -1.16796063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.464203821999995 meters 0.02148841780736361 Centerline is valid? [True, True] Translation: X:43.94, Y:0.58, Z:-1.17 [[ 9.99810054e-01 1.15601834e-02 1.56913089e-02 4.39409210e+01] [-1.15587522e-02 9.99933179e-01 -1.81901355e-04 5.84805998e-01] [-1.56923632e-02 4.94851997e-07 9.99876867e-01 -1.16774424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.524203822 meters 0.01184661192968662 Centerline is valid? [True, True] Translation: X:44.00, Y:0.59, Z:-1.17 [[ 9.99744516e-01 1.60775467e-02 1.58875898e-02 4.40029966e+01] [-1.60765966e-02 9.99870746e-01 -1.87520256e-04 5.91419799e-01] [-1.58885511e-02 -6.79460250e-05 9.99873767e-01 -1.16908649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.58420382199999 meters 0.01498776402152508 Centerline is valid? [True, True] Translation: X:44.07, Y:0.60, Z:-1.17 [[ 9.99664665e-01 2.07727212e-02 1.54613169e-02 4.40650218e+01] [-2.07723389e-02 9.99784215e-01 -1.85336801e-04 5.98171062e-01] [-1.54618306e-02 -1.35893064e-04 9.99880450e-01 -1.17159213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.644203821999994 meters 0.01903931537130031 Centerline is valid? [True, True] Translation: X:44.13, Y:0.61, Z:-1.17 [[ 9.99549176e-01 2.56678686e-02 1.55757947e-02 4.41270619e+01] [-2.56680101e-02 9.99670504e-01 -1.90861489e-04 6.05053539e-01] [-1.55755616e-02 -2.09024212e-04 9.99878672e-01 -1.17328622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.704203822 meters 0.021684304972005578 Centerline is valid? [True, True] Translation: X:44.19, Y:0.61, Z:-1.18 [[ 9.99518271e-01 2.74523323e-02 1.44773790e-02 4.41876040e+01] [-2.74526281e-02 9.99623090e-01 -1.78334661e-04 6.07557955e-01] [-1.44768180e-02 -2.19193350e-04 9.99895181e-01 -1.17795737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.76420382199999 meters 0.02330038143159601 Centerline is valid? [True, True] Translation: X:44.25, Y:0.61, Z:-1.18 [[ 9.99479818e-01 2.88973398e-02 1.43190844e-02 4.42501074e+01] [-2.88978018e-02 9.99582356e-01 -1.74680991e-04 6.07207721e-01] [-1.43181519e-02 -2.39199937e-04 9.99897461e-01 -1.18027940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.824203821999994 meters 0.023984322319381572 Centerline is valid? [True, True] Translation: X:44.31, Y:0.61, Z:-1.18 [[ 9.99476332e-01 2.91380327e-02 1.40725431e-02 4.43122629e+01] [-2.91384740e-02 9.99575369e-01 -1.73719661e-04 6.07643577e-01] [-1.40716293e-02 -2.36423742e-04 9.99900962e-01 -1.18236387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.884203821999996 meters 0.021748097826518063 Centerline is valid? [True, True] Translation: X:44.37, Y:0.60, Z:-1.18 [[ 9.99506626e-01 2.76174767e-02 1.49592667e-02 4.43746210e+01] [-2.76177596e-02 9.99618539e-01 -1.87713996e-04 6.04203777e-01] [-1.49587445e-02 -2.25520047e-04 9.99888086e-01 -1.18267981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.94420382199999 meters 0.020394392833534766 Centerline is valid? [True, True] Translation: X:44.44, Y:0.60, Z:-1.19 [[ 9.99569894e-01 2.56142644e-02 1.42806293e-02 4.44362090e+01] [-2.56142874e-02 9.99671884e-01 -1.81325339e-04 6.00784385e-01] [-1.42805882e-02 -1.84540794e-04 9.99898010e-01 -1.18679749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.004203821999994 meters 0.018305578635962782 Centerline is valid? [True, True] Translation: X:44.50, Y:0.59, Z:-1.19 [[ 9.99637934e-01 2.32123351e-02 1.36083981e-02 4.44980663e+01] [-2.32121061e-02 9.99730547e-01 -1.74795124e-04 5.92296640e-01] [-1.36087887e-02 -1.41147744e-04 9.99907386e-01 -1.19093217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.064203821999996 meters 0.01736703486863564 Centerline is valid? [True, True] Translation: X:44.56, Y:0.59, Z:-1.19 [[ 9.99639463e-01 2.31942245e-02 1.35267398e-02 4.45608051e+01] [-2.31939744e-02 9.99730968e-01 -1.75387460e-04 5.88648545e-01] [-1.35271687e-02 -1.38414630e-04 9.99908494e-01 -1.19042515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.12420382199999 meters 0.02025392659431257 Centerline is valid? [True, True] Translation: X:44.62, Y:0.60, Z:-1.19 [[ 9.99506318e-01 2.71217351e-02 1.58597489e-02 4.46229489e+01] [-2.71218201e-02 9.99632114e-01 -2.09771037e-04 6.01842186e-01] [-1.58596036e-02 -2.20477778e-04 9.99874204e-01 -1.18666077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.18420382199999 meters 0.021290708428668634 Centerline is valid? [True, True] Translation: X:44.69, Y:0.61, Z:-1.18 [[ 9.99394402e-01 2.96057224e-02 1.82846864e-02 4.46863902e+01] [-2.96061897e-02 9.99561611e-01 -2.45196759e-04 6.05912744e-01] [-1.82839298e-02 -2.96291624e-04 9.99832791e-01 -1.18419306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.244203821999996 meters 0.02079015392437146 Centerline is valid? [True, True] Translation: X:44.75, Y:0.60, Z:-1.19 [[ 9.99456542e-01 2.88034185e-02 1.60306878e-02 4.47480739e+01] [-2.88036319e-02 9.99585066e-01 -2.17623827e-04 6.03730726e-01] [-1.60303045e-02 -2.44236474e-04 9.99871477e-01 -1.19029561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.30420382199999 meters 0.018435835234701232 Centerline is valid? [True, True] Translation: X:44.81, Y:0.60, Z:-1.19 [[ 9.99532353e-01 2.71267885e-02 1.41142530e-02 4.48111529e+01] [-2.71267685e-02 9.99631983e-01 -1.92903561e-04 6.02420531e-01] [-1.41142916e-02 -1.90060722e-04 9.99900370e-01 -1.19422457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.36420382199999 meters 0.015905305331612017 Centerline is valid? [True, True] Translation: X:44.87, Y:0.60, Z:-1.20 [[ 9.99602180e-01 2.39939485e-02 1.48247229e-02 4.48728190e+01] [-2.39935294e-02 9.99712093e-01 -2.06156751e-04 5.99590897e-01] [-1.48254013e-02 -1.49622687e-04 9.99890087e-01 -1.19610204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.424203821999996 meters 0.012053533758047609 Centerline is valid? [True, True] Translation: X:44.93, Y:0.59, Z:-1.19 [[ 9.99681700e-01 1.90427706e-02 1.65490800e-02 4.49344326e+01] [-1.90414868e-02 9.99818667e-01 -2.35151924e-04 5.91553408e-01] [-1.65505571e-02 -8.00420141e-05 9.99863027e-01 -1.19486676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.48420382199999 meters 0.010823511228174128 Centerline is valid? [True, True] Translation: X:45.00, Y:0.58, Z:-1.20 [[ 9.99754801e-01 1.47071609e-02 1.65540762e-02 4.49957820e+01] [-1.47052842e-02 9.99891844e-01 -2.35091484e-04 5.84030002e-01] [-1.65557433e-02 -8.39855576e-06 9.99862944e-01 -1.19750793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.54420382199999 meters 0.01127127840113127 Centerline is valid? [True, True] Translation: X:45.06, Y:0.58, Z:-1.20 [[ 9.99811347e-01 1.12826710e-02 1.58104816e-02 4.50578083e+01] [-1.12805249e-02 9.99936348e-01 -2.24914399e-04 5.78245222e-01] [-1.58120128e-02 4.65214369e-05 9.99874981e-01 -1.19904370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.604203821999995 meters 0.012212400904830856 Centerline is valid? [True, True] Translation: X:45.12, Y:0.58, Z:-1.20 [[ 9.99826463e-01 1.08116964e-02 1.51707169e-02 4.51192877e+01] [-1.08096277e-02 9.99941550e-01 -2.18360414e-04 5.76631068e-01] [-1.51721910e-02 5.43327193e-05 9.99884894e-01 -1.20326677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.66420382199999 meters 0.013376450621528136 Centerline is valid? [True, True] Translation: X:45.18, Y:0.57, Z:-1.21 [[ 9.99859091e-01 8.67453119e-03 1.43718847e-02 4.51812279e+01] [-8.67242733e-03 9.99962372e-01 -2.08704489e-04 5.71814065e-01] [-1.43731543e-02 8.40359549e-05 9.99896697e-01 -1.20559243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.72420382199999 meters 0.015506749242481034 Centerline is valid? [True, True] Translation: X:45.24, Y:0.56, Z:-1.21 [[ 9.99883210e-01 6.15867674e-03 1.39870074e-02 4.52430396e+01] [-6.15640755e-03 9.99981028e-01 -2.05287299e-04 5.63257869e-01] [-1.39880063e-02 1.19153606e-04 9.99902156e-01 -1.20870317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.784203821999995 meters 0.017143400527835192 Centerline is valid? [True, True] Translation: X:45.30, Y:0.55, Z:-1.21 [[ 9.99878216e-01 2.91571579e-03 1.53314019e-02 4.53048430e+01] [-2.91256438e-03 9.99995733e-01 -2.27877321e-04 5.48300959e-01] [-1.53320009e-02 1.83195874e-04 9.99882441e-01 -1.20687900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.84420382199999 meters 0.016447825143794198 Centerline is valid? [True, True] Translation: X:45.37, Y:0.54, Z:-1.21 [[ 9.99884415e-01 4.27287592e-03 1.45910889e-02 4.53676935e+01] [-4.27013872e-03 9.99990859e-01 -2.18743419e-04 5.40270795e-01] [-1.45918902e-02 1.56412161e-04 9.99893520e-01 -1.21039095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.90420382199999 meters 0.01471858911981132 Centerline is valid? [True, True] Translation: X:45.43, Y:0.54, Z:-1.21 [[ 9.99862672e-01 7.50570182e-03 1.47750005e-02 4.54288524e+01] [-7.50319796e-03 9.99971825e-01 -2.24892515e-04 5.35164442e-01] [-1.47762722e-02 1.14001878e-04 9.99890818e-01 -1.21279208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.964203821999995 meters 0.011967046104377224 Centerline is valid? [True, True] Translation: X:45.49, Y:0.53, Z:-1.21 [[ 9.99831772e-01 1.26276799e-02 1.33029565e-02 4.54914256e+01] [-1.26260634e-02 9.99920267e-01 -2.05497219e-04 5.30243105e-01] [-1.33044907e-02 3.74986771e-05 9.99911491e-01 -1.21442134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.024203822 meters 0.01268782277663747 Centerline is valid? [True, True] Translation: X:45.55, Y:0.53, Z:-1.22 [[ 9.99771700e-01 1.66066932e-02 1.34449014e-02 4.55525651e+01] [-1.66054104e-02 9.99862099e-01 -2.07048256e-04 5.30319627e-01] [-1.34464857e-02 -1.62571185e-05 9.99909592e-01 -1.21881636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.08420382199999 meters 0.011594799918097053 Centerline is valid? [True, True] Translation: X:45.62, Y:0.53, Z:-1.21 [[ 9.99635846e-01 2.06105680e-02 1.74177934e-02 4.56153449e+01] [-2.06089330e-02 9.99787576e-01 -2.73376587e-04 5.25366937e-01] [-1.74197279e-02 -8.56851020e-05 9.99848261e-01 -1.21057631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.144203821999994 meters 0.012708170869663167 Centerline is valid? [True, True] Translation: X:45.68, Y:0.52, Z:-1.22 [[ 9.99648954e-01 2.12008536e-02 1.58899849e-02 4.56767221e+01] [-2.11995610e-02 9.99775233e-01 -2.49804934e-04 5.19184897e-01] [-1.58917094e-02 -8.71434625e-05 9.99873715e-01 -1.21622027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.204203822 meters 0.013237899187644082 Centerline is valid? [True, True] Translation: X:45.74, Y:0.51, Z:-1.22 [[ 9.99629456e-01 2.22034827e-02 1.57466097e-02 4.57395505e+01] [-2.22023362e-02 9.99753467e-01 -2.47644104e-04 5.09055030e-01] [-1.57482262e-02 -1.02059181e-04 9.99875984e-01 -1.21923955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.26420382199999 meters 0.013222227546678284 Centerline is valid? [True, True] Translation: X:45.80, Y:0.50, Z:-1.22 [[ 9.99637144e-01 2.26188099e-02 1.46276887e-02 4.58018217e+01] [-2.26178266e-02 9.99744157e-01 -2.32669708e-04 5.02040386e-01] [-1.46292090e-02 -9.82612432e-05 9.99892983e-01 -1.22086424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.324203821999994 meters 0.013802671410309428 Centerline is valid? [True, True] Translation: X:45.86, Y:0.49, Z:-1.22 [[ 9.99629981e-01 2.28803986e-02 1.47101205e-02 4.58636529e+01] [-2.28793973e-02 9.99738204e-01 -2.36375645e-04 4.91730263e-01] [-1.47116778e-02 -1.00270510e-04 9.99891772e-01 -1.22376740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.384203821999996 meters 0.014589955748017894 Centerline is valid? [True, True] Translation: X:45.92, Y:0.48, Z:-1.23 [[ 9.99625988e-01 2.34547898e-02 1.40626053e-02 4.59247646e+01] [-2.34538929e-02 9.99724893e-01 -2.28713726e-04 4.83076808e-01] [-1.40641011e-02 -1.01194656e-04 9.99901091e-01 -1.22760503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.44420382199999 meters 0.017581564061391292 Centerline is valid? [True, True] Translation: X:45.99, Y:0.48, Z:-1.23 [[ 9.99564685e-01 2.68032284e-02 1.23299352e-02 4.59870074e+01] [-2.68027556e-02 9.99640721e-01 -2.03623083e-04 4.79102667e-01] [-1.23309631e-02 -1.26941796e-04 9.99923963e-01 -1.23188660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.504203821999994 meters 0.021556097678698437 Centerline is valid? [True, True] Translation: X:46.05, Y:0.48, Z:-1.24 [[ 9.99477281e-01 2.98956786e-02 1.23049960e-02 4.60477605e+01] [-2.98954562e-02 9.99553011e-01 -2.02052833e-04 4.79346619e-01] [-1.23055363e-02 -1.65916253e-04 9.99924270e-01 -1.23525806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.564203821999996 meters 0.022203949344752023 Centerline is valid? [True, True] Translation: X:46.11, Y:0.48, Z:-1.23 [[ 9.99410913e-01 3.19966843e-02 1.24112738e-02 4.61100200e+01] [-3.19965989e-02 9.99487957e-01 -2.05495562e-04 4.76101174e-01] [-1.24114938e-02 -1.91744041e-04 9.99922956e-01 -1.23498533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.62420382199999 meters 0.023590914995703493 Centerline is valid? [True, True] Translation: X:46.17, Y:0.47, Z:-1.23 [[ 9.99304080e-01 3.43393648e-02 1.45658092e-02 4.61730814e+01] [-3.43394544e-02 9.99410197e-01 -2.44028123e-04 4.73972993e-01] [-1.45655980e-02 -2.56323641e-04 9.99893883e-01 -1.23275850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.68420382199999 meters 0.02129355151726584 Centerline is valid? [True, True] Translation: X:46.24, Y:0.47, Z:-1.23 [[ 9.99281057e-01 3.41497709e-02 1.64670267e-02 4.62357246e+01] [-3.41497774e-02 9.99416687e-01 -2.80876480e-04 4.67569487e-01] [-1.64670132e-02 -2.81670752e-04 9.99864370e-01 -1.22984712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.744203821999996 meters 0.021173652407006548 Centerline is valid? [True, True] Translation: X:46.30, Y:0.46, Z:-1.23 [[ 9.99336536e-01 3.27545420e-02 1.59256652e-02 4.62969396e+01] [-3.27543620e-02 9.99463395e-01 -2.72210166e-04 4.62602341e-01] [-1.59260355e-02 -2.49605438e-04 9.99873141e-01 -1.23421173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.80420382199999 meters 0.02128210828243012 Centerline is valid? [True, True] Translation: X:46.36, Y:0.45, Z:-1.24 [[ 9.99393714e-01 3.23569767e-02 1.28542035e-02 4.63589127e+01] [-3.23568131e-02 9.99476357e-01 -2.20754810e-04 4.54976848e-01] [-1.28546155e-02 -1.95300091e-04 9.99917357e-01 -1.24121018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.86420382199999 meters 0.022422657129673316 Centerline is valid? [True, True] Translation: X:46.42, Y:0.45, Z:-1.25 [[ 9.99402780e-01 3.26575467e-02 1.12945943e-02 4.64194498e+01] [-3.26573965e-02 9.99466585e-01 -1.97771997e-04 4.53935467e-01] [-1.12950284e-02 -1.71198161e-04 9.99936194e-01 -1.24609636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.924203821999996 meters 0.02350250378481425 Centerline is valid? [True, True] Translation: X:46.48, Y:0.45, Z:-1.25 [[ 9.99358434e-01 3.38626761e-02 1.16635997e-02 4.64811146e+01] [-3.38626206e-02 9.99426477e-01 -2.02305573e-04 4.53048903e-01] [-1.16637609e-02 -1.92784268e-04 9.99931957e-01 -1.24779810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.98420382199999 meters 0.026037076554699463 Centerline is valid? [True, True] Translation: X:46.54, Y:0.45, Z:-1.25 [[ 9.99233320e-01 3.71054649e-02 1.24882345e-02 4.65431204e+01] [-3.71056295e-02 9.99311325e-01 -2.18604368e-04 4.52447452e-01] [-1.24877456e-02 -2.44947033e-04 9.99921995e-01 -1.24785213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.04420382199999 meters 0.026413984505921615 Centerline is valid? [True, True] Translation: X:46.61, Y:0.45, Z:-1.25 [[ 9.99160324e-01 3.84185224e-02 1.42360243e-02 4.66066659e+01] [-3.84188317e-02 9.99261692e-01 -2.51848552e-04 4.51556597e-01] [-1.42351894e-02 -2.95294341e-04 9.99898631e-01 -1.24563664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.104203821999995 meters 0.026389564317456198 Centerline is valid? [True, True] Translation: X:46.67, Y:0.45, Z:-1.25 [[ 9.99158939e-01 3.85800732e-02 1.38921830e-02 4.66693108e+01] [-3.85803488e-02 9.99255470e-01 -2.48261861e-04 4.50047029e-01] [-1.38914179e-02 -2.87912209e-04 9.99903468e-01 -1.24816102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.16420382199999 meters 0.031267382925332134 Centerline is valid? [True, True] Translation: X:46.73, Y:0.44, Z:-1.25 [[ 9.99240597e-01 3.66818597e-02 1.31403893e-02 4.67315624e+01] [-3.66819082e-02 9.99326964e-01 -2.37412024e-04 4.43378843e-01] [-1.31402541e-02 -2.44782820e-04 9.99913633e-01 -1.25217904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.22420382199999 meters 0.022811503358899938 Centerline is valid? [True, True] Translation: X:46.79, Y:0.44, Z:-1.25 [[ 9.99260309e-01 3.62596426e-02 1.28090950e-02 4.67947288e+01] [-3.62596348e-02 9.99342376e-01 -2.32920593e-04 4.37804613e-01] [-1.28091171e-02 -2.31704805e-04 9.99917933e-01 -1.25349687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.284203821999995 meters 0.024143542068615055 Centerline is valid? [True, True] Translation: X:46.86, Y:0.44, Z:-1.26 [[ 9.99252226e-01 3.64280699e-02 1.29609098e-02 4.68568503e+01] [-3.64280396e-02 9.99336250e-01 -2.38494974e-04 4.35748108e-01] [-1.29609950e-02 -2.33823904e-04 9.99915975e-01 -1.25552389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.34420382199999 meters 0.024518267733147 Centerline is valid? [True, True] Translation: X:46.92, Y:0.43, Z:-1.26 [[ 9.99242203e-01 3.67431573e-02 1.28436437e-02 4.69197274e+01] [-3.67431253e-02 9.99324715e-01 -2.38538423e-04 4.32498272e-01] [-1.28437352e-02 -2.33557950e-04 9.99917489e-01 -1.25731465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.40420382199999 meters 0.02436070421045055 Centerline is valid? [True, True] Translation: X:46.98, Y:0.43, Z:-1.26 [[ 9.99242565e-01 3.70864567e-02 1.17852361e-02 4.69820066e+01] [-3.70864288e-02 9.99312037e-01 -2.20988866e-04 4.29453083e-01] [-1.17853240e-02 -2.16250837e-04 9.99930527e-01 -1.26029294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.464203821999995 meters 0.025260133337772956 Centerline is valid? [True, True] Translation: X:47.04, Y:0.43, Z:-1.26 [[ 9.99155168e-01 3.91560283e-02 1.24802174e-02 4.70436766e+01] [-3.91561270e-02 9.99233077e-01 -2.36528039e-04 4.30111805e-01] [-1.24799075e-02 -2.52348765e-04 9.99922091e-01 -1.26078621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.52420382199999 meters 0.027244589967271148 Centerline is valid? [True, True] Translation: X:47.11, Y:0.43, Z:-1.26 [[ 9.99033187e-01 4.20507752e-02 1.28227808e-02 4.71054470e+01] [-4.20510907e-02 9.99115432e-01 -2.45127010e-04 4.29843374e-01] [-1.28217459e-02 -2.94321899e-04 9.99917755e-01 -1.26095086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.58420382199999 meters 0.030119680763441608 Centerline is valid? [True, True] Translation: X:47.17, Y:0.43, Z:-1.27 [[ 9.99004168e-01 4.29690584e-02 1.20138309e-02 4.71661096e+01] [-4.29693548e-02 9.99076363e-01 -2.33573357e-04 4.33122084e-01] [-1.20127710e-02 -2.82885806e-04 9.99927804e-01 -1.26576024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.644203821999994 meters 0.031229946566724603 Centerline is valid? [True, True] Translation: X:47.23, Y:0.44, Z:-1.27 [[ 9.99000010e-01 4.33468578e-02 1.09558563e-02 4.72274688e+01] [-4.33471497e-02 9.99060048e-01 -2.10920560e-04 4.35587760e-01] [-1.09547011e-02 -2.64195502e-04 9.99939961e-01 -1.27065086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.704203822 meters 0.031213602285249747 Centerline is valid? [True, True] Translation: X:47.29, Y:0.43, Z:-1.27 [[ 9.98936692e-01 4.44264381e-02 1.23197497e-02 4.72908534e+01] [-4.44268675e-02 9.99012611e-01 -2.38956983e-04 4.34054067e-01] [-1.23182013e-02 -3.08624989e-04 9.99924080e-01 -1.27037741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.76420382199999 meters 0.03146980062601676 Centerline is valid? [True, True] Translation: X:47.35, Y:0.43, Z:-1.27 [[ 9.98978517e-01 4.37694245e-02 1.12321224e-02 4.73531868e+01] [-4.37697188e-02 9.99041622e-01 -2.19738862e-04 4.31445316e-01] [-1.12309757e-02 -2.72112438e-04 9.99936894e-01 -1.27440514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.824203821999994 meters 0.02976940494733857 Centerline is valid? [True, True] Translation: X:47.42, Y:0.43, Z:-1.27 [[ 9.98993014e-01 4.34020362e-02 1.13675120e-02 4.74158505e+01] [-4.34022671e-02 9.99057652e-01 -2.26501688e-04 4.28204212e-01] [-1.13666305e-02 -2.67102188e-04 9.99935362e-01 -1.27450599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.884203821999996 meters 0.02995795366922267 Centerline is valid? [True, True] Translation: X:47.48, Y:0.43, Z:-1.28 [[ 9.98987981e-01 4.34004676e-02 1.18073200e-02 4.74779615e+01] [-4.34007288e-02 9.99057717e-01 -2.34233248e-04 4.25025724e-01] [-1.18063600e-02 -2.78450095e-04 9.99930264e-01 -1.27535184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.94420382199999 meters 0.03081011293554673 Centerline is valid? [True, True] Translation: X:47.54, Y:0.42, Z:-1.28 [[ 9.98904533e-01 4.50681785e-02 1.25933827e-02 4.75403822e+01] [-4.50685783e-02 9.98983864e-01 -2.52183408e-04 4.21908947e-01] [-1.25919516e-02 -3.15658707e-04 9.99920668e-01 -1.27548316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.004203821999994 meters 0.037745969507403034 Centerline is valid? [True, True] Translation: X:47.60, Y:0.43, Z:-1.28 [[ 9.98644311e-01 5.09367138e-02 1.07234222e-02 4.76007636e+01] [-5.09372984e-02 9.98701829e-01 -2.18781600e-04 4.32916448e-01] [-1.07206453e-02 -3.27737154e-04 9.99942479e-01 -1.28085901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.064203821999996 meters 0.04150550456747137 Centerline is valid? [True, True] Translation: X:47.66, Y:0.44, Z:-1.28 [[ 9.98479379e-01 5.41807167e-02 1.01675822e-02 4.76615103e+01] [-5.41814118e-02 9.98531087e-01 -2.07281837e-04 4.38918197e-01] [-1.01638776e-02 -3.43927317e-04 9.99948287e-01 -1.28392870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.12420382199999 meters 0.04551075768016044 Centerline is valid? [True, True] Translation: X:47.72, Y:0.44, Z:-1.29 [[ 9.98311521e-01 5.72954337e-02 9.55719027e-03 4.77230214e+01] [-5.72961916e-02 9.98357205e-01 -1.94705901e-04 4.41212260e-01] [-9.55264553e-03 -3.53213461e-04 9.99954310e-01 -1.28673870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.18420382199999 meters 0.04273793409628903 Centerline is valid? [True, True] Translation: X:47.79, Y:0.44, Z:-1.29 [[ 9.98226179e-01 5.87038236e-02 9.91751732e-03 4.77856506e+01] [-5.87047343e-02 9.98275370e-01 -1.99505630e-04 4.40939444e-01] [-9.91212501e-03 -3.83053477e-04 9.99950800e-01 -1.28609456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.244203821999996 meters 0.04528822916948068 Centerline is valid? [True, True] Translation: X:47.85, Y:0.45, Z:-1.29 [[ 9.98237810e-01 5.83650589e-02 1.07141826e-02 4.78467714e+01] [-5.83660643e-02 9.98295224e-01 -2.19091395e-04 4.45564492e-01] [-1.07087046e-02 -4.06639357e-04 9.99942577e-01 -1.28878778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.30420382199999 meters 0.04374417531452852 Centerline is valid? [True, True] Translation: X:47.91, Y:0.44, Z:-1.29 [[ 9.98480092e-01 5.42597803e-02 9.66342822e-03 4.79067971e+01] [-5.42603818e-02 9.98526800e-01 -2.00123085e-04 4.43944288e-01] [-9.66005069e-03 -3.24522388e-04 9.99953288e-01 -1.29479734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.36420382199999 meters 0.03805852642840205 Centerline is valid? [True, True] Translation: X:47.97, Y:0.44, Z:-1.30 [[ 9.98666711e-01 5.07888646e-02 9.23537956e-03 4.79678939e+01] [-5.07892699e-02 9.98709374e-01 -1.90798443e-04 4.35752202e-01] [-9.23315057e-03 -2.78514132e-04 9.99957335e-01 -1.29533594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.424203821999996 meters 0.0324371497956885 Centerline is valid? [True, True] Translation: X:48.03, Y:0.43, Z:-1.29 [[ 9.98918267e-01 4.53014950e-02 1.04914332e-02 4.80281991e+01] [-4.53017080e-02 9.98973327e-01 -2.17464550e-04 4.31879354e-01] [-1.04905134e-02 -2.58050530e-04 9.99944940e-01 -1.29476158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.48420382199999 meters 0.02322726426070648 Centerline is valid? [True, True] Translation: X:48.09, Y:0.41, Z:-1.30 [[ 9.99264854e-01 3.69752527e-02 1.01282582e-02 4.80884482e+01] [-3.69750244e-02 9.99316168e-01 -2.09854657e-04 4.14714220e-01] [-1.01290916e-02 -1.64792210e-04 9.99948686e-01 -1.29717791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.54420382199999 meters 0.017936666441083975 Centerline is valid? [True, True] Translation: X:48.15, Y:0.40, Z:-1.30 [[ 9.99474760e-01 3.07887732e-02 1.01121231e-02 4.81497940e+01] [-3.07882333e-02 9.99525908e-01 -2.09089057e-04 4.03025255e-01] [-1.01137666e-02 -1.02355170e-04 9.99948849e-01 -1.29975247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.604203821999995 meters 0.014586037775838839 Centerline is valid? [True, True] Translation: X:48.21, Y:0.39, Z:-1.30 [[ 9.99614487e-01 2.56839273e-02 1.05457962e-02 4.82119019e+01] [-2.56830768e-02 9.99670112e-01 -2.16096807e-04 3.93061378e-01] [-1.05478675e-02 -5.48349942e-05 9.99944368e-01 -1.30065322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.66420382199999 meters 0.015564500303825744 Centerline is valid? [True, True] Translation: X:48.27, Y:0.39, Z:-1.30 [[ 9.99563653e-01 2.76959407e-02 1.02683514e-02 4.82739516e+01] [-2.76952245e-02 9.99616391e-01 -2.11959287e-04 3.94170760e-01] [-1.02702827e-02 -7.25174970e-05 9.99947257e-01 -1.30191408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.72420382199999 meters 0.022151071739336083 Centerline is valid? [True, True] Translation: X:48.34, Y:0.40, Z:-1.31 [[ 9.99316751e-01 3.59427543e-02 8.61106872e-03 4.83350009e+01] [-3.59425241e-02 9.99353842e-01 -1.81537794e-04 4.04221419e-01] [-8.61202958e-03 -1.28089787e-04 9.99962908e-01 -1.30549820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.784203821999995 meters 0.03616422838439763 Centerline is valid? [True, True] Translation: X:48.39, Y:0.43, Z:-1.31 [[ 9.98821916e-01 4.74378867e-02 1.02189956e-02 4.83949453e+01] [-4.74381605e-02 9.98874153e-01 -2.15736713e-04 4.26879748e-01] [-1.02177247e-02 -2.69287797e-04 9.99947761e-01 -1.30584966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.84420382199999 meters 0.039551041545368676 Centerline is valid? [True, True] Translation: X:48.46, Y:0.43, Z:-1.31 [[ 9.98569808e-01 5.25057246e-02 1.00740873e-02 4.84557912e+01] [-5.25062487e-02 9.98620573e-01 -2.12634507e-04 4.34055406e-01] [-1.00713554e-02 -3.16622137e-04 9.99949232e-01 -1.30615698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.90420382199999 meters 0.04099371250708418 Centerline is valid? [True, True] Translation: X:48.52, Y:0.44, Z:-1.31 [[ 9.98483474e-01 5.38741488e-02 1.13281862e-02 4.85176238e+01] [-5.38749255e-02 9.98547664e-01 -2.36814794e-04 4.37278758e-01] [-1.13244921e-02 -3.73849531e-04 9.99935806e-01 -1.30677521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.964203821999995 meters 0.03595144950450484 Centerline is valid? [True, True] Translation: X:48.58, Y:0.43, Z:-1.31 [[ 9.98578743e-01 5.19703912e-02 1.18141139e-02 4.85791209e+01] [-5.19710540e-02 9.98648560e-01 -2.51105080e-04 4.29727658e-01] [-1.18111978e-02 -3.63243755e-04 9.99930179e-01 -1.30610456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.02420382199999 meters 0.032915009931174806 Centerline is valid? [True, True] Translation: X:48.64, Y:0.42, Z:-1.31 [[ 9.98803767e-01 4.74276482e-02 1.19018548e-02 4.86383787e+01] [-4.74279877e-02 9.98874628e-01 -2.53882161e-04 4.21485006e-01] [-1.19005018e-02 -3.10902563e-04 9.99929138e-01 -1.30885309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.08420382199999 meters 0.028013029920076284 Centerline is valid? [True, True] Translation: X:48.70, Y:0.41, Z:-1.31 [[ 9.98940877e-01 4.45614734e-02 1.14629208e-02 4.86992734e+01] [-4.45616085e-02 9.99006608e-01 -2.43755586e-04 4.11926996e-01] [-1.14623957e-02 -2.67308769e-04 9.99934269e-01 -1.31019370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.144203821999994 meters 0.028997481786980795 Centerline is valid? [True, True] Translation: X:48.76, Y:0.41, Z:-1.32 [[ 9.99014640e-01 4.30050729e-02 1.09686924e-02 4.87599958e+01] [-4.30051264e-02 9.99074825e-01 -2.31092687e-04 4.06438850e-01] [-1.09684826e-02 -2.40845026e-04 9.99939815e-01 -1.31541631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.20420382199999 meters 0.028540378732548354 Centerline is valid? [True, True] Translation: X:48.82, Y:0.40, Z:-1.32 [[ 9.98996058e-01 4.34528193e-02 1.08962987e-02 4.88233916e+01] [-4.34528869e-02 9.99055451e-01 -2.30657464e-04 4.03366539e-01] [-1.08960294e-02 -2.43049739e-04 9.99940607e-01 -1.31614439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.26420382199999 meters 0.028226263595865355 Centerline is valid? [True, True] Translation: X:48.89, Y:0.40, Z:-1.32 [[ 9.98935230e-01 4.48980873e-02 1.06098218e-02 4.88853961e+01] [-4.48982093e-02 9.98991541e-01 -2.26811076e-04 3.95650521e-01] [-1.06093056e-02 -2.49792424e-04 9.99943689e-01 -1.31593457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.324203821999994 meters 0.031130481751752016 Centerline is valid? [True, True] Translation: X:48.95, Y:0.39, Z:-1.32 [[ 9.98920289e-01 4.54999896e-02 9.38124843e-03 4.89468012e+01] [-4.55000992e-02 9.98964314e-01 -2.01862088e-04 3.94622582e-01] [-9.38071713e-03 -2.25203599e-04 9.99955975e-01 -1.32155226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.384203821999996 meters 0.0348425644105127 Centerline is valid? [True, True] Translation: X:49.01, Y:0.39, Z:-1.32 [[ 9.98838628e-01 4.68111832e-02 1.14064744e-02 4.90082629e+01] [-4.68113976e-02 9.98903715e-01 -2.48334465e-04 3.94641985e-01] [-1.14055945e-02 -2.85906952e-04 9.99934913e-01 -1.32238835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.44420382199999 meters 0.03570092391607404 Centerline is valid? [True, True] Translation: X:49.07, Y:0.39, Z:-1.32 [[ 9.98668974e-01 5.02311177e-02 1.17096077e-02 4.90693438e+01] [-5.02315285e-02 9.98737566e-01 -2.59202899e-04 3.90198379e-01] [-1.17078452e-02 -3.29333600e-04 9.99931407e-01 -1.32107421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.504203821999994 meters 0.04342037750104604 Centerline is valid? [True, True] Translation: X:49.13, Y:0.40, Z:-1.32 [[ 9.98289079e-01 5.74683176e-02 1.07846108e-02 4.91308448e+01] [-5.74690880e-02 9.98347258e-01 -2.38706584e-04 4.01329160e-01] [-1.07805047e-02 -3.81483571e-04 9.99941816e-01 -1.32416031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.564203821999996 meters 0.05327974327531029 Centerline is valid? [True, True] Translation: X:49.19, Y:0.41, Z:-1.33 [[ 9.98041677e-01 6.20419132e-02 7.97567502e-03 4.91906514e+01] [-6.20424858e-02 9.98073494e-01 -1.75850210e-04 4.13885476e-01] [-7.97121992e-03 -3.19324866e-04 9.99968178e-01 -1.33344116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.62420382199999 meters 0.05190353282361183 Centerline is valid? [True, True] Translation: X:49.25, Y:0.42, Z:-1.33 [[ 9.97829857e-01 6.53154223e-02 8.33500858e-03 4.92518763e+01] [-6.53161507e-02 9.97864603e-01 -1.85081760e-04 4.15369604e-01] [-8.32929872e-03 -3.59730571e-04 9.99965246e-01 -1.33056825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.68420382199999 meters 0.04978625384645478 Centerline is valid? [True, True] Translation: X:49.31, Y:0.41, Z:-1.33 [[ 9.97900248e-01 6.41672273e-02 8.81263513e-03 4.93126564e+01] [-6.41679938e-02 9.97939091e-01 -1.96043438e-04 4.13279641e-01] [-8.80705265e-03 -3.69857321e-04 9.99961149e-01 -1.33046916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.744203821999996 meters 0.04516692941486282 Centerline is valid? [True, True] Translation: X:49.37, Y:0.42, Z:-1.33 [[ 9.98168900e-01 5.91355764e-02 1.27212849e-02 4.93723904e+01] [-5.91367629e-02 9.98249850e-01 -2.83201856e-04 4.16005159e-01] [-1.27157680e-02 -4.69612323e-04 9.99919041e-01 -1.32599596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.80420382199999 meters 0.040288207211423954 Centerline is valid? [True, True] Translation: X:49.43, Y:0.41, Z:-1.33 [[ 9.98394847e-01 5.48450669e-02 1.41332429e-02 4.94334158e+01] [-5.48461085e-02 9.98494770e-01 -3.14179851e-04 4.10880691e-01] [-1.41292003e-02 -4.61477827e-04 9.99900071e-01 -1.32550111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.86420382199999 meters 0.03373212728645868 Centerline is valid? [True, True] Translation: X:49.49, Y:0.41, Z:-1.32 [[ 9.98613592e-01 5.02142754e-02 1.57930569e-02 4.94940346e+01] [-5.02149975e-02 9.98738370e-01 -3.51071238e-04 4.05614396e-01] [-1.57907607e-02 -4.42463802e-04 9.99875220e-01 -1.32313142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.924203821999996 meters 0.030690860145508266 Centerline is valid? [True, True] Translation: X:49.55, Y:0.40, Z:-1.33 [[ 9.98851331e-01 4.61573866e-02 1.28652183e-02 4.95542833e+01] [-4.61575294e-02 9.98934132e-01 -2.85979488e-04 4.03868282e-01] [-1.28647057e-02 -3.08175698e-04 9.99917199e-01 -1.33115522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.98420382199999 meters 0.030455051127380513 Centerline is valid? [True, True] Translation: X:49.62, Y:0.40, Z:-1.33 [[ 9.98956774e-01 4.38897008e-02 1.26118183e-02 4.96152424e+01] [-4.38896845e-02 9.99036345e-01 -2.78205419e-04 3.98612916e-01] [-1.26118752e-02 -2.75613539e-04 9.99920429e-01 -1.33423507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.04420382199999 meters 0.027847273192010153 Centerline is valid? [True, True] Translation: X:49.68, Y:0.40, Z:-1.34 [[ 9.99041011e-01 4.29907663e-02 8.29767933e-03 4.96769072e+01] [-4.29907306e-02 9.99075454e-01 -1.82747893e-04 3.96588461e-01] [-8.29786422e-03 -1.74150657e-04 9.99965557e-01 -1.33999320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.104203821999995 meters 0.027668451583407267 Centerline is valid? [True, True] Translation: X:49.74, Y:0.40, Z:-1.34 [[ 9.99078395e-01 4.21453917e-02 8.13183040e-03 4.97378097e+01] [-4.21453198e-02 9.99111475e-01 -1.80285546e-04 4.00971582e-01] [-8.13220327e-03 -1.62599199e-04 9.99966920e-01 -1.34351007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.16420382199999 meters 0.023507363951583416 Centerline is valid? [True, True] Translation: X:49.80, Y:0.39, Z:-1.34 [[ 9.99121564e-01 4.07734764e-02 9.67590360e-03 4.97999944e+01] [-4.07732918e-02 9.99168400e-01 -2.16419949e-04 3.93487094e-01] [-9.67668131e-03 -1.78288603e-04 9.99953164e-01 -1.33908107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.22420382199999 meters 0.0236447549111869 Centerline is valid? [True, True] Translation: X:49.86, Y:0.40, Z:-1.34 [[ 9.99126517e-01 3.97405966e-02 1.29185386e-02 4.98603223e+01] [-3.97400974e-02 9.99210007e-01 -2.95442490e-04 3.95035187e-01] [-1.29200741e-02 -2.18199556e-04 9.99916509e-01 -1.33697536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.284203821999995 meters 0.022547766693099477 Centerline is valid? [True, True] Translation: X:49.92, Y:0.40, Z:-1.34 [[ 9.99097490e-01 4.05070905e-02 1.27820672e-02 4.99226164e+01] [-4.05066955e-02 9.99179225e-01 -2.89894932e-04 3.96470192e-01] [-1.27833188e-02 -2.28126007e-04 9.99918264e-01 -1.33726830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.34420382199999 meters 0.025848772457927008 Centerline is valid? [True, True] Translation: X:49.98, Y:0.40, Z:-1.34 [[ 9.99043750e-01 4.20952369e-02 1.18142131e-02 4.99837820e+01] [-4.20949882e-02 9.99113577e-01 -2.69831416e-04 4.00756960e-01] [-1.18150993e-02 -2.27745770e-04 9.99930173e-01 -1.34271952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.40420382199999 meters 0.023894624952458022 Centerline is valid? [True, True] Translation: X:50.05, Y:0.40, Z:-1.35 [[ 9.99136734e-01 4.01575337e-02 1.06376077e-02 5.00460911e+01] [-4.01572108e-02 9.99193344e-01 -2.44038667e-04 3.99066376e-01] [-1.06388268e-02 -1.83348658e-04 9.99943389e-01 -1.34674835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.464203821999995 meters 0.020635552438722348 Centerline is valid? [True, True] Translation: X:50.11, Y:0.39, Z:-1.35 [[ 9.99315532e-01 3.59954328e-02 8.53207845e-03 5.01076313e+01] [-3.59950694e-02 9.99351948e-01 -1.96192688e-04 3.89425133e-01] [-8.53361126e-03 -1.11054356e-04 9.99963582e-01 -1.35300960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.52420382199999 meters 0.014259213544455055 Centerline is valid? [True, True] Translation: X:50.17, Y:0.37, Z:-1.35 [[ 9.99556351e-01 2.77208098e-02 1.08930088e-02 5.01683312e+01] [-2.77196614e-02 9.99615703e-01 -2.56424828e-04 3.70662944e-01] [-1.08959310e-02 -4.56394503e-05 9.99940637e-01 -1.35138367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.58420382199999 meters 0.013805604366000005 Centerline is valid? [True, True] Translation: X:50.23, Y:0.36, Z:-1.35 [[ 9.99699479e-01 2.25723942e-02 9.56233303e-03 5.02296960e+01] [-2.25712993e-02 9.99745211e-01 -2.22409931e-04 3.57048911e-01] [-9.56491698e-03 6.50881103e-06 9.99954255e-01 -1.35406555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.644203821999994 meters 0.013877399715027756 Centerline is valid? [True, True] Translation: X:50.29, Y:0.35, Z:-1.36 [[ 9.99680120e-01 2.36543508e-02 8.95155296e-03 5.02919262e+01] [-2.36534274e-02 9.99720197e-01 -2.09018420e-04 3.48950308e-01] [-8.95399248e-03 -2.78334928e-06 9.99959912e-01 -1.35699513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.70420382199999 meters 0.014084589400288672 Centerline is valid? [True, True] Translation: X:50.35, Y:0.35, Z:-1.36 [[ 9.99564934e-01 2.77389190e-02 1.00246840e-02 5.03538837e+01] [-2.77379437e-02 9.99615201e-01 -2.36339273e-04 3.46867762e-01] [-1.00273823e-02 -4.18276693e-05 9.99949724e-01 -1.35625896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.76420382199999 meters 0.01951584538507489 Centerline is valid? [True, True] Translation: X:50.42, Y:0.35, Z:-1.36 [[ 9.99301503e-01 3.59398780e-02 1.02386863e-02 5.04150965e+01] [-3.59392563e-02 9.99353946e-01 -2.44758945e-04 3.54500239e-01] [-1.02408681e-02 -1.23382788e-04 9.99947553e-01 -1.35687855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.824203821999994 meters 0.0274548533135276 Centerline is valid? [True, True] Translation: X:50.48, Y:0.36, Z:-1.36 [[ 9.98949196e-01 4.45425168e-02 1.07920284e-02 5.04766568e+01] [-4.45423044e-02 9.99007465e-01 -2.60160382e-04 3.62181010e-01] [-1.07929051e-02 -2.20814808e-04 9.99941731e-01 -1.35807592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.88420382199999 meters 0.03477010938494633 Centerline is valid? [True, True] Translation: X:50.54, Y:0.36, Z:-1.36 [[ 9.98649343e-01 5.10974790e-02 9.40944700e-03 5.05368711e+01] [-5.10976030e-02 9.98693638e-01 -2.27385072e-04 3.61693202e-01] [-9.40877366e-03 -2.53722234e-04 9.99955704e-01 -1.36305312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.94420382199999 meters 0.03863956331523926 Centerline is valid? [True, True] Translation: X:50.60, Y:0.36, Z:-1.37 [[ 9.98471570e-01 5.48337997e-02 6.91215975e-03 5.05972791e+01] [-5.48339563e-02 9.98495473e-01 -1.67008308e-04 3.64352980e-01] [-6.91091792e-03 -2.12268018e-04 9.99976097e-01 -1.36886284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.004203821999994 meters 0.044614577236565416 Centerline is valid? [True, True] Translation: X:50.66, Y:0.37, Z:-1.37 [[ 9.98069433e-01 6.17849623e-02 6.32660933e-03 5.06580195e+01] [-6.17852366e-02 9.98089456e-01 -1.52260532e-04 3.73211740e-01] [-6.32392947e-03 -2.38924472e-04 9.99979975e-01 -1.37153190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.064203821999996 meters 0.04854847305678038 Centerline is valid? [True, True] Translation: X:50.72, Y:0.38, Z:-1.37 [[ 9.97914931e-01 6.42134966e-02 6.51281415e-03 5.07176766e+01] [-6.42138324e-02 9.97936150e-01 -1.57748770e-04 3.75697310e-01] [-6.50950227e-03 -2.60792903e-04 9.99978779e-01 -1.37401613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.12420382199999 meters 0.051525477115590794 Centerline is valid? [True, True] Translation: X:50.78, Y:0.38, Z:-1.37 [[ 9.97645255e-01 6.81735473e-02 7.50416094e-03 5.07781154e+01] [-6.81741041e-02 9.97673423e-01 -1.81870320e-04 3.77058236e-01] [-7.49910068e-03 -3.30147388e-04 9.99971827e-01 -1.37219680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.18420382199999 meters 0.05537564202057935 Centerline is valid? [True, True] Translation: X:50.84, Y:0.39, Z:-1.37 [[ 9.97571752e-01 6.89806797e-02 9.60552952e-03 5.08383499e+01] [-6.89816314e-02 9.97617903e-01 -2.32586039e-04 3.86521940e-01] [-9.59869216e-03 -4.30583835e-04 9.99953839e-01 -1.37265881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.244203821999996 meters 0.05200369624117443 Centerline is valid? [True, True] Translation: X:50.90, Y:0.39, Z:-1.38 [[ 9.97700202e-01 6.72070421e-02 8.80454686e-03 5.08991438e+01] [-6.72077775e-02 9.97738979e-01 -2.12647885e-04 3.85675743e-01] [-8.79893102e-03 -3.79575189e-04 9.99961217e-01 -1.37629770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.30420382199999 meters 0.05009489427057932 Centerline is valid? [True, True] Translation: X:50.96, Y:0.38, Z:-1.39 [[ 9.98039677e-01 6.24162238e-02 4.58460771e-03 5.09596288e+01] [-6.24163745e-02 9.98050191e-01 -1.10342184e-04 3.80425858e-01] [-4.58255574e-03 -1.76028714e-04 9.99989485e-01 -1.38736492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.36420382199999 meters 0.042939215912236685 Centerline is valid? [True, True] Translation: X:51.02, Y:0.37, Z:-1.39 [[ 9.98300764e-01 5.81698814e-02 3.44224193e-03 5.10205484e+01] [-5.81699404e-02 9.98306692e-01 -8.30520597e-05 3.73057783e-01] [-3.44124428e-03 -1.17324073e-04 9.99994072e-01 -1.38890189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.424203821999996 meters 0.03641913004470095 Centerline is valid? [True, True] Translation: X:51.08, Y:0.37, Z:-1.39 [[ 9.98649540e-01 5.16588999e-02 5.51851550e-03 5.10813826e+01] [-5.16589499e-02 9.98664776e-01 -1.33581145e-04 3.74761398e-01] [-5.51804771e-03 -1.51679966e-04 9.99984764e-01 -1.38694344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.48420382199999 meters 0.0323678544476014 Centerline is valid? [True, True] Translation: X:51.14, Y:0.37, Z:-1.39 [[ 9.98884516e-01 4.63825348e-02 8.85353174e-03 5.11411985e+01] [-4.63824524e-02 9.98923732e-01 -2.14746639e-04 3.70127459e-01] [-8.85396346e-03 -1.96141422e-04 9.99960784e-01 -1.38558153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.54420382199999 meters 0.02632730151048172 Centerline is valid? [True, True] Translation: X:51.20, Y:0.36, Z:-1.38 [[ 9.99035497e-01 4.27834478e-02 9.88195602e-03 5.12025765e+01] [-4.27831772e-02 9.99084352e-01 -2.38866701e-04 3.62775731e-01] [-9.88312717e-03 -1.84145163e-04 9.99951144e-01 -1.38325965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.604203821999995 meters 0.01863580649979422 Centerline is valid? [True, True] Translation: X:51.26, Y:0.36, Z:-1.38 [[ 9.99318654e-01 3.54637190e-02 1.02250644e-02 5.12628961e+01] [-3.54630389e-02 9.99370958e-01 -2.47865978e-04 3.57318445e-01] [-1.02274227e-02 -1.14914761e-04 9.99947692e-01 -1.38384634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.66420382199999 meters 0.015419571007909295 Centerline is valid? [True, True] Translation: X:51.33, Y:0.35, Z:-1.39 [[ 9.99461303e-01 3.13919351e-02 9.57336182e-03 5.13253418e+01] [-3.13911843e-02 9.99507149e-01 -2.28719276e-04 3.51379591e-01] [-9.57582352e-03 -7.19230991e-05 9.99954148e-01 -1.38568046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.72420382199999 meters 0.016516094922281673 Centerline is valid? [True, True] Translation: X:51.39, Y:0.34, Z:-1.39 [[ 9.99569810e-01 2.86911913e-02 6.08362114e-03 5.13860076e+01] [-2.86908309e-02 9.99588323e-01 -1.46518589e-04 3.44294743e-01] [-6.08532045e-03 -2.80885867e-05 9.99981484e-01 -1.39481252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.784203821999995 meters 0.017363322533573144 Centerline is valid? [True, True] Translation: X:51.45, Y:0.35, Z:-1.39 [[ 9.99465767e-01 3.19403532e-02 6.92773817e-03 5.14484673e+01] [-3.19399693e-02 9.99489775e-01 -1.66075454e-04 3.50255608e-01] [-6.92950798e-03 -5.52850129e-05 9.99975989e-01 -1.39397565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.84420382199999 meters 0.019189117610001485 Centerline is valid? [True, True] Translation: X:51.51, Y:0.35, Z:-1.39 [[ 9.99334498e-01 3.52927394e-02 9.21867067e-03 5.15099922e+01] [-3.52921711e-02 9.99377012e-01 -2.24375796e-04 3.53701570e-01] [-9.22084638e-03 -1.01120429e-04 9.99957482e-01 -1.39219674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.90420382199999 meters 0.018915328119861064 Centerline is valid? [True, True] Translation: X:51.57, Y:0.36, Z:-1.39 [[ 9.99181823e-01 3.85562233e-02 1.22107144e-02 5.15725410e+01] [-3.85554338e-02 9.99256418e-01 -3.00144570e-04 3.57324988e-01] [-1.22132072e-02 -1.70890393e-04 9.99925401e-01 -1.38506310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.964203821999995 meters 0.022584115468753725 Centerline is valid? [True, True] Translation: X:51.63, Y:0.36, Z:-1.39 [[ 9.99097100e-01 4.08069579e-02 1.18227143e-02 5.16340765e+01] [-4.08063358e-02 9.99167031e-01 -2.93940862e-04 3.59763111e-01] [-1.18248612e-02 -1.88766188e-04 9.99930066e-01 -1.39009665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.02420382199999 meters 0.027608308155673087 Centerline is valid? [True, True] Translation: X:51.69, Y:0.37, Z:-1.39 [[ 9.98940272e-01 4.46773969e-02 1.10573049e-02 5.16939675e+01] [-4.46770740e-02 9.99001443e-01 -2.76335652e-04 3.68193600e-01] [-1.10586095e-02 -2.17965219e-04 9.99938828e-01 -1.39468685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.08420382199999 meters 0.028497246834975395 Centerline is valid? [True, True] Translation: X:51.76, Y:0.37, Z:-1.40 [[ 9.98865901e-01 4.65137211e-02 1.01678852e-02 5.17556058e+01] [-4.65135567e-02 9.98917627e-01 -2.52776313e-04 3.66523128e-01] [-1.01686374e-02 -2.20454866e-04 9.99948274e-01 -1.39634089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.144203821999994 meters 0.027322678778671228 Centerline is valid? [True, True] Translation: X:51.82, Y:0.36, Z:-1.40 [[ 9.98887271e-01 4.57905587e-02 1.12890983e-02 5.18179808e+01] [-4.57902871e-02 9.98951035e-01 -2.82667286e-04 3.64846702e-01] [-1.12901999e-02 -2.34578297e-04 9.99936236e-01 -1.39628987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.20420382199999 meters 0.025035882227243882 Centerline is valid? [True, True] Translation: X:51.88, Y:0.36, Z:-1.39 [[ 9.98941019e-01 4.41109090e-02 1.30792874e-02 5.18789340e+01] [-4.41103328e-02 9.99026610e-01 -3.32674171e-04 3.57601641e-01] [-1.30812307e-02 -2.44609845e-04 9.99914407e-01 -1.39428754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.26420382199999 meters 0.020121399383092344 Centerline is valid? [True, True] Translation: X:51.94, Y:0.35, Z:-1.39 [[ 9.99066813e-01 4.03023481e-02 1.55313913e-02 5.19402263e+01] [-4.03010677e-02 9.99187504e-01 -3.95538285e-04 3.48810779e-01] [-1.55347133e-02 -2.30762480e-04 9.99879302e-01 -1.39162408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.324203821999994 meters 0.016743924122790417 Centerline is valid? [True, True] Translation: X:52.00, Y:0.33, Z:-1.40 [[ 9.99262033e-01 3.62688258e-02 1.26476089e-02 5.20023538e+01] [-3.62676658e-02 9.99342060e-01 -3.21139721e-04 3.33331346e-01] [-1.26509349e-02 -1.37796522e-04 9.99919964e-01 -1.39827310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.38420382199999 meters 0.01655005392333789 Centerline is valid? [True, True] Translation: X:52.06, Y:0.33, Z:-1.40 [[ 9.99276215e-01 3.59018936e-02 1.25738269e-02 5.20649630e+01] [-3.59007247e-02 9.99355310e-01 -3.18741810e-04 3.27372298e-01] [-1.25771641e-02 -1.32898388e-04 9.99920896e-01 -1.40030163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.44420382199999 meters 0.018392964092135953 Centerline is valid? [True, True] Translation: X:52.13, Y:0.32, Z:-1.40 [[ 9.99245611e-01 3.70457442e-02 1.16542727e-02 5.21264176e+01] [-3.70447882e-02 9.99313562e-01 -2.97970177e-04 3.24268669e-01] [-1.16573113e-02 -1.33984672e-04 9.99932042e-01 -1.40472372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.504203821999994 meters 0.021547157448358084 Centerline is valid? [True, True] Translation: X:52.19, Y:0.32, Z:-1.41 [[ 9.99093947e-01 4.12676044e-02 1.04052686e-02 5.21883671e+01] [-4.12670381e-02 9.99148117e-01 -2.69214953e-04 3.23524543e-01] [-1.04075144e-02 -1.60423588e-04 9.99945827e-01 -1.40781894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.56420382199999 meters 0.027602464057014827 Centerline is valid? [True, True] Translation: X:52.25, Y:0.32, Z:-1.41 [[ 9.98893716e-01 4.59862722e-02 9.82892610e-03 5.22486519e+01] [-4.59859843e-02 9.98942052e-01 -2.55408709e-04 3.23519736e-01] [-9.83027291e-03 -1.96866687e-04 9.99951662e-01 -1.41346806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.62420382199999 meters 0.02907193447808807 Centerline is valid? [True, True] Translation: X:52.31, Y:0.32, Z:-1.42 [[ 9.98733476e-01 4.96880249e-02 7.90850061e-03 5.23099794e+01] [-4.96879564e-02 9.98764770e-01 -2.05268850e-04 3.19660173e-01] [-7.90893120e-03 -1.87948361e-04 9.99968706e-01 -1.41585280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.68420382199999 meters 0.03470247898628452 Centerline is valid? [True, True] Translation: X:52.37, Y:0.33, Z:-1.42 [[ 9.98606027e-01 5.23282587e-02 6.91061282e-03 5.23699235e+01] [-5.23282652e-02 9.98629922e-01 -1.79991465e-04 3.25533246e-01] [-6.91056338e-03 -1.81879819e-04 9.99976105e-01 -1.42126793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.744203821999996 meters 0.038841736689726625 Centerline is valid? [True, True] Translation: X:52.43, Y:0.33, Z:-1.42 [[ 9.98356758e-01 5.65624603e-02 9.19087334e-03 5.24309813e+01] [-5.65626580e-02 9.98399023e-01 -2.38640253e-04 3.32363994e-01] [-9.18965704e-03 -2.81612115e-04 9.99957735e-01 -1.41851094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.80420382199999 meters 0.036268110120481555 Centerline is valid? [True, True] Translation: X:52.49, Y:0.33, Z:-1.42 [[ 9.98287753e-01 5.77035581e-02 9.58441206e-03 5.24932506e+01] [-5.77038466e-02 9.98333714e-01 -2.46661048e-04 3.27418015e-01] [-9.58267491e-03 -3.06818740e-04 9.99954038e-01 -1.41765998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.86420382199999 meters 0.037398800847356174 Centerline is valid? [True, True] Translation: X:52.55, Y:0.33, Z:-1.42 [[ 9.98372414e-01 5.62169885e-02 9.60069797e-03 5.25545154e+01] [-5.62171796e-02 9.98418533e-01 -2.50175710e-04 3.31023628e-01] [-9.59957891e-03 -2.89955635e-04 9.99953881e-01 -1.42197126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.924203821999996 meters 0.03276115745919968 Centerline is valid? [True, True] Translation: X:52.62, Y:0.33, Z:-1.42 [[ 9.98623373e-01 5.15637009e-02 9.61998221e-03 5.26153323e+01] [-5.15636519e-02 9.98669678e-01 -2.53283560e-04 3.26977309e-01] [-9.62024477e-03 -2.43106531e-04 9.99953695e-01 -1.42401431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.98420382199999 meters 0.029943633447416393 Centerline is valid? [True, True] Translation: X:52.68, Y:0.32, Z:-1.43 [[ 9.98724332e-01 4.96338858e-02 9.28359543e-03 5.26772671e+01] [-4.96337844e-02 9.98767455e-01 -2.41457118e-04 3.21620193e-01] [-9.28413743e-03 -2.19630875e-04 9.99956877e-01 -1.42611697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.04420382199999 meters 0.027431842425560345 Centerline is valid? [True, True] Translation: X:52.74, Y:0.32, Z:-1.43 [[ 9.98890711e-01 4.63717322e-02 8.18595543e-03 5.27388078e+01] [-4.63715371e-02 9.98924239e-01 -2.13729767e-04 3.17153772e-01] [-8.18706032e-03 -1.66102657e-04 9.99966472e-01 -1.43078789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.104203821999995 meters 0.02596351859530362 Centerline is valid? [True, True] Translation: X:52.80, Y:0.31, Z:-1.44 [[ 9.98981960e-01 4.46295771e-02 6.57598796e-03 5.28011363e+01] [-4.46294124e-02 9.99003597e-01 -1.71846195e-04 3.12697214e-01] [-6.57710504e-03 -1.21811230e-04 9.99978363e-01 -1.43567932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.16420382199999 meters 0.02280672266207391 Centerline is valid? [True, True] Translation: X:52.86, Y:0.31, Z:-1.44 [[ 9.99069176e-01 4.27008018e-02 6.11742902e-03 5.28636992e+01] [-4.27006044e-02 9.99087900e-01 -1.62928720e-04 3.09998504e-01] [-6.11880650e-03 -9.84408546e-05 9.99981275e-01 -1.43634821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.22420382199999 meters 0.024439650295549776 Centerline is valid? [True, True] Translation: X:52.92, Y:0.31, Z:-1.44 [[ 9.99056475e-01 4.28862597e-02 6.85038954e-03 5.29238104e+01] [-4.28860047e-02 9.99079955e-01 -1.84180548e-04 3.12573604e-01] [-6.85198569e-03 -1.09779069e-04 9.99976519e-01 -1.43816938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.284203821999995 meters 0.02386155314131966 Centerline is valid? [True, True] Translation: X:52.99, Y:0.31, Z:-1.44 [[ 9.99024218e-01 4.34181092e-02 8.09197432e-03 5.29850423e+01] [-4.34177716e-02 9.99056980e-01 -2.17477087e-04 3.12355241e-01] [-8.09378587e-03 -1.34070616e-04 9.99967236e-01 -1.43690640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.34420382199999 meters 0.024910132012736983 Centerline is valid? [True, True] Translation: X:53.05, Y:0.32, Z:-1.44 [[ 9.99020776e-01 4.36536755e-02 7.20045089e-03 5.30458600e+01] [-4.36534240e-02 9.99046716e-01 -1.92175217e-04 3.16104774e-01] [-7.20197598e-03 -1.22337301e-04 9.99974058e-01 -1.44049524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.40420382199999 meters 0.02285857118804604 Centerline is valid? [True, True] Translation: X:53.11, Y:0.31, Z:-1.44 [[ 9.99030899e-01 4.33917916e-02 7.37666790e-03 5.31074498e+01] [-4.33915046e-02 9.99058125e-01 -1.99016884e-04 3.13783689e-01] [-7.37835570e-03 -1.21260703e-04 9.99972772e-01 -1.44021925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.464203821999995 meters 0.022393616822332395 Centerline is valid? [True, True] Translation: X:53.17, Y:0.31, Z:-1.44 [[ 9.99065264e-01 4.23545484e-02 8.64237486e-03 5.31686724e+01] [-4.23541258e-02 9.99102634e-01 -2.32003206e-04 3.13579461e-01] [-8.64444589e-03 -1.34253888e-04 9.99962627e-01 -1.44039185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.52420382199999 meters 0.019995921676204224 Centerline is valid? [True, True] Translation: X:53.23, Y:0.31, Z:-1.44 [[ 9.99221530e-01 3.79375705e-02 1.08200856e-02 5.32294819e+01] [-3.79366151e-02 9.99280104e-01 -2.93597779e-04 3.10729648e-01] [-1.08234346e-02 -1.17108200e-04 9.99941418e-01 -1.44211683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.58420382199999 meters 0.015217894881751388 Centerline is valid? [True, True] Translation: X:53.29, Y:0.30, Z:-1.44 [[ 9.99377796e-01 3.34800327e-02 1.10953851e-02 5.32915379e+01] [-3.34787781e-02 9.99439384e-01 -2.98836317e-04 3.01804948e-01] [-1.10991699e-02 -7.28095575e-05 9.99938400e-01 -1.44111633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.644203821999994 meters 0.013805896002634066 Centerline is valid? [True, True] Translation: X:53.35, Y:0.28, Z:-1.44 [[ 9.99653053e-01 2.40005740e-02 1.08510833e-02 5.33533674e+01] [-2.39987975e-02 9.99711944e-01 -2.93909935e-04 2.83444702e-01] [-1.08550116e-02 3.33950131e-05 9.99941082e-01 -1.44259377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.70420382199999 meters 0.016639027863886987 Centerline is valid? [True, True] Translation: X:53.41, Y:0.27, Z:-1.44 [[ 9.99772753e-01 1.82674133e-02 1.09883617e-02 5.34148131e+01] [-1.82652093e-02 9.99833132e-01 -3.00911295e-04 2.71050178e-01] [-1.09920250e-02 1.00138187e-04 9.99939581e-01 -1.44387842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.76420382199999 meters 0.016887232703518388 Centerline is valid? [True, True] Translation: X:53.48, Y:0.27, Z:-1.44 [[ 9.99789288e-01 1.79271269e-02 9.99991263e-03 5.34772883e+01] [-1.79252935e-02 9.99839292e-01 -2.72946115e-04 2.65036428e-01] [-1.00031987e-02 9.36372328e-05 9.99949962e-01 -1.44456243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.824203821999994 meters 0.016488269394338218 Centerline is valid? [True, True] Translation: X:53.54, Y:0.26, Z:-1.45 [[ 9.99773174e-01 1.96695476e-02 8.16761717e-03 5.35396646e+01] [-1.96683787e-02 9.99806534e-01 -2.23419477e-04 2.63067368e-01] [-8.17043157e-03 6.27250128e-05 9.99966619e-01 -1.44976382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.88420382199999 meters 0.014914118406169696 Centerline is valid? [True, True] Translation: X:53.60, Y:0.26, Z:-1.45 [[ 9.99655618e-01 2.47727057e-02 8.65789220e-03 5.36011076e+01] [-2.47715658e-02 9.99693109e-01 -2.38889637e-04 2.62599304e-01] [-8.66115312e-03 2.43378215e-05 9.99962491e-01 -1.45284561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.94420382199999 meters 0.01529069513588329 Centerline is valid? [True, True] Translation: X:53.66, Y:0.26, Z:-1.46 [[ 9.99549335e-01 2.87416424e-02 8.66280813e-03 5.36621151e+01] [-2.87406269e-02 9.99586874e-01 -2.41719684e-04 2.61706481e-01] [-8.66617672e-03 -7.36378747e-06 9.99962448e-01 -1.45769824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.004203821999994 meters 0.016183109570912773 Centerline is valid? [True, True] Translation: X:53.73, Y:0.26, Z:-1.45 [[ 9.99333171e-01 3.51421358e-02 9.91175922e-03 5.37257519e+01] [-3.51411262e-02 9.99382322e-01 -2.76049148e-04 2.63889190e-01] [-9.91533790e-03 -7.24453116e-05 9.99950839e-01 -1.45475611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.06420382199999 meters 0.021972387500983334 Centerline is valid? [True, True] Translation: X:53.79, Y:0.27, Z:-1.46 [[ 9.99068192e-01 4.18943847e-02 1.03734021e-02 5.37865883e+01] [-4.18935995e-02 9.99122035e-01 -2.93071047e-04 2.70766569e-01] [-1.03765726e-02 -1.41781192e-04 9.99946152e-01 -1.45622434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.12420382199999 meters 0.026397523084478083 Centerline is valid? [True, True] Translation: X:53.85, Y:0.27, Z:-1.46 [[ 9.98824315e-01 4.73552146e-02 1.03667955e-02 5.38478739e+01] [-4.73547044e-02 9.98878093e-01 -2.94804863e-04 2.70737609e-01] [-1.03691255e-02 -1.96458273e-04 9.99946220e-01 -1.45737620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.18420382199999 meters 0.028847871607255337 Centerline is valid? [True, True] Translation: X:53.91, Y:0.27, Z:-1.46 [[ 9.98692176e-01 5.00480595e-02 1.04464606e-02 5.39098175e+01] [-5.00477124e-02 9.98746785e-01 -2.94799564e-04 2.70611730e-01] [-1.04481231e-02 -2.28407439e-04 9.99945391e-01 -1.45867064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.24420382199999 meters 0.030126898093770223 Centerline is valid? [True, True] Translation: X:53.97, Y:0.27, Z:-1.46 [[ 9.98662652e-01 5.09042652e-02 9.03677547e-03 5.39718882e+01] [-5.09040338e-02 9.98703517e-01 -2.55758684e-04 2.69901960e-01] [-9.03807865e-03 -2.04591678e-04 9.99959135e-01 -1.46279697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.30420382199999 meters 0.03005213381935647 Centerline is valid? [True, True] Translation: X:54.03, Y:0.27, Z:-1.47 [[ 9.98736144e-01 4.91684519e-02 1.04200398e-02 5.40319995e+01] [-4.91679952e-02 9.98790478e-01 -3.00153761e-04 2.66096019e-01] [-1.04221946e-02 -2.12558057e-04 9.99945665e-01 -1.46514907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.36420382199999 meters 0.0237155053966725 Centerline is valid? [True, True] Translation: X:54.09, Y:0.25, Z:-1.46 [[ 9.98842686e-01 4.67398427e-02 1.13435545e-02 5.40934229e+01] [-4.67391510e-02 9.98907075e-01 -3.26216077e-04 2.51628762e-01] [-1.13464042e-02 -2.04349565e-04 9.99935607e-01 -1.46041689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.424203821999996 meters 0.023751413626653665 Centerline is valid? [True, True] Translation: X:54.16, Y:0.25, Z:-1.46 [[ 9.98862870e-01 4.59595241e-02 1.26763551e-02 5.41550705e+01] [-4.59586113e-02 9.98943279e-01 -3.63460421e-04 2.48537530e-01] [-1.26796641e-02 -2.19540556e-04 9.99919586e-01 -1.46170640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.48420382199999 meters 0.024475971938361412 Centerline is valid? [True, True] Translation: X:54.22, Y:0.25, Z:-1.47 [[ 9.98880049e-01 4.59727915e-02 1.11870392e-02 5.42164414e+01] [-4.59720632e-02 9.98942674e-01 -3.22381520e-04 2.45050682e-01] [-1.11900316e-02 -1.92270803e-04 9.99937371e-01 -1.46692576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.54420382199999 meters 0.02585956547456416 Centerline is valid? [True, True] Translation: X:54.28, Y:0.24, Z:-1.47 [[ 9.98769760e-01 4.84874291e-02 1.03892045e-02 5.42780801e+01] [-4.84869112e-02 9.98823772e-01 -3.01870864e-04 2.37320059e-01] [-1.03916213e-02 -2.02240944e-04 9.99945985e-01 -1.46742113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.604203821999995 meters 0.0314409641650566 Centerline is valid? [True, True] Translation: X:54.34, Y:0.24, Z:-1.47 [[ 9.98476278e-01 5.46121091e-02 7.91447206e-03 5.43385086e+01] [-5.46119863e-02 9.98507625e-01 -2.31794284e-04 2.40070288e-01] [-7.91531948e-03 -2.00783946e-04 9.99968653e-01 -1.47314534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.66420382199999 meters 0.03757783330991784 Centerline is valid? [True, True] Translation: X:54.40, Y:0.25, Z:-1.48 [[ 9.98185738e-01 5.96035538e-02 8.52340530e-03 5.43984740e+01] [-5.96035925e-02 9.98222094e-01 -2.49694880e-04 2.47388389e-01] [-8.52313419e-03 -2.58783708e-04 9.99963644e-01 -1.47509042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.72420382199999 meters 0.04253698819137582 Centerline is valid? [True, True] Translation: X:54.46, Y:0.25, Z:-1.48 [[ 9.97880489e-01 6.44255878e-02 9.15824175e-03 5.44597143e+01] [-6.44258400e-02 9.97922462e-01 -2.67789609e-04 2.51935050e-01] [-9.15646766e-03 -3.22805392e-04 9.99958027e-01 -1.47566291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.784203821999995 meters 0.04601960713015163 Centerline is valid? [True, True] Translation: X:54.52, Y:0.26, Z:-1.48 [[ 9.97771958e-01 6.60879162e-02 9.13826144e-03 5.45211993e+01] [-6.60882575e-02 9.97813746e-01 -2.64952034e-04 2.55956216e-01] [-9.13579301e-03 -3.39570066e-04 9.99958210e-01 -1.47824831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.84420382199999 meters 0.049625446434129444 Centerline is valid? [True, True] Translation: X:54.58, Y:0.26, Z:-1.48 [[ 9.97749825e-01 6.64754767e-02 8.73483420e-03 5.45817908e+01] [-6.64757690e-02 9.97788007e-01 -2.57194708e-04 2.62655580e-01] [-8.73260995e-03 -3.24038845e-04 9.99961818e-01 -1.48410419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.90420382199999 meters 0.04200616999378306 Centerline is valid? [True, True] Translation: X:54.64, Y:0.25, Z:-1.48 [[ 9.97774932e-01 6.62901798e-02 7.12716017e-03 5.46426543e+01] [-6.62903715e-02 9.97800352e-01 -2.09596460e-04 2.52108049e-01] [-7.12537712e-03 -2.63332002e-04 9.99974580e-01 -1.48297276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.964203821999995 meters 0.04366689349263819 Centerline is valid? [True, True] Translation: X:54.70, Y:0.25, Z:-1.49 [[ 9.97874190e-01 6.49090006e-02 5.82432244e-03 5.47031256e+01] [-6.49091034e-02 9.97891166e-01 -1.71578713e-04 2.54210599e-01] [-5.82317691e-03 -2.06837578e-04 9.99983024e-01 -1.49032023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.02420382199999 meters 0.038883312258317794 Centerline is valid? [True, True] Translation: X:54.76, Y:0.25, Z:-1.49 [[ 9.98166458e-01 6.00754200e-02 7.39367428e-03 5.47632970e+01] [-6.00754500e-02 9.98193815e-01 -2.18239555e-04 2.47891199e-01] [-7.39343077e-03 -2.26338906e-04 9.99972643e-01 -1.48880855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.08420382199999 meters 0.03417567904497823 Centerline is valid? [True, True] Translation: X:54.82, Y:0.25, Z:-1.49 [[ 9.98425361e-01 5.55036261e-02 8.13305647e-03 5.48236265e+01] [-5.55035106e-02 9.98458463e-01 -2.40084312e-04 2.46840868e-01] [-8.13384462e-03 -2.11706920e-04 9.99966897e-01 -1.49060155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.144203821999994 meters 0.02740670987686741 Centerline is valid? [True, True] Translation: X:54.88, Y:0.23, Z:-1.49 [[ 9.98780653e-01 4.87730301e-02 7.64191785e-03 5.48843618e+01] [-4.87727331e-02 9.98809877e-01 -2.25336436e-04 2.33169876e-01] [-7.64381337e-03 -1.47655547e-04 9.99970775e-01 -1.49351744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.20420382199999 meters 0.02234789417757781 Centerline is valid? [True, True] Translation: X:54.95, Y:0.22, Z:-1.49 [[ 9.99011338e-01 4.37255876e-02 8.02623967e-03 5.49457113e+01] [-4.37251001e-02 9.99043573e-01 -2.36282064e-04 2.23356890e-01] [-8.02889473e-03 -1.14899672e-04 9.99967761e-01 -1.49335966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.26420382199999 meters 0.01997636902382045 Centerline is valid? [True, True] Translation: X:55.01, Y:0.22, Z:-1.49 [[ 9.99103345e-01 4.13012061e-02 9.31218040e-03 5.50067881e+01] [-4.13004379e-02 9.99146735e-01 -2.74867476e-04 2.23647235e-01] [-9.31558701e-03 -1.09976114e-04 9.99956603e-01 -1.49242376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.324203821999994 meters 0.019879295855824767 Centerline is valid? [True, True] Translation: X:55.07, Y:0.22, Z:-1.49 [[ 9.99095142e-01 4.14459256e-02 9.54638328e-03 5.50692593e+01] [-4.14451530e-02 9.99140742e-01 -2.78824211e-04 2.18805399e-01] [-9.54973660e-03 -1.17079401e-04 9.99954393e-01 -1.49431867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.38420382199999 meters 0.01982796933663588 Centerline is valid? [True, True] Translation: X:55.13, Y:0.21, Z:-1.49 [[ 9.98987512e-01 4.30808137e-02 1.29612567e-02 5.51317558e+01] [-4.30794656e-02 9.99071575e-01 -3.83312609e-04 2.14696278e-01] [-1.29657366e-02 -1.75439502e-04 9.99915926e-01 -1.48930544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.44420382199999 meters 0.021374990361070427 Centerline is valid? [True, True] Translation: X:55.19, Y:0.21, Z:-1.49 [[ 9.98948859e-01 4.44213329e-02 1.13103010e-02 5.51934313e+01] [-4.44203755e-02 9.99012871e-01 -3.35968201e-04 2.14790151e-01] [-1.13140604e-02 -1.66792765e-04 9.99935980e-01 -1.49361501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.504203821999994 meters 0.0223975050908659 Centerline is valid? [True, True] Translation: X:55.26, Y:0.21, Z:-1.50 [[ 9.98933598e-01 4.50449831e-02 1.01299673e-02 5.52554682e+01] [-4.50442383e-02 9.98984948e-01 -3.01789807e-04 2.09817493e-01] [-1.01332789e-02 -1.54828682e-04 9.99948645e-01 -1.49864832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.56420382199999 meters 0.023693270975105752 Centerline is valid? [True, True] Translation: X:55.32, Y:0.20, Z:-1.50 [[ 9.98838464e-01 4.70975141e-02 1.01758312e-02 5.53176711e+01] [-4.70968520e-02 9.98890281e-01 -3.04822031e-04 2.03336588e-01] [-1.01788953e-02 -1.74781648e-04 9.99948178e-01 -1.49910163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.62420382199999 meters 0.026311256216898775 Centerline is valid? [True, True] Translation: X:55.38, Y:0.21, Z:-1.50 [[ 9.98733657e-01 4.92955275e-02 1.00515693e-02 5.53787093e+01] [-4.92949738e-02 9.98784218e-01 -3.02976737e-04 2.05024392e-01] [-1.00542842e-02 -1.92898783e-04 9.99949436e-01 -1.50151583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.68420382199999 meters 0.0286177765185646 Centerline is valid? [True, True] Translation: X:55.44, Y:0.20, Z:-1.50 [[ 9.98538803e-01 5.28784517e-02 1.11412418e-02 5.54407529e+01] [-5.28779723e-02 9.98600924e-01 -3.37807697e-04 2.01060510e-01] [-1.11435171e-02 -2.51812180e-04 9.99937877e-01 -1.50092138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.74420382199999 meters 0.032047848182661175 Centerline is valid? [True, True] Translation: X:55.50, Y:0.20, Z:-1.50 [[ 9.98353568e-01 5.61220161e-02 1.18521364e-02 5.55027259e+01] [-5.61216523e-02 9.98423872e-01 -3.63549213e-04 1.98335839e-01] [-1.18538590e-02 -3.02210822e-04 9.99929695e-01 -1.50187961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.80420382199999 meters 0.033265454218529694 Centerline is valid? [True, True] Translation: X:55.56, Y:0.19, Z:-1.50 [[ 9.98303405e-01 5.69898189e-02 1.19361487e-02 5.55643713e+01] [-5.69895285e-02 9.98374710e-01 -3.64735879e-04 1.92729195e-01] [-1.19375352e-02 -3.16118415e-04 9.99928695e-01 -1.50458070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.86420382199999 meters 0.03129745620749106 Centerline is valid? [True, True] Translation: X:55.63, Y:0.18, Z:-1.51 [[ 9.98383123e-01 5.55550688e-02 1.20322024e-02 5.56266771e+01] [-5.55546244e-02 9.98455580e-01 -3.71425854e-04 1.83314247e-01] [-1.20342542e-02 -2.97619179e-04 9.99927541e-01 -1.50573518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.92420382199999 meters 0.024861747926527525 Centerline is valid? [True, True] Translation: X:55.69, Y:0.16, Z:-1.51 [[ 9.98608863e-01 5.15010784e-02 1.13127633e-02 5.56875809e+01] [-5.15004123e-02 9.98672912e-01 -3.50374181e-04 1.64092553e-01] [-1.13157949e-02 -2.32725211e-04 9.99935947e-01 -1.50637870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.98420382199999 meters 0.02558632454819803 Centerline is valid? [True, True] Translation: X:55.75, Y:0.16, Z:-1.51 [[ 9.98666510e-01 5.02999333e-02 1.16240676e-02 5.57482162e+01] [-5.02991599e-02 9.98734132e-01 -3.59059171e-04 1.58265688e-01] [-1.16274137e-02 -2.26100467e-04 9.99932374e-01 -1.50927308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.04420382199999 meters 0.02937189659564943 Centerline is valid? [True, True] Translation: X:55.81, Y:0.15, Z:-1.52 [[ 9.98590724e-01 5.20425456e-02 1.03989705e-02 5.58091231e+01] [-5.20420240e-02 9.98644844e-01 -3.20933749e-04 1.53794473e-01] [-1.04015805e-02 -2.20702010e-04 9.99945878e-01 -1.51508481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.104203821999995 meters 0.0317577705324097 Centerline is valid? [True, True] Translation: X:55.87, Y:0.16, Z:-1.52 [[ 9.98373488e-01 5.61260857e-02 1.00119956e-02 5.58699089e+01] [-5.61257674e-02 9.98423658e-01 -3.12987701e-04 1.56899917e-01] [-1.00137800e-02 -2.49452311e-04 9.99949830e-01 -1.51640091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.16420382199999 meters 0.03597543683100654 Centerline is valid? [True, True] Translation: X:55.93, Y:0.16, Z:-1.52 [[ 9.98115156e-01 6.05094967e-02 1.02340393e-02 5.59315670e+01] [-6.05093953e-02 9.98167577e-01 -3.19835346e-04 1.58857329e-01] [-1.02346393e-02 -3.00023024e-04 9.99947580e-01 -1.51714865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.22420382199999 meters 0.039271485395392075 Centerline is valid? [True, True] Translation: X:55.99, Y:0.16, Z:-1.52 [[ 9.97970700e-01 6.27600053e-02 1.07547170e-02 5.59929890e+01] [-6.27600457e-02 9.98028589e-01 -3.34069172e-04 1.58815678e-01] [-1.07544813e-02 -3.41575287e-04 9.99942111e-01 -1.51818426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.284203821999995 meters 0.04165611319894076 Centerline is valid? [True, True] Translation: X:56.05, Y:0.16, Z:-1.52 [[ 9.97901439e-01 6.34696235e-02 1.28189354e-02 5.60546155e+01] [-6.34697033e-02 9.97983685e-01 -4.01004955e-04 1.59725930e-01] [-1.28185400e-02 -4.13450603e-04 9.99917754e-01 -1.51844514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.34420382199999 meters 0.03532055339968317 Centerline is valid? [True, True] Translation: X:56.11, Y:0.15, Z:-1.52 [[ 9.98092375e-01 5.99992747e-02 1.45498637e-02 5.61148599e+01] [-5.99989379e-02 9.98198335e-01 -4.60052005e-04 1.48470004e-01] [-1.45512525e-02 -4.13801971e-04 9.99894039e-01 -1.51533950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.40420382199999 meters 0.03169389119998519 Centerline is valid? [True, True] Translation: X:56.18, Y:0.14, Z:-1.52 [[ 9.98281182e-01 5.68473364e-02 1.42500022e-02 5.61764470e+01] [-5.68466997e-02 9.98382817e-01 -4.50056355e-04 1.39755834e-01] [-1.42525419e-02 -3.60782808e-04 9.99898362e-01 -1.51685825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.464203821999995 meters 0.02726184022393219 Centerline is valid? [True, True] Translation: X:56.24, Y:0.13, Z:-1.52 [[ 9.98532915e-01 5.24389701e-02 1.34971183e-02 5.62374437e+01] [-5.24379882e-02 9.98624091e-01 -4.26875876e-04 1.31946926e-01] [-1.35009325e-02 -2.81512119e-04 9.99908819e-01 -1.52065504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.52420382199999 meters 0.023465203790227738 Centerline is valid? [True, True] Translation: X:56.30, Y:0.12, Z:-1.52 [[ 9.98702503e-01 4.94218556e-02 1.22796575e-02 5.62993830e+01] [-4.94208414e-02 9.98777969e-01 -3.86212154e-04 1.16319064e-01] [-1.22837387e-02 -2.21159961e-04 9.99924528e-01 -1.52388932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.58420382199999 meters 0.02494328024478177 Centerline is valid? [True, True] Translation: X:56.36, Y:0.11, Z:-1.53 [[ 9.98765780e-01 4.85253033e-02 1.05930174e-02 5.63604731e+01] [-4.85244839e-02 9.98821937e-01 -3.34507213e-04 1.09958966e-01] [-1.05967702e-02 -1.79926345e-04 9.99943836e-01 -1.53019676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.644203821999994 meters 0.022887257736968994 Centerline is valid? [True, True] Translation: X:56.42, Y:0.10, Z:-1.53 [[ 9.98816436e-01 4.74841596e-02 1.05347574e-02 5.64220923e+01] [-4.74832764e-02 9.98871977e-01 -3.34080033e-04 1.01784289e-01] [-1.05387375e-02 -1.66540172e-04 9.99944452e-01 -1.53036597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.70420382199999 meters 0.02088954616605175 Centerline is valid? [True, True] Translation: X:56.48, Y:0.09, Z:-1.53 [[ 9.98867355e-01 4.62898394e-02 1.10117353e-02 5.64842468e+01] [-4.62887803e-02 9.98928038e-01 -3.51158651e-04 8.99468288e-02] [-1.10161863e-02 -1.58958886e-04 9.99939307e-01 -1.53096710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.76420382199999 meters 0.01802568067614946 Centerline is valid? [True, True] Translation: X:56.55, Y:0.07, Z:-1.53 [[ 9.98967213e-01 4.37502108e-02 1.22648612e-02 5.65457365e+01] [-4.37486742e-02 9.99042491e-01 -3.93677738e-04 7.16060068e-02] [-1.22703410e-02 -1.43300266e-04 9.99924706e-01 -1.52984345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.824203821999994 meters 0.01798566052135357 Centerline is valid? [True, True] Translation: X:56.61, Y:0.07, Z:-1.53 [[ 9.98978074e-01 4.36646443e-02 1.16707733e-02 5.66089265e+01] [-4.36632322e-02 9.99046236e-01 -3.75884434e-04 6.59059848e-02] [-1.16760550e-02 -1.34083378e-04 9.99931824e-01 -1.53261199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.88420382199999 meters 0.020522112961818433 Centerline is valid? [True, True] Translation: X:56.67, Y:0.06, Z:-1.54 [[ 9.98922284e-01 4.54314108e-02 9.50042041e-03 5.66697753e+01] [-4.54305406e-02 9.98967453e-01 -3.07491271e-04 5.59260326e-02] [-9.50458054e-03 -1.24449353e-04 9.99954823e-01 -1.53898210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.94420382199999 meters 0.023485814217641263 Centerline is valid? [True, True] Translation: X:56.73, Y:0.05, Z:-1.54 [[ 9.98731853e-01 4.93117737e-02 1.01506097e-02 5.67318827e+01] [-4.93109637e-02 9.98783420e-01 -3.30209089e-04 5.22325862e-02] [-1.01545439e-02 -1.70746011e-04 9.99948427e-01 -1.53794454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.004203821999994 meters 0.026441671030610448 Centerline is valid? [True, True] Translation: X:56.79, Y:0.05, Z:-1.54 [[ 9.98478105e-01 5.43309392e-02 9.46694826e-03 5.67932568e+01] [-5.43304230e-02 9.98522963e-01 -3.11881666e-04 4.64135501e-02] [-9.46991006e-03 -2.02936289e-04 9.99955139e-01 -1.53742015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.06420382199999 meters 0.03241851737832457 Centerline is valid? [True, True] Translation: X:56.85, Y:0.05, Z:-1.54 [[ 9.98193517e-01 5.93330333e-02 9.44957782e-03 5.68535189e+01] [-5.93327462e-02 9.98238212e-01 -3.10969513e-04 5.09057672e-02] [-9.45138044e-03 -2.50261651e-04 9.99955303e-01 -1.54026368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.12420382199999 meters 0.04121527437019345 Centerline is valid? [True, True] Translation: X:56.91, Y:0.06, Z:-1.54 [[ 9.97820672e-01 6.52470590e-02 9.83503534e-03 5.69136219e+01] [-6.52470220e-02 9.97869090e-01 -3.24965465e-04 5.76420410e-02] [-9.83528080e-03 -3.17449508e-04 9.99951582e-01 -1.54389452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.18420382199999 meters 0.039536145011711696 Centerline is valid? [True, True] Translation: X:56.98, Y:0.05, Z:-1.55 [[ 9.97784279e-01 6.59214953e-02 8.99384278e-03 5.69755043e+01] [-6.59215173e-02 9.97824768e-01 -2.94327692e-04 5.23479138e-02] [-8.99368161e-03 -2.99212218e-04 9.99959511e-01 -1.54632511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.24420382199999 meters 0.03724644816169923 Centerline is valid? [True, True] Translation: X:57.04, Y:0.04, Z:-1.55 [[ 9.97933558e-01 6.37786558e-02 7.80370124e-03 5.70374314e+01] [-6.37786018e-02 9.97964040e-01 -2.56022949e-04 4.29302438e-02] [-7.80414201e-03 -2.42215261e-04 9.99969518e-01 -1.54964891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.30420382199999 meters 0.03559563119606041 Centerline is valid? [True, True] Translation: X:57.10, Y:0.04, Z:-1.55 [[ 9.98121534e-01 6.04683270e-02 9.84808277e-03 5.70972034e+01] [-6.04680214e-02 9.98170081e-01 -3.29050415e-04 3.94199681e-02] [-9.84995870e-03 -2.67061775e-04 9.99951452e-01 -1.54851117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.36420382199999 meters 0.030393521494911226 Centerline is valid? [True, True] Translation: X:57.16, Y:0.03, Z:-1.54 [[ 9.98234423e-01 5.81607455e-02 1.20567214e-02 5.71587400e+01] [-5.81601266e-02 9.98307186e-01 -4.02249901e-04 3.10065432e-02] [-1.20597068e-02 -2.99680745e-04 9.99927234e-01 -1.54356698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.42420382199999 meters 0.02961096129921072 Centerline is valid? [True, True] Translation: X:57.22, Y:0.02, Z:-1.54 [[ 9.98275679e-01 5.71308005e-02 1.34811404e-02 5.72207576e+01] [-5.71299513e-02 9.98366650e-01 -4.48401835e-04 2.35983615e-02] [-1.34847386e-02 -3.22548251e-04 9.99909025e-01 -1.54357356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.48420382199999 meters 0.026294936335042245 Centerline is valid? [True, True] Translation: X:57.28, Y:0.01, Z:-1.55 [[ 9.98488894e-01 5.35137021e-02 1.24984754e-02 5.72817333e+01] [-5.35126392e-02 9.98567084e-01 -4.19693809e-04 1.26219755e-02] [-1.25030255e-02 -2.49766798e-04 9.99921803e-01 -1.54787144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.54420382199999 meters 0.021508852424914862 Centerline is valid? [True, True] Translation: X:57.34, Y:-0.00, Z:-1.55 [[ 9.98757249e-01 4.89000579e-02 9.63026528e-03 5.73437824e+01] [-4.88992242e-02 9.98803665e-01 -3.22157487e-04 -2.43065800e-03] [-9.63449778e-03 -1.49155375e-04 9.99953576e-01 -1.55332362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.60420382199999 meters 0.022080444489792912 Centerline is valid? [True, True] Translation: X:57.41, Y:-0.02, Z:-1.56 [[ 9.98766708e-01 4.91792468e-02 6.81649263e-03 5.74057206e+01] [-4.91788302e-02 9.98789963e-01 -2.28807809e-04 -1.55212367e-02] [-6.81949702e-03 -1.06701511e-04 9.99976741e-01 -1.55937747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.66420382199999 meters 0.027108486307280202 Centerline is valid? [True, True] Translation: X:57.47, Y:-0.02, Z:-1.56 [[ 9.98563751e-01 5.33385628e-02 5.04315805e-03 5.74651946e+01] [-5.33383891e-02 9.98576481e-01 -1.69018450e-04 -1.67418805e-02] [-5.04499421e-03 -1.00218229e-04 9.99987269e-01 -1.56404411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.72420382199999 meters 0.034636680297271384 Centerline is valid? [True, True] Translation: X:57.53, Y:-0.01, Z:-1.56 [[ 9.98046053e-01 6.21568577e-02 6.37182716e-03 5.75263812e+01] [-6.21567480e-02 9.98066377e-01 -2.15438166e-04 -6.67276999e-03] [-6.37289741e-03 -1.81034844e-04 9.99979676e-01 -1.56241909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.784203821999995 meters 0.04058888297122621 Centerline is valid? [True, True] Translation: X:57.59, Y:-0.00, Z:-1.56 [[ 9.97663286e-01 6.79087342e-02 7.50805913e-03 5.75872372e+01] [-6.79087442e-02 9.97691504e-01 -2.53908240e-04 -2.33629533e-03] [-7.50796939e-03 -2.56547938e-04 9.99971782e-01 -1.56213244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.84420382199999 meters 0.0428082086773109 Centerline is valid? [True, True] Translation: X:57.65, Y:-0.00, Z:-1.57 [[ 9.97585150e-01 6.90122388e-02 7.82166556e-03 5.76488307e+01] [-6.90123071e-02 9.97615774e-01 -2.61483844e-04 -1.35160120e-03] [-7.82106253e-03 -2.78938786e-04 9.99969376e-01 -1.56523507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.90420382199999 meters 0.04416167448245471 Centerline is valid? [True, True] Translation: X:57.71, Y:-0.00, Z:-1.57 [[ 9.97545997e-01 6.95920729e-02 7.67635252e-03 5.77095015e+01] [-6.95921270e-02 9.97575495e-01 -2.60386313e-04 -1.72879984e-04] [-7.67586199e-03 -2.74466376e-04 9.99970502e-01 -1.56865294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.964203821999995 meters 0.04428767172292435 Centerline is valid? [True, True] Translation: X:57.77, Y:-0.00, Z:-1.57 [[ 9.97593916e-01 6.90290853e-02 6.43148617e-03 5.77720431e+01] [-6.90291340e-02 9.97614621e-01 -2.14664998e-04 -1.73855599e-03] [-6.43096277e-03 -2.29811425e-04 9.99979295e-01 -1.57325950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.02420382199999 meters 0.03894905078903065 Centerline is valid? [True, True] Translation: X:57.83, Y:-0.01, Z:-1.57 [[ 9.97683769e-01 6.78788789e-02 4.42199106e-03 5.78343975e+01] [-6.78788955e-02 9.97693557e-01 -1.46499144e-04 -8.45871117e-03] [-4.42173619e-03 -1.54000051e-04 9.99990212e-01 -1.57441750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.08420382199999 meters 0.04289274884313822 Centerline is valid? [True, True] Translation: X:57.90, Y:-0.00, Z:-1.58 [[ 9.97678113e-01 6.79390506e-02 4.76115526e-03 5.78952826e+01] [-6.79390600e-02 9.97689460e-01 -1.59953499e-04 -4.27090957e-03] [-4.76102151e-03 -1.63886307e-04 9.99988653e-01 -1.57995392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.144203821999994 meters 0.038046757024947274 Centerline is valid? [True, True] Translation: X:57.96, Y:-0.01, Z:-1.57 [[ 9.97817067e-01 6.56748316e-02 6.92229036e-03 5.79564838e+01] [-6.56747539e-02 9.97841054e-01 -2.38771730e-04 -1.16028115e-02] [-6.92302681e-03 -2.16369209e-04 9.99976012e-01 -1.57474793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.20420382199999 meters 0.03387148021141826 Centerline is valid? [True, True] Translation: X:58.02, Y:-0.01, Z:-1.57 [[ 9.98031997e-01 6.22335442e-02 7.68893713e-03 5.80172540e+01] [-6.22333455e-02 9.98061591e-01 -2.65339264e-04 -1.31028712e-02] [-7.69054583e-03 -2.13691205e-04 9.99970404e-01 -1.57460607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.26420382199999 meters 0.02512791558453747 Centerline is valid? [True, True] Translation: X:58.08, Y:-0.03, Z:-1.57 [[ 9.98543625e-01 5.31402228e-02 9.31371467e-03 5.80771367e+01] [-5.31395316e-02 9.98587045e-01 -3.21837407e-04 -2.53671691e-02] [-9.31765733e-03 -1.73557744e-04 9.99956575e-01 -1.57438896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.324203821999994 meters 0.018239943865620584 Centerline is valid? [True, True] Translation: X:58.14, Y:-0.04, Z:-1.58 [[ 9.99026486e-01 4.35007985e-02 7.33222480e-03 5.81366070e+01] [-4.35001217e-02 9.99053390e-01 -2.51838552e-04 -4.30350168e-02] [-7.33623922e-03 -6.73592878e-05 9.99973087e-01 -1.57957664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.38420382199999 meters 0.014423126691289315 Centerline is valid? [True, True] Translation: X:58.20, Y:-0.05, Z:-1.58 [[ 9.99228204e-01 3.82933512e-02 8.75302041e-03 5.81975600e+01] [-3.82921700e-02 9.99266540e-01 -3.02564913e-04 -5.36594154e-02] [-8.75818665e-03 -3.28407503e-05 9.99961646e-01 -1.57630320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.44420382199999 meters 0.014159208948685937 Centerline is valid? [True, True] Translation: X:58.26, Y:-0.05, Z:-1.58 [[ 9.99192459e-01 3.89851427e-02 9.72567234e-03 5.82594211e+01] [-3.89837411e-02 9.99239789e-01 -3.33716384e-04 -5.39522033e-02] [-9.73128876e-03 -4.56961978e-05 9.99952649e-01 -1.57620985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.504203821999994 meters 0.017083061387322625 Centerline is valid? [True, True] Translation: X:58.32, Y:-0.05, Z:-1.58 [[ 9.99012563e-01 4.34304875e-02 9.36442876e-03 5.83205574e+01] [-4.34293553e-02 9.99056448e-01 -3.24316399e-04 -4.92216993e-02] [-9.36967815e-03 -8.26949468e-05 9.99956100e-01 -1.57914725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.56420382199999 meters 0.019810095548789805 Centerline is valid? [True, True] Translation: X:58.38, Y:-0.04, Z:-1.58 [[ 9.98682548e-01 5.01724493e-02 1.07653727e-02 5.83829565e+01] [-5.01713230e-02 9.98740556e-01 -3.74831701e-04 -3.77652514e-02] [-1.07706206e-02 -1.65775113e-04 9.99941981e-01 -1.57555438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.62420382199999 meters 0.028737552771296214 Centerline is valid? [True, True] Translation: X:58.44, Y:-0.02, Z:-1.58 [[ 9.98298003e-01 5.75813760e-02 9.24562728e-03 5.84433566e+01] [-5.75808547e-02 9.98340794e-01 -3.22779001e-04 -2.13682991e-02] [-9.24887294e-03 -2.10141489e-04 9.99957206e-01 -1.58205601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.68420382199999 meters 0.029532616353172073 Centerline is valid? [True, True] Translation: X:58.51, Y:-0.02, Z:-1.58 [[ 9.98158267e-01 5.98882864e-02 9.66783231e-03 5.85059696e+01] [-5.98878505e-02 9.98205056e-01 -3.34844321e-04 -2.12176218e-02] [-9.67053234e-03 -2.44758068e-04 9.99953209e-01 -1.58146429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.74420382199999 meters 0.0331666180434315 Centerline is valid? [True, True] Translation: X:58.57, Y:-0.01, Z:-1.58 [[ 9.97971311e-01 6.28404031e-02 1.02150210e-02 5.85672358e+01] [-6.28400336e-02 9.98023548e-01 -3.57449113e-04 -1.39178007e-02] [-1.02172937e-02 -2.85188301e-04 9.99947761e-01 -1.58278576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.80420382199999 meters 0.03366362775957056 Centerline is valid? [True, True] Translation: X:58.63, Y:-0.01, Z:-1.59 [[ 9.98054161e-01 6.17340540e-02 8.76342957e-03 5.86284976e+01] [-6.17337488e-02 9.98092606e-01 -3.05582476e-04 -1.03158199e-02] [-8.76557911e-03 -2.36011498e-04 9.99961554e-01 -1.58906122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.86420382199999 meters 0.030779288286881475 Centerline is valid? [True, True] Translation: X:58.69, Y:-0.01, Z:-1.59 [[ 9.98241436e-01 5.84747973e-02 9.73314266e-03 5.86886694e+01] [-5.84742313e-02 9.98288859e-01 -3.42969995e-04 -1.14234917e-02] [-9.73654298e-03 -2.26771175e-04 9.99952573e-01 -1.59119890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.92420382199999 meters 0.02476391634076276 Centerline is valid? [True, True] Translation: X:58.75, Y:-0.02, Z:-1.59 [[ 9.98493117e-01 5.34583385e-02 1.23976669e-02 5.87496769e+01] [-5.34570044e-02 9.98570056e-01 -4.39203255e-04 -2.08231028e-02] [-1.24034180e-02 -2.24200709e-04 9.99923050e-01 -1.58704196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.98420382199999 meters 0.020845177439738984 Centerline is valid? [True, True] Translation: X:58.81, Y:-0.03, Z:-1.59 [[ 9.98705899e-01 4.91350147e-02 1.31254438e-02 5.88097627e+01] [-4.91331438e-02 9.98792129e-01 -4.65155368e-04 -2.65562288e-02] [-1.31324454e-02 -1.80340911e-04 9.99913749e-01 -1.58875935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.04420382199999 meters 0.02007023906562614 Centerline is valid? [True, True] Translation: X:58.87, Y:-0.05, Z:-1.59 [[ 9.99132173e-01 3.99782515e-02 1.16892819e-02 5.88705647e+01] [-3.99761421e-02 9.99200549e-01 -4.14146024e-04 -4.69091915e-02] [-1.16964937e-02 -5.35057778e-05 9.99931592e-01 -1.59145552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10420382199999 meters 0.01278091265889485 Centerline is valid? [True, True] Translation: X:58.93, Y:-0.06, Z:-1.59 [[ 9.99356012e-01 3.33365080e-02 1.32754834e-02 5.89322746e+01] [-3.33332252e-02 9.99444184e-01 -4.68531529e-04 -6.23690123e-02] [-1.32837239e-02 2.57151223e-05 9.99911767e-01 -1.59048774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.16420382199999 meters 0.013538725331575373 Centerline is valid? [True, True] Translation: X:58.99, Y:-0.07, Z:-1.59 [[ 9.99398417e-01 3.21239269e-02 1.30712223e-02 5.89928512e+01] [-3.21205979e-02 9.99483892e-01 -4.64593258e-04 -6.89841387e-02] [-1.30794007e-02 4.44582912e-05 9.99914460e-01 -1.59365799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.22420382199999 meters 0.012005783419912455 Centerline is valid? [True, True] Translation: X:59.05, Y:-0.06, Z:-1.59 [[ 9.99163381e-01 3.83659191e-02 1.41631559e-02 5.90548524e+01] [-3.83626326e-02 9.99263756e-01 -5.03758072e-04 -6.40888792e-02] [-1.41720555e-02 -3.99993259e-05 9.99899571e-01 -1.59271356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.284203821999995 meters 0.02025594463490663 Centerline is valid? [True, True] Translation: X:59.12, Y:-0.05, Z:-1.60 [[ 9.98681381e-01 5.00592602e-02 1.13828291e-02 5.91161572e+01] [-5.00578566e-02 9.98746236e-01 -4.08368679e-04 -5.15839922e-02] [-1.13890003e-02 -1.61969828e-04 9.99935130e-01 -1.59896469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.34420382199999 meters 0.027454943599663443 Centerline is valid? [True, True] Translation: X:59.18, Y:-0.04, Z:-1.60 [[ 9.98264006e-01 5.82005313e-02 9.03728362e-03 5.91770971e+01] [-5.81999752e-02 9.98304892e-01 -3.24731968e-04 -3.77252564e-02] [-9.04086403e-03 -2.01801448e-04 9.99959110e-01 -1.60417833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.40420382199999 meters 0.03744566383098169 Centerline is valid? [True, True] Translation: X:59.24, Y:-0.02, Z:-1.61 [[ 9.97717408e-01 6.68841827e-02 9.29944586e-03 5.92368545e+01] [-6.68839660e-02 9.97760704e-01 -3.34648723e-04 -1.69155644e-02] [-9.30100436e-03 -2.88098965e-04 9.99956703e-01 -1.60751326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.464203821999995 meters 0.04072613623440787 Centerline is valid? [True, True] Translation: X:59.30, Y:-0.01, Z:-1.61 [[ 9.97534400e-01 6.94670269e-02 9.97259076e-03 5.92985084e+01] [-6.94669419e-02 9.97584191e-01 -3.55335758e-04 -9.79640047e-03] [-9.97318300e-03 -3.38305740e-04 9.99950209e-01 -1.60925813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.52420382199999 meters 0.03255066430267813 Centerline is valid? [True, True] Translation: X:59.36, Y:-0.01, Z:-1.61 [[ 9.97802133e-01 6.54631245e-02 1.02705233e-02 5.93587817e+01] [-6.54627763e-02 9.97854943e-01 -3.70430869e-04 -1.36557665e-02] [-1.02727420e-02 -3.02720257e-04 9.99947188e-01 -1.60817155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.58420382199999 meters 0.02602249558647682 Centerline is valid? [True, True] Translation: X:59.42, Y:-0.02, Z:-1.62 [[ 9.98526591e-01 5.32522146e-02 1.04330771e-02 5.94178254e+01] [-5.32511862e-02 9.98581078e-01 -3.76541128e-04 -1.97925028e-02] [-1.04383251e-02 -1.79587404e-04 9.99945503e-01 -1.61563652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.644203821999994 meters 0.012984655077605337 Centerline is valid? [True, True] Translation: X:59.48, Y:-0.05, Z:-1.61 [[ 9.99184942e-01 3.86277719e-02 1.17194731e-02 5.94779385e+01] [-3.86254749e-02 9.99253669e-01 -4.22361452e-04 -4.87733434e-02] [-1.17270414e-02 -3.06530105e-05 9.99931235e-01 -1.61064848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.70420382199999 meters 0.014901431369809792 Centerline is valid? [True, True] Translation: X:59.54, Y:-0.06, Z:-1.61 [[ 9.99506548e-01 2.81749536e-02 1.38863999e-02 5.95396783e+01] [-2.81707507e-02 9.99603001e-01 -4.98212012e-04 -5.74577319e-02] [-1.38949241e-02 1.06775859e-04 9.99903455e-01 -1.60903902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.76420382199999 meters 0.01640802453312818 Centerline is valid? [True, True] Translation: X:59.60, Y:-0.06, Z:-1.61 [[ 9.99550895e-01 2.62111869e-02 1.45252353e-02 5.96019404e+01] [-2.62063414e-02 9.99656418e-01 -5.23856811e-04 -6.31108845e-02] [-1.45339756e-02 1.42968268e-04 9.99894366e-01 -1.61025885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.824203821999994 meters 0.014918298738200796 Centerline is valid? [True, True] Translation: X:59.66, Y:-0.06, Z:-1.61 [[ 9.99490300e-01 2.91823084e-02 1.29434907e-02 5.96644673e+01] [-2.91786932e-02 9.99574102e-01 -4.68101757e-04 -6.30262983e-02] [-1.29516384e-02 9.01890215e-05 9.99916120e-01 -1.61373178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.88420382199999 meters 0.013456164356094646 Centerline is valid? [True, True] Translation: X:59.73, Y:-0.05, Z:-1.62 [[ 9.99233440e-01 3.76938436e-02 1.05691537e-02 5.97257329e+01] [-3.76918909e-02 9.99289334e-01 -3.83957880e-04 -4.50718593e-02] [-1.05761154e-02 -1.47078348e-05 9.99944071e-01 -1.62062546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.94420382199999 meters 0.016711588577454733 Centerline is valid? [True, True] Translation: X:59.79, Y:-0.03, Z:-1.62 [[ 9.98953952e-01 4.41104725e-02 1.20527579e-02 5.97880226e+01] [-4.41083615e-02 9.99026655e-01 -4.41042021e-04 -3.08048075e-02] [-1.20604810e-02 -9.10467347e-05 9.99927266e-01 -1.62408996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.004203821999994 meters 0.01970354184012839 Centerline is valid? [True, True] Translation: X:59.85, Y:-0.03, Z:-1.62 [[ 9.98628129e-01 5.09901663e-02 1.19106114e-02 5.98499075e+01] [-5.09885856e-02 9.98699141e-01 -4.36540904e-04 -2.64068787e-02] [-1.19173767e-02 -1.71363203e-04 9.99928971e-01 -1.62200062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.06420382199999 meters 0.022556592011708638 Centerline is valid? [True, True] Translation: X:59.91, Y:-0.02, Z:-1.62 [[ 9.98448179e-01 5.40409997e-02 1.34463508e-02 5.99115473e+01] [-5.40392244e-02 9.98538691e-01 -4.95586937e-04 -1.59484875e-02] [-1.34534835e-02 -2.31812494e-04 9.99909471e-01 -1.62203123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.12420382199999 meters 0.024341817549791908 Centerline is valid? [True, True] Translation: X:59.97, Y:-0.01, Z:-1.63 [[ 9.98511733e-01 5.32975911e-02 1.15622363e-02 5.99729272e+01] [-5.32962016e-02 9.98578656e-01 -4.28485491e-04 -1.38164679e-02] [-1.15686397e-02 -1.88375488e-04 9.99933063e-01 -1.63018679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.18420382199999 meters 0.02102879400108826 Centerline is valid? [True, True] Translation: X:60.03, Y:-0.02, Z:-1.63 [[ 9.98594680e-01 5.21568988e-02 9.39806932e-03 6.00347147e+01] [-5.21559416e-02 9.98638892e-01 -3.47071967e-04 -1.88094794e-02] [-9.40337973e-03 -1.43580935e-04 9.99955777e-01 -1.63183636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.24420382199999 meters 0.018858730580119294 Centerline is valid? [True, True] Translation: X:60.10, Y:-0.02, Z:-1.63 [[ 9.98720296e-01 4.90073996e-02 1.24918051e-02 6.00951715e+01] [-4.90053954e-02 9.98798405e-01 -4.66671747e-04 -2.10243793e-02] [-1.24996654e-02 -1.46091303e-04 9.99921865e-01 -1.62984929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.30420382199999 meters 0.014944440731602199 Centerline is valid? [True, True] Translation: X:60.16, Y:-0.03, Z:-1.63 [[ 9.98921582e-01 4.50515100e-02 1.12264764e-02 6.01573022e+01] [-4.50496545e-02 9.98984661e-01 -4.18235078e-04 -3.00137630e-02] [-1.12339198e-02 -8.79648360e-05 9.99936894e-01 -1.63104585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.36420382199999 meters 0.022716049215043502 Centerline is valid? [True, True] Translation: X:60.22, Y:-0.03, Z:-1.63 [[ 9.98984831e-01 4.32664223e-02 1.25428529e-02 6.02183203e+01] [-4.32639159e-02 9.99063567e-01 -4.71226806e-04 -3.25902548e-02] [-1.25514957e-02 -7.19045032e-05 9.99921224e-01 -1.63327582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.42420382199999 meters 0.013095506258485042 Centerline is valid? [True, True] Translation: X:60.28, Y:-0.04, Z:-1.63 [[ 9.98991669e-01 4.26543926e-02 1.40088233e-02 6.02803605e+01] [-4.26511967e-02 9.99089885e-01 -5.26955660e-04 -3.52082038e-02] [-1.40185506e-02 -7.10687627e-05 9.99901733e-01 -1.63032685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.48420382199999 meters 0.012759548630957449 Centerline is valid? [True, True] Translation: X:60.34, Y:-0.04, Z:-1.63 [[ 9.99016192e-01 4.22959437e-02 1.33304331e-02 6.03427487e+01] [-4.22929975e-02 9.99105124e-01 -5.02968306e-04 -4.20920026e-02] [-1.33397776e-02 -6.13104938e-05 9.99911019e-01 -1.63234903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.54420382199999 meters 0.013581188823034687 Centerline is valid? [True, True] Translation: X:60.40, Y:-0.04, Z:-1.64 [[ 9.98969932e-01 4.38061397e-02 1.18362576e-02 6.04046243e+01] [-4.38038987e-02 9.99040048e-01 -4.48638549e-04 -4.30953921e-02] [-1.18445485e-02 -7.02978081e-05 9.99929848e-01 -1.63532667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60420382199999 meters 0.01593874793273693 Centerline is valid? [True, True] Translation: X:60.47, Y:-0.04, Z:-1.64 [[ 9.98809830e-01 4.74758676e-02 1.11788355e-02 6.04661678e+01] [-4.74740768e-02 9.98872380e-01 -4.25648090e-04 -3.81415633e-02] [-1.11864381e-02 -1.05563402e-04 9.99937424e-01 -1.63929188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.66420382199999 meters 0.020945624451385522 Centerline is valid? [True, True] Translation: X:60.53, Y:-0.03, Z:-1.64 [[ 9.98527154e-01 5.28723632e-02 1.21669782e-02 6.05279029e+01] [-5.28706128e-02 9.98601262e-01 -4.65694191e-04 -3.12129732e-02] [-1.21745822e-02 -1.78267299e-04 9.99925871e-01 -1.64174342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.72420382199999 meters 0.02126927827722393 Centerline is valid? [True, True] Translation: X:60.59, Y:-0.03, Z:-1.64 [[ 9.98418195e-01 5.50366752e-02 1.14922881e-02 6.05895138e+01] [-5.50352395e-02 9.98484315e-01 -4.41380296e-04 -3.44303550e-02] [-1.14991615e-02 -1.91798708e-04 9.99933864e-01 -1.64265266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.78420382199999 meters 0.022482323903139423 Centerline is valid? [True, True] Translation: X:60.65, Y:-0.04, Z:-1.64 [[ 9.98408420e-01 5.47223035e-02 1.36417305e-02 6.06508319e+01] [-5.47202090e-02 9.98501588e-01 -5.27024883e-04 -3.59275538e-02] [-1.36501295e-02 -2.20292261e-04 9.99906808e-01 -1.64285663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.84420382199999 meters 0.017941972113369942 Centerline is valid? [True, True] Translation: X:60.71, Y:-0.05, Z:-1.64 [[ 9.98606306e-01 5.04234774e-02 1.55858286e-02 6.07121419e+01] [-5.04201452e-02 9.98727911e-01 -6.06917249e-04 -4.72778283e-02] [-1.55966049e-02 -1.79768348e-04 9.99878349e-01 -1.64084436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.90420382199999 meters 0.0148657903489716 Centerline is valid? [True, True] Translation: X:60.77, Y:-0.06, Z:-1.64 [[ 9.98718860e-01 4.82593323e-02 1.52208776e-02 6.07744399e+01] [-4.82559008e-02 9.98834829e-01 -5.92844426e-04 -5.83674647e-02] [-1.52317530e-02 -1.42412252e-04 9.99883980e-01 -1.64133425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.964203821999995 meters 0.01598496632384452 Centerline is valid? [True, True] Translation: X:60.84, Y:-0.07, Z:-1.65 [[ 9.98751283e-01 4.79302897e-02 1.40912155e-02 6.08355009e+01] [-4.79273124e-02 9.98850675e-01 -5.49102117e-04 -6.77431061e-02] [-1.41013387e-02 -1.26937643e-04 9.99900563e-01 -1.64770884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.02420382199999 meters 0.021653248697493334 Centerline is valid? [True, True] Translation: X:60.90, Y:-0.06, Z:-1.65 [[ 9.98445337e-01 5.46116974e-02 1.11566678e-02 6.08971871e+01] [-5.46102288e-02 9.98507653e-01 -4.36463770e-04 -6.16392430e-02] [-1.11638542e-02 -1.73482963e-04 9.99937667e-01 -1.65258368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08420382199998 meters 0.027040550592103342 Centerline is valid? [True, True] Translation: X:60.96, Y:-0.06, Z:-1.66 [[ 9.98065323e-01 6.14859213e-02 9.22459401e-03 6.09578157e+01] [-6.14852060e-02 9.98107929e-01 -3.61381827e-04 -5.89294107e-02] [-9.22936032e-03 -2.06493394e-04 9.99957387e-01 -1.65581694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.14420382199998 meters 0.040741738338121766 Centerline is valid? [True, True] Translation: X:61.02, Y:-0.04, Z:-1.66 [[ 9.97314471e-01 7.25680225e-02 9.88579161e-03 6.10182574e+01] [-7.25677522e-02 9.97363410e-01 -3.86522110e-04 -4.31352436e-02] [-9.88777598e-03 -3.31905582e-04 9.99951060e-01 -1.65812170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.20420382199998 meters 0.04575627686090328 Centerline is valid? [True, True] Translation: X:61.08, Y:-0.04, Z:-1.66 [[ 9.96887469e-01 7.80351816e-02 1.12198510e-02 6.10790571e+01] [-7.80351626e-02 9.96950510e-01 -4.40149330e-04 -3.52063159e-02] [-1.12199833e-02 -4.36763547e-04 9.99936959e-01 -1.65780620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26420382199998 meters 0.052701724372356144 Centerline is valid? [True, True] Translation: X:61.14, Y:-0.03, Z:-1.66 [[ 9.96436934e-01 8.33954498e-02 1.25950634e-02 6.11389335e+01] [-8.33958536e-02 9.96516376e-01 -4.94068280e-04 -2.72580304e-02] [-1.25923900e-02 -5.58068182e-04 9.99920557e-01 -1.65808751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32420382199999 meters 0.048272141268783694 Centerline is valid? [True, True] Translation: X:61.20, Y:-0.03, Z:-1.66 [[ 9.96479338e-01 8.29684315e-02 1.20486092e-02 6.12007399e+01] [-8.29688018e-02 9.96552034e-01 -4.69975620e-04 -3.25439747e-02] [-1.20460592e-02 -5.31337675e-04 9.99927302e-01 -1.65981482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38420382199999 meters 0.04621450838559389 Centerline is valid? [True, True] Translation: X:61.26, Y:-0.03, Z:-1.66 [[ 9.96887302e-01 7.76699829e-02 1.35307437e-02 6.12608149e+01] [-7.76698900e-02 9.96978989e-01 -5.33149485e-04 -3.29692333e-02] [-1.35312769e-02 -5.19441422e-04 9.99908313e-01 -1.66060729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44420382199998 meters 0.040771552393416864 Centerline is valid? [True, True] Translation: X:61.32, Y:-0.04, Z:-1.66 [[ 9.97237087e-01 7.31629693e-02 1.28596954e-02 6.13212561e+01] [-7.31625118e-02 9.97319904e-01 -5.06653618e-04 -4.05852537e-02] [-1.28622985e-02 -4.35593839e-04 9.99917182e-01 -1.66362334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.50420382199998 meters 0.035902561410950835 Centerline is valid? [True, True] Translation: X:61.38, Y:-0.05, Z:-1.67 [[ 9.97602618e-01 6.81982900e-02 1.17477747e-02 6.13813572e+01] [-6.81975605e-02 9.97671729e-01 -4.63152421e-04 -4.70750323e-02] [-1.17520089e-02 -3.39127506e-04 9.99930885e-01 -1.66728995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.56420382199998 meters 0.032111155274555506 Centerline is valid? [True, True] Translation: X:61.44, Y:-0.05, Z:-1.67 [[ 9.97800037e-01 6.53553380e-02 1.11250096e-02 6.14424027e+01] [-6.53545119e-02 9.97862012e-01 -4.38177330e-04 -4.81524284e-02] [-1.11298617e-02 -2.89856217e-04 9.99938019e-01 -1.66946148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62420382199998 meters 0.03164569788876661 Centerline is valid? [True, True] Translation: X:61.51, Y:-0.04, Z:-1.68 [[ 9.97919386e-01 6.38651329e-02 8.83990655e-03 6.15056034e+01] [-6.38645814e-02 9.97958514e-01 -3.44946298e-04 -4.21114606e-02] [-8.84389005e-03 -2.20328334e-04 9.99960868e-01 -1.67693003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68420382199999 meters 0.03078113922524261 Centerline is valid? [True, True] Translation: X:61.57, Y:-0.04, Z:-1.68 [[ 9.97996681e-01 6.26220708e-02 9.00565818e-03 6.15682989e+01] [-6.26214084e-02 9.98037290e-01 -3.55785806e-04 -4.04573221e-02] [-9.01026273e-03 -2.08873945e-04 9.99959385e-01 -1.67908310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74420382199999 meters 0.027460257910777212 Centerline is valid? [True, True] Translation: X:61.63, Y:-0.04, Z:-1.68 [[ 9.98158548e-01 5.98529486e-02 9.85584096e-03 6.16297304e+01] [-5.98520066e-02 9.98207185e-01 -3.90769787e-04 -3.55306664e-02] [-9.86155999e-03 -1.99841655e-04 9.99951354e-01 -1.67859646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.80420382199999 meters 0.024764014128087486 Centerline is valid? [True, True] Translation: X:61.69, Y:-0.03, Z:-1.68 [[ 9.98326590e-01 5.70375503e-02 9.52561283e-03 6.16925737e+01] [-5.70365468e-02 9.98372020e-01 -3.77190410e-04 -3.28059095e-02] [-9.53161934e-03 -1.66748846e-04 9.99954559e-01 -1.68047734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.86420382199998 meters 0.019601148277981623 Centerline is valid? [True, True] Translation: X:61.75, Y:-0.03, Z:-1.68 [[ 9.98518944e-01 5.36132412e-02 9.24874785e-03 6.17548032e+01] [-5.36121650e-02 9.98561767e-01 -3.64420714e-04 -2.67656147e-02] [-9.25498377e-03 -1.31964409e-04 9.99957163e-01 -1.67937686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.92420382199998 meters 0.018392289027934165 Centerline is valid? [True, True] Translation: X:61.82, Y:-0.02, Z:-1.68 [[ 9.98688384e-01 5.00674697e-02 1.07126097e-02 6.18157898e+01] [-5.00657637e-02 9.98745832e-01 -4.27534159e-04 -2.04383038e-02] [-1.07205798e-02 -1.09361586e-04 9.99942527e-01 -1.68227100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98420382199998 meters 0.01294822460871589 Centerline is valid? [True, True] Translation: X:61.88, Y:-0.01, Z:-1.67 [[ 9.98863807e-01 4.53011103e-02 1.47954128e-02 6.18780957e+01] [-4.52973296e-02 9.98973375e-01 -5.90715141e-04 -1.35025839e-02] [-1.48069835e-02 -8.01487157e-05 9.99890367e-01 -1.67411989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04420382199999 meters 0.011284036648393291 Centerline is valid? [True, True] Translation: X:61.94, Y:-0.01, Z:-1.67 [[ 9.99010428e-01 4.13939556e-02 1.62697779e-02 6.19391819e+01] [-4.13888701e-02 9.99142903e-01 -6.49310093e-04 -1.29853803e-02] [-1.62827106e-02 -2.47201712e-05 9.99867428e-01 -1.67481539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10420382199999 meters 0.014474696001527215 Centerline is valid? [True, True] Translation: X:62.00, Y:-0.02, Z:-1.68 [[ 9.99378475e-01 3.15753024e-02 1.56736470e-02 6.20012103e+01] [-3.15693422e-02 9.99501367e-01 -6.27599496e-04 -2.11039209e-02] [-1.56856483e-02 1.32402701e-04 9.99876964e-01 -1.67672269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.16420382199999 meters 0.02346991940897267 Centerline is valid? [True, True] Translation: X:62.06, Y:-0.04, Z:-1.68 [[ 9.99694332e-01 2.11675363e-02 1.27740927e-02 6.20607425e+01] [-2.11626764e-02 9.99775913e-01 -5.15516524e-04 -3.72376030e-02] [-1.27821424e-02 2.45024957e-04 9.99918275e-01 -1.68392239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.22420382199998 meters 0.029252872131024028 Centerline is valid? [True, True] Translation: X:62.12, Y:-0.05, Z:-1.69 [[ 9.99799286e-01 1.68411883e-02 1.08518298e-02 6.21201091e+01] [-1.68374354e-02 9.99858145e-01 -4.37108022e-04 -4.54836204e-02] [-1.08576518e-02 2.54303305e-04 9.99941022e-01 -1.69033509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.28420382199998 meters 0.02836861288228238 Centerline is valid? [True, True] Translation: X:62.18, Y:-0.05, Z:-1.69 [[ 9.99778830e-01 1.85998957e-02 9.81504427e-03 6.21818640e+01] [-1.85969287e-02 9.99826985e-01 -3.93477840e-04 -4.58041279e-02] [-9.82066476e-03 2.10861136e-04 9.99951754e-01 -1.69338927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34420382199998 meters 0.020386234458578057 Centerline is valid? [True, True] Translation: X:62.24, Y:-0.04, Z:-1.69 [[ 9.99563006e-01 2.70019793e-02 1.20287141e-02 6.22420207e+01] [-2.69980585e-02 9.99635367e-01 -4.88245584e-04 -3.62414815e-02] [-1.20375116e-02 1.63280297e-04 9.99927533e-01 -1.69221774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40420382199999 meters 0.014694885842960644 Centerline is valid? [True, True] Translation: X:62.30, Y:-0.03, Z:-1.69 [[ 9.99337243e-01 3.37520624e-02 1.36335265e-02 6.23036266e+01] [-3.37476631e-02 9.99430233e-01 -5.52677800e-04 -2.94014540e-02] [-1.36444126e-02 9.22118497e-05 9.99906906e-01 -1.69065310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46420382199999 meters 0.01179406806880736 Centerline is valid? [True, True] Translation: X:62.37, Y:-0.02, Z:-1.69 [[ 9.98986213e-01 4.26564020e-02 1.43867187e-02 6.23669928e+01] [-4.26524286e-02 9.99089801e-01 -5.83038456e-04 -1.61820046e-02] [-1.43984943e-02 -3.11811152e-05 9.99896336e-01 -1.69017032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52420382199999 meters 0.01362446492369516 Centerline is valid? [True, True] Translation: X:62.43, Y:-0.01, Z:-1.69 [[ 9.98797244e-01 4.66048146e-02 1.52334287e-02 6.24293301e+01] [-4.66008157e-02 9.98913401e-01 -6.17561211e-04 -1.45076462e-02] [-1.52456574e-02 -9.30717691e-05 9.99883774e-01 -1.69239259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.58420382199998 meters 0.014246374612262556 Centerline is valid? [True, True] Translation: X:62.49, Y:-0.02, Z:-1.69 [[ 9.98707643e-01 4.80545046e-02 1.65471588e-02 6.24913988e+01] [-4.80499559e-02 9.98844707e-01 -6.72585073e-04 -1.76389418e-02] [-1.65603627e-02 -1.23374398e-04 9.99862860e-01 -1.69303119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.64420382199998 meters 0.025582709928299655 Centerline is valid? [True, True] Translation: X:62.55, Y:-0.03, Z:-1.69 [[ 9.98751960e-01 4.73698965e-02 1.58308100e-02 6.25537738e+01] [-4.73656157e-02 9.98877411e-01 -6.45451956e-04 -2.73933045e-02] [-1.58436135e-02 -1.05189658e-04 9.99874477e-01 -1.69433404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.70420382199998 meters 0.01197622813418461 Centerline is valid? [True, True] Translation: X:62.62, Y:-0.04, Z:-1.70 [[ 9.98836722e-01 4.53596505e-02 1.63616762e-02 6.26151224e+01] [-4.53547485e-02 9.98970719e-01 -6.70736760e-04 -3.87721907e-02] [-1.63752598e-02 -7.21232000e-05 9.99865914e-01 -1.69712988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76420382199998 meters 0.01135838110913185 Centerline is valid? [True, True] Translation: X:62.68, Y:-0.05, Z:-1.70 [[ 9.98955001e-01 4.25671039e-02 1.66417467e-02 6.26753132e+01] [-4.25615934e-02 9.99093610e-01 -6.85319173e-04 -5.17925666e-02] [-1.66558349e-02 -2.36962431e-05 9.99861282e-01 -1.70003568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82420382199999 meters 0.011654763587336435 Centerline is valid? [True, True] Translation: X:62.74, Y:-0.07, Z:-1.70 [[ 9.99102820e-01 3.93137125e-02 1.57476141e-02 6.27367930e+01] [-3.93083415e-02 9.99226917e-01 -6.50567041e-04 -7.10667559e-02] [-1.57610161e-02 3.09707725e-05 9.99875787e-01 -1.70283165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88420382199999 meters 0.013231763688338238 Centerline is valid? [True, True] Translation: X:62.80, Y:-0.08, Z:-1.71 [[ 9.99008458e-01 4.27361061e-02 1.24790026e-02 6.27977785e+01] [-4.27329836e-02 9.99086395e-01 -5.16874139e-04 -7.76023697e-02] [-1.24896909e-02 -1.69033791e-05 9.99922001e-01 -1.71088205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.94420382199998 meters 0.014659446724209976 Centerline is valid? [True, True] Translation: X:62.86, Y:-0.08, Z:-1.71 [[ 9.98751490e-01 4.80228310e-02 1.37575297e-02 6.28605879e+01] [-4.80195084e-02 9.98846234e-01 -5.71932904e-04 -7.53374930e-02] [-1.37691226e-02 -8.94109747e-05 9.99905197e-01 -1.71048293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.00420382199998 meters 0.022156945101160102 Centerline is valid? [True, True] Translation: X:62.92, Y:-0.07, Z:-1.71 [[ 9.98187204e-01 5.80837846e-02 1.57664360e-02 6.29224943e+01] [-5.80805821e-02 9.98311679e-01 -6.61324141e-04 -6.77246575e-02] [-1.57782294e-02 -2.55598485e-04 9.99875483e-01 -1.70852493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.06420382199998 meters 0.030889120491469593 Centerline is valid? [True, True] Translation: X:62.98, Y:-0.06, Z:-1.71 [[ 9.97741563e-01 6.48888679e-02 1.73553340e-02 6.29826844e+01] [-6.48860136e-02 9.97892417e-01 -7.28112801e-04 -6.25132733e-02] [-1.73660026e-02 -3.99650030e-04 9.99849120e-01 -1.70864193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12420382199998 meters 0.03170508143420079 Centerline is valid? [True, True] Translation: X:63.04, Y:-0.07, Z:-1.71 [[ 9.97642941e-01 6.66117538e-02 1.64753382e-02 6.30440541e+01] [-6.66094094e-02 9.97778887e-01 -6.91612298e-04 -6.69745950e-02] [-1.64848141e-02 -4.07430417e-04 9.99864033e-01 -1.71209342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18420382199999 meters 0.029225935211569624 Centerline is valid? [True, True] Translation: X:63.11, Y:-0.08, Z:-1.72 [[ 9.97763513e-01 6.50059850e-02 1.55626125e-02 6.31057932e+01] [-6.50036966e-02 9.97884809e-01 -6.53383655e-04 -7.66058557e-02] [-1.55721684e-02 -3.59704968e-04 9.99878682e-01 -1.71584772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24420382199999 meters 0.02307797972490794 Centerline is valid? [True, True] Translation: X:63.17, Y:-0.10, Z:-1.72 [[ 9.98150775e-01 5.90238607e-02 1.45332281e-02 6.31660361e+01] [-5.90211714e-02 9.98256542e-01 -6.14251055e-04 -9.65928326e-02] [-1.45441455e-02 -2.44652983e-04 9.99894198e-01 -1.72124728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.30420382199998 meters 0.018054585736117672 Centerline is valid? [True, True] Translation: X:63.23, Y:-0.11, Z:-1.72 [[ 9.98433878e-01 5.40344515e-02 1.44938023e-02 6.32268841e+01] [-5.40312463e-02 9.98539057e-01 -6.12917656e-04 -1.09582335e-01] [-1.45057464e-02 -1.71160451e-04 9.99894771e-01 -1.72213198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.36420382199998 meters 0.01415678415322271 Centerline is valid? [True, True] Translation: X:63.29, Y:-0.13, Z:-1.73 [[ 9.98766301e-01 4.76445062e-02 1.39955985e-02 6.32877717e+01] [-4.76409154e-02 9.98864353e-01 -5.90038876e-04 -1.26194952e-01] [-1.40078165e-02 -7.74521774e-05 9.99901883e-01 -1.72697020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.42420382199998 meters 0.013402191296061596 Centerline is valid? [True, True] Translation: X:63.35, Y:-0.14, Z:-1.73 [[ 9.98869132e-01 4.55439884e-02 1.36456200e-02 6.33503003e+01] [-4.55403537e-02 9.98962333e-01 -5.77131521e-04 -1.38035828e-01] [-1.36577453e-02 -4.49475013e-05 9.99906728e-01 -1.72928546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48420382199998 meters 0.016873007266197258 Centerline is valid? [True, True] Translation: X:63.41, Y:-0.14, Z:-1.73 [[ 9.98741363e-01 4.80668550e-02 1.43271769e-02 6.34133320e+01] [-4.80630676e-02 9.98844117e-01 -6.08756922e-04 -1.37240290e-01] [-1.43398774e-02 -8.06173549e-05 9.99897175e-01 -1.72794292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54420382199999 meters 0.01610963540060803 Centerline is valid? [True, True] Translation: X:63.47, Y:-0.14, Z:-1.73 [[ 9.98583375e-01 5.14993106e-02 1.33814940e-02 6.34739948e+01] [-5.14962496e-02 9.98673023e-01 -5.73441072e-04 -1.35004742e-01] [-1.33932689e-02 -1.16468032e-04 9.99910299e-01 -1.73164949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60420382199999 meters 0.015631775404136503 Centerline is valid? [True, True] Translation: X:63.54, Y:-0.14, Z:-1.73 [[ 9.98620530e-01 5.07540846e-02 1.34558730e-02 6.35355508e+01] [-5.07509471e-02 9.98711175e-01 -5.74751937e-04 -1.38790985e-01] [-1.34677018e-02 -1.08939217e-04 9.99909300e-01 -1.73463413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.66420382199999 meters 0.01353039066686589 Centerline is valid? [True, True] Translation: X:63.60, Y:-0.15, Z:-1.74 [[ 9.98868454e-01 4.60921837e-02 1.17184784e-02 6.35981200e+01] [-4.60894739e-02 9.98937190e-01 -5.01344916e-04 -1.52830170e-01] [-1.17291319e-02 -3.93208816e-05 9.99931211e-01 -1.73939756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.72420382199998 meters 0.013830007939402806 Centerline is valid? [True, True] Translation: X:63.66, Y:-0.17, Z:-1.74 [[ 9.99132447e-01 3.90925821e-02 1.43569649e-02 6.36589173e+01] [-3.90877245e-02 9.99235591e-01 -6.18897747e-04 -1.71999119e-01] [-1.43701846e-02 5.71797323e-05 9.99896742e-01 -1.73910329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.78420382199998 meters 0.015319516158353499 Centerline is valid? [True, True] Translation: X:63.72, Y:-0.18, Z:-1.74 [[ 9.99274499e-01 3.53941451e-02 1.40616587e-02 6.37205191e+01] [-3.53890922e-02 9.99373425e-01 -6.08077930e-04 -1.83299766e-01] [-1.40743704e-02 1.10007432e-04 9.99900945e-01 -1.73819468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84420382199998 meters 0.01703100009377811 Centerline is valid? [True, True] Translation: X:63.78, Y:-0.19, Z:-1.74 [[ 9.99308157e-01 3.47132266e-02 1.33490933e-02 6.37807518e+01] [-3.47085818e-02 9.99397308e-01 -5.79540705e-04 -1.93457686e-01] [-1.33611657e-02 1.15811657e-04 9.99910729e-01 -1.74287857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90420382199999 meters 0.014776325316394626 Centerline is valid? [True, True] Translation: X:63.84, Y:-0.20, Z:-1.74 [[ 9.99196415e-01 3.76747454e-02 1.36798574e-02 6.38428440e+01] [-3.76701159e-02 9.99290052e-01 -5.96025688e-04 -1.97093963e-01] [-1.36926005e-02 8.02249183e-05 9.99906249e-01 -1.74278560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96420382199999 meters 0.01414161254627736 Centerline is valid? [True, True] Translation: X:63.90, Y:-0.19, Z:-1.75 [[ 9.98800669e-01 4.74627853e-02 1.20211648e-02 6.39039083e+01] [-4.74598864e-02 9.98873006e-01 -5.26473456e-04 -1.89626751e-01] [-1.20326049e-02 -4.46810756e-05 9.99927605e-01 -1.74598020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.02420382199999 meters 0.01918918127358607 Centerline is valid? [True, True] Translation: X:63.97, Y:-0.18, Z:-1.75 [[ 9.98376642e-01 5.56319130e-02 1.22135354e-02 6.39667272e+01] [-5.56295086e-02 9.98451336e-01 -5.36772761e-04 -1.81482990e-01] [-1.22244824e-02 -1.43531585e-04 9.99925268e-01 -1.74828660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08420382199998 meters 0.028402500031607283 Centerline is valid? [True, True] Translation: X:64.03, Y:-0.17, Z:-1.75 [[ 9.97799516e-01 6.50064108e-02 1.30495955e-02 6.40271778e+01] [-6.50044566e-02 9.97884808e-01 -5.74307862e-04 -1.68992655e-01] [-1.30593268e-02 -2.75237754e-04 9.99914685e-01 -1.74842184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.14420382199998 meters 0.029802408387281966 Centerline is valid? [True, True] Translation: X:64.09, Y:-0.17, Z:-1.75 [[ 9.97601630e-01 6.78699380e-02 1.35889144e-02 6.40892564e+01] [-6.78680772e-02 9.97694124e-01 -5.98573618e-04 -1.68217789e-01] [-1.35982052e-02 -3.25115472e-04 9.99907487e-01 -1.74916914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.20420382199998 meters 0.028345090527551346 Centerline is valid? [True, True] Translation: X:64.15, Y:-0.17, Z:-1.75 [[ 9.97730846e-01 6.60146965e-02 1.32370306e-02 6.41500005e+01] [-6.60127817e-02 9.97818608e-01 -5.82010586e-04 -1.74089308e-01] [-1.32465767e-02 -2.93123296e-04 9.99912217e-01 -1.75156081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26420382199998 meters 0.02334511241639582 Centerline is valid? [True, True] Translation: X:64.21, Y:-0.18, Z:-1.75 [[ 9.98019285e-01 6.13990251e-02 1.36991735e-02 6.42115862e+01] [-6.13964876e-02 9.98113272e-01 -6.06110834e-04 -1.84898611e-01] [-1.37105415e-02 -2.36170834e-04 9.99905978e-01 -1.75106894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32420382199999 meters 0.02012069346938696 Centerline is valid? [True, True] Translation: X:64.27, Y:-0.19, Z:-1.75 [[ 9.98195723e-01 5.81514782e-02 1.49567411e-02 6.42727986e+01] [-5.81480690e-02 9.98307749e-01 -6.63081273e-04 -1.90961446e-01] [-1.49699897e-02 -2.07820723e-04 9.99887922e-01 -1.75069028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38420382199999 meters 0.01360506720173049 Centerline is valid? [True, True] Translation: X:64.33, Y:-0.20, Z:-1.75 [[ 9.98584160e-01 5.05051861e-02 1.67003497e-02 6.43337904e+01] [-5.04998582e-02 9.98723793e-01 -7.40855004e-04 -2.01487248e-01] [-1.67164536e-02 -1.03559221e-04 9.99860265e-01 -1.75038057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.44420382199998 meters 0.011562781423049057 Centerline is valid? [True, True] Translation: X:64.40, Y:-0.21, Z:-1.75 [[ 9.98744950e-01 4.70487256e-02 1.71738976e-02 6.43958173e+01] [-4.70426027e-02 9.98892594e-01 -7.60552637e-04 -2.10703266e-01] [-1.71906622e-02 -4.83067359e-05 9.99852228e-01 -1.75070097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.50420382199998 meters 0.013409526695066959 Centerline is valid? [True, True] Translation: X:64.46, Y:-0.23, Z:-1.75 [[ 9.99130487e-01 3.82720700e-02 1.65383729e-02 6.44571290e+01] [-3.82651460e-02 9.99267351e-01 -7.35017155e-04 -2.28208065e-01] [-1.65543867e-02 1.01534792e-04 9.99862962e-01 -1.75314454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.56420382199998 meters 0.01385881442869406 Centerline is valid? [True, True] Translation: X:64.52, Y:-0.23, Z:-1.76 [[ 9.99123085e-01 3.90520721e-02 1.50995274e-02 6.45185420e+01] [-3.90463402e-02 9.99237173e-01 -6.74342018e-04 -2.30092662e-01] [-1.51143435e-02 8.41693932e-05 9.99885768e-01 -1.75827935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62420382199998 meters 0.013100882101743485 Centerline is valid? [True, True] Translation: X:64.58, Y:-0.23, Z:-1.76 [[ 9.99011312e-01 4.21179234e-02 1.42295229e-02 6.45802024e+01] [-4.21131451e-02 9.99112646e-01 -6.35410313e-04 -2.27823759e-01] [-1.42436585e-02 3.55321276e-05 9.99898553e-01 -1.76133052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68420382199999 meters 0.012904328844111529 Centerline is valid? [True, True] Translation: X:64.64, Y:-0.22, Z:-1.76 [[ 9.98783805e-01 4.73455202e-02 1.37590696e-02 6.46436741e+01] [-4.73415197e-02 9.98878571e-01 -6.16496746e-04 -2.17536142e-01] [-1.37728281e-02 -3.56282967e-05 9.99905149e-01 -1.76327619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74420382199999 meters 0.015110428915624377 Centerline is valid? [True, True] Translation: X:64.70, Y:-0.21, Z:-1.76 [[ 9.98528433e-01 5.23230120e-02 1.42573172e-02 6.47048857e+01] [-5.23191741e-02 9.98630208e-01 -6.42296795e-04 -2.10500526e-01] [-1.42713946e-02 -1.04579449e-04 9.99898153e-01 -1.76410176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.80420382199998 meters 0.018101196264698693 Centerline is valid? [True, True] Translation: X:64.77, Y:-0.20, Z:-1.76 [[ 9.98109896e-01 5.89053365e-02 1.75155970e-02 6.47675149e+01] [-5.89004958e-02 9.98263544e-01 -7.92565782e-04 -1.98898925e-01] [-1.75318683e-02 -2.40609594e-04 9.99846276e-01 -1.75749353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.86420382199998 meters 0.019791458247952958 Centerline is valid? [True, True] Translation: X:64.83, Y:-0.19, Z:-1.76 [[ 9.98055164e-01 5.97667684e-02 1.77150780e-02 6.48298137e+01] [-5.97618991e-02 9.98212336e-01 -8.04594460e-04 -1.90392371e-01] [-1.77314974e-02 -2.55657048e-04 9.99842752e-01 -1.76049333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.92420382199998 meters 0.01618134507778933 Centerline is valid? [True, True] Translation: X:64.89, Y:-0.20, Z:-1.76 [[ 9.98311144e-01 5.55217145e-02 1.70938303e-02 6.48913704e+01] [-5.55165048e-02 9.98457465e-01 -7.79512241e-04 -1.96337535e-01] [-1.71107423e-02 -1.70793954e-04 9.99853586e-01 -1.76396157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98420382199998 meters 0.011473007439848961 Centerline is valid? [True, True] Translation: X:64.95, Y:-0.21, Z:-1.76 [[ 9.98822920e-01 4.53621321e-02 1.71770881e-02 6.49529298e+01] [-4.53553199e-02 9.98970609e-01 -7.86143532e-04 -2.09216351e-01] [-1.71950673e-02 6.14585158e-06 9.99852154e-01 -1.76446139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04420382199999 meters 0.014687201454299841 Centerline is valid? [True, True] Translation: X:65.01, Y:-0.22, Z:-1.77 [[ 9.99116742e-01 3.82993617e-02 1.72885668e-02 6.50146378e+01] [-3.82913526e-02 9.99266302e-01 -7.94173342e-04 -2.20420619e-01] [-1.73062985e-02 1.31469277e-04 9.99850226e-01 -1.76714643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10420382199999 meters 0.02160794462113047 Centerline is valid? [True, True] Translation: X:65.07, Y:-0.24, Z:-1.77 [[ 9.99421515e-01 2.91489730e-02 1.75206282e-02 6.50744389e+01] [-2.91392579e-02 9.99575034e-01 -8.09583185e-04 -2.39903418e-01] [-1.75367811e-02 2.98576748e-04 9.99846174e-01 -1.76773138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.16420382199999 meters 0.02711463578550774 Centerline is valid? [True, True] Translation: X:65.13, Y:-0.25, Z:-1.77 [[ 9.99544912e-01 2.55641649e-02 1.60138359e-02 6.51340168e+01] [-2.55555865e-02 9.99673129e-01 -7.40127165e-04 -2.51480295e-01] [-1.60275221e-02 3.30547374e-04 9.99871496e-01 -1.77353323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.22420382199998 meters 0.03519214588446259 Centerline is valid? [True, True] Translation: X:65.20, Y:-0.25, Z:-1.78 [[ 9.99494182e-01 2.85288450e-02 1.40529444e-02 6.51962071e+01] [-2.85225633e-02 9.99592939e-01 -6.47268738e-04 -2.45782290e-01] [-1.40656898e-02 2.46115343e-04 9.99901043e-01 -1.77667593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.28420382199998 meters 0.018441657891051746 Centerline is valid? [True, True] Translation: X:65.26, Y:-0.24, Z:-1.78 [[ 9.99304433e-01 3.52728932e-02 1.21026453e-02 6.52572686e+01] [-3.52686819e-02 9.99377709e-01 -5.61279069e-04 -2.36762781e-01] [-1.21149118e-02 1.34044315e-04 9.99926603e-01 -1.78177297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34420382199998 meters 0.012712270798273041 Centerline is valid? [True, True] Translation: X:65.32, Y:-0.22, Z:-1.78 [[ 9.98765816e-01 4.77039125e-02 1.38268333e-02 6.53195657e+01] [-4.76996003e-02 9.98861520e-01 -6.41675196e-04 -2.21385279e-01] [-1.38417021e-02 -1.86511719e-05 9.99904199e-01 -1.77929410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40420382199999 meters 0.015068092821081852 Centerline is valid? [True, True] Translation: X:65.38, Y:-0.21, Z:-1.78 [[ 9.98373530e-01 5.49819296e-02 1.50758930e-02 6.53826429e+01] [-5.49776570e-02 9.98487341e-01 -6.98017678e-04 -2.08110528e-01] [-1.50914666e-02 -1.31954899e-04 9.99886109e-01 -1.77840287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46420382199999 meters 0.014690100694720947 Centerline is valid? [True, True] Translation: X:65.44, Y:-0.21, Z:-1.78 [[ 9.98353520e-01 5.45647876e-02 1.76899423e-02 6.54444233e+01] [-5.45587696e-02 9.98510222e-01 -8.22982163e-04 -2.07166633e-01] [-1.77084941e-02 -1.43514347e-04 9.99843182e-01 -1.77929112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52420382199999 meters 0.010944452412197925 Centerline is valid? [True, True] Translation: X:65.51, Y:-0.22, Z:-1.78 [[ 9.98726928e-01 4.71271499e-02 1.79876165e-02 6.55057885e+01] [-4.71196652e-02 9.98888899e-01 -8.39928107e-04 -2.23983953e-01] [-1.80072138e-02 -8.71164811e-06 9.99837857e-01 -1.77909305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58420382199998 meters 0.013778913353917059 Centerline is valid? [True, True] Translation: X:65.57, Y:-0.24, Z:-1.78 [[ 9.99012998e-01 4.11484642e-02 1.67282135e-02 6.55658328e+01] [-4.11411073e-02 9.99153039e-01 -7.83830083e-04 -2.38231127e-01] [-1.67462988e-02 9.48392153e-05 9.99859766e-01 -1.78472941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.64420382199998 meters 0.018608623329952306 Centerline is valid? [True, True] Translation: X:65.63, Y:-0.25, Z:-1.79 [[ 9.99259464e-01 3.57310914e-02 1.42763223e-02 6.56266736e+01] [-3.57251565e-02 9.99361428e-01 -6.70604938e-04 -2.51342798e-01] [-1.42911673e-02 1.60084481e-04 9.99897863e-01 -1.79007843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.70420382199998 meters 0.01989310035326418 Centerline is valid? [True, True] Translation: X:65.69, Y:-0.26, Z:-1.80 [[ 9.99293323e-01 3.53623307e-02 1.27420718e-02 6.56885866e+01] [-3.53575563e-02 9.99374546e-01 -5.99845765e-04 -2.59256876e-01] [-1.27553141e-02 1.48893349e-04 9.99918637e-01 -1.79513793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76420382199998 meters 0.01718892737693693 Centerline is valid? [True, True] Translation: X:65.75, Y:-0.26, Z:-1.79 [[ 9.99193829e-01 3.78155276e-02 1.34787660e-02 6.57510971e+01] [-3.78103759e-02 9.99284729e-01 -6.36924620e-04 -2.60943157e-01] [-1.34932107e-02 1.26773941e-04 9.99908954e-01 -1.79411891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82420382199999 meters 0.013871629362859175 Centerline is valid? [True, True] Translation: X:65.81, Y:-0.25, Z:-1.80 [[ 9.98979192e-01 4.35853947e-02 1.18696290e-02 6.58131866e+01] [-4.35817912e-02 9.99049704e-01 -5.62198808e-04 -2.53923635e-01] [-1.18828530e-02 4.43252182e-05 9.99929395e-01 -1.79843168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88420382199999 meters 0.012950293870070335 Centerline is valid? [True, True] Translation: X:65.88, Y:-0.25, Z:-1.80 [[ 9.98743974e-01 4.86444391e-02 1.20080413e-02 6.58754018e+01] [-4.86410918e-02 9.98816158e-01 -5.70828989e-04 -2.50333050e-01] [-1.20215934e-02 -1.39722271e-05 9.99927738e-01 -1.80039277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94420382199998 meters 0.014379961567759659 Centerline is valid? [True, True] Translation: X:65.94, Y:-0.25, Z:-1.81 [[ 9.98626868e-01 5.12255418e-02 1.09691313e-02 6.59365625e+01] [-5.12228724e-02 9.98687109e-01 -5.24340937e-04 -2.52005983e-01] [-1.09815897e-02 -3.82494638e-05 9.99939700e-01 -1.80546882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.00420382199998 meters 0.014450223102921683 Centerline is valid? [True, True] Translation: X:66.00, Y:-0.25, Z:-1.80 [[ 9.98412385e-01 5.47399438e-02 1.32758650e-02 6.59989617e+01] [-5.47363369e-02 9.98500641e-01 -6.35156050e-04 -2.48635175e-01] [-1.32907281e-02 -9.25245511e-05 9.99911670e-01 -1.80225144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.06420382199998 meters 0.014994880170851368 Centerline is valid? [True, True] Translation: X:66.06, Y:-0.24, Z:-1.80 [[ 9.98254579e-01 5.70002037e-02 1.54522591e-02 6.60611301e+01] [-5.69955345e-02 9.98374157e-01 -7.42736684e-04 -2.43785567e-01] [-1.54694723e-02 -1.39269472e-04 9.99880331e-01 -1.80005513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12420382199998 meters 0.015605342142094655 Centerline is valid? [True, True] Translation: X:66.12, Y:-0.25, Z:-1.80 [[ 9.98215208e-01 5.76342287e-02 1.56426961e-02 6.61232216e+01] [-5.76294806e-02 9.98337755e-01 -7.54507965e-04 -2.47582861e-01] [-1.56601796e-02 -1.48319124e-04 9.99877361e-01 -1.80285082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18420382199999 meters 0.015687006997712485 Centerline is valid? [True, True] Translation: X:66.18, Y:-0.26, Z:-1.81 [[ 9.98255249e-01 5.72451667e-02 1.44723492e-02 6.61847574e+01] [-5.72410259e-02 9.98360143e-01 -7.00524244e-04 -2.55954459e-01] [-1.44887182e-02 -1.29110112e-04 9.99895025e-01 -1.80723892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24420382199999 meters 0.015652176239776626 Centerline is valid? [True, True] Translation: X:66.25, Y:-0.26, Z:-1.81 [[ 9.98322715e-01 5.64357251e-02 1.29137427e-02 6.62464571e+01] [-5.64323391e-02 9.98406229e-01 -6.26734570e-04 -2.61315598e-01] [-1.29285314e-02 -1.03069351e-04 9.99916418e-01 -1.81258678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30420382199998 meters 0.016097404026685195 Centerline is valid? [True, True] Translation: X:66.31, Y:-0.26, Z:-1.82 [[ 9.98328043e-01 5.65678278e-02 1.18827446e-02 6.63082466e+01] [-5.65649511e-02 9.98398754e-01 -5.78305291e-04 -2.64162021e-01] [-1.18964309e-02 -9.48084809e-05 9.99929230e-01 -1.81670150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.36420382199998 meters 0.015840098864659737 Centerline is valid? [True, True] Translation: X:66.37, Y:-0.28, Z:-1.82 [[ 9.98384579e-01 5.57571964e-02 1.09255186e-02 6.63698601e+01] [-5.57547003e-02 9.98444355e-01 -5.33150440e-04 -2.76643442e-01] [-1.09382493e-02 -7.68598375e-05 9.99940173e-01 -1.82048825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.42420382199998 meters 0.016889167197051747 Centerline is valid? [True, True] Translation: X:66.43, Y:-0.29, Z:-1.83 [[ 9.98400988e-01 5.58038414e-02 9.02214924e-03 6.64299354e+01] [-5.58021202e-02 9.98441750e-01 -4.42598434e-04 -2.88000819e-01] [-9.03278917e-03 -6.15643425e-05 9.99959202e-01 -1.82598994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48420382199998 meters 0.016885675065849357 Centerline is valid? [True, True] Translation: X:66.49, Y:-0.29, Z:-1.82 [[ 9.98296920e-01 5.72860346e-02 1.10258435e-02 6.64917281e+01] [-5.72835546e-02 9.98357803e-01 -5.40863105e-04 -2.92146626e-01] [-1.10387208e-02 -9.16575386e-05 9.99939067e-01 -1.82421270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54420382199999 meters 0.01700378802594591 Centerline is valid? [True, True] Translation: X:66.55, Y:-0.30, Z:-1.82 [[ 9.98109882e-01 5.97728975e-02 1.42781364e-02 6.65540219e+01] [-5.97689402e-02 9.98211991e-01 -7.04091394e-04 -3.00429996e-01] [-1.42946925e-02 -1.50628503e-04 9.99897814e-01 -1.81937442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60420382199999 meters 0.017182928229773242 Centerline is valid? [True, True] Translation: X:66.62, Y:-0.31, Z:-1.82 [[ 9.97990474e-01 6.14031450e-02 1.56418309e-02 6.66164804e+01] [-6.13985536e-02 9.98113029e-01 -7.74035595e-04 -3.10041971e-01] [-1.56598435e-02 -1.87905644e-04 9.99877359e-01 -1.81795180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66420382199998 meters 0.01900999068510865 Centerline is valid? [True, True] Translation: X:66.68, Y:-0.31, Z:-1.82 [[ 9.97815659e-01 6.38853373e-02 1.68099605e-02 6.66787954e+01] [-6.38803195e-02 9.97957217e-01 -8.35834557e-04 -3.12714649e-01] [-1.68290189e-02 -2.39816836e-04 9.99858353e-01 -1.81841583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.72420382199998 meters 0.023653879377441654 Centerline is valid? [True, True] Translation: X:66.74, Y:-0.31, Z:-1.82 [[ 9.97522228e-01 6.84373084e-02 1.63015038e-02 6.67398029e+01] [-6.84331515e-02 9.97655372e-01 -8.13339387e-04 -3.13789936e-01] [-1.63189456e-02 -3.04239163e-04 9.99866791e-01 -1.82149811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.78420382199998 meters 0.02432058391392187 Centerline is valid? [True, True] Translation: X:66.80, Y:-0.32, Z:-1.82 [[ 9.97368153e-01 7.08470348e-02 1.54098752e-02 6.68013240e+01] [-7.08435598e-02 9.97487140e-01 -7.71950437e-04 -3.19604290e-01] [-1.54258428e-02 -3.21771636e-04 9.99880963e-01 -1.82345373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84420382199998 meters 0.026210806467464647 Centerline is valid? [True, True] Translation: X:66.86, Y:-0.32, Z:-1.83 [[ 9.97457818e-01 7.00576785e-02 1.30316242e-02 6.68617120e+01] [-7.00551167e-02 9.97542908e-01 -6.53526371e-04 -3.22499950e-01] [-1.30453888e-02 -2.61066967e-04 9.99914871e-01 -1.83218709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90420382199999 meters 0.023254773039468518 Centerline is valid? [True, True] Translation: X:66.92, Y:-0.33, Z:-1.83 [[ 9.97444563e-01 6.98023949e-02 1.52305378e-02 6.69242373e+01] [-6.97988349e-02 9.97560793e-01 -7.65836332e-04 -3.30217875e-01] [-1.52468445e-02 -2.99194504e-04 9.99883715e-01 -1.82853416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96420382199999 meters 0.025825291854849566 Centerline is valid? [True, True] Translation: X:66.98, Y:-0.33, Z:-1.83 [[ 9.97340771e-01 7.12281098e-02 1.54253802e-02 6.69848070e+01] [-7.12246288e-02 9.97460000e-01 -7.75619522e-04 -3.34171476e-01] [-1.54414457e-02 -3.25110007e-04 9.99880721e-01 -1.83081887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.02420382199999 meters 0.032189540616347684 Centerline is valid? [True, True] Translation: X:67.05, Y:-0.33, Z:-1.83 [[ 9.96969628e-01 7.61246902e-02 1.60184809e-02 6.70455330e+01] [-7.61215048e-02 9.97098221e-01 -8.09364259e-04 -3.28382851e-01] [-1.60336114e-02 -4.12439288e-04 9.99871368e-01 -1.83392143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.08420382199998 meters 0.033118250032475774 Centerline is valid? [True, True] Translation: X:67.11, Y:-0.33, Z:-1.83 [[ 9.96780623e-01 7.84151881e-02 1.67166887e-02 6.71073137e+01] [-7.84120663e-02 9.96920677e-01 -8.43112869e-04 -3.28630866e-01] [-1.67313254e-02 -4.70391529e-04 9.99859911e-01 -1.83388131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.14420382199998 meters 0.0317644796428824 Centerline is valid? [True, True] Translation: X:67.17, Y:-0.33, Z:-1.84 [[ 9.96972748e-01 7.60079181e-02 1.63748546e-02 6.71677853e+01] [-7.60045408e-02 9.97107127e-01 -8.29372455e-04 -3.29722155e-01] [-1.63905231e-02 -4.17701573e-04 9.99865579e-01 -1.83741245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.20420382199998 meters 0.021868752149001303 Centerline is valid? [True, True] Translation: X:67.23, Y:-0.35, Z:-1.84 [[ 9.97544171e-01 6.81981448e-02 1.59574453e-02 6.72282468e+01] [-6.81939095e-02 9.97671757e-01 -8.10030612e-04 -3.47012920e-01] [-1.59755351e-02 -2.80159265e-04 9.99872344e-01 -1.83841453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26420382199998 meters 0.01913469883074262 Centerline is valid? [True, True] Translation: X:67.29, Y:-0.35, Z:-1.84 [[ 9.97810369e-01 6.37083875e-02 1.77681742e-02 6.72882914e+01] [-6.37024202e-02 9.97968530e-01 -9.02194853e-04 -3.52188472e-01] [-1.77895560e-02 -2.31656318e-04 9.99841726e-01 -1.83836925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32420382199999 meters 0.01529892656549016 Centerline is valid? [True, True] Translation: X:67.35, Y:-0.36, Z:-1.84 [[ 9.98019040e-01 6.02906903e-02 1.79730067e-02 6.73503918e+01] [-6.02840569e-02 9.98180847e-01 -9.11127907e-04 -3.57236738e-01] [-1.79952436e-02 -1.74162762e-04 9.99838057e-01 -1.83786667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38420382199999 meters 0.016025688874028318 Centerline is valid? [True, True] Translation: X:67.41, Y:-0.36, Z:-1.84 [[ 9.98005799e-01 6.06591274e-02 1.74612793e-02 6.74115112e+01] [-6.06528593e-02 9.98158525e-01 -8.88815596e-04 -3.56213128e-01] [-1.74830396e-02 -1.72033399e-04 9.99847145e-01 -1.84110594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44420382199998 meters 0.01574430664450644 Centerline is valid? [True, True] Translation: X:67.47, Y:-0.36, Z:-1.84 [[ 9.98056749e-01 6.01143976e-02 1.64007595e-02 6.74741112e+01] [-6.01087922e-02 9.98191483e-01 -8.34953846e-04 -3.56358075e-01] [-1.64212912e-02 -1.52498527e-04 9.99865150e-01 -1.84464264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.50420382199998 meters 0.0121640005967658 Centerline is valid? [True, True] Translation: X:67.54, Y:-0.36, Z:-1.84 [[ 9.98235593e-01 5.64830697e-02 1.83129392e-02 6.75368138e+01] [-5.64753707e-02 9.98403552e-01 -9.37711131e-04 -3.58788220e-01] [-1.83366683e-02 -9.81733998e-05 9.99831864e-01 -1.84172410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.56420382199998 meters 0.011562527902000448 Centerline is valid? [True, True] Translation: X:67.60, Y:-0.36, Z:-1.84 [[ 9.98341523e-01 5.46289808e-02 1.81625256e-02 6.75980280e+01] [-5.46211000e-02 9.98506720e-01 -9.30064977e-04 -3.60198666e-01] [-1.81862123e-02 -6.35346379e-05 9.99834615e-01 -1.84445396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62420382199998 meters 0.012663714586708213 Centerline is valid? [True, True] Translation: X:67.66, Y:-0.35, Z:-1.85 [[ 9.98219431e-01 5.70834961e-02 1.73043747e-02 6.76605341e+01] [-5.70766701e-02 9.98369403e-01 -8.88486882e-04 -3.54766526e-01] [-1.73268762e-02 -1.00771215e-04 9.99849873e-01 -1.84754670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68420382199999 meters 0.017089307284708977 Centerline is valid? [True, True] Translation: X:67.72, Y:-0.34, Z:-1.85 [[ 9.97946549e-01 6.15182636e-02 1.78378433e-02 6.77218810e+01] [-6.15116323e-02 9.98105942e-01 -9.20698895e-04 -3.42815051e-01] [-1.78606972e-02 -1.78426574e-04 9.99840469e-01 -1.84918017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74420382199999 meters 0.016061856234679726 Centerline is valid? [True, True] Translation: X:67.78, Y:-0.34, Z:-1.85 [[ 9.97909492e-01 6.17752784e-02 1.89857802e-02 6.77842390e+01] [-6.17678294e-02 9.98090064e-01 -9.79063234e-04 -3.39501901e-01] [-1.90100005e-02 -1.95693938e-04 9.99819274e-01 -1.84734244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.80420382199998 meters 0.014111349145554102 Centerline is valid? [True, True] Translation: X:67.85, Y:-0.34, Z:-1.85 [[ 9.98039996e-01 5.94870263e-02 1.94283181e-02 6.78465840e+01] [-5.94787280e-02 9.98229067e-01 -1.00519903e-03 -3.36451497e-01] [-1.94537082e-02 -1.52342808e-04 9.99810747e-01 -1.84848350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.86420382199998 meters 0.012128265847429617 Centerline is valid? [True, True] Translation: X:67.91, Y:-0.34, Z:-1.85 [[ 9.98158557e-01 5.73680550e-02 1.97078763e-02 6.79089727e+01] [-5.73590395e-02 9.98353091e-01 -1.02288976e-03 -3.37152987e-01] [-1.97341004e-02 -1.09418684e-04 9.99805258e-01 -1.84910938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.92420382199998 meters 0.010449057566815847 Centerline is valid? [True, True] Translation: X:67.97, Y:-0.34, Z:-1.85 [[ 9.98414531e-01 5.25993753e-02 2.00431889e-02 6.79699078e+01] [-5.25890179e-02 9.98615695e-01 -1.04384534e-03 -3.37197326e-01] [-2.00703486e-02 -1.18612665e-05 9.99798570e-01 -1.85079050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98420382199998 meters 0.011652081252031194 Centerline is valid? [True, True] Translation: X:68.03, Y:-0.34, Z:-1.85 [[ 9.98658397e-01 4.66373346e-02 2.25025477e-02 6.80331373e+01] [-4.66226815e-02 9.98911880e-01 -1.17565568e-03 -3.41702182e-01] [-2.25328916e-02 1.24949301e-04 9.99746094e-01 -1.84846069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04420382199999 meters 0.018166956748866522 Centerline is valid? [True, True] Translation: X:68.09, Y:-0.35, Z:-1.86 [[ 9.99062653e-01 3.87118721e-02 1.93702370e-02 6.80933963e+01] [-3.86994331e-02 9.99250379e-01 -1.01674207e-03 -3.51550137e-01] [-1.93950767e-02 2.66171836e-04 9.99811862e-01 -1.85510150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10420382199999 meters 0.023947670467414636 Centerline is valid? [True, True] Translation: X:68.15, Y:-0.36, Z:-1.86 [[ 9.99232581e-01 3.40786875e-02 1.93104299e-02 6.81536431e+01] [-3.40654692e-02 9.99419090e-01 -1.01314040e-03 -3.60161382e-01] [-1.93337388e-02 3.54544046e-04 9.99813023e-01 -1.85867333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16420382199998 meters 0.0255995379242546 Centerline is valid? [True, True] Translation: X:68.22, Y:-0.36, Z:-1.86 [[ 9.99337556e-01 3.16527516e-02 1.79597416e-02 6.82158689e+01] [-3.16408949e-02 9.99498856e-01 -9.44025899e-04 -3.63462740e-01] [-1.79806222e-02 3.75138240e-04 9.99838265e-01 -1.86149045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.22420382199998 meters 0.026586712768440803 Centerline is valid? [True, True] Translation: X:68.28, Y:-0.37, Z:-1.86 [[ 9.99326755e-01 3.18577899e-02 1.81966265e-02 6.82780828e+01] [-3.18456615e-02 9.99492341e-01 -9.55971195e-04 -3.67347496e-01] [-1.82178440e-02 3.75843984e-04 9.99833971e-01 -1.86337463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.28420382199998 meters 0.024593506439629657 Centerline is valid? [True, True] Translation: X:68.34, Y:-0.37, Z:-1.87 [[ 9.99267263e-01 3.39645948e-02 1.76449262e-02 6.83405732e+01] [-3.39534635e-02 9.99422982e-01 -9.30128156e-04 -3.66800363e-01] [-1.76663362e-02 3.30340260e-04 9.99843884e-01 -1.86534746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34420382199998 meters 0.021973317986921807 Centerline is valid? [True, True] Translation: X:68.40, Y:-0.37, Z:-1.87 [[ 9.99150974e-01 3.68226636e-02 1.84776334e-02 6.84007595e+01] [-3.68108558e-02 9.99321771e-01 -9.78857866e-04 -3.65594543e-01] [-1.85011455e-02 2.97849290e-04 9.99828795e-01 -1.86627502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40420382199999 meters 0.015641861936900953 Centerline is valid? [True, True] Translation: X:68.46, Y:-0.36, Z:-1.87 [[ 9.98902143e-01 4.37403077e-02 1.67718230e-02 6.84624296e+01] [-4.37315540e-02 9.99042923e-01 -8.88507881e-04 -3.57529477e-01] [-1.67946347e-02 1.54074545e-04 9.99858948e-01 -1.87164585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46420382199999 meters 0.010673932635339198 Centerline is valid? [True, True] Translation: X:68.53, Y:-0.35, Z:-1.87 [[ 9.98442120e-01 5.25360927e-02 1.87960887e-02 6.85250452e+01] [-5.25266484e-02 9.98619026e-01 -9.96143535e-04 -3.47204330e-01] [-1.88224653e-02 7.29611868e-06 9.99822842e-01 -1.87074304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.52420382199999 meters 0.011239784005454567 Centerline is valid? [True, True] Translation: X:68.59, Y:-0.34, Z:-1.87 [[ 9.98144552e-01 5.71963731e-02 2.08812744e-02 6.85867491e+01] [-5.71857380e-02 9.98362943e-01 -1.10656809e-03 -3.41656908e-01] [-2.09103822e-02 -8.95961769e-05 9.99781350e-01 -1.86987299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58420382199998 meters 0.010500505620754226 Centerline is valid? [True, True] Translation: X:68.65, Y:-0.35, Z:-1.87 [[ 9.98254611e-01 5.52246259e-02 2.09278019e-02 6.86482388e+01] [-5.52134432e-02 9.98473955e-01 -1.11222345e-03 -3.50722244e-01] [-2.09572873e-02 -4.52138132e-05 9.99780371e-01 -1.87234428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.64420382199998 meters 0.011168837983649255 Centerline is valid? [True, True] Translation: X:68.71, Y:-0.37, Z:-1.88 [[ 9.98513278e-01 5.11320015e-02 1.88878734e-02 6.87090460e+01] [-5.11221105e-02 9.98691903e-01 -1.00645343e-03 -3.67264349e-01] [-1.89146282e-02 3.93691674e-05 9.99821102e-01 -1.87912740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.70420382199998 meters 0.011329712623221277 Centerline is valid? [True, True] Translation: X:68.77, Y:-0.38, Z:-1.88 [[ 9.98520104e-01 5.11182524e-02 1.85614357e-02 6.87716029e+01] [-5.11086468e-02 9.98692607e-01 -9.91810257e-04 -3.78591737e-01] [-1.85878683e-02 4.16926168e-05 9.99827230e-01 -1.88198212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76420382199998 meters 0.011118298216100905 Centerline is valid? [True, True] Translation: X:68.83, Y:-0.38, Z:-1.88 [[ 9.98281866e-01 5.56155989e-02 1.84450735e-02 6.88342996e+01] [-5.56068171e-02 9.98452254e-01 -9.89037337e-04 -3.83030862e-01] [-1.84715312e-02 -3.83337927e-05 9.99829386e-01 -1.88365703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82420382199999 meters 0.01168907485787184 Centerline is valid? [True, True] Translation: X:68.90, Y:-0.39, Z:-1.89 [[ 9.98169609e-01 5.74617326e-02 1.88568352e-02 6.88959710e+01] [-5.74528112e-02 9.98347707e-01 -1.01495627e-03 -3.88220454e-01] [-1.88839993e-02 -7.02796936e-05 9.99821679e-01 -1.88601082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88420382199999 meters 0.011017650162712715 Centerline is valid? [True, True] Translation: X:68.96, Y:-0.40, Z:-1.89 [[ 9.98266202e-01 5.59567204e-02 1.82602133e-02 6.89584828e+01] [-5.59480504e-02 9.98433195e-01 -9.85711723e-04 -4.04987028e-01] [-1.82867603e-02 -3.76206378e-05 9.99832783e-01 -1.88859430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94420382199998 meters 0.011428661211798466 Centerline is valid? [True, True] Translation: X:69.02, Y:-0.42, Z:-1.89 [[ 9.98365969e-01 5.45283484e-02 1.70894959e-02 6.90185840e+01] [-5.45204863e-02 9.98512223e-01 -9.25964310e-04 -4.22906328e-01] [-1.71145619e-02 -7.27637220e-06 9.99853535e-01 -1.89342902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.00420382199998 meters 0.011546864538610084 Centerline is valid? [True, True] Translation: X:69.08, Y:-0.43, Z:-1.90 [[ 9.98264772e-01 5.63610274e-02 1.70551846e-02 6.90811731e+01] [-5.63534256e-02 9.98410453e-01 -9.26368026e-04 -4.29792573e-01] [-1.70802856e-02 -3.63575084e-05 9.99854121e-01 -1.89522191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.06420382199998 meters 0.014279615994123277 Centerline is valid? [True, True] Translation: X:69.14, Y:-0.43, Z:-1.90 [[ 9.97902015e-01 6.21236500e-02 1.82269334e-02 6.91421668e+01] [-6.21158496e-02 9.98068451e-01 -9.94332734e-04 -4.29589214e-01] [-1.82534988e-02 -1.39934816e-04 9.99833381e-01 -1.89708942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12420382199998 meters 0.01850336907153076 Centerline is valid? [True, True] Translation: X:69.20, Y:-0.43, Z:-1.90 [[ 9.97574617e-01 6.73092351e-02 1.77299146e-02 6.92041482e+01] [-6.73026256e-02 9.97732136e-01 -9.69881261e-04 -4.28031932e-01] [-1.77549875e-02 -2.25740874e-04 9.99842342e-01 -1.89975020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18420382199999 meters 0.026615929693669823 Centerline is valid? [True, True] Translation: X:69.27, Y:-0.42, Z:-1.91 [[ 9.97055780e-01 7.50020831e-02 1.59517519e-02 6.92658441e+01] [-7.49976552e-02 9.97183325e-01 -8.76451806e-04 -4.19784753e-01] [-1.59725567e-02 -3.22472648e-04 9.99872379e-01 -1.90513673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24420382199999 meters 0.029091216148446123 Centerline is valid? [True, True] Translation: X:69.33, Y:-0.42, Z:-1.91 [[ 9.96806863e-01 7.82724682e-02 1.57955204e-02 6.93275133e+01] [-7.82685483e-02 9.96931935e-01 -8.67149104e-04 -4.20298274e-01] [-1.58149326e-02 -3.71912272e-04 9.99874867e-01 -1.90701161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.30420382199998 meters 0.027910182748423593 Centerline is valid? [True, True] Translation: X:69.39, Y:-0.42, Z:-1.91 [[ 9.96928729e-01 7.66379323e-02 1.61163231e-02 6.93883181e+01] [-7.66336315e-02 9.97058927e-01 -8.85166973e-04 -4.22208882e-01] [-1.61367612e-02 -3.52603983e-04 9.99869732e-01 -1.90837949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.36420382199998 meters 0.02334443625035511 Centerline is valid? [True, True] Translation: X:69.45, Y:-0.42, Z:-1.91 [[ 9.97185257e-01 7.30412768e-02 1.69273766e-02 6.94492909e+01] [-7.30359409e-02 9.97328872e-01 -9.34035201e-04 -4.24792467e-01] [-1.69503845e-02 -3.04900746e-04 9.99856285e-01 -1.90953959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.42420382199998 meters 0.022129659211215683 Centerline is valid? [True, True] Translation: X:69.51, Y:-0.43, Z:-1.91 [[ 9.97299982e-01 7.19407925e-02 1.47399931e-02 6.95119743e+01] [-7.19366580e-02 9.97408873e-01 -8.11195640e-04 -4.28985986e-01] [-1.47601580e-02 -2.51340446e-04 9.99891031e-01 -1.91491238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48420382199998 meters 0.023240098263563123 Centerline is valid? [True, True] Translation: X:69.57, Y:-0.43, Z:-1.92 [[ 9.97342738e-01 7.12692142e-02 1.51050131e-02 6.95732216e+01] [-7.12647413e-02 9.97457087e-01 -8.34855616e-04 -4.29818829e-01] [-1.51261018e-02 -2.43817663e-04 9.99885564e-01 -1.91900985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54420382199999 meters 0.018820838784624094 Centerline is valid? [True, True] Translation: X:69.64, Y:-0.43, Z:-1.92 [[ 9.97634972e-01 6.71520506e-02 1.46650582e-02 6.96356187e+01] [-6.71473375e-02 9.97742739e-01 -8.14087158e-04 -4.33789531e-01] [-1.46866229e-02 -1.72557790e-04 9.99892131e-01 -1.92116394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60420382199999 meters 0.015543614217203886 Centerline is valid? [True, True] Translation: X:69.70, Y:-0.44, Z:-1.92 [[ 9.97869404e-01 6.35658786e-02 1.46980101e-02 6.96972326e+01] [-6.35607650e-02 9.97977637e-01 -8.15256560e-04 -4.42205438e-01] [-1.47201079e-02 -1.20697186e-04 9.99891646e-01 -1.92470834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66420382199998 meters 0.012998616613508181 Centerline is valid? [True, True] Translation: X:69.76, Y:-0.45, Z:-1.93 [[ 9.98136083e-01 5.92449375e-02 1.46423107e-02 6.97587972e+01] [-5.92393629e-02 9.98243475e-01 -8.14530988e-04 -4.52347935e-01] [-1.46648480e-02 -5.43883881e-05 9.99892464e-01 -1.92591943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.72420382199998 meters 0.016941071855426655 Centerline is valid? [True, True] Translation: X:69.82, Y:-0.46, Z:-1.93 [[ 9.98236493e-01 5.80042972e-02 1.26256078e-02 6.98205240e+01] [-5.80000349e-02 9.98316333e-01 -7.03794986e-04 -4.58157671e-01] [-1.26451736e-02 -2.97318536e-05 9.99920046e-01 -1.93275406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.78420382199998 meters 0.01487503250850276 Centerline is valid? [True, True] Translation: X:69.88, Y:-0.46, Z:-1.94 [[ 9.98166668e-01 5.96431677e-02 1.02954084e-02 6.98821386e+01] [-5.96404101e-02 9.98219761e-01 -5.74938869e-04 -4.60007494e-01] [-1.03113712e-02 -4.01375614e-05 9.99946836e-01 -1.93861757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84420382199998 meters 0.01660350620067744 Centerline is valid? [True, True] Translation: X:69.94, Y:-0.46, Z:-1.94 [[ 9.97895601e-01 6.38020155e-02 1.15616873e-02 6.99438994e+01] [-6.37987942e-02 9.97962572e-01 -6.47599694e-04 -4.58747519e-01] [-1.15794494e-02 -9.13848264e-05 9.99932952e-01 -1.93898655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90420382199999 meters 0.01628853722008684 Centerline is valid? [True, True] Translation: X:70.01, Y:-0.46, Z:-1.94 [[ 9.97789931e-01 6.50425959e-02 1.35909397e-02 7.00063690e+01] [-6.50382129e-02 9.97882481e-01 -7.64698995e-04 -4.61797083e-01] [-1.36118986e-02 -1.20921471e-04 9.99907347e-01 -1.93661097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96420382199999 meters 0.01273371421378431 Centerline is valid? [True, True] Translation: X:70.07, Y:-0.47, Z:-1.93 [[ 9.97977226e-01 6.12473701e-02 1.70357521e-02 7.00678905e+01] [-6.12398350e-02 9.98122614e-01 -9.64118117e-04 -4.74665409e-01] [-1.70628191e-02 -8.10987225e-05 9.99854416e-01 -1.93216008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02420382199998 meters 0.012022368664333375 Centerline is valid? [True, True] Translation: X:70.13, Y:-0.49, Z:-1.94 [[ 9.98304405e-01 5.63255798e-02 1.46882364e-02 7.01296092e+01] [-5.63194687e-02 9.98412454e-01 -8.29694127e-04 -4.89344731e-01] [-1.47116512e-02 1.05362928e-06 9.99891778e-01 -1.93793121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.08420382199998 meters 0.015573214987050436 Centerline is valid? [True, True] Translation: X:70.19, Y:-0.51, Z:-1.95 [[ 9.98611545e-01 5.13112584e-02 1.19221377e-02 7.01889507e+01] [-5.13068315e-02 9.98682708e-01 -6.77077686e-04 -5.11716961e-01] [-1.19411745e-02 6.44504839e-05 9.99928700e-01 -1.94810411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.14420382199998 meters 0.01673107680275978 Centerline is valid? [True, True] Translation: X:70.25, Y:-0.53, Z:-1.95 [[ 9.98781764e-01 4.85179462e-02 8.99984540e-03 7.02505794e+01] [-4.85153143e-02 9.98822308e-01 -5.10656566e-04 -5.26430689e-01] [-9.01402236e-03 7.34041380e-05 9.99959370e-01 -1.95049843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.20420382199998 meters 0.017570544785382038 Centerline is valid? [True, True] Translation: X:70.31, Y:-0.53, Z:-1.96 [[ 9.98686199e-01 5.07607558e-02 7.01583955e-03 7.03110605e+01] [-5.07592285e-02 9.98710841e-01 -3.95698430e-04 -5.30814368e-01] [-7.02688097e-03 3.90599580e-05 9.99975310e-01 -1.95878597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26420382199998 meters 0.014659076485919898 Centerline is valid? [True, True] Translation: X:70.37, Y:-0.53, Z:-1.96 [[ 9.98218367e-01 5.92105674e-02 7.36207828e-03 7.03736465e+01] [-5.92091074e-02 9.98245515e-01 -4.16296760e-04 -5.33384934e-01] [-7.37381080e-03 -2.03470119e-05 9.99972813e-01 -1.95573393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32420382199999 meters 0.018941983180573316 Centerline is valid? [True, True] Translation: X:70.43, Y:-0.53, Z:-1.96 [[ 9.97800097e-01 6.59814959e-02 6.43499492e-03 7.04344725e+01] [-6.59805161e-02 9.97820845e-01 -3.64682594e-04 -5.33700324e-01] [-6.44503437e-03 -6.07039582e-05 9.99979229e-01 -1.96325269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38420382199999 meters 0.021326313043396092 Centerline is valid? [True, True] Translation: X:70.50, Y:-0.54, Z:-1.97 [[ 9.97571065e-01 6.94198209e-02 5.73229505e-03 7.04963030e+01] [-6.94190977e-02 9.97587532e-01 -3.25273212e-04 -5.36964020e-01] [-5.74104647e-03 -7.34476054e-05 9.99983517e-01 -1.96645820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.44420382199998 meters 0.02736200063718077 Centerline is valid? [True, True] Translation: X:70.56, Y:-0.53, Z:-1.97 [[ 9.97162255e-01 7.51170238e-02 4.98705657e-03 7.05563989e+01] [-7.51165272e-02 9.97174721e-01 -2.87056453e-04 -5.34695398e-01] [-4.99452957e-03 -8.83685101e-05 9.99987523e-01 -1.97140814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.50420382199998 meters 0.029702618427223954 Centerline is valid? [True, True] Translation: X:70.62, Y:-0.53, Z:-1.97 [[ 9.96869454e-01 7.88481210e-02 5.85366194e-03 7.06188781e+01] [-7.88475232e-02 9.96886632e-01 -3.33190809e-04 -5.33986801e-01] [-5.86170881e-03 -1.29399006e-04 9.99982812e-01 -1.97070512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.56420382199998 meters 0.030181572555211946 Centerline is valid? [True, True] Translation: X:70.68, Y:-0.54, Z:-1.98 [[ 9.96873995e-01 7.88558748e-02 4.89779970e-03 7.06805228e+01] [-7.88554563e-02 9.96886021e-01 -2.78792883e-04 -5.37643840e-01] [-4.90453251e-03 -1.08296855e-04 9.99987967e-01 -1.97602315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62420382199998 meters 0.02573079592362193 Centerline is valid? [True, True] Translation: X:70.74, Y:-0.54, Z:-1.97 [[ 9.97034208e-01 7.66747814e-02 6.61562571e-03 7.07415465e+01] [-7.66739312e-02 9.97056148e-01 -3.82406650e-04 -5.44280783e-01] [-6.62547123e-03 -1.25973519e-04 9.99978043e-01 -1.97232955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68420382199999 meters 0.02440975955306237 Centerline is valid? [True, True] Translation: X:70.80, Y:-0.55, Z:-1.98 [[ 9.97397224e-01 7.20469760e-02 2.83022461e-03 7.08021243e+01] [-7.20468124e-02 9.97401239e-01 -1.59832133e-04 -5.49247249e-01] [-2.83438496e-03 -4.44925355e-05 9.99995982e-01 -1.98414486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74420382199999 meters 0.022011028644672866 Centerline is valid? [True, True] Translation: X:70.86, Y:-0.56, Z:-1.99 [[ 9.97716047e-01 6.74607141e-02 3.42657787e-03 7.08623760e+01] [-6.74604307e-02 9.97721931e-01 -1.98370286e-04 -5.58695391e-01] [-3.43215409e-03 -3.32412010e-05 9.99994110e-01 -1.98665184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.80420382199998 meters 0.017507493788254298 Centerline is valid? [True, True] Translation: X:70.92, Y:-0.57, Z:-1.98 [[ 9.98091607e-01 6.15999378e-02 4.31184477e-03 7.09234296e+01] [-6.15994331e-02 9.98100920e-01 -2.49882485e-04 -5.69892386e-01] [-4.31904898e-03 -1.62015832e-05 9.99990673e-01 -1.98337159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.86420382199998 meters 0.01785680083584892 Centerline is valid? [True, True] Translation: X:70.98, Y:-0.58, Z:-1.99 [[ 9.98220258e-01 5.94869861e-02 4.19711124e-03 7.09845212e+01] [-5.94865049e-02 9.98229081e-01 -2.39513726e-04 -5.78861487e-01] [-4.20392645e-03 -1.05840248e-05 9.99991163e-01 -1.98715680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.92420382199998 meters 0.01819122938849253 Centerline is valid? [True, True] Translation: X:71.05, Y:-0.59, Z:-1.99 [[ 9.98468941e-01 5.52938482e-02 1.53763829e-03 7.10462914e+01] [-5.52937778e-02 9.98470125e-01 -8.82748855e-05 -5.91974242e-01] [-1.54016695e-03 3.11790149e-06 9.99998814e-01 -1.98963800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98420382199998 meters 0.020120420218356985 Centerline is valid? [True, True] Translation: X:71.11, Y:-0.61, Z:-1.99 [[ 9.98791267e-01 4.91176351e-02 1.86111072e-03 7.11077932e+01] [-4.91175270e-02 9.98793000e-01 -1.03810052e-04 -6.09909924e-01] [-1.86396326e-03 1.22714172e-05 9.99998263e-01 -1.98956674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04420382199999 meters 0.022504856392261477 Centerline is valid? [True, True] Translation: X:71.17, Y:-0.63, Z:-1.99 [[ 9.98954665e-01 4.56394730e-02 2.57193709e-03 7.11690637e+01] [-4.56392486e-02 9.98957976e-01 -1.45913593e-04 -6.27192909e-01] [-2.57591649e-03 2.83797884e-05 9.99996682e-01 -1.99023828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10420382199999 meters 0.025632192935098694 Centerline is valid? [True, True] Translation: X:71.23, Y:-0.65, Z:-2.00 [[ 9.99029258e-01 4.40068625e-02 1.98460789e-03 7.12293639e+01] [-4.40067265e-02 9.99031228e-01 -1.12172691e-04 -6.47314699e-01] [-1.98762163e-03 2.47277033e-05 9.99998024e-01 -1.99560232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16420382199998 meters 0.024859446110898683 Centerline is valid? [True, True] Translation: X:71.29, Y:-0.65, Z:-2.00 [[ 9.98933213e-01 4.61402130e-02 -1.87510038e-03 7.12903668e+01] [-4.61400857e-02 9.98934973e-01 1.11099947e-04 -6.54853252e-01] [ 1.87822952e-03 -2.44641345e-05 9.99998236e-01 -2.00393178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.22420382199998 meters 0.023172902245353472 Centerline is valid? [True, True] Translation: X:71.35, Y:-0.66, Z:-2.01 [[ 9.98760261e-01 4.96850176e-02 -3.05617129e-03 7.13530793e+01] [-4.96846804e-02 9.98764936e-01 1.86212716e-04 -6.57150860e-01] [ 3.06164871e-03 -3.41369672e-05 9.99995313e-01 -2.00750671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.28420382199998 meters 0.02429576470017128 Centerline is valid? [True, True] Translation: X:71.41, Y:-0.65, Z:-2.01 [[ 9.98334018e-01 5.75320859e-02 -4.38715425e-03 7.14143772e+01] [-5.75314883e-02 9.98343658e-01 2.62398101e-04 -6.54631611e-01] [ 4.39498393e-03 -9.56143700e-06 9.99990342e-01 -2.01264135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34420382199998 meters 0.022593900880914324 Centerline is valid? [True, True] Translation: X:71.48, Y:-0.64, Z:-2.01 [[ 9.97702475e-01 6.77340770e-02 -1.36609831e-03 7.14760604e+01] [-6.77340288e-02 9.97703410e-01 8.15581419e-05 -6.42041288e-01] [ 1.36848520e-03 1.11605819e-05 9.99999064e-01 -2.01008585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40420382199999 meters 0.026347060701478884 Centerline is valid? [True, True] Translation: X:71.54, Y:-0.64, Z:-2.01 [[ 9.97115754e-01 7.58903679e-02 -9.08297032e-04 7.15372609e+01] [-7.58903501e-02 9.97116168e-01 5.41261884e-05 -6.36423565e-01] [ 9.09785312e-04 1.49609046e-05 9.99999586e-01 -2.00707124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46420382199999 meters 0.030893473298564393 Centerline is valid? [True, True] Translation: X:71.60, Y:-0.63, Z:-2.01 [[ 9.96592967e-01 8.24750358e-02 -5.72219584e-04 7.15990813e+01] [-8.24750297e-02 9.96593131e-01 3.42389031e-05 -6.25784505e-01] [ 5.73093962e-04 1.30715772e-05 9.99999836e-01 -2.00687364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52420382199998 meters 0.03052444123629731 Centerline is valid? [True, True] Translation: X:71.66, Y:-0.63, Z:-2.01 [[ 9.96908374e-01 7.85199322e-02 2.88336626e-03 7.16589887e+01] [-7.85197659e-02 9.96912542e-01 -1.70994349e-04 -6.25628897e-01] [-2.88789045e-03 -5.59355451e-05 9.99995828e-01 -2.00917564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58420382199998 meters 0.022254792742627424 Centerline is valid? [True, True] Translation: X:71.72, Y:-0.64, Z:-2.01 [[ 9.97425130e-01 7.16596879e-02 2.82814027e-03 7.17186806e+01] [-7.16595012e-02 9.97429139e-01 -1.67446289e-04 -6.43120781e-01] [-2.83286866e-03 -3.56479840e-05 9.99995987e-01 -2.00769651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.64420382199998 meters 0.018371966723075388 Centerline is valid? [True, True] Translation: X:71.78, Y:-0.67, Z:-2.01 [[ 9.98101453e-01 6.15912120e-02 -1.11828919e-04 7.17800252e+01] [-6.15912110e-02 9.98101459e-01 1.23421866e-05 -6.67005090e-01] [ 1.12376778e-04 -5.43107581e-06 9.99999994e-01 -2.01322112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.70420382199998 meters 0.018339358263809554 Centerline is valid? [True, True] Translation: X:71.84, Y:-0.68, Z:-2.01 [[ 9.98421760e-01 5.61586214e-02 4.44705361e-04 7.18419810e+01] [-5.61586164e-02 9.98421859e-01 -2.37227200e-05 -6.80397249e-01] [-4.45335789e-04 -1.28875792e-06 9.99999901e-01 -2.01441922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76420382199998 meters 0.02166923682606476 Centerline is valid? [True, True] Translation: X:71.90, Y:-0.70, Z:-2.02 [[ 9.98558016e-01 5.36595449e-02 -1.59421383e-03 7.19018582e+01] [-5.36594577e-02 9.98559289e-01 9.74462137e-05 -6.98282773e-01] [ 1.59714595e-03 -1.17610482e-05 9.99998724e-01 -2.02237037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82420382199999 meters 0.020311318209463622 Centerline is valid? [True, True] Translation: X:71.96, Y:-0.70, Z:-2.02 [[ 9.98622691e-01 5.24651353e-02 3.62188934e-04 7.19644179e+01] [-5.24651319e-02 9.98622756e-01 -1.89155546e-05 -7.04565747e-01] [-3.62682519e-04 -1.12788171e-07 9.99999934e-01 -2.01796531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88420382199999 meters 0.020426286474861624 Centerline is valid? [True, True] Translation: X:72.03, Y:-0.71, Z:-2.02 [[ 9.98499720e-01 5.47520569e-02 -7.21692173e-04 7.20252979e+01] [-5.47520367e-02 9.98499981e-01 4.77309285e-05 -7.10053793e-01] [ 7.23222988e-04 -8.14520245e-06 9.99999738e-01 -2.02265922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94420382199998 meters 0.021043832379132724 Centerline is valid? [True, True] Translation: X:72.09, Y:-0.72, Z:-2.03 [[ 9.98492356e-01 5.48710320e-02 -1.47787206e-03 7.20867357e+01] [-5.48709537e-02 9.98493450e-01 9.35216344e-05 -7.20459344e-01] [ 1.48077721e-03 -1.22883875e-05 9.99998904e-01 -2.02579200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.00420382199998 meters 0.021338582985786177 Centerline is valid? [True, True] Translation: X:72.15, Y:-0.73, Z:-2.03 [[ 9.98517903e-01 5.43667646e-02 -2.50059503e-03 7.21482630e+01] [-5.43665459e-02 9.98521034e-01 1.55380304e-04 -7.29731118e-01] [ 2.50534426e-03 -1.92013002e-05 9.99996861e-01 -2.02773964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.06420382199998 meters 0.022686728142488594 Centerline is valid? [True, True] Translation: X:72.21, Y:-0.74, Z:-2.03 [[ 9.98528160e-01 5.41561905e-02 -2.93595289e-03 7.22087928e+01] [-5.41558964e-02 9.98532476e-01 1.79626342e-04 -7.35429018e-01] [ 2.94137219e-03 -2.03627996e-05 9.99995674e-01 -2.03315510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12420382199998 meters 0.022826495933461564 Centerline is valid? [True, True] Translation: X:72.27, Y:-0.74, Z:-2.03 [[ 9.98580972e-01 5.31309330e-02 -3.62591077e-03 7.22707494e+01] [-5.31304699e-02 9.98587554e-01 2.24003734e-04 -7.43498563e-01] [ 3.63269089e-03 -3.10395236e-05 9.99993401e-01 -2.03348749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18420382199999 meters 0.02243477681729374 Centerline is valid? [True, True] Translation: X:72.33, Y:-0.75, Z:-2.03 [[ 9.98661607e-01 5.16998250e-02 -1.45721543e-03 7.23321589e+01] [-5.16997499e-02 9.98662670e-01 8.91732417e-05 -7.52453205e-01] [ 1.45987689e-03 -1.37162196e-05 9.99998934e-01 -2.03134469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24420382199999 meters 0.022417550022773593 Centerline is valid? [True, True] Translation: X:72.39, Y:-0.76, Z:-2.03 [[ 9.98768018e-01 4.96158851e-02 -8.42238382e-04 7.23945573e+01] [-4.96158548e-02 9.98768373e-01 5.68996431e-05 -7.61634825e-01] [ 8.44024185e-04 -1.50411666e-05 9.99999644e-01 -2.02914284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.30420382199998 meters 0.024827155181270173 Centerline is valid? [True, True] Translation: X:72.45, Y:-0.78, Z:-2.03 [[ 9.98951477e-01 4.57323336e-02 2.12120763e-03 7.24547602e+01] [-4.57321726e-02 9.98953729e-01 -1.24372408e-04 -7.76945507e-01] [-2.12467611e-03 2.72345677e-05 9.99997743e-01 -2.02715775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.36420382199998 meters 0.028089677948906686 Centerline is valid? [True, True] Translation: X:72.51, Y:-0.79, Z:-2.03 [[ 9.99038674e-01 4.38351642e-02 -4.54146621e-04 7.25138921e+01] [-4.38351554e-02 9.99038777e-01 2.93172555e-05 -7.87116798e-01] [ 4.54995212e-04 -9.38148430e-06 9.99999896e-01 -2.03464042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.42420382199998 meters 0.02622777972330293 Centerline is valid? [True, True] Translation: X:72.58, Y:-0.80, Z:-2.03 [[ 9.99003443e-01 4.46302942e-02 -5.07644517e-04 7.25757079e+01] [-4.46302816e-02 9.99003572e-01 3.60537741e-05 -7.95485115e-01] [ 5.08747776e-04 -1.33615267e-05 9.99999870e-01 -2.03222395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48420382199998 meters 0.026967109183022378 Centerline is valid? [True, True] Translation: X:72.64, Y:-0.80, Z:-2.05 [[ 9.98774021e-01 4.94026596e-02 -3.13548267e-03 7.26360671e+01] [-4.94022857e-02 9.98778942e-01 1.96615548e-04 -7.98590170e-01] [ 3.14136739e-03 -4.14744911e-05 9.99995065e-01 -2.04504088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54420382199999 meters 0.024224140254917887 Centerline is valid? [True, True] Translation: X:72.70, Y:-0.80, Z:-2.05 [[ 9.98479923e-01 5.48956586e-02 -4.93060709e-03 7.26987478e+01] [-5.48948098e-02 9.98492096e-01 3.07419423e-04 -7.97761491e-01] [ 4.94004819e-03 -3.62873835e-05 9.99987797e-01 -2.04909763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60420382199999 meters 0.022633183552005432 Centerline is valid? [True, True] Translation: X:72.76, Y:-0.80, Z:-2.05 [[ 9.98305233e-01 5.78156312e-02 -6.63433816e-03 7.27602113e+01] [-5.78141803e-02 9.98327277e-01 4.10432520e-04 -8.01308300e-01] [ 6.64697016e-03 -2.61781099e-05 9.99977908e-01 -2.05074712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66420382199998 meters 0.02232220446038162 Centerline is valid? [True, True] Translation: X:72.82, Y:-0.80, Z:-2.06 [[ 9.98075214e-01 6.12869215e-02 -9.47528458e-03 7.28210824e+01] [-6.12841485e-02 9.98120190e-01 5.82996678e-04 -8.02481073e-01] [ 9.49320291e-03 -1.18978678e-06 9.99954939e-01 -2.05539044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.72420382199998 meters 0.023698992312042238 Centerline is valid? [True, True] Translation: X:72.88, Y:-0.81, Z:-2.06 [[ 9.98028362e-01 6.20031781e-02 -9.74650614e-03 7.28813660e+01] [-6.20002211e-02 9.98075952e-01 6.05530820e-04 -8.10788474e-01] [ 9.76529823e-03 -5.13966663e-08 9.99952318e-01 -2.06137425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.78420382199998 meters 0.023541146817153375 Centerline is valid? [True, True] Translation: X:72.94, Y:-0.82, Z:-2.06 [[ 9.98074857e-01 6.11492127e-02 -1.03611666e-02 7.29435810e+01] [-6.11458063e-02 9.98128636e-01 6.45521483e-04 -8.18716172e-01] [ 1.03812503e-02 -1.07368728e-05 9.99946113e-01 -2.06215797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84420382199998 meters 0.023627495558660026 Centerline is valid? [True, True] Translation: X:73.00, Y:-0.83, Z:-2.06 [[ 9.98134540e-01 6.04068479e-02 -8.85732858e-03 7.30037411e+01] [-6.04043141e-02 9.98173839e-01 5.53546079e-04 -8.32610010e-01] [ 8.87459165e-03 -1.74926030e-05 9.99960620e-01 -2.06243797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90420382199999 meters 0.02432590406506287 Centerline is valid? [True, True] Translation: X:73.07, Y:-0.83, Z:-2.07 [[ 9.97910731e-01 6.36745172e-02 -1.09420304e-02 7.30653660e+01] [-6.36708980e-02 9.97970719e-01 6.79158818e-04 -8.32137179e-01] [ 1.09630711e-02 1.89490302e-05 9.99939904e-01 -2.06725211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96420382199999 meters 0.02486339821540617 Centerline is valid? [True, True] Translation: X:73.13, Y:-0.83, Z:-2.07 [[ 9.97606490e-01 6.81678266e-02 -1.15947572e-02 7.31271993e+01] [-6.81640324e-02 9.97673866e-01 7.22564407e-04 -8.31098538e-01] [ 1.16170419e-02 6.95104646e-05 9.99932517e-01 -2.06913622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02420382199998 meters 0.024905230070613668 Centerline is valid? [True, True] Translation: X:73.19, Y:-0.83, Z:-2.07 [[ 9.97516158e-01 6.99486833e-02 -8.28833843e-03 7.31871347e+01] [-6.99468214e-02 9.97550589e-01 5.14659610e-04 -8.29667886e-01] [ 8.30403664e-03 6.63616518e-05 9.99965519e-01 -2.06835024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08420382199998 meters 0.023540264655931693 Centerline is valid? [True, True] Translation: X:73.25, Y:-0.83, Z:-2.06 [[ 9.97509490e-01 7.03236835e-02 -5.42187412e-03 7.32485643e+01] [-7.03228878e-02 9.97524224e-01 3.37487301e-04 -8.32295367e-01] [ 5.43218412e-03 4.46350603e-05 9.99985245e-01 -2.06339790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.14420382199998 meters 0.02118174526217794 Centerline is valid? [True, True] Translation: X:73.31, Y:-0.84, Z:-2.06 [[ 9.97698308e-01 6.76265939e-02 -4.97288796e-03 7.33099409e+01] [-6.76258655e-02 9.97710701e-01 3.14679363e-04 -8.43911502e-01] [ 4.98278423e-03 2.23407846e-05 9.99987586e-01 -2.06020295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.20420382199998 meters 0.021914704132975724 Centerline is valid? [True, True] Translation: X:73.37, Y:-0.85, Z:-2.06 [[ 9.97661784e-01 6.81176478e-02 -5.56326738e-03 7.33722547e+01] [-6.81167421e-02 9.97677295e-01 3.52339740e-04 -8.47690609e-01] [ 5.57434611e-03 2.74357561e-05 9.99984463e-01 -2.06494740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26420382199998 meters 0.02357547521790936 Centerline is valid? [True, True] Translation: X:73.44, Y:-0.84, Z:-2.06 [[ 9.97189387e-01 7.47026033e-02 -5.73119872e-03 7.34351869e+01] [-7.47017697e-02 9.97205854e-01 3.59682882e-04 -8.41753352e-01] [ 5.74205416e-03 6.94587340e-05 9.99983512e-01 -2.06462229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32420382199999 meters 0.029317308448268558 Centerline is valid? [True, True] Translation: X:73.50, Y:-0.84, Z:-2.07 [[ 9.96788297e-01 7.98122879e-02 -6.56424782e-03 7.34960082e+01] [-7.98113130e-02 9.96809904e-01 4.10746550e-04 -8.35594152e-01] [ 6.57608986e-03 1.14473883e-04 9.99978371e-01 -2.07186332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38420382199998 meters 0.035475174038214416 Centerline is valid? [True, True] Translation: X:73.56, Y:-0.83, Z:-2.08 [[ 9.96380342e-01 8.46377747e-02 -7.91582507e-03 7.35563373e+01] [-8.46365127e-02 9.96411770e-01 4.94881946e-04 -8.26080308e-01] [ 7.92930698e-03 1.76877186e-04 9.99968547e-01 -2.07916088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.44420382199998 meters 0.03318951113325094 Centerline is valid? [True, True] Translation: X:73.62, Y:-0.83, Z:-2.07 [[ 9.96404205e-01 8.45013777e-02 -6.17880014e-03 7.36173869e+01] [-8.45006011e-02 9.96423353e-01 3.87113077e-04 -8.32466813e-01] [ 6.18941235e-03 1.36391229e-04 9.99980836e-01 -2.07418436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.50420382199998 meters 0.031136278148922458 Centerline is valid? [True, True] Translation: X:73.68, Y:-0.83, Z:-2.07 [[ 9.96391147e-01 8.47464933e-02 -4.76601508e-03 7.36799996e+01] [-8.47460095e-02 9.96402540e-01 3.03730525e-04 -8.32959787e-01] [ 4.77460963e-03 1.01266354e-04 9.99988596e-01 -2.06992183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.56420382199998 meters 0.03230667193375843 Centerline is valid? [True, True] Translation: X:73.74, Y:-0.83, Z:-2.07 [[ 9.96224359e-01 8.67252714e-02 -3.96915249e-03 7.37418126e+01] [-8.67249458e-02 9.96232262e-01 2.54399474e-04 -8.33528029e-01] [ 3.97626062e-03 9.07855814e-05 9.99992091e-01 -2.07060285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62420382199998 meters 0.03457708551009199 Centerline is valid? [True, True] Translation: X:73.80, Y:-0.82, Z:-2.07 [[ 9.96024232e-01 8.90584826e-02 -2.07755738e-03 7.38045793e+01] [-8.90583931e-02 9.96026397e-01 1.35736755e-04 -8.24777473e-01] [ 2.08139050e-03 4.98268250e-05 9.99997833e-01 -2.07046746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68420382199999 meters 0.03769269788459923 Centerline is valid? [True, True] Translation: X:73.87, Y:-0.82, Z:-2.08 [[ 9.96123399e-01 8.79622959e-02 -8.99087439e-04 7.38656849e+01] [-8.79622799e-02 9.96123805e-01 5.73820563e-05 -8.18254484e-01] [ 9.00649858e-04 2.19261721e-05 9.99999594e-01 -2.07620597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74420382199999 meters 0.031045837380709648 Centerline is valid? [True, True] Translation: X:73.93, Y:-0.83, Z:-2.07 [[ 9.96494748e-01 8.36488137e-02 -1.04571351e-03 7.39269607e+01] [-8.36487894e-02 9.96495296e-01 6.70643815e-05 -8.34034891e-01] [ 1.04765845e-03 2.06433649e-05 9.99999451e-01 -2.06750887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.80420382199998 meters 0.02272260324249296 Centerline is valid? [True, True] Translation: X:73.99, Y:-0.84, Z:-2.07 [[ 9.97203189e-01 7.47294947e-02 -1.14145249e-03 7.39865926e+01] [-7.47294612e-02 9.97203842e-01 7.20287322e-05 -8.40314118e-01] [ 1.14364348e-03 1.34728484e-05 9.99999346e-01 -2.07296886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.86420382199998 meters 0.020780681655918027 Centerline is valid? [True, True] Translation: X:74.05, Y:-0.85, Z:-2.08 [[ 9.97818707e-01 6.60093713e-02 -7.68438375e-04 7.40463907e+01] [-6.60093532e-02 9.97819003e-01 4.88486853e-05 -8.48619007e-01] [ 7.69986884e-04 1.98198816e-06 9.99999704e-01 -2.08027425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.92420382199998 meters 0.01916880173748237 Centerline is valid? [True, True] Translation: X:74.11, Y:-0.86, Z:-2.08 [[ 9.98013948e-01 6.29873241e-02 -8.69554957e-04 7.41090040e+01] [-6.29872952e-02 9.98014327e-01 6.06574764e-05 -8.57687279e-01] [ 8.71648958e-04 -5.76609276e-06 9.99999620e-01 -2.07702581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98420382199998 meters 0.023825187505581734 Centerline is valid? [True, True] Translation: X:74.17, Y:-0.87, Z:-2.09 [[ 9.98421858e-01 5.60240344e-02 -3.88610191e-03 7.41682633e+01] [-5.60235011e-02 9.98429420e-01 2.46023797e-04 -8.70299338e-01] [ 3.89378172e-03 -2.79225016e-05 9.99992419e-01 -2.08636255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04420382199999 meters 0.023940799005191634 Centerline is valid? [True, True] Translation: X:74.23, Y:-0.87, Z:-2.09 [[ 9.98487133e-01 5.49411076e-02 -2.21824497e-03 7.42299751e+01] [-5.49409198e-02 9.98489596e-01 1.45539483e-04 -8.71806890e-01] [ 2.22289063e-03 -2.34468817e-05 9.99997529e-01 -2.08537718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10420382199999 meters 0.021109386603280426 Centerline is valid? [True, True] Translation: X:74.29, Y:-0.87, Z:-2.08 [[ 9.98346128e-01 5.74672128e-02 -1.58991391e-03 7.42931361e+01] [-5.74671220e-02 9.98347394e-01 1.02771364e-04 -8.66148695e-01] [ 1.59319239e-03 -1.12336166e-05 9.99998731e-01 -2.08320927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.16420382199998 meters 0.020303204447156276 Centerline is valid? [True, True] Translation: X:74.36, Y:-0.86, Z:-2.09 [[ 9.98119836e-01 6.12587020e-02 -2.04082156e-03 7.43567294e+01] [-6.12585527e-02 9.98121922e-01 1.35664118e-04 -8.60739054e-01] [ 2.04529934e-03 -1.03912724e-05 9.99997908e-01 -2.08526930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.22420382199998 meters 0.020497879628631643 Centerline is valid? [True, True] Translation: X:74.42, Y:-0.86, Z:-2.09 [[ 9.98087146e-01 6.18149215e-02 -9.82556764e-04 7.44182934e+01] [-6.18148852e-02 9.98087629e-01 6.72521012e-05 -8.59554447e-01] [ 9.84834934e-04 -6.38682411e-06 9.99999515e-01 -2.08806778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.28420382199998 meters 0.02125078179338446 Centerline is valid? [True, True] Translation: X:74.48, Y:-0.87, Z:-2.09 [[ 9.98261124e-01 5.89449733e-02 -4.67840323e-04 7.44811632e+01] [-5.89449631e-02 9.98261233e-01 3.54019407e-05 -8.67321870e-01] [ 4.69113624e-04 -7.76355055e-06 9.99999890e-01 -2.08969711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34420382199998 meters 0.021194889066175674 Centerline is valid? [True, True] Translation: X:74.54, Y:-0.88, Z:-2.08 [[ 9.98494894e-01 5.48360233e-02 9.78812175e-04 7.45429009e+01] [-5.48359929e-02 9.98495373e-01 -5.78847686e-05 -8.80475102e-01] [-9.80513599e-04 4.12350843e-06 9.99999519e-01 -2.08388045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40420382199999 meters 0.02313006508483957 Centerline is valid? [True, True] Translation: X:74.60, Y:-0.89, Z:-2.09 [[ 9.98619332e-01 5.25262382e-02 6.51069565e-04 7.46039773e+01] [-5.25262250e-02 9.98619544e-01 -3.73239877e-05 -8.90575875e-01] [-6.52131281e-04 3.07422923e-06 9.99999787e-01 -2.08671957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46420382199999 meters 0.025243229342692845 Centerline is valid? [True, True] Translation: X:74.66, Y:-0.90, Z:-2.09 [[ 9.98691543e-01 5.10391738e-02 3.19462719e-03 7.46649256e+01] [-5.10387907e-02 9.98696651e-01 -2.01371816e-04 -9.04576304e-01] [-3.20074133e-03 3.80584214e-05 9.99994877e-01 -2.08707734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52420382199998 meters 0.022186141521087274 Centerline is valid? [True, True] Translation: X:74.73, Y:-0.91, Z:-2.08 [[ 9.98661379e-01 5.15390718e-02 4.37878188e-03 7.47272138e+01] [-5.15383462e-02 9.98670978e-01 -2.78461000e-04 -9.10249834e-01] [-4.38731400e-03 5.24130700e-05 9.99990374e-01 -2.08139089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.58420382199998 meters 0.02160599704990175 Centerline is valid? [True, True] Translation: X:74.79, Y:-0.91, Z:-2.09 [[ 9.98491876e-01 5.48504368e-02 2.32432126e-03 7.47882108e+01] [-5.48502410e-02 9.98494581e-01 -1.47985225e-04 -9.13004206e-01] [-2.32893924e-03 2.02724644e-05 9.99997288e-01 -2.08933579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.64420382199998 meters 0.0171555928112915 Centerline is valid? [True, True] Translation: X:74.85, Y:-0.91, Z:-2.09 [[ 9.98036317e-01 6.25966559e-02 2.27351740e-03 7.48506444e+01] [-6.25964932e-02 9.98038906e-01 -1.42705873e-04 -9.07723571e-01] [-2.27799173e-03 1.11427065e-07 9.99997405e-01 -2.08682690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.70420382199998 meters 0.017967171357762487 Centerline is valid? [True, True] Translation: X:74.91, Y:-0.91, Z:-2.09 [[ 9.97662285e-01 6.82882646e-02 2.58415135e-03 7.49127210e+01] [-6.82880712e-02 9.97665632e-01 -1.63096946e-04 -9.06496702e-01] [-2.58925659e-03 -1.37510397e-05 9.99996648e-01 -2.08991898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76420382199998 meters 0.02192437755434831 Centerline is valid? [True, True] Translation: X:74.97, Y:-0.90, Z:-2.10 [[ 9.97117311e-01 7.58728949e-02 6.09109887e-04 7.49744537e+01] [-7.58728850e-02 9.97117497e-01 -3.93765780e-05 -8.95437256e-01] [-6.10341742e-04 -6.95185685e-06 9.99999814e-01 -2.09547239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82420382199999 meters 0.02677755138990448 Centerline is valid? [True, True] Translation: X:75.04, Y:-0.88, Z:-2.09 [[ 9.96476532e-01 8.38488017e-02 1.97457960e-03 7.50368373e+01] [-8.38487124e-02 9.96478488e-01 -1.28122263e-04 -8.83764209e-01] [-1.97836899e-03 -3.78951290e-05 9.99998042e-01 -2.09336373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88420382199998 meters 0.03283950982361544 Centerline is valid? [True, True] Translation: X:75.10, Y:-0.88, Z:-2.10 [[ 9.96031602e-01 8.89701719e-02 2.31456417e-03 7.50972917e+01] [-8.89700611e-02 9.96034289e-01 -1.51003112e-04 -8.75617289e-01] [-2.31882005e-03 -5.55230445e-05 9.99997310e-01 -2.09513613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94420382199998 meters 0.04353850596291527 Centerline is valid? [True, True] Translation: X:75.16, Y:-0.86, Z:-2.10 [[ 9.95359948e-01 9.62214589e-02 6.87745765e-05 7.51585039e+01] [-9.62214589e-02 9.95359950e-01 -3.77014061e-06 -8.55645055e-01] [-6.88182275e-05 -2.86494312e-06 9.99999998e-01 -2.10417069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.00420382199998 meters 0.04431851971488704 Centerline is valid? [True, True] Translation: X:75.22, Y:-0.85, Z:-2.11 [[ 9.95182833e-01 9.80360981e-02 -2.29261061e-04 7.52210566e+01] [-9.80360970e-02 9.95182859e-01 1.62933851e-05 -8.49130611e-01] [ 2.29754018e-04 6.26096246e-06 9.99999974e-01 -2.10563728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.06420382199998 meters 0.03993077934894267 Centerline is valid? [True, True] Translation: X:75.28, Y:-0.85, Z:-2.10 [[ 9.95405425e-01 9.57406498e-02 1.32955698e-03 7.52815035e+01] [-9.57406192e-02 9.95406312e-01 -8.68345659e-05 -8.51655255e-01] [-1.33176301e-03 -4.08570104e-05 9.99999112e-01 -2.10128590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12420382199998 meters 0.03580804890237801 Centerline is valid? [True, True] Translation: X:75.34, Y:-0.85, Z:-2.10 [[ 9.95815138e-01 9.13876169e-02 7.17831504e-04 7.53427675e+01] [-9.13876071e-02 9.95815396e-01 -4.65539477e-05 -8.51793593e-01] [-7.19082118e-04 -1.92417775e-05 9.99999741e-01 -2.10334249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18420382199999 meters 0.031592829507548804 Centerline is valid? [True, True] Translation: X:75.40, Y:-0.85, Z:-2.11 [[ 9.96171334e-01 8.74130063e-02 -1.28046441e-03 7.54048647e+01] [-8.74129645e-02 9.96172157e-01 8.86710624e-05 -8.54988788e-01] [ 1.28331399e-03 2.35976192e-05 9.99999176e-01 -2.10836483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24420382199999 meters 0.026833551297839126 Centerline is valid? [True, True] Translation: X:75.46, Y:-0.85, Z:-2.11 [[ 9.96755641e-01 8.04872155e-02 -3.21172121e-05 7.54644880e+01] [-8.04872155e-02 9.96755641e-01 1.90532379e-06 -8.53344661e-01] [ 3.21663665e-05 6.85882738e-07 9.99999999e-01 -2.11035775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.30420382199998 meters 0.022820798890578323 Centerline is valid? [True, True] Translation: X:75.53, Y:-0.86, Z:-2.11 [[ 9.97198960e-01 7.47945832e-02 -6.24695440e-05 7.55257683e+01] [-7.47945830e-02 9.97198962e-01 4.77269514e-06 -8.59423430e-01] [ 6.26515361e-05 -8.69431374e-08 9.99999998e-01 -2.10998397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.36420382199998 meters 0.020169864544513826 Centerline is valid? [True, True] Translation: X:75.59, Y:-0.87, Z:-2.11 [[ 9.97925549e-01 6.43223226e-02 -2.69038784e-03 7.55877907e+01] [-6.43220666e-02 9.97929175e-01 1.81685593e-04 -8.69192732e-01] [ 2.69650296e-03 -8.25738920e-06 9.99996364e-01 -2.11151332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.42420382199998 meters 0.027328448118958265 Centerline is valid? [True, True] Translation: X:75.65, Y:-0.88, Z:-2.12 [[ 9.98670840e-01 5.14238382e-02 -3.48457859e-03 7.56470248e+01] [-5.14233512e-02 9.98676918e-01 2.29256622e-04 -8.84580429e-01] [ 3.49175747e-03 -4.97631946e-05 9.99993903e-01 -2.11788918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48420382199998 meters 0.031032237741425748 Centerline is valid? [True, True] Translation: X:75.71, Y:-0.89, Z:-2.11 [[ 9.99069805e-01 4.30966954e-02 -1.48295325e-03 7.57074910e+01] [-4.30965977e-02 9.99070905e-01 9.77926212e-05 -8.91919553e-01] [ 1.48578998e-03 -3.37914156e-05 9.99998896e-01 -2.11267861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54420382199999 meters 0.040915880537823246 Centerline is valid? [True, True] Translation: X:75.77, Y:-0.91, Z:-2.11 [[ 9.99405832e-01 3.44647318e-02 -4.05642830e-04 7.57671645e+01] [-3.44647238e-02 9.99405915e-01 2.67381715e-05 -9.06962001e-01] [ 4.06323368e-04 -1.27419165e-05 9.99999917e-01 -2.11046326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60420382199999 meters 0.046753059997114384 Centerline is valid? [True, True] Translation: X:75.83, Y:-0.91, Z:-2.11 [[ 9.99463596e-01 3.27050619e-02 -1.70276336e-03 7.58280950e+01] [-3.27049181e-02 9.99465045e-01 1.12256979e-04 -9.11582651e-01] [ 1.70552383e-03 -5.65080281e-05 9.99998544e-01 -2.11212307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66420382199998 meters 0.03664848511976114 Centerline is valid? [True, True] Translation: X:75.89, Y:-0.91, Z:-2.12 [[ 9.99284952e-01 3.77106111e-02 -2.73773199e-03 7.58889540e+01] [-3.77102596e-02 9.99288699e-01 1.79918245e-04 -9.06938420e-01] [ 2.74256947e-03 -7.65490109e-05 9.99996236e-01 -2.11622395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.72420382199998 meters 0.036038681488375655 Centerline is valid? [True, True] Translation: X:75.95, Y:-0.91, Z:-2.12 [[ 9.98945230e-01 4.59174831e-02 1.06441821e-04 7.59490665e+01] [-4.59174826e-02 9.98945236e-01 -7.02400536e-06 -9.07091019e-01] [-1.06652075e-04 2.12905619e-06 9.99999994e-01 -2.11695532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.78420382199998 meters 0.023942309942469497 Centerline is valid? [True, True] Translation: X:76.01, Y:-0.90, Z:-2.11 [[ 9.98641292e-01 5.20659269e-02 2.17015518e-03 7.60101844e+01] [-5.20657405e-02 9.98643649e-01 -1.42298446e-04 -9.04715451e-01] [-2.17462059e-03 2.91143674e-05 9.99997635e-01 -2.11168429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84420382199998 meters 0.020834408350360926 Centerline is valid? [True, True] Translation: X:76.07, Y:-0.90, Z:-2.11 [[ 9.98301999e-01 5.82232279e-02 1.78163304e-03 7.60719781e+01] [-5.82231197e-02 9.98303589e-01 -1.12548366e-04 -9.02035093e-01] [-1.78516359e-03 8.62502474e-06 9.99998407e-01 -2.11406220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90420382199999 meters 0.019715269348668057 Centerline is valid? [True, True] Translation: X:76.13, Y:-0.90, Z:-2.12 [[ 9.97619121e-01 6.89594390e-02 8.27492052e-04 7.61341915e+01] [-6.89594181e-02 9.97619464e-01 -5.38667748e-05 -8.95536831e-01] [-8.29236800e-04 -3.32484588e-06 9.99999656e-01 -2.11858340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96420382199999 meters 0.022343515814505232 Centerline is valid? [True, True] Translation: X:76.20, Y:-0.89, Z:-2.12 [[ 9.97062110e-01 7.65595166e-02 2.40607588e-03 7.61955016e+01] [-7.65593602e-02 9.97065013e-01 -1.57198216e-04 -8.91600875e-01] [-2.41104909e-03 -2.74712450e-05 9.99997093e-01 -2.11634521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02420382199998 meters 0.027089245148979365 Centerline is valid? [True, True] Translation: X:76.26, Y:-0.89, Z:-2.11 [[ 9.96455931e-01 8.39992781e-02 4.43842425e-03 7.62573261e+01] [-8.39988094e-02 9.96465812e-01 -2.92236256e-04 -8.87558298e-01] [-4.44728566e-03 -8.16218026e-05 9.99990107e-01 -2.11356018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08420382199998 meters 0.037088476691912654 Centerline is valid? [True, True] Translation: X:76.32, Y:-0.88, Z:-2.13 [[ 9.95738765e-01 9.21772605e-02 -2.76849791e-03 7.63176522e+01] [-9.21771083e-02 9.95742611e-01 1.82803389e-04 -8.81187756e-01] [ 2.77356165e-03 7.31677112e-05 9.99996151e-01 -2.12927875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.14420382199998 meters 0.03451120769965695 Centerline is valid? [True, True] Translation: X:76.38, Y:-0.89, Z:-2.13 [[ 9.95662468e-01 9.30084938e-02 -2.38114650e-03 7.63772671e+01] [-9.30083856e-02 9.95665313e-01 1.56383494e-04 -8.91891902e-01] [ 2.38536996e-03 6.57614157e-05 9.99997153e-01 -2.12628847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.20420382199998 meters 0.03548121840555861 Centerline is valid? [True, True] Translation: X:76.44, Y:-0.90, Z:-2.13 [[ 9.95782449e-01 9.16644719e-02 -3.86503940e-03 7.64368720e+01] [-9.16641737e-02 9.95789945e-01 2.54599137e-04 -8.96850528e-01] [ 3.87210507e-03 1.00760291e-04 9.99992498e-01 -2.13114705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26420382199998 meters 0.03792818830754756 Centerline is valid? [True, True] Translation: X:76.50, Y:-0.89, Z:-2.14 [[ 9.95915373e-01 9.02185249e-02 -3.63145725e-03 7.64956355e+01] [-9.02182551e-02 9.95921990e-01 2.38379610e-04 -8.94594537e-01] [ 3.63815438e-03 9.02178179e-05 9.99993378e-01 -2.13796970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32420382199999 meters 0.030648928143938214 Centerline is valid? [True, True] Translation: X:76.56, Y:-0.91, Z:-2.13 [[ 9.96128500e-01 8.79082148e-02 -3.96500259e-04 7.65552330e+01] [-8.79082114e-02 9.96128579e-01 2.59669380e-05 -9.06460444e-01] [ 3.97247947e-04 8.98922160e-06 9.99999921e-01 -2.12804948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38420382199998 meters 0.03025992485765623 Centerline is valid? [True, True] Translation: X:76.62, Y:-0.91, Z:-2.13 [[ 9.96263574e-01 8.63642358e-02 -3.31354809e-04 7.66153810e+01] [-8.63642332e-02 9.96263629e-01 2.21940388e-05 -9.13003494e-01] [ 3.32033516e-04 6.50609156e-06 9.99999945e-01 -2.13099490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.44420382199998 meters 0.026452612163565238 Centerline is valid? [True, True] Translation: X:76.68, Y:-0.91, Z:-2.13 [[ 9.96543327e-01 8.30627751e-02 -1.40425814e-03 7.66767224e+01] [-8.30627260e-02 9.96544317e-01 9.33338895e-05 -9.14033954e-01] [ 1.40715804e-03 2.36302443e-05 9.99999010e-01 -2.13235273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.50420382199998 meters 0.024946527193835277 Centerline is valid? [True, True] Translation: X:76.74, Y:-0.92, Z:-2.13 [[ 9.96788280e-01 8.00797860e-02 5.94377071e-04 7.67363713e+01] [-8.00797769e-02 9.96788457e-01 -3.92040778e-05 -9.16031759e-01] [-5.95607658e-04 -8.51941793e-06 9.99999823e-01 -2.13376971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.56420382199998 meters 0.020826158749993436 Centerline is valid? [True, True] Translation: X:76.80, Y:-0.93, Z:-2.14 [[ 9.97258285e-01 7.39709104e-02 -2.05387476e-03 7.67972734e+01] [-7.39707772e-02 9.97260399e-01 1.40877805e-04 -9.29922827e-01] [ 2.05866882e-03 1.14351544e-05 9.99997881e-01 -2.13647037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62420382199998 meters 0.020039522683734382 Centerline is valid? [True, True] Translation: X:76.86, Y:-0.94, Z:-2.14 [[ 9.97498502e-01 7.06872719e-02 -2.19592284e-04 7.68578773e+01] [-7.06872702e-02 9.97498526e-01 1.52492802e-05 -9.35958564e-01] [ 2.20120910e-04 3.11244940e-07 9.99999976e-01 -2.13858897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68420382199999 meters 0.020236438109542027 Centerline is valid? [True, True] Translation: X:76.92, Y:-0.94, Z:-2.14 [[ 9.97543605e-01 7.00435760e-02 -8.08572528e-04 7.69197255e+01] [-7.00435551e-02 9.97543933e-01 5.42052700e-05 -9.36481409e-01] [ 8.10383350e-04 2.56317400e-06 9.99999672e-01 -2.14109261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74420382199999 meters 0.018435104652505533 Centerline is valid? [True, True] Translation: X:76.98, Y:-0.94, Z:-2.14 [[ 9.97767404e-01 6.67847617e-02 6.19214658e-05 7.69810370e+01] [-6.67847616e-02 9.97767406e-01 -3.37887787e-06 -9.42767859e-01] [-6.20088779e-05 -7.64076133e-07 9.99999998e-01 -2.13921747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.80420382199998 meters 0.01886615444172364 Centerline is valid? [True, True] Translation: X:77.04, Y:-0.96, Z:-2.14 [[ 9.98079280e-01 6.19460451e-02 6.61527898e-04 7.70422445e+01] [-6.19460330e-02 9.98079500e-01 -3.88696744e-05 -9.57870852e-01] [-6.62665256e-04 -2.18401225e-06 9.99999780e-01 -2.14027449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.86420382199998 meters 0.021425591499372496 Centerline is valid? [True, True] Translation: X:77.10, Y:-0.97, Z:-2.15 [[ 9.98163726e-01 6.05679672e-02 -8.35018130e-04 7.71026809e+01] [-6.05679398e-02 9.98164075e-01 5.80881133e-05 -9.65582188e-01] [ 8.37003378e-04 -7.40611977e-06 9.99999650e-01 -2.14848722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.92420382199998 meters 0.018812001203177574 Centerline is valid? [True, True] Translation: X:77.17, Y:-0.97, Z:-2.14 [[ 9.98141962e-01 6.09296766e-02 4.46219938e-04 7.71653651e+01] [-6.09296717e-02 9.98142061e-01 -2.46241751e-05 -9.66454577e-01] [-4.46891232e-04 -2.60961190e-06 9.99999900e-01 -2.14346547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98420382199998 meters 0.01860639439973334 Centerline is valid? [True, True] Translation: X:77.23, Y:-0.97, Z:-2.14 [[ 9.98028802e-01 6.27548617e-02 5.80964767e-04 7.72271060e+01] [-6.27548527e-02 9.98028971e-01 -3.37581056e-05 -9.72373067e-01] [-5.81938154e-04 -2.76679664e-06 9.99999831e-01 -2.14481437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04420382199999 meters 0.025393991454108734 Centerline is valid? [True, True] Translation: X:77.29, Y:-0.97, Z:-2.15 [[ 9.97780834e-01 6.65828105e-02 3.69864614e-04 7.72891054e+01] [-6.65828076e-02 9.97780902e-01 -2.01127954e-05 -9.68233903e-01] [-3.70383015e-04 -4.55846270e-06 9.99999931e-01 -2.14817875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10420382199999 meters 0.021079424829493307 Centerline is valid? [True, True] Translation: X:77.35, Y:-0.96, Z:-2.14 [[ 9.96981345e-01 7.74415820e-02 5.56773134e-03 7.73495866e+01] [-7.74407114e-02 9.96996890e-01 -3.72097877e-04 -9.55890202e-01] [-5.57982668e-03 -6.01944340e-05 9.99984431e-01 -2.14339566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16420382199998 meters 0.031843613346805355 Centerline is valid? [True, True] Translation: X:77.41, Y:-0.94, Z:-2.15 [[ 9.96024299e-01 8.90319464e-02 2.98452147e-03 7.74114126e+01] [-8.90317467e-02 9.96028769e-01 -1.99974202e-04 -9.39864230e-01] [-2.99047334e-03 -6.65379954e-05 9.99995526e-01 -2.14932630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.22420382199998 meters 0.035281406343553305 Centerline is valid? [True, True] Translation: X:77.47, Y:-0.93, Z:-2.15 [[ 9.95665409e-01 9.29472208e-02 3.34787178e-03 7.74724683e+01] [-9.29469914e-02 9.95671033e-01 -2.24380866e-04 -9.33927962e-01] [-3.35423454e-03 -8.77663431e-05 9.99994371e-01 -2.15142885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.28420382199998 meters 0.037285512199343965 Centerline is valid? [True, True] Translation: X:77.53, Y:-0.93, Z:-2.16 [[ 9.95575757e-01 9.39530780e-02 1.31569582e-03 7.75329422e+01] [-9.39530426e-02 9.95576626e-01 -8.88256704e-05 -9.25062526e-01] [-1.31822145e-03 -3.51809417e-05 9.99999131e-01 -2.15690562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34420382199998 meters 0.03453839926140788 Centerline is valid? [True, True] Translation: X:77.59, Y:-0.93, Z:-2.15 [[ 9.95744922e-01 9.21088519e-02 2.83014673e-03 7.75921983e+01] [-9.21086830e-02 9.95748941e-01 -1.90231388e-04 -9.30598320e-01] [-2.83563761e-03 -7.12591497e-05 9.99995977e-01 -2.15497780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40420382199999 meters 0.025672804751983042 Centerline is valid? [True, True] Translation: X:77.65, Y:-0.94, Z:-2.15 [[ 9.96458040e-01 8.37053395e-02 8.04922798e-03 7.76517887e+01] [-8.37037146e-02 9.96490541e-01 -5.39125526e-04 -9.39821878e-01] [-8.06610722e-03 -1.36534317e-04 9.99967459e-01 -2.14833164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46420382199999 meters 0.01611847704650684 Centerline is valid? [True, True] Translation: X:77.71, Y:-0.97, Z:-2.15 [[ 9.97616328e-01 6.87149259e-02 6.31833363e-03 7.77110371e+01] [-6.87136275e-02 9.97636336e-01 -4.22608642e-04 -9.68231528e-01] [-6.33243873e-03 -1.25543417e-05 9.99979950e-01 -2.15391170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52420382199998 meters 0.018815005597993834 Centerline is valid? [True, True] Translation: X:77.77, Y:-0.99, Z:-2.16 [[ 9.98186069e-01 6.00008041e-02 4.94733267e-03 7.77705351e+01] [-5.99999011e-02 9.98198328e-01 -3.30877195e-04 -9.85578857e-01] [-4.95827209e-03 3.34375364e-05 9.99987707e-01 -2.16010764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.58420382199998 meters 0.025331025630111047 Centerline is valid? [True, True] Translation: X:77.83, Y:-1.01, Z:-2.17 [[ 9.98628505e-01 5.22902112e-02 2.61581740e-03 7.78286028e+01] [-5.22899314e-02 9.98631930e-01 -1.75318443e-04 -1.00829291e+00] [-2.62140622e-03 3.82970824e-05 9.99996563e-01 -2.16610620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.64420382199998 meters 0.024139263412584128 Centerline is valid? [True, True] Translation: X:77.89, Y:-1.01, Z:-2.17 [[ 9.98614340e-01 5.26238458e-02 3.60381048e-04 7.78901893e+01] [-5.26238421e-02 9.98614405e-01 -1.95718259e-05 -1.01176061e+00] [-3.60911651e-04 5.80070599e-07 9.99999935e-01 -2.16670457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.70420382199998 meters 0.021836270374503794 Centerline is valid? [True, True] Translation: X:77.95, Y:-1.01, Z:-2.17 [[ 9.98224085e-01 5.95692439e-02 -4.25991371e-04 7.79505091e+01] [-5.95692370e-02 9.98224176e-01 2.89779320e-05 -1.00987459e+00] [ 4.26961079e-04 -3.55048874e-06 9.99999909e-01 -2.17375450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76420382199998 meters 0.018336714367287007 Centerline is valid? [True, True] Translation: X:78.01, Y:-1.01, Z:-2.17 [[ 9.97997936e-01 6.32388509e-02 9.83354855e-04 7.80120331e+01] [-6.32388172e-02 9.97998421e-01 -6.53742916e-05 -1.00994943e+00] [-9.85520788e-04 3.05721016e-06 9.99999514e-01 -2.16883395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82420382199999 meters 0.02281897915599692 Centerline is valid? [True, True] Translation: X:78.07, Y:-0.99, Z:-2.17 [[ 9.97027369e-01 7.70364360e-02 1.34665042e-03 7.80723221e+01] [-7.70363842e-02 9.97028278e-01 -9.04006934e-05 -9.94737060e-01] [-1.34961269e-03 -1.36091132e-05 9.99999089e-01 -2.17330265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88420382199998 meters 0.034000816864266876 Centerline is valid? [True, True] Translation: X:78.13, Y:-0.97, Z:-2.17 [[ 9.95679047e-01 9.27502133e-02 4.54235698e-03 7.81344633e+01] [-9.27497847e-02 9.95689401e-01 -3.05379406e-04 -9.71053229e-01] [-4.55110071e-03 -1.17242756e-04 9.99989637e-01 -2.16701313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.94420382199998 meters 0.04298369041460601 Centerline is valid? [True, True] Translation: X:78.20, Y:-0.96, Z:-2.17 [[ 9.94858953e-01 1.01137896e-01 5.17589105e-03 7.81959130e+01] [-1.01137453e-01 9.94872401e-01 -3.47927164e-04 -9.59922443e-01] [-5.18453977e-03 -1.77337984e-04 9.99986544e-01 -2.16900219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.00420382199998 meters 0.054305656930182335 Centerline is valid? [True, True] Translation: X:78.26, Y:-0.95, Z:-2.17 [[ 9.93827767e-01 1.10815265e-01 5.13294914e-03 7.82563678e+01] [-1.10814956e-01 9.93840996e-01 -3.45341999e-04 -9.48545431e-01] [-5.13960445e-03 -2.25597066e-04 9.99986767e-01 -2.17205067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.06420382199998 meters 0.05807847905751015 Centerline is valid? [True, True] Translation: X:78.32, Y:-0.94, Z:-2.17 [[ 9.93310251e-01 1.15198879e-01 7.99776872e-03 7.83169029e+01] [-1.15198274e-01 9.93342372e-01 -5.37794150e-04 -9.40139635e-01] [-8.00647583e-03 -3.87132709e-04 9.99967873e-01 -2.16731128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12420382199998 meters 0.05867145467740802 Centerline is valid? [True, True] Translation: X:78.38, Y:-0.93, Z:-2.17 [[ 9.93119791e-01 1.16829129e-01 8.00221612e-03 7.83776874e+01] [-1.16828575e-01 9.93151949e-01 -5.38246975e-04 -9.28451728e-01] [-8.01029947e-03 -4.00343783e-04 9.99967837e-01 -2.16804791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18420382199999 meters 0.04475314629440645 Centerline is valid? [True, True] Translation: X:78.44, Y:-0.94, Z:-2.17 [[ 9.94449910e-01 1.04995582e-01 6.73077827e-03 7.84375174e+01] [-1.04994922e-01 9.94472655e-01 -4.52236831e-04 -9.41150252e-01] [-6.74105781e-03 -2.56970667e-04 9.99977246e-01 -2.17398751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24420382199997 meters 0.02969043277662848 Centerline is valid? [True, True] Translation: X:78.50, Y:-0.96, Z:-2.17 [[ 9.95871212e-01 9.03319709e-02 8.98134177e-03 7.84965156e+01] [-9.03302027e-02 9.95911688e-01 -6.03164766e-04 -9.64529208e-01] [-8.99910831e-03 -2.10611996e-04 9.99959485e-01 -2.17221258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.30420382199998 meters 0.014972084875458057 Centerline is valid? [True, True] Translation: X:78.56, Y:-0.99, Z:-2.17 [[ 9.97619483e-01 6.84739652e-02 8.16597856e-03 7.85557072e+01] [-6.84717693e-02 9.97652904e-01 -5.48503007e-04 -9.92438827e-01] [-8.18437039e-03 -1.19417140e-05 9.99966507e-01 -2.17388498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.36420382199998 meters 0.025408047592205295 Centerline is valid? [True, True] Translation: X:78.61, Y:-1.03, Z:-2.18 [[ 9.98678929e-01 5.08996761e-02 7.04419052e-03 7.86128567e+01] [-5.08976036e-02 9.98703765e-01 -4.73279546e-04 -1.02846178e+00] [-7.05914937e-03 1.14121893e-04 9.99975077e-01 -2.18286829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.42420382199998 meters 0.03348995626241039 Centerline is valid? [True, True] Translation: X:78.67, Y:-1.05, Z:-2.19 [[ 9.99068737e-01 4.28772072e-02 4.81713880e-03 7.86720822e+01] [-4.28761451e-02 9.99080343e-01 -3.23590716e-04 -1.04997429e+00] [-4.82658335e-03 1.16749026e-04 9.99988345e-01 -2.18753663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48420382199998 meters 0.03459246312396741 Centerline is valid? [True, True] Translation: X:78.73, Y:-1.05, Z:-2.19 [[ 9.99245269e-01 3.87209193e-02 3.09571571e-03 7.87332356e+01] [-3.87204616e-02 9.99250060e-01 -2.07683644e-04 -1.05374083e+00] [-3.10143581e-03 8.76593570e-05 9.99995187e-01 -2.18838932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54420382199999 meters 0.033120350907729114 Centerline is valid? [True, True] Translation: X:78.80, Y:-1.06, Z:-2.19 [[ 9.99161040e-01 4.09312451e-02 1.35985214e-03 7.87950297e+01] [-4.09311651e-02 9.99161965e-01 -8.66559528e-05 -1.06046337e+00] [-1.36225948e-03 3.09229194e-05 9.99999072e-01 -2.19332752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60420382199999 meters 0.028411763977251592 Centerline is valid? [True, True] Translation: X:78.85, Y:-1.06, Z:-2.19 [[ 9.98853808e-01 4.77692543e-02 3.02793235e-03 7.88546186e+01] [-4.77688544e-02 9.98858396e-01 -2.04293409e-04 -1.06433882e+00] [-3.03423459e-03 5.94183905e-05 9.99995395e-01 -2.19470315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66420382199998 meters 0.019686083065928308 Centerline is valid? [True, True] Translation: X:78.92, Y:-1.06, Z:-2.20 [[ 9.98265724e-01 5.86890110e-02 4.59823724e-03 7.89157128e+01] [-5.86882070e-02 9.98276314e-01 -3.09707386e-04 -1.05521505e+00] [-4.60848774e-03 3.93079690e-05 9.99989380e-01 -2.19505794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.72420382199998 meters 0.01631038801731496 Centerline is valid? [True, True] Translation: X:78.98, Y:-1.05, Z:-2.19 [[ 9.97692295e-01 6.75786166e-02 6.57386704e-03 7.89763172e+01] [-6.75771676e-02 9.97713952e-01 -4.42555568e-04 -1.05402641e+00] [-6.58874616e-03 -2.70903496e-06 9.99978294e-01 -2.19311008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.78420382199998 meters 0.01652706690854887 Centerline is valid? [True, True] Translation: X:79.04, Y:-1.06, Z:-2.19 [[ 9.97308434e-01 7.28335760e-02 8.43553795e-03 7.90381257e+01] [-7.28314032e-02 9.97344107e-01 -5.64886254e-04 -1.05640431e+00] [-8.45427675e-03 -5.10062405e-05 9.99964261e-01 -2.19116222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84420382199998 meters 0.025294299373991826 Centerline is valid? [True, True] Translation: X:79.10, Y:-1.04, Z:-2.20 [[ 9.96498304e-01 8.33246308e-02 6.93801081e-03 7.90986598e+01] [-8.33233873e-02 9.96522450e-01 -4.68601148e-04 -1.04205287e+00] [-6.95292955e-03 -1.11138312e-04 9.99975822e-01 -2.19637382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90420382199999 meters 0.03151998150682818 Centerline is valid? [True, True] Translation: X:79.16, Y:-1.04, Z:-2.19 [[ 9.95667764e-01 9.27135813e-02 7.06365178e-03 7.91601659e+01] [-9.27125286e-02 9.95692804e-01 -4.77039443e-04 -1.03540418e+00] [-7.07745528e-03 -1.79916221e-04 9.99974938e-01 -2.19491654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96420382199999 meters 0.036208619723515044 Centerline is valid? [True, True] Translation: X:79.22, Y:-1.03, Z:-2.20 [[ 9.95425618e-01 9.54059779e-02 5.05358242e-03 7.92199835e+01] [-9.54054735e-02 9.95438436e-01 -3.41335126e-04 -1.03385947e+00] [-5.06309559e-03 -1.42365695e-04 9.99987172e-01 -2.20200146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02420382199998 meters 0.03400542444401859 Centerline is valid? [True, True] Translation: X:79.28, Y:-1.04, Z:-2.20 [[ 9.95537107e-01 9.40672086e-02 7.56493857e-03 7.92801167e+01] [-9.40660378e-02 9.95565829e-01 -5.11215142e-04 -1.03982610e+00] [-7.57948292e-03 -2.02670154e-04 9.99971255e-01 -2.19901287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.08420382199998 meters 0.02912764559865102 Centerline is valid? [True, True] Translation: X:79.34, Y:-1.05, Z:-2.20 [[ 9.95813649e-01 9.10984693e-02 7.49968958e-03 7.93413838e+01] [-9.10972411e-02 9.95841873e-01 -5.05930270e-04 -1.04547282e+00] [-7.51459440e-03 -1.79388761e-04 9.99971749e-01 -2.19829091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.14420382199998 meters 0.026149114076055583 Centerline is valid? [True, True] Translation: X:79.40, Y:-1.05, Z:-2.20 [[ 9.96283847e-01 8.58700337e-02 6.69583288e-03 7.94016834e+01] [-8.58689359e-02 9.96306339e-01 -4.51797037e-04 -1.05132858e+00] [-6.70989657e-03 -1.24845954e-04 9.99977481e-01 -2.20351335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.20420382199998 meters 0.021461165581641285 Centerline is valid? [True, True] Translation: X:79.46, Y:-1.06, Z:-2.21 [[ 9.96728044e-01 8.06405561e-02 5.50517523e-03 7.94631012e+01] [-8.06397533e-02 9.96743244e-01 -3.68012863e-04 -1.06215284e+00] [-5.51692298e-03 -7.71272312e-05 9.99984779e-01 -2.20649056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26420382199998 meters 0.018484649494895783 Centerline is valid? [True, True] Translation: X:79.52, Y:-1.07, Z:-2.21 [[ 9.97053765e-01 7.64443974e-02 6.32800067e-03 7.95236883e+01] [-7.64432193e-02 9.97073844e-01 -4.28185131e-04 -1.07058230e+00] [-6.34221631e-03 -5.68091460e-05 9.99979886e-01 -2.20694391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32420382199999 meters 0.030134696393741896 Centerline is valid? [True, True] Translation: X:79.58, Y:-1.09, Z:-2.21 [[ 9.97627346e-01 6.84486361e-02 7.37989320e-03 7.95847067e+01] [-6.84468171e-02 9.97654642e-01 -4.99073173e-04 -1.08685596e+00] [-7.39674558e-03 -7.24115491e-06 9.99972644e-01 -2.20687209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38420382199998 meters 0.01758031950266688 Centerline is valid? [True, True] Translation: X:79.65, Y:-1.10, Z:-2.21 [[ 9.98086802e-01 6.14525000e-02 6.80630725e-03 7.96460243e+01] [-6.14508058e-02 9.98110008e-01 -4.57958002e-04 -1.10478584e+00] [-6.82158605e-03 3.88287725e-05 9.99976732e-01 -2.20900754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.44420382199998 meters 0.018866826275507967 Centerline is valid? [True, True] Translation: X:79.71, Y:-1.11, Z:-2.21 [[ 9.98237313e-01 5.87351918e-02 8.51138327e-03 7.97081222e+01] [-5.87324208e-02 9.98273596e-01 -5.75360946e-04 -1.11446527e+00] [-8.53048312e-03 7.44526211e-05 9.99963612e-01 -2.20878909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.50420382199998 meters 0.02381713038457965 Centerline is valid? [True, True] Translation: X:79.77, Y:-1.13, Z:-2.22 [[ 9.98476946e-01 5.50305635e-02 3.92743229e-03 7.97665243e+01] [-5.50299361e-02 9.98484669e-01 -2.67712502e-04 -1.13380365e+00] [-3.93621330e-03 5.11784138e-05 9.99992252e-01 -2.22017993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.56420382199998 meters 0.024182125763378876 Centerline is valid? [True, True] Translation: X:79.83, Y:-1.14, Z:-2.22 [[ 9.98501139e-01 5.44276281e-02 5.75406573e-03 7.98274293e+01] [-5.44262916e-02 9.98517715e-01 -3.88734977e-04 -1.14455378e+00] [-5.76669449e-03 7.49798583e-05 9.99983370e-01 -2.21863992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62420382199998 meters 0.020954364741762252 Centerline is valid? [True, True] Translation: X:79.89, Y:-1.14, Z:-2.22 [[ 9.98147607e-01 6.07266870e-02 3.69111699e-03 7.98889899e+01] [-6.07261836e-02 9.98154431e-01 -2.48410249e-04 -1.14232182e+00] [-3.69938991e-03 2.38026472e-05 9.99993157e-01 -2.22390636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68420382199999 meters 0.019393027646323384 Centerline is valid? [True, True] Translation: X:79.95, Y:-1.14, Z:-2.23 [[ 9.97948778e-01 6.38922722e-02 4.00166884e-03 7.99516312e+01] [-6.38917032e-02 9.97956801e-01 -2.69991628e-04 -1.14189081e+00] [-4.01074301e-03 1.37643778e-05 9.99991957e-01 -2.22640542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74420382199997 meters 0.017158980010120513 Centerline is valid? [True, True] Translation: X:80.01, Y:-1.14, Z:-2.22 [[ 9.97573100e-01 6.93126994e-02 6.60760427e-03 8.00138632e+01] [-6.93112236e-02 9.97594983e-01 -4.52344080e-04 -1.13885165e+00] [-6.62306606e-03 -6.73485123e-06 9.99978067e-01 -2.22426863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.80420382199998 meters 0.019179554312509773 Centerline is valid? [True, True] Translation: X:80.08, Y:-1.13, Z:-2.23 [[ 9.97151229e-01 7.51093824e-02 6.92877490e-03 8.00755053e+01] [-7.51079033e-02 9.97175300e-01 -4.73808960e-04 -1.13497491e+00] [-6.94479069e-03 -4.79465687e-05 9.99975884e-01 -2.22517271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.86420382199998 meters 0.022111787640755595 Centerline is valid? [True, True] Translation: X:80.14, Y:-1.14, Z:-2.23 [[ 9.97030403e-01 7.69101591e-02 3.89912421e-03 8.01363602e+01] [-7.69097019e-02 9.97038027e-01 -2.67298230e-04 -1.13623585e+00] [-3.90813306e-03 -3.33760194e-05 9.99992363e-01 -2.23430969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.92420382199998 meters 0.021669100808705162 Centerline is valid? [True, True] Translation: X:80.20, Y:-1.14, Z:-2.23 [[ 9.97052881e-01 7.65699451e-02 4.75353316e-03 8.01976715e+01] [-7.65692727e-02 9.97064211e-01 -3.23561739e-04 -1.13824422e+00] [-4.76435290e-03 -4.13664127e-05 9.99988650e-01 -2.23477998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98420382199998 meters 0.020702339723748284 Centerline is valid? [True, True] Translation: X:80.26, Y:-1.15, Z:-2.24 [[ 9.97234786e-01 7.41795764e-02 4.49140368e-03 8.02587436e+01] [-7.41789510e-02 9.97244900e-01 -3.05903533e-04 -1.14951922e+00] [-4.50172120e-03 -2.81099690e-05 9.99989867e-01 -2.23830399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04420382199999 meters 0.01962208507992857 Centerline is valid? [True, True] Translation: X:80.32, Y:-1.16, Z:-2.24 [[ 9.97275712e-01 7.35074509e-02 6.14892304e-03 8.03201835e+01] [-7.35062500e-02 9.97294667e-01 -4.21377887e-04 -1.15575326e+00] [-6.16326257e-03 -3.17543415e-05 9.99981006e-01 -2.23642043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10420382199999 meters 0.015915132894813326 Centerline is valid? [True, True] Translation: X:80.38, Y:-1.17, Z:-2.23 [[ 9.97314669e-01 7.29639530e-02 6.30173036e-03 8.03824617e+01] [-7.29626775e-02 9.97334578e-01 -4.32376962e-04 -1.16612934e+00] [-6.31648152e-03 -2.85752324e-05 9.99980050e-01 -2.22872303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16420382199998 meters 0.017360254924057975 Centerline is valid? [True, True] Translation: X:80.44, Y:-1.17, Z:-2.24 [[ 9.97412595e-01 7.18433902e-02 2.57733240e-03 8.04431576e+01] [-7.18431695e-02 9.97415925e-01 -1.78241602e-04 -1.17176904e+00] [-2.58347786e-03 -7.38330962e-06 9.99996663e-01 -2.23767462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.22420382199998 meters 0.01645625530549245 Centerline is valid? [True, True] Translation: X:80.51, Y:-1.18, Z:-2.24 [[ 9.97405343e-01 7.18429749e-02 4.60099343e-03 8.05054582e+01] [-7.18422850e-02 9.97415955e-01 -3.15256878e-04 -1.17601140e+00] [-4.61175325e-03 -1.61069869e-05 9.99989366e-01 -2.23751323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.28420382199998 meters 0.017179242645615444 Centerline is valid? [True, True] Translation: X:80.57, Y:-1.19, Z:-2.24 [[ 9.97416752e-01 7.17512303e-02 3.40338216e-03 8.05672963e+01] [-7.17508546e-02 9.97422559e-01 -2.32522529e-04 -1.18546784e+00] [-3.41129392e-03 -1.22737121e-05 9.99994181e-01 -2.23983457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34420382199998 meters 0.01803026801648533 Centerline is valid? [True, True] Translation: X:80.63, Y:-1.19, Z:-2.25 [[ 9.97527585e-01 7.02690847e-02 9.85863574e-04 8.06284437e+01] [-7.02690555e-02 9.97528073e-01 -6.42865781e-05 -1.19251480e+00] [-9.87943950e-04 -5.14806717e-06 9.99999512e-01 -2.24579579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40420382199999 meters 0.015997440312329064 Centerline is valid? [True, True] Translation: X:80.69, Y:-1.20, Z:-2.24 [[ 9.97571167e-01 6.95217202e-02 4.30083933e-03 8.06897403e+01] [-6.95210735e-02 9.97580438e-01 -2.99873122e-04 -1.20332497e+00] [-4.31128088e-03 1.45812682e-07 9.99990706e-01 -2.24027857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46420382199999 meters 0.01740935629457995 Centerline is valid? [True, True] Translation: X:80.75, Y:-1.21, Z:-2.24 [[ 9.97335192e-01 7.26407736e-02 6.76999099e-03 8.07506045e+01] [-7.26392555e-02 9.97358169e-01 -4.70176110e-04 -1.20663197e+00] [-6.78625978e-03 -2.28439248e-05 9.99976973e-01 -2.24275466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52420382199998 meters 0.017758165106327682 Centerline is valid? [True, True] Translation: X:80.81, Y:-1.21, Z:-2.24 [[ 9.97065584e-01 7.64112843e-02 4.64073221e-03 8.08128454e+01] [-7.64106024e-02 9.97076384e-01 -3.24322725e-04 -1.20677611e+00] [-4.65194640e-03 -3.12301164e-05 9.99989179e-01 -2.24261568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.58420382199998 meters 0.023008570192785856 Centerline is valid? [True, True] Translation: X:80.87, Y:-1.20, Z:-2.25 [[ 9.96585458e-01 8.25055569e-02 3.20291803e-03 8.08729862e+01] [-8.25052653e-02 9.96590604e-01 -2.23294152e-04 -1.20075965e+00] [-3.21042102e-03 -4.17258973e-05 9.99994846e-01 -2.25104350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.64420382199998 meters 0.026416085004384058 Centerline is valid? [True, True] Translation: X:80.93, Y:-1.20, Z:-2.26 [[ 9.96301206e-01 8.59240819e-02 9.79514982e-04 8.09343702e+01] [-8.59240561e-02 9.96301687e-01 -6.84807748e-05 -1.19729480e+00] [-9.81776577e-04 -1.59364218e-05 9.99999518e-01 -2.25605367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.70420382199998 meters 0.029123096655078423 Centerline is valid? [True, True] Translation: X:80.99, Y:-1.20, Z:-2.26 [[ 9.96169276e-01 8.74144028e-02 2.34445679e-03 8.09943224e+01] [-8.74142564e-02 9.96172034e-01 -1.65038078e-04 -1.19805662e+00] [-2.34990899e-03 -4.05330844e-05 9.99997238e-01 -2.25960846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76420382199998 meters 0.02905641436802847 Centerline is valid? [True, True] Translation: X:81.06, Y:-1.21, Z:-2.25 [[ 9.96140441e-01 8.77203049e-02 3.06100811e-03 8.10559078e+01] [-8.77200600e-02 9.96145143e-01 -2.14423460e-04 -1.20505525e+00] [-3.06801765e-03 -5.49159351e-05 9.99995292e-01 -2.25425351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82420382199999 meters 0.025952570334466574 Centerline is valid? [True, True] Translation: X:81.12, Y:-1.21, Z:-2.25 [[ 9.96207735e-01 8.69448069e-02 3.27872371e-03 8.11169460e+01] [-8.69445214e-02 9.96213129e-01 -2.29800069e-04 -1.20694764e+00] [-3.28628753e-03 -5.61384577e-05 9.99994599e-01 -2.25494938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88420382199998 meters 0.023225854125359605 Centerline is valid? [True, True] Translation: X:81.18, Y:-1.21, Z:-2.26 [[ 9.96625913e-01 8.20532851e-02 2.01210352e-03 8.11776591e+01] [-8.20531750e-02 9.96627943e-01 -1.37325489e-04 -1.21449926e+00] [-2.01658660e-03 -2.82373419e-05 9.99997966e-01 -2.26088101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.94420382199998 meters 0.01854636608995927 Centerline is valid? [True, True] Translation: X:81.24, Y:-1.23, Z:-2.26 [[ 9.97106830e-01 7.58744514e-02 4.58659192e-03 8.12381700e+01] [-7.58737690e-02 9.97117379e-01 -3.22846490e-04 -1.22920130e+00] [-4.59786632e-03 -2.60895763e-05 9.99989429e-01 -2.25729994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.00420382199998 meters 0.01651600004255216 Centerline is valid? [True, True] Translation: X:81.30, Y:-1.23, Z:-2.26 [[ 9.97292847e-01 7.34014272e-02 4.38269444e-03 8.13002550e+01] [-7.34007976e-02 9.97302477e-01 -3.04551707e-04 -1.23377018e+00] [-4.39322655e-03 -1.79660288e-05 9.99990350e-01 -2.25567619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.06420382199998 meters 0.01565608298866892 Centerline is valid? [True, True] Translation: X:81.36, Y:-1.24, Z:-2.26 [[ 9.97399799e-01 7.17385876e-02 6.87142042e-03 8.13605204e+01] [-7.17369480e-02 9.97423468e-01 -4.85105549e-04 -1.23864125e+00] [-6.88851677e-03 -9.09055244e-06 9.99976274e-01 -2.25548257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12420382199998 meters 0.016384102549052308 Centerline is valid? [True, True] Translation: X:81.42, Y:-1.25, Z:-2.26 [[ 9.97627199e-01 6.87162836e-02 4.24784583e-03 8.14218468e+01] [-6.87156339e-02 9.97636242e-01 -2.98882446e-04 -1.24950200e+00] [-4.25834304e-03 6.27983924e-06 9.99990933e-01 -2.26058137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18420382199999 meters 0.01760148468485553 Centerline is valid? [True, True] Translation: X:81.48, Y:-1.26, Z:-2.26 [[ 9.97847129e-01 6.55004018e-02 3.28716100e-03 8.14835942e+01] [-6.55000063e-02 9.97852543e-01 -2.27935155e-04 -1.25677184e+00] [-3.29503181e-03 1.21353733e-05 9.99994571e-01 -2.26298491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24420382199997 meters 0.019861224174163448 Centerline is valid? [True, True] Translation: X:81.54, Y:-1.27, Z:-2.27 [[ 9.97968996e-01 6.36576975e-02 2.36240016e-03 8.15443165e+01] [-6.36574853e-02 9.97971792e-01 -1.64991468e-04 -1.26517184e+00] [-2.36811170e-03 1.42719164e-05 9.99997196e-01 -2.26998901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.30420382199998 meters 0.018335598016512137 Centerline is valid? [True, True] Translation: X:81.61, Y:-1.26, Z:-2.27 [[ 9.97894468e-01 6.48037463e-02 2.66548913e-03 8.16068870e+01] [-6.48034844e-02 9.97898028e-01 -1.84618878e-04 -1.26469671e+00] [-2.67185034e-03 1.14971741e-05 9.99996431e-01 -2.26825875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.36420382199998 meters 0.019787588920323514 Centerline is valid? [True, True] Translation: X:81.67, Y:-1.26, Z:-2.28 [[ 9.97516034e-01 7.03606773e-02 3.33725143e-03 8.16678725e+01] [-7.03602905e-02 9.97521616e-01 -2.33329599e-04 -1.26051234e+00] [-3.34539767e-03 -2.05996400e-06 9.99994404e-01 -2.27689361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.42420382199998 meters 0.01824885087398482 Centerline is valid? [True, True] Translation: X:81.73, Y:-1.26, Z:-2.28 [[ 9.97281064e-01 7.36773533e-02 1.45823356e-03 8.17307016e+01] [-7.36772820e-02 9.97282130e-01 -1.02631834e-04 -1.25701550e+00] [-1.46183192e-03 -5.08590104e-06 9.99998932e-01 -2.27503826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48420382199998 meters 0.018658667285372275 Centerline is valid? [True, True] Translation: X:81.79, Y:-1.25, Z:-2.28 [[ 9.97123841e-01 7.57175766e-02 3.30076367e-03 8.17912494e+01] [-7.57172119e-02 9.97129304e-01 -2.35497574e-04 -1.25274136e+00] [-3.30911948e-03 -1.51043766e-05 9.99994525e-01 -2.27561376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54420382199999 meters 0.01803839806879286 Centerline is valid? [True, True] Translation: X:81.85, Y:-1.25, Z:-2.27 [[ 9.97113278e-01 7.57863025e-02 4.64181720e-03 8.18528535e+01] [-7.57855847e-02 9.97124082e-01 -3.30605697e-04 -1.25473636e+00] [-4.65352310e-03 -2.21315001e-05 9.99989172e-01 -2.27453699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60420382199997 meters 0.017589086367315775 Centerline is valid? [True, True] Translation: X:81.91, Y:-1.26, Z:-2.28 [[ 9.97256037e-01 7.39670202e-02 3.04559463e-03 8.19139826e+01] [-7.39667032e-02 9.97260688e-01 -2.16737186e-04 -1.25530555e+00] [-3.05328320e-03 -9.13012639e-06 9.99995339e-01 -2.27693180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66420382199998 meters 0.01747985706987568 Centerline is valid? [True, True] Translation: X:81.97, Y:-1.26, Z:-2.28 [[ 9.97621071e-01 6.88374718e-02 3.68807028e-03 8.19749985e+01] [-6.88369710e-02 9.97627888e-01 -2.62700053e-04 -1.26499186e+00] [-3.69740537e-03 8.19952152e-06 9.99993165e-01 -2.28014045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.72420382199998 meters 0.018411668614412905 Centerline is valid? [True, True] Translation: X:82.04, Y:-1.27, Z:-2.28 [[ 9.97841817e-01 6.54922264e-02 4.74085915e-03 8.20356804e+01] [-6.54913677e-02 9.97853079e-01 -3.36297525e-04 -1.27396723e+00] [-4.75270578e-03 2.50863837e-05 9.99988706e-01 -2.28047924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.78420382199998 meters 0.019226438972715833 Centerline is valid? [True, True] Translation: X:82.10, Y:-1.28, Z:-2.28 [[ 9.98045999e-01 6.23780860e-02 3.62754015e-03 8.20979597e+01] [-6.23775707e-02 9.98052591e-01 -2.55131662e-04 -1.27691444e+00] [-3.63639047e-03 2.83559921e-05 9.99993388e-01 -2.27944340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84420382199998 meters 0.01914221186303114 Centerline is valid? [True, True] Translation: X:82.16, Y:-1.28, Z:-2.28 [[ 9.98055119e-01 6.22101897e-02 3.98390993e-03 8.21606100e+01] [-6.22095626e-02 9.98063070e-01 -2.81256672e-04 -1.27912273e+00] [-3.99369041e-03 3.28723672e-05 9.99992025e-01 -2.28068234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90420382199999 meters 0.023294657998655842 Centerline is valid? [True, True] Translation: X:82.22, Y:-1.29, Z:-2.29 [[ 9.98145062e-01 6.07746762e-02 3.58813775e-03 8.22208092e+01] [-6.07741564e-02 9.98151510e-01 -2.53806731e-04 -1.28804721e+00] [-3.59693013e-03 3.52698902e-05 9.99993530e-01 -2.28543539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96420382199999 meters 0.02511367098319492 Centerline is valid? [True, True] Translation: X:82.28, Y:-1.30, Z:-2.28 [[ 9.98419089e-01 5.59220879e-02 5.66066712e-03 8.22808343e+01] [-5.59206959e-02 9.98435132e-01 -4.04007824e-04 -1.30323817e+00] [-5.67440189e-03 8.68206783e-05 9.99983897e-01 -2.28488552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02420382199998 meters 0.02885384681522 Centerline is valid? [True, True] Translation: X:82.34, Y:-1.31, Z:-2.29 [[ 9.98585289e-01 5.31152344e-02 2.48845405e-03 8.23406967e+01] [-5.31149534e-02 9.98588389e-01 -1.78917833e-04 -1.31262510e+00] [-2.49444458e-03 4.64905953e-05 9.99996888e-01 -2.29229095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08420382199998 meters 0.032928048528825894 Centerline is valid? [True, True] Translation: X:82.40, Y:-1.32, Z:-2.29 [[ 9.98488065e-01 5.48816730e-02 3.09604830e-03 8.24029947e+01] [-5.48812485e-02 9.98492864e-01 -2.21986577e-04 -1.32063642e+00] [-3.10356512e-03 5.17359523e-05 9.99995183e-01 -2.29199085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.14420382199998 meters 0.020912680062681245 Centerline is valid? [True, True] Translation: X:82.47, Y:-1.32, Z:-2.29 [[ 9.98004665e-01 6.30762716e-02 2.84123319e-03 8.24650467e+01] [-6.30759454e-02 9.98008709e-01 -2.04372750e-04 -1.31841605e+00] [-2.84846654e-03 2.47514888e-05 9.99995943e-01 -2.29336635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.20420382199998 meters 0.01807602282949058 Centerline is valid? [True, True] Translation: X:82.53, Y:-1.30, Z:-2.30 [[ 9.97271695e-01 7.37672250e-02 2.75022208e-03 8.25266302e+01] [-7.37669572e-02 9.97275487e-01 -1.98817749e-04 -1.29922502e+00] [-2.75739530e-03 -4.60020126e-06 9.99996198e-01 -2.29714364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26420382199998 meters 0.020377651719571337 Centerline is valid? [True, True] Translation: X:82.59, Y:-1.30, Z:-2.30 [[ 9.96752768e-01 8.04969054e-02 2.04140701e-03 8.25871647e+01] [-8.04967713e-02 9.96754859e-01 -1.47900845e-04 -1.29560968e+00] [-2.04668791e-03 -1.69060958e-05 9.99997905e-01 -2.29944049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32420382199999 meters 0.02363942090639976 Centerline is valid? [True, True] Translation: X:82.65, Y:-1.29, Z:-2.30 [[ 9.96258590e-01 8.64039965e-02 1.78078390e-03 8.26477731e+01] [-8.64039044e-02 9.96260181e-01 -1.28714080e-04 -1.29418839e+00] [-1.78524550e-03 -2.56341744e-05 9.99998406e-01 -2.29905535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38420382199998 meters 0.02190452655472559 Centerline is valid? [True, True] Translation: X:82.71, Y:-1.29, Z:-2.30 [[ 9.96379208e-01 8.49770480e-02 2.71556569e-03 8.27081171e+01] [-8.49768268e-02 9.96382908e-01 -1.96928565e-04 -1.29104753e+00] [-2.72247765e-03 -3.45446281e-05 9.99996293e-01 -2.29785679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44420382199998 meters 0.018701299006697765 Centerline is valid? [True, True] Translation: X:82.77, Y:-1.31, Z:-2.30 [[ 9.96974135e-01 7.76975941e-02 2.37847191e-03 8.27675359e+01] [-7.76974060e-02 9.96976972e-01 -1.71529429e-04 -1.30702750e+00] [-2.38460915e-03 -1.37906936e-05 9.99997157e-01 -2.30336211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.50420382199998 meters 0.0168580552290529 Centerline is valid? [True, True] Translation: X:82.83, Y:-1.32, Z:-2.30 [[ 9.97390094e-01 7.21309635e-02 3.18205764e-03 8.28273851e+01] [-7.21305990e-02 9.97395169e-01 -2.29324159e-04 -1.32465464e+00] [-3.19031029e-03 -7.98078652e-07 9.99994911e-01 -2.30329762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.56420382199998 meters 0.01724440820158971 Centerline is valid? [True, True] Translation: X:82.89, Y:-1.34, Z:-2.30 [[ 9.97719517e-01 6.73767875e-02 4.01681464e-03 8.28885881e+01] [-6.73761818e-02 9.97727602e-01 -2.86069225e-04 -1.33548875e+00] [-4.02696127e-03 1.47792157e-05 9.99991892e-01 -2.30226796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62420382199998 meters 0.01726113702281951 Centerline is valid? [True, True] Translation: X:82.95, Y:-1.34, Z:-2.30 [[ 9.97717452e-01 6.73871248e-02 4.34308145e-03 8.29499710e+01] [-6.73864116e-02 9.97726904e-01 -3.10499576e-04 -1.34273044e+00] [-4.35413289e-03 1.71261713e-05 9.99990521e-01 -2.30341024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68420382199999 meters 0.01590435418578119 Centerline is valid? [True, True] Translation: X:83.01, Y:-1.35, Z:-2.30 [[ 9.97482106e-01 7.06418211e-02 6.25956285e-03 8.30110759e+01] [-7.06403812e-02 9.97501746e-01 -4.51103495e-04 -1.34598056e+00] [-6.27579165e-03 7.78975793e-06 9.99980307e-01 -2.30288569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74420382199997 meters 0.015910368316868848 Centerline is valid? [True, True] Translation: X:83.07, Y:-1.35, Z:-2.31 [[ 9.97286177e-01 7.34857456e-02 4.48632721e-03 8.30728009e+01] [-7.34850378e-02 9.97296267e-01 -3.22626276e-04 -1.34663102e+00] [-4.49790581e-03 -7.92719911e-06 9.99989884e-01 -2.30642917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.80420382199998 meters 0.016876251876006287 Centerline is valid? [True, True] Translation: X:83.13, Y:-1.36, Z:-2.31 [[ 9.97285815e-01 7.35371680e-02 3.64530893e-03 8.31330917e+01] [-7.35366963e-02 9.97292477e-01 -2.63448533e-04 -1.35605367e+00] [-3.65481243e-03 -5.33048986e-06 9.99993321e-01 -2.31148544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.86420382199998 meters 0.016668344824233707 Centerline is valid? [True, True] Translation: X:83.19, Y:-1.36, Z:-2.31 [[ 9.97180247e-01 7.48353598e-02 5.58790881e-03 8.31937985e+01] [-7.48342676e-02 9.97195903e-01 -4.04579892e-04 -1.36469841e+00] [-5.60251665e-03 -1.47279870e-05 9.99984306e-01 -2.31016621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.92420382199998 meters 0.016830788847190564 Centerline is valid? [True, True] Translation: X:83.26, Y:-1.37, Z:-2.31 [[ 9.97119697e-01 7.56755139e-02 5.05238705e-03 8.32557185e+01] [-7.56746313e-02 9.97132497e-01 -3.65897496e-04 -1.37212133e+00] [-5.06558880e-03 -1.74939267e-05 9.99987170e-01 -2.31284915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98420382199998 meters 0.0167634783334536 Centerline is valid? [True, True] Translation: X:83.32, Y:-1.38, Z:-2.31 [[ 9.96996393e-01 7.72277991e-02 5.83610224e-03 8.33182371e+01] [-7.72266235e-02 9.97013474e-01 -4.26861049e-04 -1.37633739e+00] [-5.85163811e-03 -2.51235442e-05 9.99982879e-01 -2.31415546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04420382199999 meters 0.01798896047232188 Centerline is valid? [True, True] Translation: X:83.38, Y:-1.38, Z:-2.31 [[ 9.96607571e-01 8.20234504e-02 6.74563733e-03 8.33802206e+01] [-8.20220019e-02 9.96630398e-01 -4.91571924e-04 -1.37701170e+00] [-6.76322764e-03 -6.33863769e-05 9.99977127e-01 -2.31196045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10420382199997 meters 0.02242314542550167 Centerline is valid? [True, True] Translation: X:83.44, Y:-1.37, Z:-2.32 [[ 9.96241541e-01 8.64255991e-02 5.77989742e-03 8.34415665e+01] [-8.64245882e-02 9.96258305e-01 -4.24899297e-04 -1.36938132e+00] [-5.79499298e-03 -7.62229242e-05 9.99983206e-01 -2.31670650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16420382199998 meters 0.023081206352733842 Centerline is valid? [True, True] Translation: X:83.50, Y:-1.37, Z:-2.32 [[ 9.96192674e-01 8.70606549e-02 4.53863736e-03 8.35030001e+01] [-8.70600383e-02 9.96203011e-01 -3.33627467e-04 -1.37219434e+00] [-4.55045003e-03 -6.27767044e-05 9.99989645e-01 -2.32134114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.22420382199998 meters 0.020265393451019825 Centerline is valid? [True, True] Translation: X:83.56, Y:-1.38, Z:-2.32 [[ 9.96383510e-01 8.45912007e-02 8.01438097e-03 8.35635229e+01] [-8.45891904e-02 9.96415737e-01 -5.90091485e-04 -1.37999895e+00] [-8.03557187e-03 -8.99725731e-05 9.99967710e-01 -2.31693037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.28420382199998 meters 0.018039648154729627 Centerline is valid? [True, True] Translation: X:83.62, Y:-1.39, Z:-2.32 [[ 9.96755443e-01 8.01804362e-02 7.04872996e-03 8.36245562e+01] [-8.01787922e-02 9.96780365e-01 -5.15963500e-04 -1.38778187e+00] [-7.06740579e-03 -5.08692279e-05 9.99975024e-01 -2.32132827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34420382199998 meters 0.015347845942325794 Centerline is valid? [True, True] Translation: X:83.69, Y:-1.40, Z:-2.32 [[ 9.96940731e-01 7.78085565e-02 7.41670904e-03 8.36867850e+01] [-7.78066643e-02 9.96968318e-01 -5.43766737e-04 -1.39696165e+00] [-7.43653364e-03 -3.49661825e-05 9.99972348e-01 -2.31781105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40420382199999 meters 0.013461855597662942 Centerline is valid? [True, True] Translation: X:83.75, Y:-1.41, Z:-2.31 [[ 9.97194564e-01 7.39878811e-02 1.13487890e-02 8.37467120e+01] [-7.39831175e-02 9.97259141e-01 -8.39578679e-04 -1.40687014e+00] [-1.13798023e-02 -2.39549853e-06 9.99935248e-01 -2.31262721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46420382199999 meters 0.013725742444001644 Centerline is valid? [True, True] Translation: X:83.81, Y:-1.41, Z:-2.32 [[ 9.97235095e-01 7.35821936e-02 1.03839023e-02 8.38088071e+01] [-7.35782135e-02 9.97289156e-01 -7.65320555e-04 -1.41094754e+00] [-1.04120672e-02 -8.24465779e-07 9.99945793e-01 -2.31533740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52420382199998 meters 0.013761602687864704 Centerline is valid? [True, True] Translation: X:83.87, Y:-1.41, Z:-2.32 [[ 9.97261529e-01 7.31938423e-02 1.05879092e-02 8.38715142e+01] [-7.31896667e-02 9.97317733e-01 -7.81832680e-04 -1.41442697e+00] [-1.06167350e-02 4.76610524e-06 9.99943641e-01 -2.31882173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58420382199998 meters 0.01483495381376754 Centerline is valid? [True, True] Translation: X:83.93, Y:-1.42, Z:-2.32 [[ 9.97321302e-01 7.22379338e-02 1.14848251e-02 8.39318207e+01] [-7.22329178e-02 9.97387428e-01 -8.51503201e-04 -1.42117247e+00] [-1.15163310e-02 1.96398531e-05 9.99933685e-01 -2.32384425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.64420382199998 meters 0.014379551857801346 Centerline is valid? [True, True] Translation: X:83.99, Y:-1.43, Z:-2.32 [[ 9.97444445e-01 7.06293206e-02 1.07739809e-02 8.39942021e+01] [-7.06247998e-02 9.97502630e-01 -7.99966729e-04 -1.42719493e+00] [-1.08035754e-02 3.70121257e-05 9.99941639e-01 -2.32238026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.70420382199998 meters 0.015898774730748164 Centerline is valid? [True, True] Translation: X:84.06, Y:-1.43, Z:-2.33 [[ 9.97589488e-01 6.88643504e-02 8.53900458e-03 8.40560214e+01] [-6.88614414e-02 9.97626032e-01 -6.34563926e-04 -1.43436791e+00] [-8.56243208e-03 4.50261387e-05 9.99963341e-01 -2.32823995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76420382199998 meters 0.015178940197239374 Centerline is valid? [True, True] Translation: X:84.12, Y:-1.44, Z:-2.33 [[ 9.97521406e-01 6.95046469e-02 1.09612441e-02 8.41174240e+01] [-6.94998550e-02 9.97581626e-01 -8.17942716e-04 -1.43832588e+00] [-1.09915865e-02 5.41104963e-05 9.99939589e-01 -2.32575381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82420382199999 meters 0.015085337586254752 Centerline is valid? [True, True] Translation: X:84.18, Y:-1.45, Z:-2.33 [[ 9.97450192e-01 7.04973673e-02 1.11011556e-02 8.41777381e+01] [-7.04924925e-02 9.97511964e-01 -8.30292191e-04 -1.44736376e+00] [-1.11320689e-02 4.56269779e-05 9.99938036e-01 -2.32702435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88420382199998 meters 0.015021361980313657 Centerline is valid? [True, True] Translation: X:84.24, Y:-1.45, Z:-2.33 [[ 9.97286278e-01 7.29365109e-02 1.00172092e-02 8.42392447e+01] [-7.29326553e-02 9.97336586e-01 -7.50146698e-04 -1.45075330e+00] [-1.00452423e-02 1.75293410e-05 9.99949545e-01 -2.33282321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.94420382199998 meters 0.014101171031543744 Centerline is valid? [True, True] Translation: X:84.30, Y:-1.46, Z:-2.33 [[ 9.97215876e-01 7.36137717e-02 1.18957404e-02 8.43015375e+01] [-7.36083482e-02 9.97286826e-01 -8.93694177e-04 -1.45644081e+00] [-1.19292534e-02 1.55802161e-05 9.99928844e-01 -2.33278510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.00420382199998 meters 0.012881538572171928 Centerline is valid? [True, True] Translation: X:84.36, Y:-1.47, Z:-2.33 [[ 9.97164959e-01 7.40554570e-02 1.33354292e-02 8.43635253e+01] [-7.40486453e-02 9.97254125e-01 -1.00451157e-03 -1.46808194e+00] [-1.33732013e-02 1.41932764e-05 9.99910575e-01 -2.32776262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.06420382199998 meters 0.01482383751509033 Centerline is valid? [True, True] Translation: X:84.42, Y:-1.48, Z:-2.34 [[ 9.97080435e-01 7.56778517e-02 1.01719604e-02 8.44234171e+01] [-7.56739386e-02 9.97132320e-01 -7.69589196e-04 -1.47917335e+00] [-1.02010313e-02 -2.40997348e-06 9.99947968e-01 -2.33737345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12420382199998 meters 0.014595177775569927 Centerline is valid? [True, True] Translation: X:84.49, Y:-1.48, Z:-2.34 [[ 9.96657604e-01 8.08106801e-02 1.19688963e-02 8.44855168e+01] [-8.08056566e-02 9.96729467e-01 -9.03503624e-04 -1.48494916e+00] [-1.20027643e-02 -6.66707654e-05 9.99927962e-01 -2.33518681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18420382199999 meters 0.016703600106029528 Centerline is valid? [True, True] Translation: X:84.55, Y:-1.49, Z:-2.34 [[ 9.96378595e-01 8.41823053e-02 1.19597173e-02 8.45465797e+01] [-8.41775051e-02 9.96450364e-01 -9.05078870e-04 -1.48765169e+00] [-1.19934563e-02 -1.04937953e-04 9.99928070e-01 -2.33730265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24420382199997 meters 0.020967731975561843 Centerline is valid? [True, True] Translation: X:84.61, Y:-1.49, Z:-2.34 [[ 9.95916316e-01 8.94857520e-02 1.19578848e-02 8.46089778e+01] [-8.94812909e-02 9.95988089e-01 -9.08645699e-04 -1.48872253e+00] [-1.19912217e-02 -1.65071894e-04 9.99928089e-01 -2.33890003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.30420382199998 meters 0.024037490535289367 Centerline is valid? [True, True] Translation: X:84.67, Y:-1.49, Z:-2.34 [[ 9.95647804e-01 9.26695935e-02 9.88919420e-03 8.46702706e+01] [-9.26666926e-02 9.95696901e-01 -7.52133049e-04 -1.49312609e+00] [-9.91633988e-03 -1.67539300e-04 9.99950818e-01 -2.34278394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.36420382199998 meters 0.02523333874437691 Centerline is valid? [True, True] Translation: X:84.73, Y:-1.50, Z:-2.34 [[ 9.95462513e-01 9.45462386e-02 1.07421228e-02 8.47323464e+01] [-9.45429495e-02 9.95520450e-01 -8.14718279e-04 -1.49639111e+00] [-1.07710314e-02 -2.04570464e-04 9.99941970e-01 -2.34433729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.42420382199998 meters 0.02323473862361738 Centerline is valid? [True, True] Translation: X:84.79, Y:-1.51, Z:-2.35 [[ 9.95741408e-01 9.17102541e-02 9.39563606e-03 8.47926351e+01] [-9.17075894e-02 9.95785723e-01 -7.14969536e-04 -1.51245578e+00] [-9.42161029e-03 -1.49726361e-04 9.99955604e-01 -2.34945306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48420382199998 meters 0.0196756415045636 Centerline is valid? [True, True] Translation: X:84.85, Y:-1.53, Z:-2.36 [[ 9.96224875e-01 8.64435018e-02 7.96991921e-03 8.48528035e+01] [-8.64414226e-02 9.96256751e-01 -6.05628798e-04 -1.52831579e+00] [-7.99243849e-03 -8.55886811e-05 9.99968056e-01 -2.35505739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54420382199999 meters 0.015534746826878243 Centerline is valid? [True, True] Translation: X:84.91, Y:-1.54, Z:-2.35 [[ 9.96570202e-01 8.22592633e-02 9.01361653e-03 8.49147503e+01] [-8.22563990e-02 9.96610962e-01 -6.88671754e-04 -1.54175553e+00] [-9.03971867e-03 -5.51178883e-05 9.99959139e-01 -2.35129152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60420382199997 meters 0.015140070401736669 Centerline is valid? [True, True] Translation: X:84.97, Y:-1.56, Z:-2.35 [[ 9.96917802e-01 7.80277780e-02 8.15856777e-03 8.49749545e+01] [-7.80253075e-02 9.96951185e-01 -6.21144753e-04 -1.56065472e+00] [-8.18216035e-03 -1.73444974e-05 9.99966525e-01 -2.35473782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66420382199998 meters 0.014372249702969945 Centerline is valid? [True, True] Translation: X:85.04, Y:-1.57, Z:-2.35 [[ 9.97107707e-01 7.53531453e-02 9.90576610e-03 8.50364097e+01] [-7.53493397e-02 9.97156910e-01 -7.57360271e-04 -1.57128096e+00] [-9.93467259e-03 8.77682890e-06 9.99950650e-01 -2.35241458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.72420382199998 meters 0.01457758128770909 Centerline is valid? [True, True] Translation: X:85.10, Y:-1.58, Z:-2.35 [[ 9.97098060e-01 7.54003910e-02 1.04995173e-02 8.50970035e+01] [-7.53960816e-02 9.97153339e-01 -8.06217957e-04 -1.57841233e+00] [-1.05304178e-02 1.22559001e-05 9.99944554e-01 -2.35433556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.78420382199998 meters 0.014430804369446402 Centerline is valid? [True, True] Translation: X:85.16, Y:-1.58, Z:-2.35 [[ 9.96693312e-01 8.06496847e-02 9.90303604e-03 8.51588121e+01] [-8.06461165e-02 9.96742508e-01 -7.59765437e-04 -1.58082502e+00] [-9.93205182e-03 -4.13882696e-05 9.99950675e-01 -2.35427043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84420382199998 meters 0.01973507797449778 Centerline is valid? [True, True] Translation: X:85.22, Y:-1.58, Z:-2.36 [[ 9.95976770e-01 8.91951264e-02 8.63151548e-03 8.52199684e+01] [-8.91927010e-02 9.96014166e-01 -6.66304283e-04 -1.57500812e+00] [-8.65654278e-03 -1.06244591e-04 9.99962526e-01 -2.35638862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90420382199999 meters 0.02586730986347181 Centerline is valid? [True, True] Translation: X:85.28, Y:-1.57, Z:-2.36 [[ 9.95407728e-01 9.52854238e-02 9.17292103e-03 8.52818648e+01] [-9.52829676e-02 9.95449978e-01 -7.05415654e-04 -1.56736833e+00] [-9.19839987e-03 -1.71846944e-04 9.99957679e-01 -2.36014451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96420382199997 meters 0.031244256718953554 Centerline is valid? [True, True] Translation: X:85.34, Y:-1.57, Z:-2.36 [[ 9.94937811e-01 9.98996909e-02 1.08997103e-02 8.53429986e+01] [-9.98964708e-02 9.94997481e-01 -8.40832764e-04 -1.56799816e+00] [-1.09291833e-02 -2.52266287e-04 9.99940243e-01 -2.35989594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02420382199998 meters 0.03438714871231864 Centerline is valid? [True, True] Translation: X:85.40, Y:-1.57, Z:-2.36 [[ 9.94764731e-01 1.01692671e-01 1.00861519e-02 8.54041731e+01] [-1.01689970e-01 9.94815832e-01 -7.81653171e-04 -1.56532673e+00] [-1.01133519e-02 -2.48099472e-04 9.99948828e-01 -2.36300010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08420382199998 meters 0.031792190077761226 Centerline is valid? [True, True] Translation: X:85.47, Y:-1.57, Z:-2.36 [[ 9.94464747e-01 1.04767567e-01 7.97647926e-03 8.54654666e+01] [-1.04765974e-01 9.94496711e-01 -6.18416020e-04 -1.56631773e+00] [-7.99737233e-03 -2.20670687e-04 9.99967996e-01 -2.36402371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.14420382199998 meters 0.03923962034362596 Centerline is valid? [True, True] Translation: X:85.53, Y:-1.56, Z:-2.37 [[ 9.94352426e-01 1.05897647e-01 6.99583010e-03 8.55270046e+01] [-1.05896472e-01 9.94377014e-01 -5.39224044e-04 -1.56396530e+00] [-7.01359521e-03 -2.04654987e-04 9.99975383e-01 -2.36731822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.20420382199998 meters 0.025707857820326092 Centerline is valid? [True, True] Translation: X:85.59, Y:-1.57, Z:-2.37 [[ 9.95361088e-01 9.58780836e-02 7.98111141e-03 8.55864217e+01] [-9.58761899e-02 9.95393074e-01 -6.20418290e-04 -1.57331848e+00] [-8.00382754e-03 -1.47658329e-04 9.99967958e-01 -2.36969044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26420382199998 meters 0.014935664938302716 Centerline is valid? [True, True] Translation: X:85.65, Y:-1.59, Z:-2.37 [[ 9.96502522e-01 8.28294833e-02 1.10453339e-02 8.56455340e+01] [-8.28250545e-02 9.96563733e-01 -8.58576937e-04 -1.59444786e+00] [-1.10784946e-02 -5.92562964e-05 9.99938630e-01 -2.36608331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32420382199999 meters 0.023332018581130286 Centerline is valid? [True, True] Translation: X:85.70, Y:-1.63, Z:-2.37 [[ 9.97987648e-01 6.20655763e-02 1.29814552e-02 8.57036972e+01] [-6.20577161e-02 9.98072054e-01 -1.00782140e-03 -1.63494235e+00] [-1.30189786e-02 2.00193848e-04 9.99915229e-01 -2.36588240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38420382199998 meters 0.027728095757349806 Centerline is valid? [True, True] Translation: X:85.76, Y:-1.65, Z:-2.37 [[ 9.98328235e-01 5.65964071e-02 1.17295499e-02 8.57640964e+01] [-5.65895906e-02 9.98397108e-01 -9.12488365e-04 -1.64670973e+00] [-1.17623923e-02 2.47192469e-04 9.99930790e-01 -2.36861366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.44420382199998 meters 0.03769388643569561 Centerline is valid? [True, True] Translation: X:85.82, Y:-1.67, Z:-2.37 [[ 9.98855002e-01 4.68080594e-02 9.88383965e-03 8.58234883e+01] [-4.68027413e-02 9.98903855e-01 -7.68804063e-04 -1.67251557e+00] [-9.90899176e-03 3.05332994e-04 9.99950858e-01 -2.37280005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.50420382199998 meters 0.037101057546748376 Centerline is valid? [True, True] Translation: X:85.88, Y:-1.68, Z:-2.37 [[ 9.98875363e-01 4.64883561e-02 9.31886214e-03 8.58846733e+01] [-4.64836386e-02 9.98918790e-01 -7.22305817e-04 -1.68090978e+00] [-9.34236530e-03 2.88318866e-04 9.99956318e-01 -2.37310560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.56420382199998 meters 0.034521092763089616 Centerline is valid? [True, True] Translation: X:85.94, Y:-1.68, Z:-2.38 [[ 9.98610956e-01 5.23220023e-02 6.21016830e-03 8.59446412e+01] [-5.23200026e-02 9.98630253e-01 -4.84137618e-04 -1.68398946e+00] [-6.22699299e-03 1.58549108e-04 9.99980600e-01 -2.38187233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62420382199998 meters 0.021518742567931057 Centerline is valid? [True, True] Translation: X:86.01, Y:-1.68, Z:-2.38 [[ 9.97890123e-01 6.44534470e-02 7.81375975e-03 8.60065270e+01] [-6.44506504e-02 9.97920709e-01 -6.09451592e-04 -1.67576571e+00] [-7.83679393e-03 1.04563827e-04 9.99969286e-01 -2.37933339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68420382199999 meters 0.015037496281337022 Centerline is valid? [True, True] Translation: X:86.07, Y:-1.67, Z:-2.38 [[ 9.96902544e-01 7.83124442e-02 7.24419833e-03 8.60691229e+01] [-7.83104105e-02 9.96928865e-01 -5.64400271e-04 -1.66782936e+00] [-7.26614999e-03 -4.64407975e-06 9.99973601e-01 -2.38053876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74420382199997 meters 0.016331659340174616 Centerline is valid? [True, True] Translation: X:86.13, Y:-1.67, Z:-2.38 [[ 9.96441459e-01 8.39503120e-02 7.53422793e-03 8.61300983e+01] [-8.39482799e-02 9.96469941e-01 -5.86118627e-04 -1.66875153e+00] [-7.55683650e-03 -4.84525751e-05 9.99971446e-01 -2.38233081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80420382199998 meters 0.019594398137754276 Centerline is valid? [True, True] Translation: X:86.19, Y:-1.67, Z:-2.38 [[ 9.95971433e-01 8.93513920e-02 7.56524365e-03 8.61917423e+01] [-8.93495035e-02 9.96000161e-01 -5.87920705e-04 -1.66618693e+00] [-7.58751543e-03 -9.03985371e-05 9.99971210e-01 -2.38491947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.86420382199998 meters 0.02147841557178431 Centerline is valid? [True, True] Translation: X:86.25, Y:-1.67, Z:-2.39 [[ 9.95745346e-01 9.18581127e-02 7.30014701e-03 8.62535222e+01] [-9.18564161e-02 9.95772100e-01 -5.68062214e-04 -1.67286110e+00] [-7.32146384e-03 -1.04920035e-04 9.99973192e-01 -2.38854411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.92420382199998 meters 0.02173338055664125 Centerline is valid? [True, True] Translation: X:86.32, Y:-1.68, Z:-2.39 [[ 9.95700894e-01 9.22819407e-02 7.98584637e-03 8.63150646e+01] [-9.22799095e-02 9.95732911e-01 -6.23240555e-04 -1.67938779e+00] [-8.00928390e-03 -1.16372003e-04 9.99967918e-01 -2.39010418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98420382199998 meters 0.02274577118974241 Centerline is valid? [True, True] Translation: X:86.38, Y:-1.69, Z:-2.39 [[ 9.95577317e-01 9.37086915e-02 6.66979758e-03 8.63760837e+01] [-9.37073030e-02 9.95599653e-01 -5.21066772e-04 -1.68991421e+00] [-6.68927664e-03 -1.06246484e-04 9.99977621e-01 -2.39314665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04420382199999 meters 0.02603280235325328 Centerline is valid? [True, True] Translation: X:86.44, Y:-1.69, Z:-2.40 [[ 9.95278346e-01 9.69320441e-02 5.01916652e-03 8.64375230e+01] [-9.69312846e-02 9.95290998e-01 -3.94934976e-04 -1.68850101e+00] [-5.03381310e-03 -9.34440289e-05 9.99987326e-01 -2.39781298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10420382199997 meters 0.02908806619630175 Centerline is valid? [True, True] Translation: X:86.50, Y:-1.69, Z:-2.40 [[ 9.95032661e-01 9.93740645e-02 5.89908679e-03 8.64995006e+01] [-9.93730742e-02 9.95050139e-01 -4.61455835e-04 -1.68547439e+00] [-5.91574387e-03 -1.27046762e-04 9.99982494e-01 -2.39927216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16420382199998 meters 0.027230912720310568 Centerline is valid? [True, True] Translation: X:86.56, Y:-1.69, Z:-2.40 [[ 9.95020775e-01 9.94281443e-02 6.90667397e-03 8.65612735e+01] [-9.94267778e-02 9.95044734e-01 -5.41779688e-04 -1.69113413e+00] [-6.92631771e-03 -1.47626293e-04 9.99976002e-01 -2.39706922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.22420382199998 meters 0.023315080447738272 Centerline is valid? [True, True] Translation: X:86.62, Y:-1.70, Z:-2.40 [[ 9.95470876e-01 9.46681832e-02 8.69885760e-03 8.66200751e+01] [-9.46657785e-02 9.95508873e-01 -6.88699999e-04 -1.70246764e+00] [-8.72498791e-03 -1.37903336e-04 9.99961927e-01 -2.39651967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.28420382199998 meters 0.01762252843275899 Centerline is valid? [True, True] Translation: X:86.68, Y:-1.72, Z:-2.40 [[ 9.96227437e-01 8.65220683e-02 6.69522807e-03 8.66811194e+01] [-8.65204863e-02 9.96249933e-01 -5.26117572e-04 -1.71751483e+00] [-6.71564130e-03 -5.51416289e-05 9.99977448e-01 -2.40174709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34420382199998 meters 0.015197039040972167 Centerline is valid? [True, True] Translation: X:86.74, Y:-1.73, Z:-2.40 [[ 9.96735711e-01 8.03506169e-02 7.85492958e-03 8.67419740e+01] [-8.03482309e-02 9.96766662e-01 -6.19374921e-04 -1.73231796e+00] [-7.87929910e-03 -1.37765931e-05 9.99968958e-01 -2.40260050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40420382199999 meters 0.017132811667616932 Centerline is valid? [True, True] Translation: X:86.80, Y:-1.75, Z:-2.40 [[ 9.97289320e-01 7.31497253e-02 7.94538447e-03 8.68034447e+01] [-7.31470443e-02 9.97320969e-01 -6.27890688e-04 -1.74577021e+00] [-7.97002857e-03 4.50072879e-05 9.99968238e-01 -2.40362068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46420382199997 meters 0.020403291432715773 Centerline is valid? [True, True] Translation: X:86.86, Y:-1.76, Z:-2.41 [[ 9.97647349e-01 6.83032032e-02 5.86849982e-03 8.68640014e+01] [-6.83016392e-02 9.97664607e-01 -4.66750012e-04 -1.75939917e+00] [-5.88667509e-03 6.48237554e-05 9.99982671e-01 -2.40835616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52420382199998 meters 0.0210398901898201 Centerline is valid? [True, True] Translation: X:86.93, Y:-1.77, Z:-2.41 [[ 9.97715201e-01 6.72217544e-02 6.75370690e-03 8.69266030e+01] [-6.72196823e-02 9.97738057e-01 -5.33603467e-04 -1.76809123e+00] [-6.77430016e-03 7.84022589e-05 9.99977051e-01 -2.40850232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.58420382199998 meters 0.022585901920559048 Centerline is valid? [True, True] Translation: X:86.99, Y:-1.77, Z:-2.41 [[ 9.97689639e-01 6.73561236e-02 8.86215312e-03 8.69874277e+01] [-6.73525226e-02 9.97728992e-01 -7.04498419e-04 -1.77473599e+00] [-8.88947938e-03 1.05982405e-04 9.99960482e-01 -2.40999491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.64420382199998 meters 0.020908916006507332 Centerline is valid? [True, True] Translation: X:87.05, Y:-1.78, Z:-2.42 [[ 9.97554804e-01 6.96628128e-02 5.61301372e-03 8.70489907e+01] [-6.96613996e-02 9.97570594e-01 -4.47133076e-04 -1.77754785e+00] [-5.63052598e-03 5.50293564e-05 9.99984147e-01 -2.41592305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.70420382199998 meters 0.018656634495460872 Centerline is valid? [True, True] Translation: X:87.11, Y:-1.78, Z:-2.42 [[ 9.97297579e-01 7.32397136e-02 5.78654175e-03 8.71108454e+01] [-7.32382794e-02 9.97314365e-01 -4.59654153e-04 -1.77873875e+00] [-5.80466615e-03 3.46156123e-05 9.99983152e-01 -2.41887473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76420382199998 meters 0.016127823268184405 Centerline is valid? [True, True] Translation: X:87.17, Y:-1.77, Z:-2.42 [[ 9.96750554e-01 8.03571259e-02 5.57358380e-03 8.71739758e+01] [-8.03559026e-02 9.96766137e-01 -4.43424999e-04 -1.77477271e+00] [-5.59119196e-03 -5.88624391e-06 9.99984369e-01 -2.41805922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82420382199999 meters 0.015776781396520924 Centerline is valid? [True, True] Translation: X:87.24, Y:-1.77, Z:-2.42 [[ 9.96501681e-01 8.32900487e-02 6.86787723e-03 8.72367132e+01] [-8.32882451e-02 9.96525347e-01 -5.48706041e-04 -1.77466059e+00] [-6.88971549e-03 -2.52269502e-05 9.99976265e-01 -2.41871075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88420382199998 meters 0.015702307107880197 Centerline is valid? [True, True] Translation: X:87.30, Y:-1.79, Z:-2.42 [[ 9.96835916e-01 7.90762297e-02 8.06887628e-03 8.72966708e+01] [-7.90735820e-02 9.96868572e-01 -6.47139659e-04 -1.79182763e+00] [-8.09478254e-03 7.05710505e-06 9.99967237e-01 -2.42104947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.94420382199998 meters 0.01993003116013522 Centerline is valid? [True, True] Translation: X:87.36, Y:-1.82, Z:-2.42 [[ 9.97492360e-01 6.99655557e-02 1.06682885e-02 8.73572384e+01] [-6.99603794e-02 9.97549402e-01 -8.58086553e-04 -1.82249393e+00] [-1.07021813e-02 1.09577272e-04 9.99942724e-01 -2.41943796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.00420382199998 meters 0.02065534824260722 Centerline is valid? [True, True] Translation: X:87.42, Y:-1.84, Z:-2.42 [[ 9.97598542e-01 6.82856591e-02 1.15852182e-02 8.74193337e+01] [-6.82794119e-02 9.97665800e-01 -9.34375639e-04 -1.83950696e+00] [-1.16219805e-02 1.41099887e-04 9.99932453e-01 -2.41735205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.06420382199998 meters 0.017904066176432438 Centerline is valid? [True, True] Translation: X:87.48, Y:-1.85, Z:-2.42 [[ 9.97438454e-01 7.09682973e-02 8.94606685e-03 8.74811157e+01] [-7.09646735e-02 9.97478568e-01 -7.22255930e-04 -1.84810415e+00] [-8.97476722e-03 8.55511247e-05 9.99959722e-01 -2.41955150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12420382199998 meters 0.015974161986222743 Centerline is valid? [True, True] Translation: X:87.54, Y:-1.85, Z:-2.43 [[ 9.96903753e-01 7.83642144e-02 6.47748637e-03 8.75424558e+01] [-7.83624738e-02 9.96924796e-01 -5.22465490e-04 -1.85491809e+00] [-6.49850937e-03 1.32559521e-05 9.99978884e-01 -2.42860129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18420382199999 meters 0.017179487427937967 Centerline is valid? [True, True] Translation: X:87.61, Y:-1.85, Z:-2.43 [[ 9.95981217e-01 8.92929554e-02 6.94144673e-03 8.76052801e+01] [-8.92912075e-02 9.96005404e-01 -5.61925283e-04 -1.84978488e+00] [-6.96389442e-03 -6.01431332e-05 9.99975750e-01 -2.43046124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24420382199997 meters 0.021694197877242048 Centerline is valid? [True, True] Translation: X:87.67, Y:-1.85, Z:-2.43 [[ 9.95360692e-01 9.58664177e-02 8.16838693e-03 8.76663037e+01] [-9.58641855e-02 9.95394201e-01 -6.65273853e-04 -1.84962138e+00] [-8.19454240e-03 -1.20868317e-04 9.99966417e-01 -2.42959566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.30420382199998 meters 0.025345242874935607 Centerline is valid? [True, True] Translation: X:87.73, Y:-1.85, Z:-2.43 [[ 9.94865278e-01 1.00774771e-01 9.35548799e-03 8.77282845e+01] [-1.00772062e-01 9.94909248e-01 -7.61704330e-04 -1.85081906e+00] [-9.38462210e-03 -1.84978626e-04 9.99955946e-01 -2.42797361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.36420382199998 meters 0.027313689614096012 Centerline is valid? [True, True] Translation: X:87.79, Y:-1.86, Z:-2.43 [[ 9.94537068e-01 1.03947505e-01 9.53601790e-03 8.77900207e+01] [-1.03944802e-01 9.94582762e-01 -7.80011103e-04 -1.85504452e+00] [-9.56543923e-03 -2.15469538e-04 9.99954227e-01 -2.42843467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.42420382199998 meters 0.027641477476890833 Centerline is valid? [True, True] Translation: X:87.85, Y:-1.86, Z:-2.43 [[ 9.94705148e-01 1.02368686e-01 9.07304380e-03 8.78505114e+01] [-1.02366189e-01 9.94746508e-01 -7.40403395e-04 -1.86121085e+00] [-9.10117276e-03 -1.92289848e-04 9.99958565e-01 -2.43463035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48420382199998 meters 0.019178194996195566 Centerline is valid? [True, True] Translation: X:87.91, Y:-1.89, Z:-2.43 [[ 9.95351413e-01 9.56829589e-02 1.09697593e-02 8.79094312e+01] [-9.56788457e-02 9.95411848e-01 -9.00360122e-04 -1.88751544e+00] [-1.10055775e-02 -1.53399191e-04 9.99939425e-01 -2.42945984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54420382199999 meters 0.01576330832595069 Centerline is valid? [True, True] Translation: X:87.97, Y:-1.90, Z:-2.43 [[ 9.95902921e-01 8.97315334e-02 1.12081969e-02 8.79694316e+01] [-8.97268631e-02 9.95965985e-01 -9.19861423e-04 -1.89833304e+00] [-1.12455234e-02 -8.95836693e-05 9.99936763e-01 -2.43312542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60420382199997 meters 0.01433486535804757 Centerline is valid? [True, True] Translation: X:88.03, Y:-1.91, Z:-2.44 [[ 9.96146062e-01 8.70123327e-02 1.10397652e-02 8.80304640e+01] [-8.70076600e-02 9.96207233e-01 -9.03754422e-04 -1.91013438e+00] [-1.10765317e-02 -6.02727258e-05 9.99938652e-01 -2.43625166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66420382199998 meters 0.013867630191974262 Centerline is valid? [True, True] Translation: X:88.09, Y:-1.92, Z:-2.43 [[ 9.96157883e-01 8.67859577e-02 1.17332817e-02 8.80922799e+01] [-8.67806157e-02 9.96226979e-01 -9.64608388e-04 -1.92334324e+00] [-1.17727263e-02 -5.73191626e-05 9.99930697e-01 -2.43492917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.72420382199998 meters 0.014013321134492624 Centerline is valid? [True, True] Translation: X:88.15, Y:-1.93, Z:-2.44 [[ 9.96163135e-01 8.67486947e-02 1.15617019e-02 8.81537721e+01] [-8.67435215e-02 9.96230225e-01 -9.49113594e-04 -1.93127485e+00] [-1.16004512e-02 -5.74307593e-05 9.99932711e-01 -2.43653574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.78420382199998 meters 0.0136958707461403 Centerline is valid? [True, True] Translation: X:88.22, Y:-1.94, Z:-2.44 [[ 9.96373114e-01 8.44451547e-02 1.04706234e-02 8.82151821e+01] [-8.44407678e-02 9.96428128e-01 -8.61143008e-04 -1.93864084e+00] [-1.05059430e-02 -2.61277353e-05 9.99944811e-01 -2.44115039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84420382199998 meters 0.013358037797810262 Centerline is valid? [True, True] Translation: X:88.28, Y:-1.95, Z:-2.44 [[ 9.96680745e-01 8.05893181e-02 1.15262128e-02 8.82759975e+01] [-8.05837164e-02 9.96747391e-01 -9.50355722e-04 -1.95375293e+00] [-1.15653111e-02 1.83761825e-05 9.99933119e-01 -2.44248540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90420382199999 meters 0.01429050882059737 Centerline is valid? [True, True] Translation: X:88.34, Y:-1.97, Z:-2.44 [[ 9.96849984e-01 7.84376255e-02 1.17323741e-02 8.83369223e+01] [-7.84316383e-02 9.96919022e-01 -9.70271754e-04 -1.97206184e+00] [-1.17723327e-02 4.70260599e-05 9.99930703e-01 -2.44327576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96420382199997 meters 0.013726251446657307 Centerline is valid? [True, True] Translation: X:88.40, Y:-1.98, Z:-2.44 [[ 9.96810079e-01 7.86847074e-02 1.33559970e-02 8.83991197e+01] [-7.86769298e-02 9.96899551e-01 -1.10758073e-03 -1.98086655e+00] [-1.34017370e-02 5.32387970e-05 9.99910191e-01 -2.44316179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02420382199998 meters 0.013449575106675672 Centerline is valid? [True, True] Translation: X:88.46, Y:-1.98, Z:-2.45 [[ 9.96501734e-01 8.26246880e-02 1.25481482e-02 8.84607141e+01] [-8.26181510e-02 9.96580735e-01 -1.03932066e-03 -1.98431249e+00] [-1.25911163e-02 -1.01996836e-06 9.99920729e-01 -2.44740491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.08420382199998 meters 0.014001452132957322 Centerline is valid? [True, True] Translation: X:88.52, Y:-1.99, Z:-2.45 [[ 9.96245224e-01 8.60104223e-02 9.88239742e-03 8.85224163e+01] [-8.60065037e-02 9.96294237e-01 -8.21614882e-04 -1.99415602e+00] [-9.91644304e-03 -3.14205483e-05 9.99950830e-01 -2.45247259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.14420382199998 meters 0.015258064033095185 Centerline is valid? [True, True] Translation: X:88.58, Y:-2.00, Z:-2.45 [[ 9.95893194e-01 8.99410496e-02 1.03611197e-02 8.85847517e+01] [-8.99369718e-02 9.95947088e-01 -8.59780324e-04 -1.99522441e+00] [-1.03964565e-02 -7.55983554e-05 9.99945953e-01 -2.45446853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.20420382199998 meters 0.01600416018505454 Centerline is valid? [True, True] Translation: X:88.65, Y:-2.00, Z:-2.45 [[ 9.95636098e-01 9.26669023e-02 1.10274685e-02 8.86473940e+01] [-9.26624319e-02 9.95697159e-01 -9.16739488e-04 -1.99914600e+00] [-1.10649705e-02 -1.09093124e-04 9.99938775e-01 -2.45400305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26420382199998 meters 0.01752038292931022 Centerline is valid? [True, True] Translation: X:88.71, Y:-2.00, Z:-2.46 [[ 9.95418379e-01 9.51459677e-02 9.46026351e-03 8.87095840e+01] [-9.51427528e-02 9.95463325e-01 -7.90319110e-04 -2.00240354e+00] [-9.49254105e-03 -1.13377345e-04 9.99954938e-01 -2.45731680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32420382199997 meters 0.016865618499763358 Centerline is valid? [True, True] Translation: X:88.77, Y:-2.01, Z:-2.46 [[ 9.95627624e-01 9.26385723e-02 1.19887305e-02 8.87691879e+01] [-9.26332081e-02 9.95699795e-01 -1.00315793e-03 -2.01405571e+00] [-1.20301077e-02 -1.11782822e-04 9.99927629e-01 -2.45699658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38420382199998 meters 0.013574626974976243 Centerline is valid? [True, True] Translation: X:88.83, Y:-2.02, Z:-2.45 [[ 9.95903231e-01 8.92434030e-02 1.45728845e-02 8.88297124e+01] [-8.92351120e-02 9.96009843e-01 -1.21948187e-03 -2.02364588e+00] [-1.46235671e-02 -8.59270452e-05 9.99893066e-01 -2.45413703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.44420382199998 meters 0.012953496817211934 Centerline is valid? [True, True] Translation: X:88.89, Y:-2.04, Z:-2.46 [[ 9.96561391e-01 8.18479343e-02 1.28960953e-02 8.88903718e+01] [-8.18408488e-02 9.96644829e-01 -1.07709595e-03 -2.04135439e+00] [-1.29409848e-02 1.79648522e-05 9.99916262e-01 -2.46023676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.50420382199998 meters 0.028447810310391616 Centerline is valid? [True, True] Translation: X:88.95, Y:-2.06, Z:-2.46 [[ 9.96952108e-01 7.68516625e-02 1.34281572e-02 8.89512407e+01] [-7.68434953e-02 9.97042534e-01 -1.12387592e-03 -2.06266894e+00] [-1.34748156e-02 8.85839292e-05 9.99909207e-01 -2.45894244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.56420382199998 meters 0.01674953304593867 Centerline is valid? [True, True] Translation: X:89.01, Y:-2.09, Z:-2.46 [[ 9.97172751e-01 7.42062111e-02 1.18297583e-02 8.90116480e+01] [-7.41996692e-02 9.97242912e-01 -9.91545291e-04 -2.08515611e+00] [-1.18707214e-02 1.10977792e-04 9.99929534e-01 -2.46276958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62420382199998 meters 0.015703858996542176 Centerline is valid? [True, True] Translation: X:89.07, Y:-2.09, Z:-2.47 [[ 9.96819157e-01 7.89431938e-02 1.09334318e-02 8.90726556e+01] [-7.89378710e-02 9.96879115e-01 -9.18201343e-04 -2.08740178e+00] [-1.09717956e-02 5.22188569e-05 9.99939807e-01 -2.47298298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68420382199999 meters 0.014876437514066613 Centerline is valid? [True, True] Translation: X:89.13, Y:-2.09, Z:-2.47 [[ 9.96024882e-01 8.85740206e-02 9.43811325e-03 8.91346880e+01] [-8.85704787e-02 9.96069596e-01 -7.93412449e-04 -2.08972318e+00] [-9.47129339e-03 -4.56796687e-05 9.99955145e-01 -2.47331479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74420382199997 meters 0.022448900207975315 Centerline is valid? [True, True] Translation: X:89.20, Y:-2.08, Z:-2.47 [[ 9.94778668e-01 1.01761360e-01 7.74775238e-03 8.91962214e+01] [-1.01759343e-01 9.94808829e-01 -6.55145000e-04 -2.08392489e+00] [-7.77420092e-03 -1.36681923e-04 9.99969771e-01 -2.47322888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.80420382199998 meters 0.03152491173215572 Centerline is valid? [True, True] Translation: X:89.26, Y:-2.07, Z:-2.48 [[ 9.93708983e-01 1.11664453e-01 8.57358883e-03 8.92576574e+01] [-1.11662351e-01 9.93745940e-01 -7.25022352e-04 -2.07366985e+00] [-8.60092831e-03 -2.36885859e-04 9.99962983e-01 -2.47522867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.86420382199998 meters 0.04794247053093357 Centerline is valid? [True, True] Translation: X:89.32, Y:-2.05, Z:-2.48 [[ 9.92116831e-01 1.24780088e-01 1.15811210e-02 8.93195947e+01] [-1.24777143e-01 9.92184310e-01 -9.79356427e-04 -2.04760455e+00] [-1.16128107e-02 -4.73423190e-04 9.99932457e-01 -2.47587203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.92420382199998 meters 0.049907109897222975 Centerline is valid? [True, True] Translation: X:89.38, Y:-2.05, Z:-2.47 [[ 9.91434269e-01 1.29932812e-01 1.32496646e-02 8.93802610e+01] [-1.29929413e-01 9.91522613e-01 -1.12069002e-03 -2.04662930e+00] [-1.32829565e-02 -6.10430653e-04 9.99911591e-01 -2.47259521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98420382199998 meters 0.050737372885269146 Centerline is valid? [True, True] Translation: X:89.44, Y:-2.04, Z:-2.48 [[ 9.91291442e-01 1.31207344e-01 1.12209720e-02 8.94423099e+01] [-1.31204991e-01 9.91354805e-01 -9.48776257e-04 -2.04047595e+00] [-1.12484509e-02 -5.31733741e-04 9.99936593e-01 -2.47771068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04420382199999 meters 0.04538393176136736 Centerline is valid? [True, True] Translation: X:89.50, Y:-2.04, Z:-2.48 [[ 9.91975851e-01 1.25895033e-01 1.15910301e-02 8.95031713e+01] [-1.25892153e-01 9.92043449e-01 -9.80680423e-04 -2.04054334e+00] [-1.16222683e-02 -4.86408438e-04 9.99932341e-01 -2.47959893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10420382199997 meters 0.03643898399210316 Centerline is valid? [True, True] Translation: X:89.56, Y:-2.04, Z:-2.48 [[ 9.93152052e-01 1.16345039e-01 1.06223486e-02 8.95633232e+01] [-1.16342072e-01 9.93208797e-01 -8.98952271e-04 -2.04257792e+00] [-1.06547987e-02 -3.43029753e-04 9.99943177e-01 -2.48374525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16420382199998 meters 0.03197204769132058 Centerline is valid? [True, True] Translation: X:89.62, Y:-2.05, Z:-2.49 [[ 9.93656412e-01 1.12016436e-01 9.96256574e-03 8.96238082e+01] [-1.12013612e-01 9.93706315e-01 -8.42745048e-04 -2.04933394e+00] [-9.99426579e-03 -2.78543956e-04 9.99950017e-01 -2.48661982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.22420382199998 meters 0.025217373824069095 Centerline is valid? [True, True] Translation: X:89.68, Y:-2.06, Z:-2.49 [[ 9.94710357e-01 1.02412495e-01 7.93642961e-03 8.96823273e+01] [-1.02410394e-01 9.94742007e-01 -6.71803419e-04 -2.05829714e+00] [-7.96350098e-03 -1.44523063e-04 9.99968280e-01 -2.49343908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.28420382199998 meters 0.014547596183328227 Centerline is valid? [True, True] Translation: X:89.74, Y:-2.07, Z:-2.49 [[ 9.96281995e-01 8.55767992e-02 9.93969631e-03 8.97406939e+01] [-8.55726670e-02 9.96331577e-01 -8.41058512e-04 -2.07442200e+00] [-9.97520840e-03 -1.26348701e-05 9.99950246e-01 -2.49323179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34420382199998 meters 0.027002980608451715 Centerline is valid? [True, True] Translation: X:89.80, Y:-2.10, Z:-2.49 [[ 9.97745211e-01 6.60197337e-02 1.20784665e-02 8.97999045e+01] [-6.60122014e-02 9.97818293e-01 -1.02166727e-03 -2.10300330e+00] [-1.21195651e-02 2.22037459e-04 9.99926531e-01 -2.48952598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40420382199999 meters 0.04184296073273589 Centerline is valid? [True, True] Translation: X:89.86, Y:-2.12, Z:-2.49 [[ 9.98736418e-01 4.86540202e-02 1.25838396e-02 8.98596393e+01] [-4.86444595e-02 9.98815590e-01 -1.06491215e-03 -2.12195127e+00] [-1.26207474e-02 4.51432475e-04 9.99920253e-01 -2.48838721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46420382199997 meters 0.05311744554350253 Centerline is valid? [True, True] Translation: X:89.92, Y:-2.14, Z:-2.49 [[ 9.99177189e-01 3.90963453e-02 1.07898605e-02 8.99176226e+01] [-3.90887582e-02 9.99235325e-01 -9.13242659e-04 -2.14235910e+00] [-1.08173142e-02 4.90728986e-04 9.99941371e-01 -2.49462245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52420382199998 meters 0.05817440967289601 Centerline is valid? [True, True] Translation: X:89.98, Y:-2.15, Z:-2.50 [[ 9.99350594e-01 3.45623209e-02 1.01900197e-02 8.99778262e+01] [-3.45553174e-02 9.99402414e-01 -8.62608660e-04 -2.15445772e+00] [-1.02137440e-02 5.09929113e-04 9.99947708e-01 -2.49642090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.58420382199998 meters 0.04942971708308092 Centerline is valid? [True, True] Translation: X:90.04, Y:-2.15, Z:-2.50 [[ 9.99241209e-01 3.78216221e-02 9.30222075e-03 9.00396780e+01] [-3.78159278e-02 9.99284412e-01 -7.87332242e-04 -2.14822624e+00] [-9.32534237e-03 4.34962712e-04 9.99956423e-01 -2.49507003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.64420382199998 meters 0.044852738095766065 Centerline is valid? [True, True] Translation: X:90.10, Y:-2.14, Z:-2.50 [[ 9.98818043e-01 4.80982316e-02 7.00549756e-03 9.00992101e+01] [-4.80952508e-02 9.98842578e-01 -5.93438956e-04 -2.14393872e+00] [-7.02593260e-03 2.55806375e-04 9.99975285e-01 -2.50363689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.70420382199998 meters 0.02952303580066637 Centerline is valid? [True, True] Translation: X:90.16, Y:-2.13, Z:-2.50 [[ 9.98114706e-01 6.08238911e-02 8.21506734e-03 9.01610470e+01] [-6.08202258e-02 9.98148494e-01 -6.95483921e-04 -2.12703037e+00] [-8.24215913e-03 1.94530479e-04 9.99966014e-01 -2.50313339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76420382199998 meters 0.027591725609399553 Centerline is valid? [True, True] Translation: X:90.22, Y:-2.13, Z:-2.51 [[ 9.97746595e-01 6.67050728e-02 7.22261239e-03 9.02208304e+01] [-6.67023949e-02 9.97772728e-01 -6.11281898e-04 -2.13219386e+00] [-7.24730127e-03 1.28138889e-04 9.99973730e-01 -2.51130879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82420382199997 meters 0.022159443560368083 Centerline is valid? [True, True] Translation: X:90.28, Y:-2.13, Z:-2.52 [[ 9.97328534e-01 7.29418069e-02 3.91008200e-03 9.02829403e+01] [-7.29410857e-02 9.97336198e-01 -3.26921064e-04 -2.13037429e+00] [-3.92351252e-03 4.08420798e-05 9.99992302e-01 -2.51755029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88420382199998 meters 0.01727595350765405 Centerline is valid? [True, True] Translation: X:90.34, Y:-2.13, Z:-2.51 [[ 9.96993620e-01 7.72732008e-02 5.70735938e-03 9.03444852e+01] [-7.72716978e-02 9.97009955e-01 -4.83706597e-04 -2.13123129e+00] [-5.72767168e-03 4.12350420e-05 9.99983596e-01 -2.51280556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.94420382199998 meters 0.015173355690885786 Centerline is valid? [True, True] Translation: X:90.41, Y:-2.13, Z:-2.51 [[ 9.96383183e-01 8.47074599e-02 6.72295431e-03 9.04057492e+01] [-8.47055618e-02 9.96405864e-01 -5.67086210e-04 -2.13192017e+00] [-6.74682753e-03 -4.43645801e-06 9.99977240e-01 -2.51319984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.00420382199998 meters 0.015351246578321005 Centerline is valid? [True, True] Translation: X:90.47, Y:-2.13, Z:-2.51 [[ 9.95630978e-01 9.27262058e-02 1.09911850e-02 9.04681833e+01] [-9.27215705e-02 9.95691640e-01 -9.31658813e-04 -2.13083828e+00] [-1.10302202e-02 -9.15315549e-05 9.99939161e-01 -2.50701385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.06420382199998 meters 0.018852080841672388 Centerline is valid? [True, True] Translation: X:90.53, Y:-2.13, Z:-2.51 [[ 9.95237909e-01 9.67445562e-02 1.19162074e-02 9.05290147e+01] [-9.67393374e-02 9.95309234e-01 -1.01493764e-03 -2.13089310e+00] [-1.19585010e-02 -1.42661594e-04 9.99928484e-01 -2.50794251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12420382199998 meters 0.018562390941832898 Centerline is valid? [True, True] Translation: X:90.59, Y:-2.14, Z:-2.51 [[ 9.95156157e-01 9.77650826e-02 1.03059364e-02 9.05909620e+01] [-9.77612600e-02 9.95209511e-01 -8.75247525e-04 -2.13949655e+00] [-1.03421345e-02 -1.36513362e-04 9.99946509e-01 -2.50992541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18420382199999 meters 0.019114943740623568 Centerline is valid? [True, True] Translation: X:90.65, Y:-2.14, Z:-2.52 [[ 9.95211796e-01 9.74550304e-02 7.48317610e-03 9.06523659e+01] [-9.74530048e-02 9.95239925e-01 -6.35714113e-04 -2.14411094e+00] [-7.50950916e-03 -9.65878123e-05 9.99971799e-01 -2.51812748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24420382199997 meters 0.021110381015741163 Centerline is valid? [True, True] Translation: X:90.71, Y:-2.15, Z:-2.52 [[ 9.95236339e-01 9.69566295e-02 1.02000423e-02 9.07122779e+01] [-9.69527792e-02 9.95288600e-01 -8.72446704e-04 -2.14908976e+00] [-1.02365753e-02 -1.20631782e-04 9.99947598e-01 -2.52041257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.30420382199998 meters 0.016766668721984065 Centerline is valid? [True, True] Translation: X:90.77, Y:-2.16, Z:-2.51 [[ 9.95414116e-01 9.51799026e-02 9.56683564e-03 9.07738335e+01] [-9.51764615e-02 9.95460083e-01 -8.15369981e-04 -2.16094746e+00] [-9.60100984e-03 -9.89067749e-05 9.99953904e-01 -2.51486293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.36420382199998 meters 0.015803663283844777 Centerline is valid? [True, True] Translation: X:90.83, Y:-2.17, Z:-2.52 [[ 9.95952719e-01 8.95702044e-02 7.44040180e-03 9.08347502e+01] [-8.95679668e-02 9.95980510e-01 -6.34074457e-04 -2.17225585e+00] [-7.46728936e-03 -3.49134821e-05 9.99972119e-01 -2.52429650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.42420382199998 meters 0.015425509383983906 Centerline is valid? [True, True] Translation: X:90.90, Y:-2.19, Z:-2.52 [[ 9.96659930e-01 8.13521219e-02 7.12850141e-03 9.08956981e+01] [-8.13498489e-02 9.96685423e-01 -6.08720214e-04 -2.19045428e+00] [-7.15439412e-03 2.67845338e-05 9.99974407e-01 -2.52413337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48420382199998 meters 0.018563349796532305 Centerline is valid? [True, True] Translation: X:90.96, Y:-2.21, Z:-2.53 [[ 9.97064866e-01 7.61737609e-02 7.69482024e-03 9.09556992e+01] [-7.61709428e-02 9.97094556e-01 -6.59065202e-04 -2.20810546e+00] [-7.72266684e-03 7.10090455e-05 9.99970177e-01 -2.52590524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54420382199999 meters 0.023870046553374935 Centerline is valid? [True, True] Translation: X:91.01, Y:-2.22, Z:-2.53 [[ 9.97419100e-01 7.16296832e-02 4.93236142e-03 9.10140575e+01] [-7.16284616e-02 9.97431293e-01 -4.24105007e-04 -2.22348764e+00] [-4.95007014e-03 6.97129733e-05 9.99987746e-01 -2.53282588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60420382199997 meters 0.024067076139360526 Centerline is valid? [True, True] Translation: X:91.08, Y:-2.23, Z:-2.54 [[ 9.97456027e-01 7.12174269e-02 3.09053200e-03 9.10756677e+01] [-7.12169463e-02 9.97460814e-01 -2.65430591e-04 -2.23102828e+00] [-3.10158785e-03 4.46570915e-05 9.99995189e-01 -2.53628428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66420382199998 meters 0.020093125380488262 Centerline is valid? [True, True] Translation: X:91.14, Y:-2.23, Z:-2.54 [[ 9.96964540e-01 7.77169968e-02 4.66629514e-03 9.11361671e+01] [-7.77159622e-02 9.96975460e-01 -4.02906833e-04 -2.22827858e+00] [-4.68349445e-03 3.90382091e-05 9.99989032e-01 -2.53733620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.72420382199998 meters 0.015970723893690683 Centerline is valid? [True, True] Translation: X:91.20, Y:-2.22, Z:-2.53 [[ 9.95886844e-01 9.04729751e-02 4.90250404e-03 9.11997095e+01] [-9.04720076e-02 9.95898911e-01 -4.19230271e-04 -2.21505857e+00] [-4.92032744e-03 -2.60334711e-05 9.99987895e-01 -2.53344250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.78420382199998 meters 0.01905030631717563 Centerline is valid? [True, True] Translation: X:91.26, Y:-2.21, Z:-2.53 [[ 9.95038796e-01 9.93349570e-02 5.51010665e-03 9.12626630e+01] [-9.93338465e-02 9.95054049e-01 -4.75529749e-04 -2.20701561e+00] [-5.53009066e-03 -7.41695388e-05 9.99984706e-01 -2.53141044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84420382199998 meters 0.02528232241847617 Centerline is valid? [True, True] Translation: X:91.32, Y:-2.19, Z:-2.54 [[ 9.94363248e-01 1.05779754e-01 7.23707751e-03 9.13248581e+01] [-1.05778020e-01 9.94389573e-01 -6.23013733e-04 -2.19441537e+00] [-7.26237665e-03 -1.46021768e-04 9.99973618e-01 -2.53514579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90420382199999 meters 0.0246260200210178 Centerline is valid? [True, True] Translation: X:91.39, Y:-2.20, Z:-2.54 [[ 9.94515616e-01 1.04271166e-01 8.13721713e-03 9.13856471e+01] [-1.04268907e-01 9.94548893e-01 -7.02520608e-04 -2.19981652e+00] [-8.16611293e-03 -1.49791019e-04 9.99966646e-01 -2.53751870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96420382199997 meters 0.020005760560331282 Centerline is valid? [True, True] Translation: X:91.44, Y:-2.21, Z:-2.54 [[ 9.95074290e-01 9.87007461e-02 9.23689283e-03 9.14444493e+01] [-9.86975488e-02 9.95117154e-01 -8.02469410e-04 -2.21449627e+00] [-9.27099483e-03 -1.13142003e-04 9.99957017e-01 -2.53724157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02420382199998 meters 0.015265032915175714 Centerline is valid? [True, True] Translation: X:91.51, Y:-2.23, Z:-2.54 [[ 9.95910768e-01 9.01460388e-02 5.95271497e-03 9.15064198e+01] [-9.01445842e-02 9.95928557e-01 -5.12754018e-04 -2.23168493e+00] [-5.97470157e-03 -2.59477679e-05 9.99982151e-01 -2.54168809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08420382199998 meters 0.028789741412336155 Centerline is valid? [True, True] Translation: X:91.57, Y:-2.24, Z:-2.55 [[ 9.96155949e-01 8.74875026e-02 4.38896590e-03 9.15683239e+01] [-8.74866863e-02 9.96165617e-01 -3.78003814e-04 -2.23974219e+00] [-4.40520754e-03 -7.42533537e-06 9.99990297e-01 -2.54692237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.14420382199998 meters 0.0151325410006823 Centerline is valid? [True, True] Translation: X:91.63, Y:-2.26, Z:-2.54 [[ 9.96680790e-01 8.11026499e-02 7.05424743e-03 9.16290746e+01] [-8.11003532e-02 9.96705753e-01 -6.11498139e-04 -2.25773083e+00] [-7.08060311e-03 3.73664905e-05 9.99974932e-01 -2.54151145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.20420382199998 meters 0.017723840518926465 Centerline is valid? [True, True] Translation: X:91.69, Y:-2.27, Z:-2.54 [[ 9.96892759e-01 7.83791905e-02 7.84401792e-03 9.16898566e+01] [-7.83762527e-02 9.96923617e-01 -6.81693846e-04 -2.26933691e+00] [-7.87331733e-03 6.47909283e-05 9.99969003e-01 -2.54429613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26420382199998 meters 0.01966326769215829 Centerline is valid? [True, True] Translation: X:91.75, Y:-2.28, Z:-2.55 [[ 9.97175577e-01 7.48380269e-02 6.33541780e-03 9.17511892e+01] [-7.48360181e-02 9.97195700e-01 -5.53877055e-04 -2.27861001e+00] [-6.35910245e-03 7.81952311e-05 9.99979778e-01 -2.54708649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32420382199997 meters 0.02031832238800954 Centerline is valid? [True, True] Translation: X:91.81, Y:-2.29, Z:-2.54 [[ 9.97284771e-01 7.31336622e-02 8.63437813e-03 9.18124982e+01] [-7.31298810e-02 9.97322141e-01 -7.53256491e-04 -2.29141634e+00] [-8.66634489e-03 1.19780182e-04 9.99962439e-01 -2.54391321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38420382199998 meters 0.022680181897929714 Centerline is valid? [True, True] Translation: X:91.87, Y:-2.30, Z:-2.56 [[ 9.97259640e-01 7.38638561e-02 4.16417900e-03 9.18720930e+01] [-7.38629739e-02 9.97268333e-01 -3.65448812e-04 -2.29771883e+00] [-4.17979731e-03 5.68687057e-05 9.99991263e-01 -2.55580745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.44420382199998 meters 0.02044346871430217 Centerline is valid? [True, True] Translation: X:91.93, Y:-2.30, Z:-2.56 [[ 9.97042507e-01 7.66574092e-02 5.46638675e-03 9.19329325e+01] [-7.66559315e-02 9.97057490e-01 -4.79637165e-04 -2.29887848e+00] [-5.48706959e-03 5.91876733e-05 9.99984944e-01 -2.55736693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.50420382199998 meters 0.0171290605639345 Centerline is valid? [True, True] Translation: X:91.99, Y:-2.31, Z:-2.55 [[ 9.96754700e-01 8.02094655e-02 6.81984354e-03 9.19942542e+01] [-8.02072463e-02 9.96778029e-01 -5.98730142e-04 -2.30527977e+00] [-6.84589403e-03 4.97862126e-05 9.99976565e-01 -2.55443573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.56420382199998 meters 0.016877288681915403 Centerline is valid? [True, True] Translation: X:92.06, Y:-2.32, Z:-2.55 [[ 9.96803540e-01 7.96042108e-02 6.77284869e-03 9.20566618e+01] [-7.96020334e-02 9.96826548e-01 -5.90876117e-04 -2.31634163e+00] [-6.79839160e-03 4.98548781e-05 9.99976889e-01 -2.55432331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62420382199998 meters 0.01955672304802588 Centerline is valid? [True, True] Translation: X:92.12, Y:-2.33, Z:-2.56 [[ 9.96979632e-01 7.74743036e-02 5.41719311e-03 9.21174097e+01] [-7.74728653e-02 9.96994348e-01 -4.75179003e-04 -2.32585941e+00] [-5.43772508e-03 5.40583153e-05 9.99985214e-01 -2.56149941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68420382199999 meters 0.019585020476795587 Centerline is valid? [True, True] Translation: X:92.18, Y:-2.34, Z:-2.56 [[ 9.96955827e-01 7.76976805e-02 6.49227572e-03 9.21773387e+01] [-7.76956224e-02 9.96976964e-01 -5.69003828e-04 -2.34355724e+00] [-6.51685962e-03 6.28502785e-05 9.99978763e-01 -2.56057520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74420382199997 meters 0.01689528898568899 Centerline is valid? [True, True] Translation: X:92.24, Y:-2.34, Z:-2.56 [[ 9.96365870e-01 8.48381868e-02 7.58516756e-03 9.22396171e+01] [-8.48355501e-02 9.96394742e-01 -6.69268253e-04 -2.34339979e+00] [-7.61460058e-03 2.33441825e-05 9.99971008e-01 -2.55556176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.80420382199998 meters 0.014186583896229064 Centerline is valid? [True, True] Translation: X:92.30, Y:-2.34, Z:-2.56 [[ 9.95765371e-01 9.14013746e-02 9.85462856e-03 9.23008965e+01] [-9.13972617e-02 9.95814133e-01 -8.67851426e-04 -2.33930215e+00] [-9.89270121e-03 -3.65096680e-05 9.99951065e-01 -2.55991210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.86420382199998 meters 0.017460200386114937 Centerline is valid? [True, True] Translation: X:92.36, Y:-2.34, Z:-2.56 [[ 9.95240358e-01 9.70358372e-02 8.98196720e-03 9.23618875e+01] [-9.70326377e-02 9.95280885e-01 -7.92332845e-04 -2.34202211e+00] [-9.01646494e-03 -8.29823448e-05 9.99959347e-01 -2.56378782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.92420382199998 meters 0.016277499950372518 Centerline is valid? [True, True] Translation: X:92.42, Y:-2.35, Z:-2.56 [[ 9.95197852e-01 9.76115410e-02 7.29537732e-03 9.24227847e+01] [-9.76094455e-02 9.95224589e-01 -6.43589650e-04 -2.35451736e+00] [-7.32336067e-03 -7.15986974e-05 9.99973181e-01 -2.56355574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98420382199998 meters 0.015359179868406628 Centerline is valid? [True, True] Translation: X:92.48, Y:-2.36, Z:-2.56 [[ 9.95302631e-01 9.64633336e-02 8.21572635e-03 9.24844472e+01] [-9.64606232e-02 9.95336536e-01 -7.26445115e-04 -2.36422347e+00] [-8.24748793e-03 -6.94613498e-05 9.99965986e-01 -2.56407078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04420382199999 meters 0.015885930727283493 Centerline is valid? [True, True] Translation: X:92.54, Y:-2.37, Z:-2.57 [[ 9.95526858e-01 9.41545679e-02 7.82252586e-03 9.25449877e+01] [-9.41520184e-02 9.95557590e-01 -6.94357642e-04 -2.37154494e+00] [-7.85315194e-03 -4.52549172e-05 9.99969163e-01 -2.57152751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10420382199997 meters 0.013477851586220594 Centerline is valid? [True, True] Translation: X:92.61, Y:-2.39, Z:-2.57 [[ 9.95714633e-01 9.19792401e-02 9.60146852e-03 9.26057105e+01] [-9.19752967e-02 9.95760924e-01 -8.52403692e-04 -2.38960108e+00] [-9.63917061e-03 -3.43470858e-05 9.99953542e-01 -2.56531445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16420382199998 meters 0.012617457629561369 Centerline is valid? [True, True] Translation: X:92.67, Y:-2.40, Z:-2.56 [[ 9.95751689e-01 9.14899437e-02 1.04001945e-02 9.26679394e+01] [-9.14852473e-02 9.95806000e-01 -9.27422600e-04 -2.39767326e+00] [-1.04414259e-02 -2.79817406e-05 9.99945486e-01 -2.56491686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.22420382199998 meters 0.013215932224832135 Centerline is valid? [True, True] Translation: X:92.73, Y:-2.40, Z:-2.57 [[ 9.95508755e-01 9.39798143e-02 1.14067550e-02 9.27292326e+01] [-9.39743374e-02 9.95574101e-01 -1.01637135e-03 -2.39747132e+00] [-1.14517883e-02 -6.01356734e-05 9.99934424e-01 -2.56732730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.28420382199998 meters 0.01563486734356692 Centerline is valid? [True, True] Translation: X:92.79, Y:-2.40, Z:-2.57 [[ 9.95129528e-01 9.80091749e-02 1.05557627e-02 9.27918621e+01] [-9.80046988e-02 9.95185506e-01 -9.41728253e-04 -2.39631279e+00] [-1.05972401e-02 -9.73727539e-05 9.99943843e-01 -2.57077573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34420382199998 meters 0.018288970557899818 Centerline is valid? [True, True] Translation: X:92.85, Y:-2.40, Z:-2.58 [[ 9.94876575e-01 1.00845245e-01 7.13003624e-03 9.28524242e+01] [-1.00843255e-01 9.94902121e-01 -6.39072659e-04 -2.39852597e+00] [-7.15813562e-03 -8.32176420e-05 9.99974377e-01 -2.57749675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40420382199999 meters 0.014453467891650975 Centerline is valid? [True, True] Translation: X:92.91, Y:-2.41, Z:-2.57 [[ 9.95189677e-01 9.74584864e-02 9.96745214e-03 9.29134108e+01] [-9.74544261e-02 9.95239588e-01 -8.93406743e-04 -2.40711821e+00] [-1.00070730e-02 -8.22631599e-05 9.99949925e-01 -2.57489151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46420382199997 meters 0.013563586143133551 Centerline is valid? [True, True] Translation: X:92.97, Y:-2.42, Z:-2.58 [[ 9.95737942e-01 9.18300780e-02 8.55496833e-03 9.29742626e+01] [-9.18269059e-02 9.95774691e-01 -7.63676568e-04 -2.42417238e+00] [-8.58894942e-03 -2.51545370e-05 9.99963114e-01 -2.58112021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52420382199998 meters 0.013197216952829386 Centerline is valid? [True, True] Translation: X:93.03, Y:-2.44, Z:-2.58 [[ 9.96135128e-01 8.71558687e-02 1.08931435e-02 9.30342765e+01] [-8.71504026e-02 9.96194687e-01 -9.76385825e-04 -2.44024120e+00] [-1.09367895e-02 2.32703757e-05 9.99940191e-01 -2.57929828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.58420382199998 meters 0.026505553756296808 Centerline is valid? [True, True] Translation: X:93.09, Y:-2.46, Z:-2.58 [[ 9.96773430e-01 7.96393726e-02 1.00150047e-02 9.30945525e+01] [-7.96343403e-02 9.96823736e-01 -9.00891269e-04 -2.46247008e+00] [-1.00549408e-02 1.00446186e-04 9.99949443e-01 -2.58283262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.64420382199998 meters 0.02165954139177425 Centerline is valid? [True, True] Translation: X:93.16, Y:-2.48, Z:-2.59 [[ 9.97084182e-01 7.56808130e-02 9.77485471e-03 9.31552753e+01] [-7.56758248e-02 9.97132085e-01 -8.79710141e-04 -2.48153862e+00] [-9.81339844e-03 1.37424875e-04 9.99951838e-01 -2.58582284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.70420382199998 meters 0.021297151803037637 Centerline is valid? [True, True] Translation: X:93.22, Y:-2.50, Z:-2.58 [[ 9.97123651e-01 7.50145330e-02 1.08279333e-02 9.32161768e+01] [-7.50083896e-02 9.97182428e-01 -9.72939151e-04 -2.49732250e+00] [-1.08704094e-02 1.57954799e-04 9.99940903e-01 -2.58424491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76420382199998 meters 0.01692608029863178 Centerline is valid? [True, True] Translation: X:93.28, Y:-2.51, Z:-2.58 [[ 9.96759760e-01 7.95639653e-02 1.18133766e-02 9.32772039e+01] [-7.95569133e-02 9.96829755e-01 -1.06643052e-03 -2.50735227e+00] [-1.18607747e-02 1.23139254e-04 9.99929651e-01 -2.58197302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82420382199997 meters 0.01420449804987017 Centerline is valid? [True, True] Translation: X:93.34, Y:-2.51, Z:-2.59 [[ 9.96366101e-01 8.43469469e-02 1.18400020e-02 9.33383042e+01] [-8.43402265e-02 9.96436445e-01 -1.06666097e-03 -2.51464043e+00] [-1.18877791e-02 6.41963751e-05 9.99929336e-01 -2.58524879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88420382199998 meters 0.012861569627230503 Centerline is valid? [True, True] Translation: X:93.40, Y:-2.52, Z:-2.59 [[ 9.95800132e-01 9.09449119e-02 1.05413531e-02 9.34007277e+01] [-9.09399452e-02 9.95855925e-01 -9.50527079e-04 -2.52331306e+00] [-1.05841146e-02 -1.20950859e-05 9.99943987e-01 -2.59189618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.94420382199998 meters 0.014411392163515615 Centerline is valid? [True, True] Translation: X:93.46, Y:-2.54, Z:-2.60 [[ 9.95428946e-01 9.51368528e-02 8.37811419e-03 9.34614926e+01] [-9.51338353e-02 9.95464202e-01 -7.58866659e-04 -2.53815910e+00] [-8.41230894e-03 -4.16442967e-05 9.99964615e-01 -2.59661495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.00420382199998 meters 0.014326393180909894 Centerline is valid? [True, True] Translation: X:93.52, Y:-2.55, Z:-2.60 [[ 9.95269648e-01 9.67778270e-02 8.50765193e-03 9.35237673e+01] [-9.67747974e-02 9.95306008e-01 -7.68018615e-04 -2.54547251e+00] [-8.54204425e-03 -5.89406754e-05 9.99963514e-01 -2.59608527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.06420382199998 meters 0.02022062859968832 Centerline is valid? [True, True] Translation: X:93.58, Y:-2.54, Z:-2.60 [[ 9.94476645e-01 1.04669681e-01 7.77560533e-03 9.35839187e+01] [-1.04667360e-01 9.94507036e-01 -7.05858163e-04 -2.54480317e+00] [-7.80677616e-03 -1.11892627e-04 9.99969520e-01 -2.60116921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12420382199998 meters 0.02328422641650292 Centerline is valid? [True, True] Translation: X:93.65, Y:-2.55, Z:-2.60 [[ 9.93916031e-01 1.09792286e-01 8.75088315e-03 9.36457494e+01] [-1.09789538e-01 9.93954539e-01 -7.95331070e-04 -2.55158127e+00] [-8.78530124e-03 -1.70263115e-04 9.99961394e-01 -2.59843305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18420382199997 meters 0.026508314142854764 Centerline is valid? [True, True] Translation: X:93.71, Y:-2.56, Z:-2.60 [[ 9.93382637e-01 1.14306792e-01 1.11755852e-02 9.37081507e+01] [-1.14302608e-01 9.93445461e-01 -1.01451130e-03 -2.55595627e+00] [-1.12182999e-02 -2.69600619e-04 9.99937037e-01 -2.59669444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24420382199997 meters 0.028629867999498307 Centerline is valid? [True, True] Translation: X:93.77, Y:-2.56, Z:-2.60 [[ 9.93307139e-01 1.14952922e-01 1.12584602e-02 9.37691209e+01] [-1.14948692e-01 9.93370902e-01 -1.02419767e-03 -2.55672140e+00] [-1.13015612e-02 -2.76802417e-04 9.99936097e-01 -2.60177748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.30420382199998 meters 0.021812524777612512 Centerline is valid? [True, True] Translation: X:93.83, Y:-2.57, Z:-2.60 [[ 9.93924545e-01 1.09561216e-01 1.05041905e-02 9.38297744e+01] [-1.09557197e-01 9.93980030e-01 -9.59033818e-04 -2.57423832e+00] [-1.05460285e-02 -1.97602415e-04 9.99944370e-01 -2.60280063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.36420382199998 meters 0.01625305981580433 Centerline is valid? [True, True] Translation: X:93.89, Y:-2.59, Z:-2.61 [[ 9.94881910e-01 1.00665104e-01 8.74771550e-03 9.38888640e+01] [-1.00661969e-01 9.94920363e-01 -7.99057972e-04 -2.59336893e+00] [-8.78371754e-03 -8.55939461e-05 9.99961419e-01 -2.60926114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.42420382199998 meters 0.012898346647466417 Centerline is valid? [True, True] Translation: X:93.95, Y:-2.62, Z:-2.61 [[ 9.95931932e-01 8.95839882e-02 9.71063603e-03 9.39484744e+01] [-8.95795972e-02 9.95979271e-01 -8.87072985e-04 -2.62110172e+00] [-9.75105974e-03 1.35894470e-05 9.99952457e-01 -2.60775299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48420382199998 meters 0.01624818990003243 Centerline is valid? [True, True] Translation: X:94.01, Y:-2.64, Z:-2.61 [[ 9.96373818e-01 8.45007947e-02 9.94133730e-03 9.40084844e+01] [-8.44959585e-02 9.96423410e-01 -9.06236373e-04 -2.63567790e+00] [-9.98235890e-03 6.29473722e-05 9.99950173e-01 -2.61272433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54420382199999 meters 0.018451303880941163 Centerline is valid? [True, True] Translation: X:94.07, Y:-2.64, Z:-2.62 [[ 9.96528111e-01 8.29247407e-02 7.43043307e-03 9.40699691e+01] [-8.29219771e-02 9.96555811e-01 -6.79778450e-04 -2.64147126e+00] [-7.46121171e-03 6.12721342e-05 9.99972163e-01 -2.62147297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60420382199997 meters 0.015769791622024895 Centerline is valid? [True, True] Translation: X:94.13, Y:-2.65, Z:-2.62 [[ 9.96283889e-01 8.55176203e-02 1.02542593e-02 9.41316622e+01] [-8.55124817e-02 9.96336657e-01 -9.39323492e-04 -2.64847526e+00] [-1.02970231e-02 5.89657033e-05 9.99946983e-01 -2.61578291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66420382199998 meters 0.011930700271116548 Centerline is valid? [True, True] Translation: X:94.20, Y:-2.64, Z:-2.61 [[ 9.95760693e-01 9.11767915e-02 1.21423201e-02 9.41953629e+01] [-9.11700048e-02 9.95834722e-01 -1.11244264e-03 -2.64263053e+00] [-1.21931729e-02 7.11267802e-07 9.99925661e-01 -2.61051146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.72420382199998 meters 0.013801329389617954 Centerline is valid? [True, True] Translation: X:94.26, Y:-2.63, Z:-2.62 [[ 9.95274863e-01 9.64553175e-02 1.11498069e-02 9.42568106e+01] [-9.64499127e-02 9.95337314e-01 -1.02270242e-03 -2.63492604e+00] [-1.11964639e-02 -5.75278916e-05 9.99937316e-01 -2.61876156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.78420382199998 meters 0.01578007051401528 Centerline is valid? [True, True] Translation: X:94.32, Y:-2.63, Z:-2.61 [[ 9.94591590e-01 1.03012557e-01 1.32658405e-02 9.43192240e+01] [-1.03005511e-01 9.94680043e-01 -1.21515126e-03 -2.63180764e+00] [-1.33204427e-02 -1.57875461e-04 9.99911267e-01 -2.61292455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84420382199998 meters 0.02037398863996915 Centerline is valid? [True, True] Translation: X:94.38, Y:-2.62, Z:-2.62 [[ 9.94193220e-01 1.07247418e-01 8.82229479e-03 9.43800739e+01] [-1.07244450e-01 9.94232353e-01 -8.10257302e-04 -2.62410659e+00] [-8.85830891e-03 -1.40589833e-04 9.99960755e-01 -2.62119966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90420382199999 meters 0.02335877992519284 Centerline is valid? [True, True] Translation: X:94.44, Y:-2.62, Z:-2.62 [[ 9.94034262e-01 1.08569126e-01 1.04226502e-02 9.44416769e+01] [-1.08565069e-01 9.94088885e-01 -9.55938124e-04 -2.61832371e+00] [-1.04648260e-02 -1.81300487e-04 9.99945226e-01 -2.62459432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96420382199997 meters 0.019810795485443657 Centerline is valid? [True, True] Translation: X:94.50, Y:-2.62, Z:-2.63 [[ 9.94416514e-01 1.05150208e-01 8.90119939e-03 9.45041491e+01] [-1.05147089e-01 9.94456343e-01 -8.19026755e-04 -2.62277496e+00] [-8.93797503e-03 -1.21481472e-04 9.99960048e-01 -2.62827996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02420382199998 meters 0.013789631257155615 Centerline is valid? [True, True] Translation: X:94.56, Y:-2.64, Z:-2.63 [[ 9.95361612e-01 9.58365815e-02 8.40300203e-03 9.45643891e+01] [-9.58334600e-02 9.95397081e-01 -7.74271818e-04 -2.63715917e+00] [-8.43852725e-03 -3.46083135e-05 9.99964394e-01 -2.62864520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08420382199998 meters 0.014203642768000563 Centerline is valid? [True, True] Translation: X:94.63, Y:-2.64, Z:-2.63 [[ 9.95889157e-01 9.02162444e-02 8.11276952e-03 9.46257274e+01] [-9.02131730e-02 9.95922200e-01 -7.44491117e-04 -2.64245923e+00] [-8.14685246e-03 9.55195035e-06 9.99966814e-01 -2.63293127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.14420382199998 meters 0.0172165127342343 Centerline is valid? [True, True] Translation: X:94.69, Y:-2.65, Z:-2.63 [[ 9.96452284e-01 8.36135054e-02 9.57226856e-03 9.46869083e+01] [-8.36088992e-02 9.96498257e-01 -8.81069766e-04 -2.65159597e+00] [-9.61241827e-03 7.76171437e-05 9.99953797e-01 -2.63245120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.20420382199998 meters 0.019490672656809795 Centerline is valid? [True, True] Translation: X:94.75, Y:-2.66, Z:-2.63 [[ 9.96807815e-01 7.89760578e-02 1.17030464e-02 9.47483956e+01] [-7.89688132e-02 9.96876501e-01 -1.08056668e-03 -2.65875084e+00] [-1.17518308e-02 1.52941622e-04 9.99930933e-01 -2.62741140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26420382199998 meters 0.022861208276683077 Centerline is valid? [True, True] Translation: X:94.81, Y:-2.66, Z:-2.63 [[ 9.97043213e-01 7.61417387e-02 1.03569509e-02 9.48102852e+01] [-7.61358969e-02 9.97096990e-01 -9.57736340e-04 -2.65982685e+00] [-1.03998083e-02 1.66368772e-04 9.99945907e-01 -2.63249680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32420382199997 meters 0.024444509779857012 Centerline is valid? [True, True] Translation: X:94.87, Y:-2.67, Z:-2.63 [[ 9.97115868e-01 7.51530046e-02 1.05816776e-02 9.48718235e+01] [-7.51468341e-02 9.97171998e-01 -9.80092508e-04 -2.66599030e+00] [-1.06254094e-02 1.82086223e-04 9.99943532e-01 -2.63479427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38420382199998 meters 0.02437543684615858 Centerline is valid? [True, True] Translation: X:94.93, Y:-2.67, Z:-2.63 [[ 9.97091696e-01 7.55075800e-02 1.03322183e-02 9.49347717e+01] [-7.55017038e-02 9.97145212e-01 -9.58161745e-04 -2.67210087e+00] [-1.03750705e-02 1.75275035e-04 9.99946162e-01 -2.63494874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.44420382199998 meters 0.022512720586426567 Centerline is valid? [True, True] Translation: X:95.00, Y:-2.67, Z:-2.64 [[ 9.96916198e-01 7.78096642e-02 1.01858293e-02 9.49971131e+01] [-7.78040496e-02 9.96968221e-01 -9.46926149e-04 -2.66764949e+00] [-1.02286281e-02 1.51507249e-04 9.99947675e-01 -2.63802731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.50420382199998 meters 0.017984553804791078 Centerline is valid? [True, True] Translation: X:95.06, Y:-2.66, Z:-2.64 [[ 9.96537117e-01 8.23866904e-02 1.12341776e-02 9.50594297e+01] [-8.23800957e-02 9.96600431e-01 -1.04931003e-03 -2.65788690e+00] [-1.12824354e-02 1.20203774e-04 9.99936344e-01 -2.63898642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.56420382199998 meters 0.015800318131870123 Centerline is valid? [True, True] Translation: X:95.12, Y:-2.66, Z:-2.64 [[ 9.96226970e-01 8.61870859e-02 1.01789329e-02 9.51213542e+01] [-8.61818959e-02 9.96278968e-01 -9.48235345e-04 -2.65827526e+00] [-1.02227824e-02 6.74178902e-05 9.99947744e-01 -2.64020414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62420382199998 meters 0.015984093537655272 Centerline is valid? [True, True] Translation: X:95.18, Y:-2.65, Z:-2.65 [[ 9.96034946e-01 8.85821313e-02 8.22149721e-03 9.51833826e+01] [-8.85788099e-02 9.96068875e-01 -7.67967603e-04 -2.65259567e+00] [-8.25720569e-03 3.66721313e-05 9.99965908e-01 -2.64999028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68420382199997 meters 0.014820439239633514 Centerline is valid? [True, True] Translation: X:95.25, Y:-2.65, Z:-2.65 [[ 9.95935224e-01 8.98208225e-02 6.72675570e-03 9.52459513e+01] [-8.98186389e-02 9.95957941e-01 -6.26622420e-04 -2.65456998e+00] [-6.75584950e-03 1.98872989e-05 9.99977179e-01 -2.65123341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74420382199997 meters 0.015418433322697312 Centerline is valid? [True, True] Translation: X:95.31, Y:-2.66, Z:-2.65 [[ 9.95869430e-01 9.04021572e-02 8.45743112e-03 9.53067675e+01] [-9.03986900e-02 9.95905342e-01 -7.92120533e-04 -2.65998244e+00] [-8.49441023e-03 2.43079295e-05 9.99963922e-01 -2.65264601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.80420382199998 meters 0.015925656334573837 Centerline is valid? [True, True] Translation: X:95.37, Y:-2.66, Z:-2.65 [[ 9.95955410e-01 8.94104408e-02 8.86535850e-03 9.53692964e+01] [-8.94065979e-02 9.95994865e-01 -8.29640071e-04 -2.66343352e+00] [-8.90403003e-03 3.36629736e-05 9.99960358e-01 -2.65451845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.86420382199998 meters 0.014924881214913508 Centerline is valid? [True, True] Translation: X:95.43, Y:-2.67, Z:-2.65 [[ 9.96148006e-01 8.71576166e-02 9.62806632e-03 9.54321625e+01] [-8.71529607e-02 9.96194532e-01 -9.02892219e-04 -2.67018008e+00] [-9.67012096e-03 6.02997982e-05 9.99953241e-01 -2.64946175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.92420382199998 meters 0.018202924749155674 Centerline is valid? [True, True] Translation: X:95.49, Y:-2.68, Z:-2.65 [[ 9.96444625e-01 8.37460633e-02 9.20362694e-03 9.54923414e+01] [-8.37416412e-02 9.96487124e-01 -8.65469023e-04 -2.68125179e+00] [-9.24377536e-03 9.16651302e-05 9.99957271e-01 -2.65382076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98420382199998 meters 0.021696153993653558 Centerline is valid? [True, True] Translation: X:95.55, Y:-2.70, Z:-2.65 [[ 9.96800598e-01 7.91943133e-02 1.08087571e-02 9.55531551e+01] [-7.91879207e-02 9.96859185e-01 -1.01880015e-03 -2.69672441e+00] [-1.08554920e-02 1.59617593e-04 9.99941065e-01 -2.65159775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04420382199999 meters 0.028394274897082825 Centerline is valid? [True, True] Translation: X:95.61, Y:-2.71, Z:-2.66 [[ 9.97147792e-01 7.47785452e-02 1.02201108e-02 9.56118571e+01] [-7.47725505e-02 9.97200145e-01 -9.67943328e-04 -2.71270501e+00] [-1.02638774e-02 2.00998799e-04 9.99947305e-01 -2.65803022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10420382199997 meters 0.025548623061871268 Centerline is valid? [True, True] Translation: X:95.67, Y:-2.72, Z:-2.66 [[ 9.97076083e-01 7.56013406e-02 1.11230803e-02 9.56735728e+01] [-7.55943244e-02 9.97138102e-01 -1.05046213e-03 -2.71749734e+00] [-1.11706635e-02 2.06548922e-04 9.99937585e-01 -2.65739747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16420382199998 meters 0.021649154411124374 Centerline is valid? [True, True] Translation: X:95.74, Y:-2.72, Z:-2.66 [[ 9.96757449e-01 7.97988040e-02 1.03314675e-02 9.57356110e+01] [-7.97929619e-02 9.96810979e-01 -9.77089648e-04 -2.72198401e+00] [-1.03764908e-02 1.49542995e-04 9.99946152e-01 -2.65866774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.22420382199998 meters 0.019639195934192884 Centerline is valid? [True, True] Translation: X:95.80, Y:-2.73, Z:-2.67 [[ 9.96415403e-01 8.43949789e-02 5.81659549e-03 9.57972311e+01] [-8.43932122e-02 9.96432378e-01 -5.48959601e-04 -2.72511477e+00] [-5.84217351e-03 5.61106248e-05 9.99982933e-01 -2.66759778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.28420382199998 meters 0.015219966915945267 Centerline is valid? [True, True] Translation: X:95.86, Y:-2.71, Z:-2.67 [[ 9.95386188e-01 9.57910560e-02 5.51452763e-03 9.58594740e+01] [-9.57896372e-02 9.95401463e-01 -5.21443146e-04 -2.71448680e+00] [-5.53911846e-03 -9.19729515e-06 9.99984659e-01 -2.67143165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34420382199998 meters 0.01766052433067012 Centerline is valid? [True, True] Translation: X:95.92, Y:-2.71, Z:-2.67 [[ 9.94531801e-01 1.04252643e-01 6.15498671e-03 9.59227390e+01] [-1.04251030e-01 9.94550845e-01 -5.83271986e-04 -2.70614167e+00] [-6.18225488e-03 -6.15811630e-05 9.99980888e-01 -2.67230528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40420382199999 meters 0.025307214788807316 Centerline is valid? [True, True] Translation: X:95.98, Y:-2.70, Z:-2.67 [[ 9.93468266e-01 1.13879257e-01 7.23323162e-03 9.59836034e+01] [-1.13877251e-01 9.93494588e-01 -6.89916531e-04 -2.69729343e+00] [-7.26474364e-03 -1.38290354e-04 9.99973602e-01 -2.67200357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46420382199997 meters 0.029101524955250792 Centerline is valid? [True, True] Translation: X:96.04, Y:-2.70, Z:-2.68 [[ 9.93188315e-01 1.16348749e-01 6.31983430e-03 9.60445407e+01] [-1.16347262e-01 9.93208412e-01 -6.03608559e-04 -2.69833318e+00] [-6.34714169e-03 -1.35798450e-04 9.99979847e-01 -2.67678816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52420382199998 meters 0.0231241688836093 Centerline is valid? [True, True] Translation: X:96.10, Y:-2.71, Z:-2.67 [[ 9.93550150e-01 1.13029439e-01 9.07997299e-03 9.61048125e+01] [-1.13026226e-01 9.93591626e-01 -8.67915463e-04 -2.70930668e+00] [-9.11988512e-03 -1.63957539e-04 9.99958400e-01 -2.67130968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58420382199998 meters 0.02065460573139174 Centerline is valid? [True, True] Translation: X:96.17, Y:-2.72, Z:-2.68 [[ 9.93939801e-01 1.09643660e-01 7.87019733e-03 9.61660077e+01] [-1.09641165e-01 9.93970952e-01 -7.49162367e-04 -2.72175630e+00] [-7.90488844e-03 -1.18275308e-04 9.99968749e-01 -2.67517747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.64420382199998 meters 0.017893319207752778 Centerline is valid? [True, True] Translation: X:96.23, Y:-2.73, Z:-2.67 [[ 9.94203279e-01 1.07070260e-01 9.78768057e-03 9.62267084e+01] [-1.07066222e-01 9.94251450e-01 -9.37146966e-04 -2.73411085e+00] [-9.83175617e-03 -1.16215393e-04 9.99951660e-01 -2.67392003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.70420382199998 meters 0.016269332708180886 Centerline is valid? [True, True] Translation: X:96.29, Y:-2.74, Z:-2.67 [[ 9.94281846e-01 1.06164538e-01 1.15196095e-02 9.62882639e+01] [-1.06158907e-01 9.94348568e-01 -1.10087073e-03 -2.74092539e+00] [-1.15713806e-02 -1.28333374e-04 9.99933041e-01 -2.67104645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76420382199998 meters 0.015678779175608563 Centerline is valid? [True, True] Translation: X:96.35, Y:-2.75, Z:-2.68 [[ 9.94450711e-01 1.04735293e-01 9.91476627e-03 9.63496218e+01] [-1.04731039e-01 9.94500130e-01 -9.48725474e-04 -2.74530397e+00] [-9.95960139e-03 -9.49230525e-05 9.99950397e-01 -2.67625724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82420382199997 meters 0.015769372852267243 Centerline is valid? [True, True] Translation: X:96.41, Y:-2.76, Z:-2.68 [[ 9.94446099e-01 1.04826842e-01 9.39621598e-03 9.64111482e+01] [-1.04823016e-01 9.94490485e-01 -9.00090621e-04 -2.75662740e+00] [-9.43880105e-03 -8.98480878e-05 9.99955449e-01 -2.67825786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88420382199998 meters 0.01667439223351308 Centerline is valid? [True, True] Translation: X:96.47, Y:-2.76, Z:-2.68 [[ 9.94399005e-01 1.05425634e-01 7.48693731e-03 9.64726944e+01] [-1.05423220e-01 9.94427187e-01 -7.17456641e-04 -2.76157684e+00] [-7.52085233e-03 -7.58588676e-05 9.99971715e-01 -2.68248011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94420382199998 meters 0.015881845313265752 Centerline is valid? [True, True] Translation: X:96.53, Y:-2.77, Z:-2.69 [[ 9.94490188e-01 1.04595011e-01 7.01063078e-03 9.65347823e+01] [-1.04592872e-01 9.94514897e-01 -6.72096540e-04 -2.76810038e+00] [-7.04247469e-03 -6.48685906e-05 9.99975199e-01 -2.68503428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.00420382199998 meters 0.014551234733946337 Centerline is valid? [True, True] Translation: X:96.59, Y:-2.78, Z:-2.69 [[ 9.94827313e-01 1.01281926e-01 7.78383776e-03 9.65949371e+01] [-1.01279164e-01 9.94857764e-01 -7.49188632e-04 -2.78161944e+00] [-7.81969070e-03 -4.30272661e-05 9.99969425e-01 -2.68835673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.06420382199998 meters 0.01377744903785128 Centerline is valid? [True, True] Translation: X:96.66, Y:-2.79, Z:-2.69 [[ 9.95153511e-01 9.79786235e-02 8.34738721e-03 9.66562231e+01] [-9.79753192e-02 9.95188519e-01 -8.04839006e-04 -2.79470002e+00] [-8.38608094e-03 -1.68995641e-05 9.99964836e-01 -2.68966296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12420382199998 meters 0.02741287372430397 Centerline is valid? [True, True] Translation: X:96.72, Y:-2.80, Z:-2.69 [[ 9.95149702e-01 9.81158604e-02 7.09560883e-03 9.67186999e+01] [-9.81134742e-02 9.95174999e-01 -6.84446227e-04 -2.79778511e+00] [-7.12852754e-03 -1.50483750e-05 9.99974592e-01 -2.69123254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18420382199997 meters 0.0153628198471489 Centerline is valid? [True, True] Translation: X:96.78, Y:-2.80, Z:-2.70 [[ 9.94974577e-01 9.98895181e-02 6.90476278e-03 9.67805858e+01] [-9.98872956e-02 9.94998534e-01 -6.66862955e-04 -2.80241250e+00] [-6.93684147e-03 -2.61863943e-05 9.99975939e-01 -2.69656424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24420382199997 meters 0.016024678628373572 Centerline is valid? [True, True] Translation: X:96.84, Y:-2.81, Z:-2.70 [[ 9.94774078e-01 1.01859141e-01 7.01771079e-03 9.68422815e+01] [-1.01856882e-01 9.94798831e-01 -6.79503513e-04 -2.80536128e+00] [-7.05042413e-03 -3.88496589e-05 9.99975145e-01 -2.69855263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.30420382199998 meters 0.014532970128634552 Centerline is valid? [True, True] Translation: X:96.90, Y:-2.81, Z:-2.70 [[ 9.94811319e-01 1.01440893e-01 7.75783290e-03 9.69040640e+01] [-1.01438105e-01 9.94841567e-01 -7.53142129e-04 -2.81170272e+00] [-7.79421405e-03 -3.77055493e-05 9.99969624e-01 -2.69580992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.36420382199998 meters 0.013368305825649135 Centerline is valid? [True, True] Translation: X:96.97, Y:-2.82, Z:-2.70 [[ 9.95279787e-01 9.65629021e-02 9.68258886e-03 9.69661125e+01] [-9.65582795e-02 9.95326884e-01 -9.44852818e-04 -2.82057573e+00] [-9.72857873e-03 5.45878932e-06 9.99952676e-01 -2.69588543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.42420382199998 meters 0.016735260919160246 Centerline is valid? [True, True] Translation: X:97.03, Y:-2.84, Z:-2.70 [[ 9.95934713e-01 8.97787162e-02 7.33680045e-03 9.70262539e+01] [-8.97758760e-02 9.95961736e-01 -7.16201323e-04 -2.84129267e+00] [-7.37147215e-03 5.46220720e-05 9.99972829e-01 -2.69946578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48420382199998 meters 0.01906137753730224 Centerline is valid? [True, True] Translation: X:97.09, Y:-2.85, Z:-2.70 [[ 9.96201653e-01 8.67625993e-02 7.38358070e-03 9.70876783e+01] [-8.67596564e-02 9.96229013e-01 -7.18542182e-04 -2.85484060e+00] [-7.41807990e-03 7.52159855e-05 9.99972483e-01 -2.70213750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54420382199997 meters 0.018010702395633762 Centerline is valid? [True, True] Translation: X:97.15, Y:-2.86, Z:-2.70 [[ 9.96180743e-01 8.69554583e-02 7.91674674e-03 9.71492264e+01] [-8.69520686e-02 9.96212197e-01 -7.72014706e-04 -2.86079761e+00] [-7.95389056e-03 8.06886778e-05 9.99968364e-01 -2.70115408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60420382199997 meters 0.015767668681023958 Centerline is valid? [True, True] Translation: X:97.21, Y:-2.86, Z:-2.70 [[ 9.95704633e-01 9.22277443e-02 8.14416612e-03 9.72103480e+01] [-9.22243181e-02 9.95737938e-01 -7.96049021e-04 -2.86212855e+00] [-8.18287299e-03 4.15395314e-05 9.99966519e-01 -2.70317381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66420382199998 meters 0.014781567597800506 Centerline is valid? [True, True] Translation: X:97.27, Y:-2.85, Z:-2.71 [[ 9.94723394e-01 1.02382716e-01 6.56877029e-03 9.72739838e+01] [-1.02380709e-01 9.94745082e-01 -6.42021012e-04 -2.85085382e+00] [-6.59998379e-03 -3.38820363e-05 9.99978219e-01 -2.70704706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.72420382199998 meters 0.018438560861358505 Centerline is valid? [True, True] Translation: X:97.34, Y:-2.84, Z:-2.71 [[ 9.93880490e-01 1.10225261e-01 7.20858599e-03 9.73375315e+01] [-1.10223036e-01 9.93906627e-01 -7.06319189e-04 -2.84321057e+00] [-7.24251560e-03 -9.25553736e-05 9.99973768e-01 -2.70604472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.78420382199998 meters 0.018988749643722113 Centerline is valid? [True, True] Translation: X:97.40, Y:-2.85, Z:-2.71 [[ 9.93730848e-01 1.11529790e-01 7.75293710e-03 9.74003837e+01] [-1.11527248e-01 9.93761085e-01 -7.60759582e-04 -2.84613166e+00] [-7.78941454e-03 -1.08673477e-04 9.99969656e-01 -2.70716683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84420382199998 meters 0.01861040546526737 Centerline is valid? [True, True] Translation: X:97.46, Y:-2.85, Z:-2.71 [[ 9.93830179e-01 1.10623040e-01 8.00743068e-03 9.74614651e+01] [-1.10620279e-01 9.93862431e-01 -7.88256778e-04 -2.85071996e+00] [-8.04548389e-03 -1.02390838e-04 9.99967629e-01 -2.70996070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90420382199999 meters 0.01910637088496784 Centerline is valid? [True, True] Translation: X:97.52, Y:-2.86, Z:-2.71 [[ 9.94583292e-01 1.03554072e-01 8.97941191e-03 9.75222156e+01] [-1.03550276e-01 9.94623824e-01 -8.87881305e-04 -2.86460412e+00] [-9.02308074e-03 -4.67486732e-05 9.99959290e-01 -2.70861363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96420382199997 meters 0.014372686739601742 Centerline is valid? [True, True] Translation: X:97.58, Y:-2.88, Z:-2.71 [[ 9.95345548e-01 9.60187867e-02 8.22391123e-03 9.75827416e+01] [-9.60153653e-02 9.95379522e-01 -8.10755727e-04 -2.88161529e+00] [-8.26376061e-03 1.73602626e-05 9.99965854e-01 -2.71359247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02420382199998 meters 0.017271318672914555 Centerline is valid? [True, True] Translation: X:97.64, Y:-2.89, Z:-2.72 [[ 9.95760740e-01 9.16656179e-02 7.61332695e-03 9.76427118e+01] [-9.16625455e-02 9.95789843e-01 -7.52245726e-04 -2.89290824e+00] [-7.65022872e-03 5.11998322e-05 9.99970735e-01 -2.71850395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.08420382199998 meters 0.016417274865959158 Centerline is valid? [True, True] Translation: X:97.70, Y:-2.90, Z:-2.72 [[ 9.95817761e-01 9.11222066e-02 6.61287556e-03 9.77047527e+01] [-9.11198769e-02 9.95839717e-01 -6.53359846e-04 -2.89870340e+00] [-6.64489971e-03 4.80629326e-05 9.99977921e-01 -2.71805560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.14420382199998 meters 0.017511070999231756 Centerline is valid? [True, True] Translation: X:97.77, Y:-2.90, Z:-2.72 [[ 9.95809253e-01 9.12573512e-02 6.00236244e-03 9.77658572e+01] [-9.12554197e-02 9.95827341e-01 -5.95462564e-04 -2.90433809e+00] [-6.03165696e-03 4.52190269e-05 9.99981808e-01 -2.72291974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.20420382199998 meters 0.027528258007993633 Centerline is valid? [True, True] Translation: X:97.83, Y:-2.91, Z:-2.72 [[ 9.95769461e-01 9.16352524e-02 6.79412956e-03 9.78265766e+01] [-9.16327887e-02 9.95792638e-01 -6.73674044e-04 -2.91018915e+00] [-6.82727649e-03 4.82590016e-05 9.99976693e-01 -2.72303549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26420382199998 meters 0.02492638646341324 Centerline is valid? [True, True] Translation: X:97.89, Y:-2.91, Z:-2.72 [[ 9.95735897e-01 9.19576841e-02 7.33540430e-03 9.78887375e+01] [-9.19548130e-02 9.95762914e-01 -7.28431268e-04 -2.91280888e+00] [-7.37130842e-03 5.07994306e-05 9.99972830e-01 -2.72084143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32420382199997 meters 0.017504877014624408 Centerline is valid? [True, True] Translation: X:97.95, Y:-2.92, Z:-2.73 [[ 9.95697431e-01 9.23533716e-02 7.58156347e-03 9.79489974e+01] [-9.23503022e-02 9.95726294e-01 -7.54699083e-04 -2.91889463e+00] [-7.61886110e-03 5.12922605e-05 9.99970975e-01 -2.72740126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38420382199998 meters 0.016874257531427128 Centerline is valid? [True, True] Translation: X:98.01, Y:-2.93, Z:-2.73 [[ 9.95697631e-01 9.23141085e-02 8.02076466e-03 9.80103352e+01] [-9.23106601e-02 9.95729934e-01 -7.99869503e-04 -2.92820079e+00] [-8.06035471e-03 5.60260886e-05 9.99967513e-01 -2.72544989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44420382199998 meters 0.015018698595632355 Centerline is valid? [True, True] Translation: X:98.07, Y:-2.93, Z:-2.72 [[ 9.95528480e-01 9.41113027e-02 8.13075370e-03 9.80726251e+01] [-9.41078083e-02 9.95561681e-01 -8.12152408e-04 -2.93027978e+00] [-8.17109954e-03 4.33534415e-05 9.99966615e-01 -2.72444879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.50420382199998 meters 0.013346573293910806 Centerline is valid? [True, True] Translation: X:98.13, Y:-2.93, Z:-2.73 [[ 9.94932646e-01 1.00159400e-01 8.78209814e-03 9.81343097e+01] [-1.00155528e-01 9.94971404e-01 -8.80644219e-04 -2.92572781e+00] [-8.82614132e-03 -3.39399402e-06 9.99961049e-01 -2.72759131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.56420382199998 meters 0.012905963499541281 Centerline is valid? [True, True] Translation: X:98.20, Y:-2.93, Z:-2.73 [[ 9.94442941e-01 1.04768553e-01 1.03338112e-02 9.81963742e+01] [-1.04763440e-01 9.94496630e-01 -1.03637367e-03 -2.92682838e+00] [-1.03855198e-02 -5.19911333e-05 9.99946068e-01 -2.72579877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62420382199998 meters 0.014231945560719375 Centerline is valid? [True, True] Translation: X:98.26, Y:-2.93, Z:-2.73 [[ 9.94382294e-01 1.05477779e-01 8.84824069e-03 9.82573245e+01] [-1.05474049e-01 9.94421659e-01 -8.88494818e-04 -2.93346531e+00] [-8.89259864e-03 -4.97562544e-05 9.99960459e-01 -2.73089246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68420382199997 meters 0.015010321501880296 Centerline is valid? [True, True] Translation: X:98.32, Y:-2.94, Z:-2.74 [[ 9.94434092e-01 1.05154596e-01 6.58394619e-03 9.83196439e+01] [-1.05152526e-01 9.94455886e-01 -6.60795542e-04 -2.93682352e+00] [-6.61692974e-03 -3.52009563e-05 9.99978107e-01 -2.73816006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74420382199997 meters 0.014719107040162022 Centerline is valid? [True, True] Translation: X:98.38, Y:-2.94, Z:-2.74 [[ 9.94365098e-01 1.05803834e-01 6.60309635e-03 9.83821767e+01] [-1.05801762e-01 9.94387021e-01 -6.63216621e-04 -2.94236337e+00] [-6.63620417e-03 -3.91397702e-05 9.99977979e-01 -2.73789760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.80420382199998 meters 0.01577693682297156 Centerline is valid? [True, True] Translation: X:98.44, Y:-2.94, Z:-2.74 [[ 9.94097537e-01 1.08306302e-01 6.31118231e-03 9.84441415e+01] [-1.08304451e-01 9.94117570e-01 -6.35429676e-04 -2.94496421e+00] [-6.34287826e-03 -5.18500577e-05 9.99979882e-01 -2.73960909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.86420382199998 meters 0.015456750684577138 Centerline is valid? [True, True] Translation: X:98.51, Y:-2.95, Z:-2.74 [[ 9.94024717e-01 1.08574347e-01 1.12459940e-02 9.85050187e+01] [-1.08568390e-01 9.94088328e-01 -1.14065190e-03 -2.94577541e+00] [-1.13033569e-02 -8.71232778e-05 9.99936111e-01 -2.73692344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.92420382199998 meters 0.01292023979673363 Centerline is valid? [True, True] Translation: X:98.57, Y:-2.96, Z:-2.74 [[ 9.94372086e-01 1.05312280e-01 1.15532549e-02 9.85662196e+01] [-1.05305798e-01 9.94439199e-01 -1.16965966e-03 -2.95613154e+00] [-1.16121891e-02 -5.35478124e-05 9.99932575e-01 -2.73663046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98420382199998 meters 0.013515924373574252 Centerline is valid? [True, True] Translation: X:98.63, Y:-2.97, Z:-2.74 [[ 9.95122180e-01 9.81401107e-02 1.00182837e-02 9.86265351e+01] [-9.81348609e-02 9.95172607e-01 -1.01545555e-03 -2.97170791e+00] [-1.00695784e-02 2.73594636e-05 9.99949300e-01 -2.74159943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04420382199997 meters 0.018652808753196207 Centerline is valid? [True, True] Translation: X:98.69, Y:-2.99, Z:-2.74 [[ 9.95747015e-01 9.14878778e-02 1.08558811e-02 9.86862843e+01] [-9.14812950e-02 9.95806185e-01 -1.10245934e-03 -2.98948871e+00] [-1.09112152e-02 1.04660541e-04 9.99940465e-01 -2.74410457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10420382199997 meters 0.024205845393645068 Centerline is valid? [True, True] Translation: X:98.75, Y:-3.00, Z:-2.75 [[ 9.96269655e-01 8.56792938e-02 1.02874943e-02 9.87460338e+01] [-8.56730304e-02 9.96322755e-01 -1.04880570e-03 -3.00409120e+00] [-1.03395256e-02 1.63532484e-04 9.99946532e-01 -2.74613092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16420382199998 meters 0.02628319767607412 Centerline is valid? [True, True] Translation: X:98.81, Y:-3.01, Z:-2.74 [[ 9.96540576e-01 8.23716063e-02 1.10362114e-02 9.88078269e+01] [-8.23642244e-02 9.96601663e-01 -1.12249983e-03 -3.01471271e+00] [-1.10911687e-02 2.09627637e-04 9.99938469e-01 -2.74467226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.22420382199998 meters 0.03273617230220333 Centerline is valid? [True, True] Translation: X:98.87, Y:-3.03, Z:-2.75 [[ 9.97074743e-01 7.56350406e-02 1.10135125e-02 9.88673985e+01] [-7.56272268e-02 9.97135526e-01 -1.12482390e-03 -3.02843527e+00] [-1.10670407e-02 2.88612088e-04 9.99938717e-01 -2.74810313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.28420382199998 meters 0.03889513792770481 Centerline is valid? [True, True] Translation: X:98.93, Y:-3.05, Z:-2.75 [[ 9.97426687e-01 7.07239273e-02 1.17528481e-02 9.89256121e+01] [-7.07146841e-02 9.97495861e-01 -1.20069573e-03 -3.04730134e+00] [-1.18083352e-02 3.66507023e-04 9.99930212e-01 -2.74851368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34420382199998 meters 0.04100256765519179 Centerline is valid? [True, True] Translation: X:98.99, Y:-3.06, Z:-2.75 [[ 9.97625750e-01 6.80568450e-02 1.05417207e-02 9.89858040e+01] [-6.80492648e-02 9.97681381e-01 -1.07651447e-03 -3.05981650e+00] [-1.05905426e-02 3.56602210e-04 9.99943855e-01 -2.75125564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40420382199999 meters 0.03759731010438951 Centerline is valid? [True, True] Translation: X:99.05, Y:-3.07, Z:-2.75 [[ 9.97265044e-01 7.31288782e-02 1.07051030e-02 9.90451615e+01] [-7.31213452e-02 9.97322451e-01 -1.09392540e-03 -3.06584815e+00] [-1.07564371e-02 3.08162033e-04 9.99942100e-01 -2.75347529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46420382199997 meters 0.029517812280420313 Centerline is valid? [True, True] Translation: X:99.11, Y:-3.06, Z:-2.75 [[ 9.96853329e-01 7.85878937e-02 1.03626237e-02 9.91067525e+01] [-7.85811321e-02 9.96907160e-01 -1.05869207e-03 -3.05910159e+00] [-1.04137741e-02 2.41054015e-04 9.99945746e-01 -2.75475120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52420382199998 meters 0.025195437102282846 Centerline is valid? [True, True] Translation: X:99.17, Y:-3.06, Z:-2.76 [[ 9.96444527e-01 8.36240330e-02 1.02628616e-02 9.91672666e+01] [-8.36176665e-02 9.96497359e-01 -1.04862367e-03 -3.06111675e+00] [-1.03146046e-02 1.86738776e-04 9.99946786e-01 -2.75804665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58420382199998 meters 0.022500141508157274 Centerline is valid? [True, True] Translation: X:99.23, Y:-3.07, Z:-2.76 [[ 9.96235610e-01 8.61268591e-02 9.83737768e-03 9.92285074e+01] [-8.61211602e-02 9.96284167e-01 -1.00224255e-03 -3.06999952e+00] [-9.88714363e-03 1.51263341e-04 9.99951110e-01 -2.75945292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.64420382199998 meters 0.020952722043904647 Centerline is valid? [True, True] Translation: X:99.29, Y:-3.07, Z:-2.76 [[ 9.96050794e-01 8.82619598e-02 9.62503471e-03 9.92900663e+01] [-8.82565889e-02 9.96097289e-01 -9.82168933e-04 -3.07427702e+00] [-9.67415914e-03 1.28817415e-04 9.99953196e-01 -2.76286039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.70420382199998 meters 0.020354486754401744 Centerline is valid? [True, True] Translation: X:99.35, Y:-3.08, Z:-2.77 [[ 9.95929610e-01 8.95896273e-02 9.89501767e-03 9.93512404e+01] [-8.95839958e-02 9.95978757e-01 -1.01178947e-03 -3.07934688e+00] [-9.94587324e-03 1.21235875e-04 9.99950531e-01 -2.76548179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76420382199998 meters 0.02357205335406626 Centerline is valid? [True, True] Translation: X:99.41, Y:-3.08, Z:-2.77 [[ 9.95525706e-01 9.41802787e-02 7.65796023e-03 9.94140995e+01] [-9.41770469e-02 9.95555158e-01 -7.82337071e-04 -3.08344239e+00] [-7.69760253e-03 5.76325854e-05 9.99970371e-01 -2.76828813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82420382199997 meters 0.01316143937189266 Centerline is valid? [True, True] Translation: X:99.48, Y:-3.08, Z:-2.77 [[ 9.94724961e-01 1.02131367e-01 9.56218363e-03 9.94751558e+01] [-1.02126629e-01 9.94770920e-01 -9.83759996e-04 -3.08036889e+00] [-9.61265497e-03 2.01704659e-06 9.99953797e-01 -2.76651421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88420382199998 meters 0.014377458481155103 Centerline is valid? [True, True] Translation: X:99.54, Y:-3.08, Z:-2.77 [[ 9.93984540e-01 1.09065807e-01 9.96913209e-03 9.95380393e+01] [-1.09061033e-01 9.94034529e-01 -1.02281488e-03 -3.07651378e+00] [-1.00212157e-02 -7.05816695e-05 9.99949784e-01 -2.76789622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.94420382199998 meters 0.021043541204933323 Centerline is valid? [True, True] Translation: X:99.60, Y:-3.07, Z:-2.77 [[ 9.92766611e-01 1.19624450e-01 1.02199712e-02 9.96003496e+01] [-1.19619944e-01 9.92819198e-01 -1.05330765e-03 -3.06638840e+00] [-1.02725850e-02 -1.76823717e-04 9.99947220e-01 -2.76892616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.00420382199998 meters 0.02726445467503547 Centerline is valid? [True, True] Translation: X:99.66, Y:-3.06, Z:-2.78 [[ 9.92284510e-01 1.23616687e-01 9.50608351e-03 9.96615946e+01] [-1.23612971e-01 9.92330022e-01 -9.79827169e-04 -3.06016494e+00] [-9.55429505e-03 -2.02807898e-04 9.99954336e-01 -2.77514570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.06420382199998 meters 0.018375732270001596 Centerline is valid? [True, True] Translation: X:99.72, Y:-3.07, Z:-2.78 [[ 9.93223547e-01 1.15966783e-01 7.66095451e-03 9.97216134e+01] [-1.15964143e-01 9.93253087e-01 -7.89397120e-04 -3.07466615e+00] [-7.70081056e-03 -1.04348215e-04 9.99970343e-01 -2.77732993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12420382199998 meters 0.015443770452873434 Centerline is valid? [True, True] Translation: X:99.78, Y:-3.09, Z:-2.78 [[ 9.94091959e-01 1.08226636e-01 8.25667195e-03 9.97805189e+01] [-1.08223299e-01 9.94126246e-01 -8.51297606e-04 -3.08944342e+00] [-8.30030737e-03 -4.72961697e-05 9.99965551e-01 -2.78334193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18420382199997 meters 0.01522389901675309 Centerline is valid? [True, True] Translation: X:99.84, Y:-3.11, Z:-2.78 [[ 9.95144212e-01 9.80615413e-02 8.48128316e-03 9.98404795e+01] [-9.80576757e-02 9.95180352e-01 -8.71432460e-04 -3.11013577e+00] [-8.52586037e-03 3.55460556e-05 9.99963654e-01 -2.78224777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24420382199997 meters 0.01812266188401738 Centerline is valid? [True, True] Translation: X:99.90, Y:-3.12, Z:-2.78 [[ 9.95620110e-01 9.29799689e-02 9.76332063e-03 9.99027217e+01] [-9.29745787e-02 9.95667975e-01 -1.00550714e-03 -3.11622079e+00] [-9.81451771e-03 9.33625088e-05 9.99951832e-01 -2.78316061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.30420382199998 meters 0.018984600525529187 Centerline is valid? [True, True] Translation: X:99.96, Y:-3.13, Z:-2.78 [[ 9.95883977e-01 9.01220471e-02 9.64989126e-03 9.99639053e+01] [-9.01166340e-02 9.95930721e-01 -9.95190014e-04 -3.12603600e+00] [-9.70031172e-03 1.21478070e-04 9.99952943e-01 -2.78176305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.36420382199998 meters 0.031064844295967432 Centerline is valid? [True, True] Translation: X:100.02, Y:-3.14, Z:-2.78 [[ 9.96246360e-01 8.59021391e-02 1.06776856e-02 1.00024373e+02] [-8.58952403e-02 9.96303563e-01 -1.10387530e-03 -3.13540498e+00] [-1.07330415e-02 1.82569375e-04 9.99942383e-01 -2.78349066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.42420382199998 meters 0.03129290966407865 Centerline is valid? [True, True] Translation: X:100.08, Y:-3.15, Z:-2.79 [[ 9.96830013e-01 7.88767751e-02 1.04105191e-02 1.00082604e+02] [-7.88697944e-02 9.96884341e-01 -1.08004325e-03 -3.15004301e+00] [-1.04632738e-02 2.55544023e-04 9.99945226e-01 -2.78771392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48420382199998 meters 0.03731426496388329 Centerline is valid? [True, True] Translation: X:100.14, Y:-3.16, Z:-2.79 [[ 9.97193779e-01 7.44121665e-02 8.20949000e-03 1.00142725e+02] [-7.44076679e-02 9.97227543e-01 -8.52475589e-04 -3.16140225e+00] [-8.25016410e-03 2.39234349e-04 9.99965938e-01 -2.79166700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54420382199997 meters 0.041850615652256645 Centerline is valid? [True, True] Translation: X:100.20, Y:-3.19, Z:-2.80 [[ 9.97534995e-01 6.97924319e-02 7.27666573e-03 1.00200682e+02] [-6.97887744e-02 9.97561505e-01 -7.55661286e-04 -3.18583668e+00] [-7.31166106e-03 2.45968994e-04 9.99973239e-01 -2.79535472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60420382199997 meters 0.03747641637430173 Centerline is valid? [True, True] Translation: X:100.26, Y:-3.19, Z:-2.79 [[ 9.97330715e-01 7.23649691e-02 9.73428043e-03 1.00261407e+02] [-7.23585430e-02 9.97378172e-01 -1.01118680e-03 -3.18674647e+00] [-9.78193332e-03 3.04129308e-04 9.99952109e-01 -2.79274462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66420382199998 meters 0.02829164067553611 Centerline is valid? [True, True] Translation: X:100.32, Y:-3.19, Z:-2.79 [[ 9.96747133e-01 8.00206316e-02 9.58391046e-03 1.00321876e+02] [-8.00147569e-02 9.96793182e-01 -9.95464805e-04 -3.18779094e+00] [-9.63283433e-03 2.25372424e-04 9.99953578e-01 -2.79164194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.72420382199998 meters 0.023420323800148496 Centerline is valid? [True, True] Translation: X:100.38, Y:-3.19, Z:-2.79 [[ 9.96170592e-01 8.68741246e-02 9.85080137e-03 1.00381806e+02] [-8.68682513e-02 9.96219283e-01 -1.02334294e-03 -3.18853815e+00] [-9.90246030e-03 1.63702249e-04 9.99950956e-01 -2.79479876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.78420382199998 meters 0.028462326117908734 Centerline is valid? [True, True] Translation: X:100.44, Y:-3.18, Z:-2.80 [[ 9.95421111e-01 9.51926542e-02 8.67006807e-03 1.00443927e+02] [-9.51884243e-02 9.95458866e-01 -9.00165992e-04 -3.18269217e+00] [-8.71638532e-03 7.07541139e-05 9.99962009e-01 -2.79714586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84420382199998 meters 0.01389974300686766 Centerline is valid? [True, True] Translation: X:100.51, Y:-3.18, Z:-2.80 [[ 9.94683904e-01 1.02606910e-01 8.70362364e-03 1.00505075e+02] [-1.02602954e-01 9.94721982e-01 -9.01101200e-04 -3.18180363e+00] [-8.75014497e-03 3.29336706e-06 9.99961717e-01 -2.80323724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90420382199997 meters 0.01473369691162916 Centerline is valid? [True, True] Translation: X:100.57, Y:-3.19, Z:-2.80 [[ 9.94116207e-01 1.07975003e-01 8.62356628e-03 1.00565762e+02] [-1.07971296e-01 9.94153608e-01 -8.95645453e-04 -3.18575495e+00] [-8.66985685e-03 -4.07219694e-05 9.99962415e-01 -2.80423330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96420382199997 meters 0.014446428678021374 Centerline is valid? [True, True] Translation: X:100.63, Y:-3.19, Z:-2.80 [[ 9.93964620e-01 1.09371749e-01 8.49442272e-03 1.00627274e+02] [-1.09368210e-01 9.94000914e-01 -8.81373675e-04 -3.19325445e+00] [-8.53986133e-03 -5.29655589e-05 9.99963533e-01 -2.80285133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02420382199998 meters 0.015930053737969324 Centerline is valid? [True, True] Translation: X:100.69, Y:-3.20, Z:-2.81 [[ 9.93824454e-01 1.10748740e-01 6.90445656e-03 1.00687697e+02] [-1.10746421e-01 9.93848436e-01 -7.18477352e-04 -3.20035796e+00] [-6.94155381e-03 -5.06034925e-05 9.99975906e-01 -2.81047927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.08420382199998 meters 0.01672195431849529 Centerline is valid? [True, True] Translation: X:100.75, Y:-3.21, Z:-2.80 [[ 9.93314391e-01 1.14979140e-01 1.03110343e-02 1.00749367e+02] [-1.14974190e-01 9.93367899e-01 -1.07354761e-03 -3.20646129e+00] [-1.03660860e-02 -1.19132518e-04 9.99946264e-01 -2.80411944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.14420382199998 meters 0.02118019534761215 Centerline is valid? [True, True] Translation: X:100.81, Y:-3.20, Z:-2.80 [[ 9.92633147e-01 1.20543900e-01 1.21902798e-02 1.00810794e+02] [-1.20537334e-01 9.92707976e-01 -1.27456986e-03 -3.20351155e+00] [-1.22550296e-02 -2.04203534e-04 9.99924883e-01 -2.80176749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.20420382199998 meters 0.02981687410859844 Centerline is valid? [True, True] Translation: X:100.87, Y:-3.19, Z:-2.81 [[ 9.91679442e-01 1.28338427e-01 1.00564651e-02 1.00871773e+02] [-1.28334352e-01 9.91730400e-01 -1.05216232e-03 -3.19277987e+00] [-1.01083350e-02 -2.47182192e-04 9.99948879e-01 -2.80687070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26420382199998 meters 0.02899239259951579 Centerline is valid? [True, True] Translation: X:100.93, Y:-3.19, Z:-2.81 [[ 9.91282310e-01 1.31276348e-01 1.12206173e-02 1.00933684e+02] [-1.31271497e-01 9.91345764e-01 -1.17092520e-03 -3.19432270e+00] [-1.12772263e-02 -3.12229795e-04 9.99936361e-01 -2.80581118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32420382199997 meters 0.03131815129419698 Centerline is valid? [True, True] Translation: X:100.99, Y:-3.20, Z:-2.81 [[ 9.91530315e-01 1.29431703e-01 1.07270184e-02 1.00994914e+02] [-1.29427145e-01 9.91588301e-01 -1.12095860e-03 -3.19509467e+00] [-1.07818735e-02 -2.76902928e-04 9.99941836e-01 -2.81246054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38420382199998 meters 0.024801831315019274 Centerline is valid? [True, True] Translation: X:101.05, Y:-3.20, Z:-2.81 [[ 9.92387387e-01 1.22659783e-01 1.10386437e-02 1.01054926e+02] [-1.22654486e-01 9.92448757e-01 -1.15807409e-03 -3.20338228e+00] [-1.10973373e-02 -2.04681044e-04 9.99938402e-01 -2.81476411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44420382199998 meters 0.016688516408283297 Centerline is valid? [True, True] Translation: X:101.11, Y:-3.22, Z:-2.82 [[ 9.93699580e-01 1.11750527e-01 8.54196163e-03 1.01114910e+02] [-1.11746959e-01 9.93736291e-01 -8.95335765e-04 -3.22410492e+00] [-8.58851151e-03 -6.48434669e-05 9.99963116e-01 -2.82028654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.50420382199998 meters 0.015801906971405506 Centerline is valid? [True, True] Translation: X:101.17, Y:-3.25, Z:-2.82 [[ 9.95208444e-01 9.72960001e-02 9.67685423e-03 1.01174345e+02] [-9.72907528e-02 9.95255487e-01 -1.01264587e-03 -3.25391242e+00] [-9.72946867e-03 6.63252908e-05 9.99952665e-01 -2.81663377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.56420382199998 meters 0.02277105483669695 Centerline is valid? [True, True] Translation: X:101.23, Y:-3.27, Z:-2.82 [[ 9.96018313e-01 8.85861431e-02 1.00007568e-02 1.01234058e+02] [-8.85800530e-02 9.96068506e-01 -1.05115142e-03 -3.27438752e+00] [-1.00545564e-02 1.61098494e-04 9.99949439e-01 -2.81841870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62420382199998 meters 0.03291181935670958 Centerline is valid? [True, True] Translation: X:101.30, Y:-3.29, Z:-2.82 [[ 9.96334094e-01 8.49879107e-02 9.76868859e-03 1.01295066e+02] [-8.49819296e-02 9.96381964e-01 -1.02649628e-03 -3.28584827e+00] [-9.82058490e-03 1.92571235e-04 9.99951758e-01 -2.82019880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68420382199997 meters 0.03234003066208723 Centerline is valid? [True, True] Translation: X:101.35, Y:-3.31, Z:-2.82 [[ 9.96813038e-01 7.92307844e-02 9.28709982e-03 1.01352689e+02] [-7.92251159e-02 9.96856271e-01 -9.77253383e-04 -3.30824553e+00] [-9.33533225e-03 2.38367355e-04 9.99956396e-01 -2.82337812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74420382199997 meters 0.02956905052921732 Centerline is valid? [True, True] Translation: X:101.42, Y:-3.31, Z:-2.83 [[ 9.96429243e-01 8.39713193e-02 8.80802118e-03 1.01415080e+02] [-8.39664121e-02 9.96468155e-01 -9.26101784e-04 -3.30728105e+00] [-8.85467860e-03 1.83216963e-04 9.99960780e-01 -2.82552972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.80420382199998 meters 0.016949839878752662 Centerline is valid? [True, True] Translation: X:101.48, Y:-3.29, Z:-2.83 [[ 9.95322231e-01 9.62606848e-02 8.21812824e-03 1.01477730e+02] [-9.62568247e-02 9.95356155e-01 -8.64876619e-04 -3.29443303e+00] [-8.26321815e-03 6.97799961e-05 9.99965857e-01 -2.82610814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.86420382199998 meters 0.01410920334213871 Centerline is valid? [True, True] Translation: X:101.54, Y:-3.29, Z:-2.83 [[ 9.94522136e-01 1.04173316e-01 8.58140188e-03 1.01539843e+02] [-1.04169426e-01 9.94559159e-01 -9.00183434e-04 -3.29088294e+00] [-8.62848693e-03 1.33264097e-06 9.99962774e-01 -2.82743228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.92420382199998 meters 0.014728265296138616 Centerline is valid? [True, True] Translation: X:101.60, Y:-3.28, Z:-2.83 [[ 9.93745578e-01 1.11250396e-01 9.64756777e-03 1.01603764e+02] [-1.11245799e-01 9.93792405e-01 -1.01350695e-03 -3.28212556e+00] [-9.70043263e-03 -6.60833374e-05 9.99952948e-01 -2.82734273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98420382199998 meters 0.013828083080833305 Centerline is valid? [True, True] Translation: X:101.67, Y:-3.28, Z:-2.83 [[ 9.93812973e-01 1.10585859e-01 1.03219909e-02 1.01666098e+02] [-1.10580532e-01 9.93866573e-01 -1.08711673e-03 -3.28444854e+00] [-1.03789015e-02 -6.10205335e-05 9.99946136e-01 -2.82885582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04420382199997 meters 0.01239039115445798 Centerline is valid? [True, True] Translation: X:101.73, Y:-3.30, Z:-2.83 [[ 9.94469368e-01 1.04489812e-01 1.06092231e-02 1.01726752e+02] [-1.04483818e-01 9.94525957e-01 -1.11919258e-03 -3.30048816e+00] [-1.06680920e-02 4.51060009e-06 9.99943094e-01 -2.82908301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10420382199997 meters 0.01591724023203174 Centerline is valid? [True, True] Translation: X:101.79, Y:-3.32, Z:-2.83 [[ 9.95029207e-01 9.91312721e-02 9.47991456e-03 1.01786393e+02] [-9.91262299e-02 9.95074363e-01 -1.00143999e-03 -3.31611609e+00] [-9.53249396e-03 5.67538516e-05 9.99954563e-01 -2.83389862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16420382199998 meters 0.022319359132811554 Centerline is valid? [True, True] Translation: X:101.85, Y:-3.33, Z:-2.84 [[ 9.95667599e-01 9.26736153e-02 7.59169022e-03 1.01845388e+02] [-9.26701676e-02 9.95696536e-01 -8.05419619e-04 -3.33150625e+00] [-7.63366080e-03 9.84070130e-05 9.99970858e-01 -2.84186033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.22420382199998 meters 0.02318676966508572 Centerline is valid? [True, True] Translation: X:101.91, Y:-3.35, Z:-2.84 [[ 9.95875850e-01 9.00720469e-02 1.08774152e-02 1.01906451e+02] [-9.00648410e-02 9.95935238e-01 -1.15150827e-03 -3.34805377e+00] [-1.09369198e-02 1.67086609e-04 9.99940176e-01 -2.83623739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.28420382199998 meters 0.032233103628532 Centerline is valid? [True, True] Translation: X:101.97, Y:-3.36, Z:-2.84 [[ 9.95893857e-01 8.98542299e-02 1.10291651e-02 1.01968744e+02] [-8.98467926e-02 9.95954912e-01 -1.16897220e-03 -3.35796458e+00] [-1.10895883e-02 1.73237119e-04 9.99938494e-01 -2.83601150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34420382199998 meters 0.021432052293064236 Centerline is valid? [True, True] Translation: X:102.03, Y:-3.36, Z:-2.84 [[ 9.95763400e-01 9.13717240e-02 1.03178743e-02 1.02030255e+02] [-9.13652751e-02 9.95816844e-01 -1.09565969e-03 -3.36434501e+00] [-1.03748253e-02 1.48322403e-04 9.99946169e-01 -2.83951061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40420382199997 meters 0.020198487718614905 Centerline is valid? [True, True] Translation: X:102.09, Y:-3.38, Z:-2.85 [[ 9.95527075e-01 9.41753795e-02 7.53933032e-03 1.02091471e+02] [-9.41720168e-02 9.95555619e-01 -8.00580333e-04 -3.37729756e+00] [-7.58121762e-03 8.70054556e-05 9.99971258e-01 -2.84597763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46420382199997 meters 0.016265582366160797 Centerline is valid? [True, True] Translation: X:102.15, Y:-3.39, Z:-2.85 [[ 9.94949766e-01 1.00050352e-01 8.05546922e-03 1.02151997e+02] [-1.00046667e-01 9.94982374e-01 -8.60145349e-04 -3.38549926e+00] [-8.10110773e-03 4.98785672e-05 9.99967184e-01 -2.84549430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52420382199998 meters 0.013634916269912086 Centerline is valid? [True, True] Translation: X:102.21, Y:-3.38, Z:-2.85 [[ 9.94251843e-01 1.06794253e-01 7.63285281e-03 1.02214853e+02] [-1.06791166e-01 9.94281141e-01 -8.12001522e-04 -3.38445354e+00] [-7.67591870e-03 -7.78724036e-06 9.99970540e-01 -2.84676055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58420382199998 meters 0.017819452033484253 Centerline is valid? [True, True] Translation: X:102.28, Y:-3.38, Z:-2.85 [[ 9.93136498e-01 1.16746978e-01 7.07390496e-03 1.02276608e+02] [-1.16744571e-01 9.93161687e-01 -7.53724465e-04 -3.38085440e+00] [-7.11352644e-03 -7.72887234e-05 9.99974696e-01 -2.85231379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.64420382199998 meters 0.02394416792443837 Centerline is valid? [True, True] Translation: X:102.34, Y:-3.38, Z:-2.85 [[ 9.92095607e-01 1.25299234e-01 6.81243281e-03 1.02338354e+02] [-1.25297174e-01 9.92118987e-01 -7.30007772e-04 -3.37900067e+00] [-6.85021336e-03 -1.29341074e-04 9.99976529e-01 -2.85303240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.70420382199998 meters 0.02655648909081698 Centerline is valid? [True, True] Translation: X:102.40, Y:-3.38, Z:-2.85 [[ 9.91479883e-01 1.29973115e-01 8.63895777e-03 1.02400981e+02] [-1.29969984e-01 9.91517497e-01 -9.25187703e-04 -3.38177322e+00] [-8.68592731e-03 -2.05500212e-04 9.99962256e-01 -2.84989772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76420382199998 meters 0.034799228017099955 Centerline is valid? [True, True] Translation: X:102.46, Y:-3.38, Z:-2.85 [[ 9.90786340e-01 1.35190919e-01 8.11442479e-03 1.02461545e+02] [-1.35188321e-01 9.90819540e-01 -8.70338225e-04 -3.37745042e+00] [-8.15759247e-03 -2.34656239e-04 9.99966699e-01 -2.85385304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82420382199997 meters 0.03435602151096375 Centerline is valid? [True, True] Translation: X:102.52, Y:-3.38, Z:-2.86 [[ 9.90615294e-01 1.36461220e-01 7.72491063e-03 1.02523002e+02] [-1.36458930e-01 9.90645385e-01 -8.25331545e-04 -3.38206162e+00] [-7.76527282e-03 -2.36546984e-04 9.99969822e-01 -2.85675804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88420382199998 meters 0.029230897984976217 Centerline is valid? [True, True] Translation: X:102.58, Y:-3.39, Z:-2.86 [[ 9.90987256e-01 1.33729232e-01 7.79434799e-03 1.02583339e+02] [-1.33726784e-01 9.91017884e-01 -8.36675247e-04 -3.39418051e+00] [-7.83622619e-03 -2.13178587e-04 9.99969274e-01 -2.85682358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94420382199998 meters 0.025670113065604745 Centerline is valid? [True, True] Translation: X:102.64, Y:-3.41, Z:-2.86 [[ 9.91965742e-01 1.26102148e-01 1.01101354e-02 1.02642064e+02] [-1.26097626e-01 9.92017242e-01 -1.08604068e-03 -3.40860572e+00] [-1.01663807e-02 -1.97548916e-04 9.99948302e-01 -2.85932072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.00420382199998 meters 0.018819992516124203 Centerline is valid? [True, True] Translation: X:102.70, Y:-3.43, Z:-2.86 [[ 9.92508708e-01 1.21845136e-01 8.95696315e-03 1.02702723e+02] [-1.21841443e-01 9.92549114e-01 -9.58893438e-04 -3.42719536e+00] [-9.00706234e-03 -1.39619224e-04 9.99959426e-01 -2.85729774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.06420382199998 meters 0.017974893958480904 Centerline is valid? [True, True] Translation: X:102.76, Y:-3.44, Z:-2.87 [[ 9.92911762e-01 1.18600517e-01 7.75563697e-03 1.02763635e+02] [-1.18597644e-01 9.92942047e-01 -8.31002618e-04 -3.43550161e+00] [-7.79945539e-03 -9.46879971e-05 9.99969579e-01 -2.86564934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12420382199998 meters 0.018323457484271492 Centerline is valid? [True, True] Translation: X:102.83, Y:-3.44, Z:-2.87 [[ 9.92794677e-01 1.19518892e-01 8.60024570e-03 1.02826061e+02] [-1.19515374e-01 9.92831920e-01 -9.23620847e-04 -3.43936773e+00] [-8.64898860e-03 -1.10895726e-04 9.99962591e-01 -2.86668830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18420382199997 meters 0.020398481038167493 Centerline is valid? [True, True] Translation: X:102.89, Y:-3.44, Z:-2.87 [[ 9.92360928e-01 1.23039203e-01 9.00791268e-03 1.02888295e+02] [-1.23035474e-01 9.92401800e-01 -9.69106550e-04 -3.43942485e+00] [-9.05870686e-03 -1.46589333e-04 9.99958958e-01 -2.86628578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24420382199997 meters 0.02809749971940836 Centerline is valid? [True, True] Translation: X:102.95, Y:-3.43, Z:-2.88 [[ 9.91620683e-01 1.29067835e-01 5.46943366e-03 1.02949286e+02] [-1.29066535e-01 9.91635760e-01 -5.91557448e-04 -3.42886302e+00] [-5.50003704e-03 -1.19320250e-04 9.99984868e-01 -2.87607547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.30420382199998 meters 0.027086889922172442 Centerline is valid? [True, True] Translation: X:103.01, Y:-3.43, Z:-2.87 [[ 9.91554320e-01 1.29506481e-01 6.93553160e-03 1.03011434e+02] [-1.29504428e-01 9.91578563e-01 -7.46207000e-04 -3.43139320e+00] [-6.97376310e-03 -1.58277281e-04 9.99975670e-01 -2.87307763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.36420382199998 meters 0.017804808458182293 Centerline is valid? [True, True] Translation: X:103.07, Y:-3.45, Z:-2.88 [[ 9.93038420e-01 1.17463408e-01 8.77749842e-03 1.03069762e+02] [-1.17459592e-01 9.93077208e-01 -9.50688400e-04 -3.44791204e+00] [-8.82840472e-03 -8.69312811e-05 9.99961025e-01 -2.87574294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.42420382199998 meters 0.014574938643864766 Centerline is valid? [True, True] Translation: X:103.13, Y:-3.47, Z:-2.88 [[ 9.94357110e-01 1.05818127e-01 7.51406724e-03 1.03129967e+02] [-1.05815027e-01 9.94385501e-01 -8.09989999e-04 -3.47125844e+00] [-7.55759114e-03 1.03180843e-05 9.99971441e-01 -2.87905517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48420382199998 meters 0.023835200766838816 Centerline is valid? [True, True] Translation: X:103.19, Y:-3.50, Z:-2.88 [[ 9.95867458e-01 9.04084768e-02 8.62051582e-03 1.03188501e+02] [-9.04037753e-02 9.95904757e-01 -9.34310525e-04 -3.50111210e+00] [-8.66968230e-03 1.51122272e-04 9.99962406e-01 -2.87745989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54420382199997 meters 0.029651317206430255 Centerline is valid? [True, True] Translation: X:103.25, Y:-3.52, Z:-2.88 [[ 9.96184764e-01 8.69104397e-02 7.90515974e-03 1.03246787e+02] [-8.69063708e-02 9.96216115e-01 -8.57432192e-04 -3.51592322e+00] [-7.94976733e-03 1.67152143e-04 9.99968386e-01 -2.88193797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60420382199997 meters 0.02731514309494032 Centerline is valid? [True, True] Translation: X:103.31, Y:-3.52, Z:-2.88 [[ 9.96241782e-01 8.62414497e-02 8.04517481e-03 1.03308997e+02] [-8.62372433e-02 9.96274251e-01 -8.68945829e-04 -3.52038228e+00] [-8.09013966e-03 1.71886443e-04 9.99967260e-01 -2.87959507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66420382199998 meters 0.01953174096228979 Centerline is valid? [True, True] Translation: X:103.37, Y:-3.52, Z:-2.88 [[ 9.95459525e-01 9.47501236e-02 9.09656967e-03 1.03370318e+02] [-9.47450499e-02 9.95501079e-01 -9.88062213e-04 -3.51701840e+00] [-9.14926395e-03 1.21720994e-04 9.99958137e-01 -2.87861527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.72420382199998 meters 0.01541824016820817 Centerline is valid? [True, True] Translation: X:103.43, Y:-3.51, Z:-2.88 [[ 9.94795947e-01 1.01298125e-01 1.09414089e-02 1.03431274e+02] [-1.01291179e-01 9.94856112e-01 -1.18858152e-03 -3.51453600e+00] [-1.10055286e-02 7.41278677e-05 9.99939435e-01 -2.88008018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.78420382199998 meters 0.01295515050839671 Centerline is valid? [True, True] Translation: X:103.49, Y:-3.51, Z:-2.88 [[ 9.93901280e-01 1.09781361e-01 1.04066826e-02 1.03494210e+02] [-1.09775571e-01 9.93955760e-01 -1.12772616e-03 -3.50954132e+00] [-1.04675854e-02 -2.15510530e-05 9.99945213e-01 -2.88237877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84420382199998 meters 0.012698982021438598 Centerline is valid? [True, True] Translation: X:103.56, Y:-3.51, Z:-2.88 [[ 9.93561835e-01 1.12781666e-01 1.07320059e-02 1.03557584e+02] [-1.12775668e-01 9.93619793e-01 -1.16438758e-03 -3.51291881e+00] [-1.07948551e-02 -5.34180774e-05 9.99941732e-01 -2.88125604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90420382199997 meters 0.014374324409795722 Centerline is valid? [True, True] Translation: X:103.62, Y:-3.51, Z:-2.89 [[ 9.93226649e-01 1.15760606e-01 1.00152848e-02 1.03619126e+02] [-1.15755509e-01 9.93277140e-01 -1.08898708e-03 -3.51463578e+00] [-1.00740153e-02 -7.77134077e-05 9.99949253e-01 -2.88583907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96420382199997 meters 0.016437710645188095 Centerline is valid? [True, True] Translation: X:103.68, Y:-3.51, Z:-2.89 [[ 9.92731990e-01 1.19820046e-01 1.12406582e-02 1.03681621e+02] [-1.19813862e-01 9.92795618e-01 -1.22441313e-03 -3.51170390e+00] [-1.13063855e-02 -1.31272585e-04 9.99936072e-01 -2.88608231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02420382199998 meters 0.016885773420967448 Centerline is valid? [True, True] Translation: X:103.74, Y:-3.52, Z:-2.89 [[ 9.92792214e-01 1.19434146e-01 9.95515700e-03 1.03741937e+02] [-1.19429257e-01 9.92842119e-01 -1.08623634e-03 -3.51776392e+00] [-1.00136329e-02 -1.10530020e-04 9.99949856e-01 -2.88942060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08420382199998 meters 0.015179481863771526 Centerline is valid? [True, True] Translation: X:103.80, Y:-3.52, Z:-2.90 [[ 9.93286356e-01 1.15384183e-01 8.28883204e-03 1.03804034e+02] [-1.15380636e-01 9.93320939e-01 -9.06383771e-04 -3.52460632e+00] [-8.33805278e-03 -5.60720829e-05 9.99965236e-01 -2.89658452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.14420382199998 meters 0.013817569856741237 Centerline is valid? [True, True] Translation: X:103.86, Y:-3.54, Z:-2.90 [[ 9.94031680e-01 1.08691664e-01 9.33493556e-03 1.03864048e+02] [-1.08686870e-01 9.94075511e-01 -1.02086400e-03 -3.53990282e+00] [-9.39059025e-03 1.86225823e-07 9.99955907e-01 -2.89752672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.20420382199998 meters 0.012244402339104137 Centerline is valid? [True, True] Translation: X:103.93, Y:-3.55, Z:-2.89 [[ 9.94394137e-01 1.04832791e-01 1.37980868e-02 1.03925049e+02] [-1.04821896e-01 9.94489861e-01 -1.51243676e-03 -3.55206083e+00] [-1.38806104e-02 5.76166221e-05 9.99903658e-01 -2.88719365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26420382199997 meters 0.013515630630080221 Centerline is valid? [True, True] Translation: X:103.99, Y:-3.56, Z:-2.89 [[ 9.94561350e-01 1.03271389e-01 1.35182019e-02 1.03985700e+02] [-1.03260806e-01 9.94653213e-01 -1.48035657e-03 -3.56183650e+00] [-1.35988014e-02 7.64050096e-05 9.99907529e-01 -2.88939732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32420382199997 meters 0.01708710113847072 Centerline is valid? [True, True] Translation: X:104.05, Y:-3.56, Z:-2.89 [[ 9.94751783e-01 1.01561652e-01 1.24145307e-02 1.04047674e+02] [-1.01552577e-01 9.94829243e-01 -1.36084047e-03 -3.56459576e+00] [-1.24885474e-02 9.29709001e-05 9.99922011e-01 -2.89465015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38420382199998 meters 0.014879374470741726 Centerline is valid? [True, True] Translation: X:104.11, Y:-3.57, Z:-2.90 [[ 9.94769767e-01 1.01486409e-01 1.15593564e-02 1.04109169e+02] [-1.01478516e-01 9.94836922e-01 -1.26881780e-03 -3.57318292e+00] [-1.16284423e-02 8.91552571e-05 9.99932383e-01 -2.89787603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44420382199998 meters 0.016776339149639833 Centerline is valid? [True, True] Translation: X:104.17, Y:-3.58, Z:-2.90 [[ 9.94852911e-01 1.00729754e-01 1.10092260e-02 1.04169551e+02] [-1.00722513e-01 9.94913819e-01 -1.21159496e-03 -3.58297241e+00] [-1.10752747e-02 9.64818553e-05 9.99938663e-01 -2.90256111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.50420382199998 meters 0.020003675443096468 Centerline is valid? [True, True] Translation: X:104.23, Y:-3.60, Z:-2.91 [[ 9.95146944e-01 9.80815000e-02 7.91069405e-03 1.04229808e+02] [-9.80776662e-02 9.95178381e-01 -8.72061592e-04 -3.59650434e+00] [-7.95808481e-03 9.19670179e-05 9.99968330e-01 -2.90928055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.56420382199998 meters 0.021533685782726585 Centerline is valid? [True, True] Translation: X:104.29, Y:-3.61, Z:-2.91 [[ 9.95361081e-01 9.58166586e-02 8.68831787e-03 1.04291680e+02] [-9.58119711e-02 9.95398992e-01 -9.55112273e-04 -3.60605359e+00] [-8.73985852e-03 1.18236724e-04 9.99961800e-01 -2.91092147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62420382199998 meters 0.02475859193091106 Centerline is valid? [True, True] Translation: X:104.35, Y:-3.62, Z:-2.91 [[ 9.95611398e-01 9.30919433e-02 9.58302961e-03 1.04351803e+02] [-9.30860790e-02 9.95657504e-01 -1.05714893e-03 -3.61934024e+00] [-9.63982739e-03 1.60462871e-04 9.99953523e-01 -2.91303858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68420382199997 meters 0.019101058748043135 Centerline is valid? [True, True] Translation: X:104.41, Y:-3.63, Z:-2.90 [[ 9.95222758e-01 9.67390273e-02 1.31614414e-02 1.04412406e+02] [-9.67282390e-02 9.95309766e-01 -1.45530236e-03 -3.62557471e+00] [-1.32404957e-02 1.75266979e-04 9.99912325e-01 -2.90440551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74420382199997 meters 0.013672276877975186 Centerline is valid? [True, True] Translation: X:104.48, Y:-3.62, Z:-2.91 [[ 9.94502274e-01 1.04000106e-01 1.22149439e-02 1.04475917e+02] [-1.03991370e-01 9.94577283e-01 -1.34992831e-03 -3.62140284e+00] [-1.22890984e-02 7.22580327e-05 9.99924484e-01 -2.90618607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.80420382199998 meters 0.014008421894957388 Centerline is valid? [True, True] Translation: X:104.54, Y:-3.61, Z:-2.92 [[ 9.93176428e-01 1.16102698e-01 1.09884598e-02 1.04538536e+02] [-1.16096382e-01 9.93237212e-01 -1.21313685e-03 -3.60535747e+00] [-1.10549957e-02 -7.08615095e-05 9.99938889e-01 -2.91501178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.86420382199998 meters 0.01667892355525957 Centerline is valid? [True, True] Translation: X:104.60, Y:-3.60, Z:-2.91 [[ 9.92454847e-01 1.21919078e-01 1.30044139e-02 1.04601165e+02] [-1.21910693e-01 9.92540031e-01 -1.43852524e-03 -3.60325707e+00] [-1.30827850e-02 -1.57705765e-04 9.99914404e-01 -2.91185593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.92420382199998 meters 0.018417029023469703 Centerline is valid? [True, True] Translation: X:104.66, Y:-3.61, Z:-2.92 [[ 9.92403307e-01 1.22500762e-01 1.13683811e-02 1.04662625e+02] [-1.22494361e-01 9.92468409e-01 -1.26029482e-03 -3.60505807e+00] [-1.14371462e-02 -1.41841841e-04 9.99934584e-01 -2.91833531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98420382199998 meters 0.015592696818431775 Centerline is valid? [True, True] Translation: X:104.72, Y:-3.62, Z:-2.92 [[ 9.92776268e-01 1.19501267e-01 1.07111344e-02 1.04723893e+02] [-1.19495417e-01 9.92834043e-01 -1.18681095e-03 -3.61778270e+00] [-1.07762043e-02 -1.01693728e-04 9.99941930e-01 -2.92092911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04420382199997 meters 0.013420773857571146 Centerline is valid? [True, True] Translation: X:104.78, Y:-3.63, Z:-2.92 [[ 9.93430838e-01 1.14015479e-01 9.77964029e-03 1.04784966e+02] [-1.14010324e-01 9.93478973e-01 -1.08479809e-03 -3.63285687e+00] [-9.83955076e-03 -3.73080870e-05 9.99951590e-01 -2.92393701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10420382199997 meters 0.013291292207348763 Centerline is valid? [True, True] Translation: X:104.85, Y:-3.64, Z:-2.93 [[ 9.93734798e-01 1.11380491e-01 9.24862286e-03 1.04847194e+02] [-1.11375760e-01 9.93777835e-01 -1.02668210e-03 -3.64176087e+00] [-9.30542877e-03 -9.82267030e-06 9.99956704e-01 -2.92713006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16420382199998 meters 0.01334183002200817 Centerline is valid? [True, True] Translation: X:104.91, Y:-3.65, Z:-2.93 [[ 9.93766946e-01 1.10886416e-01 1.14656153e-02 1.04907256e+02] [-1.10879063e-01 9.93833086e-01 -1.27699626e-03 -3.65170819e+00] [-1.15365094e-02 -2.26000329e-06 9.99933452e-01 -2.92828605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.22420382199998 meters 0.013225631895665642 Centerline is valid? [True, True] Translation: X:104.97, Y:-3.66, Z:-2.93 [[ 9.93760394e-01 1.10867675e-01 1.21917459e-02 1.04968233e+02] [-1.10859330e-01 9.93835177e-01 -1.36020777e-03 -3.65637265e+00] [-1.22673890e-02 1.51821141e-07 9.99924753e-01 -2.93012394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.28420382199998 meters 0.012399527925306967 Centerline is valid? [True, True] Translation: X:105.03, Y:-3.66, Z:-2.93 [[ 9.93781643e-01 1.10679259e-01 1.21716157e-02 1.05030937e+02] [-1.10670915e-01 9.93856178e-01 -1.35899082e-03 -3.66144820e+00] [-1.22472475e-02 3.49628174e-06 9.99925000e-01 -2.92905620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34420382199998 meters 0.01297985278128661 Centerline is valid? [True, True] Translation: X:105.09, Y:-3.66, Z:-2.93 [[ 9.93756781e-01 1.11041462e-01 1.08283584e-02 1.05092977e+02] [-1.11034859e-01 9.93815775e-01 -1.21091238e-03 -3.66309074e+00] [-1.08958548e-02 1.02714073e-06 9.99940638e-01 -2.93263137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40420382199997 meters 0.012858513257782088 Centerline is valid? [True, True] Translation: X:105.15, Y:-3.67, Z:-2.93 [[ 9.93791360e-01 1.10786728e-01 1.02485790e-02 1.05154314e+02] [-1.10780786e-01 9.93844203e-01 -1.14744770e-03 -3.67022795e+00] [-1.03126128e-02 4.97797631e-06 9.99946824e-01 -2.93274022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46420382199997 meters 0.013963576428484118 Centerline is valid? [True, True] Translation: X:105.21, Y:-3.68, Z:-2.93 [[ 9.94264352e-01 1.06182901e-01 1.27902222e-02 1.05214696e+02] [-1.06173218e-01 9.94346613e-01 -1.43564139e-03 -3.68041584e+00] [-1.28703547e-02 6.94280137e-05 9.99917171e-01 -2.93120957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52420382199998 meters 0.017795089254660414 Centerline is valid? [True, True] Translation: X:105.28, Y:-3.69, Z:-2.93 [[ 9.94823398e-01 1.00766128e-01 1.31375319e-02 1.05275880e+02] [-1.00755413e-01 9.94910130e-01 -1.47660864e-03 -3.69232980e+00] [-1.32194557e-02 1.45287373e-04 9.99912609e-01 -2.93253111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.58420382199998 meters 0.0245231750341157 Centerline is valid? [True, True] Translation: X:105.34, Y:-3.71, Z:-2.94 [[ 9.95530407e-01 9.37834569e-02 1.11297673e-02 1.05335182e+02] [-9.37752890e-02 9.95592598e-01 -1.25463850e-03 -3.71083285e+00] [-1.11983783e-02 2.05333633e-04 9.99937275e-01 -2.93878176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.64420382199998 meters 0.029123424986107354 Centerline is valid? [True, True] Translation: X:105.39, Y:-3.72, Z:-2.94 [[ 9.95852341e-01 9.04206751e-02 1.01101981e-02 1.05394034e+02] [-9.04137575e-02 9.95903636e-01 -1.14014134e-03 -3.72453952e+00] [-1.01718754e-02 2.21311420e-04 9.99948241e-01 -2.94360879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.70420382199998 meters 0.030802329819127037 Centerline is valid? [True, True] Translation: X:105.45, Y:-3.73, Z:-2.95 [[ 9.95916443e-01 8.96865748e-02 1.03323148e-02 1.05454478e+02] [-8.96793242e-02 9.95970012e-01 -1.16385521e-03 -3.73349348e+00] [-1.03950579e-02 2.32507533e-04 9.99945943e-01 -2.94521584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76420382199997 meters 0.027639832962746767 Centerline is valid? [True, True] Translation: X:105.52, Y:-3.74, Z:-2.95 [[ 9.95716052e-01 9.21432573e-02 7.69181232e-03 1.05517358e+02] [-9.21393293e-02 9.95745749e-01 -8.64245743e-04 -3.73927864e+00] [-7.73872384e-03 1.51824932e-04 9.99970044e-01 -2.94872856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82420382199997 meters 0.023089492629492996 Centerline is valid? [True, True] Translation: X:105.58, Y:-3.74, Z:-2.95 [[ 9.95462661e-01 9.48844368e-02 7.14376926e-03 1.05580291e+02] [-9.48810915e-02 9.95488286e-01 -8.06514167e-04 -3.74077062e+00] [-7.18806426e-03 1.25046115e-04 9.99974158e-01 -2.94791698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88420382199998 meters 0.018263681120707316 Centerline is valid? [True, True] Translation: X:105.64, Y:-3.73, Z:-2.95 [[ 9.94843992e-01 1.01057152e-01 8.53720028e-03 1.05640804e+02] [-1.01052580e-01 9.94880617e-01 -9.66315314e-04 -3.73408040e+00] [-8.59114816e-03 9.86268718e-05 9.99963091e-01 -2.94874796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94420382199998 meters 0.016044100593006712 Centerline is valid? [True, True] Translation: X:105.70, Y:-3.74, Z:-2.95 [[ 9.94375328e-01 1.05529008e-01 9.01860424e-03 1.05701946e+02] [-1.05524112e-01 9.94416223e-01 -1.01843039e-03 -3.73595330e+00] [-9.07572032e-03 6.10218503e-05 9.99958813e-01 -2.95054739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.00420382199998 meters 0.013801460538835884 Centerline is valid? [True, True] Translation: X:105.76, Y:-3.74, Z:-2.95 [[ 9.94028549e-01 1.08644551e-01 1.01786584e-02 1.05764627e+02] [-1.08638476e-01 9.94080661e-01 -1.14949595e-03 -3.73617719e+00] [-1.02432939e-02 3.68378505e-05 9.99947535e-01 -2.94935680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.06420382199998 meters 0.012359842140277025 Centerline is valid? [True, True] Translation: X:105.83, Y:-3.73, Z:-2.95 [[ 9.93255157e-01 1.15350593e-01 1.17657725e-02 1.05827604e+02] [-1.15342912e-01 9.93324841e-01 -1.33154352e-03 -3.73129429e+00] [-1.18408284e-02 -3.45359876e-05 9.99929894e-01 -2.94890936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12420382199998 meters 0.01622032775559409 Centerline is valid? [True, True] Translation: X:105.89, Y:-3.72, Z:-2.96 [[ 9.92757131e-01 1.19671935e-01 1.05786105e-02 1.05889102e+02] [-1.19665941e-01 9.92813488e-01 -1.20007682e-03 -3.72472259e+00] [-1.06462027e-02 -7.45145558e-05 9.99943325e-01 -2.95878374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18420382199997 meters 0.016339966025505175 Centerline is valid? [True, True] Translation: X:105.95, Y:-3.73, Z:-2.96 [[ 9.92838716e-01 1.19187494e-01 8.10098832e-03 1.05951252e+02] [-1.19183975e-01 9.92871763e-01 -9.17546717e-04 -3.72840206e+00] [-8.15260266e-03 -5.45320830e-05 9.99966765e-01 -2.96422108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24420382199997 meters 0.014517133748194017 Centerline is valid? [True, True] Translation: X:106.01, Y:-3.74, Z:-2.96 [[ 9.93177611e-01 1.16392299e-01 7.14597195e-03 1.06013741e+02] [-1.16389490e-01 9.93203318e-01 -8.09244245e-04 -3.74055801e+00] [-7.19159285e-03 -2.79927609e-05 9.99974140e-01 -2.96415194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.30420382199998 meters 0.014228636218070596 Centerline is valid? [True, True] Translation: X:106.07, Y:-3.75, Z:-2.96 [[ 9.93533329e-01 1.13277905e-01 7.72276179e-03 1.06074826e+02] [-1.13274510e-01 9.93563343e-01 -8.77038214e-04 -3.75291986e+00] [-7.77240207e-03 -3.42535821e-06 9.99969794e-01 -2.96320803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.36420382199998 meters 0.014579907629080891 Centerline is valid? [True, True] Translation: X:106.14, Y:-3.76, Z:-2.97 [[ 9.93594193e-01 1.12771264e-01 7.29527756e-03 1.06136520e+02] [-1.12768213e-01 9.93620975e-01 -8.29466383e-04 -3.75830553e+00] [-7.34228078e-03 1.47756434e-06 9.99973045e-01 -2.96590081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.42420382199998 meters 0.013730116703307116 Centerline is valid? [True, True] Translation: X:106.20, Y:-3.76, Z:-2.97 [[ 9.93558003e-01 1.12944422e-01 9.27643047e-03 1.06198937e+02] [-1.12939470e-01 9.93601307e-01 -1.05759529e-03 -3.76163623e+00] [-9.33652293e-03 3.10712845e-06 9.99956414e-01 -2.96539534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48420382199998 meters 0.013340144083255888 Centerline is valid? [True, True] Translation: X:106.26, Y:-3.77, Z:-2.97 [[ 9.93691211e-01 1.11686111e-01 1.01974890e-02 1.06260925e+02] [-1.11680039e-01 9.93743534e-01 -1.16475658e-03 -3.76617717e+00] [-1.02637759e-02 1.85524125e-05 9.99947326e-01 -2.96544667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54420382199997 meters 0.014942523311124004 Centerline is valid? [True, True] Translation: X:106.32, Y:-3.78, Z:-2.97 [[ 9.94002510e-01 1.09006626e-01 8.75016789e-03 1.06321766e+02] [-1.09002045e-01 9.94041022e-01 -1.00022091e-03 -3.77749137e+00] [-8.80705654e-03 4.04359032e-05 9.99961216e-01 -2.96988862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60420382199997 meters 0.01901088133060261 Centerline is valid? [True, True] Translation: X:106.38, Y:-3.79, Z:-2.97 [[ 9.94506078e-01 1.04215379e-01 9.83946598e-03 1.06381524e+02] [-1.04209326e-01 9.94554747e-01 -1.12728231e-03 -3.79198890e+00] [-9.90336775e-03 9.57249931e-05 9.99950956e-01 -2.97225651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66420382199998 meters 0.023457210591429457 Centerline is valid? [True, True] Translation: X:106.44, Y:-3.81, Z:-2.97 [[ 9.95117648e-01 9.81790833e-02 1.00863638e-02 1.06441765e+02] [-9.81723740e-02 9.95168750e-01 -1.15935432e-03 -3.81196225e+00] [-1.01514584e-02 1.63491665e-04 9.99948459e-01 -2.97142654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.72420382199998 meters 0.0290447596443514 Centerline is valid? [True, True] Translation: X:106.50, Y:-3.83, Z:-2.98 [[ 9.95587428e-01 9.33145655e-02 9.90278439e-03 1.06500308e+02] [-9.33078462e-02 9.95636654e-01 -1.13940003e-03 -3.82868265e+00] [-9.96589774e-03 2.10364863e-04 9.99950317e-01 -2.97580640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.78420382199998 meters 0.030583788087513303 Centerline is valid? [True, True] Translation: X:106.56, Y:-3.84, Z:-2.98 [[ 9.95647391e-01 9.26976440e-02 9.66536931e-03 1.06560248e+02] [-9.26912350e-02 9.95694282e-01 -1.10991124e-03 -3.83841142e+00] [-9.72663911e-03 2.09185216e-04 9.99952673e-01 -2.97772254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84420382199998 meters 0.026856744705028336 Centerline is valid? [True, True] Translation: X:106.62, Y:-3.84, Z:-2.98 [[ 9.95454513e-01 9.47523340e-02 9.60767170e-03 1.06622428e+02] [-9.47460926e-02 9.95500859e-01 -1.10373233e-03 -3.84421465e+00] [-9.66902664e-03 1.88425975e-04 9.99953236e-01 -2.97817548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90420382199997 meters 0.022703213916047384 Centerline is valid? [True, True] Translation: X:106.68, Y:-3.85, Z:-2.97 [[ 9.95056310e-01 9.86027339e-02 1.18507369e-02 1.06682350e+02] [-9.85934378e-02 9.95126858e-01 -1.36754024e-03 -3.85330454e+00] [-1.19278298e-02 1.92374652e-04 9.99928842e-01 -2.97431808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96420382199997 meters 0.019507830710988248 Centerline is valid? [True, True] Translation: X:106.74, Y:-3.86, Z:-2.98 [[ 9.94629980e-01 1.02942865e-01 1.06756695e-02 1.06743461e+02] [-1.02935602e-01 9.94687263e-01 -1.22909988e-03 -3.85502557e+00] [-1.07454796e-02 1.23593128e-04 9.99942258e-01 -2.97964396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02420382199998 meters 0.017438179517628483 Centerline is valid? [True, True] Translation: X:106.80, Y:-3.86, Z:-2.98 [[ 9.94311700e-01 1.05955662e-01 1.08462571e-02 1.06804373e+02] [-1.05948312e-01 9.94370851e-01 -1.25161750e-03 -3.86290345e+00] [-1.09178179e-02 9.53552870e-05 9.99940394e-01 -2.98230193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08420382199998 meters 0.014806190037968146 Centerline is valid? [True, True] Translation: X:106.87, Y:-3.87, Z:-2.99 [[ 9.93651938e-01 1.12116811e-01 9.25459114e-03 1.06866345e+02] [-1.12111735e-01 9.93695034e-01 -1.06707830e-03 -3.86963978e+00] [-9.31587867e-03 2.27561474e-05 9.99956606e-01 -2.98680373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.14420382199998 meters 0.013482164543675764 Centerline is valid? [True, True] Translation: X:106.93, Y:-3.87, Z:-2.99 [[ 9.92689264e-01 1.20379488e-01 8.76381429e-03 1.06929425e+02] [-1.20375250e-01 9.92727947e-01 -1.01140213e-03 -3.86952796e+00] [-8.82183543e-03 -5.09383003e-05 9.99961086e-01 -2.98503801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.20420382199998 meters 0.01891082628157228 Centerline is valid? [True, True] Translation: X:106.99, Y:-3.87, Z:-2.99 [[ 9.91938334e-01 1.26385990e-01 9.21536284e-03 1.06990790e+02] [-1.26381542e-01 9.91981134e-01 -1.06572122e-03 -3.87047142e+00] [-9.27615831e-03 -1.07522036e-04 9.99956970e-01 -2.99141449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26420382199997 meters 0.028123214531684745 Centerline is valid? [True, True] Translation: X:107.05, Y:-3.87, Z:-2.99 [[ 9.90690963e-01 1.35840397e-01 8.87710401e-03 1.07051928e+02] [-1.35836609e-01 9.90730717e-01 -1.03100962e-03 -3.86906078e+00] [-8.93487237e-03 -1.84423797e-04 9.99960066e-01 -2.99332509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32420382199997 meters 0.03276368816798239 Centerline is valid? [True, True] Translation: X:107.11, Y:-3.87, Z:-2.99 [[ 9.89711819e-01 1.42821434e-01 8.51784797e-03 1.07113223e+02] [-1.42818204e-01 9.89748444e-01 -9.89336732e-04 -3.86817080e+00] [-8.57182526e-03 -2.37345496e-04 9.99963233e-01 -2.99347694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38420382199998 meters 0.04377015451804039 Centerline is valid? [True, True] Translation: X:107.17, Y:-3.86, Z:-3.00 [[ 9.88869193e-01 1.48594795e-01 7.57010239e-03 1.07174517e+02] [-1.48592411e-01 9.88898135e-01 -8.79523540e-04 -3.85769542e+00] [-7.61675276e-03 -2.55126034e-04 9.99970960e-01 -3.00212347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44420382199998 meters 0.04897641876684853 Centerline is valid? [True, True] Translation: X:107.23, Y:-3.86, Z:-3.00 [[ 9.88319757e-01 1.52123158e-01 9.08861755e-03 1.07234868e+02] [-1.52119873e-01 9.88361487e-01 -1.05568407e-03 -3.85782543e+00] [-9.14343355e-03 -3.39205927e-04 9.99958140e-01 -3.00077919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.50420382199998 meters 0.0346581416987456 Centerline is valid? [True, True] Translation: X:107.29, Y:-3.88, Z:-3.00 [[ 9.89268941e-01 1.45767917e-01 9.93358129e-03 1.07293374e+02] [-1.45763672e-01 9.89318766e-01 -1.15383151e-03 -3.87988482e+00] [-9.99566999e-03 -3.06505611e-04 9.99949995e-01 -2.99621353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.56420382199998 meters 0.024836464611104513 Centerline is valid? [True, True] Translation: X:107.35, Y:-3.90, Z:-3.00 [[ 9.90503124e-01 1.37249954e-01 8.12475798e-03 1.07352114e+02] [-1.37246829e-01 9.90536429e-01 -9.43626461e-04 -3.89816708e+00] [-8.17738145e-03 -1.80432310e-04 9.99966548e-01 -3.00012945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62420382199998 meters 0.016808432846112605 Centerline is valid? [True, True] Translation: X:107.41, Y:-3.92, Z:-3.01 [[ 9.92344928e-01 1.23351608e-01 5.99364318e-03 1.07408831e+02] [-1.23349651e-01 9.92363028e-01 -6.96508585e-04 -3.92269973e+00] [-6.03378534e-03 -4.81370312e-05 9.99981795e-01 -3.00819356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68420382199997 meters 0.015644857652874822 Centerline is valid? [True, True] Translation: X:107.47, Y:-3.94, Z:-3.01 [[ 9.93678924e-01 1.12144935e-01 5.07045971e-03 1.07468789e+02] [-1.12143397e-01 9.93691860e-01 -5.87448096e-04 -3.94408852e+00] [-5.10435387e-03 1.51162135e-05 9.99986973e-01 -3.01019455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74420382199997 meters 0.019042809028671875 Centerline is valid? [True, True] Translation: X:107.53, Y:-3.96, Z:-3.01 [[ 9.94198588e-01 1.07415068e-01 5.58306825e-03 1.07527911e+02] [-1.07413139e-01 9.94214263e-01 -6.45067175e-04 -3.96063724e+00] [-5.62005602e-03 4.16299890e-05 9.99984206e-01 -3.01420054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.80420382199998 meters 0.020402880054928792 Centerline is valid? [True, True] Translation: X:107.59, Y:-3.97, Z:-3.01 [[ 9.94745162e-01 1.02000274e-01 8.83210330e-03 1.07589275e+02] [-1.01995199e-01 9.94784364e-01 -1.02429986e-03 -3.97455755e+00] [-8.89051713e-03 1.18085201e-04 9.99960472e-01 -3.00725343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.86420382199998 meters 0.02252196102980448 Centerline is valid? [True, True] Translation: X:107.65, Y:-3.99, Z:-3.01 [[ 9.94887694e-01 1.00670027e-01 8.00137735e-03 1.07649239e+02] [-1.00665797e-01 9.94919862e-01 -9.30639531e-04 -3.98514164e+00] [-8.05441676e-03 1.20416789e-04 9.99967555e-01 -3.01157256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.92420382199998 meters 0.02070746674637036 Centerline is valid? [True, True] Translation: X:107.71, Y:-3.99, Z:-3.01 [[ 9.94631497e-01 1.03128360e-01 8.52800763e-03 1.07710872e+02] [-1.03123652e-01 9.94668050e-01 -9.91177858e-04 -3.99143729e+00] [-8.58475527e-03 1.06417428e-04 9.99963145e-01 -3.01108995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98420382199998 meters 0.014480079684804595 Centerline is valid? [True, True] Translation: X:107.77, Y:-3.98, Z:-3.01 [[ 9.93644604e-01 1.12135648e-01 9.79787753e-03 1.07773547e+02] [-1.12129819e-01 9.93692908e-01 -1.14398572e-03 -3.97819105e+00] [-9.86436300e-03 3.80810017e-05 9.99951345e-01 -3.01089969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04420382199997 meters 0.01330773714450883 Centerline is valid? [True, True] Translation: X:107.84, Y:-3.97, Z:-3.01 [[ 9.92676263e-01 1.20217236e-01 1.19017865e-02 1.07836521e+02] [-1.20209239e-01 9.92747608e-01 -1.38767963e-03 -3.97068224e+00] [-1.19822931e-02 -5.31880741e-05 9.99928208e-01 -3.01046561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10420382199997 meters 0.014220207327589504 Centerline is valid? [True, True] Translation: X:107.90, Y:-3.97, Z:-3.01 [[ 9.92293848e-01 1.23301137e-01 1.22371884e-02 1.07898856e+02] [-1.23292890e-01 9.92369297e-01 -1.42892965e-03 -3.97047633e+00] [-1.23199987e-02 -9.08402225e-05 9.99924102e-01 -3.01112353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16420382199998 meters 0.017098098524210757 Centerline is valid? [True, True] Translation: X:107.96, Y:-3.97, Z:-3.02 [[ 9.92085875e-01 1.25194010e-01 9.59564578e-03 1.07959891e+02] [-1.25189006e-01 9.92132276e-01 -1.12273236e-03 -3.97226137e+00] [-9.66070925e-03 -8.74224412e-05 9.99953330e-01 -3.01992761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.22420382199998 meters 0.015244611997304439 Centerline is valid? [True, True] Translation: X:108.02, Y:-3.98, Z:-3.02 [[ 9.91976993e-01 1.26062864e-01 9.47630564e-03 1.08021611e+02] [-1.26058035e-01 9.92022250e-01 -1.10759465e-03 -3.98251456e+00] [-9.54033260e-03 -9.58560562e-05 9.99954485e-01 -3.01692864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.28420382199998 meters 0.018096271753964527 Centerline is valid? [True, True] Translation: X:108.08, Y:-3.98, Z:-3.02 [[ 9.91914500e-01 1.26564818e-01 9.32583615e-03 1.08083095e+02] [-1.26560133e-01 9.91958335e-01 -1.09315982e-03 -3.98497362e+00] [-9.38919647e-03 -9.59579895e-05 9.99955916e-01 -3.02467047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34420382199998 meters 0.015583280583941978 Centerline is valid? [True, True] Translation: X:108.14, Y:-4.00, Z:-3.03 [[ 9.92402757e-01 1.22654708e-01 9.62241160e-03 1.08144291e+02] [-1.22649519e-01 9.92449404e-01 -1.12971527e-03 -4.00128488e+00] [-9.68832156e-03 -5.90516027e-05 9.99953065e-01 -3.02612856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40420382199997 meters 0.014020463273065095 Centerline is valid? [True, True] Translation: X:108.21, Y:-4.02, Z:-3.03 [[ 9.92882122e-01 1.18689212e-01 9.89757277e-03 1.08205256e+02] [-1.18683539e-01 9.92931453e-01 -1.16066747e-03 -4.01841933e+00] [-9.96537002e-03 -2.22729785e-05 9.99950344e-01 -3.02704407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46420382199997 meters 0.013617359955453632 Centerline is valid? [True, True] Translation: X:108.27, Y:-4.04, Z:-3.03 [[ 9.93331568e-01 1.14876641e-01 9.78535515e-03 1.08266655e+02] [-1.14870902e-01 9.93379765e-01 -1.14841933e-03 -4.03645684e+00] [-9.85250035e-03 1.67086015e-05 9.99951463e-01 -3.02674646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52420382199998 meters 0.013826771984433455 Centerline is valid? [True, True] Translation: X:108.33, Y:-4.05, Z:-3.03 [[ 9.93164922e-01 1.16396773e-01 8.67348088e-03 1.08327395e+02] [-1.16392307e-01 9.93202795e-01 -1.01969389e-03 -4.04791785e+00] [-8.73321452e-03 3.19775495e-06 9.99961865e-01 -3.02879131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58420382199998 meters 0.013930976868042805 Centerline is valid? [True, True] Translation: X:108.39, Y:-4.05, Z:-3.03 [[ 9.92372284e-01 1.22830663e-01 1.04822727e-02 1.08389834e+02] [-1.22824473e-01 9.92427642e-01 -1.23474260e-03 -4.05085058e+00] [-1.05545615e-02 -6.21552943e-05 9.99944297e-01 -3.02655462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.64420382199998 meters 0.016712132781258923 Centerline is valid? [True, True] Translation: X:108.45, Y:-4.05, Z:-3.03 [[ 9.91710156e-01 1.28060569e-01 1.05573571e-02 1.08451818e+02] [-1.28054551e-01 9.91766342e-01 -1.24690961e-03 -4.05252277e+00] [-1.06301113e-02 -1.15344691e-04 9.99943492e-01 -3.02712046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.70420382199998 meters 0.025110481050541526 Centerline is valid? [True, True] Translation: X:108.51, Y:-4.04, Z:-3.03 [[ 9.90595917e-01 1.36290750e-01 1.20233212e-02 1.08513069e+02] [-1.36283515e-01 9.90668854e-01 -1.42289898e-03 -4.04361016e+00] [-1.21050578e-02 -2.29062559e-04 9.99926705e-01 -3.03068407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76420382199997 meters 0.028538775565751767 Centerline is valid? [True, True] Translation: X:108.57, Y:-4.05, Z:-3.03 [[ 9.89881749e-01 1.41524467e-01 1.02444155e-02 1.08574129e+02] [-1.41519496e-01 9.89934727e-01 -1.21215575e-03 -4.04732985e+00] [-1.03128524e-02 -2.49893671e-04 9.99946790e-01 -3.03201035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82420382199997 meters 0.03490802700202429 Centerline is valid? [True, True] Translation: X:108.64, Y:-4.04, Z:-3.04 [[ 9.89349121e-01 1.45249370e-01 9.53614555e-03 1.08635185e+02] [-1.45245235e-01 9.89395042e-01 -1.12844067e-03 -4.04353295e+00] [-9.59892042e-03 -2.68657918e-04 9.99953893e-01 -3.03636627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88420382199998 meters 0.033649249125764655 Centerline is valid? [True, True] Translation: X:108.70, Y:-4.05, Z:-3.03 [[ 9.89235567e-01 1.45830649e-01 1.21002169e-02 1.08697906e+02] [-1.45824042e-01 9.89309507e-01 -1.43130978e-03 -4.04800127e+00] [-1.21795884e-02 -3.48599990e-04 9.99925765e-01 -3.03212828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.94420382199998 meters 0.026781232252208586 Centerline is valid? [True, True] Translation: X:108.76, Y:-4.06, Z:-3.03 [[ 9.90070510e-01 1.40127781e-01 1.11619520e-02 1.08757770e+02] [-1.40121781e-01 9.90133395e-01 -1.32166420e-03 -4.06109122e+00] [-1.12370233e-02 -2.55491848e-04 9.99936830e-01 -3.03498665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.00420382199998 meters 0.019334215918586306 Centerline is valid? [True, True] Translation: X:108.82, Y:-4.08, Z:-3.03 [[ 9.90972843e-01 1.33473798e-01 1.25526842e-02 1.08817143e+02] [-1.33465674e-01 9.91052322e-01 -1.48644976e-03 -4.07622193e+00] [-1.26387689e-02 -2.02321122e-04 9.99920107e-01 -3.03475666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.06420382199998 meters 0.013008609957549565 Centerline is valid? [True, True] Translation: X:108.88, Y:-4.10, Z:-3.04 [[ 9.92307437e-01 1.23193682e-01 1.22175033e-02 1.08875200e+02] [-1.23185203e-01 9.92382644e-01 -1.44702723e-03 -4.09654112e+00] [-1.23027029e-02 -6.91197467e-05 9.99924316e-01 -3.03766108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12420382199997 meters 0.01242019778494472 Centerline is valid? [True, True] Translation: X:108.94, Y:-4.12, Z:-3.04 [[ 9.93271903e-01 1.15092645e-01 1.28300629e-02 1.08935116e+02] [-1.15082648e-01 9.93354761e-01 -1.51725332e-03 -4.11719900e+00] [-1.29194288e-02 3.05274790e-05 9.99916540e-01 -3.03743774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18420382199997 meters 0.015035961917666384 Centerline is valid? [True, True] Translation: X:109.00, Y:-4.13, Z:-3.04 [[ 9.93830190e-01 1.10165028e-01 1.28538355e-02 1.08995435e+02] [-1.10154553e-01 9.93913305e-01 -1.52223188e-03 -4.13241437e+00] [-1.29432949e-02 9.69314860e-05 9.99916227e-01 -3.04030225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24420382199997 meters 0.016106985310784652 Centerline is valid? [True, True] Translation: X:109.06, Y:-4.14, Z:-3.04 [[ 9.93933842e-01 1.09250182e-01 1.26457893e-02 1.09055879e+02] [-1.09239941e-01 9.94014278e-01 -1.49988690e-03 -4.14331775e+00] [-1.27339581e-02 1.09363075e-04 9.99918914e-01 -3.04334818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.30420382199998 meters 0.016431108205305443 Centerline is valid? [True, True] Translation: X:109.12, Y:-4.15, Z:-3.05 [[ 9.93811798e-01 1.10535162e-01 1.09584355e-02 1.09115603e+02] [-1.10527537e-01 9.93872211e-01 -1.30090397e-03 -4.15413853e+00] [-1.10350801e-02 8.16448250e-05 9.99939108e-01 -3.04854670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.36420382199998 meters 0.014342338543107928 Centerline is valid? [True, True] Translation: X:109.18, Y:-4.16, Z:-3.05 [[ 9.93010807e-01 1.17672720e-01 9.09217208e-03 1.09177757e+02] [-1.17667768e-01 9.93052431e-01 -1.07961060e-03 -4.15622407e+00] [-9.15604431e-03 2.20939833e-06 9.99958083e-01 -3.05414437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.42420382199998 meters 0.01679422659972281 Centerline is valid? [True, True] Translation: X:109.24, Y:-4.15, Z:-3.05 [[ 9.91649754e-01 1.28604726e-01 9.57030475e-03 1.09241128e+02] [-1.28599727e-01 9.91695928e-01 -1.13845943e-03 -4.14981690e+00] [-9.63724352e-03 -1.01785562e-04 9.99953556e-01 -3.05241249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48420382199998 meters 0.024805596110846526 Centerline is valid? [True, True] Translation: X:109.30, Y:-4.14, Z:-3.05 [[ 9.90418349e-01 1.37678161e-01 1.07804666e-02 1.09302316e+02] [-1.37672306e-01 9.90476996e-01 -1.28690820e-03 -4.14478687e+00] [-1.08549833e-02 -2.09594195e-04 9.99941061e-01 -3.05247396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54420382199997 meters 0.03639315252579581 Centerline is valid? [True, True] Translation: X:109.36, Y:-4.13, Z:-3.05 [[ 9.88602816e-01 1.50161342e-01 1.07723624e-02 1.09364704e+02] [-1.50156221e-01 9.88661445e-01 -1.28729573e-03 -4.13466659e+00] [-1.08435214e-02 -3.44913039e-04 9.99941148e-01 -3.05305559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60420382199997 meters 0.0374225288915066 Centerline is valid? [True, True] Translation: X:109.43, Y:-4.14, Z:-3.05 [[ 9.88276258e-01 1.52199698e-01 1.20536021e-02 1.09427333e+02] [-1.52193466e-01 9.88349676e-01 -1.43796385e-03 -4.13662211e+00] [-1.21320314e-02 -4.13373945e-04 9.99926319e-01 -3.05217183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66420382199998 meters 0.036230980198483365 Centerline is valid? [True, True] Translation: X:109.49, Y:-4.14, Z:-3.06 [[ 9.88694248e-01 1.49529262e-01 1.11662251e-02 1.09486835e+02] [-1.49523696e-01 9.88757239e-01 -1.33633275e-03 -4.14399272e+00] [-1.12405067e-02 -3.48390746e-04 9.99936763e-01 -3.05744479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.72420382199998 meters 0.028713820317660076 Centerline is valid? [True, True] Translation: X:109.54, Y:-4.16, Z:-3.06 [[ 9.89893299e-01 1.41265122e-01 1.24668447e-02 1.09544570e+02] [-1.41257521e-01 9.89971760e-01 -1.49256653e-03 -4.16180243e+00] [-1.25526718e-02 -2.83553968e-04 9.99921172e-01 -3.05841557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.78420382199998 meters 0.021516612490127585 Centerline is valid? [True, True] Translation: X:109.60, Y:-4.18, Z:-3.06 [[ 9.90923408e-01 1.33850672e-01 1.24417483e-02 1.09603870e+02] [-1.33842524e-01 9.91001494e-01 -1.48902551e-03 -4.17810874e+00] [-1.25290982e-02 -1.89724762e-04 9.99921490e-01 -3.06127809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84420382199998 meters 0.016298277285494663 Centerline is valid? [True, True] Translation: X:109.66, Y:-4.20, Z:-3.06 [[ 9.91464647e-01 1.29797926e-01 1.22618412e-02 1.09664422e+02] [-1.29789732e-01 9.91540458e-01 -1.46503007e-03 -4.19681980e+00] [-1.23482695e-02 -1.38935574e-04 9.99923748e-01 -3.06043828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90420382199997 meters 0.013807807913147167 Centerline is valid? [True, True] Translation: X:109.73, Y:-4.21, Z:-3.07 [[ 9.92110749e-01 1.24880276e-01 1.10080738e-02 1.09725031e+02] [-1.24873354e-01 9.92171816e-01 -1.31660183e-03 -4.21274557e+00] [-1.10863182e-02 -6.84002795e-05 9.99938543e-01 -3.06511675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96420382199997 meters 0.013203002419005943 Centerline is valid? [True, True] Translation: X:109.78, Y:-4.23, Z:-3.07 [[ 9.92406400e-01 1.22459054e-01 1.15463402e-02 1.09784947e+02] [-1.22451235e-01 9.92473566e-01 -1.38440839e-03 -4.22506741e+00] [-1.16289707e-02 -3.99678615e-05 9.99932380e-01 -3.06708256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02420382199998 meters 0.012603249154034964 Centerline is valid? [True, True] Translation: X:109.85, Y:-4.24, Z:-3.07 [[ 9.92374662e-01 1.22839004e-01 1.01542384e-02 1.09846070e+02] [-1.22832985e-01 9.92426611e-01 -1.21664013e-03 -4.23866720e+00] [-1.02267873e-02 -3.99125803e-05 9.99947704e-01 -3.06583668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08420382199998 meters 0.013733991183212767 Centerline is valid? [True, True] Translation: X:109.91, Y:-4.24, Z:-3.07 [[ 9.92211877e-01 1.24165098e-01 9.93077290e-03 1.09907239e+02] [-1.24159389e-01 9.92261571e-01 -1.19177028e-03 -4.24381772e+00] [-1.00019006e-02 -5.05100673e-05 9.99949978e-01 -3.07166748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.14420382199998 meters 0.016643913118345104 Centerline is valid? [True, True] Translation: X:109.97, Y:-4.24, Z:-3.08 [[ 9.91659565e-01 1.28490049e-01 1.00804085e-02 1.09968123e+02] [-1.28484358e-01 9.91710794e-01 -1.21288593e-03 -4.24445962e+00] [-1.01526936e-02 -9.24048705e-05 9.99948456e-01 -3.07624904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.20420382199998 meters 0.02235294046878365 Centerline is valid? [True, True] Translation: X:110.03, Y:-4.25, Z:-3.07 [[ 9.90875967e-01 1.34398598e-01 1.00913245e-02 1.10030190e+02] [-1.34393185e-01 9.90927340e-01 -1.21569552e-03 -4.24871599e+00] [-1.01631572e-02 -1.51601774e-04 9.99948342e-01 -3.07347151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26420382199997 meters 0.026100035889796737 Centerline is valid? [True, True] Translation: X:110.09, Y:-4.24, Z:-3.07 [[ 9.89923600e-01 1.41241569e-01 1.01037219e-02 1.10092698e+02] [-1.41236489e-01 9.89975136e-01 -1.21813604e-03 -4.24364068e+00] [-1.01744849e-02 -2.21152589e-04 9.99948214e-01 -3.07453538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32420382199997 meters 0.027260014493085825 Centerline is valid? [True, True] Translation: X:110.15, Y:-4.25, Z:-3.08 [[ 9.89555190e-01 1.43876483e-01 8.94889673e-03 1.10153587e+02] [-1.43872606e-01 9.89595629e-01 -1.07879903e-03 -4.24598429e+00] [-9.01100290e-03 -2.19969912e-04 9.99959376e-01 -3.07883853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38420382199998 meters 0.028951376483081742 Centerline is valid? [True, True] Translation: X:110.21, Y:-4.25, Z:-3.08 [[ 9.89799373e-01 1.41911773e-01 1.25797373e-02 1.10212823e+02] [-1.41903945e-01 9.89879270e-01 -1.51721088e-03 -4.25091736e+00] [-1.26677312e-02 -2.83379976e-04 9.99919721e-01 -3.07875994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44420382199998 meters 0.01923601115109253 Centerline is valid? [True, True] Translation: X:110.27, Y:-4.27, Z:-3.08 [[ 9.90872230e-01 1.34283697e-01 1.18369421e-02 1.10271181e+02] [-1.34276206e-01 9.90942914e-01 -1.42888759e-03 -4.27333897e+00] [-1.19216102e-02 -1.73574649e-04 9.99928920e-01 -3.07740181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.50420382199998 meters 0.015067844844704678 Centerline is valid? [True, True] Translation: X:110.33, Y:-4.29, Z:-3.09 [[ 9.91923771e-01 1.26541356e-01 8.63232334e-03 1.10331197e+02] [-1.26537108e-01 9.91961331e-01 -1.03868023e-03 -4.29062236e+00] [-8.69436696e-03 -6.20176170e-05 9.99962201e-01 -3.08736788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.56420382199998 meters 0.013710199805400006 Centerline is valid? [True, True] Translation: X:110.39, Y:-4.31, Z:-3.09 [[ 9.92394789e-01 1.22762882e-01 9.04749167e-03 1.10391520e+02] [-1.22758043e-01 9.92436030e-01 -1.09037665e-03 -4.30694988e+00] [-9.11291449e-03 -2.85682625e-05 9.99958476e-01 -3.08862330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62420382199997 meters 0.01329383161960723 Centerline is valid? [True, True] Translation: X:110.45, Y:-4.32, Z:-3.09 [[ 9.92646641e-01 1.20811184e-01 7.56989668e-03 1.10452528e+02] [-1.20807737e-01 9.92675505e-01 -9.12593847e-04 -4.32237500e+00] [-7.62470255e-03 -8.61887094e-06 9.99970931e-01 -3.08894268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68420382199997 meters 0.013515508225762977 Centerline is valid? [True, True] Translation: X:110.51, Y:-4.33, Z:-3.09 [[ 9.92451154e-01 1.22185211e-01 1.05585017e-02 1.10513392e+02] [-1.22178542e-01 9.92507317e-01 -1.27677777e-03 -4.33093996e+00] [-1.06353936e-02 -2.28827771e-05 9.99943442e-01 -3.09075095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74420382199997 meters 0.013420599498908807 Centerline is valid? [True, True] Translation: X:110.58, Y:-4.34, Z:-3.09 [[ 9.92156404e-01 1.24460912e-01 1.16254775e-02 1.10575342e+02] [-1.24452951e-01 9.92224510e-01 -1.40853906e-03 -4.33761598e+00] [-1.17103918e-02 -4.93339337e-05 9.99931430e-01 -3.09056613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.80420382199998 meters 0.014797962466997277 Centerline is valid? [True, True] Translation: X:110.64, Y:-4.34, Z:-3.09 [[ 9.91639706e-01 1.28491138e-01 1.18625686e-02 1.10636937e+02] [-1.28483114e-01 9.91710652e-01 -1.43922644e-03 -4.34414583e+00] [-1.19491635e-02 -9.69456744e-05 9.99928601e-01 -3.09036580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.86420382199998 meters 0.019748902253009248 Centerline is valid? [True, True] Translation: X:110.70, Y:-4.35, Z:-3.09 [[ 9.90820697e-01 1.34828446e-01 9.77936000e-03 1.10698108e+02] [-1.34823267e-01 9.90868947e-01 -1.18993198e-03 -4.34766990e+00] [-9.85050083e-03 -1.39476032e-04 9.99951473e-01 -3.09384215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.92420382199998 meters 0.024588413124196382 Centerline is valid? [True, True] Translation: X:110.76, Y:-4.35, Z:-3.10 [[ 9.89929642e-01 1.41290389e-01 8.73666241e-03 1.10759550e+02] [-1.41286504e-01 9.89968178e-01 -1.06342579e-03 -4.34626209e+00] [-8.79926961e-03 -1.81655776e-04 9.99961269e-01 -3.09687045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98420382199998 meters 0.027913550417043475 Centerline is valid? [True, True] Translation: X:110.82, Y:-4.35, Z:-3.10 [[ 9.89503660e-01 1.44214566e-01 9.20139631e-03 1.10821074e+02] [-1.44210407e-01 9.89546416e-01 -1.11731255e-03 -4.34938410e+00] [-9.26634148e-03 -2.21352246e-04 9.99957042e-01 -3.09988392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04420382199997 meters 0.030994182267272546 Centerline is valid? [True, True] Translation: X:110.88, Y:-4.35, Z:-3.10 [[ 9.89353809e-01 1.45278607e-01 8.55380521e-03 1.10882135e+02] [-1.45275043e-01 9.89390762e-01 -1.03976356e-03 -4.35418002e+00] [-8.61411126e-03 -2.13960389e-04 9.99962875e-01 -3.10494730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10420382199997 meters 0.028583473289919538 Centerline is valid? [True, True] Translation: X:110.94, Y:-4.36, Z:-3.10 [[ 9.89209894e-01 1.46322189e-01 7.32143878e-03 1.10943684e+02] [-1.46319587e-01 9.89236969e-01 -8.92668569e-04 -4.36340433e+00] [-7.37325513e-03 -1.88233316e-04 9.99972799e-01 -3.10350271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16420382199998 meters 0.030267813534243945 Centerline is valid? [True, True] Translation: X:111.00, Y:-4.37, Z:-3.11 [[ 9.89103438e-01 1.47067517e-01 6.74796001e-03 1.11004177e+02] [-1.47065327e-01 9.89126440e-01 -8.22179964e-04 -4.36731397e+00] [-6.79550163e-03 -1.79169920e-04 9.99976894e-01 -3.10750290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.22420382199998 meters 0.031970617645255946 Centerline is valid? [True, True] Translation: X:111.07, Y:-4.37, Z:-3.11 [[ 9.88958674e-01 1.48010241e-01 7.32871835e-03 1.11066023e+02] [-1.48007689e-01 9.88985808e-01 -8.92298690e-04 -4.36789613e+00] [-7.38006778e-03 -2.02260140e-04 9.99972746e-01 -3.11111415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.28420382199998 meters 0.026654578400646518 Centerline is valid? [True, True] Translation: X:111.13, Y:-4.38, Z:-3.11 [[ 9.89528826e-01 1.44099518e-01 8.24812059e-03 1.11126073e+02] [-1.44096112e-01 9.89563183e-01 -1.00889959e-03 -4.37751992e+00] [-8.30741840e-03 -1.90186883e-04 9.99965475e-01 -3.11024446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34420382199998 meters 0.022194638832519657 Centerline is valid? [True, True] Translation: X:111.19, Y:-4.39, Z:-3.12 [[ 9.90524133e-01 1.37230451e-01 5.45384365e-03 1.11186030e+02] [-1.37228859e-01 9.90539144e-01 -6.66813428e-04 -4.38589676e+00] [-5.49375272e-03 -8.79299485e-05 9.99984905e-01 -3.11760419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40420382199997 meters 0.017871720837595077 Centerline is valid? [True, True] Translation: X:111.25, Y:-4.40, Z:-3.11 [[ 9.91033108e-01 1.33401087e-01 7.58479983e-03 1.11246976e+02] [-1.33397895e-01 9.91062128e-01 -9.27532324e-04 -4.39669423e+00] [-7.64074168e-03 -9.25810901e-05 9.99970805e-01 -3.11357790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46420382199997 meters 0.014521244839920407 Centerline is valid? [True, True] Translation: X:111.31, Y:-4.40, Z:-3.11 [[ 9.91772039e-01 1.27690870e-01 9.12496853e-03 1.11307786e+02] [-1.27686000e-01 9.91814014e-01 -1.11667902e-03 -4.40253895e+00] [-9.19286139e-03 -5.76397019e-05 9.99957743e-01 -3.11259801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52420382199998 meters 0.013209040543577515 Centerline is valid? [True, True] Translation: X:111.37, Y:-4.41, Z:-3.11 [[ 9.92629368e-01 1.20743140e-01 1.03938215e-02 1.11368093e+02] [-1.20736462e-01 9.92683784e-01 -1.26990537e-03 -4.41005212e+00] [-1.04711104e-02 5.63213375e-06 9.99945176e-01 -3.11463805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.58420382199998 meters 0.016685680807322766 Centerline is valid? [True, True] Translation: X:111.43, Y:-4.42, Z:-3.11 [[ 9.93530462e-01 1.12978235e-01 1.15385876e-02 1.11428729e+02] [-1.12969454e-01 9.93597458e-01 -1.41205943e-03 -4.42223865e+00] [-1.16242432e-02 9.94161214e-05 9.99932431e-01 -3.11471526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.64420382199998 meters 0.02084805575096705 Centerline is valid? [True, True] Translation: X:111.49, Y:-4.44, Z:-3.11 [[ 9.94077417e-01 1.07957166e-01 1.24635184e-02 1.11489329e+02] [-1.07946500e-01 9.94155531e-01 -1.52733561e-03 -4.43841906e+00] [-1.25555626e-02 1.72896656e-04 9.99921161e-01 -3.11300422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.70420382199998 meters 0.025993234255557666 Centerline is valid? [True, True] Translation: X:111.55, Y:-4.45, Z:-3.12 [[ 9.94660249e-01 1.02641091e-01 1.07608560e-02 1.11549085e+02] [-1.02632786e-01 9.94718433e-01 -1.32263251e-03 -4.44949321e+00] [-1.08397782e-02 2.11153353e-04 9.99941226e-01 -3.11857764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76420382199997 meters 0.025548397167452646 Centerline is valid? [True, True] Translation: X:111.61, Y:-4.45, Z:-3.13 [[ 9.94557089e-01 1.03869430e-01 8.20604719e-03 1.11610712e+02] [-1.03864669e-01 9.94590931e-01 -1.00534317e-03 -4.45396277e+00] [-8.26608453e-03 1.47552802e-04 9.99965824e-01 -3.12529405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82420382199997 meters 0.0228898154096824 Centerline is valid? [True, True] Translation: X:111.67, Y:-4.46, Z:-3.13 [[ 9.94110688e-01 1.08198480e-01 6.08519351e-03 1.11672828e+02] [-1.08195944e-01 9.94129309e-01 -7.45320279e-04 -4.45570307e+00] [-6.13011174e-03 8.25375970e-05 9.99981207e-01 -3.13017011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88420382199998 meters 0.017355981282611933 Centerline is valid? [True, True] Translation: X:111.74, Y:-4.45, Z:-3.13 [[ 9.93173892e-01 1.16567446e-01 4.20132571e-03 1.11735997e+02] [-1.16566316e-01 9.93182778e-01 -5.13737936e-04 -4.45101730e+00] [-4.23256946e-03 2.04980468e-05 9.99991042e-01 -3.13286904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.94420382199998 meters 0.014516975712262221 Centerline is valid? [True, True] Translation: X:111.80, Y:-4.44, Z:-3.13 [[ 9.92097944e-01 1.25253704e-01 7.29245111e-03 1.11798948e+02] [-1.25250474e-01 9.92124745e-01 -8.99796473e-04 -4.44141446e+00] [-7.34772404e-03 -2.06967246e-05 9.99973005e-01 -3.13000399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.00420382199998 meters 0.016097914899680946 Centerline is valid? [True, True] Translation: X:111.86, Y:-4.44, Z:-3.13 [[ 9.91376222e-01 1.30765197e-01 8.58196890e-03 1.11862921e+02] [-1.30760956e-01 9.91413364e-01 -1.05584238e-03 -4.43822267e+00] [-8.64634609e-03 -7.54494234e-05 9.99962617e-01 -3.12978631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.06420382199998 meters 0.019640730602653922 Centerline is valid? [True, True] Translation: X:111.93, Y:-4.43, Z:-3.13 [[ 9.90470414e-01 1.37370002e-01 9.89148306e-03 1.11926202e+02] [-1.37364666e-01 9.90519793e-01 -1.22010736e-03 -4.43273218e+00] [-9.96531590e-03 -1.50260021e-04 9.99950334e-01 -3.12841615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12420382199997 meters 0.0239577361958153 Centerline is valid? [True, True] Translation: X:111.99, Y:-4.43, Z:-3.13 [[ 9.89900672e-01 1.41415264e-01 9.91875770e-03 1.11988184e+02] [-1.41410081e-01 9.89950346e-01 -1.22545981e-03 -4.42802307e+00] [-9.99237633e-03 -1.89528843e-04 9.99950057e-01 -3.13064940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18420382199997 meters 0.02244415703017908 Centerline is valid? [True, True] Translation: X:112.05, Y:-4.43, Z:-3.13 [[ 9.89967234e-01 1.40860196e-01 1.11031498e-02 1.12050533e+02] [-1.40853643e-01 9.90029476e-01 -1.37384496e-03 -4.43096549e+00] [-1.11859657e-02 -2.03857604e-04 9.99937414e-01 -3.12969469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24420382199997 meters 0.02016398497777951 Centerline is valid? [True, True] Translation: X:112.11, Y:-4.44, Z:-3.13 [[ 9.90390154e-01 1.37899782e-01 1.05353075e-02 1.12111536e+02] [-1.37893698e-01 9.90446175e-01 -1.30515279e-03 -4.43941293e+00] [-1.06146353e-02 -1.60142038e-04 9.99943650e-01 -3.13298257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.30420382199998 meters 0.017982148770998626 Centerline is valid? [True, True] Translation: X:112.17, Y:-4.45, Z:-3.14 [[ 9.91044798e-01 1.33187542e-01 9.55446947e-03 1.12172087e+02] [-1.33182308e-01 9.91090848e-01 -1.18482602e-03 -4.45097638e+00] [-9.62715131e-03 -9.82706297e-05 9.99953653e-01 -3.13891474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.36420382199998 meters 0.015369906519800226 Centerline is valid? [True, True] Translation: X:112.24, Y:-4.46, Z:-3.14 [[ 9.91359469e-01 1.30888502e-01 8.63737052e-03 1.12235128e+02] [-1.30884134e-01 9.91397093e-01 -1.07148347e-03 -4.45806094e+00] [-8.70330889e-03 -6.82694809e-05 9.99962123e-01 -3.13957432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.42420382199998 meters 0.015408491632591947 Centerline is valid? [True, True] Translation: X:112.30, Y:-4.47, Z:-3.14 [[ 9.91554238e-01 1.29526022e-01 6.57281410e-03 1.12296984e+02] [-1.29523460e-01 9.91576022e-01 -8.15810566e-04 -4.46671879e+00] [-6.62311355e-03 -4.24131981e-05 9.99978066e-01 -3.14396919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48420382199997 meters 0.01776741565442203 Centerline is valid? [True, True] Translation: X:112.36, Y:-4.46, Z:-3.15 [[ 9.91239922e-01 1.31900095e-01 6.76630790e-03 1.12359102e+02] [-1.31897424e-01 9.91263013e-01 -8.41432153e-04 -4.46424407e+00] [-6.81817574e-03 -5.83974393e-05 9.99976754e-01 -3.14776029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54420382199997 meters 0.01979966658823502 Centerline is valid? [True, True] Translation: X:112.42, Y:-4.46, Z:-3.15 [[ 9.90609258e-01 1.36520752e-01 7.44190488e-03 1.12422494e+02] [-1.36517641e-01 9.90637206e-01 -9.26885437e-04 -4.45967219e+00] [-7.49876696e-03 -9.77700032e-05 9.99971879e-01 -3.14582984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60420382199997 meters 0.023871503398008757 Centerline is valid? [True, True] Translation: X:112.49, Y:-4.45, Z:-3.14 [[ 9.89756217e-01 1.42444600e-01 9.60041033e-03 1.12485605e+02] [-1.42439669e-01 9.89802760e-01 -1.19894054e-03 -4.45247956e+00] [-9.67329525e-03 -1.80820416e-04 9.99953196e-01 -3.14258407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.66420382199998 meters 0.021007781777419215 Centerline is valid? [True, True] Translation: X:112.55, Y:-4.45, Z:-3.14 [[ 9.89791995e-01 1.41956505e-01 1.26553235e-02 1.12547544e+02] [-1.41947826e-01 9.89872870e-01 -1.58597110e-03 -4.45350151e+00] [-1.27523003e-02 -2.26614163e-04 9.99918660e-01 -3.13724503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.72420382199998 meters 0.018236153271059777 Centerline is valid? [True, True] Translation: X:112.61, Y:-4.46, Z:-3.14 [[ 9.90447503e-01 1.37389142e-01 1.17459312e-02 1.12608300e+02] [-1.37381369e-01 9.90517137e-01 -1.46991762e-03 -4.45971744e+00] [-1.18364968e-02 -1.57795869e-04 9.99929934e-01 -3.14232823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.78420382199998 meters 0.01572795130647745 Centerline is valid? [True, True] Translation: X:112.67, Y:-4.47, Z:-3.14 [[ 9.90903380e-01 1.34007868e-01 1.23443038e-02 1.12669141e+02] [-1.33998994e-01 9.90980260e-01 -1.54692826e-03 -4.47178946e+00] [-1.24402619e-02 -1.21267844e-04 9.99922610e-01 -3.14318418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84420382199998 meters 0.014661238807731245 Centerline is valid? [True, True] Translation: X:112.73, Y:-4.48, Z:-3.15 [[ 9.91304799e-01 1.31123132e-01 1.10235525e-02 1.12730617e+02] [-1.31115864e-01 9.91366087e-01 -1.38257213e-03 -4.47671382e+00] [-1.11096633e-02 -7.48122337e-05 9.99938283e-01 -3.14718287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90420382199997 meters 0.014007475931060418 Centerline is valid? [True, True] Translation: X:112.79, Y:-4.48, Z:-3.15 [[ 9.91321035e-01 1.31053054e-01 1.03779435e-02 1.12793240e+02] [-1.31046591e-01 9.91375354e-01 -1.30327804e-03 -4.48042758e+00] [-1.04592360e-02 -6.80271843e-05 9.99945298e-01 -3.14858532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96420382199997 meters 0.014037288374500736 Centerline is valid? [True, True] Translation: X:112.85, Y:-4.49, Z:-3.15 [[ 9.91457387e-01 1.30088018e-01 9.45290638e-03 1.12854214e+02] [-1.30082601e-01 9.91502448e-01 -1.18832180e-03 -4.49176536e+00] [-9.52716624e-03 -5.14882239e-05 9.99954614e-01 -3.15115085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02420382199998 meters 0.013499643698464722 Centerline is valid? [True, True] Translation: X:112.92, Y:-4.50, Z:-3.15 [[ 9.91474944e-01 1.29920400e-01 9.90578085e-03 1.12916531e+02] [-1.29914423e-01 9.91524426e-01 -1.24715895e-03 -4.49758748e+00] [-9.98385506e-03 -5.03769543e-05 9.99950159e-01 -3.15167484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.08420382199998 meters 0.015014795369825473 Centerline is valid? [True, True] Translation: X:112.98, Y:-4.50, Z:-3.16 [[ 9.91277398e-01 1.31441544e-01 9.60424459e-03 1.12977746e+02] [-1.31435979e-01 9.91323921e-01 -1.21099343e-03 -4.49676716e+00] [-9.68009225e-03 -6.19128747e-05 9.99953145e-01 -3.15727040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.14420382199998 meters 0.015604930507716311 Centerline is valid? [True, True] Translation: X:113.04, Y:-4.50, Z:-3.16 [[ 9.91140192e-01 1.32570250e-01 8.13928997e-03 1.13039010e+02] [-1.32566287e-01 9.91173610e-01 -1.02689151e-03 -4.50283018e+00] [-8.20358469e-03 -6.12019942e-05 9.99966348e-01 -3.16068264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20420382199998 meters 0.01819123522643264 Centerline is valid? [True, True] Translation: X:113.10, Y:-4.50, Z:-3.16 [[ 9.90720359e-01 1.35737229e-01 6.96959999e-03 1.13100913e+02] [-1.35734387e-01 9.90744871e-01 -8.81468645e-04 -4.50196838e+00] [-7.02474356e-03 -7.27254476e-05 9.99975324e-01 -3.16426046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26420382199997 meters 0.020355937231953787 Centerline is valid? [True, True] Translation: X:113.16, Y:-4.50, Z:-3.16 [[ 9.90257597e-01 1.39062061e-01 7.18568815e-03 1.13164062e+02] [-1.39059135e-01 9.90283663e-01 -9.07579845e-04 -4.49849342e+00] [-7.24207950e-03 -1.00497744e-04 9.99973771e-01 -3.16487053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32420382199997 meters 0.0174891464017869 Centerline is valid? [True, True] Translation: X:113.22, Y:-4.51, Z:-3.16 [[ 9.90647349e-01 1.36146031e-01 9.06025690e-03 1.13224913e+02] [-1.36141207e-01 9.90688775e-01 -1.15001678e-03 -4.50564125e+00] [-9.13246503e-03 -9.42132285e-05 9.99958294e-01 -3.16392159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38420382199998 meters 0.014058409480951379 Centerline is valid? [True, True] Translation: X:113.29, Y:-4.52, Z:-3.16 [[ 9.91221131e-01 1.31799064e-01 1.04726238e-02 1.13285419e+02] [-1.31792372e-01 9.91276451e-01 -1.32964529e-03 -4.51879987e+00] [-1.05565114e-02 -6.22394179e-05 9.99944277e-01 -3.16238051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.44420382199998 meters 0.012973299509075392 Centerline is valid? [True, True] Translation: X:113.34, Y:-4.54, Z:-3.16 [[ 9.92153018e-01 1.24481816e-01 1.16904399e-02 1.13344706e+02] [-1.24472991e-01 9.92221889e-01 -1.48234372e-03 -4.53880256e+00] [-1.17840352e-02 1.55677838e-05 9.99930566e-01 -3.16328120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.50420382199998 meters 0.015468377100448436 Centerline is valid? [True, True] Translation: X:113.41, Y:-4.56, Z:-3.17 [[ 9.92777939e-01 1.19484071e-01 1.07480486e-02 1.13405314e+02] [-1.19476306e-01 9.92836115e-01 -1.36398283e-03 -4.55616525e+00] [-1.08340251e-02 6.99949114e-05 9.99941308e-01 -3.16590245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.56420382199998 meters 0.017209981026062568 Centerline is valid? [True, True] Translation: X:113.47, Y:-4.57, Z:-3.17 [[ 9.93034353e-01 1.17513171e-01 8.56904007e-03 1.13465844e+02] [-1.17508156e-01 9.93071321e-01 -1.08808971e-03 -4.56949238e+00] [-8.63753281e-03 7.35783689e-05 9.99962693e-01 -3.17006356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62420382199997 meters 0.017728938485881224 Centerline is valid? [True, True] Translation: X:113.53, Y:-4.58, Z:-3.17 [[ 9.93024351e-01 1.17581547e-01 8.78733922e-03 1.13527143e+02] [-1.17576267e-01 9.93063228e-01 -1.11689048e-03 -4.58198612e+00] [-8.85770916e-03 7.59169025e-05 9.99960767e-01 -3.17292921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68420382199997 meters 0.01617494114301184 Centerline is valid? [True, True] Translation: X:113.59, Y:-4.59, Z:-3.17 [[ 9.92689895e-01 1.20441992e-01 7.77807986e-03 1.13588704e+02] [-1.20437938e-01 9.92720366e-01 -9.89187322e-04 -4.59317452e+00] [-7.84059797e-03 4.51803602e-05 9.99969261e-01 -3.17485720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74420382199997 meters 0.014705708558440406 Centerline is valid? [True, True] Translation: X:113.65, Y:-4.59, Z:-3.18 [[ 9.91640219e-01 1.28824915e-01 7.33608343e-03 1.13650639e+02] [-1.28821524e-01 9.91667354e-01 -9.34946786e-04 -4.58760876e+00] [-7.39539889e-03 -1.79146099e-05 9.99972654e-01 -3.17807279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.80420382199998 meters 0.01731880494630948 Centerline is valid? [True, True] Translation: X:113.71, Y:-4.59, Z:-3.18 [[ 9.90680465e-01 1.36064010e-01 6.22904606e-03 1.13713124e+02] [-1.36061691e-01 9.90700046e-01 -7.96620337e-04 -4.58661519e+00] [-6.27950757e-03 -5.83383331e-05 9.99980282e-01 -3.17961818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.86420382199998 meters 0.026981372702704624 Centerline is valid? [True, True] Translation: X:113.78, Y:-4.57, Z:-3.18 [[ 9.89250220e-01 1.46018886e-01 7.90483666e-03 1.13775030e+02] [-1.46015453e-01 9.89281791e-01 -1.01274310e-03 -4.57494063e+00] [-7.96799059e-03 -1.52371972e-04 9.99968243e-01 -3.18143436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.92420382199998 meters 0.03126821149628598 Centerline is valid? [True, True] Translation: X:113.84, Y:-4.57, Z:-3.18 [[ 9.88205233e-01 1.52853649e-01 9.28329493e-03 1.13836681e+02] [-1.52849218e-01 9.88248806e-01 -1.18911059e-03 -4.57139853e+00] [-9.35596502e-03 -2.43859067e-04 9.99956202e-01 -3.17888485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98420382199997 meters 0.03323072096338479 Centerline is valid? [True, True] Translation: X:113.90, Y:-4.57, Z:-3.18 [[ 9.87885189e-01 1.54852794e-01 1.01717855e-02 1.13898719e+02] [-1.54847608e-01 9.87937512e-01 -1.30017374e-03 -4.57375621e+00] [-1.02504240e-02 -2.90654283e-04 9.99947421e-01 -3.17934799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04420382199997 meters 0.02982355684888095 Centerline is valid? [True, True] Translation: X:113.96, Y:-4.58, Z:-3.18 [[ 9.88654275e-01 1.49737961e-01 1.18856355e-02 1.13957726e+02] [-1.49730442e-01 9.88725679e-01 -1.52496485e-03 -4.58379754e+00] [-1.19799782e-02 -2.71978448e-04 9.99928200e-01 -3.18083306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10420382199997 meters 0.019524066184215226 Centerline is valid? [True, True] Translation: X:114.02, Y:-4.61, Z:-3.18 [[ 9.90010059e-01 1.40593910e-01 1.06506178e-02 1.14016088e+02] [-1.40587346e-01 9.90067337e-01 -1.36618402e-03 -4.60764965e+00] [-1.07369060e-02 -1.44806181e-04 9.99942347e-01 -3.18294050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.16420382199998 meters 0.014072238239827681 Centerline is valid? [True, True] Translation: X:114.07, Y:-4.63, Z:-3.19 [[ 9.91165984e-01 1.32245259e-01 1.00589667e-02 1.14074879e+02] [-1.32238980e-01 9.91217024e-01 -1.28970190e-03 -4.63349956e+00] [-1.01411760e-02 -5.18788566e-05 9.99948576e-01 -3.18551495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.22420382199998 meters 0.01326614423929604 Centerline is valid? [True, True] Translation: X:114.13, Y:-4.65, Z:-3.19 [[ 9.91631048e-01 1.28692951e-01 1.02951187e-02 1.14134817e+02] [-1.28686198e-01 9.91684488e-01 -1.31852136e-03 -4.64926439e+00] [-1.03791940e-02 -1.73529648e-05 9.99946135e-01 -3.18658390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.28420382199998 meters 0.013943580812172663 Centerline is valid? [True, True] Translation: X:114.20, Y:-4.66, Z:-3.19 [[ 9.91664523e-01 1.28583180e-01 8.23644059e-03 1.14196518e+02] [-1.28578853e-01 9.91698727e-01 -1.05496097e-03 -4.65608326e+00] [-8.30371789e-03 -1.28647202e-05 9.99965523e-01 -3.19083023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34420382199998 meters 0.014973972338239815 Centerline is valid? [True, True] Translation: X:114.26, Y:-4.66, Z:-3.19 [[ 9.91255788e-01 1.31739477e-01 7.52815719e-03 1.14257616e+02] [-1.31735946e-01 9.91284373e-01 -9.65147224e-04 -4.66460919e+00] [-7.58969257e-03 -3.50211383e-05 9.99971197e-01 -3.19435133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40420382199997 meters 0.016531548942329798 Centerline is valid? [True, True] Translation: X:114.32, Y:-4.67, Z:-3.20 [[ 9.90772149e-01 1.35324364e-01 7.60696157e-03 1.14319230e+02] [-1.35320852e-01 9.90801349e-01 -9.76857132e-04 -4.66851774e+00] [-7.66918035e-03 -6.15376830e-05 9.99970590e-01 -3.19663882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46420382199997 meters 0.017077790590433635 Centerline is valid? [True, True] Translation: X:114.38, Y:-4.67, Z:-3.20 [[ 9.90471663e-01 1.37539334e-01 6.98683056e-03 1.14381505e+02] [-1.37536424e-01 9.90496303e-01 -8.97565560e-04 -4.67256238e+00] [-7.04388041e-03 -7.19304357e-05 9.99975189e-01 -3.19812151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.52420382199998 meters 0.018395573694434304 Centerline is valid? [True, True] Translation: X:114.44, Y:-4.68, Z:-3.20 [[ 9.90403804e-01 1.38040215e-01 6.72338651e-03 1.14441920e+02] [-1.38037524e-01 9.90426622e-01 -8.65023508e-04 -4.68362277e+00] [-6.77842902e-03 -7.13570506e-05 9.99977024e-01 -3.20175872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.58420382199998 meters 0.01631337847988777 Centerline is valid? [True, True] Translation: X:114.50, Y:-4.70, Z:-3.20 [[ 9.90638984e-01 1.36302445e-01 7.48639668e-03 1.14502561e+02] [-1.36299047e-01 9.90667270e-01 -9.64662050e-04 -4.69877691e+00] [-7.54801396e-03 -6.47568983e-05 9.99971511e-01 -3.20056802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.64420382199998 meters 0.015556799631704902 Centerline is valid? [True, True] Translation: X:114.56, Y:-4.71, Z:-3.20 [[ 9.90815160e-01 1.34932411e-01 8.86354221e-03 1.14562167e+02] [-1.34927568e-01 9.90854803e-01 -1.14483328e-03 -4.71184091e+00] [-8.93695848e-03 -6.16180296e-05 9.99960063e-01 -3.20140530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70420382199998 meters 0.0158607047741259 Centerline is valid? [True, True] Translation: X:114.62, Y:-4.72, Z:-3.20 [[ 9.90649604e-01 1.36183123e-01 8.21696356e-03 1.14623621e+02] [-1.36178999e-01 9.90683679e-01 -1.06199505e-03 -4.72215258e+00] [-8.28503750e-03 -6.69128929e-05 9.99965676e-01 -3.20191581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76420382199997 meters 0.01887567835184781 Centerline is valid? [True, True] Translation: X:114.68, Y:-4.73, Z:-3.20 [[ 9.90065676e-01 1.40332272e-01 8.76421082e-03 1.14684834e+02] [-1.40327723e-01 9.90104460e-01 -1.13484773e-03 -4.72728460e+00] [-8.83673998e-03 -1.06287964e-04 9.99960950e-01 -3.20297473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82420382199997 meters 0.025439066547287052 Centerline is valid? [True, True] Translation: X:114.75, Y:-4.72, Z:-3.20 [[ 9.88895311e-01 1.48230314e-01 1.06695134e-02 1.14747582e+02] [-1.48223977e-01 9.88952845e-01 -1.38666546e-03 -4.72067450e+00] [-1.07571915e-02 -2.10210745e-04 9.99942118e-01 -3.20134694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88420382199998 meters 0.028644512168290014 Centerline is valid? [True, True] Translation: X:114.81, Y:-4.72, Z:-3.20 [[ 9.88051226e-01 1.53579525e-01 1.29655459e-02 1.14810274e+02] [-1.53570626e-01 9.88136237e-01 -1.68514146e-03 -4.72304586e+00] [-1.30705290e-02 -3.26120913e-04 9.99914524e-01 -3.19742274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.94420382199998 meters 0.03178849844542226 Centerline is valid? [True, True] Translation: X:114.87, Y:-4.72, Z:-3.20 [[ 9.87455286e-01 1.57374159e-01 1.28620612e-02 1.14871594e+02] [-1.57365708e-01 9.87538979e-01 -1.67287463e-03 -4.72429592e+00] [-1.29650540e-02 -3.72158460e-04 9.99915881e-01 -3.19855652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.00420382199998 meters 0.03642695155127763 Centerline is valid? [True, True] Translation: X:114.93, Y:-4.72, Z:-3.21 [[ 9.87515659e-01 1.57090066e-01 1.16419560e-02 1.14933892e+02] [-1.57083155e-01 9.87584223e-01 -1.51137089e-03 -4.72215673e+00] [-1.17348334e-02 -3.36252769e-04 9.99931088e-01 -3.20799357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.06420382199998 meters 0.028419053292920667 Centerline is valid? [True, True] Translation: X:114.99, Y:-4.74, Z:-3.21 [[ 9.88330004e-01 1.51992171e-01 1.01085882e-02 1.14993850e+02] [-1.51986654e-01 9.88381669e-01 -1.31621470e-03 -4.73908512e+00] [-1.01911976e-02 -2.35516014e-04 9.99948041e-01 -3.21020704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12420382199997 meters 0.01782702383444668 Centerline is valid? [True, True] Translation: X:115.05, Y:-4.77, Z:-3.21 [[ 9.90098009e-01 1.39976353e-01 1.06091384e-02 1.15050876e+02] [-1.39969574e-01 9.90154840e-01 -1.38247497e-03 -4.76536165e+00] [-1.06982035e-02 -1.16170871e-04 9.99942766e-01 -3.21131417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18420382199997 meters 0.01437943888203057 Centerline is valid? [True, True] Translation: X:115.11, Y:-4.79, Z:-3.22 [[ 9.91703307e-01 1.28172704e-01 9.81369920e-03 1.15109532e+02] [-1.28166353e-01 9.91751863e-01 -1.27590959e-03 -4.79009023e+00] [-9.89629125e-03 7.53772340e-06 9.99951030e-01 -3.21584659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24420382199997 meters 0.01716238162556787 Centerline is valid? [True, True] Translation: X:115.17, Y:-4.81, Z:-3.21 [[ 9.92672703e-01 1.20303839e-01 1.13088533e-02 1.15168694e+02] [-1.20294871e-01 9.92737113e-01 -1.47243617e-03 -4.81455116e+00] [-1.14038581e-02 1.01250143e-04 9.99934969e-01 -3.21250465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.30420382199998 meters 0.019545131695303197 Centerline is valid? [True, True] Translation: X:115.23, Y:-4.83, Z:-3.21 [[ 9.92972734e-01 1.17828725e-01 1.10245828e-02 1.15229335e+02] [-1.17820030e-01 9.93033924e-01 -1.43715100e-03 -4.82922580e+00] [-1.11171224e-02 1.28135078e-04 9.99938195e-01 -3.21465575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.36420382199998 meters 0.01982297902286017 Centerline is valid? [True, True] Translation: X:115.29, Y:-4.84, Z:-3.22 [[ 9.92868299e-01 1.18613831e-01 1.19707611e-02 1.15289749e+02] [-1.18603604e-01 9.92940452e-01 -1.56316340e-03 -4.83886991e+00] [-1.20716657e-02 1.32239976e-04 9.99927126e-01 -3.21663301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.42420382199998 meters 0.013816279242591841 Centerline is valid? [True, True] Translation: X:115.35, Y:-4.84, Z:-3.21 [[ 9.92162856e-01 1.24269939e-01 1.30326176e-02 1.15352188e+02] [-1.24258246e-01 9.92248445e-01 -1.70633045e-03 -4.83691172e+00] [-1.31436401e-02 7.35474882e-05 9.99913616e-01 -3.21406464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48420382199997 meters 0.013369871204748744 Centerline is valid? [True, True] Translation: X:115.41, Y:-4.84, Z:-3.22 [[ 9.91096134e-01 1.32631753e-01 1.17162629e-02 1.15414258e+02] [-1.32622898e-01 9.91165383e-01 -1.53303735e-03 -4.83543364e+00] [-1.18160836e-02 -3.44573415e-05 9.99930187e-01 -3.21812733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54420382199997 meters 0.01567565278638315 Centerline is valid? [True, True] Translation: X:115.48, Y:-4.83, Z:-3.22 [[ 9.90252086e-01 1.38790771e-01 1.17442724e-02 1.15477073e+02] [-1.38782309e-01 9.90321720e-01 -1.53649171e-03 -4.83216968e+00] [-1.18438589e-02 -1.08383112e-04 9.99929853e-01 -3.21883258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60420382199997 meters 0.021829843477004205 Centerline is valid? [True, True] Translation: X:115.54, Y:-4.83, Z:-3.22 [[ 9.89317315e-01 1.45444401e-01 9.85779555e-03 1.15539065e+02] [-1.45438730e-01 9.89366415e-01 -1.29355011e-03 -4.82854092e+00] [-9.94111146e-03 -1.53973743e-04 9.99950574e-01 -3.22310494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.66420382199998 meters 0.025641318664035243 Centerline is valid? [True, True] Translation: X:115.60, Y:-4.83, Z:-3.23 [[ 9.88819137e-01 1.48812224e-01 9.57270600e-03 1.15600261e+02] [-1.48807035e-01 9.88865455e-01 -1.25601995e-03 -4.82779790e+00] [-9.65302940e-03 -1.82509440e-04 9.99953392e-01 -3.22611407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.72420382199998 meters 0.03030180759981885 Centerline is valid? [True, True] Translation: X:115.66, Y:-4.82, Z:-3.23 [[ 9.88173334e-01 1.53074496e-01 9.03665411e-03 1.15662763e+02] [-1.53070049e-01 9.88214629e-01 -1.18586546e-03 -4.82094491e+00] [-9.11167955e-03 -2.11400464e-04 9.99958465e-01 -3.23008192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.78420382199998 meters 0.02728686800091836 Centerline is valid? [True, True] Translation: X:115.73, Y:-4.83, Z:-3.23 [[ 9.88104026e-01 1.53469888e-01 9.87052516e-03 1.15725273e+02] [-1.53464627e-01 9.88153296e-01 -1.29272676e-03 -4.82549161e+00] [-9.95198661e-03 -2.37427946e-04 9.99950450e-01 -3.22846731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84420382199997 meters 0.027997887927448083 Centerline is valid? [True, True] Translation: X:115.79, Y:-4.83, Z:-3.23 [[ 9.88435474e-01 1.51237674e-01 1.10670929e-02 1.15785822e+02] [-1.51230860e-01 9.88497400e-01 -1.45486357e-03 -4.82838364e+00] [-1.11598227e-02 -2.35647212e-04 9.99937699e-01 -3.22971789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90420382199997 meters 0.024962244525143264 Centerline is valid? [True, True] Translation: X:115.85, Y:-4.83, Z:-3.23 [[ 9.88703270e-01 1.49307893e-01 1.31528152e-02 1.15847013e+02] [-1.49298097e-01 9.88790720e-01 -1.72910596e-03 -4.83358569e+00] [-1.32635508e-02 -2.54117562e-04 9.99912003e-01 -3.22556221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96420382199997 meters 0.019095079451919253 Centerline is valid? [True, True] Translation: X:115.91, Y:-4.84, Z:-3.23 [[ 9.89438968e-01 1.44461712e-01 1.18887522e-02 1.15908101e+02] [-1.44453356e-01 9.89510376e-01 -1.56312425e-03 -4.83949385e+00] [-1.19898552e-02 -1.70754112e-04 9.99928105e-01 -3.22746733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02420382199998 meters 0.014255704737289569 Centerline is valid? [True, True] Translation: X:115.97, Y:-4.85, Z:-3.23 [[ 9.90612997e-01 1.36318814e-01 1.01524452e-02 1.15968522e+02] [-1.36312319e-01 9.90665017e-01 -1.33221822e-03 -4.85316515e+00] [-1.02392787e-02 -6.41906576e-05 9.99947575e-01 -3.23356459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.08420382199998 meters 0.014647045081276148 Centerline is valid? [True, True] Translation: X:116.03, Y:-4.86, Z:-3.24 [[ 9.91696830e-01 1.28278193e-01 9.06106640e-03 1.16029529e+02] [-1.28272676e-01 9.91738224e-01 -1.18982423e-03 -4.86484170e+00] [-9.13883441e-03 1.76576753e-05 9.99958240e-01 -3.24058461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.14420382199998 meters 0.015916922951792544 Centerline is valid? [True, True] Translation: X:116.09, Y:-4.87, Z:-3.24 [[ 9.92328546e-01 1.23319616e-01 8.73665817e-03 1.16090849e+02] [-1.23314281e-01 9.92367003e-01 -1.14878649e-03 -4.87457707e+00] [-8.81163919e-03 6.26189081e-05 9.99961175e-01 -3.23973091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20420382199998 meters 0.017780675405628905 Centerline is valid? [True, True] Translation: X:116.15, Y:-4.88, Z:-3.24 [[ 9.92726850e-01 1.20043631e-01 9.10645025e-03 1.16152559e+02] [-1.20037681e-01 9.92768612e-01 -1.19922093e-03 -4.88366976e+00] [-9.18455681e-03 9.73816504e-05 9.99957816e-01 -3.24054865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26420382199997 meters 0.022157431318487318 Centerline is valid? [True, True] Translation: X:116.21, Y:-4.89, Z:-3.24 [[ 9.93132997e-01 1.16622733e-01 9.27302259e-03 1.16213302e+02] [-1.16616394e-01 9.93176279e-01 -1.22320639e-03 -4.89318957e+00] [-9.35239974e-03 1.33420171e-04 9.99956256e-01 -3.24455409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32420382199997 meters 0.02027071652493206 Centerline is valid? [True, True] Translation: X:116.28, Y:-4.89, Z:-3.25 [[ 9.92628878e-01 1.20858257e-01 9.01072907e-03 1.16275516e+02] [-1.20852433e-01 9.92669770e-01 -1.19011415e-03 -4.88910105e+00] [-9.08851348e-03 9.23731449e-05 9.99958694e-01 -3.24962349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38420382199998 meters 0.01478508482103763 Centerline is valid? [True, True] Translation: X:116.34, Y:-4.88, Z:-3.25 [[ 9.91716368e-01 1.28120060e-01 9.15943805e-03 1.16340199e+02] [-1.28114320e-01 9.91758665e-01 -1.21316898e-03 -4.87934903e+00] [-9.23938333e-03 2.96643577e-05 9.99957316e-01 -3.24753002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.44420382199998 meters 0.014171900103248652 Centerline is valid? [True, True] Translation: X:116.40, Y:-4.88, Z:-3.25 [[ 9.91377042e-01 1.30755952e-01 8.62797741e-03 1.16404193e+02] [-1.30750978e-01 9.91414586e-01 -1.14045803e-03 -4.87753060e+00] [-8.70302432e-03 2.50742779e-06 9.99962128e-01 -3.24956542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.50420382199998 meters 0.013888298092606709 Centerline is valid? [True, True] Translation: X:116.47, Y:-4.88, Z:-3.25 [[ 9.91657241e-01 1.28410476e-01 1.12546181e-02 1.16465213e+02] [-1.28401809e-01 9.91721104e-01 -1.49224870e-03 -4.88126865e+00] [-1.13530626e-02 3.46859046e-05 9.99935551e-01 -3.24849255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.56420382199998 meters 0.016684971089129225 Centerline is valid? [True, True] Translation: X:116.53, Y:-4.90, Z:-3.25 [[ 9.92338656e-01 1.23065228e-01 1.09060051e-02 1.16525978e+02] [-1.23056753e-01 9.92398580e-01 -1.44732483e-03 -4.89591791e+00] [-1.10012193e-02 9.41787933e-05 9.99939480e-01 -3.25002435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62420382199997 meters 0.02190141874342484 Centerline is valid? [True, True] Translation: X:116.59, Y:-4.91, Z:-3.25 [[ 9.93284075e-01 1.15017430e-01 1.25593788e-02 1.16586538e+02] [-1.15005485e-01 9.93363450e-01 -1.67163005e-03 -4.91462604e+00] [-1.26682945e-02 2.16006050e-04 9.99919731e-01 -3.24759859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68420382199997 meters 0.02497810049561485 Centerline is valid? [True, True] Translation: X:116.65, Y:-4.93, Z:-3.25 [[ 9.93621328e-01 1.12042926e-01 1.27686890e-02 1.16647164e+02] [-1.12030348e-01 9.93703334e-01 -1.69837417e-03 -4.92553612e+00] [-1.28785796e-02 2.57060129e-04 9.99917035e-01 -3.24888791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74420382199997 meters 0.02420405914984219 Centerline is valid? [True, True] Translation: X:116.71, Y:-4.93, Z:-3.25 [[ 9.93539879e-01 1.12869813e-01 1.17861483e-02 1.16709278e+02] [-1.12859144e-01 9.93609759e-01 -1.56858814e-03 -4.93254996e+00] [-1.18878783e-02 2.28280263e-04 9.99929311e-01 -3.25226280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.80420382199998 meters 0.024097962230898367 Centerline is valid? [True, True] Translation: X:116.77, Y:-4.94, Z:-3.26 [[ 9.93284930e-01 1.15204802e-01 1.06255142e-02 1.16769855e+02] [-1.15196240e-01 9.93341744e-01 -1.41642095e-03 -4.94053217e+00] [-1.07179453e-02 1.82890308e-04 9.99942544e-01 -3.25873384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.86420382199998 meters 0.020365866220196874 Centerline is valid? [True, True] Translation: X:116.83, Y:-4.94, Z:-3.26 [[ 9.92846461e-01 1.18863930e-01 1.12814046e-02 1.16831760e+02] [-1.18854463e-01 9.92910541e-01 -1.50836761e-03 -4.94209163e+00] [-1.13807161e-02 1.56732163e-04 9.99935225e-01 -3.25954941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.92420382199998 meters 0.016662422641878755 Centerline is valid? [True, True] Translation: X:116.90, Y:-4.94, Z:-3.26 [[ 9.92324394e-01 1.23202560e-01 1.06501485e-02 1.16895024e+02] [-1.23194377e-01 9.92381539e-01 -1.42350185e-03 -4.94162067e+00] [-1.07443898e-02 1.00537200e-04 9.99942272e-01 -3.26211897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98420382199997 meters 0.013907211148498454 Centerline is valid? [True, True] Translation: X:116.96, Y:-4.94, Z:-3.27 [[ 9.91612975e-01 1.28838038e-01 1.02209565e-02 1.16958745e+02] [-1.28830794e-01 9.91665649e-01 -1.36670946e-03 -4.93774289e+00] [-1.03118556e-02 3.84728896e-05 9.99946831e-01 -3.26560909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04420382199997 meters 0.013523991160206047 Centerline is valid? [True, True] Translation: X:117.02, Y:-4.94, Z:-3.27 [[ 9.91319176e-01 1.31025870e-01 1.08863466e-02 1.17019557e+02] [-1.31017796e-01 9.91378949e-01 -1.45472865e-03 -4.94140592e+00] [-1.09831020e-02 1.57952701e-05 9.99939684e-01 -3.26772740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10420382199997 meters 0.01278788076890423 Centerline is valid? [True, True] Translation: X:117.08, Y:-4.95, Z:-3.27 [[ 9.91492659e-01 1.29586120e-01 1.22370469e-02 1.17081289e+02] [-1.29575779e-01 9.91568170e-01 -1.63748729e-03 -4.94920483e+00] [-1.23460618e-02 3.79317516e-05 9.99923784e-01 -3.26583421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.16420382199998 meters 0.016969177934892984 Centerline is valid? [True, True] Translation: X:117.14, Y:-4.97, Z:-3.27 [[ 9.92284376e-01 1.23170051e-01 1.41723777e-02 1.17140098e+02] [-1.23155461e-01 9.92385570e-01 -1.90094160e-03 -4.97024329e+00] [-1.42986022e-02 1.40868927e-04 9.99897760e-01 -3.26685490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.22420382199998 meters 0.022494682624376757 Centerline is valid? [True, True] Translation: X:117.20, Y:-4.99, Z:-3.27 [[ 9.93225393e-01 1.15233858e-01 1.49825712e-02 1.17199054e+02] [-1.15216610e-01 9.93338353e-01 -2.01216726e-03 -4.99215549e+00] [-1.51146324e-02 2.72294557e-04 9.99885730e-01 -3.26640070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.28420382199998 meters 0.028263013345385415 Centerline is valid? [True, True] Translation: X:117.26, Y:-5.02, Z:-3.27 [[ 9.93865181e-01 1.09583512e-01 1.49484660e-02 1.17257639e+02] [-1.09565698e-01 9.93977528e-01 -2.00796340e-03 -5.01604806e+00] [-1.50784789e-02 3.57805799e-04 9.99886249e-01 -3.26787484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34420382199997 meters 0.029797017220755805 Centerline is valid? [True, True] Translation: X:117.32, Y:-5.03, Z:-3.27 [[ 9.93807938e-01 1.10175167e-01 1.43949346e-02 1.17318060e+02] [-1.10158739e-01 9.93912129e-01 -1.93164822e-03 -5.02979918e+00] [-1.45201198e-02 3.33959497e-04 9.99894522e-01 -3.27165207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40420382199997 meters 0.022964975858306036 Centerline is valid? [True, True] Translation: X:117.38, Y:-5.03, Z:-3.28 [[ 9.93156307e-01 1.16102744e-01 1.26768745e-02 1.17379894e+02] [-1.16090430e-01 9.93237184e-01 -1.70537989e-03 -5.02729100e+00] [-1.27891425e-02 2.22044967e-04 9.99918191e-01 -3.27653505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46420382199997 meters 0.018434950211152698 Centerline is valid? [True, True] Translation: X:117.44, Y:-5.03, Z:-3.28 [[ 9.92398258e-01 1.22431910e-01 1.24949934e-02 1.17440090e+02] [-1.22420443e-01 9.92476906e-01 -1.68141389e-03 -5.03189656e+00] [-1.26068511e-02 1.38989589e-04 9.99920521e-01 -3.28032984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52420382199998 meters 0.014028557169927805 Centerline is valid? [True, True] Translation: X:117.50, Y:-5.03, Z:-3.28 [[ 9.91418857e-01 1.30229963e-01 1.13492665e-02 1.17502972e+02] [-1.30221042e-01 9.91483815e-01 -1.52463916e-03 -5.03126017e+00] [-1.14511678e-02 3.36427025e-05 9.99934433e-01 -3.28491327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.58420382199998 meters 0.01312110508156491 Centerline is valid? [True, True] Translation: X:117.57, Y:-5.03, Z:-3.29 [[ 9.90841092e-01 1.34593409e-01 1.08878076e-02 1.17566221e+02] [-1.34585450e-01 9.90900910e-01 -1.46374294e-03 -5.03176894e+00] [-1.09857486e-02 -1.50038289e-05 9.99939655e-01 -3.28657843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.64420382199998 meters 0.011722700281733145 Centerline is valid? [True, True] Translation: X:117.63, Y:-5.05, Z:-3.28 [[ 9.90889169e-01 1.33821532e-01 1.51806470e-02 1.17625381e+02] [-1.33805850e-01 9.91005448e-01 -2.04864716e-03 -5.04566682e+00] [-1.53182570e-02 -1.27710191e-06 9.99882669e-01 -3.28259520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70420382199998 meters 0.011932077676027083 Centerline is valid? [True, True] Translation: X:117.69, Y:-5.06, Z:-3.28 [[ 9.91314899e-01 1.30554653e-01 1.58193734e-02 1.17687303e+02] [-1.30537242e-01 9.91441113e-01 -2.13269101e-03 -5.06082233e+00] [-1.59624099e-02 4.91509948e-05 9.99872591e-01 -3.28229604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76420382199997 meters 0.015068158687765029 Centerline is valid? [True, True] Translation: X:117.75, Y:-5.08, Z:-3.28 [[ 9.92001279e-01 1.25212340e-01 1.59790997e-02 1.17747036e+02] [-1.25193824e-01 9.92129956e-01 -2.15783640e-03 -5.07861717e+00] [-1.61235313e-02 1.40091874e-04 9.99869998e-01 -3.28471844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82420382199997 meters 0.01616560839665682 Centerline is valid? [True, True] Translation: X:117.81, Y:-5.10, Z:-3.29 [[ 9.92154854e-01 1.23999927e-01 1.58985745e-02 1.17807535e+02] [-1.23981403e-01 9.92282214e-01 -2.14932788e-03 -5.09611252e+00] [-1.60423892e-02 1.61338521e-04 9.99871300e-01 -3.28673123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88420382199998 meters 0.014653155110319668 Centerline is valid? [True, True] Translation: X:117.87, Y:-5.10, Z:-3.29 [[ 9.91784133e-01 1.27089978e-01 1.45729488e-02 1.17868843e+02] [-1.27074701e-01 9.91891187e-01 -1.97332304e-03 -5.09809105e+00] [-1.47055690e-02 1.05257376e-04 9.99891862e-01 -3.29152226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.94420382199998 meters 0.01256241882453394 Centerline is valid? [True, True] Translation: X:117.93, Y:-5.10, Z:-3.29 [[ 9.91263460e-01 1.31168058e-01 1.38453385e-02 1.17931707e+02] [-1.31154665e-01 9.91360146e-01 -1.87489049e-03 -5.09998526e+00] [-1.39716425e-02 4.26296994e-05 9.99902391e-01 -3.29380618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.00420382199998 meters 0.012555555916158414 Centerline is valid? [True, True] Translation: X:117.99, Y:-5.10, Z:-3.30 [[ 9.90458136e-01 1.37221734e-01 1.27623228e-02 1.17994550e+02] [-1.37210833e-01 9.90540355e-01 -1.73004015e-03 -5.09925568e+00] [-1.28789949e-02 -3.75966123e-05 9.99917062e-01 -3.29737128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.06420382199998 meters 0.01240988942914294 Centerline is valid? [True, True] Translation: X:118.06, Y:-5.11, Z:-3.30 [[ 9.90380346e-01 1.37727590e-01 1.33372105e-02 1.18056244e+02] [-1.37715697e-01 9.90470145e-01 -1.81051929e-03 -5.10536934e+00] [-1.34594673e-02 -4.36405167e-05 9.99909416e-01 -3.29841098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12420382199997 meters 0.01271133071485444 Centerline is valid? [True, True] Translation: X:118.12, Y:-5.12, Z:-3.30 [[ 9.91367114e-01 1.30087037e-01 1.63892425e-02 1.18115906e+02] [-1.30067963e-01 9.91502575e-01 -2.22900694e-03 -5.12015535e+00] [-1.65399410e-02 7.80488003e-05 9.99863203e-01 -3.29707526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18420382199997 meters 0.03012141756214473 Centerline is valid? [True, True] Translation: X:118.17, Y:-5.16, Z:-3.30 [[ 9.93338673e-01 1.14037396e-01 1.65455095e-02 1.18169986e+02] [-1.14015647e-01 9.93476395e-01 -2.25501165e-03 -5.16169072e+00] [-1.66947288e-02 3.53543319e-04 9.99860571e-01 -3.30167820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24420382199997 meters 0.04089089844384386 Centerline is valid? [True, True] Translation: X:118.23, Y:-5.19, Z:-3.30 [[ 9.94872683e-01 9.96529365e-02 1.72521486e-02 1.18226938e+02] [-9.96271304e-02 9.95022064e-01 -2.35101754e-03 -5.19485196e+00] [-1.74005543e-02 6.20181079e-04 9.99848407e-01 -3.30065679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.30420382199998 meters 0.04157305378860277 Centerline is valid? [True, True] Translation: X:118.29, Y:-5.21, Z:-3.30 [[ 9.95230635e-01 9.63793794e-02 1.50664546e-02 1.18285921e+02] [-9.63593245e-02 9.95344496e-01 -2.05310825e-03 -5.21025693e+00] [-1.51941899e-02 5.91522849e-04 9.99884387e-01 -3.30488341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.36420382199998 meters 0.038464304767404325 Centerline is valid? [True, True] Translation: X:118.34, Y:-5.22, Z:-3.31 [[ 9.94511726e-01 1.03783037e-01 1.32479691e-02 1.18344306e+02] [-1.03768180e-01 9.94599871e-01 -1.80582514e-03 -5.22017756e+00] [-1.33638424e-02 4.21196630e-04 9.99910611e-01 -3.31093697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.42420382199998 meters 0.020738274349784962 Centerline is valid? [True, True] Translation: X:118.41, Y:-5.21, Z:-3.31 [[ 9.92563419e-01 1.21121662e-01 1.21409013e-02 1.18406949e+02] [-1.21110483e-01 9.92637655e-01 -1.65451761e-03 -5.20920260e+00] [-1.22519137e-02 1.71823235e-04 9.99924928e-01 -3.31324612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48420382199997 meters 0.01392897342974485 Centerline is valid? [True, True] Translation: X:118.47, Y:-5.19, Z:-3.31 [[ 9.89840296e-01 1.41490521e-01 1.40221199e-02 1.18470166e+02] [-1.41477661e-01 9.89939606e-01 -1.90991812e-03 -5.19069132e+00] [-1.41512872e-02 -9.33028149e-05 9.99899861e-01 -3.31213812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54420382199997 meters 0.024048647886948427 Centerline is valid? [True, True] Translation: X:118.53, Y:-5.18, Z:-3.31 [[ 9.87993429e-01 1.53850489e-01 1.41071596e-02 1.18533032e+02] [-1.53838700e-01 9.88094102e-01 -1.92355381e-03 -5.17755783e+00] [-1.42351409e-02 -2.69768571e-04 9.99898639e-01 -3.31371035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60420382199997 meters 0.0380513887690859 Centerline is valid? [True, True] Translation: X:118.59, Y:-5.16, Z:-3.32 [[ 9.86032014e-01 1.66031588e-01 1.32052452e-02 1.18594808e+02] [-1.66022349e-01 9.86120347e-01 -1.80044669e-03 -5.16182078e+00] [-1.33208920e-02 -4.17067756e-04 9.99911186e-01 -3.31953354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.66420382199998 meters 0.03801916864193306 Centerline is valid? [True, True] Translation: X:118.66, Y:-5.17, Z:-3.32 [[ 9.85636027e-01 1.68443251e-01 1.21857640e-02 1.18655927e+02] [-1.68435567e-01 9.85711266e-01 -1.66151407e-03 -5.16814968e+00] [-1.22915157e-02 -4.14867938e-04 9.99924370e-01 -3.32177758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.72420382199998 meters 0.033121241378454194 Centerline is valid? [True, True] Translation: X:118.71, Y:-5.18, Z:-3.33 [[ 9.86735131e-01 1.61966614e-01 1.09816863e-02 1.18714500e+02] [-1.61959964e-01 9.86796193e-01 -1.49814007e-03 -5.17737500e+00] [-1.10793349e-02 -3.00326079e-04 9.99938577e-01 -3.32740282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.78420382199998 meters 0.024741117752236995 Centerline is valid? [True, True] Translation: X:118.77, Y:-5.20, Z:-3.33 [[ 9.88169230e-01 1.52954219e-01 1.12507823e-02 1.18772485e+02] [-1.52946658e-01 9.88233254e-01 -1.53450788e-03 -5.19564454e+00] [-1.13531067e-02 -2.04416087e-04 9.99935531e-01 -3.33006351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84420382199997 meters 0.016680436453658173 Centerline is valid? [True, True] Translation: X:118.83, Y:-5.22, Z:-3.33 [[ 9.89561763e-01 1.43706696e-01 1.07658487e-02 1.18831196e+02] [-1.43699226e-01 9.89620319e-01 -1.46825333e-03 -5.21648648e+00] [-1.08651005e-02 -9.41167769e-05 9.99940969e-01 -3.33228168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90420382199997 meters 0.01308439141127035 Centerline is valid? [True, True] Translation: X:118.89, Y:-5.23, Z:-3.33 [[ 9.91050634e-01 1.33056215e-01 1.07091330e-02 1.18891090e+02] [-1.33048232e-01 9.91108492e-01 -1.45764948e-03 -5.23454402e+00] [-1.08078619e-02 1.97732433e-05 9.99941593e-01 -3.33192615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96420382199997 meters 0.016043174120276307 Centerline is valid? [True, True] Translation: X:118.95, Y:-5.25, Z:-3.33 [[ 9.91732518e-01 1.27814544e-01 1.14042003e-02 1.18950840e+02] [-1.27805114e-01 9.91798082e-01 -1.55484698e-03 -5.24851036e+00] [-1.15093960e-02 8.44771983e-05 9.99933761e-01 -3.33440178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02420382199998 meters 0.017865082214604026 Centerline is valid? [True, True] Translation: X:119.01, Y:-5.26, Z:-3.34 [[ 9.92009602e-01 1.25597389e-01 1.19266990e-02 1.19011048e+02] [-1.25586887e-01 9.92081288e-01 -1.62839086e-03 -5.25857725e+00] [-1.20367766e-02 1.17542365e-04 9.99927548e-01 -3.33605005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.08420382199998 meters 0.01965674696973522 Centerline is valid? [True, True] Translation: X:119.07, Y:-5.27, Z:-3.34 [[ 9.92255993e-01 1.23537408e-01 1.29055500e-02 1.19072966e+02] [-1.23524909e-01 9.92339904e-01 -1.76429381e-03 -5.26798136e+00] [-1.30246485e-02 1.56474220e-04 9.99915163e-01 -3.33770766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.14420382199998 meters 0.021792188414151186 Centerline is valid? [True, True] Translation: X:119.13, Y:-5.28, Z:-3.34 [[ 9.92467918e-01 1.21850691e-01 1.26427835e-02 1.19134426e+02] [-1.21838532e-01 9.92548426e-01 -1.73042122e-03 -5.27852463e+00] [-1.27594278e-02 1.77009368e-04 9.99918580e-01 -3.34102663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20420382199997 meters 0.02021089482090227 Centerline is valid? [True, True] Translation: X:119.20, Y:-5.28, Z:-3.34 [[ 9.92272025e-01 1.23401886e-01 1.29693169e-02 1.19196314e+02] [-1.23389193e-01 9.92356764e-01 -1.77737431e-03 -5.28378706e+00] [-1.30895207e-02 1.63365255e-04 9.99914315e-01 -3.34217501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26420382199997 meters 0.017467203321324305 Centerline is valid? [True, True] Translation: X:119.26, Y:-5.29, Z:-3.34 [[ 9.91843577e-01 1.26798511e-01 1.29790603e-02 1.19258743e+02] [-1.26786061e-01 9.91928487e-01 -1.78089582e-03 -5.28517726e+00] [-1.31001146e-02 1.20806139e-04 9.99914183e-01 -3.34397607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32420382199997 meters 0.013103985573500369 Centerline is valid? [True, True] Translation: X:119.32, Y:-5.28, Z:-3.34 [[ 9.91002846e-01 1.33127000e-01 1.38044026e-02 1.19323054e+02] [-1.33113471e-01 9.91098986e-01 -1.89837534e-03 -5.27779393e+00] [-1.39342544e-02 4.37434285e-05 9.99902913e-01 -3.34413514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38420382199998 meters 0.01285105957780906 Centerline is valid? [True, True] Translation: X:119.39, Y:-5.28, Z:-3.35 [[ 9.90603434e-01 1.36154965e-01 1.29097398e-02 1.19385958e+02] [-1.36143403e-01 9.90687552e-01 -1.77428320e-03 -5.27871647e+00] [-1.30310959e-02 3.51246115e-08 9.99915092e-01 -3.34851300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.44420382199998 meters 0.012458919495937306 Centerline is valid? [True, True] Translation: X:119.45, Y:-5.29, Z:-3.35 [[ 9.90593580e-01 1.36187876e-01 1.33124366e-02 1.19448300e+02] [-1.36175553e-01 9.90683028e-01 -1.83198924e-03 -5.28507246e+00] [-1.34378997e-02 1.92836108e-06 9.99909707e-01 -3.34977825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.50420382199998 meters 0.011683041251696752 Centerline is valid? [True, True] Translation: X:119.51, Y:-5.29, Z:-3.35 [[ 9.90531003e-01 1.36429853e-01 1.53371163e-02 1.19510768e+02] [-1.36413449e-01 9.90649734e-01 -2.11555989e-03 -5.29112798e+00] [-1.54823357e-02 3.33872926e-06 9.99880141e-01 -3.34829102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.56420382199998 meters 0.011789876495817243 Centerline is valid? [True, True] Translation: X:119.57, Y:-5.29, Z:-3.35 [[ 9.90428209e-01 1.37109678e-01 1.59028057e-02 1.19572233e+02] [-1.37092133e-01 9.90555872e-01 -2.19339798e-03 -5.29141160e+00] [-1.60533537e-02 -7.74631922e-06 9.99871137e-01 -3.35028004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62420382199997 meters 0.01226740612911312 Centerline is valid? [True, True] Translation: X:119.63, Y:-5.30, Z:-3.35 [[ 9.90615822e-01 1.35927027e-01 1.42876364e-02 1.19633466e+02] [-1.35912718e-01 9.90718852e-01 -1.97226738e-03 -5.30087507e+00] [-1.44231152e-02 1.18877683e-05 9.99895981e-01 -3.35480125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68420382199997 meters 0.012322664276890443 Centerline is valid? [True, True] Translation: X:119.70, Y:-5.31, Z:-3.36 [[ 9.90759813e-01 1.34814534e-01 1.48335397e-02 1.19695715e+02] [-1.34798950e-01 9.90870850e-01 -2.05003461e-03 -5.30750253e+00] [-1.49744966e-02 3.15463382e-05 9.99887875e-01 -3.35530543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74420382199997 meters 0.012387275992836956 Centerline is valid? [True, True] Translation: X:119.76, Y:-5.31, Z:-3.36 [[ 9.90691882e-01 1.35273017e-01 1.51923184e-02 1.19757049e+02] [-1.35256667e-01 9.90808362e-01 -2.10329840e-03 -5.30877894e+00] [-1.53371956e-02 2.88583088e-05 9.99882378e-01 -3.35674101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.80420382199998 meters 0.012841714447445758 Centerline is valid? [True, True] Translation: X:119.82, Y:-5.31, Z:-3.36 [[ 9.90637344e-01 1.35789844e-01 1.40986115e-02 1.19819696e+02] [-1.35775791e-01 9.90737663e-01 -1.95367713e-03 -5.31039978e+00] [-1.42333149e-02 2.11353959e-05 9.99898701e-01 -3.36097937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.86420382199998 meters 0.012410733545808154 Centerline is valid? [True, True] Translation: X:119.88, Y:-5.32, Z:-3.36 [[ 9.90820873e-01 1.34228214e-01 1.60244657e-02 1.19881997e+02] [-1.34209801e-01 9.90950445e-01 -2.22384668e-03 -5.31654324e+00] [-1.61779544e-02 5.27933573e-05 9.99869127e-01 -3.35848644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.92420382199998 meters 0.017219653803746016 Centerline is valid? [True, True] Translation: X:119.94, Y:-5.33, Z:-3.36 [[ 9.91741814e-01 1.27127426e-01 1.69349069e-02 1.19942074e+02] [-1.27105768e-01 9.91886377e-01 -2.35354274e-03 -5.32878452e+00] [-1.70967033e-02 1.81582406e-04 9.99853824e-01 -3.35857289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98420382199997 meters 0.025416684036516226 Centerline is valid? [True, True] Translation: X:120.00, Y:-5.35, Z:-3.36 [[ 9.92919216e-01 1.17301282e-01 1.87573951e-02 1.20000355e+02] [-1.17272867e-01 9.93096297e-01 -2.61155823e-03 -5.34968876e+00] [-1.89342388e-02 3.93332854e-04 9.99820654e-01 -3.35757868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04420382199997 meters 0.0347162885338996 Centerline is valid? [True, True] Translation: X:120.06, Y:-5.37, Z:-3.36 [[ 9.93897180e-01 1.08711904e-01 1.87114461e-02 1.20058340e+02] [-1.08682092e-01 9.94073142e-01 -2.60587509e-03 -5.37000082e+00] [-1.88838357e-02 5.56372799e-04 9.99821530e-01 -3.36002292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10420382199997 meters 0.038737445525961645 Centerline is valid? [True, True] Translation: X:120.12, Y:-5.38, Z:-3.36 [[ 9.94161420e-01 1.06373231e-01 1.81054415e-02 1.20117806e+02] [-1.06344960e-01 9.94326103e-01 -2.51991174e-03 -5.38447389e+00] [-1.82707643e-02 5.79776579e-04 9.99832908e-01 -3.36354457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.16420382199998 meters 0.03709369994594604 Centerline is valid? [True, True] Translation: X:120.18, Y:-5.40, Z:-3.37 [[ 9.94008294e-01 1.08283043e-01 1.49094975e-02 1.20178751e+02] [-1.08264066e-01 9.94120003e-01 -2.07646632e-03 -5.39689886e+00] [-1.50466758e-02 4.49861921e-04 9.99886691e-01 -3.37009915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.22420382199998 meters 0.030435496830322088 Centerline is valid? [True, True] Translation: X:120.24, Y:-5.40, Z:-3.37 [[ 9.93326530e-01 1.14219459e-01 1.60100131e-02 1.20239126e+02] [-1.14198265e-01 9.93455465e-01 -2.23485264e-03 -5.40035789e+00] [-1.61604987e-02 3.91622700e-04 9.99869334e-01 -3.36951140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.28420382199998 meters 0.018532252122298296 Centerline is valid? [True, True] Translation: X:120.30, Y:-5.40, Z:-3.37 [[ 9.92033493e-01 1.24673445e-01 1.80577072e-02 1.20300943e+02] [-1.24648208e-01 9.92197798e-01 -2.52077952e-03 -5.39783660e+00] [-1.82310916e-02 2.49836861e-04 9.99833769e-01 -3.36680565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34420382199997 meters 0.012713947480933406 Centerline is valid? [True, True] Translation: X:120.36, Y:-5.40, Z:-3.36 [[ 9.90983782e-01 1.32415940e-01 2.04245555e-02 1.20361753e+02] [-1.32385301e-01 9.91194231e-01 -2.85097146e-03 -5.40350834e+00] [-2.06222157e-02 1.21355559e-04 9.99787332e-01 -3.36488095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40420382199997 meters 0.01292606234705509 Centerline is valid? [True, True] Translation: X:120.43, Y:-5.40, Z:-3.37 [[ 9.89228227e-01 1.44986955e-01 2.01568161e-02 1.20426209e+02] [-1.44959738e-01 9.89433557e-01 -2.81266142e-03 -5.39598585e+00] [-2.03516295e-02 -1.39562714e-04 9.99792874e-01 -3.36612690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46420382199997 meters 0.02091525616709415 Centerline is valid? [True, True] Translation: X:120.49, Y:-5.40, Z:-3.37 [[ 9.87764862e-01 1.54936595e-01 1.77547123e-02 1.20487088e+02] [-1.54917002e-01 9.87924371e-01 -2.48201123e-03 -5.39713089e+00] [-1.79248673e-02 -2.98863319e-04 9.99839292e-01 -3.37340811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52420382199998 meters 0.027296872470271915 Centerline is valid? [True, True] Translation: X:120.55, Y:-5.40, Z:-3.38 [[ 9.86980427e-01 1.59996395e-01 1.64556938e-02 1.20547480e+02] [-1.59980257e-01 9.87117532e-01 -2.30100510e-03 -5.40066251e+00] [-1.66118564e-02 -3.61539134e-04 9.99861948e-01 -3.37916465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.58420382199998 meters 0.030666362095447777 Centerline is valid? [True, True] Translation: X:120.61, Y:-5.41, Z:-3.38 [[ 9.86630478e-01 1.62033940e-01 1.74729071e-02 1.20607247e+02] [-1.62016055e-01 9.86785096e-01 -2.44374979e-03 -5.40521545e+00] [-1.76379747e-02 -4.19813443e-04 9.99844351e-01 -3.37913208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.64420382199998 meters 0.029897049091101302 Centerline is valid? [True, True] Translation: X:120.67, Y:-5.41, Z:-3.38 [[ 9.86240120e-01 1.64290316e-01 1.84151731e-02 1.20667596e+02] [-1.64270852e-01 9.86411910e-01 -2.57504704e-03 -5.41415838e+00] [-1.85880013e-02 -4.85461464e-04 9.99827110e-01 -3.37626974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70420382199997 meters 0.029269611232035336 Centerline is valid? [True, True] Translation: X:120.73, Y:-5.42, Z:-3.38 [[ 9.86230305e-01 1.64330570e-01 1.85809017e-02 1.20728886e+02] [-1.64310759e-01 9.86405202e-01 -2.59832687e-03 -5.42210463e+00] [-1.87552826e-02 -4.90493365e-04 9.99823984e-01 -3.37768066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76420382199997 meters 0.02682906502504469 Centerline is valid? [True, True] Translation: X:120.79, Y:-5.43, Z:-3.38 [[ 9.86784588e-01 1.60882487e-01 1.93132832e-02 1.20788548e+02] [-1.60860411e-01 9.86973470e-01 -2.70137218e-03 -5.43123794e+00] [-1.94963016e-02 -4.41070228e-04 9.99809832e-01 -3.37915594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82420382199997 meters 0.018060811262059256 Centerline is valid? [True, True] Translation: X:120.85, Y:-5.45, Z:-3.38 [[ 9.88197809e-01 1.51827134e-01 2.03374414e-02 1.20847242e+02] [-1.51800728e-01 9.88407024e-01 -2.84496706e-03 -5.45171528e+00] [-2.05336131e-02 -2.75848182e-04 9.99789125e-01 -3.37950553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88420382199998 meters 0.012557226652567012 Centerline is valid? [True, True] Translation: X:120.91, Y:-5.47, Z:-3.38 [[ 9.89384277e-01 1.44025046e-01 1.93788271e-02 1.20905451e+02] [-1.43999573e-01 9.89574037e-01 -2.71085993e-03 -5.46994504e+00] [-1.95672159e-02 -1.08460639e-04 9.99808538e-01 -3.38398876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94420382199998 meters 0.010693919503466801 Centerline is valid? [True, True] Translation: X:120.97, Y:-5.48, Z:-3.38 [[ 9.89839881e-01 1.40834224e-01 1.95635035e-02 1.20966539e+02] [-1.40807664e-01 9.90033191e-01 -2.73545834e-03 -5.48200684e+00] [-1.97537640e-02 -4.70254678e-05 9.99804874e-01 -3.38249025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.00420382199998 meters 0.01135221085324199 Centerline is valid? [True, True] Translation: X:121.03, Y:-5.49, Z:-3.39 [[ 9.90065284e-01 1.39533782e-01 1.73509843e-02 1.21026654e+02] [-1.39512632e-01 9.90217311e-01 -2.42941471e-03 -5.49117959e+00] [-1.75202305e-02 -1.54023227e-05 9.99846509e-01 -3.38828642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.06420382199998 meters 0.011945818220865365 Centerline is valid? [True, True] Translation: X:121.09, Y:-5.51, Z:-3.39 [[ 9.90456212e-01 1.36856354e-01 1.63349738e-02 1.21087544e+02] [-1.36837236e-01 9.90590903e-01 -2.28766169e-03 -5.50561607e+00] [-1.64943575e-02 3.05960717e-05 9.99863958e-01 -3.39334350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12420382199997 meters 0.0134279619010767 Centerline is valid? [True, True] Translation: X:121.15, Y:-5.52, Z:-3.39 [[ 9.90948620e-01 1.33068874e-01 1.77061119e-02 1.21149446e+02] [-1.33045750e-01 9.91106787e-01 -2.48284848e-03 -5.52050837e+00] [-1.78790375e-02 1.04652339e-04 9.99840152e-01 -3.39275484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18420382199997 meters 0.015986653165186708 Centerline is valid? [True, True] Translation: X:121.21, Y:-5.54, Z:-3.39 [[ 9.91392429e-01 1.29658949e-01 1.81551034e-02 1.21209684e+02] [-1.29633979e-01 9.91558635e-01 -2.55053963e-03 -5.53542075e+00] [-1.83325499e-02 1.75067386e-04 9.99831929e-01 -3.39352523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24420382199997 meters 0.021147558546251676 Centerline is valid? [True, True] Translation: X:121.27, Y:-5.56, Z:-3.39 [[ 9.92125060e-01 1.23845920e-01 1.87096929e-02 1.21269760e+02] [-1.23818325e-01 9.92301417e-01 -2.63064904e-03 -5.55687553e+00] [-1.88914499e-02 2.93330000e-04 9.99821498e-01 -3.39356540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.30420382199998 meters 0.021714253540858864 Centerline is valid? [True, True] Translation: X:121.33, Y:-5.57, Z:-3.39 [[ 9.92288250e-01 1.22403688e-01 1.95285749e-02 1.21329999e+02] [-1.22373348e-01 9.92480340e-01 -2.74565630e-03 -5.57420545e+00] [-1.97178051e-02 3.34705399e-04 9.99805529e-01 -3.39384338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.36420382199998 meters 0.017260194471830897 Centerline is valid? [True, True] Translation: X:121.39, Y:-5.58, Z:-3.40 [[ 9.91492623e-01 1.28815533e-01 1.86798455e-02 1.21389965e+02] [-1.28788834e-01 9.91668552e-01 -2.63034107e-03 -5.57897731e+00] [-1.88630441e-02 2.02208241e-04 9.99822057e-01 -3.39768779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.42420382199998 meters 0.012305021507253603 Centerline is valid? [True, True] Translation: X:121.45, Y:-5.58, Z:-3.40 [[ 9.90599823e-01 1.35888874e-01 1.56908855e-02 1.21453049e+02] [-1.35870931e-01 9.90724084e-01 -2.20893479e-03 -5.57669438e+00] [-1.58455078e-02 5.62351951e-05 9.99874450e-01 -3.40316399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48420382199997 meters 0.014672325451504618 Centerline is valid? [True, True] Translation: X:121.52, Y:-5.57, Z:-3.41 [[ 9.89166531e-01 1.46006030e-01 1.52254355e-02 1.21515730e+02] [-1.45990276e-01 9.89283695e-01 -2.14703175e-03 -5.57047116e+00] [-1.53757547e-02 -9.89935900e-05 9.99881781e-01 -3.40853571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54420382199997 meters 0.020590694355415894 Centerline is valid? [True, True] Translation: X:121.58, Y:-5.57, Z:-3.41 [[ 9.88035167e-01 1.53156237e-01 1.81569842e-02 1.21577884e+02] [-1.53134981e-01 9.88201956e-01 -2.56355677e-03 -5.56535084e+00] [-1.83353920e-02 -2.47585198e-04 9.99831862e-01 -3.40608829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60420382199997 meters 0.022032116586771337 Centerline is valid? [True, True] Translation: X:121.64, Y:-5.57, Z:-3.41 [[ 9.87583664e-01 1.55970067e-01 1.87575184e-02 1.21639664e+02] [-1.55947914e-01 9.87761733e-01 -2.64703597e-03 -5.57057407e+00] [-1.89408173e-02 -3.11026383e-04 9.99820558e-01 -3.40684696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.66420382199998 meters 0.019574039148791862 Centerline is valid? [True, True] Translation: X:121.70, Y:-5.59, Z:-3.41 [[ 9.87902829e-01 1.54038142e-01 1.78955552e-02 1.21700769e+02] [-1.54017591e-01 9.88064869e-01 -2.52928077e-03 -5.58542294e+00] [-1.80715751e-02 -2.57546660e-04 9.99836663e-01 -3.41078142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.72420382199998 meters 0.015231677174670017 Centerline is valid? [True, True] Translation: X:121.76, Y:-5.60, Z:-3.42 [[ 9.89047209e-01 1.46636352e-01 1.68344368e-02 1.21758837e+02] [-1.46617067e-01 9.89190461e-01 -2.38079471e-03 -5.60253068e+00] [-1.70015754e-02 -1.13497399e-04 9.99855456e-01 -3.41798950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.78420382199998 meters 0.012054774926727189 Centerline is valid? [True, True] Translation: X:121.82, Y:-5.63, Z:-3.42 [[ 9.90133502e-01 1.39289611e-01 1.52987632e-02 1.21818124e+02] [-1.39272843e-01 9.90251687e-01 -2.16130988e-03 -5.62982531e+00] [-1.54506740e-02 9.28308998e-06 9.99880631e-01 -3.41848031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84420382199997 meters 0.01194168159415591 Centerline is valid? [True, True] Translation: X:121.88, Y:-5.64, Z:-3.41 [[ 9.90529469e-01 1.35955872e-01 1.91669384e-02 1.21879132e+02] [-1.35928822e-01 9.90714890e-01 -2.71316010e-03 -5.64400361e+00] [-1.93578414e-02 8.21256726e-05 9.99812616e-01 -3.41384888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90420382199997 meters 0.011349975741078492 Centerline is valid? [True, True] Translation: X:121.94, Y:-5.65, Z:-3.41 [[ 9.90418554e-01 1.36555615e-01 2.05828169e-02 1.21940699e+02] [-1.36524469e-01 9.90632403e-01 -2.91747377e-03 -5.65183915e+00] [-2.07884028e-02 7.94619972e-05 9.99783895e-01 -3.41341438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96420382199997 meters 0.010606025941626372 Centerline is valid? [True, True] Translation: X:122.00, Y:-5.66, Z:-3.42 [[ 9.90124636e-01 1.38881524e-01 1.91082866e-02 1.22002634e+02] [-1.38855064e-01 9.90309003e-01 -2.71105273e-03 -5.66080680e+00] [-1.92996234e-02 3.09977462e-05 9.99813744e-01 -3.41676697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02420382199998 meters 0.011313238708423854 Centerline is valid? [True, True] Translation: X:122.06, Y:-5.67, Z:-3.42 [[ 9.89731059e-01 1.41892282e-01 1.72919582e-02 1.22063470e+02] [-1.41871012e-01 9.89882104e-01 -2.45679964e-03 -5.66534854e+00] [-1.74656009e-02 -2.16567071e-05 9.99847465e-01 -3.42370248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.08420382199998 meters 0.011930959702802725 Centerline is valid? [True, True] Translation: X:122.13, Y:-5.67, Z:-3.43 [[ 9.89469156e-01 1.43890330e-01 1.56959478e-02 1.22126001e+02] [-1.43873026e-01 9.89593639e-01 -2.23204562e-03 -5.66732772e+00] [-1.58537799e-02 -4.96832010e-05 9.99874320e-01 -3.42729974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.14420382199998 meters 0.01204328234881443 Centerline is valid? [True, True] Translation: X:122.19, Y:-5.67, Z:-3.43 [[ 9.89262420e-01 1.45204871e-01 1.65954714e-02 1.22187608e+02] [-1.45185657e-01 9.89401607e-01 -2.36317477e-03 -5.67320160e+00] [-1.67627306e-02 -7.16244291e-05 9.99859493e-01 -3.42789737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20420382199997 meters 0.011930874561009145 Centerline is valid? [True, True] Translation: X:122.25, Y:-5.68, Z:-3.43 [[ 9.89278810e-01 1.44831440e-01 1.87427135e-02 1.22247959e+02] [-1.44806788e-01 9.89456340e-01 -2.67300752e-03 -5.68414712e+00] [-1.89322322e-02 -6.97224375e-05 9.99820767e-01 -3.42838045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26420382199997 meters 0.010761718573574738 Centerline is valid? [True, True] Translation: X:122.31, Y:-5.70, Z:-3.43 [[ 9.89891109e-01 1.40479051e-01 1.95250504e-02 1.22308657e+02] [-1.40451387e-01 9.90083651e-01 -2.78783244e-03 -5.69941196e+00] [-1.97230652e-02 1.73301363e-05 9.99805481e-01 -3.42793832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32420382199997 meters 0.012716971408586996 Centerline is valid? [True, True] Translation: X:122.37, Y:-5.72, Z:-3.43 [[ 9.90412273e-01 1.36741156e-01 1.96312593e-02 1.22368345e+02] [-1.36712387e-01 9.90606808e-01 -2.80641940e-03 -5.71606122e+00] [-1.98306122e-02 9.56758874e-05 9.99803349e-01 -3.43183169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38420382199998 meters 0.01871547312004362 Centerline is valid? [True, True] Translation: X:122.43, Y:-5.74, Z:-3.43 [[ 9.91497031e-01 1.28834153e-01 1.83138882e-02 1.22426908e+02] [-1.28807695e-01 9.91666125e-01 -2.62196789e-03 -5.74135220e+00] [-1.84990615e-02 2.40703660e-04 9.99828849e-01 -3.43494502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.44420382199998 meters 0.02022874983313137 Centerline is valid? [True, True] Translation: X:122.49, Y:-5.75, Z:-3.44 [[ 9.91619826e-01 1.27880385e-01 1.83501235e-02 1.22486496e+02] [-1.27853663e-01 9.91789564e-01 -2.62690669e-03 -5.75347192e+00] [-1.85353908e-02 2.58762253e-04 9.99828171e-01 -3.43774606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.50420382199998 meters 0.018941197328283258 Centerline is valid? [True, True] Translation: X:122.55, Y:-5.76, Z:-3.44 [[ 9.91404045e-01 1.29591129e-01 1.80044056e-02 1.22548001e+02] [-1.29565672e-01 9.91567491e-01 -2.57822095e-03 -5.76436572e+00] [-1.81866979e-02 2.23305762e-04 9.99834583e-01 -3.43980926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.56420382199998 meters 0.01779644792403605 Centerline is valid? [True, True] Translation: X:122.61, Y:-5.77, Z:-3.44 [[ 9.91248840e-01 1.30729084e-01 1.83205974e-02 1.22609115e+02] [-1.30702861e-01 9.91418107e-01 -2.62662581e-03 -5.77315812e+00] [-1.85067484e-02 2.09085289e-04 9.99828714e-01 -3.44135575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62420382199997 meters 0.014740826569887 Centerline is valid? [True, True] Translation: X:122.67, Y:-5.77, Z:-3.45 [[ 9.90738818e-01 1.34877377e-01 1.56425195e-02 1.22671382e+02] [-1.34858747e-01 9.90862291e-01 -2.24454333e-03 -5.77445442e+00] [-1.58023209e-02 1.14225609e-04 9.99875129e-01 -3.44746332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68420382199997 meters 0.012485263841487527 Centerline is valid? [True, True] Translation: X:122.73, Y:-5.78, Z:-3.45 [[ 9.90322769e-01 1.37752980e-01 1.68798493e-02 1.22732879e+02] [-1.37731649e-01 9.90466613e-01 -2.42531568e-03 -5.78341497e+00] [-1.70530216e-02 7.69558555e-05 9.99854584e-01 -3.44769819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74420382199997 meters 0.012282938342364047 Centerline is valid? [True, True] Translation: X:122.79, Y:-5.79, Z:-3.45 [[ 9.89994413e-01 1.40156371e-01 1.63479030e-02 1.22793514e+02] [-1.40136649e-01 9.90129381e-01 -2.35147244e-03 -5.79331645e+00] [-1.65161129e-02 3.70042261e-05 9.99863599e-01 -3.45233259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.80420382199998 meters 0.011803197055074767 Centerline is valid? [True, True] Translation: X:122.86, Y:-5.80, Z:-3.45 [[ 9.89517159e-01 1.43490572e-01 1.63170978e-02 1.22856368e+02] [-1.43471328e-01 9.89651684e-01 -2.35001337e-03 -5.79884538e+00] [-1.64854481e-02 -1.56571429e-05 9.99864106e-01 -3.45457335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.86420382199998 meters 0.012834096604090978 Centerline is valid? [True, True] Translation: X:122.92, Y:-5.81, Z:-3.46 [[ 9.89054112e-01 1.46773343e-01 1.51509163e-02 1.22918498e+02] [-1.46757093e-01 9.89170148e-01 -2.18487403e-03 -5.80568555e+00] [-1.53075154e-02 -6.25458011e-05 9.99882831e-01 -3.45913419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.92420382199998 meters 0.014111017245427697 Centerline is valid? [True, True] Translation: X:122.98, Y:-5.81, Z:-3.46 [[ 9.88591250e-01 1.49757235e-01 1.61279584e-02 1.22980367e+02] [-1.49739171e-01 9.88722791e-01 -2.32868462e-03 -5.81293652e+00] [-1.62948174e-02 -1.12869889e-04 9.99867224e-01 -3.45932527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98420382199997 meters 0.014868575285494607 Centerline is valid? [True, True] Translation: X:123.04, Y:-5.82, Z:-3.46 [[ 9.88312968e-01 1.51458519e-01 1.72567297e-02 1.23043364e+02] [-1.51438040e-01 9.88463603e-01 -2.49500228e-03 -5.81875615e+00] [-1.74355386e-02 -1.47482204e-04 9.99847979e-01 -3.45933774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04420382199997 meters 0.01601723542954201 Centerline is valid? [True, True] Translation: X:123.11, Y:-5.83, Z:-3.46 [[ 9.88095782e-01 1.52971676e-01 1.63215162e-02 1.23105239e+02] [-1.52953511e-01 9.88230560e-01 -2.36288424e-03 -5.82687210e+00] [-1.64908755e-02 -1.61677258e-04 9.99864003e-01 -3.46351793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10420382199997 meters 0.015517891777811819 Centerline is valid? [True, True] Translation: X:123.17, Y:-5.84, Z:-3.46 [[ 9.88055104e-01 1.53183722e-01 1.67886319e-02 1.23167400e+02] [-1.53164488e-01 9.88197713e-01 -2.43312336e-03 -5.83611056e+00] [-1.69632026e-02 -1.67362265e-04 9.99856101e-01 -3.46309128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.16420382199998 meters 0.015355310009257593 Centerline is valid? [True, True] Translation: X:123.23, Y:-5.84, Z:-3.46 [[ 9.88130133e-01 1.52570684e-01 1.79172069e-02 1.23228252e+02] [-1.52548599e-01 9.88292548e-01 -2.60098322e-03 -5.84103480e+00] [-1.81042758e-02 -1.63134917e-04 9.99836091e-01 -3.46451010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.22420382199998 meters 0.01358576537653203 Centerline is valid? [True, True] Translation: X:123.29, Y:-5.85, Z:-3.47 [[ 9.88613538e-01 1.49560381e-01 1.65820750e-02 1.23289406e+02] [-1.49541005e-01 9.88752589e-01 -2.40937870e-03 -5.85291906e+00] [-1.67559172e-02 -9.77557549e-05 9.99859605e-01 -3.47008077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.28420382199998 meters 0.011379287272677716 Centerline is valid? [True, True] Translation: X:123.35, Y:-5.87, Z:-3.47 [[ 9.89069648e-01 1.46430422e-01 1.73020904e-02 1.23350750e+02] [-1.46408781e-01 9.89220971e-01 -2.51778548e-03 -5.86670898e+00] [-1.74842710e-02 -4.29127536e-05 9.99847138e-01 -3.46962364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34420382199997 meters 0.012304366589834278 Centerline is valid? [True, True] Translation: X:123.41, Y:-5.87, Z:-3.48 [[ 9.89484282e-01 1.43914078e-01 1.44773866e-02 1.23411182e+02] [-1.43898657e-01 9.89590187e-01 -2.10674947e-03 -5.87473809e+00] [-1.46298706e-02 1.31899453e-06 9.99892978e-01 -3.47835835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40420382199997 meters 0.01466458301669623 Centerline is valid? [True, True] Translation: X:123.47, Y:-5.89, Z:-3.49 [[ 9.89932003e-01 1.41006388e-01 1.23218595e-02 1.23471095e+02] [-1.40994975e-01 9.90008685e-01 -1.79440663e-03 -5.88801382e+00] [-1.24517707e-02 3.90202830e-05 9.99922473e-01 -3.48709394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46420382199997 meters 0.013639083300788286 Centerline is valid? [True, True] Translation: X:123.53, Y:-5.89, Z:-3.48 [[ 9.89897898e-01 1.41132767e-01 1.35533915e-02 1.23533882e+02] [-1.41118915e-01 9.89990677e-01 -1.97780098e-03 -5.89256918e+00] [-1.36968637e-02 4.51811321e-05 9.99906193e-01 -3.48372400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52420382199998 meters 0.013613562628631717 Centerline is valid? [True, True] Translation: X:123.60, Y:-5.90, Z:-3.49 [[ 9.89821518e-01 1.41765226e-01 1.24893145e-02 1.23595531e+02] [-1.41753529e-01 9.89900308e-01 -1.82132626e-03 -5.89740679e+00] [-1.26213769e-02 3.23835263e-05 9.99920347e-01 -3.48633728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.58420382199998 meters 0.01476431550465741 Centerline is valid? [True, True] Translation: X:123.66, Y:-5.90, Z:-3.49 [[ 9.90101440e-01 1.39702273e-01 1.35060369e-02 1.23656026e+02] [-1.39688362e-01 9.90193552e-01 -1.97252116e-03 -5.90381483e+00] [-1.36491564e-02 6.63598629e-05 9.99906844e-01 -3.49047421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.64420382199998 meters 0.019220959200791792 Centerline is valid? [True, True] Translation: X:123.72, Y:-5.92, Z:-3.49 [[ 9.90899631e-01 1.34047913e-01 1.22097662e-02 1.23715662e+02] [-1.34036096e-01 9.90974843e-01 -1.78474450e-03 -5.92161513e+00] [-1.23388124e-02 1.31953259e-04 9.99923865e-01 -3.49430415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70420382199997 meters 0.02433520580848955 Centerline is valid? [True, True] Translation: X:123.77, Y:-5.94, Z:-3.50 [[ 9.91412178e-01 1.30235717e-01 1.18554506e-02 1.23774905e+02] [-1.30224268e-01 9.91483044e-01 -1.73590426e-03 -5.93616902e+00] [-1.19805550e-02 1.77129246e-04 9.99928215e-01 -3.49871458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76420382199997 meters 0.023779659848828117 Centerline is valid? [True, True] Translation: X:123.84, Y:-5.94, Z:-3.50 [[ 9.91725138e-01 1.27969721e-01 1.02470476e-02 1.23836748e+02] [-1.27961035e-01 9.91778059e-01 -1.50153770e-03 -5.94234413e+00] [-1.03549483e-02 1.77889866e-04 9.99946370e-01 -3.49972287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82420382199997 meters 0.025050263690758107 Centerline is valid? [True, True] Translation: X:123.90, Y:-5.95, Z:-3.51 [[ 9.91676772e-01 1.28494459e-01 8.14580167e-03 1.23897829e+02] [-1.28489005e-01 9.91710218e-01 -1.19149725e-03 -5.94626721e+00] [-8.23137554e-03 1.34934194e-04 9.99966113e-01 -3.50581341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88420382199998 meters 0.023604058514132227 Centerline is valid? [True, True] Translation: X:123.96, Y:-5.95, Z:-3.50 [[ 9.91696956e-01 1.28169572e-01 1.04741542e-02 1.23959682e+02] [-1.28160508e-01 9.91752252e-01 -1.53477602e-03 -5.95375483e+00] [-1.05844775e-02 1.79659795e-04 9.99943967e-01 -3.50171905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.94420382199998 meters 0.021882920920030635 Centerline is valid? [True, True] Translation: X:124.02, Y:-5.96, Z:-3.50 [[ 9.91480050e-01 1.29656814e-01 1.25068461e-02 1.24022486e+02] [-1.29643970e-01 9.91558909e-01 -1.83576864e-03 -5.95566824e+00] [-1.26392946e-02 1.98690806e-04 9.99920101e-01 -3.50089271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.00420382199998 meters 0.019576651893349204 Centerline is valid? [True, True] Translation: X:124.08, Y:-5.96, Z:-3.50 [[ 9.91190301e-01 1.31833260e-01 1.27192656e-02 1.24084916e+02] [-1.31820102e-01 9.91271890e-01 -1.87103828e-03 -5.96129843e+00] [-1.28549156e-02 1.77900104e-04 9.99917356e-01 -3.50245822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.06420382199997 meters 0.01742351824945666 Centerline is valid? [True, True] Translation: X:124.15, Y:-5.96, Z:-3.50 [[ 9.90738512e-01 1.35233596e-01 1.22096406e-02 1.24147271e+02] [-1.35221744e-01 9.90813735e-01 -1.79491231e-03 -5.96141626e+00] [-1.23402120e-02 1.27279861e-04 9.99923849e-01 -3.50478376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12420382199997 meters 0.01814853746540748 Centerline is valid? [True, True] Translation: X:124.21, Y:-5.97, Z:-3.51 [[ 9.90534464e-01 1.36864574e-01 1.04672898e-02 1.24208352e+02] [-1.36855940e-01 9.90589764e-01 -1.54015227e-03 -5.96602659e+00] [-1.05795824e-02 9.30631178e-05 9.99944030e-01 -3.51268365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18420382199997 meters 0.017940048204199407 Centerline is valid? [True, True] Translation: X:124.27, Y:-5.97, Z:-3.51 [[ 9.90626136e-01 1.36162105e-01 1.09425817e-02 1.24270506e+02] [-1.36152610e-01 9.90686565e-01 -1.61144126e-03 -5.97447357e+00] [-1.10600859e-02 1.06474764e-04 9.99938830e-01 -3.51295353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24420382199997 meters 0.018566171459800385 Centerline is valid? [True, True] Translation: X:124.33, Y:-5.99, Z:-3.51 [[ 9.90767913e-01 1.35088472e-01 1.14038577e-02 1.24331862e+02] [-1.35078061e-01 9.90833532e-01 -1.68184367e-03 -5.98701287e+00] [-1.15265223e-02 1.25905766e-04 9.99933560e-01 -3.51474971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.30420382199998 meters 0.01803478984821719 Centerline is valid? [True, True] Translation: X:124.39, Y:-5.99, Z:-3.52 [[ 9.90293487e-01 1.38673718e-01 9.40262569e-03 1.24393577e+02] [-1.38666790e-01 9.90338122e-01 -1.38785236e-03 -5.99335391e+00] [-9.50423731e-03 7.05492254e-05 9.99954831e-01 -3.52355251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.36420382199998 meters 0.017083816160697016 Centerline is valid? [True, True] Translation: X:124.45, Y:-5.99, Z:-3.53 [[ 9.89815428e-01 1.42138242e-01 7.88277235e-03 1.24454742e+02] [-1.42133450e-01 9.89846816e-01 -1.16770506e-03 -5.99351515e+00] [-7.96871265e-03 3.54068569e-05 9.99968249e-01 -3.52886674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.42420382199998 meters 0.016618224687644057 Centerline is valid? [True, True] Translation: X:124.52, Y:-5.99, Z:-3.53 [[ 9.89206246e-01 1.46423768e-01 5.57522139e-03 1.24515739e+02] [-1.46421438e-01 9.89221957e-01 -8.26116071e-04 -5.99439984e+00] [-5.63609444e-03 8.67244933e-07 9.99984117e-01 -3.53226356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48420382199997 meters 0.017095702459314 Centerline is valid? [True, True] Translation: X:124.58, Y:-5.99, Z:-3.54 [[ 9.88695582e-01 1.49851289e-01 5.06337770e-03 1.24576386e+02] [-1.49849408e-01 9.88708547e-01 -7.50850593e-04 -5.99246475e+00] [-5.11872074e-03 -1.63814888e-05 9.99986899e-01 -3.53538792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54420382199997 meters 0.016949533808263882 Centerline is valid? [True, True] Translation: X:124.64, Y:-6.00, Z:-3.54 [[ 9.88436918e-01 1.51507083e-01 6.16945497e-03 1.24635790e+02] [-1.51504324e-01 9.88456171e-01 -9.14850212e-04 -5.99639320e+00] [-6.23684213e-03 -3.04273816e-05 9.99980550e-01 -3.53572894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60420382199997 meters 0.018188080082253543 Centerline is valid? [True, True] Translation: X:124.70, Y:-5.99, Z:-3.54 [[ 9.88329902e-01 1.52158799e-01 7.19059633e-03 1.24695377e+02] [-1.52155070e-01 9.88356058e-01 -1.06608541e-03 -5.99165116e+00] [-7.26908372e-03 -4.04415951e-05 9.99973579e-01 -3.53952944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.66420382199998 meters 0.01635219864030355 Centerline is valid? [True, True] Translation: X:124.75, Y:-6.00, Z:-3.54 [[ 9.88977297e-01 1.47902877e-01 6.97453620e-03 1.24754920e+02] [-1.47899269e-01 9.89001890e-01 -1.03321166e-03 -5.99974079e+00] [-7.05064446e-03 -9.70592970e-06 9.99975144e-01 -3.54093458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.72420382199998 meters 0.01676760060070967 Centerline is valid? [True, True] Translation: X:124.81, Y:-6.01, Z:-3.54 [[ 9.89629564e-01 1.43504672e-01 6.30363944e-03 1.24814018e+02] [-1.43501635e-01 9.89649639e-01 -9.33744907e-04 -6.01075856e+00] [-6.37239125e-03 1.94789988e-05 9.99979696e-01 -3.54293034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.78420382199998 meters 0.01880405233110076 Centerline is valid? [True, True] Translation: X:124.87, Y:-6.02, Z:-3.54 [[ 9.90341118e-01 1.38515232e-01 6.16439372e-03 1.24872936e+02] [-1.38512234e-01 9.90360302e-01 -9.12712761e-04 -6.02193580e+00] [-6.23139544e-03 5.00530294e-05 9.99980583e-01 -3.54443189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84420382199997 meters 0.019420285309500053 Centerline is valid? [True, True] Translation: X:124.93, Y:-6.02, Z:-3.55 [[ 9.90474407e-01 1.37585334e-01 5.54302104e-03 1.24933465e+02] [-1.37582894e-01 9.90489916e-01 -8.20961318e-04 -6.02312061e+00] [-5.60325868e-03 5.05163003e-05 9.99984300e-01 -3.54680249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90420382199997 meters 0.023812322034620654 Centerline is valid? [True, True] Translation: X:124.99, Y:-6.03, Z:-3.55 [[ 9.90645496e-01 1.36399078e-01 4.09792889e-03 1.24992077e+02] [-1.36397733e-01 9.90653971e-01 -6.07308474e-04 -6.02899510e+00] [-4.14246584e-03 4.26791959e-05 9.99991419e-01 -3.55232212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96420382199997 meters 0.023149120142506748 Centerline is valid? [True, True] Translation: X:125.05, Y:-6.04, Z:-3.55 [[ 9.91194110e-01 1.32314734e-01 5.20067335e-03 1.25050629e+02] [-1.32312515e-01 9.91207751e-01 -7.69987551e-04 -6.04383528e+00] [-5.25682843e-03 7.50929529e-05 9.99986180e-01 -3.55053693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.02420382199998 meters 0.027762890408122014 Centerline is valid? [True, True] Translation: X:125.11, Y:-6.07, Z:-3.55 [[ 9.92097332e-01 1.25330523e-01 5.92820339e-03 1.25109208e+02] [-1.25327521e-01 9.92115036e-01 -8.76617051e-04 -6.06618994e+00] [-5.99132659e-03 1.26722401e-04 9.99982044e-01 -3.54837425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.08420382199998 meters 0.027714221433783076 Centerline is valid? [True, True] Translation: X:125.17, Y:-6.08, Z:-3.55 [[ 9.92148326e-01 1.24895093e-01 6.55097970e-03 1.25168957e+02] [-1.24891419e-01 9.92169943e-01 -9.68551050e-04 -6.08244589e+00] [-6.62065242e-03 1.42785155e-04 9.99978073e-01 -3.55007417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.14420382199998 meters 0.022753209717762225 Centerline is valid? [True, True] Translation: X:125.23, Y:-6.09, Z:-3.55 [[ 9.91302559e-01 1.31484088e-01 5.58306745e-03 1.25229195e+02] [-1.31481521e-01 9.91318278e-01 -8.26059429e-04 -6.08847608e+00] [-5.64321048e-03 8.48046270e-05 9.99984073e-01 -3.55408966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20420382199997 meters 0.019498605653951152 Centerline is valid? [True, True] Translation: X:125.29, Y:-6.09, Z:-3.56 [[ 9.90410635e-01 1.38089785e-01 4.24091217e-03 1.25287833e+02] [-1.38088360e-01 9.90419714e-01 -6.28383984e-04 -6.09094457e+00] [-4.28705643e-03 3.67375753e-05 9.99990810e-01 -3.56017509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26420382199997 meters 0.01863855727568278 Centerline is valid? [True, True] Translation: X:125.35, Y:-6.08, Z:-3.57 [[ 9.88932121e-01 1.48355900e-01 1.94593855e-03 1.25347220e+02] [-1.48355617e-01 9.88934036e-01 -2.89471674e-04 -6.08476388e+00] [-1.96734969e-03 -2.42307838e-06 9.99998065e-01 -3.56638265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32420382199997 meters 0.021388643406891478 Centerline is valid? [True, True] Translation: X:125.41, Y:-6.08, Z:-3.57 [[ 9.88035396e-01 1.54224429e-01 9.38459000e-04 1.25407179e+02] [-1.54224366e-01 9.88035842e-01 -1.39432686e-04 -6.08473958e+00] [-9.48735055e-04 -6.96881552e-06 9.99999550e-01 -3.57013860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38420382199998 meters 0.025088600665789378 Centerline is valid? [True, True] Translation: X:125.47, Y:-6.08, Z:-3.57 [[ 9.87099899e-01 1.60089429e-01 2.27230590e-03 1.25466895e+02] [-1.60089077e-01 9.87102514e-01 -3.37196977e-04 -6.08161045e+00] [-2.29698054e-03 -3.09242525e-05 9.99997361e-01 -3.56962236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.44420382199998 meters 0.024952046747990644 Centerline is valid? [True, True] Translation: X:125.53, Y:-6.09, Z:-3.57 [[ 9.87018653e-01 1.60564343e-01 3.64278473e-03 1.25525495e+02] [-1.60563445e-01 9.87025374e-01 -5.39561869e-04 -6.08633257e+00] [-3.68215535e-03 -5.23404361e-05 9.99993219e-01 -3.56950299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.50420382199998 meters 0.026469155033865644 Centerline is valid? [True, True] Translation: X:125.58, Y:-6.11, Z:-3.57 [[ 9.87892654e-01 1.55126150e-01 1.99558934e-03 1.25582526e+02] [-1.55125868e-01 9.87894669e-01 -2.96165528e-04 -6.10505290e+00] [-2.01737509e-03 -1.69877789e-05 9.99997965e-01 -3.57288534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.56420382199997 meters 0.019984632316898284 Centerline is valid? [True, True] Translation: X:125.64, Y:-6.12, Z:-3.58 [[ 9.88705579e-01 1.49869148e-01 7.19146685e-04 1.25638789e+02] [-1.49869109e-01 9.88705840e-01 -1.07951435e-04 -6.12006218e+00] [-7.27203117e-04 -1.04568661e-06 9.99999736e-01 -3.57957140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62420382199997 meters 0.019591592262932746 Centerline is valid? [True, True] Translation: X:125.70, Y:-6.13, Z:-3.58 [[ 9.89108530e-01 1.47185711e-01 -8.25580293e-04 1.25697311e+02] [-1.47185662e-01 9.89108875e-01 1.20421537e-04 -6.12567293e+00] [ 8.34313124e-04 2.40361200e-06 9.99999652e-01 -3.58245284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68420382199997 meters 0.020612015864956607 Centerline is valid? [True, True] Translation: X:125.76, Y:-6.13, Z:-3.58 [[ 9.88665158e-01 1.50124818e-01 -1.93505502e-03 1.25755610e+02] [-1.50124550e-01 9.88667052e-01 2.84060806e-04 -6.13304650e+00] [ 1.95576971e-03 9.65824137e-06 9.99998087e-01 -3.58480066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74420382199997 meters 0.022110480546994223 Centerline is valid? [True, True] Translation: X:125.82, Y:-6.13, Z:-3.58 [[ 9.87958033e-01 1.54700332e-01 -2.59482934e-03 1.25815182e+02] [-1.54699864e-01 9.87961440e-01 3.81236305e-04 -6.13218575e+00] [ 2.62256872e-03 2.47742774e-05 9.99996561e-01 -3.58493303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.80420382199998 meters 0.031177829505204358 Centerline is valid? [True, True] Translation: X:125.88, Y:-6.11, Z:-3.60 [[ 9.86451606e-01 1.63911656e-01 -6.79693829e-03 1.25878031e+02] [-1.63908641e-01 9.86475014e-01 1.00199084e-03 -6.11256773e+00] [ 6.86924778e-03 1.25661444e-04 9.99976399e-01 -3.59969149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.86420382199998 meters 0.031478814788411254 Centerline is valid? [True, True] Translation: X:125.93, Y:-6.12, Z:-3.60 [[ 9.86690110e-01 1.62506884e-01 -5.84285650e-03 1.25934527e+02] [-1.62504643e-01 9.86707405e-01 8.59523542e-04 -6.12397761e+00] [ 5.90486826e-03 1.01407930e-04 9.99982561e-01 -3.60233501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.92420382199998 meters 0.025106217526182868 Centerline is valid? [True, True] Translation: X:125.99, Y:-6.14, Z:-3.60 [[ 9.87584626e-01 1.57017096e-01 -4.71565376e-03 1.25992160e+02] [-1.57015571e-01 9.87595883e-01 6.94287586e-04 -6.14278469e+00] [ 4.76617526e-03 5.47633196e-05 9.99988640e-01 -3.59664159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98420382199997 meters 0.03048272193503106 Centerline is valid? [True, True] Translation: X:126.05, Y:-6.15, Z:-3.60 [[ 9.87974920e-01 1.54558994e-01 -4.13216916e-03 1.26051299e+02] [-1.54557810e-01 9.87983561e-01 6.06122069e-04 -6.14835711e+00] [ 4.17619682e-03 3.98256156e-05 9.99991279e-01 -3.59790816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.044203822 meters 0.023258010269692497 Centerline is valid? [True, True] Translation: X:126.11, Y:-6.16, Z:-3.60 [[ 9.88300407e-01 1.52496403e-01 -2.67454436e-03 1.26107643e+02] [-1.52495902e-01 9.88304025e-01 3.91343948e-04 -6.16004051e+00] [ 2.70294150e-03 2.10916713e-05 9.99996347e-01 -3.60018028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.104203822 meters 0.02162878981300963 Centerline is valid? [True, True] Translation: X:126.17, Y:-6.17, Z:-3.60 [[ 9.88326098e-01 1.52302681e-01 -3.92641028e-03 1.26165984e+02] [-1.52301593e-01 9.88333897e-01 5.76350641e-04 -6.17047755e+00] [ 3.96838412e-03 2.83761605e-05 9.99992126e-01 -3.59829610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.16420382199996 meters 0.022163993177537384 Centerline is valid? [True, True] Translation: X:126.22, Y:-6.18, Z:-3.60 [[ 9.87886368e-01 1.55161578e-01 -2.32566758e-03 1.26224333e+02] [-1.55161205e-01 9.87889105e-01 3.40664582e-04 -6.17674297e+00] [ 2.35035972e-03 2.43154888e-05 9.99997238e-01 -3.59562703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.22420382199996 meters 0.028149119318003145 Centerline is valid? [True, True] Translation: X:126.28, Y:-6.18, Z:-3.61 [[ 9.87320986e-01 1.58686165e-01 -3.99650639e-03 1.26283513e+02] [-1.58685090e-01 9.87329073e-01 5.86681674e-04 -6.17648762e+00] [ 4.03896521e-03 5.49428458e-05 9.99991842e-01 -3.60623323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.28420382199997 meters 0.029289614907485693 Centerline is valid? [True, True] Translation: X:126.34, Y:-6.18, Z:-3.60 [[ 9.86488574e-01 1.63830023e-01 1.27086140e-04 1.26343765e+02] [-1.63830022e-01 9.86488583e-01 -2.11578631e-05 -6.17682391e+00] [-1.28835319e-04 5.14651742e-08 9.99999992e-01 -3.59646467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.34420382199997 meters 0.0338826366071675 Centerline is valid? [True, True] Translation: X:126.41, Y:-6.17, Z:-3.60 [[ 9.85630018e-01 1.68914219e-01 -1.20562309e-03 1.26405199e+02] [-1.68914129e-01 9.85630755e-01 1.77207353e-04 -6.17454960e+00] [ 1.21823204e-03 2.89858868e-05 9.99999258e-01 -3.59913738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.40420382199997 meters 0.03552228220535412 Centerline is valid? [True, True] Translation: X:126.46, Y:-6.18, Z:-3.60 [[ 9.85389637e-01 1.70305804e-01 -1.78806882e-03 1.26464058e+02] [-1.70305610e-01 9.85391258e-01 2.61331123e-04 -6.17778522e+00] [ 1.80645359e-03 4.70051701e-05 9.99998367e-01 -3.60202929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.46420382199997 meters 0.03543880820557649 Centerline is valid? [True, True] Translation: X:126.52, Y:-6.18, Z:-3.60 [[ 9.85047001e-01 1.72284025e-01 -7.88220907e-04 1.26522976e+02] [-1.72283991e-01 9.85047316e-01 1.10637194e-04 -6.17941058e+00] [ 7.95495909e-04 2.68150078e-05 9.99999683e-01 -3.60068092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52420382199998 meters 0.04257303357415113 Centerline is valid? [True, True] Translation: X:126.58, Y:-6.18, Z:-3.61 [[ 9.84951597e-01 1.72827428e-01 -1.01572752e-03 1.26581144e+02] [-1.72827368e-01 9.84952120e-01 1.47227472e-04 -6.17739005e+00] [ 1.02588792e-03 3.05335805e-05 9.99999473e-01 -3.60877195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58420382199998 meters 0.034992311690958684 Centerline is valid? [True, True] Translation: X:126.64, Y:-6.18, Z:-3.60 [[ 9.85253354e-01 1.71099293e-01 -9.27416055e-04 1.26639867e+02] [-1.71099245e-01 9.85253790e-01 1.30840143e-04 -6.18353454e+00] [ 9.36126839e-04 2.97694971e-05 9.99999561e-01 -3.60150136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64420382199998 meters 0.029956103272647205 Centerline is valid? [True, True] Translation: X:126.70, Y:-6.20, Z:-3.61 [[ 9.86711936e-01 1.62475852e-01 -1.07416779e-03 1.26697434e+02] [-1.62475777e-01 9.86712520e-01 1.56920123e-04 -6.19687403e+00] [ 1.08539053e-03 1.96912874e-05 9.99999411e-01 -3.60803949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.70420382199998 meters 0.020976765880871932 Centerline is valid? [True, True] Translation: X:126.75, Y:-6.22, Z:-3.61 [[ 9.88669763e-01 1.50103798e-01 9.74767321e-04 1.26753997e+02] [-1.50103730e-01 9.88670243e-01 -1.43213421e-04 -6.22305340e+00] [-9.85220323e-04 -4.72543171e-06 9.99999515e-01 -3.60788085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.76420382199998 meters 0.01913529240777997 Centerline is valid? [True, True] Translation: X:126.81, Y:-6.24, Z:-3.61 [[ 9.89694953e-01 1.43190993e-01 -4.88709148e-04 1.26810036e+02] [-1.43190976e-01 9.89695074e-01 7.01429125e-05 -6.24388631e+00] [ 4.93716870e-04 5.58653327e-07 9.99999878e-01 -3.60804389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.824203822 meters 0.02315888836363473 Centerline is valid? [True, True] Translation: X:126.87, Y:-6.27, Z:-3.61 [[ 9.90696051e-01 1.36071724e-01 -2.41265018e-03 1.26865588e+02] [-1.36071270e-01 9.90698988e-01 3.52169022e-04 -6.26820253e+00] [ 2.43813033e-03 -2.06000856e-05 9.99997028e-01 -3.61421803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.88420382199996 meters 0.023675418420159793 Centerline is valid? [True, True] Translation: X:126.92, Y:-6.28, Z:-3.61 [[ 9.90906712e-01 1.34510979e-01 -3.26886225e-03 1.26923097e+02] [-1.34510137e-01 9.90912103e-01 4.77013335e-04 -6.28278545e+00] [ 3.30331870e-03 -3.29806060e-05 9.99994543e-01 -3.61364755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.94420382199996 meters 0.020600731523477942 Centerline is valid? [True, True] Translation: X:126.98, Y:-6.29, Z:-3.61 [[ 9.90087020e-01 1.40450317e-01 -1.18376480e-03 1.26981583e+02] [-1.40450211e-01 9.90087728e-01 1.72166251e-04 -6.28935066e+00] [ 1.19621181e-03 -4.19955377e-06 9.99999285e-01 -3.61156542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.00420382199997 meters 0.019615136423873424 Centerline is valid? [True, True] Translation: X:127.04, Y:-6.29, Z:-3.61 [[ 9.89025802e-01 1.47742884e-01 -6.52295676e-05 1.27040549e+02] [-1.47742883e-01 9.89025804e-01 8.14624304e-06 -6.29083538e+00] [ 6.57172748e-05 1.58035983e-06 9.99999998e-01 -3.61063701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.06420382199997 meters 0.028006356176255333 Centerline is valid? [True, True] Translation: X:127.10, Y:-6.28, Z:-3.61 [[ 9.87076874e-01 1.60246101e-01 6.57510857e-04 1.27101140e+02] [-1.60246072e-01 9.87077093e-01 -9.71891786e-05 -6.28274009e+00] [-6.64588092e-04 -9.43034176e-06 9.99999779e-01 -3.61308277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.12420382199997 meters 0.03912458461564506 Centerline is valid? [True, True] Translation: X:127.16, Y:-6.28, Z:-3.62 [[ 9.85073742e-01 1.72122635e-01 -1.87657546e-03 1.27162264e+02] [-1.72122425e-01 9.85075528e-01 2.74224776e-04 -6.28035038e+00] [ 1.89576885e-03 5.28690924e-05 9.99998202e-01 -3.61736832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.18420382199997 meters 0.0486838668110042 Centerline is valid? [True, True] Translation: X:127.22, Y:-6.28, Z:-3.61 [[ 9.82918624e-01 1.84039862e-01 5.54227482e-04 1.27223824e+02] [-1.84039845e-01 9.82918780e-01 -8.13460540e-05 -6.27553966e+00] [-5.59731518e-04 -2.20433884e-05 9.99999843e-01 -3.61031464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.24420382199997 meters 0.05366484874744189 Centerline is valid? [True, True] Translation: X:127.28, Y:-6.28, Z:-3.61 [[ 9.81565946e-01 1.91116366e-01 1.68202979e-03 1.27284567e+02] [-1.91116224e-01 9.81567383e-01 -2.46246816e-04 -6.27644737e+00] [-1.69808738e-03 -7.97556940e-05 9.99998555e-01 -3.60852149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30420382199998 meters 0.06437270417546678 Centerline is valid? [True, True] Translation: X:127.35, Y:-6.27, Z:-3.61 [[ 9.80217041e-01 1.97891876e-01 3.65479936e-03 1.27345524e+02] [-1.97891255e-01 9.80223835e-01 -5.34346724e-04 -6.26743271e+00] [-3.68826432e-03 -1.99477065e-04 9.99993178e-01 -3.60779981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.36420382199998 meters 0.06301503771890903 Centerline is valid? [True, True] Translation: X:127.40, Y:-6.27, Z:-3.61 [[ 9.79974081e-01 1.99074269e-01 4.49840654e-03 1.27404069e+02] [-1.99073322e-01 9.79984375e-01 -6.61798916e-04 -6.27325945e+00] [-4.54011526e-03 -2.46966951e-04 9.99989663e-01 -3.60599913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42420382199998 meters 0.07053033293566119 Centerline is valid? [True, True] Translation: X:127.47, Y:-6.27, Z:-3.61 [[ 9.80283364e-01 1.97512221e-01 5.78343382e-03 1.27465020e+02] [-1.97510662e-01 9.80300374e-01 -8.45141096e-04 -6.26515009e+00] [-5.83642803e-03 -3.13812087e-04 9.99982919e-01 -3.61077126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48420382199998 meters 0.0598104951043123 Centerline is valid? [True, True] Translation: X:127.52, Y:-6.28, Z:-3.61 [[ 9.81623909e-01 1.90792014e-01 3.59278293e-03 1.27523076e+02] [-1.90791367e-01 9.81630469e-01 -5.25028868e-04 -6.28121185e+00] [-3.62695651e-03 -1.70091078e-04 9.99993408e-01 -3.61484921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.544203822 meters 0.05620704754443931 Centerline is valid? [True, True] Translation: X:127.58, Y:-6.29, Z:-3.62 [[ 9.82689311e-01 1.85236019e-01 3.05546884e-03 1.27580423e+02] [-1.85235524e-01 9.82694053e-01 -4.46839484e-04 -6.29292987e+00] [-3.08536183e-03 -1.26876986e-04 9.99995232e-01 -3.62012924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.604203822 meters 0.04380224815262051 Centerline is valid? [True, True] Translation: X:127.64, Y:-6.31, Z:-3.62 [[ 9.83969494e-01 1.78330147e-01 1.54702837e-03 1.27639248e+02] [-1.78330011e-01 9.83970709e-01 -2.26363181e-04 -6.31028338e+00] [-1.56259798e-03 -5.31471207e-05 9.99998778e-01 -3.61988804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.66420382199996 meters 0.03583417870029651 Centerline is valid? [True, True] Translation: X:127.70, Y:-6.32, Z:-3.62 [[ 9.85144666e-01 1.71718151e-01 1.69217271e-03 1.27698515e+02] [-1.71717980e-01 9.85146118e-01 -2.47089317e-04 -6.32382779e+00] [-1.70946710e-03 -4.71577576e-05 9.99998538e-01 -3.62068435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.72420382199996 meters 0.03292555690770185 Centerline is valid? [True, True] Translation: X:127.76, Y:-6.33, Z:-3.63 [[ 9.85975678e-01 1.66888126e-01 5.61464757e-04 1.27756848e+02] [-1.66888106e-01 9.85975838e-01 -8.26334963e-05 -6.33381785e+00] [-5.67381234e-04 -1.22271723e-05 9.99999839e-01 -3.62530300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.78420382199997 meters 0.026619170216150866 Centerline is valid? [True, True] Translation: X:127.82, Y:-6.35, Z:-3.63 [[ 9.87129089e-01 1.59925380e-01 1.84948238e-04 1.27815418e+02] [-1.59925378e-01 9.87129106e-01 -2.76875289e-05 -6.34532356e+00] [-1.86995728e-04 -2.24675164e-06 9.99999983e-01 -3.62684239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.84420382199997 meters 0.023660555461125304 Centerline is valid? [True, True] Translation: X:127.87, Y:-6.36, Z:-3.63 [[ 9.87951950e-01 1.54753011e-01 -1.56495388e-03 1.27872854e+02] [-1.54752846e-01 9.87953190e-01 2.26831751e-04 -6.35511987e+00] [ 1.58120408e-03 1.80821975e-05 9.99998750e-01 -3.63225922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.90420382199997 meters 0.020110961210296964 Centerline is valid? [True, True] Translation: X:127.93, Y:-6.36, Z:-3.63 [[ 9.88315500e-01 1.52421362e-01 -4.47455365e-04 1.27931259e+02] [-1.52421348e-01 9.88315602e-01 6.37583393e-05 -6.36199692e+00] [ 4.51945251e-04 5.18839504e-06 9.99999898e-01 -3.62784126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.96420382199997 meters 0.020173106203867155 Centerline is valid? [True, True] Translation: X:127.99, Y:-6.37, Z:-3.63 [[ 9.88646195e-01 1.50262053e-01 1.25992016e-04 1.27988461e+02] [-1.50262052e-01 9.88646203e-01 -2.01790992e-05 -6.36994542e+00] [-1.27593682e-04 1.01817069e-06 9.99999992e-01 -3.63195988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02420382199998 meters 0.01933360062435778 Centerline is valid? [True, True] Translation: X:128.05, Y:-6.38, Z:-3.63 [[ 9.89306720e-01 1.45835148e-01 -2.07914721e-03 1.28046932e+02] [-1.45834837e-01 9.89308905e-01 3.01446912e-04 -6.37764482e+00] [ 2.10088040e-03 4.98863902e-06 9.99997793e-01 -3.63486947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08420382199998 meters 0.019696216813049623 Centerline is valid? [True, True] Translation: X:128.10, Y:-6.39, Z:-3.64 [[ 9.89882719e-01 1.41880408e-01 -1.46718036e-03 1.28103098e+02] [-1.41880251e-01 9.89883806e-01 2.10960290e-04 -6.39055983e+00] [ 1.48226921e-03 -6.62027651e-07 9.99998901e-01 -3.63831280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14420382199998 meters 0.0180650619572484 Centerline is valid? [True, True] Translation: X:128.16, Y:-6.40, Z:-3.63 [[ 9.90165465e-01 1.39900193e-01 5.36812956e-04 1.28161533e+02] [-1.39900170e-01 9.90165610e-01 -7.92171023e-05 -6.40137335e+00] [-5.42616217e-04 3.33781502e-06 9.99999853e-01 -3.63263812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.20420382199998 meters 0.01872273364390132 Centerline is valid? [True, True] Translation: X:128.22, Y:-6.40, Z:-3.64 [[ 9.89532435e-01 1.44309387e-01 -6.00512943e-04 1.28220195e+02] [-1.44309361e-01 9.89532617e-01 8.55767627e-05 -6.39789755e+00] [ 6.06576675e-04 1.97865676e-06 9.99999816e-01 -3.63759406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.26420382199998 meters 0.018502078056331098 Centerline is valid? [True, True] Translation: X:128.28, Y:-6.40, Z:-3.64 [[ 9.89197226e-01 1.46589280e-01 -6.56437381e-04 1.28279200e+02] [-1.46589250e-01 9.89197444e-01 9.40164473e-05 -6.40118099e+00] [ 6.63127983e-04 3.22585446e-06 9.99999780e-01 -3.63815326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.324203822 meters 0.02463194851478525 Centerline is valid? [True, True] Translation: X:128.34, Y:-6.40, Z:-3.65 [[ 9.88228318e-01 1.52974688e-01 -1.88063914e-03 1.28339194e+02] [-1.52974447e-01 9.88230107e-01 2.72364667e-04 -6.39534439e+00] [ 1.90016911e-03 1.85312545e-05 9.99998195e-01 -3.65052383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.38420382199996 meters 0.025602009198170322 Centerline is valid? [True, True] Translation: X:128.40, Y:-6.39, Z:-3.65 [[ 9.87704917e-01 1.56326203e-01 -1.05583313e-03 1.28398894e+02] [-1.56326134e-01 9.87705481e-01 1.48516044e-04 -6.39436812e+00] [ 1.06606912e-03 1.83642836e-05 9.99999432e-01 -3.64783920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.44420382199996 meters 0.024462349754932364 Centerline is valid? [True, True] Translation: X:128.46, Y:-6.40, Z:-3.65 [[ 9.87881248e-01 1.55210205e-01 6.57354833e-04 1.28457603e+02] [-1.55210175e-01 9.87881467e-01 -9.67979914e-05 -6.40044554e+00] [-6.64412693e-04 -6.40323798e-06 9.99999779e-01 -3.64683908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.50420382199997 meters 0.022274417978154017 Centerline is valid? [True, True] Translation: X:128.52, Y:-6.41, Z:-3.65 [[ 9.88226069e-01 1.52996257e-01 1.17516023e-03 1.28515812e+02] [-1.52996157e-01 9.88226768e-01 -1.75244226e-04 -6.40953764e+00] [-1.18813651e-03 -6.61408625e-06 9.99999294e-01 -3.64630252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.56420382199997 meters 0.020252049969618244 Centerline is valid? [True, True] Translation: X:128.57, Y:-6.43, Z:-3.65 [[ 9.88955975e-01 1.48209235e-01 -3.20155045e-04 1.28572121e+02] [-1.48209228e-01 9.88956027e-01 4.50215818e-05 -6.43169788e+00] [ 3.23291875e-04 2.92556960e-06 9.99999948e-01 -3.65210922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.62420382199997 meters 0.02044933248368554 Centerline is valid? [True, True] Translation: X:128.63, Y:-6.44, Z:-3.66 [[ 9.89209821e-01 1.46499340e-01 -1.36834930e-03 1.28630010e+02] [-1.46499208e-01 9.89210768e-01 1.96919207e-04 -6.44083576e+00] [ 1.38243439e-03 5.66767548e-06 9.99999044e-01 -3.65568547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.68420382199997 meters 0.021429325339536228 Centerline is valid? [True, True] Translation: X:128.69, Y:-6.45, Z:-3.66 [[ 9.88923677e-01 1.48385199e-01 -3.43427089e-03 1.28689127e+02] [-1.48384368e-01 9.88929640e-01 4.96896532e-04 -6.44814772e+00] [ 3.46998437e-03 1.81993695e-05 9.99993979e-01 -3.65813131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.74420382199997 meters 0.020724823979917137 Centerline is valid? [True, True] Translation: X:128.75, Y:-6.45, Z:-3.65 [[ 9.88463559e-01 1.51449560e-01 -1.68025131e-03 1.28748724e+02] [-1.51449375e-01 9.88464987e-01 2.37999644e-04 -6.44990547e+00] [ 1.69691453e-03 1.92190358e-05 9.99998560e-01 -3.65360894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80420382199998 meters 0.023158173356762308 Centerline is valid? [True, True] Translation: X:128.81, Y:-6.45, Z:-3.65 [[ 9.87892847e-01 1.55137710e-01 1.20247521e-04 1.28806898e+02] [-1.55137709e-01 9.87892854e-01 -1.92178013e-05 -6.45022311e+00] [-1.21773073e-04 3.30203448e-07 9.99999993e-01 -3.65468461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86420382199998 meters 0.023622858090153295 Centerline is valid? [True, True] Translation: X:128.86, Y:-6.45, Z:-3.66 [[ 9.88080118e-01 1.53939164e-01 6.43734559e-04 1.28864314e+02] [-1.53939134e-01 9.88080328e-01 -9.56784833e-05 -6.45407475e+00] [-6.50790120e-04 -4.55793385e-06 9.99999788e-01 -3.65972364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92420382199998 meters 0.022503255972947084 Centerline is valid? [True, True] Translation: X:128.92, Y:-6.46, Z:-3.66 [[ 9.88361493e-01 1.52122769e-01 -4.72312835e-04 1.28922427e+02] [-1.52122756e-01 9.88361605e-01 6.33298767e-05 -6.46140505e+00] [ 4.76449788e-04 9.25671894e-06 9.99999886e-01 -3.66216489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98420382199998 meters 0.020642348276536455 Centerline is valid? [True, True] Translation: X:128.98, Y:-6.47, Z:-3.66 [[ 9.88763310e-01 1.49489508e-01 -6.19965451e-05 1.28980245e+02] [-1.49489508e-01 9.88763312e-01 4.01657990e-06 -6.47376570e+00] [ 6.19003457e-05 5.29638617e-06 9.99999998e-01 -3.66225932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.044203822 meters 0.020595834170904857 Centerline is valid? [True, True] Translation: X:129.04, Y:-6.48, Z:-3.67 [[ 9.88942065e-01 1.48270681e-01 -3.06557311e-03 1.29038962e+02] [-1.48270026e-01 9.88946816e-01 4.41302259e-04 -6.48272440e+00] [ 3.09712096e-03 1.81102368e-05 9.99995204e-01 -3.66586380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.10420382199996 meters 0.020355308183906438 Centerline is valid? [True, True] Translation: X:129.10, Y:-6.49, Z:-3.67 [[ 9.88887680e-01 1.48662752e-01 -7.36936244e-04 1.29096765e+02] [-1.48662715e-01 9.88887954e-01 1.04413373e-04 -6.48673000e+00] [ 7.44269754e-04 6.30184483e-06 9.99999723e-01 -3.66517956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.16420382199996 meters 0.018213256416772176 Centerline is valid? [True, True] Translation: X:129.15, Y:-6.50, Z:-3.66 [[ 9.89313778e-01 1.45787697e-01 2.04841261e-03 1.29154771e+02] [-1.45787397e-01 9.89315899e-01 -2.95887423e-04 -6.50216409e+00] [-2.06966390e-03 -5.90723787e-06 9.99997858e-01 -3.66258550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.22420382199996 meters 0.015601155697681847 Centerline is valid? [True, True] Translation: X:129.21, Y:-6.52, Z:-3.66 [[ 9.89965966e-01 1.41165148e-01 6.30778849e-03 1.29212612e+02] [-1.41162218e-01 9.89986061e-01 -9.09526486e-04 -6.52011729e+00] [-6.37301612e-03 9.97885104e-06 9.99979692e-01 -3.65575593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.28420382199997 meters 0.017213940578521245 Centerline is valid? [True, True] Translation: X:129.27, Y:-6.54, Z:-3.66 [[ 9.90649550e-01 1.36244081e-01 7.14284576e-03 1.29267869e+02] [-1.36240182e-01 9.90675299e-01 -1.03184268e-03 -6.53846031e+00] [-7.21682331e-03 4.90518803e-05 9.99973957e-01 -3.65636284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.34420382199997 meters 0.019788554965465513 Centerline is valid? [True, True] Translation: X:129.32, Y:-6.56, Z:-3.66 [[ 9.91258733e-01 1.31698534e-01 7.84990609e-03 1.29324115e+02] [-1.31693706e-01 9.91289811e-01 -1.13101445e-03 -6.56002996e+00] [-7.93048487e-03 8.73447271e-05 9.99968549e-01 -3.65652899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.40420382199997 meters 0.02454067066507667 Centerline is valid? [True, True] Translation: X:129.38, Y:-6.59, Z:-3.66 [[ 9.92071910e-01 1.25374158e-01 8.63978112e-03 1.29379586e+02] [-1.25368077e-01 9.92109519e-01 -1.24403174e-03 -6.59035605e+00] [-8.72757852e-03 1.51016201e-04 9.99961903e-01 -3.65613216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.46420382199997 meters 0.024384994573549996 Centerline is valid? [True, True] Translation: X:129.44, Y:-6.61, Z:-3.66 [[ 9.92048015e-01 1.25471419e-01 9.88225035e-03 1.29436750e+02] [-1.25463471e-01 9.92097220e-01 -1.42264912e-03 -6.60913157e+00] [-9.98265491e-03 1.71474808e-04 9.99950157e-01 -3.65509010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52420382199998 meters 0.01884721051410899 Centerline is valid? [True, True] Translation: X:129.50, Y:-6.61, Z:-3.66 [[ 9.91051076e-01 1.33369217e-01 5.51518707e-03 1.29495393e+02] [-1.33366862e-01 9.91066420e-01 -7.94330361e-04 -6.61389252e+00] [-5.57185593e-03 5.16787657e-05 9.99984476e-01 -3.66245035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58420382199998 meters 0.01599871711346702 Centerline is valid? [True, True] Translation: X:129.55, Y:-6.62, Z:-3.66 [[ 9.90027251e-01 1.40812672e-01 4.22301503e-03 1.29554466e+02] [-1.40811358e-01 9.90036258e-01 -6.08388635e-04 -6.61580528e+00] [-4.26660683e-03 7.67284790e-06 9.99990898e-01 -3.66439924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64420382199998 meters 0.017118124448041526 Centerline is valid? [True, True] Translation: X:129.61, Y:-6.62, Z:-3.66 [[ 9.88742746e-01 1.49570982e-01 4.03767430e-03 1.29613493e+02] [-1.49569854e-01 9.88750990e-01 -5.81597942e-04 -6.62081015e+00] [-4.07924464e-03 -2.88636090e-05 9.99991679e-01 -3.66460449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.70420382199998 meters 0.022296893260940795 Centerline is valid? [True, True] Translation: X:129.67, Y:-6.62, Z:-3.67 [[ 9.87780734e-01 1.55740492e-01 5.84135313e-03 1.29671578e+02] [-1.55738243e-01 9.87798002e-01 -8.40720430e-04 -6.62039556e+00] [-5.90101117e-03 -7.92746279e-05 9.99982586e-01 -3.66772674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.76420382199998 meters 0.025827433557246673 Centerline is valid? [True, True] Translation: X:129.73, Y:-6.63, Z:-3.67 [[ 9.87391883e-01 1.58188027e-01 5.81534872e-03 1.29728812e+02] [-1.58185843e-01 9.87409003e-01 -8.36524695e-04 -6.62632112e+00] [-5.87445588e-03 -9.39281463e-05 9.99982741e-01 -3.67169516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.824203822 meters 0.02911234894113572 Centerline is valid? [True, True] Translation: X:129.79, Y:-6.64, Z:-3.67 [[ 9.86894885e-01 1.61259645e-01 5.81490013e-03 1.29787811e+02] [-1.61257521e-01 9.86912009e-01 -8.35238706e-04 -6.63562447e+00] [-5.87348507e-03 -1.13403575e-04 9.99982745e-01 -3.67494326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88420382199996 meters 0.02721340398558419 Centerline is valid? [True, True] Translation: X:129.85, Y:-6.65, Z:-3.67 [[ 9.86816363e-01 1.61747230e-01 5.59453912e-03 1.29845165e+02] [-1.61745270e-01 9.86832215e-01 -8.04089688e-04 -6.64847714e+00] [-5.65093071e-03 -1.11401378e-04 9.99984027e-01 -3.67453014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.94420382199996 meters 0.029123215779885754 Centerline is valid? [True, True] Translation: X:129.90, Y:-6.66, Z:-3.68 [[ 9.86865856e-01 1.61461694e-01 5.08963829e-03 1.29902333e+02] [-1.61460063e-01 9.86878975e-01 -7.32414503e-04 -6.65563997e+00] [-5.14111391e-03 -9.89784557e-05 9.99986779e-01 -3.67875732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.00420382199997 meters 0.027154435846483242 Centerline is valid? [True, True] Translation: X:129.96, Y:-6.67, Z:-3.68 [[ 9.87186942e-01 1.59505258e-01 4.47375669e-03 1.29959796e+02] [-1.59503983e-01 9.87197076e-01 -6.42604914e-04 -6.67088890e+00] [-4.51897839e-03 -7.92108308e-05 9.99989786e-01 -3.68221028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.06420382199997 meters 0.0269336411084398 Centerline is valid? [True, True] Translation: X:130.02, Y:-6.69, Z:-3.69 [[ 9.87168918e-01 1.59666668e-01 2.02050326e-03 1.30017597e+02] [-1.59666407e-01 9.87170985e-01 -2.90596430e-04 -6.68523939e+00] [-2.04098076e-03 -3.57387338e-05 9.99997917e-01 -3.68590078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.12420382199997 meters 0.028274559253066888 Centerline is valid? [True, True] Translation: X:130.08, Y:-6.69, Z:-3.69 [[ 9.86989221e-01 1.60782237e-01 1.16162424e-03 1.30075708e+02] [-1.60782151e-01 9.86989905e-01 -1.67827871e-04 -6.69339812e+00] [-1.17349514e-03 -2.11241454e-05 9.99999311e-01 -3.68941770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.18420382199997 meters 0.029654792749722443 Centerline is valid? [True, True] Translation: X:130.13, Y:-6.70, Z:-3.69 [[ 9.86760923e-01 1.62181500e-01 2.06065594e-04 1.30134401e+02] [-1.62181498e-01 9.86760944e-01 -3.09251304e-05 -6.69955249e+00] [-2.08352964e-04 -2.90431641e-06 9.99999978e-01 -3.69152467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.24420382199997 meters 0.03215576394214815 Centerline is valid? [True, True] Translation: X:130.19, Y:-6.71, Z:-3.69 [[ 9.86527683e-01 1.63573343e-01 2.62531289e-03 1.30192444e+02] [-1.63572918e-01 9.86531174e-01 -3.77203236e-04 -6.70608513e+00] [-2.65165341e-03 -5.73086576e-05 9.99996483e-01 -3.69226647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30420382199998 meters 0.03095795847622997 Centerline is valid? [True, True] Translation: X:130.25, Y:-6.72, Z:-3.70 [[ 9.86846936e-01 1.61645364e-01 1.97525591e-03 1.30248667e+02] [-1.61645117e-01 9.86848912e-01 -2.85098058e-04 -6.71991200e+00] [-1.99536393e-03 -3.79423288e-05 9.99998009e-01 -3.69527999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36420382199998 meters 0.027251014609642295 Centerline is valid? [True, True] Translation: X:130.31, Y:-6.73, Z:-3.69 [[ 9.87295206e-01 1.58845977e-01 4.01637780e-03 1.30307700e+02] [-1.58844952e-01 9.87303373e-01 -5.74850105e-04 -6.73446791e+00] [-4.05669598e-03 -7.04345869e-05 9.99991769e-01 -3.69216550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42420382199998 meters 0.024934417141342525 Centerline is valid? [True, True] Translation: X:130.37, Y:-6.75, Z:-3.69 [[ 9.87290454e-01 1.58838010e-01 5.29582410e-03 1.30365934e+02] [-1.58836226e-01 9.87304653e-01 -7.58399035e-04 -6.74778391e+00] [-5.34905437e-03 -9.24085875e-05 9.99985689e-01 -3.68754178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48420382199998 meters 0.025659703736631907 Centerline is valid? [True, True] Translation: X:130.42, Y:-6.76, Z:-3.69 [[ 9.87058717e-01 1.60312411e-01 3.87545781e-03 1.30424943e+02] [-1.60311468e-01 9.87066323e-01 -5.54837720e-04 -6.75690752e+00] [-3.91428127e-03 -7.36229240e-05 9.99992336e-01 -3.69015916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.544203822 meters 0.029491100795265523 Centerline is valid? [True, True] Translation: X:130.48, Y:-6.76, Z:-3.70 [[ 9.86951213e-01 1.60971282e-01 3.94321507e-03 1.30482400e+02] [-1.60970307e-01 9.86959088e-01 -5.65359941e-04 -6.76152552e+00] [-3.98279866e-03 -7.67578611e-05 9.99992066e-01 -3.69648540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.60420382199996 meters 0.029621892784910193 Centerline is valid? [True, True] Translation: X:130.54, Y:-6.77, Z:-3.70 [[ 9.86829698e-01 1.61698778e-01 4.54448104e-03 1.30540564e+02] [-1.61697493e-01 9.86840158e-01 -6.51217911e-04 -6.76550838e+00] [-4.58997753e-03 -9.21900173e-05 9.99989462e-01 -3.69599422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.66420382199996 meters 0.02889246647196659 Centerline is valid? [True, True] Translation: X:130.60, Y:-6.78, Z:-3.70 [[ 9.87038000e-01 1.60393141e-01 5.47965461e-03 1.30597363e+02] [-1.60391256e-01 9.87053205e-01 -7.84644997e-04 -6.77633183e+00] [-5.53456232e-03 -1.04414256e-04 9.99984679e-01 -3.69584351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.72420382199996 meters 0.025009160325311332 Centerline is valid? [True, True] Translation: X:130.66, Y:-6.79, Z:-3.69 [[ 9.87294557e-01 1.58834134e-01 4.60158029e-03 1.30655013e+02] [-1.58832792e-01 9.87305278e-01 -6.58133061e-04 -6.78776493e+00] [-4.64769850e-03 -8.11106536e-05 9.99989196e-01 -3.69430825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.78420382199997 meters 0.024610223515710707 Centerline is valid? [True, True] Translation: X:130.71, Y:-6.79, Z:-3.70 [[ 9.87578437e-01 1.57028775e-01 5.54921893e-03 1.30712988e+02] [-1.57026797e-01 9.87594024e-01 -7.93077345e-04 -6.79438142e+00] [-5.60491142e-03 -8.81499911e-05 9.99984288e-01 -3.69741668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.84420382199997 meters 0.019654593681664008 Centerline is valid? [True, True] Translation: X:130.77, Y:-6.81, Z:-3.70 [[ 9.88587615e-01 1.50588527e-01 4.19795199e-03 1.30769615e+02] [-1.50587336e-01 9.88596527e-01 -6.00098022e-04 -6.81336534e+00] [-4.24044864e-03 -3.89089330e-05 9.99991008e-01 -3.70142514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.90420382199997 meters 0.01802890462581218 Centerline is valid? [True, True] Translation: X:130.83, Y:-6.83, Z:-3.70 [[ 9.89322197e-01 1.45709001e-01 3.23686825e-03 1.30826121e+02] [-1.45708265e-01 9.89327492e-01 -4.63184465e-04 -6.82838197e+00] [-3.26981290e-03 -1.33997861e-05 9.99994654e-01 -3.70414359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.96420382199997 meters 0.01911097014265927 Centerline is valid? [True, True] Translation: X:130.88, Y:-6.84, Z:-3.71 [[ 9.90086268e-01 1.40456648e-01 1.05416582e-03 1.30882280e+02] [-1.40456566e-01 9.90086829e-01 -1.51942594e-04 -6.84372973e+00] [-1.06505704e-03 2.37176530e-06 9.99999433e-01 -3.71137382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02420382199998 meters 0.018310331576882433 Centerline is valid? [True, True] Translation: X:130.94, Y:-6.85, Z:-3.71 [[ 9.90241270e-01 1.39353637e-01 1.67048492e-03 1.30940532e+02] [-1.39353431e-01 9.90242679e-01 -2.39334769e-04 -6.85267031e+00] [-1.68753763e-03 4.21136023e-06 9.99998576e-01 -3.71019014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.08420382199998 meters 0.016700425752837585 Centerline is valid? [True, True] Translation: X:131.00, Y:-6.86, Z:-3.71 [[ 9.90179178e-01 1.39789566e-01 2.01828182e-03 1.30999247e+02] [-1.39789268e-01 9.90181235e-01 -2.88852163e-04 -6.85965557e+00] [-2.03884331e-03 3.88125866e-06 9.99997922e-01 -3.70654143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14420382199998 meters 0.01700880175693264 Centerline is valid? [True, True] Translation: X:131.06, Y:-6.87, Z:-3.71 [[ 9.90248063e-01 1.39296969e-01 2.26469130e-03 1.31056112e+02] [-1.39296592e-01 9.90250652e-01 -3.24142603e-04 -6.86698667e+00] [-2.28776412e-03 5.51780547e-06 9.99997383e-01 -3.70884350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.20420382199998 meters 0.01747898890275562 Centerline is valid? [True, True] Translation: X:131.11, Y:-6.88, Z:-3.71 [[ 9.90236497e-01 1.39368781e-01 2.83243833e-03 1.31112690e+02] [-1.39368193e-01 9.90240548e-01 -4.04741147e-04 -6.87720701e+00] [-2.86120357e-03 6.03764288e-06 9.99995907e-01 -3.71101843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.26420382199998 meters 0.016493641163374224 Centerline is valid? [True, True] Translation: X:131.17, Y:-6.88, Z:-3.71 [[ 9.89736642e-01 1.42851977e-01 3.83301591e-03 1.31171602e+02] [-1.42850931e-01 9.89744064e-01 -5.46528413e-04 -6.87856140e+00] [-3.87177741e-03 -6.63069574e-06 9.99992505e-01 -3.70836797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.324203822 meters 0.01939612506493683 Centerline is valid? [True, True] Translation: X:131.23, Y:-6.87, Z:-3.71 [[ 9.88601285e-01 1.50448978e-01 5.71006594e-03 1.31230143e+02] [-1.50446781e-01 9.88617774e-01 -8.14721078e-04 -6.87206845e+00] [-5.76764663e-03 -5.36267375e-05 9.99983366e-01 -3.70698132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.38420382199996 meters 0.023995813069763425 Centerline is valid? [True, True] Translation: X:131.29, Y:-6.87, Z:-3.71 [[ 9.87817152e-01 1.55527923e-01 5.32351882e-03 1.31289648e+02] [-1.55526097e-01 9.87831493e-01 -7.57738339e-04 -6.86749503e+00] [-5.37658901e-03 -7.94391784e-05 9.99985543e-01 -3.71007998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.44420382199996 meters 0.026848161260610744 Centerline is valid? [True, True] Translation: X:131.35, Y:-6.87, Z:-3.71 [[ 9.87591577e-01 1.56966273e-01 4.94639850e-03 1.31347275e+02] [-1.56964715e-01 9.87603960e-01 -7.04006414e-04 -6.86974288e+00] [-4.99558801e-03 -8.11392279e-05 9.99987519e-01 -3.71489959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.50420382199997 meters 0.021418018104665273 Centerline is valid? [True, True] Translation: X:131.41, Y:-6.88, Z:-3.72 [[ 9.88529552e-01 1.50970326e-01 4.15748735e-03 1.31405349e+02] [-1.50969170e-01 9.88538294e-01 -5.92248080e-04 -6.88169344e+00] [-4.19924734e-03 -4.21976853e-05 9.99991182e-01 -3.71788282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.56420382199997 meters 0.015207909121862803 Centerline is valid? [True, True] Translation: X:131.46, Y:-6.90, Z:-3.71 [[ 9.89729659e-01 1.42725953e-01 8.03141090e-03 1.31463002e+02] [-1.42721400e-01 9.89762245e-01 -1.14012422e-03 -6.90181790e+00] [-8.11191260e-03 -1.78394486e-05 9.99967098e-01 -3.71157863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.62420382199997 meters 0.015694095753745096 Centerline is valid? [True, True] Translation: X:131.52, Y:-6.92, Z:-3.72 [[ 9.90366395e-01 1.38277442e-01 7.33158609e-03 1.31518953e+02] [-1.38273521e-01 9.90393532e-01 -1.04142368e-03 -6.91708050e+00] [-7.40516085e-03 1.76267914e-05 9.99972581e-01 -3.71604675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.68420382199997 meters 0.017161918331422776 Centerline is valid? [True, True] Translation: X:131.58, Y:-6.93, Z:-3.72 [[ 9.90817234e-01 1.35072433e-01 6.05361294e-03 1.31576052e+02] [-1.35069702e-01 9.90835726e-01 -8.59551317e-04 -6.93049508e+00] [-6.11423766e-03 3.39985623e-05 9.99981307e-01 -3.71962553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.74420382199997 meters 0.017183643632983733 Centerline is valid? [True, True] Translation: X:131.63, Y:-6.94, Z:-3.72 [[ 9.90849545e-01 1.34814938e-01 6.48943096e-03 1.31633688e+02] [-1.34811797e-01 9.90870794e-01 -9.21012831e-04 -6.93997412e+00] [-6.55435390e-03 3.77332944e-05 9.99978519e-01 -3.72053572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80420382199998 meters 0.015265280879744375 Centerline is valid? [True, True] Translation: X:131.69, Y:-6.94, Z:-3.72 [[ 9.90620426e-01 1.36459847e-01 7.06273194e-03 1.31692521e+02] [-1.36456172e-01 9.90645602e-01 -1.00197204e-03 -6.94453990e+00] [-7.13339329e-03 2.88206090e-05 9.99974557e-01 -3.71749296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.86420382199998 meters 0.016095454970541073 Centerline is valid? [True, True] Translation: X:131.75, Y:-6.95, Z:-3.72 [[ 9.89987242e-01 1.41030291e-01 5.97641606e-03 1.31750590e+02] [-1.41027740e-01 9.90005281e-01 -8.48232849e-04 -6.94605639e+00] [-6.03630999e-03 -3.10075167e-06 9.99981781e-01 -3.72391403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92420382199998 meters 0.01901640321390675 Centerline is valid? [True, True] Translation: X:131.81, Y:-6.94, Z:-3.73 [[ 9.89098839e-01 1.47191409e-01 4.26331903e-03 1.31810882e+02] [-1.47190170e-01 9.89108027e-01 -6.04546231e-04 -6.94173161e+00] [-4.30586709e-03 -2.95626784e-05 9.99990729e-01 -3.72953835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98420382199998 meters 0.019480938816704246 Centerline is valid? [True, True] Translation: X:131.87, Y:-6.94, Z:-3.73 [[ 9.88698979e-01 1.49865795e-01 3.81735678e-03 1.31870228e+02] [-1.49864821e-01 9.88706348e-01 -5.41638112e-04 -6.94362986e+00] [-3.85541791e-03 -3.65704425e-05 9.99992567e-01 -3.72842496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.044203822 meters 0.022209277622820964 Centerline is valid? [True, True] Translation: X:131.93, Y:-6.95, Z:-3.73 [[ 9.88381650e-01 1.51922256e-01 4.61981764e-03 1.31927606e+02] [-1.51920852e-01 9.88392445e-01 -6.55250259e-04 -6.94776333e+00] [-4.66573995e-03 -5.42093005e-05 9.99989114e-01 -3.73129793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.10420382199996 meters 0.02246424105531021 Centerline is valid? [True, True] Translation: X:131.99, Y:-6.95, Z:-3.73 [[ 9.88283509e-01 1.52500649e-01 6.26556627e-03 1.31986641e+02] [-1.52498088e-01 9.88303367e-01 -8.87305231e-04 -6.95312090e+00] [-6.32759487e-03 -7.85777504e-05 9.99979977e-01 -3.73096383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.16420382199996 meters 0.02081731965363496 Centerline is valid? [True, True] Translation: X:132.04, Y:-6.96, Z:-3.73 [[ 9.88374183e-01 1.51894856e-01 6.66529772e-03 1.32044860e+02] [-1.51891946e-01 9.88396654e-01 -9.43536766e-04 -6.95992453e+00] [-6.73127635e-03 -7.98376623e-05 9.99977342e-01 -3.73003472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.22420382199996 meters 0.020748286406911128 Centerline is valid? [True, True] Translation: X:132.10, Y:-6.96, Z:-3.73 [[ 9.88415692e-01 1.51661782e-01 5.75537929e-03 1.32103520e+02] [-1.51659609e-01 9.88432446e-01 -8.14647555e-04 -6.96454054e+00] [-5.81235452e-03 -6.76481439e-05 9.99983106e-01 -3.73290119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.28420382199997 meters 0.02052837619252248 Centerline is valid? [True, True] Translation: X:132.16, Y:-6.97, Z:-3.74 [[ 9.88461735e-01 1.51413704e-01 4.15795820e-03 1.32161504e+02] [-1.51412567e-01 9.88470479e-01 -5.88757886e-04 -6.97482675e+00] [-4.19916495e-03 -4.76024834e-05 9.99991182e-01 -3.73693135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.34420382199997 meters 0.022668571300344092 Centerline is valid? [True, True] Translation: X:132.22, Y:-6.98, Z:-3.74 [[ 9.88397147e-01 1.51847076e-01 3.68037621e-03 1.32219295e+02] [-1.51846187e-01 9.88403998e-01 -5.21418665e-04 -6.97611538e+00] [-3.71687446e-03 -4.34823727e-05 9.99993091e-01 -3.74140137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.40420382199997 meters 0.022361812908995762 Centerline is valid? [True, True] Translation: X:132.28, Y:-6.98, Z:-3.74 [[ 9.88290289e-01 1.52534603e-01 3.93697335e-03 1.32278674e+02] [-1.52533594e-01 9.88298129e-01 -5.57068761e-04 -6.97735946e+00] [-3.97587566e-03 -4.99750488e-05 9.99992095e-01 -3.74153698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.46420382199997 meters 0.0222491325525878 Centerline is valid? [True, True] Translation: X:132.34, Y:-6.99, Z:-3.74 [[ 9.88390604e-01 1.51891057e-01 3.62232208e-03 1.32336226e+02] [-1.51890196e-01 9.88397240e-01 -5.13092270e-04 -6.98568892e+00] [-3.65822728e-03 -4.30596339e-05 9.99993308e-01 -3.74470955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52420382199998 meters 0.023422265473412533 Centerline is valid? [True, True] Translation: X:132.39, Y:-6.99, Z:-3.74 [[ 9.88523524e-01 1.51020401e-01 3.75245297e-03 1.32394707e+02] [-1.51019474e-01 9.88530645e-01 -5.30586486e-04 -6.99473097e+00] [-3.78954414e-03 -4.21962526e-05 9.99992819e-01 -3.74401229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.58420382199998 meters 0.020989342329420742 Centerline is valid? [True, True] Translation: X:132.45, Y:-7.00, Z:-3.75 [[ 9.88718864e-01 1.49713656e-01 4.56380541e-03 1.32452971e+02] [-1.49712273e-01 9.88729396e-01 -6.45049636e-04 -6.99601432e+00] [-4.60894131e-03 -4.54849376e-05 9.99989378e-01 -3.74662738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64420382199998 meters 0.019665597662222367 Centerline is valid? [True, True] Translation: X:132.51, Y:-7.00, Z:-3.74 [[ 9.88856735e-01 1.48705556e-01 7.00111603e-03 1.32511308e+02] [-1.48702289e-01 9.88881516e-01 -9.87813640e-04 -7.00142221e+00] [-7.07016761e-03 -6.42758105e-05 9.99975004e-01 -3.74493625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.70420382199998 meters 0.016059329160885233 Centerline is valid? [True, True] Translation: X:132.57, Y:-7.01, Z:-3.74 [[ 9.89109906e-01 1.46995667e-01 7.33942812e-03 1.32569178e+02] [-1.46992032e-01 9.89137135e-01 -1.03522979e-03 -7.01425890e+00] [-7.41187519e-03 -5.48814086e-05 9.99972530e-01 -3.73993060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.76420382199998 meters 0.015516766417169642 Centerline is valid? [True, True] Translation: X:132.63, Y:-7.02, Z:-3.74 [[ 9.89606380e-01 1.43589072e-01 7.83524905e-03 1.32626130e+02] [-1.43584825e-01 9.89637397e-01 -1.10490811e-03 -7.02441854e+00] [-7.91270821e-03 -3.15987455e-05 9.99968694e-01 -3.74460788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.824203822 meters 0.014962904006491277 Centerline is valid? [True, True] Translation: X:132.68, Y:-7.04, Z:-3.75 [[ 9.90199991e-01 1.39486119e-01 6.89938120e-03 1.32684117e+02] [-1.39482729e-01 9.90224027e-01 -9.72392476e-04 -7.03663564e+00] [-6.96756829e-03 5.18500825e-07 9.99975726e-01 -3.74748792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.88420382199996 meters 0.017467384368332964 Centerline is valid? [True, True] Translation: X:132.74, Y:-7.05, Z:-3.76 [[ 9.90823246e-01 1.35087647e-01 4.54124393e-03 1.32740910e+02] [-1.35086133e-01 9.90833653e-01 -6.39991206e-04 -7.05395770e+00] [-4.58607222e-03 2.06590847e-05 9.99989484e-01 -3.75547332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.94420382199996 meters 0.016352485677511887 Centerline is valid? [True, True] Translation: X:132.80, Y:-7.07, Z:-3.75 [[ 9.90872654e-01 1.34728809e-01 4.41954910e-03 1.32798448e+02] [-1.34727370e-01 9.90882509e-01 -6.23026518e-04 -7.06535715e+00] [-4.46319352e-03 2.19057119e-05 9.99990040e-01 -3.75297569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.00420382199997 meters 0.015652421683017337 Centerline is valid? [True, True] Translation: X:132.86, Y:-7.07, Z:-3.75 [[ 9.90511570e-01 1.37341578e-01 4.91122807e-03 1.32856777e+02] [-1.37339836e-01 9.90523746e-01 -6.91925677e-04 -7.07091644e+00] [-4.95971819e-03 1.08531311e-05 9.99987700e-01 -3.75319671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.06420382199997 meters 0.016823883808295262 Centerline is valid? [True, True] Translation: X:132.91, Y:-7.07, Z:-3.76 [[ 9.89770926e-01 1.42570216e-01 5.21988228e-03 1.32914167e+02] [-1.42568312e-01 9.89784690e-01 -7.36909488e-04 -7.07120908e+00] [-5.27162092e-03 -1.48182185e-05 9.99986105e-01 -3.75660663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.12420382199997 meters 0.017943283315173312 Centerline is valid? [True, True] Translation: X:132.97, Y:-7.08, Z:-3.76 [[ 9.89358769e-01 1.45386789e-01 5.64872861e-03 1.32972846e+02] [-1.45384622e-01 9.89374894e-01 -7.94554338e-04 -7.07544902e+00] [-5.70422797e-03 -3.51389737e-05 9.99983730e-01 -3.75795561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.18420382199997 meters 0.019080739631948597 Centerline is valid? [True, True] Translation: X:133.03, Y:-7.08, Z:-3.76 [[ 9.89070812e-01 1.47298565e-01 6.48553965e-03 1.33031822e+02] [-1.47295753e-01 9.89092074e-01 -9.11737985e-04 -7.08064977e+00] [-6.54909356e-03 -5.35190169e-05 9.99978553e-01 -3.75826300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.24420382199997 meters 0.016865307881865507 Centerline is valid? [True, True] Translation: X:133.09, Y:-7.10, Z:-3.76 [[ 9.89192284e-01 1.46468267e-01 6.75809768e-03 1.33089243e+02] [-1.46465196e-01 9.89215368e-01 -9.49742604e-04 -7.09619877e+00] [-6.82432124e-03 -5.03480466e-05 9.99976713e-01 -3.75615504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30420382199998 meters 0.01618414436468884 Centerline is valid? [True, True] Translation: X:133.15, Y:-7.11, Z:-3.76 [[ 9.89318486e-01 1.45535149e-01 8.27368780e-03 1.33146752e+02] [-1.45530521e-01 9.89353080e-01 -1.16197195e-03 -7.10663575e+00] [-8.35470628e-03 -5.45137608e-05 9.99965097e-01 -3.75540504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36420382199998 meters 0.01590140032749656 Centerline is valid? [True, True] Translation: X:133.20, Y:-7.12, Z:-3.76 [[ 9.89444002e-01 1.44673376e-01 8.37744718e-03 1.33204333e+02] [-1.44668604e-01 9.89479465e-01 -1.17608823e-03 -7.11862917e+00] [-8.45946061e-03 -4.82801421e-05 9.99964217e-01 -3.75702261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42420382199998 meters 0.016695366973444828 Centerline is valid? [True, True] Translation: X:133.26, Y:-7.13, Z:-3.76 [[ 9.89451174e-01 1.44653556e-01 7.85640601e-03 1.33261311e+02] [-1.44649354e-01 9.89482363e-01 -1.10338309e-03 -7.12730698e+00] [-7.93338347e-03 -4.46803624e-05 9.99968529e-01 -3.75945053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.48420382199998 meters 0.0181937327914088 Centerline is valid? [True, True] Translation: X:133.32, Y:-7.14, Z:-3.76 [[ 9.89184505e-01 1.46484481e-01 7.50410081e-03 1.33318529e+02] [-1.46480709e-01 9.89212967e-01 -1.05284441e-03 -7.13837482e+00] [-7.57737919e-03 -5.77486292e-05 9.99971290e-01 -3.76346506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.544203822 meters 0.020885803534019483 Centerline is valid? [True, True] Translation: X:133.38, Y:-7.14, Z:-3.76 [[ 9.88575511e-01 1.50451460e-01 9.10036409e-03 1.33377005e+02] [-1.50446090e-01 9.88617391e-01 -1.27565624e-03 -7.14371195e+00] [-9.18870255e-03 -1.08031680e-04 9.99957777e-01 -3.76285584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.60420382199996 meters 0.025791384615550746 Centerline is valid? [True, True] Translation: X:133.44, Y:-7.15, Z:-3.77 [[ 9.87610452e-01 1.56793713e-01 6.42856878e-03 1.33437724e+02] [-1.56791173e-01 9.87631367e-01 -9.00449118e-04 -7.14556675e+00] [-6.49024093e-03 -1.18649876e-04 9.99978931e-01 -3.76551563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.66420382199996 meters 0.029825634007648903 Centerline is valid? [True, True] Translation: X:133.50, Y:-7.15, Z:-3.77 [[ 9.86951000e-01 1.60877682e-01 6.78939461e-03 1.33496859e+02] [-1.60874939e-01 9.86974340e-01 -9.51777432e-04 -7.14865134e+00] [-6.85407801e-03 -1.52885757e-04 9.99976499e-01 -3.76775866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.72420382199996 meters 0.029599990162797508 Centerline is valid? [True, True] Translation: X:133.55, Y:-7.16, Z:-3.77 [[ 9.86835651e-01 1.61615305e-01 5.99097413e-03 1.33554858e+02] [-1.61613184e-01 9.86853826e-01 -8.39658506e-04 -7.15862177e+00] [-6.04791741e-03 -1.39615454e-04 9.99981701e-01 -3.76948044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.78420382199997 meters 0.030447397347864343 Centerline is valid? [True, True] Translation: X:133.61, Y:-7.16, Z:-3.77 [[ 9.86913857e-01 1.61102542e-01 6.85640235e-03 1.33612262e+02] [-1.61099754e-01 9.86937661e-01 -9.60650590e-04 -7.16475066e+00] [-6.92160495e-03 -1.56485354e-04 9.99976033e-01 -3.77193580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.84420382199997 meters 0.030529910064050043 Centerline is valid? [True, True] Translation: X:133.67, Y:-7.17, Z:-3.77 [[ 9.87022452e-01 1.60442309e-01 6.70401084e-03 1.33669664e+02] [-1.60439631e-01 9.87045208e-01 -9.38879258e-04 -7.17327045e+00] [-6.76779773e-03 -1.48894116e-04 9.99977087e-01 -3.77424348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.90420382199997 meters 0.026637044033746834 Centerline is valid? [True, True] Translation: X:133.73, Y:-7.19, Z:-3.77 [[ 9.87265060e-01 1.58863947e-01 8.36347886e-03 1.33727673e+02] [-1.58859734e-01 9.87300469e-01 -1.16987532e-03 -7.18690837e+00] [-8.44311761e-03 -1.73643004e-04 9.99964341e-01 -3.76982006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.96420382199997 meters 0.023773767960152677 Centerline is valid? [True, True] Translation: X:133.79, Y:-7.20, Z:-3.77 [[ 9.87883909e-01 1.54911707e-01 9.36725016e-03 1.33785552e+02] [-1.54906251e-01 9.87928306e-01 -1.30954424e-03 -7.19863018e+00] [-9.45703532e-03 -1.57367928e-04 9.99955269e-01 -3.77074678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02420382199998 meters 0.022965949735520956 Centerline is valid? [True, True] Translation: X:133.84, Y:-7.21, Z:-3.77 [[ 9.88183899e-01 1.52976706e-01 9.52409618e-03 1.33842777e+02] [-1.52970973e-01 9.88229785e-01 -1.33191112e-03 -7.20799458e+00] [-9.61574690e-03 -1.40737137e-04 9.99953758e-01 -3.77346192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.08420382199998 meters 0.017400680120623395 Centerline is valid? [True, True] Translation: X:133.90, Y:-7.23, Z:-3.78 [[ 9.89113610e-01 1.46823328e-01 9.85783507e-03 1.33899957e+02] [-1.46816895e-01 9.89162728e-01 -1.37699251e-03 -7.23157162e+00] [-9.95317766e-03 -8.52947065e-05 9.99950462e-01 -3.77517458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14420382199998 meters 0.015812832346570545 Centerline is valid? [True, True] Translation: X:133.96, Y:-7.25, Z:-3.78 [[ 9.89584971e-01 1.43623771e-01 9.68493358e-03 1.33956067e+02] [-1.43617401e-01 9.89632361e-01 -1.35363902e-03 -7.24608899e+00] [-9.77893843e-03 -5.13841631e-05 9.99952184e-01 -3.77765148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.20420382199998 meters 0.014625766970275478 Centerline is valid? [True, True] Translation: X:134.01, Y:-7.26, Z:-3.78 [[ 9.89691360e-01 1.42960574e-01 8.56076468e-03 1.34013480e+02] [-1.42955573e-01 9.89728383e-01 -1.19647868e-03 -7.25702506e+00] [-8.64388106e-03 -3.96644055e-05 9.99962640e-01 -3.77736250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.26420382199998 meters 0.017447335546847964 Centerline is valid? [True, True] Translation: X:134.07, Y:-7.26, Z:-3.78 [[ 9.89441665e-01 1.44714035e-01 7.93970500e-03 1.34070562e+02] [-1.44709793e-01 9.89473519e-01 -1.10917647e-03 -7.26289147e+00] [-8.01664125e-03 -5.14876517e-05 9.99967865e-01 -3.78444930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.324203822 meters 0.02152571386043684 Centerline is valid? [True, True] Translation: X:134.13, Y:-7.27, Z:-3.79 [[ 9.88776648e-01 1.49211691e-01 7.52405949e-03 1.34128540e+02] [-1.49208017e-01 9.88805271e-01 -1.05044831e-03 -7.26719298e+00] [-7.59656885e-03 -8.39912359e-05 9.99971142e-01 -3.78761272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.38420382199996 meters 0.02055309196704482 Centerline is valid? [True, True] Translation: X:134.19, Y:-7.27, Z:-3.78 [[ 9.88355335e-01 1.51883835e-01 9.22127503e-03 1.34186670e+02] [-1.51878438e-01 9.88398343e-01 -1.28681662e-03 -7.27412371e+00] [-9.30973960e-03 -1.28680780e-04 9.99956655e-01 -3.78145749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.44420382199996 meters 0.018113688637323436 Centerline is valid? [True, True] Translation: X:134.24, Y:-7.29, Z:-3.78 [[ 9.88591491e-01 1.50271277e-01 1.02667907e-02 1.34243522e+02] [-1.50264515e-01 9.88644793e-01 -1.43123678e-03 -7.29073224e+00] [-1.03652829e-02 -1.27825817e-04 9.99946271e-01 -3.77969633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.50420382199997 meters 0.01806145853236031 Centerline is valid? [True, True] Translation: X:134.30, Y:-7.30, Z:-3.78 [[ 9.88869402e-01 1.48380808e-01 1.09745698e-02 1.34299678e+02] [-1.48372970e-01 9.88930292e-01 -1.52944553e-03 -7.30342863e+00] [-1.10800249e-02 -1.15907630e-04 9.99938608e-01 -3.78398665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.56420382199997 meters 0.01805447771480929 Centerline is valid? [True, True] Translation: X:134.36, Y:-7.32, Z:-3.79 [[ 9.89040589e-01 1.47441426e-01 7.72917435e-03 1.34357128e+02] [-1.47437512e-01 9.89070786e-01 -1.07690466e-03 -7.31626250e+00] [-7.80348092e-03 -7.44678187e-05 9.99969550e-01 -3.78995953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.62420382199997 meters 0.020729899667407202 Centerline is valid? [True, True] Translation: X:134.41, Y:-7.32, Z:-3.79 [[ 9.88673230e-01 1.49807946e-01 9.10079709e-03 1.34413764e+02] [-1.49802616e-01 9.88715109e-01 -1.26836728e-03 -7.32360714e+00] [-9.18810708e-03 -1.09322444e-04 9.99957782e-01 -3.79170648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.68420382199997 meters 0.021299467171404348 Centerline is valid? [True, True] Translation: X:134.47, Y:-7.33, Z:-3.79 [[ 9.88237870e-01 1.52603882e-01 9.89783917e-03 1.34471509e+02] [-1.52597741e-01 9.88287424e-01 -1.37712969e-03 -7.33393796e+00] [-9.99206532e-03 -1.49456189e-04 9.99950067e-01 -3.78894001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.74420382199997 meters 0.02935998388080505 Centerline is valid? [True, True] Translation: X:134.53, Y:-7.33, Z:-3.80 [[ 9.87343848e-01 1.58301720e-01 9.62763095e-03 1.34530754e+02] [-1.58296188e-01 9.87390766e-01 -1.33882993e-03 -7.33232890e+00] [-9.71817298e-03 -2.02131781e-04 9.99952757e-01 -3.79559514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.80420382199998 meters 0.03058553118601084 Centerline is valid? [True, True] Translation: X:134.59, Y:-7.34, Z:-3.80 [[ 9.86824881e-01 1.61504989e-01 9.63290373e-03 1.34590523e+02] [-1.61499608e-01 9.86871868e-01 -1.33896853e-03 -7.33641865e+00] [-9.72269179e-03 -2.34382712e-04 9.99952706e-01 -3.79553280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86420382199998 meters 0.031251233978472605 Centerline is valid? [True, True] Translation: X:134.65, Y:-7.35, Z:-3.80 [[ 9.86513989e-01 1.63457377e-01 8.47562488e-03 1.34649790e+02] [-1.63453285e-01 9.86550372e-01 -1.17799609e-03 -7.34533203e+00] [-8.55418302e-03 -2.23259113e-04 9.99963387e-01 -3.79776680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92420382199998 meters 0.03972777603319662 Centerline is valid? [True, True] Translation: X:134.71, Y:-7.34, Z:-3.80 [[ 9.85602198e-01 1.68913476e-01 7.51965789e-03 1.34710555e+02] [-1.68910418e-01 9.85630854e-01 -1.04447683e-03 -7.33903706e+00] [-7.58803304e-03 -2.40709893e-04 9.99971181e-01 -3.80302414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.98420382199998 meters 0.0438457349060204 Centerline is valid? [True, True] Translation: X:134.77, Y:-7.33, Z:-3.80 [[ 9.84946946e-01 1.72626235e-01 8.92732440e-03 1.34771390e+02] [-1.72622073e-01 9.84987351e-01 -1.24049020e-03 -7.33479583e+00] [-9.00744276e-03 -3.19236216e-04 9.99959381e-01 -3.80268093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.044203822 meters 0.039302014011697306 Centerline is valid? [True, True] Translation: X:134.83, Y:-7.34, Z:-3.80 [[ 9.85011144e-01 1.72122266e-01 1.12681861e-02 1.34830485e+02] [-1.72115603e-01 9.85075514e-01 -1.56577157e-03 -7.33963330e+00] [-1.13695184e-02 -3.97128206e-04 9.99935286e-01 -3.79888531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.10420382199996 meters 0.030548858723277686 Centerline is valid? [True, True] Translation: X:134.89, Y:-7.35, Z:-3.80 [[ 9.86539283e-01 1.63048327e-01 1.24694438e-02 1.34889736e+02] [-1.63039459e-01 9.86618030e-01 -1.73133201e-03 -7.35220438e+00] [-1.25848688e-02 -3.24984328e-04 9.99920755e-01 -3.79907438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.16420382199996 meters 0.023292630544157606 Centerline is valid? [True, True] Translation: X:134.95, Y:-7.37, Z:-3.80 [[ 9.87803890e-01 1.55212638e-01 1.23496055e-02 1.34948904e+02] [-1.55203331e-01 9.87881059e-01 -1.71432632e-03 -7.36689909e+00] [-1.24660265e-02 -2.23281705e-04 9.99922271e-01 -3.80143540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.22420382199996 meters 0.014953318978941608 Centerline is valid? [True, True] Translation: X:135.01, Y:-7.38, Z:-3.80 [[ 9.89387398e-01 1.44753127e-01 1.26138382e-02 1.35007407e+02] [-1.44742565e-01 9.89467798e-01 -1.75111878e-03 -7.38372705e+00] [-1.27344666e-02 -9.32244387e-05 9.99918909e-01 -3.80385463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.28420382199997 meters 0.011768036954771292 Centerline is valid? [True, True] Translation: X:135.06, Y:-7.40, Z:-3.80 [[ 9.90498274e-01 1.36727974e-01 1.47861197e-02 1.35063931e+02] [-1.36712559e-01 9.90608632e-01 -2.05312672e-03 -7.39702240e+00] [-1.49279777e-02 1.21702007e-05 9.99888571e-01 -3.80138381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.34420382199997 meters 0.01450174595165344 Centerline is valid? [True, True] Translation: X:135.12, Y:-7.41, Z:-3.81 [[ 9.91341275e-01 1.30705759e-01 1.25889578e-02 1.35122382e+02] [-1.30694113e-01 9.91421201e-01 -1.74692462e-03 -7.41116299e+00] [-1.27092927e-02 8.64958166e-05 9.99919230e-01 -3.80637536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.40420382199997 meters 0.021096716576039575 Centerline is valid? [True, True] Translation: X:135.18, Y:-7.43, Z:-3.81 [[ 9.92401801e-01 1.22503624e-01 1.14685801e-02 1.35180057e+02] [-1.22493416e-01 9.92468051e-01 -1.59096597e-03 -7.42912175e+00] [-1.15770984e-02 1.74051941e-04 9.99932968e-01 -3.81107835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.46420382199997 meters 0.02288427465000036 Centerline is valid? [True, True] Translation: X:135.24, Y:-7.44, Z:-3.81 [[ 9.92827650e-01 1.19019883e-01 1.12926783e-02 1.35238982e+02] [-1.19009759e-01 9.92891848e-01 -1.56674450e-03 -7.44114411e+00] [-1.13988820e-02 2.11568336e-04 9.99935008e-01 -3.81005708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52420382199998 meters 0.022056315925335083 Centerline is valid? [True, True] Translation: X:135.30, Y:-7.44, Z:-3.81 [[ 9.92590029e-01 1.21000635e-01 1.11301364e-02 1.35297585e+02] [-1.20990925e-01 9.92652412e-01 -1.54413883e-03 -7.44388151e+00] [-1.12351986e-02 1.86051305e-04 9.99936866e-01 -3.81331810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58420382199998 meters 0.019469572732082926 Centerline is valid? [True, True] Translation: X:135.36, Y:-7.45, Z:-3.82 [[ 9.92323988e-01 1.23196284e-01 1.07600359e-02 1.35356602e+02] [-1.23187339e-01 9.92382311e-01 -1.49265711e-03 -7.44762955e+00] [-1.08619592e-02 1.55699258e-04 9.99940995e-01 -3.81501591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64420382199998 meters 0.01641260898884414 Centerline is valid? [True, True] Translation: X:135.42, Y:-7.44, Z:-3.82 [[ 9.91726227e-01 1.27926740e-01 1.06695590e-02 1.35416029e+02] [-1.27918225e-01 9.91783615e-01 -1.47957320e-03 -7.44405827e+00] [-1.07711708e-02 1.02500495e-04 9.99941984e-01 -3.81829892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.70420382199998 meters 0.015024401529388862 Centerline is valid? [True, True] Translation: X:135.48, Y:-7.44, Z:-3.82 [[ 9.91319159e-01 1.31087368e-01 1.01206181e-02 1.35475641e+02] [-1.31079875e-01 9.91370818e-01 -1.40300988e-03 -7.44445784e+00] [-1.02172023e-02 6.42212181e-05 9.99947801e-01 -3.82196065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.76420382199998 meters 0.01725068243404265 Centerline is valid? [True, True] Translation: X:135.53, Y:-7.45, Z:-3.82 [[ 9.91130539e-01 1.32401576e-01 1.14051232e-02 1.35534059e+02] [-1.32392153e-01 9.91196156e-01 -1.58054620e-03 -7.44676376e+00] [-1.15139811e-02 5.65787892e-05 9.99933710e-01 -3.82356994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.82420382199996 meters 0.01497271449414416 Centerline is valid? [True, True] Translation: X:135.59, Y:-7.46, Z:-3.82 [[ 9.91338045e-01 1.30773524e-01 1.21311995e-02 1.35590483e+02] [-1.30762753e-01 9.91412265e-01 -1.68031032e-03 -7.45733241e+00] [-1.22467601e-02 7.94465042e-05 9.99925002e-01 -3.82470086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88420382199996 meters 0.016513656709923063 Centerline is valid? [True, True] Translation: X:135.65, Y:-7.47, Z:-3.83 [[ 9.91689188e-01 1.28069737e-01 1.22758699e-02 1.35648259e+02] [-1.28058511e-01 9.91765159e-01 -1.69940112e-03 -7.46622903e+00] [-1.23924219e-02 1.13248092e-04 9.99923205e-01 -3.82539349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.94420382199996 meters 0.01770006808653767 Centerline is valid? [True, True] Translation: X:135.71, Y:-7.48, Z:-3.83 [[ 9.92117251e-01 1.24790135e-01 1.14360423e-02 1.35706384e+02] [-1.24780182e-01 9.92183149e-01 -1.58251951e-03 -7.47767587e+00] [-1.15441313e-02 1.43053462e-04 9.99933354e-01 -3.82606578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.00420382199997 meters 0.020997841060619884 Centerline is valid? [True, True] Translation: X:135.76, Y:-7.49, Z:-3.83 [[ 9.92620791e-01 1.20635396e-01 1.22909043e-02 1.35763465e+02] [-1.20623588e-01 9.92696862e-01 -1.70025821e-03 -7.49368255e+00] [-1.24062535e-02 2.05138669e-04 9.99923018e-01 -3.82668940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.06420382199997 meters 0.023879763646173377 Centerline is valid? [True, True] Translation: X:135.82, Y:-7.51, Z:-3.83 [[ 9.92599066e-01 1.20604092e-01 1.42037533e-02 1.35820948e+02] [-1.20588329e-01 9.92700658e-01 -1.96416258e-03 -7.50768870e+00] [-1.43369613e-02 2.36819064e-04 9.99897192e-01 -3.82780218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.12420382199997 meters 0.021208625644468557 Centerline is valid? [True, True] Translation: X:135.88, Y:-7.51, Z:-3.83 [[ 9.92278260e-01 1.23294079e-01 1.35064705e-02 1.35880024e+02] [-1.23280082e-01 9.92370160e-01 -1.86725471e-03 -7.51298304e+00] [-1.36336398e-02 1.87757464e-04 9.99907040e-01 -3.83023715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.18420382199997 meters 0.01570784248415194 Centerline is valid? [True, True] Translation: X:135.94, Y:-7.51, Z:-3.83 [[ 9.91639629e-01 1.28354141e-01 1.32687800e-02 1.35939314e+02] [-1.28341088e-01 9.91728391e-01 -1.83416578e-03 -7.51413934e+00] [-1.33944486e-02 1.15901812e-04 9.99910284e-01 -3.83052465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.24420382199997 meters 0.012947178957274819 Centerline is valid? [True, True] Translation: X:136.00, Y:-7.52, Z:-3.83 [[ 9.91009201e-01 1.33091412e-01 1.36908432e-02 1.35998249e+02] [-1.33077976e-01 9.91103765e-01 -1.89180744e-03 -7.51863414e+00] [-1.38208296e-02 5.28488755e-05 9.99904486e-01 -3.83159906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30420382199998 meters 0.011232683933641623 Centerline is valid? [True, True] Translation: X:136.06, Y:-7.53, Z:-3.83 [[ 9.90382914e-01 1.37497637e-01 1.53650327e-02 1.36056783e+02] [-1.37481258e-01 9.90502095e-01 -2.12228001e-03 -7.52556573e+00] [-1.55109056e-02 -1.05341648e-05 9.99879699e-01 -3.82897465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36420382199998 meters 0.011624849668567163 Centerline is valid? [True, True] Translation: X:136.12, Y:-7.53, Z:-3.83 [[ 9.90018246e-01 1.40027099e-01 1.60088778e-02 1.36115534e+02] [-1.40009663e-01 9.90147670e-01 -2.21035382e-03 -7.53323423e+00] [-1.61606625e-02 -5.31069700e-05 9.99869407e-01 -3.82983824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42420382199998 meters 0.013057335440414255 Centerline is valid? [True, True] Translation: X:136.17, Y:-7.54, Z:-3.83 [[ 9.89624783e-01 1.42680892e-01 1.68805383e-02 1.36173309e+02] [-1.42661904e-01 9.89768737e-01 -2.32991951e-03 -7.53831857e+00] [-1.70402640e-02 -1.02463639e-04 9.99854799e-01 -3.83042460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48420382199998 meters 0.01230863217955729 Centerline is valid? [True, True] Translation: X:136.23, Y:-7.56, Z:-3.83 [[ 9.89852677e-01 1.41288401e-01 1.51415159e-02 1.36229445e+02] [-1.41272972e-01 9.89968476e-01 -2.08914810e-03 -7.55756111e+00] [-1.52847958e-02 -7.11381069e-05 9.99883178e-01 -3.83410329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.544203822 meters 0.012095947164853117 Centerline is valid? [True, True] Translation: X:136.29, Y:-7.58, Z:-3.84 [[ 9.90274109e-01 1.38401236e-01 1.42227360e-02 1.36285016e+02] [-1.38387337e-01 9.90376240e-01 -1.96157432e-03 -7.57613366e+00] [-1.43573441e-02 -2.57503004e-05 9.99896928e-01 -3.83933102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.60420382199996 meters 0.010916548179757233 Centerline is valid? [True, True] Translation: X:136.34, Y:-7.60, Z:-3.84 [[ 9.90742299e-01 1.34728613e-01 1.66702510e-02 1.36342543e+02] [-1.34709029e-01 9.90882536e-01 -2.29732225e-03 -7.59776650e+00] [-1.68277756e-02 3.04210072e-05 9.99858402e-01 -3.83578020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.66420382199996 meters 0.013178314824672386 Centerline is valid? [True, True] Translation: X:136.40, Y:-7.62, Z:-3.84 [[ 9.91234916e-01 1.31217629e-01 1.53386624e-02 1.36399386e+02] [-1.31200641e-01 9.91353583e-01 -2.11298444e-03 -7.62330487e+00] [-1.54832987e-02 8.20216310e-05 9.99880123e-01 -3.84165012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.72420382199996 meters 0.013933609275804615 Centerline is valid? [True, True] Translation: X:136.46, Y:-7.64, Z:-3.84 [[ 9.91377571e-01 1.30151018e-01 1.52060540e-02 1.36457941e+02] [-1.30134192e-01 9.91494177e-01 -2.09507045e-03 -7.64280605e+00] [-1.53493896e-02 9.81783009e-05 9.99882186e-01 -3.84426121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.78420382199997 meters 0.013328043684428399 Centerline is valid? [True, True] Translation: X:136.52, Y:-7.66, Z:-3.85 [[ 9.91243489e-01 1.31199713e-01 1.49325668e-02 1.36518245e+02] [-1.31183641e-01 9.91355955e-01 -2.05504135e-03 -7.66242738e+00] [-1.50731098e-02 7.81378779e-05 9.99886391e-01 -3.84555751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.84420382199997 meters 0.018800681847537182 Centerline is valid? [True, True] Translation: X:136.58, Y:-7.68, Z:-3.85 [[ 9.90963611e-01 1.33156410e-01 1.61397411e-02 1.36578099e+02] [-1.33137839e-01 9.91095034e-01 -2.22448785e-03 -7.67606186e+00] [-1.62922220e-02 5.55762631e-05 9.99867271e-01 -3.84669534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.90420382199997 meters 0.01110903902356138 Centerline is valid? [True, True] Translation: X:136.64, Y:-7.69, Z:-3.85 [[ 9.90436924e-01 1.36994228e-01 1.63487591e-02 1.36638793e+02] [-1.36975656e-01 9.90571846e-01 -2.25569916e-03 -7.68994013e+00] [-1.65036383e-02 -5.25427072e-06 9.99863806e-01 -3.84578461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.96420382199997 meters 0.011888773707201561 Centerline is valid? [True, True] Translation: X:136.70, Y:-7.70, Z:-3.85 [[ 9.89845629e-01 1.41182908e-01 1.65232273e-02 1.36699472e+02] [-1.41164471e-01 9.89983526e-01 -2.28270597e-03 -7.70344012e+00] [-1.66800019e-02 -7.29661196e-05 9.99860876e-01 -3.84683555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02420382199998 meters 0.014304318349606977 Centerline is valid? [True, True] Translation: X:136.76, Y:-7.71, Z:-3.85 [[ 9.89495820e-01 1.43595308e-01 1.66856187e-02 1.36759915e+02] [-1.43576797e-01 9.89636486e-01 -2.30829294e-03 -7.71200824e+00] [-1.68441571e-02 -1.11621471e-04 9.99858121e-01 -3.85178981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08420382199998 meters 0.015284842833979153 Centerline is valid? [True, True] Translation: X:136.82, Y:-7.73, Z:-3.85 [[ 9.89219032e-01 1.45608960e-01 1.56121285e-02 1.36821114e+02] [-1.45592971e-01 9.89342212e-01 -2.16191585e-03 -7.72573660e+00] [-1.57605321e-02 -1.34407883e-04 9.99875786e-01 -3.85458365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14420382199998 meters 0.01469833416936726 Centerline is valid? [True, True] Translation: X:136.88, Y:-7.74, Z:-3.86 [[ 9.89309627e-01 1.45049850e-01 1.50666129e-02 1.36882760e+02] [-1.45034864e-01 9.89424341e-01 -2.08838947e-03 -7.74061503e+00] [-1.52101941e-02 -1.19120341e-04 9.99884311e-01 -3.85692470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.20420382199998 meters 0.013610101101885218 Centerline is valid? [True, True] Translation: X:136.94, Y:-7.76, Z:-3.86 [[ 9.89561325e-01 1.43305893e-01 1.52251346e-02 1.36942973e+02] [-1.43290332e-01 9.89678439e-01 -2.11370083e-03 -7.75614988e+00] [-1.53708932e-02 -8.99779923e-05 9.99881857e-01 -3.85879162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.26420382199998 meters 0.011410495667721574 Centerline is valid? [True, True] Translation: X:137.00, Y:-7.78, Z:-3.86 [[ 9.89965248e-01 1.40373608e-01 1.62498655e-02 1.37003730e+02] [-1.40355416e-01 9.90098605e-01 -2.26031369e-03 -7.77507454e+00] [-1.64062575e-02 -4.31246317e-05 9.99865407e-01 -3.85681612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.32420382199996 meters 0.011324144469037232 Centerline is valid? [True, True] Translation: X:137.07, Y:-7.79, Z:-3.86 [[ 9.90036225e-01 1.39876907e-01 1.62087618e-02 1.37065547e+02] [-1.39858751e-01 9.90168900e-01 -2.25389455e-03 -7.79123420e+00] [-1.63646796e-02 -3.54999269e-05 9.99866089e-01 -3.85907468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.38420382199996 meters 0.012075901080275609 Centerline is valid? [True, True] Translation: X:137.13, Y:-7.80, Z:-3.87 [[ 9.90164973e-01 1.39212492e-01 1.38999023e-02 1.37126657e+02] [-1.39199042e-01 9.90262532e-01 -1.93518198e-03 -7.80470019e+00] [-1.40339539e-02 -1.87036719e-05 9.99901519e-01 -3.86538173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.44420382199996 meters 0.01212778347443877 Centerline is valid? [True, True] Translation: X:137.19, Y:-7.83, Z:-3.86 [[ 9.90710895e-01 1.35169499e-01 1.48704237e-02 1.37185940e+02] [-1.35153607e-01 9.90822489e-01 -2.07320080e-03 -7.82725549e+00] [-1.50141838e-02 4.41512178e-05 9.99887280e-01 -3.86466423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.50420382199997 meters 0.028967262167956153 Centerline is valid? [True, True] Translation: X:137.24, Y:-7.85, Z:-3.87 [[ 9.91295192e-01 1.30742447e-01 1.55001730e-02 1.37244620e+02] [-1.30724575e-01 9.91416360e-01 -2.16503846e-03 -7.84720126e+00] [-1.56501875e-02 1.19938692e-04 9.99877521e-01 -3.86657536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.56420382199997 meters 0.018602321016334737 Centerline is valid? [True, True] Translation: X:137.30, Y:-7.87, Z:-3.87 [[ 9.92039272e-01 1.24943348e-01 1.57239482e-02 1.37303297e+02] [-1.24924194e-01 9.92163854e-01 -2.19841135e-03 -7.87479898e+00] [-1.58754099e-02 2.16608843e-04 9.99873954e-01 -3.86698180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.62420382199997 meters 0.01840071955640575 Centerline is valid? [True, True] Translation: X:137.36, Y:-7.89, Z:-3.87 [[ 9.91919585e-01 1.25697113e-01 1.71980471e-02 1.37363447e+02] [-1.25674304e-01 9.92068639e-01 -2.40494390e-03 -7.88709490e+00] [-1.73639377e-02 2.24158356e-04 9.99849210e-01 -3.86703866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.68420382199997 meters 0.013915472218380428 Centerline is valid? [True, True] Translation: X:137.42, Y:-7.89, Z:-3.87 [[ 9.90984138e-01 1.33100168e-01 1.53226124e-02 1.37424553e+02] [-1.33082940e-01 9.91102587e-01 -2.14312995e-03 -7.89145038e+00] [-1.54715317e-02 8.46294808e-05 9.99880305e-01 -3.87289135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74420382199997 meters 0.011740717875810063 Centerline is valid? [True, True] Translation: X:137.49, Y:-7.89, Z:-3.87 [[ 9.89766374e-01 1.41936044e-01 1.47202206e-02 1.37487992e+02] [-1.41921067e-01 9.89875829e-01 -2.06239997e-03 -7.89032380e+00] [-1.48639195e-02 -4.78152765e-05 9.99889525e-01 -3.87368831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80420382199998 meters 0.014396314817880852 Centerline is valid? [True, True] Translation: X:137.55, Y:-7.89, Z:-3.88 [[ 9.89399418e-01 1.44501703e-01 1.44239446e-02 1.37548481e+02] [-1.44487603e-01 9.89504548e-01 -2.02035728e-03 -7.89498564e+00] [-1.45645039e-02 -8.51408679e-05 9.99893928e-01 -3.88039680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86420382199998 meters 0.015373870663908969 Centerline is valid? [True, True] Translation: X:137.61, Y:-7.90, Z:-3.88 [[ 9.88846676e-01 1.48103342e-01 1.57369207e-02 1.37611195e+02] [-1.48086973e-01 9.88971879e-01 -2.20688193e-03 -7.90121879e+00] [-1.58902186e-02 -1.48165083e-04 9.99873732e-01 -3.87811731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92420382199998 meters 0.01455613554549223 Centerline is valid? [True, True] Translation: X:137.67, Y:-7.91, Z:-3.88 [[ 9.88866730e-01 1.48086509e-01 1.45937378e-02 1.37672239e+02] [-1.48072391e-01 9.88974402e-01 -2.04922280e-03 -7.91354248e+00] [-1.47362953e-02 -1.34521395e-04 9.99891406e-01 -3.88022496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98420382199998 meters 0.0160161100873393 Centerline is valid? [True, True] Translation: X:137.73, Y:-7.92, Z:-3.88 [[ 9.88792656e-01 1.48566906e-01 1.47295054e-02 1.37733494e+02] [-1.48552540e-01 9.88902348e-01 -2.07078219e-03 -7.92216143e+00] [-1.48736922e-02 -1.40531218e-04 9.99889371e-01 -3.88476767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.044203822 meters 0.01604506797677795 Centerline is valid? [True, True] Translation: X:137.79, Y:-7.93, Z:-3.88 [[ 9.88754502e-01 1.48736309e-01 1.55578135e-02 1.37794349e+02] [-1.48720247e-01 9.88876882e-01 -2.19077337e-03 -7.93293196e+00] [-1.57106096e-02 -1.47624832e-04 9.99876570e-01 -3.88493118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.10420382199996 meters 0.014195688471566313 Centerline is valid? [True, True] Translation: X:137.86, Y:-7.94, Z:-3.88 [[ 9.88873650e-01 1.47738130e-01 1.73882096e-02 1.37855767e+02] [-1.47717853e-01 9.89026503e-01 -2.45189105e-03 -7.94320511e+00] [-1.75596380e-02 -1.43938534e-04 9.99845807e-01 -3.88251318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.16420382199996 meters 0.012442896951448816 Centerline is valid? [True, True] Translation: X:137.92, Y:-7.96, Z:-3.89 [[ 9.89285123e-01 1.45112968e-01 1.60365774e-02 1.37917462e+02] [-1.45095344e-01 9.89415089e-01 -2.26325183e-03 -7.95726366e+00] [-1.61952589e-02 -8.78313586e-05 9.99868844e-01 -3.88605823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.22420382199996 meters 0.01180329933747375 Centerline is valid? [True, True] Translation: X:137.98, Y:-7.97, Z:-3.89 [[ 9.89725091e-01 1.42137283e-01 1.55318085e-02 1.37978758e+02] [-1.42120336e-01 9.89846954e-01 -2.19510565e-03 -7.96913285e+00] [-1.56861197e-02 -3.48347024e-05 9.99876965e-01 -3.89070287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.28420382199997 meters 0.01177282763754899 Centerline is valid? [True, True] Translation: X:138.04, Y:-7.98, Z:-3.89 [[ 9.90012046e-01 1.40222802e-01 1.46189545e-02 1.38040129e+02] [-1.40207543e-01 9.90119975e-01 -2.06863652e-03 -7.98214528e+00] [-1.47645889e-02 -1.71260830e-06 9.99890998e-01 -3.89276943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.34420382199997 meters 0.012973775835560216 Centerline is valid? [True, True] Translation: X:138.10, Y:-7.99, Z:-3.90 [[ 9.90334914e-01 1.38151137e-01 1.22891096e-02 1.38101038e+02] [-1.38140175e-01 9.90411158e-01 -1.74050653e-03 -7.99141206e+00] [-1.24117243e-02 2.60646319e-05 9.99922971e-01 -3.89871790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.40420382199997 meters 0.014866398024581498 Centerline is valid? [True, True] Translation: X:138.16, Y:-8.01, Z:-3.90 [[ 9.90772680e-01 1.35069655e-01 1.12109448e-02 1.38160957e+02] [-1.35060318e-01 9.90836104e-01 -1.58923380e-03 -8.00566596e+00] [-1.13228661e-02 6.04156615e-05 9.99935892e-01 -3.90428893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.46420382199997 meters 0.025000642206635705 Centerline is valid? [True, True] Translation: X:138.22, Y:-8.02, Z:-3.90 [[ 9.91101577e-01 1.32587103e-01 1.17611543e-02 1.38221639e+02] [-1.32576630e-01 9.91171353e-01 -1.66909701e-03 -8.01913301e+00] [-1.18786199e-02 9.49904773e-05 9.99929442e-01 -3.90473716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52420382199998 meters 0.01689581426851039 Centerline is valid? [True, True] Translation: X:138.28, Y:-8.03, Z:-3.91 [[ 9.91204132e-01 1.31848102e-01 1.14213167e-02 1.38282851e+02] [-1.31838155e-01 9.91269927e-01 -1.62276973e-03 -8.02934480e+00] [-1.15355669e-02 1.02730736e-04 9.99933458e-01 -3.90735062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58420382199998 meters 0.016773968302382255 Centerline is valid? [True, True] Translation: X:138.34, Y:-8.04, Z:-3.90 [[ 9.91192694e-01 1.31670042e-01 1.41436954e-02 1.38342356e+02] [-1.31654714e-01 9.91293590e-01 -2.01345247e-03 -8.04395182e+00] [-1.42856659e-02 1.33635207e-04 9.99897946e-01 -3.90460503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64420382199998 meters 0.016557151608210127 Centerline is valid? [True, True] Translation: X:138.40, Y:-8.05, Z:-3.91 [[ 9.91133330e-01 1.32078699e-01 1.44892767e-02 1.38404112e+02] [-1.32062623e-01 9.91239224e-01 -2.06496343e-03 -8.05392859e+00] [-1.46350771e-02 1.33162195e-04 9.99892893e-01 -3.90529660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.70420382199998 meters 0.01696184258295752 Centerline is valid? [True, True] Translation: X:138.47, Y:-8.07, Z:-3.91 [[ 9.91168604e-01 1.31685593e-01 1.56109889e-02 1.38465618e+02] [-1.31666834e-01 9.91291522e-01 -2.22789935e-03 -8.06554660e+00] [-1.57684232e-02 1.52774396e-04 9.99875659e-01 -3.90647297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.76420382199998 meters 0.019318162590540477 Centerline is valid? [True, True] Translation: X:138.53, Y:-8.09, Z:-3.91 [[ 9.91648624e-01 1.28144113e-01 1.45633812e-02 1.38525049e+02] [-1.28127350e-01 9.91755538e-01 -2.08220693e-03 -8.08662116e+00] [-1.47101366e-02 1.98850203e-04 9.99891780e-01 -3.90858349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.82420382199996 meters 0.02040203981735507 Centerline is valid? [True, True] Translation: X:138.58, Y:-8.11, Z:-3.91 [[ 9.91788026e-01 1.27240177e-01 1.29014924e-02 1.38584806e+02] [-1.27226965e-01 9.91871918e-01 -1.84305865e-03 -8.10603212e+00] [-1.30311391e-02 1.86505785e-04 9.99915074e-01 -3.91202477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.88420382199996 meters 0.019152577146816962 Centerline is valid? [True, True] Translation: X:138.65, Y:-8.11, Z:-3.92 [[ 9.91347933e-01 1.30667956e-01 1.24563310e-02 1.38645376e+02] [-1.30655882e-01 9.91426178e-01 -1.78173556e-03 -8.11395621e+00] [-1.25823484e-02 1.38826952e-04 9.99920829e-01 -3.91763013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.94420382199996 meters 0.014004618066021506 Centerline is valid? [True, True] Translation: X:138.71, Y:-8.12, Z:-3.92 [[ 9.90438431e-01 1.37326486e-01 1.31587012e-02 1.38706543e+02] [-1.37313540e-01 9.90525836e-01 -1.88663387e-03 -8.12290254e+00] [-1.32931183e-02 6.17268523e-05 9.99911641e-01 -3.91639826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.00420382199997 meters 0.012557833000287018 Centerline is valid? [True, True] Translation: X:138.77, Y:-8.13, Z:-3.92 [[ 9.89719042e-01 1.42303210e-01 1.43532020e-02 1.38766954e+02] [-1.42288346e-01 9.89823114e-01 -2.05678778e-03 -8.12962985e+00] [-1.44998186e-02 -6.65134067e-06 9.99894872e-01 -3.91667170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.06420382199997 meters 0.016276050437725186 Centerline is valid? [True, True] Translation: X:138.83, Y:-8.13, Z:-3.92 [[ 9.88387293e-01 1.51306086e-01 1.40366798e-02 1.38829300e+02] [-1.51292748e-01 9.88486950e-01 -2.01341253e-03 -8.13141515e+00] [-1.41797163e-02 -1.33616494e-04 9.99899454e-01 -3.91801719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.12420382199997 meters 0.021639282767608594 Centerline is valid? [True, True] Translation: X:138.89, Y:-8.13, Z:-3.92 [[ 9.87186733e-01 1.58841191e-01 1.52259694e-02 1.38891494e+02] [-1.58826345e-01 9.87304112e-01 -2.18706437e-03 -8.13327142e+00] [-1.53800581e-02 -2.59244147e-04 9.99881686e-01 -3.91665413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.18420382199997 meters 0.03088639986802434 Centerline is valid? [True, True] Translation: X:138.95, Y:-8.13, Z:-3.92 [[ 9.85705917e-01 1.67922494e-01 1.36338178e-02 1.38953343e+02] [-1.67911403e-01 9.85800137e-01 -1.96236615e-03 -8.13129283e+00] [-1.37697449e-02 -3.54957549e-04 9.99905130e-01 -3.92033612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24420382199997 meters 0.03573045406790113 Centerline is valid? [True, True] Translation: X:139.01, Y:-8.13, Z:-3.92 [[ 9.84923279e-01 1.72552584e-01 1.23182726e-02 1.39014042e+02] [-1.72543892e-01 9.85000234e-01 -1.77297621e-03 -8.13255962e+00] [-1.24394331e-02 -3.79197155e-04 9.99922555e-01 -3.92458774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30420382199998 meters 0.03614251591914828 Centerline is valid? [True, True] Translation: X:139.08, Y:-8.14, Z:-3.93 [[ 9.84974507e-01 1.72328647e-01 1.13163066e-02 1.39076374e+02] [-1.72321333e-01 9.85039449e-01 -1.62563386e-03 -8.14332312e+00] [-1.14271517e-02 -3.48833131e-04 9.99934647e-01 -3.92772107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36420382199998 meters 0.030287558464978156 Centerline is valid? [True, True] Translation: X:139.14, Y:-8.16, Z:-3.93 [[ 9.85503123e-01 1.69261610e-01 1.15802329e-02 1.39136710e+02] [-1.69253681e-01 9.85571107e-01 -1.66851918e-03 -8.15684634e+00] [-1.16955592e-02 -3.15666174e-04 9.99931555e-01 -3.92714332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42420382199998 meters 0.02781435374500951 Centerline is valid? [True, True] Translation: X:139.20, Y:-8.17, Z:-3.93 [[ 9.85988170e-01 1.66385738e-01 1.19630876e-02 1.39196675e+02] [-1.66377056e-01 9.86060699e-01 -1.72437609e-03 -8.16926009e+00] [-1.20832421e-02 -2.90168865e-04 9.99926953e-01 -3.92771850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48420382199998 meters 0.02424356536900673 Centerline is valid? [True, True] Translation: X:139.26, Y:-8.18, Z:-3.93 [[ 9.87009489e-01 1.60173308e-01 1.25211524e-02 1.39255222e+02] [-1.60163287e-01 9.87088882e-01 -1.80556141e-03 -8.18425955e+00] [-1.26486931e-02 -2.23322686e-04 9.99919977e-01 -3.93069457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.544203822 meters 0.01620071869786192 Centerline is valid? [True, True] Translation: X:139.31, Y:-8.20, Z:-3.93 [[ 9.88099985e-01 1.53117574e-01 1.46091709e-02 1.39313889e+02] [-1.53103162e-01 9.88207966e-01 -2.10648349e-03 -8.20499223e+00] [-1.47594387e-02 -1.55293957e-04 9.99891061e-01 -3.92673202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.60420382199996 meters 0.01334224594766654 Centerline is valid? [True, True] Translation: X:139.37, Y:-8.22, Z:-3.93 [[ 9.88741810e-01 1.48945899e-01 1.43091658e-02 1.39374668e+02] [-1.48931667e-01 9.88845342e-01 -2.06108192e-03 -8.22032836e+00] [-1.44565417e-02 -9.32100567e-05 9.99895494e-01 -3.92847353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.66420382199996 meters 0.01396423793490774 Centerline is valid? [True, True] Translation: X:139.43, Y:-8.23, Z:-3.94 [[ 9.88965672e-01 1.47712173e-01 1.13142840e-02 1.39433747e+02] [-1.47703166e-01 9.89030389e-01 -1.63213707e-03 -8.23380666e+00] [-1.14312572e-02 -5.70280347e-05 9.99934659e-01 -3.93564899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.72420382199996 meters 0.014633868419435044 Centerline is valid? [True, True] Translation: X:139.49, Y:-8.24, Z:-3.94 [[ 9.88822283e-01 1.48703187e-01 1.08560914e-02 1.39494997e+02] [-1.48694963e-01 9.88881872e-01 -1.56538436e-03 -8.24137835e+00] [-1.09681696e-02 -6.63591657e-05 9.99939846e-01 -3.93891548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.78420382199997 meters 0.018086908738184075 Centerline is valid? [True, True] Translation: X:139.56, Y:-8.24, Z:-3.94 [[ 9.87933631e-01 1.54427427e-01 1.18029958e-02 1.39558237e+02] [-1.54418084e-01 9.88004125e-01 -1.70436334e-03 -8.24104648e+00] [-1.19246090e-02 -1.38798138e-04 9.99928890e-01 -3.93873352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.84420382199997 meters 0.022230134423080566 Centerline is valid? [True, True] Translation: X:139.62, Y:-8.24, Z:-3.94 [[ 9.87042636e-01 1.59908003e-01 1.32764811e-02 1.39620876e+02] [-1.59896636e-01 9.87131895e-01 -1.92013506e-03 -8.24018007e+00] [-1.34126829e-02 -2.27609490e-04 9.99910020e-01 -3.93694418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.90420382199997 meters 0.029113683527580404 Centerline is valid? [True, True] Translation: X:139.68, Y:-8.23, Z:-3.94 [[ 9.85792689e-01 1.67468870e-01 1.29209903e-02 1.39682869e+02] [-1.67458696e-01 9.85877313e-01 -1.87301792e-03 -8.23314043e+00] [-1.30521834e-02 -3.17324830e-04 9.99914766e-01 -3.93851361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.96420382199997 meters 0.039055091110119095 Centerline is valid? [True, True] Translation: X:139.75, Y:-8.22, Z:-3.94 [[ 9.84651159e-01 1.73975474e-01 1.39509498e-02 1.39745184e+02] [-1.73964262e-01 9.84749889e-01 -2.02259276e-03 -8.21929297e+00] [-1.40900779e-02 -4.35418379e-04 9.99900635e-01 -3.94062594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02420382199998 meters 0.03702905031090246 Centerline is valid? [True, True] Translation: X:139.81, Y:-8.22, Z:-3.94 [[ 9.84516116e-01 1.74739372e-01 1.39344781e-02 1.39807602e+02] [-1.74728301e-01 9.84614620e-01 -2.01746721e-03 -8.22404406e+00] [-1.40726218e-02 -4.48518704e-04 9.99900875e-01 -3.94174393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08420382199998 meters 0.03279559608385662 Centerline is valid? [True, True] Translation: X:139.87, Y:-8.23, Z:-3.95 [[ 9.85332349e-01 1.70211819e-01 1.21695724e-02 1.39867061e+02] [-1.70202979e-01 9.85407442e-01 -1.76612133e-03 -8.23460209e+00] [-1.22926020e-02 -3.31081000e-04 9.99924388e-01 -3.94714493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14420382199998 meters 0.024311924347797453 Centerline is valid? [True, True] Translation: X:139.93, Y:-8.25, Z:-3.95 [[ 9.86718580e-01 1.62070382e-01 1.09377831e-02 1.39926121e+02] [-1.62062741e-01 9.86779179e-01 -1.58723903e-03 -8.24732182e+00] [-1.10504211e-02 -2.06448865e-04 9.99938921e-01 -3.94973497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.20420382199998 meters 0.017271755414576383 Centerline is valid? [True, True] Translation: X:139.99, Y:-8.26, Z:-3.95 [[ 9.87945353e-01 1.54400493e-01 1.11564736e-02 1.39985787e+02] [-1.54392054e-01 9.88008336e-01 -1.61895054e-03 -8.26262343e+00] [-1.12726557e-02 -1.23036207e-04 9.99936454e-01 -3.94999535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.26420382199998 meters 0.014455176241487063 Centerline is valid? [True, True] Translation: X:140.04, Y:-8.28, Z:-3.95 [[ 9.88876620e-01 1.48245664e-01 1.20935277e-02 1.40043978e+02] [-1.48235297e-01 9.88950565e-01 -1.75409727e-03 -8.27927735e+00] [-1.22199384e-02 -5.81018958e-05 9.99925332e-01 -3.95335522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.32420382199996 meters 0.015223243644826879 Centerline is valid? [True, True] Translation: X:140.10, Y:-8.30, Z:-3.95 [[ 9.90439347e-01 1.37353482e-01 1.28031807e-02 1.40104447e+02] [-1.37340962e-01 9.90522092e-01 -1.85616614e-03 -8.30436406e+00] [-1.29367842e-02 8.00188183e-05 9.99916313e-01 -3.95379780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.38420382199996 meters 0.019217429336914033 Centerline is valid? [True, True] Translation: X:140.16, Y:-8.32, Z:-3.96 [[ 9.91183865e-01 1.31965745e-01 1.18147255e-02 1.40164179e+02] [-1.31954672e-01 9.91254267e-01 -1.71529450e-03 -8.32155753e+00] [-1.19377572e-02 1.41163996e-04 9.99928732e-01 -3.95768483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.44420382199996 meters 0.018459011882134984 Centerline is valid? [True, True] Translation: X:140.23, Y:-8.33, Z:-3.96 [[ 9.90866634e-01 1.34408234e-01 1.08507749e-02 1.40225055e+02] [-1.34399028e-01 9.90926040e-01 -1.57652999e-03 -8.33082593e+00] [-1.09642141e-02 1.03797357e-04 9.99939886e-01 -3.96125173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.50420382199997 meters 0.013833894332160783 Centerline is valid? [True, True] Translation: X:140.29, Y:-8.33, Z:-3.96 [[ 9.89588475e-01 1.43640074e-01 9.06523268e-03 1.40288583e+02] [-1.43634029e-01 9.89629996e-01 -1.31774455e-03 -8.32596755e+00] [-9.16050711e-03 1.94892435e-06 9.99958042e-01 -3.96279335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.56420382199997 meters 0.016438831975285197 Centerline is valid? [True, True] Translation: X:140.35, Y:-8.32, Z:-3.96 [[ 9.88213736e-01 1.52701477e-01 1.07643195e-02 1.40352623e+02] [-1.52693462e-01 9.88272356e-01 -1.56740807e-03 -8.31966601e+00] [-1.08774249e-02 -9.47070220e-05 9.99940835e-01 -3.96467140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.62420382199997 meters 0.017633567812903244 Centerline is valid? [True, True] Translation: X:140.41, Y:-8.33, Z:-3.97 [[ 9.87836423e-01 1.55146931e-01 1.04226172e-02 1.40414181e+02] [-1.55139531e-01 9.87891399e-01 -1.51972324e-03 -8.32615728e+00] [-1.05321943e-02 -1.15721983e-04 9.99944528e-01 -3.96607915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.68420382199997 meters 0.017411081220428896 Centerline is valid? [True, True] Translation: X:140.48, Y:-8.33, Z:-3.97 [[ 9.87735509e-01 1.55726719e-01 1.13027796e-02 1.40476024e+02] [-1.55718028e-01 9.87800168e-01 -1.65039261e-03 -8.33318965e+00] [-1.14218978e-02 -1.29895160e-04 9.99934760e-01 -3.96644795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74420382199997 meters 0.01942274123613069 Centerline is valid? [True, True] Translation: X:140.54, Y:-8.34, Z:-3.97 [[ 9.87580024e-01 1.56797212e-01 1.00165412e-02 1.40536912e+02] [-1.56790413e-01 9.87630811e-01 -1.46529660e-03 -8.33965559e+00] [-1.01223992e-02 -1.23399989e-04 9.99948760e-01 -3.97260770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80420382199998 meters 0.01949406875547015 Centerline is valid? [True, True] Translation: X:140.60, Y:-8.35, Z:-3.97 [[ 9.87434809e-01 1.57716276e-01 9.90327122e-03 1.40597922e+02] [-1.57709683e-01 9.87484460e-01 -1.44807548e-03 -8.34931598e+00] [-1.00077115e-02 -1.31961637e-04 9.99949913e-01 -3.97393358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.86420382199998 meters 0.02022999045514001 Centerline is valid? [True, True] Translation: X:140.66, Y:-8.36, Z:-3.98 [[ 9.87412367e-01 1.57935951e-01 8.54705865e-03 1.40659024e+02] [-1.57931040e-01 9.87449352e-01 -1.25084464e-03 -8.35597794e+00] [-8.63734086e-03 -1.14746385e-04 9.99962691e-01 -3.97860907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92420382199998 meters 0.018117379017099824 Centerline is valid? [True, True] Translation: X:140.72, Y:-8.37, Z:-3.98 [[ 9.87714939e-01 1.56032150e-01 8.55379605e-03 1.40720259e+02] [-1.56027131e-01 9.87751972e-01 -1.25510711e-03 -8.37041861e+00] [-8.64486598e-03 -9.49362106e-05 9.99962628e-01 -3.97831489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98420382199998 meters 0.01570118782187557 Centerline is valid? [True, True] Translation: X:140.78, Y:-8.38, Z:-3.98 [[ 9.88115672e-01 1.53337927e-01 1.07191036e-02 1.40780398e+02] [-1.53329868e-01 9.88173807e-01 -1.57460492e-03 -8.38266206e+00] [-1.08337841e-02 -8.76669343e-05 9.99941309e-01 -3.97606296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.044203822 meters 0.01562652939153184 Centerline is valid? [True, True] Translation: X:140.84, Y:-8.39, Z:-3.98 [[ 9.88264608e-01 1.52442428e-01 9.71449190e-03 1.40842057e+02] [-1.52435791e-01 9.88312350e-01 -1.42441319e-03 -8.39250680e+00] [-9.81809333e-03 -7.31391178e-05 9.99951799e-01 -3.98076372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.10420382199996 meters 0.014440848328869325 Centerline is valid? [True, True] Translation: X:140.90, Y:-8.41, Z:-3.98 [[ 9.88365729e-01 1.51741139e-01 1.03832745e-02 1.40902083e+02] [-1.51733497e-01 9.88420266e-01 -1.52450553e-03 -8.40931417e+00] [-1.04943691e-02 -6.87215222e-05 9.99944930e-01 -3.97949765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.16420382199996 meters 0.016986192865664596 Centerline is valid? [True, True] Translation: X:140.96, Y:-8.41, Z:-3.99 [[ 9.88097769e-01 1.53562617e-01 9.01786498e-03 1.40963232e+02] [-1.53556917e-01 9.88138916e-01 -1.32524534e-03 -8.41433225e+00] [-9.11441147e-03 -7.52835735e-05 9.99958460e-01 -3.98538363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.22420382199996 meters 0.02038224072953747 Centerline is valid? [True, True] Translation: X:141.03, Y:-8.41, Z:-3.99 [[ 9.87154176e-01 1.59464438e-01 9.88563747e-03 1.41026509e+02] [-1.59457865e-01 9.87203664e-01 -1.45468035e-03 -8.41161899e+00] [-9.99110731e-03 -1.40348863e-04 9.99950078e-01 -3.98523452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.28420382199997 meters 0.02442148479891184 Centerline is valid? [True, True] Translation: X:141.09, Y:-8.41, Z:-3.99 [[ 9.86466109e-01 1.63631435e-01 1.04579696e-02 1.41087724e+02] [-1.63624288e-01 9.86521524e-01 -1.54123528e-03 -8.41388174e+00] [-1.05692067e-02 -1.90801462e-04 9.99944126e-01 -3.98773096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.34420382199997 meters 0.0247063689067621 Centerline is valid? [True, True] Translation: X:141.15, Y:-8.42, Z:-3.99 [[ 9.86354311e-01 1.64190109e-01 1.21152936e-02 1.41149942e+02] [-1.64180508e-01 9.86428689e-01 -1.78968986e-03 -8.42158101e+00] [-1.22447226e-02 -2.23826749e-04 9.99925006e-01 -3.98601705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.40420382199997 meters 0.02215645769715116 Centerline is valid? [True, True] Translation: X:141.21, Y:-8.43, Z:-3.98 [[ 9.86399671e-01 1.63813800e-01 1.34435344e-02 1.41212543e+02] [-1.63801953e-01 9.86491247e-01 -1.98513726e-03 -8.42638332e+00] [-1.35871219e-02 -2.43938448e-04 9.99907661e-01 -3.98401304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.46420382199997 meters 0.02469895739497283 Centerline is valid? [True, True] Translation: X:141.27, Y:-8.43, Z:-3.99 [[ 9.86479845e-01 1.63386663e-01 1.27402039e-02 1.41274057e+02] [-1.63375965e-01 9.86562085e-01 -1.88305514e-03 -8.43340934e+00] [-1.28766682e-02 -2.23847153e-04 9.99917067e-01 -3.98971802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52420382199998 meters 0.021246275985782263 Centerline is valid? [True, True] Translation: X:141.34, Y:-8.44, Z:-3.99 [[ 9.86551120e-01 1.62962870e-01 1.26487437e-02 1.41335594e+02] [-1.62952258e-01 9.86632179e-01 -1.87201169e-03 -8.44264076e+00] [-1.27847259e-02 -2.14306113e-04 9.99918249e-01 -3.98838973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.58420382199998 meters 0.020119570966784968 Centerline is valid? [True, True] Translation: X:141.40, Y:-8.45, Z:-3.99 [[ 9.86940621e-01 1.60656568e-01 1.17335923e-02 1.41396921e+02] [-1.60647250e-01 9.87010354e-01 -1.73849140e-03 -8.44761931e+00] [-1.18604771e-02 -1.69181551e-04 9.99929648e-01 -3.99385999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64420382199998 meters 0.018676994800283696 Centerline is valid? [True, True] Translation: X:141.46, Y:-8.46, Z:-4.00 [[ 9.87208358e-01 1.59042911e-01 1.11808157e-02 1.41458187e+02] [-1.59034331e-01 9.87271661e-01 -1.65796539e-03 -8.45938971e+00] [-1.13021901e-02 -1.41376252e-04 9.99936118e-01 -3.99646267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.70420382199998 meters 0.015727002308414503 Centerline is valid? [True, True] Translation: X:141.52, Y:-8.48, Z:-4.00 [[ 9.87920519e-01 1.54557337e-01 1.11838459e-02 1.41517737e+02] [-1.54548441e-01 9.87983817e-01 -1.66057161e-03 -8.47515923e+00] [-1.13061123e-02 -8.79331868e-05 9.99936080e-01 -3.99851652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.76420382199998 meters 0.012990403364367931 Centerline is valid? [True, True] Translation: X:141.58, Y:-8.49, Z:-4.00 [[ 9.88866088e-01 1.48376649e-01 1.13238810e-02 1.41578222e+02] [-1.48367106e-01 9.88930923e-01 -1.68288794e-03 -8.49164258e+00] [-1.14482374e-02 -1.59406357e-05 9.99934467e-01 -3.99892182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.82420382199996 meters 0.013206788869415911 Centerline is valid? [True, True] Translation: X:141.64, Y:-8.51, Z:-4.00 [[ 9.89489863e-01 1.44004310e-01 1.31365779e-02 1.41637600e+02] [-1.43991037e-01 9.89577060e-01 -1.95561044e-03 -8.50640503e+00] [-1.32812725e-02 4.35072296e-05 9.99911799e-01 -3.99855088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.88420382199996 meters 0.012817754938611654 Centerline is valid? [True, True] Translation: X:141.70, Y:-8.52, Z:-4.00 [[ 9.89466995e-01 1.44118134e-01 1.36025828e-02 1.41698908e+02] [-1.44103884e-01 9.89560489e-01 -2.02711000e-03 -8.51578975e+00] [-1.37527218e-02 4.55734205e-05 9.99905426e-01 -3.99849875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.94420382199996 meters 0.012824412650223004 Centerline is valid? [True, True] Translation: X:141.76, Y:-8.52, Z:-4.00 [[ 9.88853209e-01 1.48357867e-01 1.26204063e-02 1.41760104e+02] [-1.48345919e-01 9.88933741e-01 -1.88285516e-03 -8.51822459e+00] [-1.27600820e-02 -1.03184048e-05 9.99918587e-01 -4.00367976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.00420382199997 meters 0.029407970087838412 Centerline is valid? [True, True] Translation: X:141.82, Y:-8.51, Z:-4.01 [[ 9.86952586e-01 1.60578293e-01 1.17984830e-02 1.41823839e+02] [-1.60568675e-01 9.87023094e-01 -1.76418574e-03 -8.50650714e+00] [-1.19286651e-02 -1.53299105e-04 9.99928839e-01 -4.00683380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.06420382199997 meters 0.02378335727676505 Centerline is valid? [True, True] Translation: X:141.89, Y:-8.50, Z:-4.01 [[ 9.86010837e-01 1.66169548e-01 1.30502935e-02 1.41885691e+02] [-1.66158264e-01 9.86097167e-01 -1.95177336e-03 -8.50316149e+00] [-1.31931827e-02 -2.43944423e-04 9.99912936e-01 -4.00653999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.12420382199997 meters 0.03090488463658522 Centerline is valid? [True, True] Translation: X:141.95, Y:-8.50, Z:-4.01 [[ 9.85087259e-01 1.71570885e-01 1.29043758e-02 1.41947514e+02] [-1.71560308e-01 9.85171728e-01 -1.93046334e-03 -8.49872931e+00] [-1.30442375e-02 -3.12203851e-04 9.99914872e-01 -4.00989290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.18420382199997 meters 0.029117450652557577 Centerline is valid? [True, True] Translation: X:142.01, Y:-8.51, Z:-4.01 [[ 9.84847014e-01 1.72906470e-01 1.34056882e-02 1.42008208e+02] [-1.72895179e-01 9.84938189e-01 -2.00543825e-03 -8.50646585e+00] [-1.35505275e-02 -3.42728996e-04 9.99908129e-01 -4.00885917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24420382199997 meters 0.028541904476614494 Centerline is valid? [True, True] Translation: X:142.07, Y:-8.51, Z:-4.01 [[ 9.84958930e-01 1.72330561e-01 1.25731387e-02 1.42069538e+02] [-1.72320576e-01 9.85039126e-01 -1.88136227e-03 -8.50823477e+00] [-1.27092497e-02 -3.13545923e-04 9.99919185e-01 -4.01257565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30420382199998 meters 0.026749886979705633 Centerline is valid? [True, True] Translation: X:142.13, Y:-8.52, Z:-4.02 [[ 9.85455809e-01 1.69532840e-01 1.16389228e-02 1.42129529e+02] [-1.69524087e-01 9.85524505e-01 -1.74169356e-03 -8.51645635e+00] [-1.17657179e-02 -2.56715729e-04 9.99930749e-01 -4.01676536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36420382199998 meters 0.02065233774493171 Centerline is valid? [True, True] Translation: X:142.19, Y:-8.53, Z:-4.02 [[ 9.86715561e-01 1.61929060e-01 1.30912561e-02 1.42187832e+02] [-1.61917312e-01 9.86802384e-01 -1.95944094e-03 -8.52902161e+00] [-1.32357732e-02 -1.86290127e-04 9.99912386e-01 -4.01826081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42420382199998 meters 0.01327429002857364 Centerline is valid? [True, True] Translation: X:142.25, Y:-8.55, Z:-4.02 [[ 9.88128130e-01 1.52942867e-01 1.45353968e-02 1.42246387e+02] [-1.52927410e-01 9.88235030e-01 -2.17556069e-03 -8.54652332e+00] [-1.46971248e-02 -7.31278851e-05 9.99891989e-01 -4.01776862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48420382199998 meters 0.025514676859769717 Centerline is valid? [True, True] Translation: X:142.31, Y:-8.57, Z:-4.02 [[ 9.89181288e-01 1.45999355e-01 1.43027314e-02 1.42306839e+02] [-1.45983701e-01 9.89284685e-01 -2.13808755e-03 -8.56517433e+00] [-1.44616326e-02 2.69905172e-05 9.99895425e-01 -4.01810913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.544203822 meters 0.013399331774178834 Centerline is valid? [True, True] Translation: X:142.37, Y:-8.58, Z:-4.02 [[ 9.89607089e-01 1.43092468e-01 1.42251668e-02 1.42366257e+02] [-1.43076642e-01 9.89709321e-01 -2.12929654e-03 -8.57932176e+00] [-1.43834665e-02 7.18778388e-05 9.99896550e-01 -4.02074240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.60420382199996 meters 0.014895936240511937 Centerline is valid? [True, True] Translation: X:142.43, Y:-8.59, Z:-4.03 [[ 9.89816965e-01 1.41783961e-01 1.26366463e-02 1.42427280e+02] [-1.41771347e-01 9.89897622e-01 -1.89304675e-03 -8.58979564e+00] [-1.27773898e-02 8.22554207e-05 9.99918362e-01 -4.02537749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.66420382199996 meters 0.014090250361505876 Centerline is valid? [True, True] Translation: X:142.49, Y:-8.60, Z:-4.03 [[ 9.89673880e-01 1.42819856e-01 1.21696439e-02 1.42490185e+02] [-1.42808217e-01 9.89748698e-01 -1.82450651e-03 -8.59627442e+00] [-1.23054649e-02 6.77412885e-05 9.99924283e-01 -4.02796553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.72420382199996 meters 0.014087409001875729 Centerline is valid? [True, True] Translation: X:142.55, Y:-8.60, Z:-4.03 [[ 9.89404002e-01 1.44621879e-01 1.28153007e-02 1.42550698e+02] [-1.44609078e-01 9.89486993e-01 -1.92490177e-03 -8.60418565e+00] [-1.29589563e-02 5.12966983e-05 9.99916028e-01 -4.03138962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.78420382199997 meters 0.014962761765168165 Centerline is valid? [True, True] Translation: X:142.61, Y:-8.61, Z:-4.03 [[ 9.89577896e-01 1.43465223e-01 1.23821576e-02 1.42612156e+02] [-1.43453159e-01 9.89655357e-01 -1.86169661e-03 -8.61433829e+00] [-1.25211573e-02 6.60341931e-05 9.99921605e-01 -4.03489314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.84420382199997 meters 0.015483228503557446 Centerline is valid? [True, True] Translation: X:142.67, Y:-8.62, Z:-4.04 [[ 9.89801947e-01 1.42023491e-01 1.10197007e-02 1.42673614e+02] [-1.42013832e-01 9.89863285e-01 -1.65802778e-03 -8.62441916e+00] [-1.11434760e-02 7.61692009e-05 9.99937907e-01 -4.03715494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.90420382199997 meters 0.015216002668335848 Centerline is valid? [True, True] Translation: X:142.73, Y:-8.63, Z:-4.04 [[ 9.89584719e-01 1.43550234e-01 1.07430943e-02 1.42734982e+02] [-1.43541128e-01 9.89643030e-01 -1.61798358e-03 -8.63468944e+00] [-1.08640904e-02 5.90559519e-05 9.99940982e-01 -4.03994983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.96420382199997 meters 0.013576039925164598 Centerline is valid? [True, True] Translation: X:142.80, Y:-8.64, Z:-4.04 [[ 9.89159616e-01 1.46440629e-01 1.08810500e-02 1.42797089e+02] [-1.46431437e-01 9.89219461e-01 -1.64099689e-03 -8.64219671e+00] [-1.10040551e-02 2.98800543e-05 9.99939453e-01 -4.03970232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02420382199998 meters 0.013085675369880118 Centerline is valid? [True, True] Translation: X:142.86, Y:-8.65, Z:-4.04 [[ 9.88471073e-01 1.50887853e-01 1.25616184e-02 1.42858308e+02] [-1.50875907e-01 9.88550887e-01 -1.89873252e-03 -8.64836521e+00] [-1.27042947e-02 -1.84034044e-05 9.99919297e-01 -4.04174067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08420382199998 meters 0.013143902792415766 Centerline is valid? [True, True] Translation: X:142.92, Y:-8.66, Z:-4.04 [[ 9.88052560e-01 1.53655351e-01 1.19235971e-02 1.42920058e+02] [-1.53644793e-01 9.88124501e-01 -1.80203298e-03 -8.65598282e+00] [-1.20588905e-02 -5.14953125e-05 9.99927288e-01 -4.04218068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14420382199998 meters 0.01843384699907278 Centerline is valid? [True, True] Translation: X:142.98, Y:-8.66, Z:-4.05 [[ 9.87250902e-01 1.58843482e-01 1.02178230e-02 1.42981709e+02] [-1.58835977e-01 9.87303772e-01 -1.54699943e-03 -8.65764863e+00] [-1.03338260e-02 -9.56813189e-05 9.99946600e-01 -4.05235818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.20420382199998 meters 0.023295165952429447 Centerline is valid? [True, True] Translation: X:143.04, Y:-8.66, Z:-4.05 [[ 9.86176999e-01 1.65367001e-01 1.04250070e-02 1.43042490e+02] [-1.65359524e-01 9.86232086e-01 -1.58105245e-03 -8.65671900e+00] [-1.05429303e-02 -1.64676633e-04 9.99944408e-01 -4.05267545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.26420382199998 meters 0.02814212297886605 Centerline is valid? [True, True] Translation: X:143.10, Y:-8.65, Z:-4.05 [[ 9.85021709e-01 1.72178182e-01 9.32234396e-03 1.43103355e+02] [-1.72172507e-01 9.85065799e-01 -1.41399606e-03 -8.65404175e+00] [-9.42658148e-03 -2.12234515e-04 9.99955546e-01 -4.05396535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.32420382199996 meters 0.03771117321209822 Centerline is valid? [True, True] Translation: X:143.16, Y:-8.65, Z:-4.06 [[ 9.84481967e-01 1.75285900e-01 8.37318977e-03 1.43163622e+02] [-1.75281430e-01 9.84517550e-01 -1.27047449e-03 -8.65205134e+00] [-8.46624854e-03 -2.16905452e-04 9.99964137e-01 -4.05764348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38420382199996 meters 0.029382070614462734 Centerline is valid? [True, True] Translation: X:143.22, Y:-8.66, Z:-4.06 [[ 9.85011317e-01 1.72314871e-01 7.76468581e-03 1.43221293e+02] [-1.72310937e-01 9.85041904e-01 -1.17792057e-03 -8.66256970e+00] [-7.85151413e-03 -1.77675193e-04 9.99969161e-01 -4.06175459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.44420382199996 meters 0.01611423778392722 Centerline is valid? [True, True] Translation: X:143.28, Y:-8.69, Z:-4.05 [[ 9.87069784e-01 1.59872782e-01 1.15730332e-02 1.43278785e+02] [-1.59863204e-01 9.87137619e-01 -1.75395094e-03 -8.68886362e+00] [-1.17045854e-02 -1.18830192e-04 9.99931492e-01 -4.05436182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.50420382199997 meters 0.014689732013839364 Centerline is valid? [True, True] Translation: X:143.34, Y:-8.70, Z:-4.06 [[ 9.87849671e-01 1.54950178e-01 1.19778583e-02 1.43338047e+02] [-1.54939575e-01 9.87922284e-01 -1.81377842e-03 -8.70435040e+00] [-1.21142384e-02 -6.41038633e-05 9.99926618e-01 -4.05939445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.56420382199997 meters 0.014475687133807707 Centerline is valid? [True, True] Translation: X:143.40, Y:-8.73, Z:-4.06 [[ 9.89248330e-01 1.45762289e-01 1.18784089e-02 1.43397784e+02] [-1.45751202e-01 9.89319641e-01 -1.79839409e-03 -8.73047149e+00] [-1.20136813e-02 4.77659744e-05 9.99927832e-01 -4.06063546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.62420382199997 meters 0.01846093932486066 Centerline is valid? [True, True] Translation: X:143.46, Y:-8.75, Z:-4.06 [[ 9.90336726e-01 1.38132873e-01 1.23481925e-02 1.43456408e+02] [-1.38120244e-01 9.90413695e-01 -1.87388269e-03 -8.75488117e+00] [-1.24886638e-02 1.50239486e-04 9.99922002e-01 -4.05958376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.68420382199997 meters 0.017839414995927307 Centerline is valid? [True, True] Translation: X:143.52, Y:-8.77, Z:-4.06 [[ 9.90102517e-01 1.39989329e-01 9.99967990e-03 1.43517988e+02] [-1.39981154e-01 9.90153007e-01 -1.51623292e-03 -8.76523332e+00] [-1.01134696e-02 1.01459299e-04 9.99948852e-01 -4.06498088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74420382199997 meters 0.014205837526613016 Centerline is valid? [True, True] Translation: X:143.58, Y:-8.76, Z:-4.07 [[ 9.88808360e-01 1.48874417e-01 9.71781877e-03 1.43580333e+02] [-1.48867109e-01 9.88856111e-01 -1.47511867e-03 -8.76470317e+00] [-9.82913191e-03 1.19460902e-05 9.99951693e-01 -4.06841079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80420382199998 meters 0.020949153773719215 Centerline is valid? [True, True] Translation: X:143.64, Y:-8.76, Z:-4.07 [[ 9.87571620e-01 1.56843876e-01 1.01140637e-02 1.43643174e+02] [-1.56836329e-01 9.87623407e-01 -1.54004278e-03 -8.76235877e+00] [-1.02304324e-02 -6.53500883e-05 9.99947666e-01 -4.06956270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86420382199998 meters 0.02332413992234851 Centerline is valid? [True, True] Translation: X:143.70, Y:-8.76, Z:-4.07 [[ 9.85986842e-01 1.66551243e-01 9.52001029e-03 1.43704045e+02] [-1.66544997e-01 9.86032788e-01 -1.45073251e-03 -8.75658979e+00] [-9.62866360e-03 -1.55106924e-04 9.99953631e-01 -4.07224598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92420382199998 meters 0.02897588732710468 Centerline is valid? [True, True] Translation: X:143.77, Y:-8.75, Z:-4.07 [[ 9.84588361e-01 1.74549487e-01 1.08736313e-02 1.43765822e+02] [-1.74541834e-01 9.84648366e-01 -1.65620260e-03 -8.75421807e+00] [-1.09957926e-02 -2.67225736e-04 9.99939509e-01 -4.06982772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98420382199998 meters 0.0369509662245349 Centerline is valid? [True, True] Translation: X:143.83, Y:-8.75, Z:-4.07 [[ 9.83593934e-01 1.80045575e-01 1.12500742e-02 1.43826366e+02] [-1.80037737e-01 9.83658211e-01 -1.71397003e-03 -8.74844535e+00] [-1.13748206e-02 -3.39587377e-04 9.99935247e-01 -4.07173920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04420382199996 meters 0.04308036903779585 Centerline is valid? [True, True] Translation: X:143.89, Y:-8.74, Z:-4.08 [[ 9.83373328e-01 1.81316007e-01 1.00699019e-02 1.43885681e+02] [-1.81309793e-01 9.83424835e-01 -1.53418161e-03 -8.74368791e+00] [-1.01811633e-02 -3.17098548e-04 9.99948120e-01 -4.08022181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.10420382199996 meters 0.03163021069948514 Centerline is valid? [True, True] Translation: X:143.94, Y:-8.77, Z:-4.08 [[ 9.84085732e-01 1.77369107e-01 1.07457886e-02 1.43942908e+02] [-1.77361805e-01 9.84144355e-01 -1.63631436e-03 -8.76617281e+00] [-1.08656388e-02 -2.95618863e-04 9.99940924e-01 -4.07597987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.16420382199996 meters 0.02769418349036381 Centerline is valid? [True, True] Translation: X:144.00, Y:-8.78, Z:-4.08 [[ 9.84899784e-01 1.72757646e-01 1.12787771e-02 1.44001978e+02] [-1.72749300e-01 9.84964329e-01 -1.71744438e-03 -8.77857785e+00] [-1.14058947e-02 -2.56890242e-04 9.99934918e-01 -4.07749480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.22420382199996 meters 0.019248110589824004 Centerline is valid? [True, True] Translation: X:144.06, Y:-8.80, Z:-4.08 [[ 9.86299198e-01 1.64581135e-01 1.12668774e-02 1.44060903e+02] [-1.64572281e-01 9.86363535e-01 -1.71484139e-03 -8.79575109e+00] [-1.13954676e-02 -1.62869028e-04 9.99935056e-01 -4.07777029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.28420382199997 meters 0.015621734887105778 Centerline is valid? [True, True] Translation: X:144.12, Y:-8.81, Z:-4.08 [[ 9.87535040e-01 1.57089530e-01 9.87033400e-03 1.44119633e+02] [-1.57082389e-01 9.87584363e-01 -1.49947580e-03 -8.81374513e+00] [-9.98333947e-03 -6.96707558e-05 9.99950163e-01 -4.08393232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.34420382199997 meters 0.014533199855333205 Centerline is valid? [True, True] Translation: X:144.18, Y:-8.83, Z:-4.09 [[ 9.88474664e-01 1.51067946e-01 9.81396840e-03 1.44178471e+02] [-1.51060546e-01 9.88523381e-01 -1.49519704e-03 -8.83102301e+00] [-9.92721357e-03 -4.53903950e-06 9.99950724e-01 -4.08696010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.40420382199997 meters 0.014320106669552662 Centerline is valid? [True, True] Translation: X:144.24, Y:-8.84, Z:-4.09 [[ 9.88830828e-01 1.48656516e-01 1.07160462e-02 1.44239091e+02] [-1.48647549e-01 9.88888891e-01 -1.63296748e-03 -8.84203625e+00] [-1.08397303e-02 2.18145938e-05 9.99941248e-01 -4.08599099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.46420382199997 meters 0.013822969686163911 Centerline is valid? [True, True] Translation: X:144.30, Y:-8.85, Z:-4.08 [[ 9.89154753e-01 1.46297734e-01 1.30325632e-02 1.44300502e+02] [-1.46284291e-01 9.89240603e-01 -1.98405615e-03 -8.85328480e+00] [-1.31826036e-02 5.60793101e-05 9.99913104e-01 -4.08242838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52420382199998 meters 0.01728515248447111 Centerline is valid? [True, True] Translation: X:144.36, Y:-8.87, Z:-4.09 [[ 9.89447056e-01 1.44337062e-01 1.27017929e-02 1.44359709e+02] [-1.44324101e-01 9.89528578e-01 -1.93605145e-03 -8.86791468e+00] [-1.28482310e-02 8.24455753e-05 9.99917455e-01 -4.08587389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58420382199998 meters 0.015891460374601644 Centerline is valid? [True, True] Translation: X:144.42, Y:-8.88, Z:-4.09 [[ 9.89673998e-01 1.42741812e-01 1.30442477e-02 1.44421320e+02] [-1.42727982e-01 9.89759953e-01 -1.98986793e-03 -8.88287673e+00] [-1.31947114e-02 1.07541396e-04 9.99912940e-01 -4.08623252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64420382199998 meters 0.013747759401140827 Centerline is valid? [True, True] Translation: X:144.48, Y:-8.89, Z:-4.09 [[ 9.89109291e-01 1.46518081e-01 1.39736611e-02 1.44483368e+02] [-1.46502535e-01 9.89207990e-01 -2.13528754e-03 -8.88766510e+00] [-1.41357155e-02 6.48559712e-05 9.99900084e-01 -4.08682680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.70420382199998 meters 0.01381554937056052 Centerline is valid? [True, True] Translation: X:144.55, Y:-8.88, Z:-4.09 [[ 9.87846299e-01 1.54982744e-01 1.18337798e-02 1.44547253e+02] [-1.54972186e-01 9.87917176e-01 -1.80961196e-03 -8.88281997e+00] [-1.19712530e-02 -4.62882530e-05 9.99928341e-01 -4.09245100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.76420382199998 meters 0.017797889907726617 Centerline is valid? [True, True] Translation: X:144.61, Y:-8.88, Z:-4.10 [[ 9.87139434e-01 1.59473975e-01 1.11260317e-02 1.44606904e+02] [-1.59464881e-01 9.87202129e-01 -1.70550560e-03 -8.88253341e+00] [-1.12556259e-02 -9.06394824e-05 9.99936649e-01 -4.09976580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82420382199996 meters 0.017161160046356285 Centerline is valid? [True, True] Translation: X:144.67, Y:-8.89, Z:-4.10 [[ 9.86822523e-01 1.61367412e-01 1.19108055e-02 1.44666733e+02] [-1.61357109e-01 9.86894394e-01 -1.82733200e-03 -8.88866367e+00] [-1.20495790e-02 -1.18640762e-04 9.99927394e-01 -4.09578674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.88420382199996 meters 0.017795375535081388 Centerline is valid? [True, True] Translation: X:144.73, Y:-8.90, Z:-4.10 [[ 9.87445448e-01 1.57454012e-01 1.26380820e-02 1.44726410e+02] [-1.57442106e-01 9.87526318e-01 -1.93775120e-03 -8.90426894e+00] [-1.27855453e-02 -7.63426442e-05 9.99918259e-01 -4.09613777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.94420382199996 meters 0.013584344351579082 Centerline is valid? [True, True] Translation: X:144.79, Y:-8.92, Z:-4.10 [[ 9.87925967e-01 1.54339847e-01 1.34720029e-02 1.44785476e+02] [-1.54326021e-01 9.88017819e-01 -2.06618841e-03 -8.91877115e+00] [-1.36294742e-02 -3.78394286e-05 9.99907114e-01 -4.09845215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.00420382199997 meters 0.012671278218830403 Centerline is valid? [True, True] Translation: X:144.85, Y:-8.94, Z:-4.10 [[ 9.88589189e-01 1.49809830e-01 1.57616691e-02 1.44845082e+02] [-1.49790357e-01 9.88714830e-01 -2.41557438e-03 -8.93839450e+00] [-1.59456728e-02 2.70646773e-05 9.99872859e-01 -4.09625273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.06420382199997 meters 0.013564494121450955 Centerline is valid? [True, True] Translation: X:144.91, Y:-8.96, Z:-4.10 [[ 9.88860185e-01 1.48009724e-01 1.57688449e-02 1.44905097e+02] [-1.47989963e-01 9.88985904e-01 -2.41921921e-03 -8.95569525e+00] [-1.59532333e-02 5.86387911e-05 9.99872737e-01 -4.09838668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.12420382199997 meters 0.013107895726878356 Centerline is valid? [True, True] Translation: X:144.97, Y:-8.97, Z:-4.10 [[ 9.88657077e-01 1.49508038e-01 1.43014379e-02 1.44965919e+02] [-1.49491909e-01 9.88760510e-01 -2.19629656e-03 -8.96591669e+00] [-1.44690610e-02 3.34348940e-05 9.99895317e-01 -4.10173944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.18420382199997 meters 0.013876473622518449 Centerline is valid? [True, True] Translation: X:145.03, Y:-8.97, Z:-4.11 [[ 9.87783543e-01 1.55272696e-01 1.31932888e-02 1.45027694e+02] [-1.55259455e-01 9.87871645e-01 -2.02824820e-03 -8.96740039e+00] [-1.33482075e-02 -4.49126372e-05 9.99910908e-01 -4.10585502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24420382199997 meters 0.016150810326328275 Centerline is valid? [True, True] Translation: X:145.09, Y:-8.98, Z:-4.11 [[ 9.87010658e-01 1.60245535e-01 1.14599063e-02 1.45089221e+02] [-1.60235844e-01 9.87077180e-01 -1.76488819e-03 -8.97525559e+00] [-1.15946275e-02 -9.43243115e-05 9.99932776e-01 -4.10957811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30420382199998 meters 0.01628563322910078 Centerline is valid? [True, True] Translation: X:145.15, Y:-8.99, Z:-4.11 [[ 9.87033333e-01 1.60019270e-01 1.26108212e-02 1.45148496e+02] [-1.60007498e-01 9.87113886e-01 -1.94352524e-03 -8.98587351e+00] [-1.27593182e-02 -9.95017577e-05 9.99918592e-01 -4.11055794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36420382199998 meters 0.026537283038881573 Centerline is valid? [True, True] Translation: X:145.21, Y:-9.00, Z:-4.11 [[ 9.87669689e-01 1.56077875e-01 1.21771048e-02 1.45208140e+02] [-1.56066631e-01 9.87744752e-01 -1.87409961e-03 -9.00484947e+00] [-1.23203768e-02 -4.94483431e-05 9.99924100e-01 -4.11170099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42420382199998 meters 0.013825225932943379 Centerline is valid? [True, True] Translation: X:145.27, Y:-9.02, Z:-4.11 [[ 9.88187278e-01 1.52671499e-01 1.33160167e-02 1.45267715e+02] [-1.52657705e-01 9.88276992e-01 -2.05224480e-03 -9.02225111e+00] [-1.34732323e-02 -4.79034826e-06 9.99909232e-01 -4.11497077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48420382199998 meters 0.013190088120156129 Centerline is valid? [True, True] Translation: X:145.33, Y:-9.04, Z:-4.11 [[ 9.88447812e-01 1.50904413e-01 1.40989893e-02 1.45328578e+02] [-1.50888729e-01 9.88548359e-01 -2.17576061e-03 -9.03795266e+00] [-1.42658646e-02 2.32472423e-05 9.99898237e-01 -4.11334216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54420382199996 meters 0.012965235491308314 Centerline is valid? [True, True] Translation: X:145.39, Y:-9.05, Z:-4.11 [[ 9.88405438e-01 1.51230168e-01 1.35692909e-02 1.45389610e+02] [-1.51215648e-01 9.88498577e-01 -2.09569049e-03 -9.05498182e+00] [-1.37301564e-02 1.95027675e-05 9.99905737e-01 -4.11465360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.60420382199996 meters 0.020042461038472705 Centerline is valid? [True, True] Translation: X:145.45, Y:-9.06, Z:-4.12 [[ 9.87651158e-01 1.56131458e-01 1.29676044e-02 1.45450904e+02] [-1.56118565e-01 9.87736284e-01 -2.00682754e-03 -9.06116280e+00] [-1.31219023e-02 -4.24382566e-05 9.99913903e-01 -4.11908012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.66420382199996 meters 0.016425485807256068 Centerline is valid? [True, True] Translation: X:145.51, Y:-9.07, Z:-4.12 [[ 9.86881958e-01 1.60990069e-01 1.20912319e-02 1.45512079e+02] [-1.60979225e-01 9.86956021e-01 -1.87115347e-03 -9.06589075e+00] [-1.22347513e-02 -9.98295512e-05 9.99925148e-01 -4.12242807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.72420382199996 meters 0.021958926621258628 Centerline is valid? [True, True] Translation: X:145.57, Y:-9.07, Z:-4.13 [[ 9.85747615e-01 1.67861136e-01 1.11480118e-02 1.45573468e+02] [-1.67852312e-01 9.85810637e-01 -1.72918910e-03 -9.06519453e+00] [-1.12800922e-02 -1.66675523e-04 9.99936364e-01 -4.12616046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.78420382199997 meters 0.02550810893088795 Centerline is valid? [True, True] Translation: X:145.63, Y:-9.07, Z:-4.13 [[ 9.85211582e-01 1.71049181e-01 1.00157836e-02 1.45634302e+02] [-1.71042222e-01 9.85262475e-01 -1.55365536e-03 -9.07055261e+00] [-1.01339272e-02 -1.82442632e-04 9.99948634e-01 -4.13129020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.84420382199997 meters 0.024091803437449127 Centerline is valid? [True, True] Translation: X:145.69, Y:-9.08, Z:-4.13 [[ 9.85222960e-01 1.70832328e-01 1.23302034e-02 1.45693585e+02] [-1.70821759e-01 9.85300090e-01 -1.91309231e-03 -9.08202731e+00] [-1.24757685e-02 -2.21444569e-04 9.99922150e-01 -4.12722791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.90420382199997 meters 0.02458132358724833 Centerline is valid? [True, True] Translation: X:145.75, Y:-9.09, Z:-4.13 [[ 9.85218859e-01 1.70881662e-01 1.19690392e-02 1.45754809e+02] [-1.70871712e-01 9.85291536e-01 -1.85665489e-03 -9.08958542e+00] [-1.21102613e-02 -2.15958810e-04 9.99926645e-01 -4.12937097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.96420382199997 meters 0.034627116810014666 Centerline is valid? [True, True] Translation: X:145.82, Y:-9.09, Z:-4.13 [[ 9.84988889e-01 1.72184946e-01 1.22160994e-02 1.45816425e+02] [-1.72174677e-01 9.85064611e-01 -1.89527564e-03 -9.09476041e+00] [-1.23599852e-02 -2.36477522e-04 9.99923585e-01 -4.12963332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02420382199998 meters 0.025611593557037717 Centerline is valid? [True, True] Translation: X:145.88, Y:-9.10, Z:-4.13 [[ 9.84879525e-01 1.72740613e-01 1.31530505e-02 1.45876482e+02] [-1.72728751e-01 9.84967315e-01 -2.04119810e-03 -9.09783508e+00] [-1.33079227e-02 -2.61575775e-04 9.99911411e-01 -4.13015338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08420382199998 meters 0.023527156935325477 Centerline is valid? [True, True] Translation: X:145.94, Y:-9.11, Z:-4.13 [[ 9.85247626e-01 1.70665061e-01 1.26709067e-02 1.45936912e+02] [-1.70653881e-01 9.85329075e-01 -1.96634938e-03 -9.10666878e+00] [-1.28205999e-02 -2.24998345e-04 9.99917787e-01 -4.13169539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14420382199998 meters 0.020152696857928684 Centerline is valid? [True, True] Translation: X:146.00, Y:-9.12, Z:-4.13 [[ 9.85803809e-01 1.67455564e-01 1.22264025e-02 1.45997164e+02] [-1.67444904e-01 9.85879609e-01 -1.89763561e-03 -9.11682717e+00] [-1.23715306e-02 -1.76552390e-04 9.99923454e-01 -4.13362279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.20420382199998 meters 0.01457482233740038 Centerline is valid? [True, True] Translation: X:146.06, Y:-9.13, Z:-4.13 [[ 9.87088836e-01 1.59644045e-01 1.30157161e-02 1.46056889e+02] [-1.59631280e-01 9.87174641e-01 -2.02051062e-03 -9.13320349e+00] [-1.31713473e-02 -8.32919367e-05 9.99913251e-01 -4.13395088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.26420382199998 meters 0.013787171161171648 Centerline is valid? [True, True] Translation: X:146.12, Y:-9.15, Z:-4.13 [[ 9.88570784e-01 1.50128290e-01 1.37586919e-02 1.46115788e+02] [-1.50113126e-01 9.88666523e-01 -2.13420146e-03 -9.15471840e+00] [-1.39231621e-02 4.44489670e-05 9.99903067e-01 -4.13488332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.32420382199996 meters 0.01731534340588564 Centerline is valid? [True, True] Translation: X:146.18, Y:-9.17, Z:-4.14 [[ 9.89438677e-01 1.44317911e-01 1.35441649e-02 1.46175385e+02] [-1.44302644e-01 9.89531366e-01 -2.10289409e-03 -9.17384776e+00] [-1.37058613e-02 1.26225936e-04 9.99906062e-01 -4.13717274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.38420382199996 meters 0.02931597566317316 Centerline is valid? [True, True] Translation: X:146.23, Y:-9.19, Z:-4.14 [[ 9.90280919e-01 1.38557011e-01 1.20688440e-02 1.46234953e+02] [-1.38544413e-01 9.90354441e-01 -1.87778221e-03 -9.18816788e+00] [-1.22126132e-02 1.87460973e-04 9.99925406e-01 -4.14119538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.44420382199996 meters 0.0213343704067758 Centerline is valid? [True, True] Translation: X:146.30, Y:-9.20, Z:-4.15 [[ 9.90147463e-01 1.39678904e-01 9.88968263e-03 1.46295668e+02] [-1.39670513e-01 9.90196841e-01 -1.53751832e-03 -9.19743565e+00] [-1.00074914e-02 1.41072821e-04 9.99949914e-01 -4.14551010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.50420382199997 meters 0.028134529579686235 Centerline is valid? [True, True] Translation: X:146.36, Y:-9.20, Z:-4.15 [[ 9.89511040e-01 1.44153627e-01 9.36126920e-03 1.46357620e+02] [-1.44146314e-01 9.89555316e-01 -1.45486770e-03 -9.19826763e+00] [-9.47321816e-03 9.02152022e-05 9.99955124e-01 -4.15244384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.56420382199997 meters 0.015889006479188898 Centerline is valid? [True, True] Translation: X:146.42, Y:-9.20, Z:-4.15 [[ 9.88804833e-01 1.48906860e-01 9.57860414e-03 1.46420689e+02] [-1.48899412e-01 9.88851225e-01 -1.49005459e-03 -9.20009099e+00] [-9.69369379e-03 4.71246570e-05 9.99953014e-01 -4.15139681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.62420382199997 meters 0.01586870213395466 Centerline is valid? [True, True] Translation: X:146.48, Y:-9.21, Z:-4.15 [[ 9.88637530e-01 1.50081045e-01 8.45658634e-03 1.46482418e+02] [-1.50075275e-01 9.88673697e-01 -1.31638334e-03 -9.20890497e+00] [-8.55836866e-03 3.23014518e-05 9.99963376e-01 -4.15469041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.68420382199997 meters 0.017457622464488662 Centerline is valid? [True, True] Translation: X:146.54, Y:-9.23, Z:-4.16 [[ 9.88849307e-01 1.48748776e-01 7.13085353e-03 1.46542095e+02] [-1.48744634e-01 9.88875017e-01 -1.11078755e-03 -9.22516998e+00] [-7.21675119e-03 3.77253022e-05 9.99973958e-01 -4.15902069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74420382199997 meters 0.017085687538763543 Centerline is valid? [True, True] Translation: X:146.60, Y:-9.24, Z:-4.15 [[ 9.89146357e-01 1.46640472e-01 9.27660793e-03 1.46602655e+02] [-1.46633345e-01 9.89189854e-01 -1.44757700e-03 -9.24033152e+00] [-9.38859982e-03 7.16054675e-05 9.99955924e-01 -4.15433281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80420382199998 meters 0.01716687339094323 Centerline is valid? [True, True] Translation: X:146.66, Y:-9.25, Z:-4.16 [[ 9.88985787e-01 1.47626993e-01 1.06481731e-02 1.46662238e+02] [-1.47617615e-01 9.89043106e-01 -1.66564299e-03 -9.25390282e+00] [-1.07773961e-02 7.54393192e-05 9.99941919e-01 -4.15612415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.86420382199998 meters 0.014105474492176865 Centerline is valid? [True, True] Translation: X:146.72, Y:-9.26, Z:-4.15 [[ 9.88063602e-01 1.53692906e-01 1.04311182e-02 1.46724190e+02] [-1.53684249e-01 9.88118662e-01 -1.63128567e-03 -9.26121942e+00] [-1.05578996e-02 8.71542950e-06 9.99944264e-01 -4.15425571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92420382199998 meters 0.01585616487081968 Centerline is valid? [True, True] Translation: X:146.79, Y:-9.26, Z:-4.16 [[ 9.87017774e-01 1.60270736e-01 1.04500738e-02 1.46785433e+02] [-1.60262379e-01 9.87073091e-01 -1.63774311e-03 -9.26176479e+00] [-1.05774690e-02 -5.82721276e-05 9.99944055e-01 -4.15830283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98420382199998 meters 0.022244906950857613 Centerline is valid? [True, True] Translation: X:146.85, Y:-9.26, Z:-4.16 [[ 9.85090902e-01 1.71722943e-01 1.03511346e-02 1.46847007e+02] [-1.71715346e-01 9.85145268e-01 -1.62495367e-03 -9.25745027e+00] [-1.04764131e-02 -1.76721575e-04 9.99945105e-01 -4.15622651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04420382199996 meters 0.031161755083534366 Centerline is valid? [True, True] Translation: X:146.91, Y:-9.25, Z:-4.16 [[ 9.83361205e-01 1.81339037e-01 1.08117204e-02 1.46908666e+02] [-1.81331332e-01 9.83420596e-01 -1.69689025e-03 -9.25245358e+00] [-1.09401810e-02 -2.91847618e-04 9.99940112e-01 -4.15842704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.10420382199996 meters 0.03914375253607775 Centerline is valid? [True, True] Translation: X:146.97, Y:-9.25, Z:-4.17 [[ 9.82497326e-01 1.86062241e-01 8.93574030e-03 1.46969303e+02] [-1.86057170e-01 9.82537919e-01 -1.40276380e-03 -9.24768424e+00] [-9.04070505e-03 -2.84346866e-04 9.99959092e-01 -4.16559479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.16420382199996 meters 0.03657812360257429 Centerline is valid? [True, True] Translation: X:147.03, Y:-9.26, Z:-4.16 [[ 9.82485371e-01 1.86096617e-01 9.51550184e-03 1.47027827e+02] [-1.86090864e-01 9.82531403e-01 -1.49421802e-03 -9.25735759e+00] [-9.62734829e-03 -3.02700617e-04 9.99953610e-01 -4.16359595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.22420382199996 meters 0.030251344248136757 Centerline is valid? [True, True] Translation: X:147.09, Y:-9.27, Z:-4.16 [[ 9.83633437e-01 1.79845405e-01 1.09950580e-02 1.47086549e+02] [-1.79837352e-01 9.83694847e-01 -1.72495591e-03 -9.27169866e+00] [-1.11260073e-02 -2.80597804e-04 9.99938065e-01 -4.16198527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.28420382199997 meters 0.02781755559636746 Centerline is valid? [True, True] Translation: X:147.14, Y:-9.28, Z:-4.17 [[ 9.84524728e-01 1.74879375e-01 1.13253511e-02 1.47144424e+02] [-1.74870498e-01 9.84589839e-01 -1.77713126e-03 -9.28212034e+00] [-1.14616092e-02 -2.30840113e-04 9.99934287e-01 -4.16621255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.34420382199997 meters 0.02478878404904093 Centerline is valid? [True, True] Translation: X:147.20, Y:-9.29, Z:-4.17 [[ 9.84945053e-01 1.72470030e-01 1.17188784e-02 1.47202646e+02] [-1.72460358e-01 9.85014743e-01 -1.83856021e-03 -9.29471747e+00] [-1.18603645e-02 -2.10161184e-04 9.99929641e-01 -4.16649230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.40420382199997 meters 0.01806462099531114 Centerline is valid? [True, True] Translation: X:147.26, Y:-9.31, Z:-4.17 [[ 9.86016209e-01 1.66253536e-01 1.14802810e-02 1.47262180e+02] [-1.66243845e-01 9.86083031e-01 -1.80001599e-03 -9.31254596e+00] [-1.16197693e-02 -1.33681116e-04 9.99932479e-01 -4.16633188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.46420382199997 meters 0.01814861716724988 Centerline is valid? [True, True] Translation: X:147.32, Y:-9.32, Z:-4.17 [[ 9.86431777e-01 1.63777709e-01 1.13671261e-02 1.47322033e+02] [-1.63768038e-01 9.86497264e-01 -1.78277829e-03 -9.32015859e+00] [-1.15056181e-02 -1.02982790e-04 9.99933803e-01 -4.17228167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52420382199998 meters 0.015269082155262877 Centerline is valid? [True, True] Translation: X:147.38, Y:-9.33, Z:-4.17 [[ 9.86905427e-01 1.60955406e-01 1.05373807e-02 1.47382483e+02] [-1.60946936e-01 9.86961678e-01 -1.65251982e-03 -9.33174016e+00] [-1.06659730e-02 -6.50783621e-05 9.99943115e-01 -4.17171650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58420382199998 meters 0.014860159373556165 Centerline is valid? [True, True] Translation: X:147.44, Y:-9.34, Z:-4.18 [[ 9.87534178e-01 1.57158331e-01 8.80375767e-03 1.47442710e+02] [-1.57152267e-01 9.87573419e-01 -1.38075090e-03 -9.34331923e+00] [-8.91135357e-03 -1.99917628e-05 9.99960293e-01 -4.17761900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64420382199998 meters 0.01535075366119089 Centerline is valid? [True, True] Translation: X:147.50, Y:-9.35, Z:-4.18 [[ 9.87839769e-01 1.55264983e-01 8.08554653e-03 1.47501786e+02] [-1.55259801e-01 9.87872859e-01 -1.26851188e-03 -9.35298208e+00] [-8.18444744e-03 -2.27385541e-06 9.99966507e-01 -4.18187630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.70420382199998 meters 0.01587939234604174 Centerline is valid? [True, True] Translation: X:147.56, Y:-9.36, Z:-4.19 [[ 9.87939820e-01 1.54635046e-01 7.93191721e-03 1.47560102e+02] [-1.54630034e-01 9.87971661e-01 -1.24501333e-03 -9.36306345e+00] [-8.02903211e-03 3.48562052e-06 9.99967767e-01 -4.18559000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.76420382199998 meters 0.014677213805389557 Centerline is valid? [True, True] Translation: X:147.62, Y:-9.37, Z:-4.18 [[ 9.87949054e-01 1.54509576e-01 9.13548141e-03 1.47619691e+02] [-1.54502926e-01 9.87991291e-01 -1.43352327e-03 -9.37301619e+00] [-9.24726914e-03 4.78935496e-06 9.99957243e-01 -4.18365029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.82420382199996 meters 0.014769756170306354 Centerline is valid? [True, True] Translation: X:147.68, Y:-9.39, Z:-4.19 [[ 9.87833164e-01 1.55286737e-01 8.46576720e-03 1.47679489e+02] [-1.55281059e-01 9.87869439e-01 -1.32792167e-03 -9.38668695e+00] [-8.56928133e-03 -2.80823047e-06 9.99963283e-01 -4.18506616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.88420382199996 meters 0.01642500806655963 Centerline is valid? [True, True] Translation: X:147.74, Y:-9.39, Z:-4.19 [[ 9.87151807e-01 1.59552879e-01 8.61328151e-03 1.47740103e+02] [-1.59547159e-01 9.87189383e-01 -1.35158662e-03 -9.38585101e+00] [-8.71858959e-03 -4.00034235e-05 9.99961992e-01 -4.18974916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.94420382199996 meters 0.023274019163657938 Centerline is valid? [True, True] Translation: X:147.80, Y:-9.38, Z:-4.19 [[ 9.85706568e-01 1.68237313e-01 8.87518705e-03 1.47800170e+02] [-1.68231582e-01 9.85746515e-01 -1.39370062e-03 -9.38058567e+00] [-8.98315716e-03 -1.19306904e-04 9.99959644e-01 -4.19279752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.00420382199997 meters 0.027778793388451965 Centerline is valid? [True, True] Translation: X:147.86, Y:-9.38, Z:-4.19 [[ 9.84375010e-01 1.75797576e-01 1.00524998e-02 1.47860523e+02] [-1.75790621e-01 9.84426313e-01 -1.57832812e-03 -9.37892349e+00] [-1.01734116e-02 -2.13468420e-04 9.99948227e-01 -4.18807969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.06420382199997 meters 0.02970192690685477 Centerline is valid? [True, True] Translation: X:147.92, Y:-9.38, Z:-4.19 [[ 9.83940799e-01 1.78136248e-01 1.13128966e-02 1.47920063e+02] [-1.78127602e-01 9.84005795e-01 -1.77550382e-03 -9.38061980e+00] [-1.14482374e-02 -2.68148490e-04 9.99934431e-01 -4.18729374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.12420382199997 meters 0.029834886040378282 Centerline is valid? [True, True] Translation: X:147.98, Y:-9.38, Z:-4.19 [[ 9.84220906e-01 1.76622165e-01 1.06685689e-02 1.47978104e+02] [-1.76614389e-01 9.84278698e-01 -1.67414032e-03 -9.38083974e+00] [-1.07965354e-02 -2.36498871e-04 9.99941688e-01 -4.19281280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.18420382199997 meters 0.023772006802924198 Centerline is valid? [True, True] Translation: X:148.03, Y:-9.40, Z:-4.20 [[ 9.85345834e-01 1.70378289e-01 8.05149111e-03 1.48034895e+02] [-1.70373654e-01 9.85378720e-01 -1.26315592e-03 -9.39580270e+00] [-8.14898235e-03 -1.27116535e-04 9.99966788e-01 -4.19862848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24420382199997 meters 0.019260635906583334 Centerline is valid? [True, True] Translation: X:148.09, Y:-9.41, Z:-4.20 [[ 9.86606238e-01 1.62927713e-01 7.91777883e-03 1.48091998e+02] [-1.62922996e-01 9.86638007e-01 -1.24155884e-03 -9.40871021e+00] [-8.01426586e-03 -6.50585500e-05 9.99967883e-01 -4.20413501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30420382199998 meters 0.015233924024915963 Centerline is valid? [True, True] Translation: X:148.15, Y:-9.42, Z:-4.20 [[ 9.87470849e-01 1.57586454e-01 8.23597490e-03 1.48149334e+02] [-1.57581164e-01 9.87505194e-01 -1.29140227e-03 -9.42385449e+00] [-8.33657549e-03 -2.26124186e-05 9.99965250e-01 -4.20065368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36420382199998 meters 0.01614608749199371 Centerline is valid? [True, True] Translation: X:148.21, Y:-9.44, Z:-4.21 [[ 9.88531717e-01 1.50807935e-01 7.87468932e-03 1.48206917e+02] [-1.50802893e-01 9.88563081e-01 -1.23363278e-03 -9.43713777e+00] [-7.97066875e-03 3.19592050e-05 9.99968233e-01 -4.20512270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42420382199998 meters 0.026787863596927947 Centerline is valid? [True, True] Translation: X:148.26, Y:-9.46, Z:-4.21 [[ 9.89572218e-01 1.43814979e-01 8.00482247e-03 1.48264919e+02] [-1.43809543e-01 9.89604590e-01 -1.25365556e-03 -9.45610362e+00] [-8.10190351e-03 8.94128544e-05 9.99967175e-01 -4.20773423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48420382199998 meters 0.020650796533464872 Centerline is valid? [True, True] Translation: X:148.32, Y:-9.47, Z:-4.21 [[ 9.89912377e-01 1.41470551e-01 7.71812265e-03 1.48324413e+02] [-1.41465425e-01 9.89942459e-01 -1.20875478e-03 -9.46747853e+00] [-7.81150052e-03 1.04713810e-04 9.99969484e-01 -4.20603475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54420382199996 meters 0.018934361891048253 Centerline is valid? [True, True] Translation: X:148.39, Y:-9.47, Z:-4.21 [[ 9.89567305e-01 1.43828721e-01 8.35751127e-03 1.48385328e+02] [-1.43822795e-01 9.89602592e-01 -1.30889105e-03 -9.47096092e+00] [-8.45887094e-03 9.32351576e-05 9.99964219e-01 -4.20614077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.60420382199996 meters 0.01533570547329957 Centerline is valid? [True, True] Translation: X:148.45, Y:-9.47, Z:-4.21 [[ 9.88498119e-01 1.51013875e-01 8.14110459e-03 1.48446377e+02] [-1.51008492e-01 9.88531643e-01 -1.27551875e-03 -9.46831710e+00] [-8.24036052e-03 3.14719637e-05 9.99966047e-01 -4.20827956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.66420382199996 meters 0.016082459038680857 Centerline is valid? [True, True] Translation: X:148.51, Y:-9.46, Z:-4.21 [[ 9.87262162e-01 1.58895597e-01 8.10014263e-03 1.48506145e+02] [-1.58890528e-01 9.87295391e-01 -1.26966789e-03 -9.46263222e+00] [-8.19897811e-03 -3.35408698e-05 9.99966387e-01 -4.21262746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.72420382199996 meters 0.018076415306895084 Centerline is valid? [True, True] Translation: X:148.57, Y:-9.46, Z:-4.21 [[ 9.86519577e-01 1.63446504e-01 8.02268955e-03 1.48566139e+02] [-1.63441688e-01 9.86552196e-01 -1.25678109e-03 -9.46221631e+00] [-8.12021847e-03 -7.14027733e-05 9.99967028e-01 -4.21400244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.78420382199997 meters 0.021781774230321255 Centerline is valid? [True, True] Translation: X:148.63, Y:-9.46, Z:-4.22 [[ 9.85908492e-01 1.67108175e-01 7.70085080e-03 1.48625096e+02] [-1.67103850e-01 9.85938562e-01 -1.20628009e-03 -9.46048980e+00] [-7.79414503e-03 -9.75600340e-05 9.99969620e-01 -4.21902140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.84420382199997 meters 0.020347808062886892 Centerline is valid? [True, True] Translation: X:148.68, Y:-9.47, Z:-4.22 [[ 9.86072997e-01 1.66146631e-01 7.43915588e-03 1.48683011e+02] [-1.66142572e-01 9.86101054e-01 -1.16462864e-03 -9.47058964e+00] [-7.52925859e-03 -8.75516366e-05 9.99971651e-01 -4.22023502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.90420382199997 meters 0.01803636556046704 Centerline is valid? [True, True] Translation: X:148.74, Y:-9.48, Z:-4.22 [[ 9.86841007e-01 1.61516203e-01 7.57258766e-03 1.48739531e+02] [-1.61511862e-01 9.86870059e-01 -1.18536627e-03 -9.48291835e+00] [-7.66461589e-03 -5.32946847e-05 9.99970625e-01 -4.22398817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.96420382199997 meters 0.01642945569932245 Centerline is valid? [True, True] Translation: X:148.80, Y:-9.50, Z:-4.23 [[ 9.87594079e-01 1.56887985e-01 6.64047307e-03 1.48796090e+02] [-1.56884545e-01 9.87616403e-01 -1.03898441e-03 -9.49943261e+00] [-6.72124430e-03 -1.56927446e-05 9.99977412e-01 -4.22738808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02420382199998 meters 0.019860610583408468 Centerline is valid? [True, True] Translation: X:148.85, Y:-9.51, Z:-4.23 [[ 9.87981510e-01 1.54480362e-01 5.32484338e-03 1.48853990e+02] [-1.54478115e-01 9.87995859e-01 -8.33200146e-04 -9.51173792e+00] [-5.38963627e-03 6.14568547e-07 9.99985476e-01 -4.22951191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08420382199998 meters 0.016091679008160355 Centerline is valid? [True, True] Translation: X:148.91, Y:-9.53, Z:-4.23 [[ 9.88319809e-01 1.52286314e-01 5.73010578e-03 1.48911242e+02] [-1.52283677e-01 9.88336420e-01 -8.96201170e-04 -9.52555484e+00] [-5.79975140e-03 1.31317893e-05 9.99983181e-01 -4.23003540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14420382199998 meters 0.01632420401019463 Centerline is valid? [True, True] Translation: X:148.97, Y:-9.54, Z:-4.23 [[ 9.88654760e-01 1.50040597e-01 7.04167285e-03 1.48968218e+02] [-1.50036564e-01 9.88679836e-01 -1.10063640e-03 -9.53942402e+00] [-7.12710010e-03 3.16410194e-05 9.99974601e-01 -4.22996902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.20420382199998 meters 0.016365776612152463 Centerline is valid? [True, True] Translation: X:149.03, Y:-9.55, Z:-4.23 [[ 9.88397755e-01 1.51744678e-01 6.59016622e-03 1.49025639e+02] [-1.51741182e-01 9.88419725e-01 -1.03021071e-03 -9.54856354e+00] [-6.67017927e-03 1.82583364e-05 9.99977754e-01 -4.23266861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.26420382199998 meters 0.015865045127973994 Centerline is valid? [True, True] Translation: X:149.08, Y:-9.55, Z:-4.23 [[ 9.88064354e-01 1.53881043e-01 7.03254544e-03 1.49084430e+02] [-1.53877123e-01 9.88089381e-01 -1.09837913e-03 -9.55355985e+00] [-7.11780319e-03 3.12140765e-06 9.99974668e-01 -4.23311017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.32420382199996 meters 0.018931100505662202 Centerline is valid? [True, True] Translation: X:149.14, Y:-9.55, Z:-4.23 [[ 9.86606317e-01 1.62912364e-01 8.21813396e-03 1.49144157e+02] [-1.62907327e-01 9.86640541e-01 -1.28315013e-03 -9.54876281e+00] [-8.31738515e-03 -7.28302156e-05 9.99965407e-01 -4.23419968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.38420382199996 meters 0.025188655798606126 Centerline is valid? [True, True] Translation: X:149.21, Y:-9.54, Z:-4.23 [[ 9.85303324e-01 1.70574468e-01 9.03937200e-03 1.49205334e+02] [-1.70568707e-01 9.85344776e-01 -1.41018490e-03 -9.54220152e+00] [-9.14743951e-03 -1.52374120e-04 9.99958150e-01 -4.23458295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.44420382199996 meters 0.028338866899889705 Centerline is valid? [True, True] Translation: X:149.26, Y:-9.55, Z:-4.24 [[ 9.84902528e-01 1.72929442e-01 7.90047364e-03 1.49264402e+02] [-1.72925118e-01 9.84934203e-01 -1.23234444e-03 -9.54764442e+00] [-7.99455535e-03 -1.52451179e-04 9.99968031e-01 -4.23897018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.50420382199997 meters 0.02989079235224629 Centerline is valid? [True, True] Translation: X:149.32, Y:-9.55, Z:-4.24 [[ 9.84787525e-01 1.73631985e-01 6.74275489e-03 1.49323299e+02] [-1.73628851e-01 9.84810599e-01 -1.05191904e-03 -9.54985087e+00] [-6.82298327e-03 -1.34820038e-04 9.99976714e-01 -4.24354927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.56420382199997 meters 0.026971200500966554 Centerline is valid? [True, True] Translation: X:149.38, Y:-9.56, Z:-4.24 [[ 9.84620113e-01 1.74533552e-01 7.82762784e-03 1.49381791e+02] [-1.74529360e-01 9.84651214e-01 -1.22066251e-03 -9.55744036e+00] [-7.92052982e-03 -1.64262022e-04 9.99968619e-01 -4.23852995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.62420382199997 meters 0.026922458893817603 Centerline is valid? [True, True] Translation: X:149.44, Y:-9.56, Z:-4.24 [[ 9.84661136e-01 1.74322324e-01 7.36034923e-03 1.49441058e+02] [-1.74318615e-01 9.84688633e-01 -1.14751228e-03 -9.55984856e+00] [-7.44768923e-03 -1.53135134e-04 9.99972254e-01 -4.24021782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.68420382199997 meters 0.029400472436184065 Centerline is valid? [True, True] Translation: X:149.50, Y:-9.56, Z:-4.25 [[ 9.85043017e-01 1.72084200e-01 8.79103785e-03 1.49498987e+02] [-1.72078823e-01 9.85082231e-01 -1.37007285e-03 -9.56342844e+00] [-8.89566307e-03 -1.63170756e-04 9.99960419e-01 -4.24581272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74420382199997 meters 0.019237440163661298 Centerline is valid? [True, True] Translation: X:149.56, Y:-9.58, Z:-4.25 [[ 9.86544147e-01 1.63241900e-01 9.09554019e-03 1.49556880e+02] [-1.63235783e-01 9.86586070e-01 -1.41590639e-03 -9.58359127e+00] [-9.20466850e-03 -8.78634668e-05 9.99957632e-01 -4.24518884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80420382199998 meters 0.015741985441574808 Centerline is valid? [True, True] Translation: X:149.61, Y:-9.61, Z:-4.24 [[ 9.88760850e-01 1.49179873e-01 9.86647626e-03 1.49611817e+02] [-1.49171968e-01 9.88810074e-01 -1.53646067e-03 -9.61234407e+00] [-9.98528014e-03 4.73904696e-05 9.99950145e-01 -4.24416515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86420382199998 meters 0.020710510418128603 Centerline is valid? [True, True] Translation: X:149.67, Y:-9.63, Z:-4.24 [[ 9.90021442e-01 1.40615523e-01 9.20968744e-03 1.49669196e+02] [-1.40608272e-01 9.90064270e-01 -1.43336055e-03 -9.63357504e+00] [-9.31973522e-03 1.24099443e-04 9.99956563e-01 -4.24480035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92420382199998 meters 0.02515301794678846 Centerline is valid? [True, True] Translation: X:149.73, Y:-9.65, Z:-4.24 [[ 9.90870639e-01 1.34468137e-01 9.67969924e-03 1.49727565e+02] [-1.34459841e-01 9.90917900e-01 -1.50576608e-03 -9.65267811e+00] [-9.79426480e-03 1.90488576e-04 9.99952017e-01 -4.24323866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98420382199998 meters 0.025755786318827727 Centerline is valid? [True, True] Translation: X:149.79, Y:-9.67, Z:-4.24 [[ 9.90966666e-01 1.33709653e-01 1.03342088e-02 1.49786816e+02] [-1.33700156e-01 9.91020526e-01 -1.60758105e-03 -9.66597433e+00] [-1.04563621e-02 2.11373900e-04 9.99945308e-01 -4.24320140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04420382199996 meters 0.02366561208633989 Centerline is valid? [True, True] Translation: X:149.85, Y:-9.67, Z:-4.24 [[ 9.90625036e-01 1.36188832e-01 1.07070127e-02 1.49846271e+02] [-1.36178777e-01 9.90682878e-01 -1.66602258e-03 -9.67345347e+00] [-1.08341479e-02 1.92335776e-04 9.99941290e-01 -4.24455945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.10420382199996 meters 0.021603582464838973 Centerline is valid? [True, True] Translation: X:149.90, Y:-9.68, Z:-4.25 [[ 9.90269048e-01 1.38787222e-01 1.02625428e-02 1.49905000e+02] [-1.38778126e-01 9.90322211e-01 -1.59663542e-03 -9.68359824e+00] [-1.03848167e-02 1.56882171e-04 9.99946064e-01 -4.24701026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.16420382199996 meters 0.01866281825264981 Centerline is valid? [True, True] Translation: X:149.96, Y:-9.69, Z:-4.25 [[ 9.89587182e-01 1.43544762e-01 1.05882058e-02 1.49962881e+02] [-1.43535358e-01 9.89643819e-01 -1.64679423e-03 -9.69286051e+00] [-1.07149411e-02 1.09864555e-04 9.99942587e-01 -4.24993437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.22420382199996 meters 0.01573782528338756 Centerline is valid? [True, True] Translation: X:150.02, Y:-9.70, Z:-4.25 [[ 9.88715583e-01 1.49594069e-01 7.94416404e-03 1.50021426e+02] [-1.49588964e-01 9.88747497e-01 -1.23632556e-03 -9.69955832e+00] [-8.03971928e-03 3.40150713e-05 9.99967680e-01 -4.25410519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.28420382199997 meters 0.015005427524478468 Centerline is valid? [True, True] Translation: X:150.08, Y:-9.71, Z:-4.25 [[ 9.87656251e-01 1.56376297e-01 9.03232316e-03 1.50079921e+02] [-1.56369987e-01 9.87697551e-01 -1.40503120e-03 -9.70565982e+00] [-9.14091705e-03 -2.46964089e-05 9.99958221e-01 -4.25385216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.34420382199997 meters 0.016934276285902907 Centerline is valid? [True, True] Translation: X:150.14, Y:-9.72, Z:-4.26 [[ 9.86922812e-01 1.60960807e-01 8.65917540e-03 1.50137544e+02] [-1.60955187e-01 9.86960797e-01 -1.34661105e-03 -9.71753133e+00] [-8.76301825e-03 -6.47380298e-05 9.99961602e-01 -4.25542218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.40420382199997 meters 0.019081602550251982 Centerline is valid? [True, True] Translation: X:150.19, Y:-9.73, Z:-4.26 [[ 9.86709356e-01 1.62272966e-01 8.49296976e-03 1.50194083e+02] [-1.62267609e-01 9.86745904e-01 -1.32060037e-03 -9.72686015e+00] [-8.59470086e-03 -7.50851531e-05 9.99963062e-01 -4.25958807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.46420382199997 meters 0.01920057287399724 Centerline is valid? [True, True] Translation: X:150.25, Y:-9.74, Z:-4.26 [[ 9.86499892e-01 1.63472400e-01 9.73327800e-03 1.50252027e+02] [-1.63465435e-01 9.86547903e-01 -1.51232639e-03 -9.73915774e+00] [-9.84956862e-03 -9.91446935e-05 9.99951487e-01 -4.25782200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52420382199998 meters 0.021648185446105493 Centerline is valid? [True, True] Translation: X:150.31, Y:-9.75, Z:-4.26 [[ 9.85880584e-01 1.67165505e-01 9.75537705e-03 1.50309418e+02] [-1.67158693e-01 9.85928839e-01 -1.51529741e-03 -9.75120619e+00] [-9.87141302e-03 -1.36793778e-04 9.99951267e-01 -4.25750479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58420382199998 meters 0.027387819669422178 Centerline is valid? [True, True] Translation: X:150.37, Y:-9.76, Z:-4.26 [[ 9.84936507e-01 1.72686690e-01 8.90979696e-03 1.50368385e+02] [-1.72681241e-01 9.84976790e-01 -1.38314752e-03 -9.75674640e+00] [-9.01479437e-03 -1.76242311e-04 9.99959350e-01 -4.26146973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64420382199998 meters 0.031647583241865826 Centerline is valid? [True, True] Translation: X:150.43, Y:-9.76, Z:-4.26 [[ 9.83989683e-01 1.78048623e-01 7.93670934e-03 1.50428643e+02] [-1.78044475e-01 9.84021670e-01 -1.23180165e-03 -9.75988015e+00] [-8.02921457e-03 -2.01007129e-04 9.99967745e-01 -4.26334403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.70420382199998 meters 0.03326343930160839 Centerline is valid? [True, True] Translation: X:150.48, Y:-9.77, Z:-4.26 [[ 9.83848568e-01 1.78817336e-01 8.14591085e-03 1.50484783e+02] [-1.78812989e-01 9.83882267e-01 -1.26475214e-03 -9.77221291e+00] [-8.24077685e-03 -2.12270087e-04 9.99966022e-01 -4.26463526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76420382199996 meters 0.03484238943005654 Centerline is valid? [True, True] Translation: X:150.54, Y:-9.78, Z:-4.26 [[ 9.83645169e-01 1.79893094e-01 8.98089632e-03 1.50542118e+02] [-1.79887856e-01 9.83686137e-01 -1.39424807e-03 -9.78323406e+00] [-9.08519881e-03 -2.44108806e-04 9.99958699e-01 -4.26448535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.82420382199996 meters 0.03611839767638693 Centerline is valid? [True, True] Translation: X:150.60, Y:-9.79, Z:-4.27 [[ 9.83473974e-01 1.80787491e-01 9.73778666e-03 1.50600129e+02] [-1.80781387e-01 9.83522144e-01 -1.51078445e-03 -9.78979203e+00] [-9.85045974e-03 -2.74593395e-04 9.99951445e-01 -4.26517945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.88420382199996 meters 0.03552535388220259 Centerline is valid? [True, True] Translation: X:150.66, Y:-9.80, Z:-4.27 [[ 9.83288234e-01 1.81823431e-01 9.19180636e-03 1.50658329e+02] [-1.81818044e-01 9.83331158e-01 -1.42541880e-03 -9.79815629e+00] [-9.29776413e-03 -2.69638719e-04 9.99956739e-01 -4.26615734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.94420382199996 meters 0.03686109469392354 Centerline is valid? [True, True] Translation: X:150.72, Y:-9.80, Z:-4.27 [[ 9.82935123e-01 1.83774587e-01 8.08984946e-03 1.50717083e+02] [-1.83770484e-01 9.82968380e-01 -1.25406205e-03 -9.80419021e+00] [-8.18253096e-03 -2.54013915e-04 9.99966490e-01 -4.26859132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.00420382199997 meters 0.036450434726418034 Centerline is valid? [True, True] Translation: X:150.78, Y:-9.81, Z:-4.27 [[ 9.82873464e-01 1.84088252e-01 8.44215178e-03 1.50776178e+02] [-1.84083796e-01 9.82909682e-01 -1.30857362e-03 -9.80568618e+00] [-8.53876576e-03 -2.67901054e-04 9.99963508e-01 -4.26914624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.06420382199997 meters 0.037503425380226406 Centerline is valid? [True, True] Translation: X:150.83, Y:-9.81, Z:-4.27 [[ 9.83150224e-01 1.82604588e-01 8.43812021e-03 1.50834655e+02] [-1.82600085e-01 9.83186401e-01 -1.30751621e-03 -9.80785741e+00] [-8.53500350e-03 -2.55316619e-04 9.99963544e-01 -4.27312714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.12420382199997 meters 0.034882576489924086 Centerline is valid? [True, True] Translation: X:150.89, Y:-9.82, Z:-4.28 [[ 9.83619849e-01 1.80072202e-01 8.12368505e-03 1.50893165e+02] [-1.80067946e-01 9.83653369e-01 -1.25842490e-03 -9.81518317e+00] [-8.21749752e-03 -2.25003566e-04 9.99966210e-01 -4.27559658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.18420382199997 meters 0.03708982408246342 Centerline is valid? [True, True] Translation: X:150.95, Y:-9.82, Z:-4.28 [[ 9.84119166e-01 1.77341101e-01 7.72016471e-03 1.50950689e+02] [-1.77337174e-01 9.84149428e-01 -1.19585259e-03 -9.82286995e+00] [-7.80986950e-03 -1.92210737e-04 9.99969484e-01 -4.27974482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24420382199997 meters 0.03237107465079093 Centerline is valid? [True, True] Translation: X:151.01, Y:-9.82, Z:-4.28 [[ 9.84616590e-01 1.74570485e-01 7.43751161e-03 1.51009509e+02] [-1.74566766e-01 9.84644666e-01 -1.15142056e-03 -9.82389681e+00] [-7.52431019e-03 -1.64634559e-04 9.99971678e-01 -4.28190132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30420382199998 meters 0.03036162681190569 Centerline is valid? [True, True] Translation: X:151.07, Y:-9.82, Z:-4.28 [[ 9.84870180e-01 1.73155055e-01 6.93214843e-03 1.51069515e+02] [-1.73151792e-01 9.84894566e-01 -1.07268419e-03 -9.82409939e+00] [-7.01317601e-03 -1.43859255e-04 9.99975397e-01 -4.28361055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36420382199998 meters 0.029785198797175585 Centerline is valid? [True, True] Translation: X:151.13, Y:-9.82, Z:-4.29 [[ 9.85092113e-01 1.71870369e-01 7.35561700e-03 1.51128342e+02] [-1.71866655e-01 9.85119564e-01 -1.13887215e-03 -9.82195919e+00] [-7.44190059e-03 -1.42291318e-04 9.99972299e-01 -4.28500051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42420382199998 meters 0.026902642838059435 Centerline is valid? [True, True] Translation: X:151.19, Y:-9.83, Z:-4.29 [[ 9.85353290e-01 1.70397593e-01 6.59956432e-03 1.51187047e+02] [-1.70394577e-01 9.85375383e-01 -1.02078249e-03 -9.82849413e+00] [-6.67698710e-03 -1.18698587e-04 9.99977702e-01 -4.28506778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48420382199998 meters 0.021960647984170488 Centerline is valid? [True, True] Translation: X:151.25, Y:-9.83, Z:-4.28 [[ 9.85986161e-01 1.66697158e-01 6.58389527e-03 1.51246352e+02] [-1.66694077e-01 9.86008138e-01 -1.01782117e-03 -9.83366115e+00] [-6.66144222e-03 -9.39387600e-05 9.99977808e-01 -4.28378210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54420382199996 meters 0.019658846383150175 Centerline is valid? [True, True] Translation: X:151.30, Y:-9.84, Z:-4.29 [[ 9.86761926e-01 1.61996718e-01 7.61341043e-03 1.51303497e+02] [-1.61992458e-01 9.86791294e-01 -1.17703776e-03 -9.84062115e+00] [-7.70352338e-03 -7.18590150e-05 9.99970325e-01 -4.28662627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.60420382199996 meters 0.014511386927546987 Centerline is valid? [True, True] Translation: X:151.36, Y:-9.86, Z:-4.28 [[ 9.88238790e-01 1.52690724e-01 8.34481980e-03 1.51360779e+02] [-1.52685281e-01 9.88274022e-01 -1.28918711e-03 -9.85580416e+00] [-8.44381554e-03 -1.06447797e-07 9.99964350e-01 -4.28387867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.66420382199996 meters 0.017816945731417004 Centerline is valid? [True, True] Translation: X:151.42, Y:-9.87, Z:-4.29 [[ 9.89464245e-01 1.44577885e-01 7.59891679e-03 1.51416771e+02] [-1.44573133e-01 9.89493421e-01 -1.17393971e-03 -9.87377018e+00] [-7.68880390e-03 6.29721652e-05 9.99970439e-01 -4.28959119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.72420382199996 meters 0.018887646719574033 Centerline is valid? [True, True] Translation: X:151.47, Y:-9.88, Z:-4.29 [[ 9.89863783e-01 1.41839648e-01 7.15582348e-03 1.51474685e+02] [-1.41835365e-01 9.89889644e-01 -1.10512555e-03 -9.88178559e+00] [-7.24022617e-03 7.89749224e-05 9.99973786e-01 -4.28926944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.78420382199997 meters 0.01955646047863833 Centerline is valid? [True, True] Translation: X:151.53, Y:-9.89, Z:-4.30 [[ 9.89674576e-01 1.43221526e-01 5.64170147e-03 1.51531985e+02] [-1.43218885e-01 9.89690654e-01 -8.71518424e-04 -9.88715466e+00] [-5.70835942e-03 5.45214338e-05 9.99983706e-01 -4.29596525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.84420382199997 meters 0.016675075714670234 Centerline is valid? [True, True] Translation: X:151.59, Y:-9.88, Z:-4.30 [[ 9.88947508e-01 1.48194176e-01 4.61659900e-03 1.51591892e+02] [-1.48192464e-01 9.88958283e-01 -7.12690870e-04 -9.88440662e+00] [-4.67124045e-03 2.06686800e-05 9.99989089e-01 -4.29693252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.90420382199997 meters 0.01571184556847237 Centerline is valid? [True, True] Translation: X:151.65, Y:-9.89, Z:-4.30 [[ 9.88447565e-01 1.51414940e-01 6.70285361e-03 1.51649677e+02] [-1.51411409e-01 9.88470291e-01 -1.03403129e-03 -9.88740269e+00] [-6.78213944e-03 7.19719593e-06 9.99977001e-01 -4.29622091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.96420382199997 meters 0.01506903764383764 Centerline is valid? [True, True] Translation: X:151.71, Y:-9.89, Z:-4.30 [[ 9.88103575e-01 1.53548490e-01 8.61310286e-03 1.51708208e+02] [-1.53542752e-01 9.88141114e-01 -1.32741941e-03 -9.89277703e+00] [-8.71478430e-03 -1.08516547e-05 9.99962025e-01 -4.29515396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02420382199998 meters 0.014026437150028527 Centerline is valid? [True, True] Translation: X:151.77, Y:-9.90, Z:-4.29 [[ 9.88360555e-01 1.51830096e-01 9.54121065e-03 1.51765857e+02] [-1.51822981e-01 9.88406608e-01 -1.46986923e-03 -9.90262029e+00] [-9.65376603e-03 4.18572146e-06 9.99953401e-01 -4.29264531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.08420382199998 meters 0.015435861321191735 Centerline is valid? [True, True] Translation: X:151.82, Y:-9.92, Z:-4.30 [[ 9.88502285e-01 1.51000259e-01 7.88379143e-03 1.51822466e+02] [-1.50995374e-01 9.88533723e-01 -1.21463485e-03 -9.91562620e+00] [-7.97680388e-03 1.02532855e-05 9.99968185e-01 -4.29967056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14420382199998 meters 0.01616258655052517 Centerline is valid? [True, True] Translation: X:151.88, Y:-9.92, Z:-4.30 [[ 9.88288572e-01 1.52445343e-01 6.79092000e-03 1.51880216e+02] [-1.52441751e-01 9.88311903e-01 -1.04653841e-03 -9.92332009e+00] [-6.87108698e-03 -9.37784894e-07 9.99976394e-01 -4.30390442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.20420382199998 meters 0.01774723973948047 Centerline is valid? [True, True] Translation: X:151.94, Y:-9.93, Z:-4.31 [[ 9.87542393e-01 1.57220646e-01 6.45683017e-03 1.51938941e+02] [-1.57217509e-01 9.87563500e-01 -9.93847503e-04 -9.92565267e+00] [-6.53278315e-03 -3.36602117e-05 9.99978661e-01 -4.30638760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26420382199996 meters 0.020783832262502456 Centerline is valid? [True, True] Translation: X:152.00, Y:-9.92, Z:-4.30 [[ 9.86443758e-01 1.63928653e-01 7.49056583e-03 1.51998173e+02] [-1.63924625e-01 9.86472194e-01 -1.15268752e-03 -9.92490500e+00] [-7.57819342e-03 -9.08267826e-05 9.99971281e-01 -4.30432184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.32420382199996 meters 0.023045825852293648 Centerline is valid? [True, True] Translation: X:152.06, Y:-9.93, Z:-4.30 [[ 9.85855751e-01 1.67404337e-01 8.01417559e-03 1.52056974e+02] [-1.67399848e-01 9.85888316e-01 -1.23240290e-03 -9.93039768e+00] [-8.10739167e-03 -1.26600290e-04 9.99967127e-01 -4.30436534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.38420382199996 meters 0.024085123086487144 Centerline is valid? [True, True] Translation: X:152.12, Y:-9.94, Z:-4.30 [[ 9.85497240e-01 1.69361890e-01 1.05707493e-02 1.52115853e+02] [-1.69354204e-01 9.85553912e-01 -1.62455819e-03 -9.93554793e+00] [-1.06931816e-02 -1.89203235e-04 9.99942808e-01 -4.30164749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.44420382199996 meters 0.023752068427277232 Centerline is valid? [True, True] Translation: X:152.17, Y:-9.95, Z:-4.30 [[ 9.85844450e-01 1.67254935e-01 1.16836310e-02 1.52172619e+02] [-1.67245404e-01 9.85913664e-01 -1.79504983e-03 -9.94692747e+00] [-1.18192824e-02 -1.84393667e-04 9.99930133e-01 -4.30347632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.50420382199997 meters 0.019434175990327398 Centerline is valid? [True, True] Translation: X:152.23, Y:-9.97, Z:-4.30 [[ 9.86489660e-01 1.63334640e-01 1.26469469e-02 1.52229544e+02] [-1.63323165e-01 9.86570714e-01 -1.94188611e-03 -9.96513184e+00] [-1.27942847e-02 -1.49888821e-04 9.99918139e-01 -4.30323009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.56420382199997 meters 0.014832387673428147 Centerline is valid? [True, True] Translation: X:152.29, Y:-9.99, Z:-4.31 [[ 9.87531901e-01 1.56922906e-01 1.24877963e-02 1.52285809e+02] [-1.56911212e-01 9.87610853e-01 -1.91685919e-03 -9.98816822e+00] [-1.26338823e-02 -6.65156593e-05 9.99920187e-01 -4.30532667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.62420382199997 meters 0.012907107907936645 Centerline is valid? [True, True] Translation: X:152.34, Y:-10.01, Z:-4.30 [[ 9.88047703e-01 1.53555511e-01 1.35071251e-02 1.52342529e+02] [-1.53541526e-01 9.88140023e-01 -2.07256274e-03 -1.00067238e+01] [-1.36651843e-02 -2.61137371e-05 9.99906627e-01 -4.30422630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.68420382199997 meters 0.01429693873912348 Centerline is valid? [True, True] Translation: X:152.40, Y:-10.01, Z:-4.31 [[ 9.87778622e-01 1.55414012e-01 1.18270142e-02 1.52399655e+02] [-1.55403426e-01 9.87849423e-01 -1.81454858e-03 -1.00146922e+01] [-1.19653155e-02 -4.55862351e-05 9.99928412e-01 -4.30826059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74420382199997 meters 0.020069755109009633 Centerline is valid? [True, True] Translation: X:152.46, Y:-10.01, Z:-4.31 [[ 9.86381945e-01 1.63944252e-01 1.31506941e-02 1.52459622e+02] [-1.63931934e-01 9.86469591e-01 -2.01663393e-03 -1.00095933e+01] [-1.33033754e-02 -1.66647413e-04 9.99911492e-01 -4.30857277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80420382199998 meters 0.029156938049558354 Centerline is valid? [True, True] Translation: X:152.52, Y:-10.00, Z:-4.31 [[ 9.84977801e-01 1.72253964e-01 1.21368576e-02 1.52520946e+02] [-1.72244119e-01 9.85052539e-01 -1.85975245e-03 -1.00036562e+01] [-1.22757922e-02 -2.58687469e-04 9.99924616e-01 -4.31408163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.86420382199998 meters 0.032567224903435985 Centerline is valid? [True, True] Translation: X:152.58, Y:-10.01, Z:-4.32 [[ 9.84580370e-01 1.74595267e-01 1.08622106e-02 1.52580447e+02] [-1.74587522e-01 9.84640252e-01 -1.66457627e-03 -1.00068882e+01] [-1.09859969e-02 -2.57497304e-04 9.99939619e-01 -4.31920386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92420382199998 meters 0.03159544597830739 Centerline is valid? [True, True] Translation: X:152.64, Y:-10.02, Z:-4.32 [[ 9.84827892e-01 1.73225163e-01 1.03473242e-02 1.52637429e+02] [-1.73218049e-01 9.84882221e-01 -1.58662050e-03 -1.00157774e+01] [-1.04657382e-02 -2.29795180e-04 9.99945206e-01 -4.32192996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.98420382199998 meters 0.03090447171889418 Centerline is valid? [True, True] Translation: X:152.70, Y:-10.02, Z:-4.32 [[ 9.85046778e-01 1.71932879e-01 1.10422188e-02 1.52695604e+02] [-1.71924717e-01 9.85108639e-01 -1.69132437e-03 -1.00208167e+01] [-1.11685794e-02 -2.32396718e-04 9.99937602e-01 -4.32282654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04420382199996 meters 0.03065498960236442 Centerline is valid? [True, True] Translation: X:152.75, Y:-10.03, Z:-4.32 [[ 9.85078949e-01 1.71702157e-01 1.17402903e-02 1.52753918e+02] [-1.71692921e-01 9.85148877e-01 -1.79762084e-03 -1.00276398e+01] [-1.18745892e-02 -2.44926288e-04 9.99929465e-01 -4.32332314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.10420382199996 meters 0.025714162971010618 Centerline is valid? [True, True] Translation: X:152.81, Y:-10.04, Z:-4.32 [[ 9.85178556e-01 1.71066440e-01 1.26288084e-02 1.52812174e+02] [-1.71055709e-01 9.85259462e-01 -1.93305036e-03 -1.00360652e+01] [-1.27733330e-02 -2.55830019e-04 9.99918385e-01 -4.31955152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.16420382199996 meters 0.03125201952160159 Centerline is valid? [True, True] Translation: X:152.87, Y:-10.03, Z:-4.33 [[ 9.85108185e-01 1.71468727e-01 1.26625572e-02 1.52871192e+02] [-1.71457978e-01 9.85189528e-01 -1.93776056e-03 -1.00321413e+01] [-1.28072841e-02 -2.62192655e-04 9.99917949e-01 -4.32595895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.22420382199996 meters 0.027867306576776014 Centerline is valid? [True, True] Translation: X:152.93, Y:-10.03, Z:-4.32 [[ 9.84781625e-01 1.73271934e-01 1.34903158e-02 1.52930850e+02] [-1.73259918e-01 9.84873973e-01 -2.06330016e-03 -1.00346696e+01] [-1.36437729e-02 -3.05430924e-04 9.99906873e-01 -4.32106601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.28420382199997 meters 0.034700926249229366 Centerline is valid? [True, True] Translation: X:152.99, Y:-10.04, Z:-4.33 [[ 9.85086543e-01 1.71545512e-01 1.32906358e-02 1.52990164e+02] [-1.71533700e-01 9.85176157e-01 -2.03210766e-03 -1.00357332e+01] [-1.34422165e-02 -2.77990031e-04 9.99909611e-01 -4.32547441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.34420382199997 meters 0.019096127926011133 Centerline is valid? [True, True] Translation: X:153.05, Y:-10.05, Z:-4.33 [[ 9.86468244e-01 1.63395571e-01 1.35015076e-02 1.53047790e+02] [-1.63382630e-01 9.86560621e-01 -2.06344896e-03 -1.00458115e+01] [-1.36572141e-02 -1.70384951e-04 9.99906721e-01 -4.32599781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.40420382199997 meters 0.018859158016142203 Centerline is valid? [True, True] Translation: X:153.11, Y:-10.06, Z:-4.33 [[ 9.87814990e-01 1.54973687e-01 1.43074071e-02 1.53105255e+02] [-1.54958270e-01 9.87918596e-01 -2.18663607e-03 -1.00626563e+01] [-1.44734246e-02 -5.70591781e-05 9.99895253e-01 -4.32697989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.46420382199997 meters 0.015257434324797729 Centerline is valid? [True, True] Translation: X:153.16, Y:-10.09, Z:-4.33 [[ 9.89777571e-01 1.41986557e-01 1.34230455e-02 1.53159989e+02] [-1.41971807e-01 9.89868578e-01 -2.05027490e-03 -1.00900107e+01] [-1.35781624e-02 1.23622083e-04 9.99907805e-01 -4.32914488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52420382199998 meters 0.02008775029017631 Centerline is valid? [True, True] Translation: X:153.22, Y:-10.11, Z:-4.33 [[ 9.90578292e-01 1.36195562e-01 1.43323878e-02 1.53216534e+02] [-1.36178157e-01 9.90681948e-01 -2.18794192e-03 -1.01066839e+01] [-1.44968259e-02 2.15569612e-04 9.99894892e-01 -4.32996127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.58420382199998 meters 0.022709554068397444 Centerline is valid? [True, True] Translation: X:153.27, Y:-10.12, Z:-4.33 [[ 9.91123951e-01 1.32128943e-01 1.46716461e-02 1.53273824e+02] [-1.32110272e-01 9.91232497e-01 -2.23880281e-03 -1.01228865e+01] [-1.48388230e-02 2.80655928e-04 9.99889859e-01 -4.32985674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64420382199998 meters 0.021710225466974375 Centerline is valid? [True, True] Translation: X:153.33, Y:-10.13, Z:-4.33 [[ 9.90790179e-01 1.34660977e-01 1.41859874e-02 1.53330349e+02] [-1.34643783e-01 9.90891703e-01 -2.16455951e-03 -1.01347342e+01] [-1.43482589e-02 2.34569295e-04 9.99897031e-01 -4.33351324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.70420382199998 meters 0.013478720274529449 Centerline is valid? [True, True] Translation: X:153.39, Y:-10.13, Z:-4.33 [[ 9.89493806e-01 1.43857440e-01 1.43890474e-02 1.53391209e+02] [-1.43840741e-01 9.89598417e-01 -2.19418215e-03 -1.01342625e+01] [-1.45550279e-02 1.01398404e-04 9.99894065e-01 -4.33293607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76420382199996 meters 0.012272032534777393 Centerline is valid? [True, True] Translation: X:153.45, Y:-10.13, Z:-4.34 [[ 9.88191782e-01 1.52548552e-01 1.43506164e-02 1.53450473e+02] [-1.52532858e-01 9.88295977e-01 -2.18831071e-03 -1.01313081e+01] [-1.45164801e-02 -2.64698771e-05 9.99894630e-01 -4.33651717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.82420382199996 meters 0.02209973489703761 Centerline is valid? [True, True] Translation: X:153.51, Y:-10.12, Z:-4.34 [[ 9.85962481e-01 1.66420545e-01 1.34976879e-02 1.53513630e+02] [-1.66407980e-01 9.86054844e-01 -2.05655988e-03 -1.01180254e+01] [-1.36517143e-02 -2.18432092e-04 9.99906787e-01 -4.33932649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.88420382199996 meters 0.03262120904100709 Centerline is valid? [True, True] Translation: X:153.58, Y:-10.11, Z:-4.34 [[ 9.84201136e-01 1.76639704e-01 1.21052920e-02 1.53575800e+02] [-1.76630367e-01 9.84275526e-01 -1.84460671e-03 -1.01072235e+01] [-1.22407734e-02 -3.22698151e-04 9.99925027e-01 -4.34447951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.94420382199996 meters 0.036929344909545775 Centerline is valid? [True, True] Translation: X:153.64, Y:-10.10, Z:-4.34 [[ 9.83320306e-01 1.81419319e-01 1.29694409e-02 1.53637774e+02] [-1.81409021e-01 9.83405747e-01 -1.97591927e-03 -1.01021209e+01] [-1.31126926e-02 -4.09812039e-04 9.99913941e-01 -4.34491152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.00420382199997 meters 0.038200496622505124 Centerline is valid? [True, True] Translation: X:153.70, Y:-10.10, Z:-4.35 [[ 9.83164292e-01 1.82267960e-01 1.28983135e-02 1.53697101e+02] [-1.82257812e-01 9.83248807e-01 -1.96784374e-03 -1.01041268e+01] [-1.30409262e-02 -4.16104701e-04 9.99914877e-01 -4.34726850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.06420382199997 meters 0.03805357804708653 Centerline is valid? [True, True] Translation: X:153.76, Y:-10.10, Z:-4.35 [[ 9.83964433e-01 1.77794501e-01 1.42516877e-02 1.53757397e+02] [-1.77781718e-01 9.84067557e-01 -2.16908420e-03 -1.01027306e+01] [-1.44102747e-02 -3.99387815e-04 9.99896087e-01 -4.35081888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.12420382199997 meters 0.023944150393923943 Centerline is valid? [True, True] Translation: X:153.82, Y:-10.12, Z:-4.35 [[ 9.85893273e-01 1.66817091e-01 1.36569647e-02 1.53815205e+02] [-1.66804303e-01 9.85987832e-01 -2.07825070e-03 -1.01216933e+01] [-1.38122888e-02 -2.29107090e-04 9.99904580e-01 -4.35230250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.18420382199997 meters 0.015093315309758522 Centerline is valid? [True, True] Translation: X:153.87, Y:-10.14, Z:-4.35 [[ 9.87420229e-01 1.57503312e-01 1.39283067e-02 1.53872453e+02] [-1.57489085e-01 9.87518454e-01 -2.11936776e-03 -1.01406934e+01] [-1.40882673e-02 -1.00849674e-04 9.99900750e-01 -4.35330262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24420382199997 meters 0.014016500825068544 Centerline is valid? [True, True] Translation: X:153.93, Y:-10.17, Z:-4.35 [[ 9.89701734e-01 1.42384011e-01 1.47401075e-02 1.53927874e+02] [-1.42366396e-01 9.89811486e-01 -2.24286482e-03 -1.01673724e+01] [-1.49092758e-02 1.21271218e-04 9.99888843e-01 -4.35155330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30420382199998 meters 0.024471638095190144 Centerline is valid? [True, True] Translation: X:153.98, Y:-10.19, Z:-4.35 [[ 9.91284675e-01 1.30790483e-01 1.57652277e-02 1.53984012e+02] [-1.30768885e-01 9.91409981e-01 -2.39762392e-03 -1.01904040e+01] [-1.59433905e-02 3.15126608e-04 9.99872846e-01 -4.35233999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36420382199998 meters 0.028929587169646973 Centerline is valid? [True, True] Translation: X:154.04, Y:-10.21, Z:-4.35 [[ 9.91826410e-01 1.26538540e-01 1.63820406e-02 1.54042165e+02] [-1.26514646e-01 9.91961612e-01 -2.49098917e-03 -1.02054284e+01] [-1.65655615e-02 3.98060784e-04 9.99862702e-01 -4.35296922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42420382199998 meters 0.027944679529478756 Centerline is valid? [True, True] Translation: X:154.10, Y:-10.21, Z:-4.36 [[ 9.91714256e-01 1.27594565e-01 1.49151373e-02 1.54100450e+02] [-1.27574878e-01 9.91826349e-01 -2.26797096e-03 -1.02116408e+01] [-1.50826069e-02 3.46382319e-04 9.99886191e-01 -4.35668843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48420382199998 meters 0.020010721750381075 Centerline is valid? [True, True] Translation: X:154.16, Y:-10.21, Z:-4.36 [[ 9.90655260e-01 1.35533892e-01 1.52551448e-02 1.54162573e+02] [-1.35514256e-01 9.90772684e-01 -2.31833883e-03 -1.02059501e+01] [-1.54285942e-02 2.29384960e-04 9.99880946e-01 -4.35743189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54420382199996 meters 0.013306677379605242 Centerline is valid? [True, True] Translation: X:154.22, Y:-10.20, Z:-4.36 [[ 9.89497941e-01 1.43483003e-01 1.75057979e-02 1.54222929e+02] [-1.43458387e-01 9.89652774e-01 -2.66048883e-03 -1.02022158e+01] [-1.77063964e-02 1.21194698e-04 9.99843222e-01 -4.35632162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.60420382199996 meters 0.011310615053183697 Centerline is valid? [True, True] Translation: X:154.28, Y:-10.21, Z:-4.36 [[ 9.89124235e-01 1.45880852e-01 1.87623419e-02 1.54282327e+02] [-1.45853010e-01 9.89302163e-01 -2.85119720e-03 -1.02051543e+01] [-1.89775605e-02 8.36442080e-05 9.99819906e-01 -4.35574688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.66420382199996 meters 0.012523964122636027 Centerline is valid? [True, True] Translation: X:154.34, Y:-10.22, Z:-4.36 [[ 9.89414011e-01 1.44078507e-01 1.73579350e-02 1.54339405e+02] [-1.44054413e-01 9.89566254e-01 -2.63707494e-03 -1.02194028e+01] [-1.75567725e-02 1.08671752e-04 9.99845862e-01 -4.36041736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.72420382199996 meters 0.016588776637800024 Centerline is valid? [True, True] Translation: X:154.39, Y:-10.24, Z:-4.36 [[ 9.90153555e-01 1.38944751e-01 1.70380013e-02 1.54394549e+02] [-1.38920786e-01 9.90300115e-01 -2.58794788e-03 -1.02376087e+01] [-1.72323165e-02 1.95533262e-04 9.99851493e-01 -4.36234068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.78420382199997 meters 0.019499800071946547 Centerline is valid? [True, True] Translation: X:154.45, Y:-10.25, Z:-4.36 [[ 9.90755844e-01 1.34505072e-01 1.76421017e-02 1.54451748e+02] [-1.34478700e-01 9.90912865e-01 -2.67811741e-03 -1.02537172e+01] [-1.78420059e-02 2.80873567e-04 9.99840779e-01 -4.36089267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.84420382199997 meters 0.0211727873181147 Centerline is valid? [True, True] Translation: X:154.51, Y:-10.27, Z:-4.36 [[ 9.90987881e-01 1.32765085e-01 1.77891166e-02 1.54509046e+02] [-1.32738008e-01 9.91147483e-01 -2.69955698e-03 -1.02681081e+01] [-1.79900450e-02 3.13936351e-04 9.99838117e-01 -4.36327658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.90420382199997 meters 0.02302469807492618 Centerline is valid? [True, True] Translation: X:154.56, Y:-10.29, Z:-4.36 [[ 9.91171786e-01 1.31246054e-01 1.87873373e-02 1.54564510e+02] [-1.31215594e-01 9.91349759e-01 -2.85025317e-03 -1.02858580e+01] [-1.89989068e-02 3.59898894e-04 9.99819440e-01 -4.36433311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.96420382199997 meters 0.022745581005529113 Centerline is valid? [True, True] Translation: X:154.62, Y:-10.30, Z:-4.37 [[ 9.91195395e-01 1.31050805e-01 1.89043907e-02 1.54622958e+02] [-1.31019959e-01 9.91375587e-01 -2.86646775e-03 -1.02952928e+01] [-1.91170043e-02 3.64377134e-04 9.99817187e-01 -4.36536164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02420382199998 meters 0.022177706723395318 Centerline is valid? [True, True] Translation: X:154.68, Y:-10.31, Z:-4.37 [[ 9.91136011e-01 1.31753333e-01 1.70430796e-02 1.54680406e+02] [-1.31728379e-01 9.91282482e-01 -2.58354920e-03 -1.03073445e+01] [-1.72348975e-02 3.15591407e-04 9.99851418e-01 -4.36992785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08420382199998 meters 0.020254571657784905 Centerline is valid? [True, True] Translation: X:154.74, Y:-10.32, Z:-4.38 [[ 9.90809062e-01 1.34407141e-01 1.52355848e-02 1.54738844e+02] [-1.34387524e-01 9.90926164e-01 -2.30879091e-03 -1.03170076e+01] [-1.54076576e-02 2.40098432e-04 9.99881266e-01 -4.37563883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14420382199998 meters 0.018271604555991104 Centerline is valid? [True, True] Translation: X:154.80, Y:-10.33, Z:-4.38 [[ 9.90603253e-01 1.36020743e-01 1.42671672e-02 1.54796688e+02] [-1.36003712e-01 9.90705969e-01 -2.16177704e-03 -1.03271216e+01] [-1.44286142e-02 2.01075665e-04 9.99895882e-01 -4.37853226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.20420382199998 meters 0.017195904256400753 Centerline is valid? [True, True] Translation: X:154.85, Y:-10.34, Z:-4.38 [[ 9.90341288e-01 1.37890765e-01 1.45007043e-02 1.54853898e+02] [-1.37873381e-01 9.90447427e-01 -2.19658455e-03 -1.03379933e+01] [-1.46650740e-02 1.76107251e-04 9.99892447e-01 -4.37954390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26420382199996 meters 0.016589688354750883 Centerline is valid? [True, True] Translation: X:154.91, Y:-10.35, Z:-4.38 [[ 9.90241237e-01 1.38466106e-01 1.57933228e-02 1.54911354e+02] [-1.38445578e-01 9.90367156e-01 -2.39109452e-03 -1.03514632e+01] [-1.59722738e-02 1.81244683e-04 9.99872419e-01 -4.37925413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32420382199996 meters 0.017892039892390327 Centerline is valid? [True, True] Translation: X:154.97, Y:-10.37, Z:-4.38 [[ 9.90606476e-01 1.35723472e-01 1.66717844e-02 1.54967935e+02] [-1.35700222e-01 9.90746730e-01 -2.52322859e-03 -1.03704487e+01] [-1.68599772e-02 2.37161738e-04 9.99857832e-01 -4.37811454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.38420382199996 meters 0.019526636590680643 Centerline is valid? [True, True] Translation: X:155.03, Y:-10.39, Z:-4.38 [[ 9.90848514e-01 1.33737588e-01 1.82614424e-02 1.55025036e+02] [-1.33709375e-01 9.91016736e-01 -2.76276814e-03 -1.03863100e+01] [-1.84668809e-02 2.95758654e-04 9.99829429e-01 -4.37803801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.44420382199996 meters 0.019600739422344377 Centerline is valid? [True, True] Translation: X:155.08, Y:-10.40, Z:-4.38 [[ 9.90934857e-01 1.33181330e-01 1.76307376e-02 1.55082071e+02] [-1.33154961e-01 9.91091644e-01 -2.66639079e-03 -1.04045640e+01] [-1.78287901e-02 2.94599403e-04 9.99841011e-01 -4.38132120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.50420382199997 meters 0.018210071280315748 Centerline is valid? [True, True] Translation: X:155.14, Y:-10.42, Z:-4.39 [[ 9.90502322e-01 1.36496227e-01 1.65508300e-02 1.55138165e+02] [-1.36473457e-01 9.90640566e-01 -2.50280766e-03 -1.04170149e+01] [-1.67375474e-02 2.20287802e-04 9.99859893e-01 -4.38584081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.56420382199997 meters 0.013232036845399238 Centerline is valid? [True, True] Translation: X:155.20, Y:-10.42, Z:-4.39 [[ 9.89646189e-01 1.42728150e-01 1.51359009e-02 1.55197698e+02] [-1.42709852e-01 9.89761923e-01 -2.28771462e-03 -1.04200581e+01] [-1.53074596e-02 1.03985874e-04 9.99882829e-01 -4.38890313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.62420382199997 meters 0.011515576958675609 Centerline is valid? [True, True] Translation: X:155.26, Y:-10.43, Z:-4.39 [[ 9.88887748e-01 1.47957596e-01 1.44765962e-02 1.55256515e+02] [-1.47941423e-01 9.88993705e-01 -2.18775109e-03 -1.04264323e+01] [-1.46409569e-02 2.17520165e-05 9.99892815e-01 -4.39224075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.68420382199997 meters 0.012708135588411268 Centerline is valid? [True, True] Translation: X:155.31, Y:-10.43, Z:-4.39 [[ 9.87920958e-01 1.54211625e-01 1.51972119e-02 1.55314839e+02] [-1.54194548e-01 9.88037838e-01 -2.29615815e-03 -1.04289312e+01] [-1.53695147e-02 -7.49044641e-05 9.99881879e-01 -4.39284132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74420382199997 meters 0.016835342742325694 Centerline is valid? [True, True] Translation: X:155.37, Y:-10.43, Z:-4.40 [[ 9.87312787e-01 1.58005836e-01 1.57358281e-02 1.55373185e+02] [-1.57988030e-01 9.87438168e-01 -2.37613233e-03 -1.04320201e+01] [-1.59136000e-02 -1.40086644e-04 9.99873361e-01 -4.39681723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80420382199998 meters 0.017410821627401988 Centerline is valid? [True, True] Translation: X:155.43, Y:-10.44, Z:-4.40 [[ 9.87237747e-01 1.58502062e-01 1.54508149e-02 1.55430941e+02] [-1.58484975e-01 9.87358635e-01 -2.33197042e-03 -1.04407792e+01] [-1.56251177e-02 -1.46512792e-04 9.99877910e-01 -4.39944009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86420382199998 meters 0.015591799454949944 Centerline is valid? [True, True] Translation: X:155.49, Y:-10.45, Z:-4.40 [[ 9.87236364e-01 1.58642997e-01 1.40271263e-02 1.55488299e+02] [-1.58628934e-01 9.87336002e-01 -2.11665164e-03 -1.04523146e+01] [-1.41852787e-02 -1.35472617e-04 9.99899375e-01 -4.40074163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92420382199998 meters 0.01726755232441295 Centerline is valid? [True, True] Translation: X:155.55, Y:-10.46, Z:-4.41 [[ 9.87117132e-01 1.59422593e-01 1.35721852e-02 1.55545772e+02] [-1.59409507e-01 9.87210422e-01 -2.04754268e-03 -1.04602884e+01] [-1.37250272e-02 -1.42370887e-04 9.99905797e-01 -4.40513414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98420382199998 meters 0.0151187571462686 Centerline is valid? [True, True] Translation: X:155.60, Y:-10.47, Z:-4.40 [[ 9.87379208e-01 1.57748710e-01 1.40586052e-02 1.55603656e+02] [-1.57734515e-01 9.87479280e-01 -2.11980060e-03 -1.04696165e+01] [-1.42169772e-02 -1.24480243e-04 9.99898926e-01 -4.40396177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04420382199996 meters 0.014426984705790104 Centerline is valid? [True, True] Translation: X:155.66, Y:-10.48, Z:-4.41 [[ 9.87822286e-01 1.54956465e-01 1.39866025e-02 1.55660867e+02] [-1.54942144e-01 9.87921296e-01 -2.10842236e-03 -1.04798269e+01] [-1.41443762e-02 -8.43675794e-05 9.99899960e-01 -4.40856965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.10420382199996 meters 0.012021897001650312 Centerline is valid? [True, True] Translation: X:155.72, Y:-10.50, Z:-4.41 [[ 9.88960193e-01 1.47486670e-01 1.43324123e-02 1.55717282e+02] [-1.47470862e-01 9.89064043e-01 -2.15940366e-03 -1.05020952e+01] [-1.44941569e-02 2.19510671e-05 9.99894954e-01 -4.40934598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.16420382199996 meters 0.015349972983912953 Centerline is valid? [True, True] Translation: X:155.77, Y:-10.52, Z:-4.41 [[ 9.90129322e-01 1.39553922e-01 1.29856724e-02 1.55774673e+02] [-1.39540274e-01 9.90214465e-01 -1.95564672e-03 -1.05240223e+01] [-1.31315188e-02 1.24318886e-04 9.99913770e-01 -4.41028003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.22420382199996 meters 0.01884399470016917 Centerline is valid? [True, True] Translation: X:155.83, Y:-10.54, Z:-4.41 [[ 9.90481457e-01 1.37030824e-01 1.30014224e-02 1.55831214e+02] [-1.37016922e-01 9.90566771e-01 -1.95826818e-03 -1.05381198e+01] [-1.31471201e-02 1.58213446e-04 9.99913560e-01 -4.41424501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.28420382199997 meters 0.016058849849719482 Centerline is valid? [True, True] Translation: X:155.89, Y:-10.55, Z:-4.41 [[ 9.90294821e-01 1.38195565e-01 1.47700162e-02 1.55889569e+02] [-1.38177773e-01 9.90404947e-01 -2.22332355e-03 -1.05463767e+01] [-1.49355506e-02 1.60857840e-04 9.99888446e-01 -4.41067633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.34420382199997 meters 0.012879369253642692 Centerline is valid? [True, True] Translation: X:155.95, Y:-10.55, Z:-4.41 [[ 9.89637895e-01 1.42754214e-01 1.54295814e-02 1.55948752e+02] [-1.42735364e-01 9.89758165e-01 -2.32177216e-03 -1.05489497e+01] [-1.56029970e-02 9.53667955e-05 9.99878261e-01 -4.41081351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.40420382199997 meters 0.011913535967207189 Centerline is valid? [True, True] Translation: X:156.01, Y:-10.55, Z:-4.41 [[ 9.89248785e-01 1.45467858e-01 1.50314381e-02 1.56006132e+02] [-1.45450289e-01 9.89362977e-01 -2.26131281e-03 -1.05544534e+01] [-1.52004967e-02 5.06739226e-05 9.99884464e-01 -4.41468925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.46420382199997 meters 0.011486396259384407 Centerline is valid? [True, True] Translation: X:156.06, Y:-10.57, Z:-4.42 [[ 9.89114094e-01 1.46417397e-01 1.46715823e-02 1.56064414e+02] [-1.46400780e-01 9.89222899e-01 -2.20616408e-03 -1.05650758e+01] [-1.48364859e-02 3.42169077e-05 9.99889933e-01 -4.41588319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52420382199998 meters 0.013803784105589361 Centerline is valid? [True, True] Translation: X:156.12, Y:-10.59, Z:-4.42 [[ 9.89566262e-01 1.43458752e-01 1.33491349e-02 1.56119408e+02] [-1.43444730e-01 9.89656295e-01 -2.00695305e-03 -1.05853084e+01] [-1.34989704e-02 7.11499714e-05 9.99908882e-01 -4.42242185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58420382199998 meters 0.013169643045852783 Centerline is valid? [True, True] Translation: X:156.18, Y:-10.60, Z:-4.42 [[ 9.89687746e-01 1.42567162e-01 1.38841243e-02 1.56177343e+02] [-1.42551922e-01 9.89785127e-01 -2.08628009e-03 -1.05993143e+01] [-1.40397348e-02 8.55572317e-05 9.99901434e-01 -4.42002866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64420382199998 meters 0.01201715014116444 Centerline is valid? [True, True] Translation: X:156.23, Y:-10.61, Z:-4.42 [[ 9.89408641e-01 1.44426775e-01 1.45412131e-02 1.56234727e+02] [-1.44410271e-01 9.89515489e-01 -2.18421880e-03 -1.06104739e+01] [-1.47042153e-02 6.11844399e-05 9.99891885e-01 -4.42058798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.70420382199998 meters 0.011125904215067598 Centerline is valid? [True, True] Translation: X:156.29, Y:-10.62, Z:-4.42 [[ 9.88519621e-01 1.50288367e-01 1.55680912e-02 1.56293906e+02] [-1.50270184e-01 9.88642203e-01 -2.33792263e-03 -1.06165419e+01] [-1.57426346e-02 -2.83375518e-05 9.99876077e-01 -4.41928613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76420382199996 meters 0.018346464551541177 Centerline is valid? [True, True] Translation: X:156.35, Y:-10.61, Z:-4.42 [[ 9.86879200e-01 1.60676236e-01 1.58931414e-02 1.56353966e+02] [-1.60658656e-01 9.87007147e-01 -2.38511920e-03 -1.06134199e+01] [-1.60698761e-02 -1.99546220e-04 9.99870851e-01 -4.42242372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.82420382199996 meters 0.02863222210746533 Centerline is valid? [True, True] Translation: X:156.42, Y:-10.61, Z:-4.43 [[ 9.85287170e-01 1.70300878e-01 1.43806610e-02 1.56415658e+02] [-1.70287527e-01 9.85392057e-01 -2.15683918e-03 -1.06062832e+01] [-1.45379008e-02 -3.23741229e-04 9.99894267e-01 -4.42829768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.88420382199996 meters 0.035103654780527356 Centerline is valid? [True, True] Translation: X:156.47, Y:-10.61, Z:-4.43 [[ 9.85076204e-01 1.71590343e-01 1.34768864e-02 1.56474155e+02] [-1.71578728e-01 9.85168337e-01 -2.02202933e-03 -1.06149857e+01] [-1.36239624e-02 -3.20494043e-04 9.99907138e-01 -4.43113424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.94420382199996 meters 0.02867398909988105 Centerline is valid? [True, True] Translation: X:156.53, Y:-10.62, Z:-4.44 [[ 9.85121981e-01 1.71469853e-01 1.15227148e-02 1.56532154e+02] [-1.71461358e-01 9.85189330e-01 -1.72845141e-03 -1.06246117e+01] [-1.16484330e-02 -2.72964858e-04 9.99932117e-01 -4.43640357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.00420382199997 meters 0.024013458184880095 Centerline is valid? [True, True] Translation: X:156.59, Y:-10.64, Z:-4.44 [[ 9.86353654e-01 1.64301973e-01 1.05513174e-02 1.56588659e+02] [-1.64294447e-01 9.86410073e-01 -1.58209300e-03 -1.06421667e+01] [-1.06678668e-02 -1.73019641e-04 9.99943082e-01 -4.44223600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.06420382199997 meters 0.014559939152470025 Centerline is valid? [True, True] Translation: X:156.65, Y:-10.67, Z:-4.44 [[ 9.87959001e-01 1.54184364e-01 1.28138394e-02 1.56645455e+02] [-1.54172426e-01 9.88042092e-01 -1.92018926e-03 -1.06675874e+01] [-1.29566758e-02 -7.84724366e-05 9.99916056e-01 -4.43846395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.12420382199997 meters 0.010678665518011464 Centerline is valid? [True, True] Translation: X:156.70, Y:-10.69, Z:-4.43 [[ 9.89242286e-01 1.45320051e-01 1.67863593e-02 1.56702308e+02] [-1.45298287e-01 9.89384698e-01 -2.51545883e-03 -1.06945041e+01] [-1.69737136e-02 4.93689920e-05 9.99855935e-01 -4.42970847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.18420382199997 meters 0.021583258424590187 Centerline is valid? [True, True] Translation: X:156.76, Y:-10.71, Z:-4.43 [[ 9.89761326e-01 1.41636394e-01 1.76535836e-02 1.56760466e+02] [-1.41611753e-01 9.89918743e-01 -2.64447593e-03 -1.07138648e+01] [-1.78501673e-02 1.17445086e-04 9.99840666e-01 -4.43306439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24420382199997 meters 0.014789006355469234 Centerline is valid? [True, True] Translation: X:156.82, Y:-10.73, Z:-4.44 [[ 9.89998578e-01 1.40188211e-01 1.58139207e-02 1.56820703e+02] [-1.40168254e-01 9.90124865e-01 -2.36892113e-03 -1.07263572e+01] [-1.59898509e-02 1.28618908e-04 9.99872146e-01 -4.43758468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30420382199998 meters 0.012149362377818072 Centerline is valid? [True, True] Translation: X:156.88, Y:-10.73, Z:-4.44 [[ 9.89475496e-01 1.43945427e-01 1.47633351e-02 1.56880672e+02] [-1.43928442e-01 9.89585625e-01 -2.21218564e-03 -1.07336248e+01] [-1.49280182e-02 6.40396705e-05 9.99888569e-01 -4.43839226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.36420382199998 meters 0.01166539332977896 Centerline is valid? [True, True] Translation: X:156.94, Y:-10.73, Z:-4.44 [[ 9.88442411e-01 1.50976592e-01 1.36992603e-02 1.56940814e+02] [-1.50962636e-01 9.88537337e-01 -2.05313497e-03 -1.07342523e+01] [-1.38522056e-02 -3.86707666e-05 9.99904053e-01 -4.43975604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42420382199998 meters 0.015008551147396616 Centerline is valid? [True, True] Translation: X:157.00, Y:-10.73, Z:-4.44 [[ 9.87654024e-01 1.55921238e-01 1.51028755e-02 1.56999549e+02] [-1.55904853e-01 9.87769484e-01 -2.26355167e-03 -1.07328104e+01] [-1.52710953e-02 -1.19005665e-04 9.99883383e-01 -4.44258738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48420382199998 meters 0.01720854926284137 Centerline is valid? [True, True] Translation: X:157.06, Y:-10.74, Z:-4.44 [[ 9.86853091e-01 1.60692520e-01 1.72884784e-02 1.57058616e+02] [-1.60671807e-01 9.87004491e-01 -2.58955963e-03 -1.07356532e+01] [-1.74799287e-02 -2.22256155e-04 9.99847190e-01 -4.43845720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54420382199996 meters 0.019578966950242 Centerline is valid? [True, True] Translation: X:157.12, Y:-10.74, Z:-4.44 [[ 9.86606476e-01 1.62127583e-01 1.79529225e-02 1.57116394e+02] [-1.62105500e-01 9.86769771e-01 -2.68823768e-03 -1.07378475e+01] [-1.81512387e-02 -2.58034775e-04 9.99835219e-01 -4.44094096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.60420382199996 meters 0.018271742384107524 Centerline is valid? [True, True] Translation: X:157.17, Y:-10.75, Z:-4.44 [[ 9.86614597e-01 1.62063769e-01 1.80823356e-02 1.57174749e+02] [-1.62041380e-01 9.86780253e-01 -2.70633693e-03 -1.07458105e+01] [-1.82818909e-02 -2.59975090e-04 9.99832838e-01 -4.44176242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.66420382199996 meters 0.018837076661152773 Centerline is valid? [True, True] Translation: X:157.23, Y:-10.75, Z:-4.45 [[ 9.86863160e-01 1.60685859e-01 1.67677649e-02 1.57232830e+02] [-1.60666418e-01 9.87005576e-01 -2.50898539e-03 -1.07505618e+01] [-1.69530359e-02 -2.17991460e-04 9.99856263e-01 -4.44768072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.72420382199996 meters 0.015589878978702223 Centerline is valid? [True, True] Translation: X:157.29, Y:-10.76, Z:-4.45 [[ 9.87392094e-01 1.57406487e-01 1.67347115e-02 1.57290868e+02] [-1.57386672e-01 9.87533884e-01 -2.50282263e-03 -1.07620600e+01] [-1.69200551e-02 -1.62553267e-04 9.99856832e-01 -4.44891802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.78420382199997 meters 0.01223425452366878 Centerline is valid? [True, True] Translation: X:157.35, Y:-10.78, Z:-4.45 [[ 9.88221348e-01 1.52136894e-01 1.65206822e-02 1.57347024e+02] [-1.52116857e-01 9.88359429e-01 -2.47015688e-03 -1.07762603e+01] [-1.67041741e-02 -7.20125008e-05 9.99860473e-01 -4.45119684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.84420382199997 meters 0.011154598034061072 Centerline is valid? [True, True] Translation: X:157.40, Y:-10.79, Z:-4.45 [[ 9.88833736e-01 1.48078971e-01 1.67469943e-02 1.57404038e+02] [-1.48057821e-01 9.88975540e-01 -2.50264419e-03 -1.07921060e+01] [-1.69329567e-02 -4.82448318e-06 9.99856627e-01 -4.45346808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.90420382199997 meters 0.01191629147224982 Centerline is valid? [True, True] Translation: X:157.46, Y:-10.80, Z:-4.46 [[ 9.89188663e-01 1.45884663e-01 1.49484074e-02 1.57462346e+02] [-1.45867570e-01 9.89301604e-01 -2.23327314e-03 -1.08049678e+01] [-1.51142837e-02 2.86406027e-05 9.99885772e-01 -4.45733666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.96420382199997 meters 0.010622638285783387 Centerline is valid? [True, True] Translation: X:157.52, Y:-10.80, Z:-4.45 [[ 9.88540058e-01 1.49900933e-01 1.78399777e-02 1.57522432e+02] [-1.49877247e-01 9.88701021e-01 -2.66498907e-03 -1.08044098e+01] [-1.80378885e-02 -3.93582983e-05 9.99837303e-01 -4.45134190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02420382199998 meters 0.013435551640296695 Centerline is valid? [True, True] Translation: X:157.58, Y:-10.80, Z:-4.45 [[ 9.87745459e-01 1.55162920e-01 1.68337708e-02 1.57582020e+02] [-1.55142606e-01 9.87888886e-01 -2.51392444e-03 -1.08029820e+01] [-1.70199629e-02 -1.28517620e-04 9.99855142e-01 -4.45472907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08420382199998 meters 0.02100856628122954 Centerline is valid? [True, True] Translation: X:157.64, Y:-10.80, Z:-4.47 [[ 9.86769377e-01 1.61520036e-01 1.40525792e-02 1.57641910e+02] [-1.61506534e-01 9.86869413e-01 -2.09792296e-03 -1.07962507e+01] [-1.42069172e-02 -1.99417227e-04 9.99899057e-01 -4.46561583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14420382199998 meters 0.022249703052718898 Centerline is valid? [True, True] Translation: X:157.70, Y:-10.80, Z:-4.47 [[ 9.86534928e-01 1.63109913e-01 1.19997027e-02 1.57701378e+02] [-1.63100189e-01 9.86607886e-01 -1.79114111e-03 -1.07977490e+01] [-1.21311541e-02 -1.90130501e-04 9.99926397e-01 -4.47043781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.20420382199998 meters 0.0202877757773426 Centerline is valid? [True, True] Translation: X:157.76, Y:-10.81, Z:-4.47 [[ 9.87039684e-01 1.60051918e-01 1.16638452e-02 1.57758636e+02] [-1.60042517e-01 9.87108587e-01 -1.74101660e-03 -1.08067589e+01] [-1.17921348e-02 -1.48258664e-04 9.99930459e-01 -4.47362584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26420382199996 meters 0.012861500037177861 Centerline is valid? [True, True] Translation: X:157.82, Y:-10.83, Z:-4.47 [[ 9.88499382e-01 1.50706440e-01 1.25116438e-02 1.57815725e+02] [-1.50694894e-01 9.88578559e-01 -1.86588911e-03 -1.08303672e+01] [-1.26499443e-02 -4.10106020e-05 9.99919985e-01 -4.47266963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.32420382199996 meters 0.015129506484198193 Centerline is valid? [True, True] Translation: X:157.87, Y:-10.86, Z:-4.47 [[ 9.90108102e-01 1.39571563e-01 1.43431375e-02 1.57870882e+02] [-1.39555220e-01 9.90211980e-01 -2.13896277e-03 -1.08554147e+01] [-1.45012850e-02 1.16144655e-04 9.99894844e-01 -4.47174678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38420382199996 meters 0.02367689444211255 Centerline is valid? [True, True] Translation: X:157.93, Y:-10.88, Z:-4.47 [[ 9.90991054e-01 1.33200882e-01 1.39375696e-02 1.57928427e+02] [-1.33184827e-01 9.91089039e-01 -2.07798599e-03 -1.08753132e+01] [-1.40901620e-02 2.02992729e-04 9.99900708e-01 -4.47229785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.44420382199996 meters 0.024735724566241707 Centerline is valid? [True, True] Translation: X:157.99, Y:-10.90, Z:-4.48 [[ 9.91499375e-01 1.29436312e-01 1.32375063e-02 1.57985976e+02] [-1.29421501e-01 9.91587708e-01 -1.97307475e-03 -1.08972802e+01] [-1.33815360e-02 2.43084451e-04 9.99910434e-01 -4.47607003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.50420382199997 meters 0.019719375681768576 Centerline is valid? [True, True] Translation: X:158.05, Y:-10.90, Z:-4.48 [[ 9.90907470e-01 1.33794470e-01 1.41924720e-02 1.58046221e+02] [-1.33777884e-01 9.91009082e-01 -2.11597277e-03 -1.09017245e+01] [-1.43479741e-02 1.98094358e-04 9.99897043e-01 -4.47503938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.56420382199997 meters 0.012459183474842055 Centerline is valid? [True, True] Translation: X:158.11, Y:-10.90, Z:-4.48 [[ 9.89610958e-01 1.43006670e-01 1.48068988e-02 1.58107368e+02] [-1.42989649e-01 9.89721722e-01 -2.20738753e-03 -1.09008592e+01] [-1.49703805e-02 6.72216357e-05 9.99887935e-01 -4.47531090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.62420382199997 meters 0.012405520423288163 Centerline is valid? [True, True] Translation: X:158.17, Y:-10.90, Z:-4.48 [[ 9.88552148e-01 1.50212391e-01 1.41735247e-02 1.58165669e+02] [-1.50197527e-01 9.88653749e-01 -2.11351240e-03 -1.08998347e+01] [-1.43301841e-02 -3.95111391e-05 9.99897317e-01 -4.47885200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.68420382199997 meters 0.020548846477792343 Centerline is valid? [True, True] Translation: X:158.23, Y:-10.89, Z:-4.48 [[ 9.86919054e-01 1.60726954e-01 1.25549980e-02 1.58227330e+02] [-1.60716157e-01 9.86998894e-01 -1.87080962e-03 -1.08940727e+01] [-1.26924586e-02 -1.71453358e-04 9.99919433e-01 -4.48464427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74420382199997 meters 0.02325207600092298 Centerline is valid? [True, True] Translation: X:158.29, Y:-10.90, Z:-4.49 [[ 9.86417838e-01 1.63824501e-01 1.18904097e-02 1.58286924e+02] [-1.63815041e-01 9.86489479e-01 -1.77186213e-03 -1.08986767e+01] [-1.20200385e-02 -2.00031542e-04 9.99927737e-01 -4.48690716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80420382199998 meters 0.031111704031773473 Centerline is valid? [True, True] Translation: X:158.35, Y:-10.89, Z:-4.49 [[ 9.85105255e-01 1.71495958e-01 1.25208868e-02 1.58348463e+02] [-1.71486094e-01 9.85184775e-01 -1.86527186e-03 -1.08928580e+01] [-1.26552737e-02 -3.09668866e-04 9.99919871e-01 -4.48701995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86420382199998 meters 0.036045218259188376 Centerline is valid? [True, True] Translation: X:158.41, Y:-10.89, Z:-4.49 [[ 9.84509378e-01 1.74853018e-01 1.29501800e-02 1.58407427e+02] [-1.74842753e-01 9.84594480e-01 -1.92942948e-03 -1.08937671e+01] [-1.30880423e-02 -3.64703702e-04 9.99914281e-01 -4.48889023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92420382199998 meters 0.04032574082655578 Centerline is valid? [True, True] Translation: X:158.47, Y:-10.90, Z:-4.49 [[ 9.84151401e-01 1.76877331e-01 1.26660731e-02 1.58467167e+02] [-1.76867687e-01 9.84232829e-01 -1.88649165e-03 -1.08967424e+01] [-1.28000425e-02 -3.83625641e-04 9.99918003e-01 -4.48985631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98420382199996 meters 0.034879451516544396 Centerline is valid? [True, True] Translation: X:158.53, Y:-10.90, Z:-4.49 [[ 9.84537916e-01 1.74758609e-01 1.20216384e-02 1.58525142e+02] [-1.74749759e-01 9.84611250e-01 -1.79085500e-03 -1.08983134e+01] [-1.21496077e-02 -3.37613764e-04 9.99926134e-01 -4.49394786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04420382199996 meters 0.030342941370086758 Centerline is valid? [True, True] Translation: X:158.58, Y:-10.91, Z:-4.50 [[ 9.85434570e-01 1.69611429e-01 1.22747960e-02 1.58584113e+02] [-1.69601820e-01 9.85510976e-01 -1.82716163e-03 -1.09062241e+01] [-1.24068537e-02 -2.81279520e-04 9.99922992e-01 -4.49671786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.10420382199996 meters 0.021539848905610892 Centerline is valid? [True, True] Translation: X:158.64, Y:-10.92, Z:-4.50 [[ 9.86790032e-01 1.61604443e-01 1.13770340e-02 1.58641822e+02] [-1.61595659e-01 9.86855600e-01 -1.69331624e-03 -1.09227465e+01] [-1.15011371e-02 -1.67531713e-04 9.99933846e-01 -4.49910655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.16420382199996 meters 0.016658392980135918 Centerline is valid? [True, True] Translation: X:158.70, Y:-10.94, Z:-4.50 [[ 9.87780274e-01 1.55417540e-01 1.16412428e-02 1.58698587e+02] [-1.55407911e-01 9.87848864e-01 -1.73274280e-03 -1.09364630e+01] [-1.17690871e-02 -9.75720766e-05 9.99930737e-01 -4.50077440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.22420382199996 meters 0.013337870067815144 Centerline is valid? [True, True] Translation: X:158.76, Y:-10.95, Z:-4.50 [[ 9.89022241e-01 1.47304907e-01 1.16735387e-02 1.58755664e+02] [-1.47294666e-01 9.89091130e-01 -1.73697332e-03 -1.09527897e+01] [-1.18020583e-02 -1.54472891e-06 9.99930353e-01 -4.50222475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.28420382199997 meters 0.01502910173490646 Centerline is valid? [True, True] Translation: X:158.81, Y:-10.97, Z:-4.51 [[ 9.89841400e-01 1.41770275e-01 1.07327136e-02 1.58813045e+02] [-1.41761297e-01 9.89899584e-01 -1.59657465e-03 -1.09669187e+01] [-1.08506555e-02 5.88722956e-05 9.99941128e-01 -4.50571630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.34420382199997 meters 0.01543552514963864 Centerline is valid? [True, True] Translation: X:158.87, Y:-10.98, Z:-4.50 [[ 9.90245743e-01 1.38923788e-01 1.06559388e-02 1.58870860e+02] [-1.38914778e-01 9.90303071e-01 -1.58469704e-03 -1.09775409e+01] [-1.07727611e-02 8.89721226e-05 9.99941968e-01 -4.50409249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.40420382199997 meters 0.01714859315512731 Centerline is valid? [True, True] Translation: X:158.93, Y:-10.99, Z:-4.51 [[ 9.90477259e-01 1.37141382e-01 1.21260368e-02 1.58927782e+02] [-1.37129588e-01 9.90551476e-01 -1.80271229e-03 -1.09868870e+01] [-1.22586901e-02 1.22707087e-04 9.99924852e-01 -4.50506061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.46420382199997 meters 0.018675135257397824 Centerline is valid? [True, True] Translation: X:158.99, Y:-11.00, Z:-4.51 [[ 9.90716999e-01 1.35372852e-01 1.24104172e-02 1.58985918e+02] [-1.35360373e-01 9.90794716e-01 -1.84393582e-03 -1.09972607e+01] [-1.25457946e-02 1.46939865e-04 9.99921288e-01 -4.50703330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52420382199998 meters 0.019338236858705837 Centerline is valid? [True, True] Translation: X:159.04, Y:-11.01, Z:-4.51 [[ 9.91045864e-01 1.32970610e-01 1.21207636e-02 1.59043425e+02] [-1.32958533e-01 9.91119966e-01 -1.80039568e-03 -1.10081921e+01] [-1.22525306e-02 1.72715737e-04 9.99924920e-01 -4.50673380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58420382199998 meters 0.020393570273963012 Centerline is valid? [True, True] Translation: X:159.10, Y:-11.02, Z:-4.51 [[ 9.91220640e-01 1.31538334e-01 1.33906626e-02 1.59100577e+02] [-1.31523475e-01 9.91311063e-01 -1.98820453e-03 -1.10225004e+01] [-1.35358371e-02 2.09562883e-04 9.99908364e-01 -4.50506856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64420382199998 meters 0.01899051293076821 Centerline is valid? [True, True] Translation: X:159.16, Y:-11.03, Z:-4.51 [[ 9.90978453e-01 1.33379329e-01 1.31018890e-02 1.59158167e+02] [-1.33365273e-01 9.91065044e-01 -1.94470606e-03 -1.10337481e+01] [-1.32442078e-02 1.79824808e-04 9.99912275e-01 -4.50708031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70420382199998 meters 0.01580058367344139 Centerline is valid? [True, True] Translation: X:159.22, Y:-11.04, Z:-4.51 [[ 9.90258255e-01 1.38684847e-01 1.24539574e-02 1.59215724e+02] [-1.38672570e-01 9.90336560e-01 -1.84818054e-03 -1.10379606e+01] [-1.25899239e-02 1.03153760e-04 9.99920738e-01 -4.51097255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76420382199996 meters 0.013036154996948188 Centerline is valid? [True, True] Translation: X:159.28, Y:-11.04, Z:-4.51 [[ 9.89373638e-01 1.44944880e-01 1.14361831e-02 1.59275241e+02] [-1.44934954e-01 9.89439731e-01 -1.69637868e-03 -1.10399412e+01] [-1.15612953e-02 2.08496767e-05 9.99933166e-01 -4.51358046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.82420382199996 meters 0.01633907155803567 Centerline is valid? [True, True] Translation: X:159.33, Y:-11.04, Z:-4.52 [[ 9.87990522e-01 1.54119383e-01 1.10428704e-02 1.59333648e+02] [-1.54110700e-01 9.88052230e-01 -1.63802104e-03 -1.10367197e+01] [-1.11633835e-02 -8.34752284e-05 9.99937684e-01 -4.51791239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.88420382199996 meters 0.020220075392929016 Centerline is valid? [True, True] Translation: X:159.39, Y:-11.04, Z:-4.52 [[ 9.87248175e-01 1.58762007e-01 1.16475642e-02 1.59392486e+02] [-1.58752688e-01 9.87316871e-01 -1.72624181e-03 -1.10404789e+01] [-1.17738982e-02 -1.44853039e-04 9.99930675e-01 -4.52012540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.94420382199996 meters 0.019798885261554582 Centerline is valid? [True, True] Translation: X:159.45, Y:-11.06, Z:-4.52 [[ 9.87573659e-01 1.56741281e-01 1.14209983e-02 1.59448481e+02] [-1.56732189e-01 9.87639690e-01 -1.69234149e-03 -1.10573531e+01] [-1.15450910e-02 -1.18726187e-04 9.99933346e-01 -4.52406634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.00420382199997 meters 0.015904461092650393 Centerline is valid? [True, True] Translation: X:159.51, Y:-11.07, Z:-4.52 [[ 9.87992167e-01 1.54035648e-01 1.20207024e-02 1.59505789e+02] [-1.54025389e-01 9.88065287e-01 -1.78022939e-03 -1.10736447e+01] [-1.21514575e-02 -9.26406557e-05 9.99926164e-01 -4.52036301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.06420382199997 meters 0.013803192248220087 Centerline is valid? [True, True] Translation: X:159.56, Y:-11.09, Z:-4.52 [[ 9.88428029e-01 1.51100719e-01 1.33643251e-02 1.59561816e+02] [-1.51087777e-01 9.88518370e-01 -1.97858899e-03 -1.10899135e+01] [-1.35098470e-02 -6.34933534e-05 9.99908736e-01 -4.52029898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.12420382199997 meters 0.015932765265978113 Centerline is valid? [True, True] Translation: X:159.62, Y:-11.10, Z:-4.52 [[ 9.87818609e-01 1.54963440e-01 1.41678733e-02 1.59619819e+02] [-1.54949309e-01 9.87920198e-01 -2.09642745e-03 -1.10981785e+01] [-1.43215978e-02 -1.24412127e-04 9.99897433e-01 -4.52004918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.18420382199997 meters 0.018768056933969768 Centerline is valid? [True, True] Translation: X:159.68, Y:-11.10, Z:-4.52 [[ 9.87175662e-01 1.58980476e-01 1.44713946e-02 1.59678064e+02] [-1.58966174e-01 9.87281709e-01 -2.14062821e-03 -1.11041151e+01] [-1.46276613e-02 -1.87286161e-04 9.99892992e-01 -4.51985995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24420382199997 meters 0.024023529745946074 Centerline is valid? [True, True] Translation: X:159.74, Y:-11.10, Z:-4.52 [[ 9.86348544e-01 1.64082414e-01 1.39108304e-02 1.59737984e+02] [-1.64069717e-01 9.86446601e-01 -2.05688960e-03 -1.11031988e+01] [-1.40597908e-02 -2.53535953e-04 9.99901124e-01 -4.52308935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30420382199998 meters 0.027698286793883663 Centerline is valid? [True, True] Translation: X:159.80, Y:-11.11, Z:-4.53 [[ 9.86172958e-01 1.65127833e-01 1.39890898e-02 1.59795247e+02] [-1.65115100e-01 9.86272136e-01 -2.06834770e-03 -1.11070486e+01] [-1.41385913e-02 -2.70061393e-04 9.99900009e-01 -4.52749894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36420382199998 meters 0.02554410940724338 Centerline is valid? [True, True] Translation: X:159.85, Y:-11.12, Z:-4.53 [[ 9.86188300e-01 1.64966836e-01 1.47844526e-02 1.59852943e+02] [-1.64952615e-01 9.86299073e-01 -2.18466168e-03 -1.11178659e+01] [-1.49422886e-02 -2.84246332e-04 9.99888317e-01 -4.52682657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42420382199998 meters 0.024688227370845618 Centerline is valid? [True, True] Translation: X:159.91, Y:-11.13, Z:-4.53 [[ 9.86410764e-01 1.63729918e-01 1.36498356e-02 1.59910988e+02] [-1.63717685e-01 9.86505172e-01 -2.01644754e-03 -1.11287945e+01] [-1.37957862e-02 -2.45673922e-04 9.99904803e-01 -4.53087732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48420382199996 meters 0.023091511478217776 Centerline is valid? [True, True] Translation: X:159.97, Y:-11.14, Z:-4.54 [[ 9.86838761e-01 1.61306283e-01 1.13816529e-02 1.59968482e+02] [-1.61297615e-01 9.86904378e-01 -1.68147295e-03 -1.11357739e+01] [-1.15038352e-02 -1.76490792e-04 9.99933813e-01 -4.53688112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54420382199996 meters 0.020464187695847957 Centerline is valid? [True, True] Translation: X:160.03, Y:-11.15, Z:-4.54 [[ 9.87175604e-01 1.59283991e-01 1.06271801e-02 1.60025851e+02] [-1.59276328e-01 9.87232794e-01 -1.56898118e-03 -1.11480984e+01] [-1.07414142e-02 -1.43798272e-04 9.99942299e-01 -4.53897727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.60420382199996 meters 0.021449799642485338 Centerline is valid? [True, True] Translation: X:160.09, Y:-11.15, Z:-4.54 [[ 9.86958093e-01 1.60585477e-01 1.12261589e-02 1.60085058e+02] [-1.60577017e-01 9.87021923e-01 -1.65678216e-03 -1.11507498e+01] [-1.13465201e-02 -1.67488548e-04 9.99935612e-01 -4.53750701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.66420382199996 meters 0.02582825240112382 Centerline is valid? [True, True] Translation: X:160.14, Y:-11.15, Z:-4.54 [[ 9.86382737e-01 1.64003360e-01 1.23286042e-02 1.60144225e+02] [-1.63993431e-01 9.86459754e-01 -1.81892172e-03 -1.11465786e+01] [-1.24599811e-02 -2.27657107e-04 9.99922346e-01 -4.53914109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.72420382199996 meters 0.027919708791871792 Centerline is valid? [True, True] Translation: X:160.20, Y:-11.15, Z:-4.54 [[ 9.85917806e-01 1.66656215e-01 1.38486527e-02 1.60203602e+02] [-1.66643966e-01 9.86015020e-01 -2.04192696e-03 -1.11488386e+01] [-1.39952794e-02 -2.94622261e-04 9.99902018e-01 -4.53835922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.78420382199997 meters 0.03041106917229047 Centerline is valid? [True, True] Translation: X:160.26, Y:-11.14, Z:-4.54 [[ 9.85587173e-01 1.68517398e-01 1.48259932e-02 1.60264201e+02] [-1.68503581e-01 9.85698619e-01 -2.18521142e-03 -1.11430276e+01] [-1.49822071e-02 -3.44516599e-04 9.99887701e-01 -4.53849618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.84420382199997 meters 0.02653308880297418 Centerline is valid? [True, True] Translation: X:160.32, Y:-11.15, Z:-4.54 [[ 9.86176796e-01 1.65127064e-01 1.37251237e-02 1.60323201e+02] [-1.65114905e-01 9.86272264e-01 -2.02222316e-03 -1.11483932e+01] [-1.38706326e-02 -2.71952942e-04 9.99903761e-01 -4.54171122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.90420382199997 meters 0.01997091683286505 Centerline is valid? [True, True] Translation: X:160.38, Y:-11.16, Z:-4.54 [[ 9.87264946e-01 1.58512621e-01 1.34786892e-02 1.60382016e+02] [-1.58500286e-01 9.87356935e-01 -1.98525661e-03 -1.11576633e+01] [-1.36229655e-02 -1.76401843e-04 9.99907188e-01 -4.54333904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.96420382199997 meters 0.01452655786243952 Centerline is valid? [True, True] Translation: X:160.44, Y:-11.17, Z:-4.54 [[ 9.88155053e-01 1.52841170e-01 1.37538219e-02 1.60439601e+02] [-1.52827777e-01 9.88250761e-01 -2.02581751e-03 -1.11684916e+01] [-1.39018532e-02 -1.00144202e-04 9.99903360e-01 -4.54300587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02420382199998 meters 0.011943159849771475 Centerline is valid? [True, True] Translation: X:160.50, Y:-11.18, Z:-4.54 [[ 9.89555840e-01 1.43437205e-01 1.43180855e-02 1.60497550e+02] [-1.43421718e-01 9.89659420e-01 -2.10797215e-03 -1.11815400e+01] [-1.44723898e-02 3.24317318e-05 9.99895269e-01 -4.54480419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08420382199998 meters 0.017639805665696024 Centerline is valid? [True, True] Translation: X:160.55, Y:-11.20, Z:-4.55 [[ 9.91004262e-01 1.33053322e-01 1.44001933e-02 1.60554980e+02] [-1.33036570e-01 9.91108864e-01 -2.11934852e-03 -1.12014616e+01] [-1.45541455e-02 1.84531096e-04 9.99894066e-01 -4.54554887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14420382199998 meters 0.024779550079564013 Centerline is valid? [True, True] Translation: X:160.61, Y:-11.22, Z:-4.55 [[ 9.91841262e-01 1.26763385e-01 1.34890704e-02 1.60612140e+02] [-1.26748108e-01 9.91932950e-01 -1.98495674e-03 -1.12164497e+01] [-1.36318733e-02 2.59047848e-04 9.99907048e-01 -4.55074304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.20420382199998 meters 0.032079789203840275 Centerline is valid? [True, True] Translation: X:160.67, Y:-11.23, Z:-4.55 [[ 9.92724552e-01 1.19697252e-01 1.30587830e-02 1.60670141e+02] [-1.19682331e-01 9.92810379e-01 -1.92103454e-03 -1.12334064e+01] [-1.31948378e-02 3.44152573e-04 9.99912885e-01 -4.55319921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26420382199996 meters 0.03875090158495746 Centerline is valid? [True, True] Translation: X:160.73, Y:-11.25, Z:-4.56 [[ 9.93300190e-01 1.14973601e-01 1.16534488e-02 1.60727033e+02] [-1.14961394e-01 9.93368481e-01 -1.71420977e-03 -1.12543959e+01] [-1.17732576e-02 3.63028172e-04 9.99930627e-01 -4.55908588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.32420382199996 meters 0.03679174552835349 Centerline is valid? [True, True] Translation: X:160.79, Y:-11.27, Z:-4.56 [[ 9.93584354e-01 1.12443500e-01 1.21074387e-02 1.60785781e+02] [-1.12430131e-01 9.93658036e-01 -1.78134028e-03 -1.12652823e+01] [-1.22309539e-02 4.08670902e-04 9.99925116e-01 -4.55609020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.38420382199996 meters 0.04041372945657768 Centerline is valid? [True, True] Translation: X:160.84, Y:-11.28, Z:-4.56 [[ 9.93600848e-01 1.12120552e-01 1.36504870e-02 1.60841886e+02] [-1.12103535e-01 9.93694503e-01 -2.00792064e-03 -1.12846401e+01] [-1.37895431e-02 4.64803801e-04 9.99904812e-01 -4.55725099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.44420382199996 meters 0.037682004217938304 Centerline is valid? [True, True] Translation: X:160.90, Y:-11.30, Z:-4.56 [[ 9.93424906e-01 1.13689607e-01 1.34769723e-02 1.60900701e+02] [-1.13673172e-01 9.93516222e-01 -1.98174218e-03 -1.13027822e+01] [-1.36148941e-02 4.36741854e-04 9.99907218e-01 -4.55788687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.50420382199997 meters 0.031736835011516716 Centerline is valid? [True, True] Translation: X:160.96, Y:-11.32, Z:-4.56 [[ 9.92714273e-01 1.19745102e-01 1.33971356e-02 1.60960079e+02] [-1.19729414e-01 9.92804607e-01 -1.96991764e-03 -1.13185719e+01] [-1.35366259e-02 3.51534169e-04 9.99908314e-01 -4.56003466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.56420382199997 meters 0.019867049785074507 Centerline is valid? [True, True] Translation: X:161.02, Y:-11.32, Z:-4.56 [[ 9.91214271e-01 1.31470345e-01 1.44850919e-02 1.61020844e+02] [-1.31453250e-01 9.91320082e-01 -2.13016645e-03 -1.13208307e+01] [-1.46394163e-02 2.07338969e-04 9.99892817e-01 -4.55954605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.62420382199997 meters 0.012009603718388846 Centerline is valid? [True, True] Translation: X:161.08, Y:-11.32, Z:-4.56 [[ 9.89023876e-01 1.47116537e-01 1.37294125e-02 1.61082403e+02] [-1.47102684e-01 9.89119166e-01 -2.01902065e-03 -1.13167472e+01] [-1.38770564e-02 -2.27738047e-05 9.99903709e-01 -4.56220665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.68420382199997 meters 0.0179191176670619 Centerline is valid? [True, True] Translation: X:161.14, Y:-11.32, Z:-4.57 [[ 9.87595980e-01 1.56409240e-01 1.37959987e-02 1.61141720e+02] [-1.56396154e-01 9.87692324e-01 -2.02900296e-03 -1.13167450e+01] [-1.39435568e-02 -1.53805973e-04 9.99902772e-01 -4.56511299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74420382199997 meters 0.02695142601724478 Centerline is valid? [True, True] Translation: X:161.20, Y:-11.32, Z:-4.57 [[ 9.86170734e-01 1.65214384e-01 1.30954299e-02 1.61201887e+02] [-1.65203380e-01 9.86257642e-01 -1.92516808e-03 -1.13181915e+01] [-1.32335333e-02 -2.64864850e-04 9.99912398e-01 -4.56788161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80420382199998 meters 0.031029009842340534 Centerline is valid? [True, True] Translation: X:161.26, Y:-11.32, Z:-4.57 [[ 9.85552754e-01 1.68868722e-01 1.30047180e-02 1.61260985e+02] [-1.68858185e-01 9.85638502e-01 -1.91205462e-03 -1.13227694e+01] [-1.31408370e-02 -3.11522380e-04 9.99913607e-01 -4.57064771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.86420382199998 meters 0.03115689065716188 Centerline is valid? [True, True] Translation: X:161.32, Y:-11.33, Z:-4.57 [[ 9.85467580e-01 1.69358952e-01 1.30841486e-02 1.61319528e+02] [-1.69348332e-01 9.85554383e-01 -1.92344556e-03 -1.13318507e+01] [-1.32208928e-02 -3.20285511e-04 9.99912549e-01 -4.57231428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92420382199998 meters 0.0272584486721079 Centerline is valid? [True, True] Translation: X:161.38, Y:-11.35, Z:-4.57 [[ 9.85808591e-01 1.67397948e-01 1.26233719e-02 1.61376446e+02] [-1.67387909e-01 9.85889368e-01 -1.85517686e-03 -1.13481331e+01] [-1.27558009e-02 -2.84150529e-04 9.99918601e-01 -4.57331874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98420382199996 meters 0.026465578661553066 Centerline is valid? [True, True] Translation: X:161.43, Y:-11.35, Z:-4.58 [[ 9.86325995e-01 1.64253304e-01 1.34864545e-02 1.61434039e+02] [-1.64241556e-01 9.86418159e-01 -1.98166317e-03 -1.13542727e+01] [-1.36287783e-02 -2.60470370e-04 9.99907090e-01 -4.57557759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04420382199996 meters 0.022476766185222655 Centerline is valid? [True, True] Translation: X:161.49, Y:-11.37, Z:-4.57 [[ 9.86571251e-01 1.62719187e-01 1.41291174e-02 1.61492404e+02] [-1.62706161e-01 9.86672389e-01 -2.07431297e-03 -1.13654474e+01] [-1.42783405e-02 -2.52436913e-04 9.99898027e-01 -4.57326464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.10420382199996 meters 0.020012643772104453 Centerline is valid? [True, True] Translation: X:161.55, Y:-11.38, Z:-4.58 [[ 9.87061815e-01 1.59729718e-01 1.39782153e-02 1.61550473e+02] [-1.59716674e-01 9.87160764e-01 -2.05182232e-03 -1.13757575e+01] [-1.41264827e-02 -2.07278581e-04 9.99900195e-01 -4.57553069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.16420382199996 meters 0.01642901715366625 Centerline is valid? [True, True] Translation: X:161.61, Y:-11.39, Z:-4.58 [[ 9.87852051e-01 1.54726613e-01 1.44222260e-02 1.61607548e+02] [-1.54712202e-01 9.87957315e-01 -2.11633467e-03 -1.13864836e+01] [-1.45759970e-02 -1.40668810e-04 9.99893755e-01 -4.57757680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.22420382199996 meters 0.012783593067401186 Centerline is valid? [True, True] Translation: X:161.67, Y:-11.40, Z:-4.58 [[ 9.88641955e-01 1.49543836e-01 1.49574764e-02 1.61666201e+02] [-1.49527761e-01 9.88755094e-01 -2.19365806e-03 -1.13952085e+01] [-1.51173290e-02 -6.78155609e-05 9.99885724e-01 -4.57775069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.28420382199997 meters 0.012638242327582603 Centerline is valid? [True, True] Translation: X:161.72, Y:-11.41, Z:-4.58 [[ 9.89080261e-01 1.46653194e-01 1.45971725e-02 1.61723300e+02] [-1.46637572e-01 9.89187970e-01 -2.14064177e-03 -1.14054830e+01] [-1.47532794e-02 -2.32274209e-05 9.99891164e-01 -4.58224443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.34420382199997 meters 0.011704851362102232 Centerline is valid? [True, True] Translation: X:161.78, Y:-11.42, Z:-4.58 [[ 9.89337811e-01 1.44983942e-01 1.37967903e-02 1.61780903e+02] [-1.44969836e-01 9.89434008e-01 -2.02239433e-03 -1.14162023e+01] [-1.39442283e-02 7.12755197e-07 9.99902775e-01 -4.58145716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.40420382199997 meters 0.01122177762299793 Centerline is valid? [True, True] Translation: X:161.84, Y:-11.42, Z:-4.58 [[ 9.89480504e-01 1.43897895e-01 1.48905168e-02 1.61839361e+02] [-1.43881353e-01 9.89592540e-01 -2.18186685e-03 -1.14220699e+01] [-1.50495104e-02 1.64470068e-05 9.99886750e-01 -4.57980222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.46420382199997 meters 0.011367364120250755 Centerline is valid? [True, True] Translation: X:161.90, Y:-11.43, Z:-4.58 [[ 9.89497964e-01 1.43750868e-01 1.51481517e-02 1.61896388e+02] [-1.43733742e-01 9.89613908e-01 -2.21898999e-03 -1.14286779e+01] [-1.53098034e-02 1.83855469e-05 9.99882798e-01 -4.58280699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52420382199998 meters 0.012272782934806555 Centerline is valid? [True, True] Translation: X:161.95, Y:-11.45, Z:-4.59 [[ 9.89847524e-01 1.41434827e-01 1.40736983e-02 1.61953387e+02] [-1.41419823e-01 9.89947568e-01 -2.06067137e-03 -1.14472204e+01] [-1.42236741e-02 4.94505350e-05 9.99898837e-01 -4.58668239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58420382199998 meters 0.013214637420451343 Centerline is valid? [True, True] Translation: X:162.01, Y:-11.46, Z:-4.59 [[ 9.90073474e-01 1.39849748e-01 1.40201096e-02 1.62011033e+02] [-1.39834714e-01 9.90172734e-01 -2.05181792e-03 -1.14585747e+01] [-1.41692765e-02 7.09524844e-05 9.99899608e-01 -4.58958531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64420382199998 meters 0.017214600450688247 Centerline is valid? [True, True] Translation: X:162.07, Y:-11.48, Z:-4.60 [[ 9.90777373e-01 1.34964654e-01 1.20307548e-02 1.62068403e+02] [-1.34953229e-01 9.90850406e-01 -1.76020689e-03 -1.14812859e+01] [-1.21582440e-02 1.20383950e-04 9.99926079e-01 -4.59586723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.70420382199998 meters 0.017818420664538367 Centerline is valid? [True, True] Translation: X:162.13, Y:-11.50, Z:-4.60 [[ 9.90804943e-01 1.34862077e-01 1.08529233e-02 1.62126913e+02] [-1.34852772e-01 9.90864374e-01 -1.58799429e-03 -1.14953537e+01] [-1.09679353e-02 1.09845797e-04 9.99939844e-01 -4.59972955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76420382199996 meters 0.013647754075266496 Centerline is valid? [True, True] Translation: X:162.19, Y:-11.50, Z:-4.60 [[ 9.89836077e-01 1.41796926e-01 1.08706885e-02 1.62185172e+02] [-1.41788006e-01 9.89895768e-01 -1.59076420e-03 -1.15010681e+01] [-1.09864140e-02 3.32625443e-05 9.99939647e-01 -4.59935487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.82420382199996 meters 0.01666560552425359 Centerline is valid? [True, True] Translation: X:162.25, Y:-11.50, Z:-4.60 [[ 9.88155654e-01 1.53050585e-01 1.11319993e-02 1.62245419e+02] [-1.53041951e-01 9.88218351e-01 -1.62843922e-03 -1.14970186e+01] [-1.12500796e-02 -9.45114781e-05 9.99936711e-01 -4.60140022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.88420382199996 meters 0.022965451177198754 Centerline is valid? [True, True] Translation: X:162.31, Y:-11.50, Z:-4.60 [[ 9.86960331e-01 1.60572598e-01 1.12136351e-02 1.62305163e+02] [-1.60564327e-01 9.87024016e-01 -1.63988698e-03 -1.14973619e+01] [-1.13314481e-02 -1.82006378e-04 9.99935781e-01 -4.60313162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.94420382199996 meters 0.02493961551832619 Centerline is valid? [True, True] Translation: X:162.36, Y:-11.50, Z:-4.60 [[ 9.86676029e-01 1.62130300e-01 1.35712693e-02 1.62362877e+02] [-1.62118345e-01 9.86769328e-01 -1.98378525e-03 -1.15033301e+01] [-1.37133440e-02 -2.42798364e-04 9.99905938e-01 -4.60243176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.00420382199997 meters 0.020326692994156993 Centerline is valid? [True, True] Translation: X:162.42, Y:-11.52, Z:-4.60 [[ 9.87188564e-01 1.58965804e-01 1.37335872e-02 1.62419224e+02] [-1.58953269e-01 9.87284069e-01 -2.00650494e-03 -1.15241445e+01] [-1.38779175e-02 -2.02199843e-04 9.99903677e-01 -4.60206784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.06420382199997 meters 0.015748477736005764 Centerline is valid? [True, True] Translation: X:162.48, Y:-11.54, Z:-4.60 [[ 9.87922768e-01 1.54205390e-01 1.51427248e-02 1.62476959e+02] [-1.54189609e-01 9.88038802e-01 -2.21116592e-03 -1.15414522e+01] [-1.53025733e-02 -1.50389663e-04 9.99882897e-01 -4.60143568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.12420382199997 meters 0.011681368914562333 Centerline is valid? [True, True] Translation: X:162.53, Y:-11.57, Z:-4.61 [[ 9.89383645e-01 1.44643432e-01 1.40812460e-02 1.62534076e+02] [-1.44628826e-01 9.89483844e-01 -2.05550687e-03 -1.15679593e+01] [-1.42304810e-02 -2.86919326e-06 9.99898742e-01 -4.60537221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.18420382199997 meters 0.015572011323599195 Centerline is valid? [True, True] Translation: X:162.59, Y:-11.60, Z:-4.61 [[ 9.90603141e-01 1.36063039e-01 1.38660491e-02 1.62592016e+02] [-1.36048071e-01 9.90700175e-01 -2.02155682e-03 -1.15998023e+01] [-1.40121564e-02 1.16111308e-04 9.99901818e-01 -4.60836897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24420382199997 meters 0.0181882816768906 Centerline is valid? [True, True] Translation: X:162.65, Y:-11.62, Z:-4.61 [[ 9.90930887e-01 1.33675764e-01 1.36662905e-02 1.62651506e+02] [-1.33660962e-01 9.91025109e-01 -1.99490893e-03 -1.16174747e+01] [-1.38103080e-02 1.50167343e-04 9.99904622e-01 -4.61031793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30420382199998 meters 0.015206977057670469 Centerline is valid? [True, True] Translation: X:162.71, Y:-11.63, Z:-4.61 [[ 9.90562368e-01 1.36469180e-01 1.27420093e-02 1.62713366e+02] [-1.36456526e-01 9.90644311e-01 -1.86139589e-03 -1.16266782e+01] [-1.28768222e-02 1.05098402e-04 9.99917085e-01 -4.61075618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36420382199998 meters 0.01342455229090688 Centerline is valid? [True, True] Translation: X:162.77, Y:-11.63, Z:-4.62 [[ 9.89388146e-01 1.44884927e-01 1.09295340e-02 1.62774130e+02] [-1.44876084e-01 9.89448512e-01 -1.60072877e-03 -1.16281976e+01] [-1.10461327e-02 3.13975008e-07 9.99938990e-01 -4.61843713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42420382199998 meters 0.01558350712396093 Centerline is valid? [True, True] Translation: X:162.83, Y:-11.63, Z:-4.62 [[ 9.88198099e-01 1.52680627e-01 1.23750941e-02 1.62833456e+02] [-1.52669886e-01 9.88275577e-01 -1.81363726e-03 -1.16287212e+01] [-1.25069106e-02 -9.70713134e-05 9.99921781e-01 -4.61605957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48420382199996 meters 0.01823520151545418 Centerline is valid? [True, True] Translation: X:162.89, Y:-11.63, Z:-4.61 [[ 9.87549861e-01 1.56617481e-01 1.47049635e-02 1.62893670e+02] [-1.56602770e-01 9.87659321e-01 -2.15377892e-03 -1.16317797e+01] [-1.48608137e-02 -1.75873946e-04 9.99889557e-01 -4.61316587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54420382199996 meters 0.020939519236000955 Centerline is valid? [True, True] Translation: X:162.95, Y:-11.64, Z:-4.61 [[ 9.87038950e-01 1.59553526e-01 1.72273802e-02 1.62953336e+02] [-1.59533791e-01 9.87189245e-01 -2.52269473e-03 -1.16371877e+01] [-1.74091893e-02 -2.58351320e-04 9.99848415e-01 -4.61044617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.60420382199996 meters 0.024370665350518416 Centerline is valid? [True, True] Translation: X:163.01, Y:-11.64, Z:-4.61 [[ 9.86608302e-01 1.62265115e-01 1.65557102e-02 1.63012179e+02] [-1.62247274e-01 9.86747154e-01 -2.42411316e-03 -1.16412764e+01] [-1.67296489e-02 -2.94468688e-04 9.99860006e-01 -4.61426396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.66420382199996 meters 0.028043998805183882 Centerline is valid? [True, True] Translation: X:163.07, Y:-11.64, Z:-4.62 [[ 9.85872795e-01 1.66925254e-01 1.38126988e-02 1.63073404e+02] [-1.66913302e-01 9.85969504e-01 -2.02181774e-03 -1.16388112e+01] [-1.39563922e-02 -3.12268053e-04 9.99902556e-01 -4.61921249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.72420382199996 meters 0.03481839925993697 Centerline is valid? [True, True] Translation: X:163.13, Y:-11.63, Z:-4.63 [[ 9.85368656e-01 1.69977109e-01 1.25057257e-02 1.63133172e+02] [-1.69967554e-01 9.85447958e-01 -1.83077943e-03 -1.16342886e+01] [-1.26349325e-02 -3.21574942e-04 9.99920124e-01 -4.62617091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.78420382199997 meters 0.031089489119631313 Centerline is valid? [True, True] Translation: X:163.19, Y:-11.64, Z:-4.63 [[ 9.85643885e-01 1.68404797e-01 1.20812207e-02 1.63191916e+02] [-1.68395763e-01 9.85717880e-01 -1.76842304e-03 -1.16374234e+01] [-1.22064862e-02 -2.91391027e-04 9.99925456e-01 -4.62817886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.84420382199997 meters 0.020897714225382967 Centerline is valid? [True, True] Translation: X:163.25, Y:-11.65, Z:-4.63 [[ 9.87281705e-01 1.58467319e-01 1.27649244e-02 1.63250203e+02] [-1.58456421e-01 9.87364207e-01 -1.86709295e-03 -1.16536333e+01] [-1.28995027e-02 -1.79337538e-04 9.99916782e-01 -4.63005962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.90420382199997 meters 0.012829967540172509 Centerline is valid? [True, True] Translation: X:163.31, Y:-11.68, Z:-4.63 [[ 9.88971997e-01 1.47563713e-01 1.26230053e-02 1.63307412e+02] [-1.47552165e-01 9.89052551e-01 -1.84647157e-03 -1.16782978e+01] [-1.27572878e-02 -3.64430790e-05 9.99918622e-01 -4.63147505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.96420382199997 meters 0.021953249617082372 Centerline is valid? [True, True] Translation: X:163.36, Y:-11.72, Z:-4.63 [[ 9.91521864e-01 1.29153341e-01 1.42761203e-02 1.63362125e+02] [-1.29136675e-01 9.91624608e-01 -2.08704331e-03 -1.17166400e+01] [-1.44261008e-02 2.25778369e-04 9.99895913e-01 -4.63104687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02420382199998 meters 0.033425999113857865 Centerline is valid? [True, True] Translation: X:163.42, Y:-11.74, Z:-4.63 [[ 9.93116726e-01 1.16265246e-01 1.41972220e-02 1.63420232e+02] [-1.16247424e-01 9.93218114e-01 -2.07699017e-03 -1.17397848e+01] [-1.43424198e-02 4.12303195e-04 9.99897057e-01 -4.63084201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08420382199998 meters 0.038284705197424065 Centerline is valid? [True, True] Translation: X:163.48, Y:-11.76, Z:-4.64 [[ 9.93397985e-01 1.13977713e-01 1.30201637e-02 1.63478430e+02] [-1.13962525e-01 9.93483223e-01 -1.90495795e-03 -1.17579139e+01] [-1.31524370e-02 4.08570661e-04 9.99913419e-01 -4.63552956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14420382199998 meters 0.028782262215632393 Centerline is valid? [True, True] Translation: X:163.54, Y:-11.76, Z:-4.63 [[ 9.92625223e-01 1.20551593e-01 1.27467702e-02 1.63539436e+02] [-1.20537573e-01 9.92707013e-01 -1.86524395e-03 -1.17569474e+01] [-1.28786663e-02 3.15023441e-04 9.99917017e-01 -4.63453506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.20420382199998 meters 0.024383223499807392 Centerline is valid? [True, True] Translation: X:163.60, Y:-11.76, Z:-4.64 [[ 9.91842288e-01 1.26750114e-01 1.35382914e-02 1.63599456e+02] [-1.26734874e-01 9.91934648e-01 -1.98117357e-03 -1.17589308e+01] [-1.36802143e-02 2.49238061e-04 9.99906390e-01 -4.63686092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26420382199996 meters 0.018127558934879613 Centerline is valid? [True, True] Translation: X:163.66, Y:-11.76, Z:-4.64 [[ 9.90795496e-01 1.34571928e-01 1.46519807e-02 1.63659737e+02] [-1.34554933e-01 9.90903816e-01 -2.14414921e-03 -1.17607140e+01] [-1.48072459e-02 1.52917106e-04 9.99890355e-01 -4.63997142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.32420382199996 meters 0.013616197204884658 Centerline is valid? [True, True] Translation: X:163.72, Y:-11.77, Z:-4.64 [[ 9.90294343e-01 1.38249152e-01 1.42928459e-02 1.63722178e+02] [-1.38233375e-01 9.90397477e-01 -2.09069644e-03 -1.17668550e+01] [-1.44446355e-02 9.46565328e-05 9.99895666e-01 -4.63950304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.38420382199996 meters 0.014066245861428654 Centerline is valid? [True, True] Translation: X:163.78, Y:-11.77, Z:-4.65 [[ 9.89987341e-01 1.40663695e-01 1.17809044e-02 1.63782830e+02] [-1.40653162e-01 9.90057434e-01 -1.72201977e-03 -1.17745300e+01] [-1.19059977e-02 4.77563126e-05 9.99929120e-01 -4.64749140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.44420382199996 meters 0.012918242339688548 Centerline is valid? [True, True] Translation: X:163.84, Y:-11.78, Z:-4.65 [[ 9.89714558e-01 1.42485513e-01 1.27660628e-02 1.63842530e+02] [-1.42473232e-01 9.89796887e-01 -1.87101375e-03 -1.17848788e+01] [-1.29024015e-02 3.29473281e-05 9.99916760e-01 -4.64783636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.50420382199997 meters 0.012583412842105847 Centerline is valid? [True, True] Translation: X:163.90, Y:-11.79, Z:-4.65 [[ 9.89644830e-01 1.42979931e-01 1.26431666e-02 1.63902689e+02] [-1.42967931e-01 9.89725588e-01 -1.85260341e-03 -1.17943834e+01] [-1.27781506e-02 2.58520219e-05 9.99918356e-01 -4.64873135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.56420382199997 meters 0.012759538385155277 Centerline is valid? [True, True] Translation: X:163.96, Y:-11.81, Z:-4.65 [[ 9.89515631e-01 1.43965205e-01 1.15254190e-02 1.63963674e+02] [-1.43955327e-01 9.89582750e-01 -1.68646812e-03 -1.18052680e+01] [-1.16481486e-02 9.64110728e-06 9.99932158e-01 -4.65228663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.62420382199997 meters 0.01287008210571671 Centerline is valid? [True, True] Translation: X:164.02, Y:-11.81, Z:-4.66 [[ 9.89341071e-01 1.45177041e-01 1.13080665e-02 1.64023517e+02] [-1.45167555e-01 9.89405694e-01 -1.65958681e-03 -1.18133242e+01] [-1.14291993e-02 3.33028190e-07 9.99934685e-01 -4.65523793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.68420382199997 meters 0.013248168915807036 Centerline is valid? [True, True] Translation: X:164.08, Y:-11.82, Z:-4.66 [[ 9.88922235e-01 1.47965841e-01 1.17865187e-02 1.64082333e+02] [-1.47955731e-01 9.88992472e-01 -1.73001272e-03 -1.18208326e+01] [-1.19127610e-02 -3.30349392e-05 9.99929040e-01 -4.65648546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74420382199997 meters 0.015103002726644556 Centerline is valid? [True, True] Translation: X:164.14, Y:-11.82, Z:-4.65 [[ 9.88076983e-01 1.53440181e-01 1.26485882e-02 1.64143073e+02] [-1.53428991e-01 9.88157932e-01 -1.85616810e-03 -1.18212149e+01] [-1.27836135e-02 -1.06623146e-04 9.99918281e-01 -4.65483272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80420382199998 meters 0.019114964758325113 Centerline is valid? [True, True] Translation: X:164.20, Y:-11.82, Z:-4.66 [[ 9.87372651e-01 1.57831443e-01 1.35824479e-02 1.64202204e+02] [-1.57818944e-01 9.87466053e-01 -1.99395799e-03 -1.18187011e+01] [-1.37269155e-02 -1.74787992e-04 9.99905766e-01 -4.65597409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86420382199998 meters 0.0275629875311993 Centerline is valid? [True, True] Translation: X:164.26, Y:-11.81, Z:-4.66 [[ 9.86106784e-01 1.65660906e-01 1.22423558e-02 1.64263306e+02] [-1.65651365e-01 9.86182741e-01 -1.79634270e-03 -1.18070715e+01] [-1.23707838e-02 -2.56577219e-04 9.99923446e-01 -4.66059430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92420382199998 meters 0.03365448782627753 Centerline is valid? [True, True] Translation: X:164.32, Y:-11.80, Z:-4.66 [[ 9.85249981e-01 1.70675386e-01 1.23445114e-02 1.64324785e+02] [-1.70666084e-01 9.85327260e-01 -1.81083160e-03 -1.17993706e+01] [-1.24724480e-02 -3.22667618e-04 9.99922164e-01 -4.66314681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98420382199996 meters 0.02947367821123146 Centerline is valid? [True, True] Translation: X:164.38, Y:-11.80, Z:-4.66 [[ 9.85498900e-01 1.69227282e-01 1.24115300e-02 1.64383572e+02] [-1.69217758e-01 9.85577006e-01 -1.82113351e-03 -1.18046672e+01] [-1.25407040e-02 -3.05526208e-04 9.99921316e-01 -4.66312795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04420382199996 meters 0.02589246669485334 Centerline is valid? [True, True] Translation: X:164.44, Y:-11.81, Z:-4.67 [[ 9.86410711e-01 1.63820071e-01 1.25257039e-02 1.64441567e+02] [-1.63809946e-01 9.86490206e-01 -1.83704254e-03 -1.18126322e+01] [-1.26574287e-02 -2.39756437e-04 9.99919863e-01 -4.66734323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.10420382199996 meters 0.014542878080037019 Centerline is valid? [True, True] Translation: X:164.50, Y:-11.84, Z:-4.67 [[ 9.88482837e-01 1.50868517e-01 1.18478134e-02 1.64498602e+02] [-1.50858536e-01 9.88553835e-01 -1.73681360e-03 -1.18385267e+01] [-1.19742319e-02 -7.05333498e-05 9.99928304e-01 -4.66975405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.16420382199996 meters 0.015828545646040013 Centerline is valid? [True, True] Translation: X:164.55, Y:-11.86, Z:-4.67 [[ 9.90286354e-01 1.38646318e-01 1.04945153e-02 1.64554773e+02] [-1.38637804e-01 9.90341958e-01 -1.53801079e-03 -1.18637572e+01] [-1.06063984e-02 6.81345374e-05 9.99943748e-01 -4.67487818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.22420382199996 meters 0.01894085210363463 Centerline is valid? [True, True] Translation: X:164.61, Y:-11.88, Z:-4.67 [[ 9.91070824e-01 1.32745107e-01 1.25442556e-02 1.64613526e+02] [-1.32732467e-01 9.91150196e-01 -1.83862427e-03 -1.18792464e+01] [-1.26773098e-02 1.57176873e-04 9.99919627e-01 -4.67070238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.28420382199997 meters 0.02003053126551843 Centerline is valid? [True, True] Translation: X:164.67, Y:-11.89, Z:-4.67 [[ 9.91037640e-01 1.32991273e-01 1.25585347e-02 1.64673332e+02] [-1.32978626e-01 9.91117197e-01 -1.84052308e-03 -1.18894215e+01] [-1.26917532e-02 1.54010967e-04 9.99919445e-01 -4.67416623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.34420382199997 meters 0.016254860803569922 Centerline is valid? [True, True] Translation: X:164.73, Y:-11.89, Z:-4.68 [[ 9.90406803e-01 1.37591323e-01 1.27668140e-02 1.64733947e+02] [-1.37578625e-01 9.90489080e-01 -1.87176416e-03 -1.18880695e+01] [-1.29029283e-02 9.73672479e-05 9.99916749e-01 -4.67565637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.40420382199997 meters 0.012646262119944867 Centerline is valid? [True, True] Translation: X:164.80, Y:-11.88, Z:-4.67 [[ 9.89711002e-01 1.42543849e-01 1.23847766e-02 1.64795012e+02] [-1.42532291e-01 9.89788488e-01 -1.81551523e-03 -1.18845069e+01] [-1.25170998e-02 3.16048222e-05 9.99921658e-01 -4.67471623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.46420382199997 meters 0.01397080270040801 Centerline is valid? [True, True] Translation: X:164.85, Y:-11.88, Z:-4.68 [[ 9.88738530e-01 1.49153759e-01 1.22178001e-02 1.64853942e+02] [-1.49143010e-01 9.88814014e-01 -1.79134235e-03 -1.18796470e+01] [-1.23483174e-02 -5.10302935e-05 9.99923755e-01 -4.67910150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52420382199998 meters 0.01426263939134679 Centerline is valid? [True, True] Translation: X:164.91, Y:-11.88, Z:-4.68 [[ 9.88497035e-01 1.50790855e-01 1.16503231e-02 1.64912546e+02] [-1.50781205e-01 9.88565685e-01 -1.70732284e-03 -1.18837160e+01] [-1.17745583e-02 -6.89661866e-05 9.99930675e-01 -4.67946115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58420382199998 meters 0.012997328824937997 Centerline is valid? [True, True] Translation: X:164.97, Y:-11.89, Z:-4.68 [[ 9.88770842e-01 1.48939490e-01 1.22168073e-02 1.64971142e+02] [-1.48928745e-01 9.88846311e-01 -1.78967611e-03 -1.18925580e+01] [-1.23470983e-02 -4.98542222e-05 9.99923770e-01 -4.67879779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64420382199998 meters 0.01161001707477613 Centerline is valid? [True, True] Translation: X:165.03, Y:-11.90, Z:-4.68 [[ 9.89194197e-01 1.45928924e-01 1.41276316e-02 1.65028859e+02] [-1.45914259e-01 9.89295077e-01 -2.06881786e-03 -1.18991772e+01] [-1.42782968e-02 -1.49602861e-05 9.99898060e-01 -4.67737489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70420382199995 meters 0.011968487602616804 Centerline is valid? [True, True] Translation: X:165.09, Y:-11.91, Z:-4.68 [[ 9.89372948e-01 1.44626312e-01 1.49799986e-02 1.65086172e+02] [-1.44609690e-01 9.89486347e-01 -2.19261089e-03 -1.19067451e+01] [-1.51396133e-02 3.05694137e-06 9.99885389e-01 -4.68060603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76420382199996 meters 0.01208922648762416 Centerline is valid? [True, True] Translation: X:165.14, Y:-11.92, Z:-4.68 [[ 9.89676949e-01 1.42610867e-01 1.42013174e-02 1.65144134e+02] [-1.42595735e-01 9.89778834e-01 -2.07766268e-03 -1.19166188e+01] [-1.43524607e-02 3.11675708e-05 9.99896998e-01 -4.68147339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.82420382199996 meters 0.01147583190472071 Centerline is valid? [True, True] Translation: X:165.20, Y:-11.92, Z:-4.68 [[ 9.89621186e-01 1.42914614e-01 1.50107176e-02 1.65203075e+02] [-1.42897755e-01 9.89735021e-01 -2.19529218e-03 -1.19222919e+01] [-1.51703722e-02 2.75098149e-05 9.99884923e-01 -4.67993426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.88420382199996 meters 0.011714827412675132 Centerline is valid? [True, True] Translation: X:165.26, Y:-11.93, Z:-4.68 [[ 9.89419018e-01 1.44332850e-01 1.47659822e-02 1.65260437e+02] [-1.44316703e-01 9.89529195e-01 -2.15895872e-03 -1.19288357e+01] [-1.49229791e-02 5.13696159e-06 9.99888646e-01 -4.68306425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.94420382199996 meters 0.012233861561843359 Centerline is valid? [True, True] Translation: X:165.32, Y:-11.93, Z:-4.69 [[ 9.89058449e-01 1.46852653e-01 1.40599752e-02 1.65319201e+02] [-1.46838280e-01 9.89158378e-01 -2.05478006e-03 -1.19305036e+01] [-1.42092922e-02 -3.22450070e-05 9.99899042e-01 -4.68542908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.00420382199997 meters 0.015899273721383767 Centerline is valid? [True, True] Translation: X:165.38, Y:-11.93, Z:-4.69 [[ 9.88156520e-01 1.52872907e-01 1.32878201e-02 1.65379250e+02] [-1.52860621e-01 9.88245851e-01 -1.94137573e-03 -1.19281223e+01] [-1.34284168e-02 -1.12801340e-04 9.99909828e-01 -4.68900365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.06420382199997 meters 0.021508077188628127 Centerline is valid? [True, True] Translation: X:165.44, Y:-11.93, Z:-4.69 [[ 9.87238213e-01 1.58621704e-01 1.41373775e-02 1.65438045e+02] [-1.58608389e-01 9.87339412e-01 -2.06526792e-03 -1.19262925e+01] [-1.42859863e-02 -2.03395255e-04 9.99897929e-01 -4.68925360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.12420382199997 meters 0.025137628658934773 Centerline is valid? [True, True] Translation: X:165.50, Y:-11.93, Z:-4.69 [[ 9.86702002e-01 1.61858053e-01 1.48704577e-02 1.65497301e+02] [-1.61843714e-01 9.86814015e-01 -2.17060023e-03 -1.19250354e+01] [-1.50257052e-02 -2.64954516e-04 9.99887073e-01 -4.68881962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.18420382199997 meters 0.02708485679885487 Centerline is valid? [True, True] Translation: X:165.56, Y:-11.93, Z:-4.69 [[ 9.86316393e-01 1.64182205e-01 1.49725079e-02 1.65556903e+02] [-1.64167953e-01 9.86429983e-01 -2.18444518e-03 -1.19253148e+01] [-1.51279777e-02 -3.03451878e-04 9.99885520e-01 -4.69008261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24420382199997 meters 0.024113494063029234 Centerline is valid? [True, True] Translation: X:165.62, Y:-11.93, Z:-4.69 [[ 9.86753938e-01 1.61489171e-01 1.54244665e-02 1.65615112e+02] [-1.61473728e-01 9.86874447e-01 -2.24960341e-03 -1.19339222e+01] [-1.55852985e-02 -2.70841096e-04 9.99878505e-01 -4.69154880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30420382199998 meters 0.019326989384442172 Centerline is valid? [True, True] Translation: X:165.67, Y:-11.95, Z:-4.70 [[ 9.87543859e-01 1.56716499e-01 1.40380322e-02 1.65673056e+02] [-1.56703236e-01 9.87643613e-01 -2.04667708e-03 -1.19470194e+01] [-1.41853210e-02 -1.78621699e-04 9.99899367e-01 -4.69512549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36420382199998 meters 0.018286880570853935 Centerline is valid? [True, True] Translation: X:165.73, Y:-11.96, Z:-4.70 [[ 9.87752441e-01 1.55418592e-01 1.37904633e-02 1.65731442e+02] [-1.55405670e-01 9.87848691e-01 -2.01027797e-03 -1.19562707e+01] [-1.39353257e-02 -1.57459211e-04 9.99902886e-01 -4.69769245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42420382199998 meters 0.017985950350061237 Centerline is valid? [True, True] Translation: X:165.79, Y:-11.96, Z:-4.70 [[ 9.87929896e-01 1.54436003e-01 1.20016936e-02 1.65789485e+02] [-1.54426141e-01 9.88002786e-01 -1.74971854e-03 -1.19614191e+01] [-1.21279263e-02 -1.24775979e-04 9.99926446e-01 -4.70264363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48420382199996 meters 0.01887949356659677 Centerline is valid? [True, True] Translation: X:165.85, Y:-11.96, Z:-4.71 [[ 9.87903087e-01 1.54637963e-01 1.16013589e-02 1.65847544e+02] [-1.54628777e-01 9.87971196e-01 -1.69005273e-03 -1.19614231e+01] [-1.17231548e-02 -1.24295634e-04 9.99931274e-01 -4.70657310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54420382199996 meters 0.016789997921151725 Centerline is valid? [True, True] Translation: X:165.91, Y:-11.97, Z:-4.71 [[ 9.88179721e-01 1.52912883e-01 1.08852347e-02 1.65905854e+02] [-1.52904700e-01 9.88239668e-01 -1.58499752e-03 -1.19723211e+01] [-1.09995872e-02 -9.81411338e-05 9.99939498e-01 -4.70848043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.60420382199996 meters 0.013764743240308599 Centerline is valid? [True, True] Translation: X:165.96, Y:-11.99, Z:-4.71 [[ 9.89055030e-01 1.47086003e-01 1.16556757e-02 1.65962300e+02] [-1.47076218e-01 9.89123706e-01 -1.69696893e-03 -1.19878400e+01] [-1.17785055e-02 -3.58770414e-05 9.99930630e-01 -4.71016478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.66420382199996 meters 0.011921583953259604 Centerline is valid? [True, True] Translation: X:166.02, Y:-12.00, Z:-4.71 [[ 9.89836274e-01 1.41597012e-01 1.32074822e-02 1.66020498e+02] [-1.41583981e-01 9.89924384e-01 -1.92119653e-03 -1.19999659e+01] [-1.33464444e-02 3.17020930e-05 9.99910932e-01 -4.70547105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.72420382199996 meters 0.012968791693404227 Centerline is valid? [True, True] Translation: X:166.08, Y:-12.01, Z:-4.71 [[ 9.90190323e-01 1.39152830e-01 1.26338801e-02 1.66078111e+02] [-1.39140715e-01 9.90270916e-01 -1.83717547e-03 -1.20121455e+01] [-1.27666121e-02 6.12662575e-05 9.99918502e-01 -4.70882781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.78420382199997 meters 0.015403666305213112 Centerline is valid? [True, True] Translation: X:166.13, Y:-12.03, Z:-4.71 [[ 9.90608615e-01 1.36186870e-01 1.21535292e-02 1.66134160e+02] [-1.36175440e-01 9.90683162e-01 -1.76696511e-03 -1.20269998e+01] [-1.22809342e-02 9.53586706e-05 9.99924582e-01 -4.71310263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.84420382199997 meters 0.01867129383343004 Centerline is valid? [True, True] Translation: X:166.19, Y:-12.03, Z:-4.72 [[ 9.90556152e-01 1.36744057e-01 9.97862176e-03 1.66192285e+02] [-1.36736386e-01 9.90606409e-01 -1.45019918e-03 -1.20326820e+01] [-1.00831928e-02 7.20630465e-05 9.99949161e-01 -4.71819166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.90420382199997 meters 0.015122871759005226 Centerline is valid? [True, True] Translation: X:166.25, Y:-12.04, Z:-4.72 [[ 9.90186146e-01 1.39485666e-01 8.66860144e-03 1.66251120e+02] [-1.39479984e-01 9.90224090e-01 -1.25958448e-03 -1.20355084e+01] [-8.75955195e-03 3.81267131e-05 9.99961634e-01 -4.72288574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96420382199997 meters 0.014453353968218572 Centerline is valid? [True, True] Translation: X:166.31, Y:-12.04, Z:-4.72 [[ 9.89898229e-01 1.41523119e-01 8.52661490e-03 1.66309208e+02] [-1.41517700e-01 9.89934951e-01 -1.23857988e-03 -1.20428643e+01] [-8.61608178e-03 1.94010954e-05 9.99962881e-01 -4.72442241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02420382199998 meters 0.014940007873529254 Centerline is valid? [True, True] Translation: X:166.37, Y:-12.05, Z:-4.73 [[ 9.89712622e-01 1.42781713e-01 9.07238556e-03 1.66367372e+02] [-1.42775634e-01 9.89754203e-01 -1.31756263e-03 -1.20470225e+01] [-9.16755559e-03 8.69276468e-06 9.99957977e-01 -4.72768000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08420382199998 meters 0.013667057197931787 Centerline is valid? [True, True] Translation: X:166.43, Y:-12.05, Z:-4.73 [[ 9.89680385e-01 1.42941004e-01 1.00301812e-02 1.66426292e+02] [-1.42933592e-01 9.89731211e-01 -1.45565905e-03 -1.20529851e+01] [-1.01352567e-02 6.98738837e-06 9.99948637e-01 -4.72566719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14420382199998 meters 0.014430580783247477 Centerline is valid? [True, True] Translation: X:166.48, Y:-12.07, Z:-4.73 [[ 9.90071204e-01 1.40193519e-01 1.02366579e-02 1.66481182e+02] [-1.40185651e-01 9.90124121e-01 -1.48575149e-03 -1.20681013e+01] [-1.03438546e-02 3.59672188e-05 9.99946500e-01 -4.72851624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20420382199995 meters 0.015563919981675752 Centerline is valid? [True, True] Translation: X:166.54, Y:-12.09, Z:-4.73 [[ 9.90709483e-01 1.35595437e-01 1.04210030e-02 1.66538138e+02] [-1.35587044e-01 9.90764286e-01 -1.51097284e-03 -1.20866020e+01] [-1.05296386e-02 8.39821244e-05 9.99944558e-01 -4.72713857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26420382199996 meters 0.017243774014000023 Centerline is valid? [True, True] Translation: X:166.60, Y:-12.10, Z:-4.73 [[ 9.91110338e-01 1.32600926e-01 1.08301167e-02 1.66595699e+02] [-1.32591689e-01 9.91169501e-01 -1.56971104e-03 -1.21021099e+01] [-1.09426265e-02 1.19773377e-04 9.99940120e-01 -4.72751351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.32420382199996 meters 0.018323087020479422 Centerline is valid? [True, True] Translation: X:166.65, Y:-12.12, Z:-4.73 [[ 9.91272449e-01 1.31348532e-01 1.12469950e-02 1.66652044e+02] [-1.31338494e-01 9.91336242e-01 -1.62972343e-03 -1.21197088e+01] [-1.13636156e-02 1.38336549e-04 9.99935422e-01 -4.72907751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.38420382199996 meters 0.01528377017807049 Centerline is valid? [True, True] Translation: X:166.71, Y:-12.13, Z:-4.73 [[ 9.90732228e-01 1.35352889e-01 1.13687628e-02 1.66710219e+02] [-1.35342906e-01 9.90797450e-01 -1.64643145e-03 -1.21280234e+01] [-1.14869905e-02 9.24912941e-05 9.99934018e-01 -4.72935567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.44420382199996 meters 0.012777138040152493 Centerline is valid? [True, True] Translation: X:166.77, Y:-12.13, Z:-4.73 [[ 9.89648061e-01 1.43189520e-01 9.66834428e-03 1.66770293e+02] [-1.43182676e-01 9.89695287e-01 -1.39995259e-03 -1.21265207e+01] [-9.76917330e-03 1.12095209e-06 9.99952280e-01 -4.73167645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.50420382199997 meters 0.015208728411358048 Centerline is valid? [True, True] Translation: X:166.83, Y:-12.13, Z:-4.74 [[ 9.88939742e-01 1.48002597e-01 9.66526128e-03 1.66828396e+02] [-1.47995990e-01 9.88986971e-01 -1.39924114e-03 -1.21292198e+01] [-9.76590880e-03 -4.66547339e-05 9.99952311e-01 -4.73824223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.56420382199997 meters 0.017779836785536348 Centerline is valid? [True, True] Translation: X:166.89, Y:-12.13, Z:-4.74 [[ 9.88170282e-01 1.53102490e-01 8.89498527e-03 1.66886644e+02] [-1.53097105e-01 9.88210311e-01 -1.28727146e-03 -1.21339100e+01] [-8.98720063e-03 -8.97530893e-05 9.99959610e-01 -4.73873670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.62420382199997 meters 0.020999992755987608 Centerline is valid? [True, True] Translation: X:166.94, Y:-12.14, Z:-4.74 [[ 9.87670805e-01 1.56240333e-01 9.76421785e-03 1.66944390e+02] [-1.56234005e-01 9.87719060e-01 -1.41226920e-03 -1.21383795e+01] [-9.86495749e-03 -1.30645802e-04 9.99951332e-01 -4.74068484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.68420382199997 meters 0.021611608292344316 Centerline is valid? [True, True] Translation: X:167.00, Y:-12.14, Z:-4.74 [[ 9.87457837e-01 1.57516180e-01 1.07551811e-02 1.67002003e+02] [-1.57508584e-01 9.87516394e-01 -1.55495682e-03 -1.21447402e+01] [-1.08658485e-02 -1.58579058e-04 9.99940952e-01 -4.74017390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74420382199997 meters 0.02041726938589871 Centerline is valid? [True, True] Translation: X:167.06, Y:-12.15, Z:-4.74 [[ 9.87641946e-01 1.56353083e-01 1.08212948e-02 1.67060060e+02] [-1.56345337e-01 9.87701216e-01 -1.56326876e-03 -1.21525512e+01] [-1.09326279e-02 -1.47909183e-04 9.99940226e-01 -4.74222716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80420382199998 meters 0.015654098478500748 Centerline is valid? [True, True] Translation: X:167.12, Y:-12.17, Z:-4.74 [[ 9.88550447e-01 1.50404132e-01 1.21082788e-02 1.67117560e+02] [-1.50394003e-01 9.88624594e-01 -1.74800109e-03 -1.21666455e+01] [-1.22334488e-02 -9.30252597e-05 9.99925164e-01 -4.74250252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86420382199998 meters 0.012911093502527393 Centerline is valid? [True, True] Translation: X:167.17, Y:-12.18, Z:-4.74 [[ 9.89406133e-01 1.44603893e-01 1.28537178e-02 1.67173893e+02] [-1.44591988e-01 9.89489623e-01 -1.85562484e-03 -1.21843922e+01] [-1.29869510e-02 -2.25780158e-05 9.99915666e-01 -4.74313153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92420382199998 meters 0.012608057076996611 Centerline is valid? [True, True] Translation: X:167.23, Y:-12.20, Z:-4.74 [[ 9.89768585e-01 1.42123287e-01 1.26142889e-02 1.67232256e+02] [-1.42111628e-01 9.89848964e-01 -1.82048776e-03 -1.21950584e+01] [-1.27449745e-02 9.22446137e-06 9.99918779e-01 -4.74347996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98420382199996 meters 0.012530334978904396 Centerline is valid? [True, True] Translation: X:167.29, Y:-12.20, Z:-4.74 [[ 9.89985526e-01 1.40646292e-01 1.21358375e-02 1.67290655e+02] [-1.40635395e-01 9.90059907e-01 -1.75093627e-03 -1.22027072e+01] [-1.22614689e-02 2.66732570e-05 9.99924825e-01 -4.74451562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04420382199996 meters 0.013335632143633085 Centerline is valid? [True, True] Translation: X:167.35, Y:-12.21, Z:-4.75 [[ 9.90228052e-01 1.38803236e-01 1.34932035e-02 1.67347576e+02] [-1.38789603e-01 9.90319978e-01 -1.94616463e-03 -1.22120072e+01] [-1.36327229e-02 5.44304607e-05 9.99907069e-01 -4.74700719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.10420382199996 meters 0.014004212348021183 Centerline is valid? [True, True] Translation: X:167.41, Y:-12.22, Z:-4.75 [[ 9.90665701e-01 1.35615245e-01 1.37831090e-02 1.67405382e+02] [-1.35600727e-01 9.90761573e-01 -1.98681183e-03 -1.22245948e+01] [-1.39252168e-02 9.92667346e-05 9.99903035e-01 -4.74592973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.16420382199996 meters 0.01819871506639212 Centerline is valid? [True, True] Translation: X:167.46, Y:-12.24, Z:-4.75 [[ 9.91377060e-01 1.30170449e-01 1.50724569e-02 1.67461547e+02] [-1.30152471e-01 9.91491612e-01 -2.17177590e-03 -1.22422275e+01] [-1.52269156e-02 1.91331294e-04 9.99884045e-01 -4.74683548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.22420382199996 meters 0.01989313964461045 Centerline is valid? [True, True] Translation: X:167.52, Y:-12.26, Z:-4.75 [[ 9.91722337e-01 1.27767364e-01 1.27399814e-02 1.67520309e+02] [-1.27754337e-01 9.91804146e-01 -1.83450035e-03 -1.22601313e+01] [-1.28699556e-02 1.91727095e-04 9.99917160e-01 -4.75072316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.28420382199997 meters 0.021056486495771673 Centerline is valid? [True, True] Translation: X:167.58, Y:-12.27, Z:-4.75 [[ 9.91723508e-01 1.27772948e-01 1.25919600e-02 1.67577415e+02] [-1.27760215e-01 9.91803427e-01 -1.81378111e-03 -1.22713048e+01] [-1.27205012e-02 1.90017846e-04 9.99919073e-01 -4.75457936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.34420382199997 meters 0.01995001387998571 Centerline is valid? [True, True] Translation: X:167.64, Y:-12.28, Z:-4.76 [[ 9.91518012e-01 1.29445102e-01 1.16618120e-02 1.67636530e+02] [-1.29434304e-01 9.91586578e-01 -1.67922556e-03 -1.22813216e+01] [-1.17810638e-02 1.55543872e-04 9.99930589e-01 -4.75762386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.40420382199997 meters 0.01612710570757791 Centerline is valid? [True, True] Translation: X:167.70, Y:-12.29, Z:-4.76 [[ 9.90877657e-01 1.34190807e-01 1.24216200e-02 1.67695803e+02] [-1.34178932e-01 9.90955507e-01 -1.78828831e-03 -1.22894907e+01] [-1.25492445e-02 1.05255234e-04 9.99921250e-01 -4.75830512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46420382199997 meters 0.013730163661859597 Centerline is valid? [True, True] Translation: X:167.75, Y:-12.30, Z:-4.76 [[ 9.90327237e-01 1.38133466e-01 1.30809076e-02 1.67754137e+02] [-1.38120640e-01 9.90413622e-01 -1.88322324e-03 -1.22972192e+01] [-1.32156452e-02 5.82639397e-05 9.99912668e-01 -4.75954369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52420382199998 meters 0.012380020045282894 Centerline is valid? [True, True] Translation: X:167.81, Y:-12.30, Z:-4.76 [[ 9.89351931e-01 1.45001524e-01 1.25425366e-02 1.67813404e+02] [-1.44990290e-01 9.89431431e-01 -1.80523896e-03 -1.23010187e+01] [-1.26717423e-02 -3.25293632e-05 9.99919710e-01 -4.75825203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58420382199998 meters 0.019344917428657696 Centerline is valid? [True, True] Translation: X:167.87, Y:-12.30, Z:-4.77 [[ 9.88036479e-01 1.53820276e-01 1.11013045e-02 1.67872252e+02] [-1.53812038e-01 9.88098834e-01 -1.59722786e-03 -1.22983509e+01] [-1.12148720e-02 -1.29394875e-04 9.99937103e-01 -4.76543840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64420382199998 meters 0.025367924102583882 Centerline is valid? [True, True] Translation: X:167.93, Y:-12.30, Z:-4.76 [[ 9.86891309e-01 1.60810422e-01 1.36217877e-02 1.67932726e+02] [-1.60798698e-01 9.86985279e-01 -1.95878489e-03 -1.22992809e+01] [-1.37594970e-02 -2.57257948e-04 9.99905301e-01 -4.76280169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70420382199995 meters 0.028849103501038764 Centerline is valid? [True, True] Translation: X:167.99, Y:-12.30, Z:-4.77 [[ 9.86607979e-01 1.62528391e-01 1.37556771e-02 1.67990234e+02] [-1.62516599e-01 9.86703827e-01 -1.97822966e-03 -1.23042682e+01] [-1.38942977e-02 -2.83788697e-04 9.99903429e-01 -4.76572475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76420382199996 meters 0.025402119385881373 Centerline is valid? [True, True] Translation: X:168.05, Y:-12.32, Z:-4.77 [[ 9.86869882e-01 1.60947876e-01 1.35505268e-02 1.68048031e+02] [-1.60936300e-01 9.86962874e-01 -1.94758857e-03 -1.23190352e+01] [-1.36873271e-02 -2.58755143e-04 9.99906291e-01 -4.76611718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.82420382199996 meters 0.0173000441686336 Centerline is valid? [True, True] Translation: X:168.10, Y:-12.34, Z:-4.76 [[ 9.88054505e-01 1.53370484e-01 1.50262858e-02 1.68104963e+02] [-1.53355387e-01 9.88168743e-01 -2.15870782e-03 -1.23446835e+01] [-1.51795880e-02 -1.71440886e-04 9.99884769e-01 -4.76497526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.88420382199996 meters 0.012045938638600654 Centerline is valid? [True, True] Translation: X:168.16, Y:-12.37, Z:-4.77 [[ 9.89481054e-01 1.43877241e-01 1.50526572e-02 1.68160911e+02] [-1.43860994e-01 9.89595543e-01 -2.16230791e-03 -1.23724490e+01] [-1.52071493e-02 -2.59275088e-05 9.99884364e-01 -4.76677235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.94420382199996 meters 0.012120574794735687 Centerline is valid? [True, True] Translation: X:168.22, Y:-12.39, Z:-4.77 [[ 9.90161261e-01 1.39142061e-01 1.48379523e-02 1.68220382e+02] [-1.39125753e-01 9.90272430e-01 -2.13077282e-03 -1.23916866e+01] [-1.49900952e-02 4.54674120e-05 9.99887641e-01 -4.76643623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.00420382199997 meters 0.014036333257814866 Centerline is valid? [True, True] Translation: X:168.28, Y:-12.41, Z:-4.77 [[ 9.90353254e-01 1.37996462e-01 1.25462560e-02 1.68279344e+02] [-1.37984736e-01 9.90432721e-01 -1.79968439e-03 -1.24093594e+01] [-1.26745725e-02 5.11314766e-05 9.99919673e-01 -4.77392755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.06420382199997 meters 0.012508634837003823 Centerline is valid? [True, True] Translation: X:168.34, Y:-12.42, Z:-4.77 [[ 9.89784897e-01 1.41985525e-01 1.28829037e-02 1.68339681e+02] [-1.41973437e-01 9.89868734e-01 -1.85272016e-03 -1.24159874e+01] [-1.30154430e-02 4.76430891e-06 9.99915296e-01 -4.77333492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.12420382199997 meters 0.012455755682671583 Centerline is valid? [True, True] Translation: X:168.40, Y:-12.42, Z:-4.77 [[ 9.89384580e-01 1.44692999e-01 1.34940301e-02 1.68399858e+02] [-1.44679989e-01 9.89476596e-01 -1.94060765e-03 -1.24223471e+01] [-1.36328193e-02 -3.23088315e-05 9.99907068e-01 -4.77328499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.18420382199997 meters 0.013041867048177416 Centerline is valid? [True, True] Translation: X:168.46, Y:-12.43, Z:-4.78 [[ 9.89406692e-01 1.44567219e-01 1.32180449e-02 1.68457664e+02] [-1.44554721e-01 9.89494981e-01 -1.90111004e-03 -1.24343772e+01] [-1.33540273e-02 -2.97597983e-05 9.99910831e-01 -4.77717546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24420382199997 meters 0.013265812392320648 Centerline is valid? [True, True] Translation: X:168.52, Y:-12.45, Z:-4.78 [[ 9.89567211e-01 1.43561225e-01 1.21206192e-02 1.68516356e+02] [-1.43550645e-01 9.89641437e-01 -1.74294352e-03 -1.24490397e+01] [-1.22452861e-02 -1.51629418e-05 9.99925024e-01 -4.78043275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30420382199998 meters 0.013566784125606747 Centerline is valid? [True, True] Translation: X:168.57, Y:-12.46, Z:-4.78 [[ 9.89580896e-01 1.43404128e-01 1.28415812e-02 1.68574932e+02] [-1.43392236e-01 9.89664214e-01 -1.84680686e-03 -1.24615621e+01] [-1.29736930e-02 -1.38182494e-05 9.99915838e-01 -4.78277543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36420382199998 meters 0.013162969523172708 Centerline is valid? [True, True] Translation: X:168.64, Y:-12.47, Z:-4.78 [[ 9.89440293e-01 1.44388981e-01 1.26383925e-02 1.68635889e+02] [-1.44377552e-01 9.89521006e-01 -1.81685991e-03 -1.24704905e+01] [-1.27682894e-02 -2.70257676e-05 9.99918482e-01 -4.78217437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42420382199998 meters 0.014670880787357564 Centerline is valid? [True, True] Translation: X:168.70, Y:-12.48, Z:-4.78 [[ 9.88874876e-01 1.48252528e-01 1.21518927e-02 1.68696219e+02] [-1.48242246e-01 9.88949535e-01 -1.74758981e-03 -1.24763135e+01] [-1.22766932e-02 -7.32762113e-05 9.99924636e-01 -4.78360704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48420382199996 meters 0.017849428195373062 Centerline is valid? [True, True] Translation: X:168.76, Y:-12.48, Z:-4.79 [[ 9.88318580e-01 1.51997111e-01 1.11023385e-02 1.68755229e+02] [-1.51988757e-01 9.88380932e-01 -1.59728845e-03 -1.24780588e+01] [-1.12161229e-02 -1.08800778e-04 9.99937091e-01 -4.78867747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54420382199996 meters 0.01859546421947149 Centerline is valid? [True, True] Translation: X:168.81, Y:-12.49, Z:-4.79 [[ 9.88304764e-01 1.52189526e-01 9.59383284e-03 1.68814326e+02] [-1.52183301e-01 9.88351324e-01 -1.37982077e-03 -1.24859347e+01] [-9.69207165e-03 -9.63377156e-05 9.99953026e-01 -4.79305890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.60420382199996 meters 0.024407468301728366 Centerline is valid? [True, True] Translation: X:168.87, Y:-12.50, Z:-4.79 [[ 9.88484648e-01 1.50968298e-01 1.03282487e-02 1.68873068e+02] [-1.50961021e-01 9.88538600e-01 -1.48514762e-03 -1.24962176e+01] [-1.04340827e-02 -9.11173434e-05 9.99945559e-01 -4.79448369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.66420382199996 meters 0.014626949859261357 Centerline is valid? [True, True] Translation: X:168.93, Y:-12.51, Z:-4.79 [[ 9.88976122e-01 1.47686486e-01 1.07206111e-02 1.68932331e+02] [-1.47678460e-01 9.89034225e-01 -1.54085012e-03 -1.25117130e+01] [-1.08306140e-02 -5.93393545e-05 9.99941345e-01 -4.79316611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.72420382199996 meters 0.014128475734971118 Centerline is valid? [True, True] Translation: X:168.99, Y:-12.53, Z:-4.80 [[ 9.89398187e-01 1.44829734e-01 1.07506264e-02 1.68991029e+02] [-1.44821497e-01 9.89456592e-01 -1.54494257e-03 -1.25273792e+01] [-1.08610317e-02 -2.83584196e-05 9.99941017e-01 -4.79689950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.78420382199997 meters 0.013448015005576523 Centerline is valid? [True, True] Translation: X:169.05, Y:-12.53, Z:-4.80 [[ 9.89500468e-01 1.44123360e-01 1.08296000e-02 1.69051000e+02] [-1.44114954e-01 9.89559729e-01 -1.55664860e-03 -1.25348912e+01] [-1.09408855e-02 -2.04027904e-05 9.99940147e-01 -4.79602272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.84420382199997 meters 0.02617709686255818 Centerline is valid? [True, True] Translation: X:169.11, Y:-12.54, Z:-4.80 [[ 9.89414898e-01 1.44727985e-01 1.05815952e-02 1.69110569e+02] [-1.44719995e-01 9.89471480e-01 -1.52100035e-03 -1.25446258e+01] [-1.06903180e-02 -2.64680002e-05 9.99942857e-01 -4.79854320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.90420382199997 meters 0.014288451047486056 Centerline is valid? [True, True] Translation: X:169.17, Y:-12.55, Z:-4.80 [[ 9.89252007e-01 1.45788944e-01 1.12272143e-02 1.69169908e+02] [-1.45780018e-01 9.89315714e-01 -1.61380175e-03 -1.25535133e+01] [-1.13425340e-02 -4.02468790e-05 9.99935671e-01 -4.79963408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96420382199997 meters 0.014022139158607401 Centerline is valid? [True, True] Translation: X:169.23, Y:-12.57, Z:-4.80 [[ 9.89499116e-01 1.44157585e-01 1.04923766e-02 1.69229494e+02] [-1.44149702e-01 9.89554743e-01 -1.50773178e-03 -1.25690943e+01] [-1.06001320e-02 -2.05736935e-05 9.99943817e-01 -4.80258785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02420382199998 meters 0.013189827440917658 Centerline is valid? [True, True] Translation: X:169.29, Y:-12.58, Z:-4.80 [[ 9.89760851e-01 1.42195881e-01 1.24011579e-02 1.69289868e+02] [-1.42184738e-01 9.89838538e-01 -1.78007705e-03 -1.25848113e+01] [-1.25282637e-02 -1.40481923e-06 9.99921518e-01 -4.80169817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08420382199998 meters 0.012981369772241477 Centerline is valid? [True, True] Translation: X:169.35, Y:-12.60, Z:-4.80 [[ 9.89867550e-01 1.41480987e-01 1.20566928e-02 1.69350757e+02] [-1.41470385e-01 9.89940973e-01 -1.73203067e-03 -1.26009341e+01] [-1.21804636e-02 8.81598086e-06 9.99925815e-01 -4.80149104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14420382199998 meters 0.0135430933027609 Centerline is valid? [True, True] Translation: X:169.41, Y:-12.61, Z:-4.80 [[ 9.89594062e-01 1.43280505e-01 1.32018836e-02 1.69410159e+02] [-1.43267902e-01 9.89682119e-01 -1.90036029e-03 -1.26147716e+01] [-1.33379527e-02 -1.08209169e-05 9.99911045e-01 -4.80437468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20420382199995 meters 0.012575691456113836 Centerline is valid? [True, True] Translation: X:169.47, Y:-12.62, Z:-4.80 [[ 9.89172114e-01 1.46057414e-01 1.43443896e-02 1.69471594e+02] [-1.46042790e-01 9.89276114e-01 -2.06738042e-03 -1.26234305e+01] [-1.44925182e-02 -4.98996150e-05 9.99894977e-01 -4.80043411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26420382199996 meters 0.013290015847075015 Centerline is valid? [True, True] Translation: X:169.53, Y:-12.63, Z:-4.80 [[ 9.88797993e-01 1.48536092e-01 1.46819253e-02 1.69533854e+02] [-1.48521011e-01 9.88906984e-01 -2.11830989e-03 -1.26306244e+01] [-1.48337040e-02 -8.59938272e-05 9.99889971e-01 -4.80148297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.32420382199996 meters 0.01569418521757591 Centerline is valid? [True, True] Translation: X:169.59, Y:-12.64, Z:-4.81 [[ 9.88355515e-01 1.51529915e-01 1.38586120e-02 1.69593584e+02] [-1.51516702e-01 9.88452665e-01 -2.00453843e-03 -1.26404352e+01] [-1.40023295e-02 -1.18614573e-04 9.99901956e-01 -4.80654053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.38420382199996 meters 0.01741006500540569 Centerline is valid? [True, True] Translation: X:169.65, Y:-12.65, Z:-4.81 [[ 9.88015606e-01 1.53789551e-01 1.31884596e-02 1.69654368e+02] [-1.53777813e-01 9.88103614e-01 -1.90564016e-03 -1.26541192e+01] [-1.33246322e-02 -1.45290263e-04 9.99911213e-01 -4.80900055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.44420382199996 meters 0.019609690496513798 Centerline is valid? [True, True] Translation: X:169.71, Y:-12.66, Z:-4.81 [[ 9.87640185e-01 1.56164810e-01 1.33946668e-02 1.69714849e+02] [-1.56152886e-01 9.87730996e-01 -1.93800146e-03 -1.26606812e+01] [-1.35329752e-02 -1.77567746e-04 9.99908409e-01 -4.81037066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.50420382199997 meters 0.023175670969390973 Centerline is valid? [True, True] Translation: X:169.78, Y:-12.66, Z:-4.81 [[ 9.86922411e-01 1.60597086e-01 1.38827364e-02 1.69776898e+02] [-1.60584654e-01 9.87020018e-01 -2.01291818e-03 -1.26608073e+01] [-1.40258076e-02 -2.42760373e-04 9.99901604e-01 -4.81098900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.56420382199997 meters 0.028250835379549418 Centerline is valid? [True, True] Translation: X:169.84, Y:-12.66, Z:-4.81 [[ 9.86210837e-01 1.64796844e-01 1.51718410e-02 1.69836940e+02] [-1.64782478e-01 9.86327477e-01 -2.20075057e-03 -1.26619821e+01] [-1.53270804e-02 -3.29649499e-04 9.99882479e-01 -4.81152432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.62420382199997 meters 0.028891656987251463 Centerline is valid? [True, True] Translation: X:169.90, Y:-12.66, Z:-4.82 [[ 9.86210369e-01 1.64847201e-01 1.46461176e-02 1.69897825e+02] [-1.64833824e-01 9.86319065e-01 -2.12416041e-03 -1.26643715e+01] [-1.47959069e-02 -3.19306550e-04 9.99890484e-01 -4.81568949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.68420382199997 meters 0.02134912770688057 Centerline is valid? [True, True] Translation: X:169.96, Y:-12.68, Z:-4.82 [[ 9.87131139e-01 1.59351043e-01 1.33925387e-02 1.69958011e+02] [-1.59339359e-01 9.87221960e-01 -1.94178255e-03 -1.26785347e+01] [-1.35308334e-02 -2.17164516e-04 9.99908430e-01 -4.81763135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74420382199997 meters 0.017469537154685834 Centerline is valid? [True, True] Translation: X:170.02, Y:-12.69, Z:-4.82 [[ 9.87930608e-01 1.54267898e-01 1.39473572e-02 1.70016982e+02] [-1.54254719e-01 9.88029044e-01 -2.02224780e-03 -1.26925261e+01] [-1.40923619e-02 -1.53605164e-04 9.99900686e-01 -4.81957382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80420382199998 meters 0.014400398975049867 Centerline is valid? [True, True] Translation: X:170.08, Y:-12.71, Z:-4.82 [[ 9.88612291e-01 1.49868786e-01 1.36045892e-02 1.70077606e+02] [-1.49855837e-01 9.88705891e-01 -1.97205984e-03 -1.27065061e+01] [-1.37464877e-02 -8.91245052e-05 9.99905509e-01 -4.82207464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86420382199998 meters 0.014019829510848786 Centerline is valid? [True, True] Translation: X:170.14, Y:-12.71, Z:-4.82 [[ 9.88505188e-01 1.50533686e-01 1.40392978e-02 1.70140123e+02] [-1.50519929e-01 9.88604875e-01 -2.03752180e-03 -1.27095675e+01] [-1.41860339e-02 -9.90932358e-05 9.99899368e-01 -4.82135013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92420382199998 meters 0.015440832403502441 Centerline is valid? [True, True] Translation: X:170.20, Y:-12.71, Z:-4.82 [[ 9.88182674e-01 1.52682238e-01 1.35328316e-02 1.70202556e+02] [-1.52669627e-01 9.88275326e-01 -1.96622020e-03 -1.27122414e+01] [-1.36743705e-02 -1.23067618e-04 9.99906494e-01 -4.82422109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98420382199996 meters 0.019354899533685625 Centerline is valid? [True, True] Translation: X:170.26, Y:-12.71, Z:-4.83 [[ 9.87677626e-01 1.56059741e-01 1.17586013e-02 1.70262313e+02] [-1.56050413e-01 9.87747608e-01 -1.71225907e-03 -1.27109274e+01] [-1.18817450e-02 -1.43774621e-04 9.99929399e-01 -4.83020820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04420382199996 meters 0.020754813468900225 Centerline is valid? [True, True] Translation: X:170.32, Y:-12.71, Z:-4.83 [[ 9.87402259e-01 1.57765772e-01 1.21136624e-02 1.70322925e+02] [-1.57755985e-01 9.87476548e-01 -1.76527826e-03 -1.27087133e+01] [-1.22404580e-02 -1.67963003e-04 9.99925069e-01 -4.83171923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.10420382199996 meters 0.01920888333129203 Centerline is valid? [True, True] Translation: X:170.38, Y:-12.71, Z:-4.83 [[ 9.87475407e-01 1.57244880e-01 1.28983918e-02 1.70382348e+02] [-1.57233744e-01 9.87559628e-01 -1.87928916e-03 -1.27128191e+01] [-1.30334396e-02 -1.72310601e-04 9.99915046e-01 -4.83065141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.16420382199996 meters 0.019280029944869333 Centerline is valid? [True, True] Translation: X:170.44, Y:-12.72, Z:-4.84 [[ 9.87713821e-01 1.55822536e-01 1.18636432e-02 1.70440101e+02] [-1.55813012e-01 9.87785056e-01 -1.72849270e-03 -1.27196961e+01] [-1.19880676e-02 -1.41253856e-04 9.99928131e-01 -4.83639968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.22420382199996 meters 0.016959444653930948 Centerline is valid? [True, True] Translation: X:170.50, Y:-12.73, Z:-4.84 [[ 9.88119802e-01 1.53219610e-01 1.19586163e-02 1.70499328e+02] [-1.53209752e-01 9.88192157e-01 -1.74167047e-03 -1.27276497e+01] [-1.20842689e-02 -1.11197542e-04 9.99926976e-01 -4.83708631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.28420382199997 meters 0.014531298699794663 Centerline is valid? [True, True] Translation: X:170.56, Y:-12.74, Z:-4.84 [[ 9.88485048e-01 1.50793738e-01 1.25919835e-02 1.70557890e+02] [-1.50782614e-01 9.88565244e-01 -1.83358749e-03 -1.27371105e+01] [-1.27244908e-02 -8.61783738e-05 9.99919037e-01 -4.83578865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.34420382199997 meters 0.014456829706014062 Centerline is valid? [True, True] Translation: X:170.62, Y:-12.74, Z:-4.84 [[ 9.88681478e-01 1.49480215e-01 1.28296968e-02 1.70617282e+02] [-1.49468564e-01 9.88764714e-01 -1.86766193e-03 -1.27446425e+01] [-1.29647300e-02 -7.11136043e-05 9.99915952e-01 -4.83975674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.40420382199997 meters 0.014122411106688135 Centerline is valid? [True, True] Translation: X:170.68, Y:-12.75, Z:-4.84 [[ 9.88683425e-01 1.49405575e-01 1.35299447e-02 1.70676379e+02] [-1.49392611e-01 9.88775995e-01 -1.96958909e-03 -1.27538777e+01] [-1.36723521e-02 -7.39736654e-05 9.99906526e-01 -4.84035542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46420382199997 meters 0.013956508315575145 Centerline is valid? [True, True] Translation: X:170.74, Y:-12.76, Z:-4.84 [[ 9.88748175e-01 1.48942882e-01 1.38947349e-02 1.70735102e+02] [-1.48929169e-01 9.88845798e-01 -2.02233219e-03 -1.27615804e+01] [-1.40409622e-02 -6.97540585e-05 9.99901418e-01 -4.84221928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52420382199998 meters 0.013226271028474724 Centerline is valid? [True, True] Translation: X:170.79, Y:-12.77, Z:-4.84 [[ 9.89101712e-01 1.46576449e-01 1.38978053e-02 1.70793762e+02] [-1.46562502e-01 9.89199345e-01 -2.02226565e-03 -1.27745504e+01] [-1.40441165e-02 -3.66707151e-05 9.99901376e-01 -4.84424541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58420382199998 meters 0.012122609522873402 Centerline is valid? [True, True] Translation: X:170.85, Y:-12.79, Z:-4.84 [[ 9.89366573e-01 1.44604278e-01 1.56008360e-02 1.70853294e+02] [-1.44586468e-01 9.89489567e-01 -2.26953611e-03 -1.27898554e+01] [-1.57650491e-02 -1.02666086e-05 9.99875724e-01 -4.84284523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64420382199998 meters 0.0123874093800447 Centerline is valid? [True, True] Translation: X:170.91, Y:-12.80, Z:-4.85 [[ 9.89307733e-01 1.45032988e-01 1.53506375e-02 1.70913935e+02] [-1.45015795e-01 9.89426820e-01 -2.23315783e-03 -1.28013321e+01] [-1.55122140e-02 -1.68045979e-05 9.99879678e-01 -4.84522271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70420382199995 meters 0.013164068097910639 Centerline is valid? [True, True] Translation: X:170.97, Y:-12.81, Z:-4.85 [[ 9.88861790e-01 1.47965434e-01 1.60807349e-02 1.70972979e+02] [-1.47946941e-01 9.88992531e-01 -2.34021471e-03 -1.28082641e+01] [-1.62499976e-02 -6.49466198e-05 9.99867958e-01 -4.84636111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76420382199996 meters 0.01629577062623668 Centerline is valid? [True, True] Translation: X:171.03, Y:-12.81, Z:-4.85 [[ 9.88054128e-01 1.53359477e-01 1.51628399e-02 1.71033787e+02] [-1.53343674e-01 9.88170456e-01 -2.20632275e-03 -1.28099802e+01] [-1.53218310e-02 -1.45159286e-04 9.99882603e-01 -4.84713990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.82420382199996 meters 0.02396377724972943 Centerline is valid? [True, True] Translation: X:171.10, Y:-12.80, Z:-4.85 [[ 9.86725329e-01 1.61672233e-01 1.53366671e-02 1.71095400e+02] [-1.61657065e-01 9.86844472e-01 -2.23178635e-03 -1.28039304e+01] [-1.54957230e-02 -2.77120464e-04 9.99879896e-01 -4.84912421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.88420382199996 meters 0.032436535616669156 Centerline is valid? [True, True] Translation: X:171.16, Y:-12.80, Z:-4.85 [[ 9.85429530e-01 1.69329911e-01 1.60007011e-02 1.71157141e+02] [-1.69314414e-01 9.85559338e-01 -2.32814342e-03 -1.27960830e+01] [-1.61638647e-02 -4.14928050e-04 9.99869270e-01 -4.85033494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.94420382199996 meters 0.03233872323365304 Centerline is valid? [True, True] Translation: X:171.22, Y:-12.80, Z:-4.85 [[ 9.85014420e-01 1.71830890e-01 1.48572797e-02 1.71216167e+02] [-1.71817808e-01 9.85126371e-01 -2.16206274e-03 -1.28002762e+01] [-1.50078072e-02 -4.23082261e-04 9.99887287e-01 -4.85315473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.00420382199997 meters 0.03529109212931936 Centerline is valid? [True, True] Translation: X:171.27, Y:-12.80, Z:-4.86 [[ 9.85405663e-01 1.69686030e-01 1.35029964e-02 1.71274763e+02] [-1.69675024e-01 9.85498110e-01 -1.96494702e-03 -1.27992190e+01] [-1.36406015e-02 -3.54851324e-04 9.99906900e-01 -4.86081017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.06420382199997 meters 0.022076461670608786 Centerline is valid? [True, True] Translation: X:171.33, Y:-12.83, Z:-4.86 [[ 9.87189329e-01 1.58918473e-01 1.42178363e-02 1.71331756e+02] [-1.58905174e-01 9.87291685e-01 -2.06747732e-03 -1.28263911e+01] [-1.43657119e-02 -2.18296202e-04 9.99896784e-01 -4.85976497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.12420382199997 meters 0.018218997376653875 Centerline is valid? [True, True] Translation: X:171.39, Y:-12.84, Z:-4.86 [[ 9.87904925e-01 1.54400458e-01 1.42953420e-02 1.71389189e+02] [-1.54386546e-01 9.88008337e-01 -2.07833536e-03 -1.28409584e+01] [-1.44448130e-02 -1.53810732e-04 9.99895656e-01 -4.86193173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.18420382199997 meters 0.012225409059172528 Centerline is valid? [True, True] Translation: X:171.45, Y:-12.86, Z:-4.86 [[ 9.89437385e-01 1.44186762e-01 1.49612316e-02 1.71447623e+02] [-1.44170368e-01 9.89550493e-01 -2.17427464e-03 -1.28636845e+01] [-1.51183957e-02 -5.65764698e-06 9.99885711e-01 -4.86274852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24420382199997 meters 0.012418770617522576 Centerline is valid? [True, True] Translation: X:171.51, Y:-12.88, Z:-4.86 [[ 9.89870219e-01 1.41141239e-01 1.53655468e-02 1.71508016e+02] [-1.41123579e-01 9.89989469e-01 -2.23306293e-03 -1.28770122e+01] [-1.55269068e-02 4.20015358e-05 9.99879449e-01 -4.86324087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30420382199998 meters 0.012427675286853929 Centerline is valid? [True, True] Translation: X:171.57, Y:-12.89, Z:-4.87 [[ 9.89815746e-01 1.41560690e-01 1.50120234e-02 1.71568988e+02] [-1.41543876e-01 9.89929578e-01 -2.18203262e-03 -1.28854181e+01] [-1.51697360e-02 3.49502652e-05 9.99884932e-01 -4.86585870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36420382199998 meters 0.011824395406411605 Centerline is valid? [True, True] Translation: X:171.63, Y:-12.89, Z:-4.87 [[ 9.89401610e-01 1.44464688e-01 1.46426980e-02 1.71629132e+02] [-1.44449000e-01 9.89509956e-01 -2.12902407e-03 -1.28907919e+01] [-1.47966643e-02 -8.66323049e-06 9.99890523e-01 -4.86654178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42420382199998 meters 0.012387181335098639 Centerline is valid? [True, True] Translation: X:171.69, Y:-12.90, Z:-4.87 [[ 9.89303155e-01 1.45163842e-01 1.43779536e-02 1.71687525e+02] [-1.45148792e-01 9.89407630e-01 -2.09037598e-03 -1.29000186e+01] [-1.45291040e-02 -1.89270484e-05 9.99894447e-01 -4.87074806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48420382199996 meters 0.011626034411812865 Centerline is valid? [True, True] Translation: X:171.75, Y:-12.91, Z:-4.87 [[ 9.89335221e-01 1.44839556e-01 1.54053309e-02 1.71746973e+02] [-1.44822233e-01 9.89455155e-01 -2.24007619e-03 -1.29126618e+01] [-1.55673357e-02 -1.48481561e-05 9.99878822e-01 -4.86963132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54420382199996 meters 0.012096721830458675 Centerline is valid? [True, True] Translation: X:171.81, Y:-12.93, Z:-4.87 [[ 9.89126996e-01 1.46216887e-01 1.57609599e-02 1.71805617e+02] [-1.46198933e-01 9.89252556e-01 -2.29162719e-03 -1.29253720e+01] [-1.59266445e-02 -3.75252106e-05 9.99873162e-01 -4.87260803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.60420382199996 meters 0.01382921565177568 Centerline is valid? [True, True] Translation: X:171.87, Y:-12.93, Z:-4.87 [[ 9.88442711e-01 1.50801178e-01 1.54922883e-02 1.71865879e+02] [-1.50784387e-01 9.88564107e-01 -2.25291318e-03 -1.29299828e+01] [-1.56548621e-02 -1.09119575e-04 9.99877449e-01 -4.87304307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.66420382199996 meters 0.016020001728045335 Centerline is valid? [True, True] Translation: X:171.93, Y:-12.94, Z:-4.87 [[ 9.87904970e-01 1.54165687e-01 1.66346134e-02 1.71925951e+02] [-1.54146805e-01 9.88044994e-01 -2.41903193e-03 -1.29359331e+01] [-1.68086783e-02 -1.74398855e-04 9.99858709e-01 -4.87283344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.72420382199996 meters 0.02126164609874356 Centerline is valid? [True, True] Translation: X:171.99, Y:-12.94, Z:-4.87 [[ 9.86955409e-01 1.60051804e-01 1.73907930e-02 1.71985418e+02] [-1.60032073e-01 9.87108574e-01 -2.52941469e-03 -1.29395518e+01] [-1.75714383e-02 -2.86665144e-04 9.99845569e-01 -4.87353295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.78420382199997 meters 0.030960576285073992 Centerline is valid? [True, True] Translation: X:172.05, Y:-12.93, Z:-4.87 [[ 9.85532496e-01 1.68405182e-01 1.91152571e-02 1.72045903e+02] [-1.68382929e-01 9.85717741e-01 -2.77929666e-03 -1.29339354e+01] [-1.93102960e-02 -4.79595812e-04 9.99813424e-01 -4.87343174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.84420382199997 meters 0.03878416987305675 Centerline is valid? [True, True] Translation: X:172.11, Y:-12.93, Z:-4.88 [[ 9.84370361e-01 1.75355820e-01 1.62889050e-02 1.72108163e+02] [-1.75340621e-01 9.84504982e-01 -2.36775331e-03 -1.29260281e+01] [-1.64517074e-02 -5.25360523e-04 9.99864523e-01 -4.88037582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.90420382199997 meters 0.04244348517599229 Centerline is valid? [True, True] Translation: X:172.17, Y:-12.93, Z:-4.89 [[ 9.83914854e-01 1.78084890e-01 1.40474586e-02 1.72168833e+02] [-1.78073861e-01 9.84015005e-01 -2.04212380e-03 -1.29252230e+01] [-1.41865814e-02 -4.92209247e-04 9.99899244e-01 -4.88698207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96420382199997 meters 0.042263366908171306 Centerline is valid? [True, True] Translation: X:172.23, Y:-12.93, Z:-4.89 [[ 9.84021503e-01 1.77611235e-01 1.24872074e-02 1.72227240e+02] [-1.77602476e-01 9.84100637e-01 -1.81576863e-03 -1.29281621e+01] [-1.26111697e-02 -4.31003582e-04 9.99920383e-01 -4.89270021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02420382199998 meters 0.03346078732925925 Centerline is valid? [True, True] Translation: X:172.29, Y:-12.94, Z:-4.89 [[ 9.85252296e-01 1.70420211e-01 1.53253078e-02 1.72286117e+02] [-1.70406172e-01 9.85371391e-01 -2.22690029e-03 -1.29423181e+01] [-1.54806286e-02 -4.17468411e-04 9.99880081e-01 -4.88851592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08420382199998 meters 0.023384968946722456 Centerline is valid? [True, True] Translation: X:172.34, Y:-12.96, Z:-4.89 [[ 9.87016687e-01 1.59675577e-01 1.73715235e-02 1.72343726e+02] [-1.59655871e-01 9.87169504e-01 -2.52433074e-03 -1.29565478e+01] [-1.75517122e-02 -2.81909149e-04 9.99845917e-01 -4.88803688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14420382199998 meters 0.014702106201885843 Centerline is valid? [True, True] Translation: X:172.40, Y:-12.98, Z:-4.89 [[ 9.88209396e-01 1.52040156e-01 1.80549395e-02 1.72401003e+02] [-1.52017606e-01 9.88374305e-01 -2.62295426e-03 -1.29769007e+01] [-1.82438327e-02 -1.52640633e-04 9.99833556e-01 -4.88760091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20420382199995 meters 0.012059186426340095 Centerline is valid? [True, True] Translation: X:172.46, Y:-13.00, Z:-4.89 [[ 9.90015087e-01 1.39738219e-01 1.85299349e-02 1.72458427e+02] [-1.39712339e-01 9.90188479e-01 -2.69027789e-03 -1.30044886e+01] [-1.87240627e-02 7.45551447e-05 9.99824687e-01 -4.89012497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26420382199996 meters 0.02197157962518838 Centerline is valid? [True, True] Translation: X:172.52, Y:-13.03, Z:-4.89 [[ 9.91509445e-01 1.28879388e-01 1.72952026e-02 1.72515762e+02] [-1.28855146e-01 9.91660241e-01 -2.51344773e-03 -1.30333844e+01] [-1.74748964e-02 2.63531305e-04 9.99847268e-01 -4.89450848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.32420382199996 meters 0.026275054470880195 Centerline is valid? [True, True] Translation: X:172.58, Y:-13.05, Z:-4.90 [[ 9.92117495e-01 1.24139545e-01 1.70953018e-02 1.72575326e+02] [-1.24115155e-01 9.92264710e-01 -2.48445273e-03 -1.30514765e+01] [-1.72714836e-02 3.43082972e-04 9.99850778e-01 -4.89527929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.38420382199996 meters 0.022858419096168557 Centerline is valid? [True, True] Translation: X:172.64, Y:-13.06, Z:-4.90 [[ 9.91900368e-01 1.26051231e-01 1.56444059e-02 1.72636895e+02] [-1.26031070e-01 9.92023693e-01 -2.27195837e-03 -1.30584452e+01] [-1.58060045e-02 2.81875133e-04 9.99875038e-01 -4.89735981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.44420382199996 meters 0.01631062983628137 Centerline is valid? [True, True] Translation: X:172.70, Y:-13.06, Z:-4.90 [[ 9.90765721e-01 1.34596221e-01 1.63445390e-02 1.72697570e+02] [-1.34575291e-01 9.90900516e-01 -2.37881389e-03 -1.30583173e+01] [-1.65159915e-02 1.57276172e-04 9.99863589e-01 -4.89973149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.50420382199997 meters 0.010859284977078474 Centerline is valid? [True, True] Translation: X:172.76, Y:-13.05, Z:-4.90 [[ 9.89375322e-01 1.44299797e-01 1.77211752e-02 1.72759827e+02] [-1.44276748e-01 9.89534016e-01 -2.57903916e-03 -1.30546271e+01] [-1.79078605e-02 -5.11582692e-06 9.99839641e-01 -4.89842087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.56420382199997 meters 0.012508920541904694 Centerline is valid? [True, True] Translation: X:172.82, Y:-13.06, Z:-4.90 [[ 9.88583378e-01 1.49663232e-01 1.74305117e-02 1.72820151e+02] [-1.49641757e-01 9.88737026e-01 -2.53721951e-03 -1.30564165e+01] [-1.76139207e-02 -1.00079364e-04 9.99844858e-01 -4.90014490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.62420382199997 meters 0.018776675946851965 Centerline is valid? [True, True] Translation: X:172.88, Y:-13.06, Z:-4.90 [[ 9.87476732e-01 1.56788804e-01 1.75206939e-02 1.72878616e+02] [-1.56768224e-01 9.87632127e-01 -2.55053863e-03 -1.30585420e+01] [-1.77038961e-02 -2.28090518e-04 9.99843248e-01 -4.90387442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.68420382199997 meters 0.022210116927924246 Centerline is valid? [True, True] Translation: X:172.94, Y:-13.06, Z:-4.90 [[ 9.86952114e-01 1.60042679e-01 1.76597017e-02 1.72938166e+02] [-1.60022312e-01 9.87110053e-01 -2.56961230e-03 -1.30616713e+01] [-1.78433167e-02 -2.89862006e-04 9.99840753e-01 -4.90485191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74420382199997 meters 0.028347387648511465 Centerline is valid? [True, True] Translation: X:173.00, Y:-13.06, Z:-4.91 [[ 9.85945694e-01 1.66264780e-01 1.63435370e-02 1.72998628e+02] [-1.66248197e-01 9.86081074e-01 -2.37761565e-03 -1.30613418e+01] [-1.65113663e-02 -3.72883648e-04 9.99863609e-01 -4.90854807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80420382199998 meters 0.029741677268152737 Centerline is valid? [True, True] Translation: X:173.06, Y:-13.07, Z:-4.91 [[ 9.85340632e-01 1.69846972e-01 1.59951657e-02 1.73057992e+02] [-1.69831557e-01 9.85470358e-01 -2.32707536e-03 -1.30659569e+01] [-1.61580084e-02 -4.23521992e-04 9.99869361e-01 -4.90887002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86420382199998 meters 0.03641685407203922 Centerline is valid? [True, True] Translation: X:173.12, Y:-13.06, Z:-4.91 [[ 9.84744661e-01 1.73177098e-01 1.69601206e-02 1.73117706e+02] [-1.73160271e-01 9.84890570e-01 -2.46689531e-03 -1.30604462e+01] [-1.71310726e-02 -5.07557089e-04 9.99853124e-01 -4.91061019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92420382199995 meters 0.03584732936401103 Centerline is valid? [True, True] Translation: X:173.18, Y:-13.06, Z:-4.91 [[ 9.84811408e-01 1.72889676e-01 1.59891087e-02 1.73176861e+02] [-1.72874694e-01 9.84941082e-01 -2.32492346e-03 -1.30629174e+01] [-1.61502853e-02 -4.74501129e-04 9.99869463e-01 -4.91378766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98420382199996 meters 0.03285397561924061 Centerline is valid? [True, True] Translation: X:173.23, Y:-13.07, Z:-4.91 [[ 9.84913866e-01 1.72308159e-01 1.59554248e-02 1.73234576e+02] [-1.72293176e-01 9.85042985e-01 -2.31928705e-03 -1.30727049e+01] [-1.61164113e-02 -4.64712839e-04 9.99870014e-01 -4.91458234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04420382199996 meters 0.03242232667694583 Centerline is valid? [True, True] Translation: X:173.29, Y:-13.07, Z:-4.92 [[ 9.85459629e-01 1.69064262e-01 1.69290967e-02 1.73293982e+02] [-1.69046937e-01 9.85604933e-01 -2.45959051e-03 -1.30747074e+01] [-1.71012301e-02 -4.37984786e-04 9.99853667e-01 -4.91688491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.10420382199996 meters 0.027141430360880094 Centerline is valid? [True, True] Translation: X:173.35, Y:-13.08, Z:-4.92 [[ 9.86318265e-01 1.64028199e-01 1.64629672e-02 1.73353373e+02] [-1.64011122e-01 9.86455591e-01 -2.39132007e-03 -1.30822957e+01] [-1.66322299e-02 -3.41507059e-04 9.99861617e-01 -4.91945458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.16420382199996 meters 0.021935850504570736 Centerline is valid? [True, True] Translation: X:173.41, Y:-13.09, Z:-4.92 [[ 9.87017720e-01 1.59574928e-01 1.82171251e-02 1.73412127e+02] [-1.59553262e-01 9.87185775e-01 -2.64599269e-03 -1.30927111e+01] [-1.84059208e-02 -2.94960066e-04 9.99830553e-01 -4.91832923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.22420382199996 meters 0.01387944245123328 Centerline is valid? [True, True] Translation: X:173.47, Y:-13.11, Z:-4.92 [[ 9.88199056e-01 1.52034490e-01 1.86585072e-02 1.73470116e+02] [-1.52010425e-01 9.88375176e-01 -2.70965251e-03 -1.31095507e+01] [-1.88535659e-02 -1.58611539e-04 9.99822243e-01 -4.91751988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.28420382199997 meters 0.01071388055838533 Centerline is valid? [True, True] Translation: X:173.53, Y:-13.12, Z:-4.92 [[ 9.89102370e-01 1.46082054e-01 1.83449007e-02 1.73528179e+02] [-1.46057775e-01 9.89272476e-01 -2.66366372e-03 -1.31216070e+01] [-1.85372188e-02 -4.47792706e-05 9.99828170e-01 -4.92001008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.34420382199997 meters 0.011271500306471992 Centerline is valid? [True, True] Translation: X:173.59, Y:-13.13, Z:-4.93 [[ 9.89481715e-01 1.43586896e-01 1.75709938e-02 1.73586015e+02] [-1.43564233e-01 9.89637713e-01 -2.55101167e-03 -1.31333350e+01] [-1.77552099e-02 1.61315807e-06 9.99842364e-01 -4.92624991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.40420382199997 meters 0.011168766202084759 Centerline is valid? [True, True] Translation: X:173.65, Y:-13.14, Z:-4.93 [[ 9.89608676e-01 1.42915899e-01 1.58023197e-02 1.73645131e+02] [-1.42897494e-01 9.89734836e-01 -2.29358645e-03 -1.31422948e+01] [-1.59678963e-02 1.16411614e-05 9.99872505e-01 -4.92800992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46420382199997 meters 0.011889807023107933 Centerline is valid? [True, True] Translation: X:173.70, Y:-13.14, Z:-4.93 [[ 9.89016003e-01 1.46836606e-01 1.69220687e-02 1.73703849e+02] [-1.46816074e-01 9.89160759e-01 -2.45606628e-03 -1.31417443e+01] [-1.70992868e-02 -5.53428421e-05 9.99853795e-01 -4.92896352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52420382199998 meters 0.014834818444766586 Centerline is valid? [True, True] Translation: X:173.76, Y:-13.14, Z:-4.93 [[ 9.88328750e-01 1.51438018e-01 1.65169294e-02 1.73762570e+02] [-1.51419117e-01 9.88466747e-01 -2.39626359e-03 -1.31433850e+01] [-1.66893209e-02 -1.32682663e-04 9.99860715e-01 -4.93204536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58420382199998 meters 0.017245600895038828 Centerline is valid? [True, True] Translation: X:173.82, Y:-13.15, Z:-4.93 [[ 9.87904523e-01 1.54127337e-01 1.70122591e-02 1.73820331e+02] [-1.54107702e-01 9.88050975e-01 -2.46703123e-03 -1.31472230e+01] [-1.71892162e-02 -1.84528850e-04 9.99852237e-01 -4.93341503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64420382199998 meters 0.01997581642895798 Centerline is valid? [True, True] Translation: X:173.88, Y:-13.15, Z:-4.93 [[ 9.87290905e-01 1.58162401e-01 1.55345926e-02 1.73880105e+02] [-1.58146545e-01 9.87413085e-01 -2.25166778e-03 -1.31467006e+01] [-1.56951892e-02 -2.33691021e-04 9.99876796e-01 -4.93488573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70420382199995 meters 0.02332169138239023 Centerline is valid? [True, True] Translation: X:173.94, Y:-13.15, Z:-4.94 [[ 9.86938745e-01 1.60260606e-01 1.63844824e-02 1.73938171e+02] [-1.60243261e-01 9.87074698e-01 -2.37455242e-03 -1.31454025e+01] [-1.65532552e-02 -2.81965101e-04 9.99862946e-01 -4.93781819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76420382199996 meters 0.022538663609614682 Centerline is valid? [True, True] Translation: X:174.00, Y:-13.15, Z:-4.94 [[ 9.87142318e-01 1.59043640e-01 1.59738858e-02 1.73996568e+02] [-1.59027015e-01 9.87271520e-01 -2.31374246e-03 -1.31533517e+01] [-1.61385486e-02 -2.56286301e-04 9.99869732e-01 -4.94055057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.82420382199996 meters 0.026272862546806566 Centerline is valid? [True, True] Translation: X:174.05, Y:-13.17, Z:-4.94 [[ 9.87710680e-01 1.55533075e-01 1.53972398e-02 1.74054340e+02] [-1.55517213e-01 9.87830667e-01 -2.22953351e-03 -1.31666286e+01] [-1.55566319e-02 -1.92401771e-04 9.99878970e-01 -4.94426218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.88420382199996 meters 0.016124822775735438 Centerline is valid? [True, True] Translation: X:174.11, Y:-13.18, Z:-4.94 [[ 9.88206326e-01 1.52274504e-01 1.61472441e-02 1.74111840e+02] [-1.52256638e-01 9.88338228e-01 -2.33728556e-03 -1.31782601e+01] [-1.63148476e-02 -1.48804720e-04 9.99866893e-01 -4.94427059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.94420382199996 meters 0.020092341558557106 Centerline is valid? [True, True] Translation: X:174.17, Y:-13.20, Z:-4.94 [[ 9.88842079e-01 1.48038601e-01 1.66107118e-02 1.74168857e+02] [-1.48019110e-01 9.88981580e-01 -2.40357351e-03 -1.31955986e+01] [-1.67835096e-02 -8.19481339e-05 9.99859144e-01 -4.94358338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.00420382199997 meters 0.012727267881909931 Centerline is valid? [True, True] Translation: X:174.23, Y:-13.20, Z:-4.94 [[ 9.88783656e-01 1.48435150e-01 1.65495769e-02 1.74226453e+02] [-1.48415869e-01 9.88922140e-01 -2.39404250e-03 -1.32022743e+01] [-1.67216031e-02 -8.90297481e-05 9.99860180e-01 -4.94490671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.06420382199997 meters 0.013497710866540984 Centerline is valid? [True, True] Translation: X:174.29, Y:-13.21, Z:-4.95 [[ 9.88527167e-01 1.50124993e-01 1.66291153e-02 1.74285009e+02] [-1.50105785e-01 9.88667018e-01 -2.40436924e-03 -1.32077037e+01] [-1.68016137e-02 -1.19342090e-04 9.99858836e-01 -4.94527495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.12420382199997 meters 0.015648475576510976 Centerline is valid? [True, True] Translation: X:174.34, Y:-13.21, Z:-4.95 [[ 9.88195701e-01 1.52417122e-01 1.54362584e-02 1.74343776e+02] [-1.52400859e-01 9.88316244e-01 -2.23138670e-03 -1.32089640e+01] [-1.55960065e-02 -1.47452293e-04 9.99878364e-01 -4.94880577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.18420382199997 meters 0.01568418378219252 Centerline is valid? [True, True] Translation: X:174.40, Y:-13.22, Z:-4.95 [[ 9.88246638e-01 1.52145522e-01 1.48433041e-02 1.74401593e+02] [-1.52130469e-01 9.88358094e-01 -2.14464156e-03 -1.32174925e+01] [-1.49967974e-02 -1.38684008e-04 9.99887532e-01 -4.95187143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24420382199997 meters 0.01429283916124327 Centerline is valid? [True, True] Translation: X:174.46, Y:-13.23, Z:-4.95 [[ 9.88514014e-01 1.50399490e-01 1.48336397e-02 1.74459004e+02] [-1.50384271e-01 9.88625298e-01 -2.14251438e-03 -1.32281239e+01] [-1.49871445e-02 -1.12840597e-04 9.99887680e-01 -4.95400612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30420382199998 meters 0.013137320690951304 Centerline is valid? [True, True] Translation: X:174.52, Y:-13.24, Z:-4.95 [[ 9.88743183e-01 1.48725520e-01 1.63596182e-02 1.74516579e+02] [-1.48706793e-01 9.88878511e-01 -2.36209254e-03 -1.32353259e+01] [-1.65289783e-02 -9.72834428e-05 9.99863382e-01 -4.95324000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36420382199998 meters 0.01241789988118817 Centerline is valid? [True, True] Translation: X:174.57, Y:-13.25, Z:-4.96 [[ 9.89002622e-01 1.47048060e-01 1.58329566e-02 1.74574675e+02] [-1.47030322e-01 9.89129346e-01 -2.28495638e-03 -1.32453667e+01] [-1.59968404e-02 -6.80968509e-05 9.99872040e-01 -4.95646626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42420382199995 meters 0.011820531646729478 Centerline is valid? [True, True] Translation: X:174.63, Y:-13.26, Z:-4.96 [[ 9.89615611e-01 1.42997733e-01 1.45805119e-02 1.74631998e+02] [-1.42982260e-01 9.89723016e-01 -2.10359882e-03 -1.32609039e+01] [-1.47314780e-02 -3.00030885e-06 9.99891486e-01 -4.96065152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48420382199996 meters 0.012458612811454425 Centerline is valid? [True, True] Translation: X:174.69, Y:-13.28, Z:-4.96 [[ 9.90139671e-01 1.39353985e-01 1.42792900e-02 1.74688960e+02] [-1.39338775e-01 9.90242629e-01 -2.05945059e-03 -1.32750377e+01] [-1.44269543e-02 4.94849557e-05 9.99895925e-01 -4.96299922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54420382199996 meters 0.014038702122605792 Centerline is valid? [True, True] Translation: X:174.75, Y:-13.29, Z:-4.97 [[ 9.90533567e-01 1.36579750e-01 1.37558987e-02 1.74745771e+02] [-1.36565379e-01 9.90629075e-01 -1.98313575e-03 -1.32926107e+01] [-1.38978494e-02 8.57830086e-05 9.99903417e-01 -4.96610307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.60420382199996 meters 0.012763165910952558 Centerline is valid? [True, True] Translation: X:174.80, Y:-13.30, Z:-4.97 [[ 9.90034484e-01 1.40084460e-01 1.44244256e-02 1.74803899e+02] [-1.40069033e-01 9.90139557e-01 -2.07928431e-03 -1.32962240e+01] [-1.45734698e-02 3.81478194e-05 9.99893801e-01 -4.96644579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.66420382199996 meters 0.012859845543081472 Centerline is valid? [True, True] Translation: X:174.86, Y:-13.29, Z:-4.96 [[ 9.88872524e-01 1.47912236e-01 1.59091590e-02 1.74863662e+02] [-1.47894502e-01 9.89000487e-01 -2.29200506e-03 -1.32940437e+01] [-1.60731816e-02 -8.63763324e-05 9.99870814e-01 -4.96359997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.72420382199996 meters 0.017653771872108186 Centerline is valid? [True, True] Translation: X:174.92, Y:-13.29, Z:-4.97 [[ 9.88008315e-01 1.53483831e-01 1.68012945e-02 1.74921871e+02] [-1.53464870e-01 9.88151142e-01 -2.41972565e-03 -1.32922758e+01] [-1.69736071e-02 -1.87699425e-04 9.99855920e-01 -4.96565756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.78420382199997 meters 0.023986612543717357 Centerline is valid? [True, True] Translation: X:174.98, Y:-13.29, Z:-4.97 [[ 9.86962078e-01 1.60036893e-01 1.71478798e-02 1.74982284e+02] [-1.60018153e-01 9.87110986e-01 -2.46831076e-03 -1.32868134e+01] [-1.73218814e-02 -3.07842947e-04 9.99849918e-01 -4.96621311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.84420382199997 meters 0.0269082859626584 Centerline is valid? [True, True] Translation: X:175.04, Y:-13.29, Z:-4.97 [[ 9.86375524e-01 1.63742583e-01 1.58648153e-02 1.75042770e+02] [-1.63727032e-01 9.86503040e-01 -2.28297740e-03 -1.32856486e+01] [-1.60245091e-02 -3.45626086e-04 9.99871540e-01 -4.96960038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.90420382199997 meters 0.027800172615469815 Centerline is valid? [True, True] Translation: X:175.10, Y:-13.29, Z:-4.97 [[ 9.86266468e-01 1.64400587e-01 1.58398869e-02 1.75101741e+02] [-1.64385171e-01 9.86393593e-01 -2.27931382e-03 -1.32909059e+01] [-1.59990835e-02 -3.55831726e-04 9.99871943e-01 -4.97193248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96420382199997 meters 0.02748947154533623 Centerline is valid? [True, True] Translation: X:175.16, Y:-13.29, Z:-4.97 [[ 9.86315275e-01 1.64080364e-01 1.61186742e-02 1.75160191e+02] [-1.64064370e-01 9.86446910e-01 -2.31861079e-03 -1.32943577e+01] [-1.62806548e-02 -3.57618894e-04 9.99867397e-01 -4.97330585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02420382199998 meters 0.023070308444334973 Centerline is valid? [True, True] Translation: X:175.22, Y:-13.30, Z:-4.98 [[ 9.87281136e-01 1.58222399e-01 1.55444573e-02 1.75218620e+02] [-1.58206815e-01 9.87403468e-01 -2.23496514e-03 -1.33031767e+01] [-1.57022726e-02 -2.52700165e-04 9.99876680e-01 -4.97765849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08420382199998 meters 0.01419211188324572 Centerline is valid? [True, True] Translation: X:175.28, Y:-13.32, Z:-4.98 [[ 9.88833616e-01 1.48243550e-01 1.52292465e-02 1.75276641e+02] [-1.48227411e-01 9.88950879e-01 -2.18936022e-03 -1.33235502e+01] [-1.53855352e-02 -9.24787961e-05 9.99881631e-01 -4.97972802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14420382199998 meters 0.011669737002293568 Centerline is valid? [True, True] Translation: X:175.33, Y:-13.34, Z:-4.98 [[ 9.89894713e-01 1.40909696e-01 1.59033244e-02 1.75333700e+02] [-1.40891154e-01 9.90022453e-01 -2.28599479e-03 -1.33429203e+01] [-1.60667671e-02 2.22564364e-05 9.99870921e-01 -4.97892366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20420382199995 meters 0.013351658757152524 Centerline is valid? [True, True] Translation: X:175.39, Y:-13.36, Z:-4.98 [[ 9.90662290e-01 1.35295857e-01 1.68302977e-02 1.75391049e+02] [-1.35274295e-01 9.90805237e-01 -2.41833082e-03 -1.33593982e+01] [-1.70027373e-02 1.19042485e-04 9.99855436e-01 -4.97787023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26420382199996 meters 0.015197379818781692 Centerline is valid? [True, True] Translation: X:175.45, Y:-13.37, Z:-4.98 [[ 9.90890979e-01 1.33672462e-01 1.63321737e-02 1.75447979e+02] [-1.33651950e-01 9.91025556e-01 -2.34597583e-03 -1.33715000e+01] [-1.64991939e-02 1.41779435e-04 9.99863869e-01 -4.98165948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.32420382199996 meters 0.014901682196289432 Centerline is valid? [True, True] Translation: X:175.51, Y:-13.38, Z:-4.98 [[ 9.90900351e-01 1.33476454e-01 1.73357921e-02 1.75505934e+02] [-1.33453330e-01 9.91051973e-01 -2.48918342e-03 -1.33825557e+01] [-1.75129183e-02 1.53013546e-04 9.99846625e-01 -4.98154992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.38420382199996 meters 0.013756679345533786 Centerline is valid? [True, True] Translation: X:175.56, Y:-13.39, Z:-4.98 [[ 9.90660316e-01 1.35182423e-01 1.78283956e-02 1.75562796e+02] [-1.35158255e-01 9.90820719e-01 -2.55913793e-03 -1.33902306e+01] [-1.80106942e-02 1.25581544e-04 9.99837786e-01 -4.98243683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.44420382199996 meters 0.013851774043032297 Centerline is valid? [True, True] Translation: X:175.62, Y:-13.40, Z:-4.98 [[ 9.90054190e-01 1.39554832e-01 1.78087015e-02 1.75621051e+02] [-1.39531446e-01 9.90214344e-01 -2.55515005e-03 -1.33970173e+01] [-1.79910152e-02 4.48631412e-05 9.99838148e-01 -4.98281966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.50420382199997 meters 0.015210393478532824 Centerline is valid? [True, True] Translation: X:175.68, Y:-13.39, Z:-4.99 [[ 9.88775068e-01 1.48608684e-01 1.54700695e-02 1.75679552e+02] [-1.48592150e-01 9.88896075e-01 -2.21918308e-03 -1.33927739e+01] [-1.56280809e-02 -1.04457989e-04 9.99877869e-01 -4.99167062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.56420382199997 meters 0.01915723384170628 Centerline is valid? [True, True] Translation: X:175.74, Y:-13.39, Z:-4.99 [[ 9.87750304e-01 1.55345650e-01 1.47331302e-02 1.75740365e+02] [-1.55331422e-01 9.87860156e-01 -2.11211630e-03 -1.33911705e+01] [-1.48823804e-02 -2.02274553e-04 9.99889231e-01 -4.99190782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.62420382199997 meters 0.026910845104610625 Centerline is valid? [True, True] Translation: X:175.80, Y:-13.39, Z:-5.00 [[ 9.86769463e-01 1.61632797e-01 1.26832689e-02 1.75800333e+02] [-1.61622774e-01 9.86850938e-01 -1.81803102e-03 -1.33889311e+01] [-1.28103493e-02 -2.55927623e-04 9.99917911e-01 -4.99897707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.68420382199997 meters 0.0254992615044235 Centerline is valid? [True, True] Translation: X:175.86, Y:-13.40, Z:-5.00 [[ 9.86953854e-01 1.60562543e-01 1.19062925e-02 1.75858582e+02] [-1.60553631e-01 9.87025642e-01 -1.70681993e-03 -1.33995023e+01] [-1.20258673e-02 -2.27045986e-04 9.99927661e-01 -5.00153817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74420382199997 meters 0.018325937591144387 Centerline is valid? [True, True] Translation: X:175.92, Y:-13.42, Z:-5.00 [[ 9.88176080e-01 1.52788477e-01 1.27951733e-02 1.75916182e+02] [-1.52777548e-01 9.88258904e-01 -1.83311275e-03 -1.34175704e+01] [-1.29250225e-02 -1.43377037e-04 9.99916458e-01 -5.00202283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80420382199998 meters 0.014056249143893607 Centerline is valid? [True, True] Translation: X:175.97, Y:-13.43, Z:-5.00 [[ 9.88945205e-01 1.47529077e-01 1.49182040e-02 1.75973096e+02] [-1.47513622e-01 9.89057715e-01 -2.13711800e-03 -1.34347498e+01] [-1.50702518e-02 -8.71457093e-05 9.99886434e-01 -4.99974213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86420382199998 meters 0.011676660365430202 Centerline is valid? [True, True] Translation: X:176.03, Y:-13.45, Z:-5.00 [[ 9.89770526e-01 1.41711395e-01 1.64980962e-02 1.76029149e+02] [-1.41691698e-01 9.89908016e-01 -2.36264334e-03 -1.34521050e+01] [-1.66664111e-02 8.31471338e-07 9.99861106e-01 -4.99781829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92420382199995 meters 0.012554308510254757 Centerline is valid? [True, True] Translation: X:176.09, Y:-13.46, Z:-5.00 [[ 9.90083267e-01 1.39666328e-01 1.51142529e-02 1.76085818e+02] [-1.39649571e-01 9.90198624e-01 -2.16368523e-03 -1.34605296e+01] [-1.52683064e-02 3.15296179e-05 9.99883432e-01 -5.00291524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98420382199996 meters 0.01251224935116414 Centerline is valid? [True, True] Translation: X:176.14, Y:-13.46, Z:-5.01 [[ 9.89849752e-01 1.41373721e-01 1.45237857e-02 1.76144922e+02] [-1.41358446e-01 9.89956297e-01 -2.07819748e-03 -1.34633790e+01] [-1.46717156e-02 4.04349697e-06 9.99892365e-01 -5.00519672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04420382199996 meters 0.013331217723724451 Centerline is valid? [True, True] Translation: X:176.20, Y:-13.47, Z:-5.01 [[ 9.89578153e-01 1.43331352e-01 1.38275907e-02 1.76203016e+02] [-1.43317703e-01 9.89674756e-01 -1.97816136e-03 -1.34667828e+01] [-1.39683500e-02 -2.41932762e-05 9.99902438e-01 -5.00908181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.10420382199996 meters 0.013698192384593034 Centerline is valid? [True, True] Translation: X:176.26, Y:-13.46, Z:-5.01 [[ 9.89284137e-01 1.45341855e-01 1.38795110e-02 1.76262498e+02] [-1.45328315e-01 9.89381495e-01 -1.98458766e-03 -1.34644382e+01] [-1.40205750e-02 -5.37648511e-05 9.99901705e-01 -5.01009407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.16420382199996 meters 0.012147580231488568 Centerline is valid? [True, True] Translation: X:176.32, Y:-13.47, Z:-5.01 [[ 9.89687926e-01 1.42519845e-01 1.43493392e-02 1.76321167e+02] [-1.42505078e-01 9.89791945e-01 -2.05164286e-03 -1.34732275e+01] [-1.44952601e-02 -1.43675220e-05 9.99894938e-01 -5.00938181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.22420382199996 meters 0.01452355226693209 Centerline is valid? [True, True] Translation: X:176.38, Y:-13.50, Z:-5.01 [[ 9.90967855e-01 1.33144689e-01 1.59750688e-02 1.76376809e+02] [-1.33125200e-01 9.91096602e-01 -2.28203264e-03 -1.34955333e+01] [-1.61366769e-02 1.34736766e-04 9.99869786e-01 -5.00944423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.28420382199997 meters 0.022104262121499647 Centerline is valid? [True, True] Translation: X:176.43, Y:-13.52, Z:-5.01 [[ 9.92317547e-01 1.22603298e-01 1.65625355e-02 1.76434630e+02] [-1.22580910e-01 9.92455708e-01 -2.36410134e-03 -1.35194546e+01] [-1.67274295e-02 3.15688573e-04 9.99860037e-01 -5.00861530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.34420382199997 meters 0.029071836445026422 Centerline is valid? [True, True] Translation: X:176.49, Y:-13.54, Z:-5.01 [[ 9.92892270e-01 1.17811375e-01 1.68943610e-02 1.76491703e+02] [-1.17787386e-01 9.93035909e-01 -2.41146541e-03 -1.35427959e+01] [-1.70608052e-02 4.04382739e-04 9.99854372e-01 -5.01157669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.40420382199997 meters 0.03637959078036347 Centerline is valid? [True, True] Translation: X:176.55, Y:-13.56, Z:-5.01 [[ 9.93003528e-01 1.16904624e-01 1.66524137e-02 1.76550800e+02] [-1.16881195e-01 9.93143060e-01 -2.37664458e-03 -1.35598508e+01] [-1.68160698e-02 4.13662436e-04 9.99858514e-01 -5.01473940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46420382199997 meters 0.024516551470998536 Centerline is valid? [True, True] Translation: X:176.61, Y:-13.57, Z:-5.02 [[ 9.92317060e-01 1.22711578e-01 1.57708751e-02 1.76611180e+02] [-1.22691289e-01 9.92442330e-01 -2.25132116e-03 -1.35656295e+01] [-1.59279472e-02 2.99075400e-04 9.99873097e-01 -5.01696907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52420382199998 meters 0.017004978820408745 Centerline is valid? [True, True] Translation: X:176.67, Y:-13.57, Z:-5.02 [[ 9.91356372e-01 1.30249768e-01 1.57334868e-02 1.76671047e+02] [-1.30230512e-01 9.91481198e-01 -2.24664202e-03 -1.35686398e+01] [-1.58920810e-02 1.78242834e-04 9.99873697e-01 -5.01870628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58420382199998 meters 0.014586678243023921 Centerline is valid? [True, True] Translation: X:176.73, Y:-13.57, Z:-5.02 [[ 9.90828297e-01 1.34298213e-01 1.49424335e-02 1.76729600e+02] [-1.34281308e-01 9.90940956e-01 -2.13351876e-03 -1.35743696e+01] [-1.50935971e-02 1.07461238e-04 9.99886079e-01 -5.02221553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64420382199998 meters 0.013188949314148558 Centerline is valid? [True, True] Translation: X:176.79, Y:-13.58, Z:-5.03 [[ 9.90219269e-01 1.38864418e-01 1.35082399e-02 1.76788001e+02] [-1.38851029e-01 9.90311402e-01 -1.92852752e-03 -1.35817952e+01] [-1.36451679e-02 3.40320870e-05 9.99906900e-01 -5.02721493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70420382199995 meters 0.013448368338688047 Centerline is valid? [True, True] Translation: X:176.85, Y:-13.59, Z:-5.03 [[ 9.89411096e-01 1.44431926e-01 1.43213489e-02 1.76845538e+02] [-1.44417469e-01 9.89514738e-01 -2.04400976e-03 -1.35881107e+01] [-1.44664060e-02 -4.58870088e-05 9.99895355e-01 -5.02704012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76420382199996 meters 0.015523802476414385 Centerline is valid? [True, True] Translation: X:176.90, Y:-13.59, Z:-5.03 [[ 9.88734824e-01 1.48920005e-01 1.50425765e-02 1.76904756e+02] [-1.48904592e-01 9.88849239e-01 -2.14581361e-03 -1.35910714e+01] [-1.51943949e-02 -1.18268071e-04 9.99884552e-01 -5.02640752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.82420382199996 meters 0.018402062336919312 Centerline is valid? [True, True] Translation: X:176.96, Y:-13.59, Z:-5.03 [[ 9.88097161e-01 1.53000491e-01 1.59640229e-02 1.76963328e+02] [-1.52983677e-01 9.88226094e-01 -2.27641337e-03 -1.35949668e+01] [-1.61243563e-02 -1.92917321e-04 9.99869976e-01 -5.02610033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.88420382199996 meters 0.022229381332571036 Centerline is valid? [True, True] Translation: X:177.02, Y:-13.60, Z:-5.03 [[ 9.87483445e-01 1.56837830e-01 1.66835374e-02 1.77020835e+02] [-1.56820025e-01 9.87624333e-01 -2.37827212e-03 -1.36007892e+01] [-1.68500705e-02 -2.67808408e-04 9.99857992e-01 -5.02870671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.94420382199996 meters 0.021950172408717477 Centerline is valid? [True, True] Translation: X:177.08, Y:-13.61, Z:-5.03 [[ 9.87339703e-01 1.57902169e-01 1.50736815e-02 1.77078145e+02] [-1.57887769e-01 9.87454727e-01 -2.14808041e-03 -1.36109448e+01] [-1.52237646e-02 -2.59064872e-04 9.99884078e-01 -5.03193957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.00420382199997 meters 0.021291212319116966 Centerline is valid? [True, True] Translation: X:177.14, Y:-13.62, Z:-5.04 [[ 9.87608087e-01 1.56375334e-01 1.33049636e-02 1.77136212e+02] [-1.56363988e-01 9.87697682e-01 -1.89519823e-03 -1.36209488e+01] [-1.34376440e-02 -2.08704078e-04 9.99909689e-01 -5.03726907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.06420382199997 meters 0.018041117562398266 Centerline is valid? [True, True] Translation: X:177.19, Y:-13.64, Z:-5.04 [[ 9.88509919e-01 1.50608876e-01 1.28493941e-02 1.77191909e+02] [-1.50597812e-01 9.88593420e-01 -1.82989675e-03 -1.36393079e+01] [-1.29784252e-02 -1.26219553e-04 9.99915769e-01 -5.04300464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.12420382199997 meters 0.014612119858093077 Centerline is valid? [True, True] Translation: X:177.25, Y:-13.66, Z:-5.05 [[ 9.89427725e-01 1.44563739e-01 1.15802214e-02 1.77248311e+02] [-1.44554347e-01 9.89495489e-01 -1.64836956e-03 -1.36594830e+01] [-1.16968713e-02 -4.30287995e-05 9.99931588e-01 -5.04702453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.18420382199997 meters 0.013735314442398215 Centerline is valid? [True, True] Translation: X:177.31, Y:-13.68, Z:-5.05 [[ 9.90034362e-01 1.40423874e-01 1.06347527e-02 1.77306713e+02] [-1.40415723e-01 9.90091478e-01 -1.51297019e-03 -1.36750444e+01] [-1.07418352e-02 4.60598382e-06 9.99942305e-01 -5.04758234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24420382199997 meters 0.0138487846213021 Centerline is valid? [True, True] Translation: X:177.36, Y:-13.69, Z:-5.05 [[ 9.90163829e-01 1.39499258e-01 1.07493806e-02 1.77364410e+02] [-1.39490874e-01 9.90222175e-01 -1.52944613e-03 -1.36858866e+01] [-1.08576316e-02 1.49617433e-05 9.99941054e-01 -5.04926857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30420382199998 meters 0.01376876881546883 Centerline is valid? [True, True] Translation: X:177.42, Y:-13.70, Z:-5.05 [[ 9.90408790e-01 1.37547879e-01 1.30770881e-02 1.77421392e+02] [-1.37535317e-01 9.90495118e-01 -1.85946534e-03 -1.37028922e+01] [-1.32085574e-02 4.30693635e-05 9.99912762e-01 -5.04702943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36420382199998 meters 0.014756609721283785 Centerline is valid? [True, True] Translation: X:177.48, Y:-13.72, Z:-5.05 [[ 9.90834903e-01 1.34255840e-01 1.48850485e-02 1.77480402e+02] [-1.34239210e-01 9.90946699e-01 -2.11533474e-03 -1.37190433e+01] [-1.50342857e-02 9.77903345e-05 9.99886974e-01 -5.04559436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42420382199995 meters 0.017273895518078883 Centerline is valid? [True, True] Translation: X:177.54, Y:-13.74, Z:-5.04 [[ 9.91333640e-01 1.30306894e-01 1.66651682e-02 1.77540224e+02] [-1.30285524e-01 9.91473693e-01 -2.36628665e-03 -1.37430766e+01] [-1.68314194e-02 1.74549388e-04 9.99858326e-01 -5.04376959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48420382199996 meters 0.016327005484495297 Centerline is valid? [True, True] Translation: X:177.60, Y:-13.76, Z:-5.04 [[ 9.91274663e-01 1.30793800e-01 1.63561674e-02 1.77601404e+02] [-1.30773244e-01 9.91409580e-01 -2.32467950e-03 -1.37595349e+01] [-1.65197147e-02 1.65446820e-04 9.99863527e-01 -5.04396516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54420382199996 meters 0.015142046342549337 Centerline is valid? [True, True] Translation: X:177.66, Y:-13.77, Z:-5.05 [[ 9.90814840e-01 1.34370928e-01 1.51791416e-02 1.77661869e+02] [-1.34353596e-01 9.90931099e-01 -2.16053730e-03 -1.37688787e+01] [-1.53317968e-02 1.01320169e-04 9.99882456e-01 -5.05004300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.60420382199996 meters 0.013632316987750897 Centerline is valid? [True, True] Translation: X:177.72, Y:-13.77, Z:-5.06 [[ 9.89679329e-01 1.42833706e-01 1.15480439e-02 1.77723193e+02] [-1.42824214e-01 9.89746701e-01 -1.64678957e-03 -1.37711349e+01] [-1.16648555e-02 -1.95467001e-05 9.99931963e-01 -5.05651060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.66420382199996 meters 0.01969672318244549 Centerline is valid? [True, True] Translation: X:177.78, Y:-13.77, Z:-5.06 [[ 9.88174358e-01 1.52864942e-01 1.19894704e-02 1.77782858e+02] [-1.52855430e-01 9.88247079e-01 -1.71110412e-03 -1.37678987e+01] [-1.21101270e-02 -1.41786445e-04 9.99926660e-01 -5.05807502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.72420382199996 meters 0.02770282182495332 Centerline is valid? [True, True] Translation: X:177.84, Y:-13.77, Z:-5.06 [[ 9.86921824e-01 1.60836256e-01 1.08172434e-02 1.77843585e+02] [-1.60829000e-01 9.86981080e-01 -1.54305532e-03 -1.37663305e+01] [-1.09245938e-02 -2.16851469e-04 9.99940301e-01 -5.06127239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.78420382199997 meters 0.03149822104544285 Centerline is valid? [True, True] Translation: X:177.90, Y:-13.77, Z:-5.06 [[ 9.86256979e-01 1.64813418e-01 1.15632398e-02 1.77903184e+02] [-1.64805400e-01 9.86324723e-01 -1.64951228e-03 -1.37696704e+01] [-1.16769711e-02 -2.78841362e-04 9.99931783e-01 -5.06147198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.84420382199997 meters 0.03245197209238182 Centerline is valid? [True, True] Translation: X:177.96, Y:-13.78, Z:-5.06 [[ 9.86092017e-01 1.65786288e-01 1.17235227e-02 1.77960961e+02] [-1.65778112e-01 9.86161660e-01 -1.67249072e-03 -1.37781521e+01] [-1.18385646e-02 -2.94273707e-04 9.99929878e-01 -5.06276052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.90420382199997 meters 0.029931715771471298 Centerline is valid? [True, True] Translation: X:178.02, Y:-13.79, Z:-5.07 [[ 9.86478792e-01 1.63544664e-01 1.06176991e-02 1.78018875e+02] [-1.63537835e-01 9.86535901e-01 -1.51414867e-03 -1.37909961e+01] [-1.07223723e-02 -2.42719984e-04 9.99942484e-01 -5.06709112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96420382199997 meters 0.026822461639075285 Centerline is valid? [True, True] Translation: X:178.08, Y:-13.80, Z:-5.07 [[ 9.86746110e-01 1.61948044e-01 1.02442513e-02 1.78076696e+02] [-1.61941601e-01 9.86799262e-01 -1.46081819e-03 -1.38026661e+01] [-1.03455963e-02 -2.17513791e-04 9.99946459e-01 -5.06772025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02420382199998 meters 0.02817723880880893 Centerline is valid? [True, True] Translation: X:178.13, Y:-13.81, Z:-5.07 [[ 9.87117643e-01 1.59628864e-01 1.08344074e-02 1.78134012e+02] [-1.59621522e-01 9.87177078e-01 -1.54456545e-03 -1.38085030e+01] [-1.09420358e-02 -2.04736789e-04 9.99940113e-01 -5.07148296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08420382199998 meters 0.023307220284339316 Centerline is valid? [True, True] Translation: X:178.19, Y:-13.82, Z:-5.07 [[ 9.87590521e-01 1.56598184e-01 1.19151653e-02 1.78192355e+02] [-1.56589101e-01 9.87662378e-01 -1.69726746e-03 -1.38193534e+01] [-1.20339495e-02 -1.89579765e-04 9.99927571e-01 -5.06908806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14420382199998 meters 0.019252874404266495 Centerline is valid? [True, True] Translation: X:178.25, Y:-13.83, Z:-5.07 [[ 9.88355980e-01 1.51751633e-01 1.11309845e-02 1.78250985e+02] [-1.51743403e-01 9.88418650e-01 -1.58517669e-03 -1.38338846e+01] [-1.12426259e-02 -1.22334611e-04 9.99936792e-01 -5.07212739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20420382199995 meters 0.02297953266266073 Centerline is valid? [True, True] Translation: X:178.31, Y:-13.85, Z:-5.07 [[ 9.88971931e-01 1.47704183e-01 1.08625360e-02 1.78308834e+02] [-1.47696105e-01 9.89031581e-01 -1.54651491e-03 -1.38483025e+01] [-1.09718179e-02 -7.48944282e-05 9.99939805e-01 -5.07411218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26420382199996 meters 0.015511700811711842 Centerline is valid? [True, True] Translation: X:178.37, Y:-13.86, Z:-5.08 [[ 9.89674246e-01 1.43070710e-01 8.69824059e-03 1.78366522e+02] [-1.43065354e-01 9.89712469e-01 -1.23806102e-03 -1.38636780e+01] [-8.78588744e-03 -1.91397667e-05 9.99961403e-01 -5.08021693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.32420382199996 meters 0.014608410422172724 Centerline is valid? [True, True] Translation: X:178.43, Y:-13.87, Z:-5.08 [[ 9.89648625e-01 1.43199392e-01 9.46215265e-03 1.78425602e+02] [-1.43193060e-01 9.89693858e-01 -1.34689285e-03 -1.38702168e+01] [-9.55750861e-03 -2.19639356e-05 9.99954326e-01 -5.07735998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.38420382199996 meters 0.016301443343082107 Centerline is valid? [True, True] Translation: X:178.48, Y:-13.87, Z:-5.08 [[ 9.89202861e-01 1.46216513e-01 9.92120905e-03 1.78483738e+02] [-1.46209699e-01 9.89252611e-01 -1.41264657e-03 -1.38698756e+01] [-1.00211342e-02 -5.31829613e-05 9.99949786e-01 -5.08093121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.44420382199996 meters 0.016800595587656533 Centerline is valid? [True, True] Translation: X:178.54, Y:-13.88, Z:-5.08 [[ 9.89000244e-01 1.47584436e-01 9.86665244e-03 1.78542705e+02] [-1.47577778e-01 9.89049458e-01 -1.40357016e-03 -1.38766513e+01] [-9.96575236e-03 -6.79674136e-05 9.99950338e-01 -5.08134151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.50420382199997 meters 0.0165231153311951 Centerline is valid? [True, True] Translation: X:178.60, Y:-13.88, Z:-5.08 [[ 9.89004361e-01 1.47536712e-01 1.01632538e-02 1.78602353e+02] [-1.47529647e-01 9.89056578e-01 -1.44549821e-03 -1.38843234e+01] [-1.02652971e-02 -6.97772070e-05 9.99947308e-01 -5.08127530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.56420382199997 meters 0.013467036056838074 Centerline is valid? [True, True] Translation: X:178.66, Y:-13.90, Z:-5.08 [[ 9.89643662e-01 1.43049776e-01 1.19241169e-02 1.78661196e+02] [-1.43039735e-01 9.89715495e-01 -1.69512457e-03 -1.38995029e+01] [-1.20439704e-02 -2.80532263e-05 9.99927468e-01 -5.07855582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.62420382199997 meters 0.013943588473129214 Centerline is valid? [True, True] Translation: X:178.72, Y:-13.92, Z:-5.08 [[ 9.90191058e-01 1.39223331e-01 1.17699737e-02 1.78719611e+02] [-1.39213289e-01 9.90261008e-01 -1.67223337e-03 -1.39190408e+01] [-1.18881599e-02 1.72937843e-05 9.99929333e-01 -5.08193855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.68420382199997 meters 0.013964966357944857 Centerline is valid? [True, True] Translation: X:178.78, Y:-13.93, Z:-5.08 [[ 9.90335989e-01 1.38251764e-01 1.10036171e-02 1.78779615e+02] [-1.38242915e-01 9.90397117e-01 -1.56446190e-03 -1.39315677e+01] [-1.11142403e-02 2.81708249e-05 9.99938235e-01 -5.08265580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74420382199997 meters 0.01838875201812951 Centerline is valid? [True, True] Translation: X:178.84, Y:-13.94, Z:-5.09 [[ 9.90353279e-01 1.38178762e-01 1.03446784e-02 1.78839612e+02] [-1.38170960e-01 9.90407305e-01 -1.46850823e-03 -1.39440307e+01] [-1.04483617e-02 2.50077926e-05 9.99945414e-01 -5.08587518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80420382199998 meters 0.014840730442954975 Centerline is valid? [True, True] Translation: X:178.90, Y:-13.95, Z:-5.09 [[ 9.90192208e-01 1.39389891e-01 9.47885814e-03 1.78899369e+02] [-1.39383356e-01 9.90237577e-01 -1.34981049e-03 -1.39539498e+01] [-9.57447145e-03 1.53767771e-05 9.99954164e-01 -5.08927209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86420382199998 meters 0.013700827235520033 Centerline is valid? [True, True] Translation: X:178.96, Y:-13.96, Z:-5.09 [[ 9.89983772e-01 1.40757567e-01 1.09287698e-02 1.78960192e+02] [-1.40748968e-01 9.90044094e-01 -1.55583647e-03 -1.39640599e+01] [-1.10389598e-02 2.03978135e-06 9.99939069e-01 -5.08692019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92420382199995 meters 0.01356813316685665 Centerline is valid? [True, True] Translation: X:179.02, Y:-13.98, Z:-5.09 [[ 9.89667788e-01 1.42821606e-01 1.26355654e-02 1.79019866e+02] [-1.42810302e-01 9.89748447e-01 -1.79705523e-03 -1.39766588e+01] [-1.27626895e-02 -2.60012292e-05 9.99918553e-01 -5.08729636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98420382199996 meters 0.014315352400266929 Centerline is valid? [True, True] Translation: X:179.08, Y:-13.99, Z:-5.09 [[ 9.89172270e-01 1.46270519e-01 1.19647811e-02 1.79080833e+02] [-1.46260615e-01 9.89244627e-01 -1.70332199e-03 -1.39857295e+01] [-1.20852412e-02 -6.50973709e-05 9.99926969e-01 -5.08788371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04420382199996 meters 0.016661862323783114 Centerline is valid? [True, True] Translation: X:179.14, Y:-13.99, Z:-5.09 [[ 9.88682866e-01 1.49570229e-01 1.16162792e-02 1.79141010e+02] [-1.49561071e-01 9.88751100e-01 -1.65802749e-03 -1.39926615e+01] [-1.17336004e-02 -9.80797833e-05 9.99931154e-01 -5.09162772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.10420382199996 meters 0.019497460189316963 Centerline is valid? [True, True] Translation: X:179.20, Y:-14.00, Z:-5.09 [[ 9.87971101e-01 1.54294152e-01 1.03159592e-02 1.79201036e+02] [-1.54287184e-01 9.88024947e-01 -1.47274451e-03 -1.39986673e+01] [-1.04196609e-02 -1.36591278e-04 9.99945705e-01 -5.09336369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.16420382199996 meters 0.02185431454652825 Centerline is valid? [True, True] Translation: X:179.26, Y:-14.01, Z:-5.09 [[ 9.87502075e-01 1.57200593e-01 1.12971654e-02 1.79260840e+02] [-1.57192426e-01 9.87566676e-01 -1.61282513e-03 -1.40074805e+01] [-1.14102411e-02 -1.83160664e-04 9.99934884e-01 -5.09354446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.22420382199996 meters 0.024394345191407697 Centerline is valid? [True, True] Translation: X:179.32, Y:-14.01, Z:-5.10 [[ 9.87384697e-01 1.58037472e-01 9.77844774e-03 1.79319313e+02] [-1.58031390e-01 9.87433101e-01 -1.39647327e-03 -1.40138844e+01] [-9.87625809e-03 -1.66445358e-04 9.99951215e-01 -5.10130593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.28420382199997 meters 0.024807449873650973 Centerline is valid? [True, True] Translation: X:179.38, Y:-14.03, Z:-5.10 [[ 9.87334048e-01 1.58382565e-01 9.29737654e-03 1.79378890e+02] [-1.58377088e-01 9.87377809e-01 -1.32709891e-03 -1.40254092e+01] [-9.39021260e-03 -1.62201481e-04 9.99955898e-01 -5.10425330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.34420382199997 meters 0.02373718303771862 Centerline is valid? [True, True] Translation: X:179.44, Y:-14.04, Z:-5.10 [[ 9.87141680e-01 1.59558835e-01 9.60636761e-03 1.79438169e+02] [-1.59553043e-01 9.87188405e-01 -1.37120401e-03 -1.40373200e+01] [-9.70208243e-03 -1.79152554e-04 9.99952918e-01 -5.10273663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.40420382199997 meters 0.024982833351107705 Centerline is valid? [True, True] Translation: X:179.50, Y:-14.05, Z:-5.11 [[ 9.87110415e-01 1.59743460e-01 9.74963364e-03 1.79496781e+02] [-1.59737502e-01 9.87158545e-01 -1.39188937e-03 -1.40456935e+01] [-9.84677938e-03 -1.83433621e-04 9.99951502e-01 -5.10590357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46420382199997 meters 0.02290024615318562 Centerline is valid? [True, True] Translation: X:179.56, Y:-14.06, Z:-5.11 [[ 9.87567348e-01 1.56792745e-01 1.12591362e-02 1.79555384e+02] [-1.56784611e-01 9.87631512e-01 -1.60697860e-03 -1.40580638e+01] [-1.13718403e-02 -1.78259701e-04 9.99935323e-01 -5.10679680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52420382199998 meters 0.017895751304359667 Centerline is valid? [True, True] Translation: X:179.61, Y:-14.08, Z:-5.11 [[ 9.88559296e-01 1.50462336e-01 1.05642791e-02 1.79613468e+02] [-1.50454818e-01 9.88615737e-01 -1.50736925e-03 -1.40831352e+01] [-1.06708148e-02 -9.93228070e-05 9.99943060e-01 -5.11063015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58420382199998 meters 0.015028885774906572 Centerline is valid? [True, True] Translation: X:179.67, Y:-14.10, Z:-5.11 [[ 9.89080141e-01 1.47022746e-01 1.02365809e-02 1.79673560e+02] [-1.47015530e-01 9.89133109e-01 -1.45804370e-03 -1.41021374e+01] [-1.03397067e-02 -6.28143000e-05 9.99946542e-01 -5.11058459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64420382199995 meters 0.014836006409291742 Centerline is valid? [True, True] Translation: X:179.73, Y:-14.11, Z:-5.11 [[ 9.89050046e-01 1.47154526e-01 1.12050231e-02 1.79734864e+02] [-1.47145860e-01 9.89113513e-01 -1.59844321e-03 -1.41129174e+01] [-1.13182579e-02 -6.78324401e-05 9.99935944e-01 -5.11041617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70420382199995 meters 0.017965666922676753 Centerline is valid? [True, True] Translation: X:179.80, Y:-14.12, Z:-5.11 [[ 9.88333258e-01 1.51780653e-01 1.26492704e-02 1.79795866e+02] [-1.51769948e-01 9.88414192e-01 -1.80754793e-03 -1.41170863e+01] [-1.27770692e-02 -1.33319375e-04 9.99918361e-01 -5.11084829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76420382199996 meters 0.01938824497178227 Centerline is valid? [True, True] Translation: X:179.86, Y:-14.13, Z:-5.11 [[ 9.88035877e-01 1.53631920e-01 1.35033106e-02 1.79856860e+02] [-1.53619864e-01 9.88128132e-01 -1.93179243e-03 -1.41278502e+01] [-1.36397860e-02 -1.65696500e-04 9.99906960e-01 -5.11192557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.82420382199996 meters 0.01761562815650931 Centerline is valid? [True, True] Translation: X:179.92, Y:-14.14, Z:-5.11 [[ 9.88207344e-01 1.52488482e-01 1.39106868e-02 1.79918155e+02] [-1.52475535e-01 9.88305236e-01 -1.99281671e-03 -1.41415375e+01] [-1.40518862e-02 -1.51723303e-04 9.99901256e-01 -5.11147343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.88420382199996 meters 0.015790163341046715 Centerline is valid? [True, True] Translation: X:179.98, Y:-14.16, Z:-5.11 [[ 9.88600801e-01 1.49939398e-01 1.36614071e-02 1.79978374e+02] [-1.49926637e-01 9.88695183e-01 -1.95932693e-03 -1.41600055e+01] [-1.38007477e-02 -1.11216641e-04 9.99904759e-01 -5.11433199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.94420382199996 meters 0.01319950100915558 Centerline is valid? [True, True] Translation: X:180.04, Y:-14.18, Z:-5.11 [[ 9.88917170e-01 1.47669372e-01 1.53814096e-02 1.80039309e+02] [-1.47652850e-01 9.89036779e-01 -2.21055595e-03 -1.41779685e+01] [-1.55392112e-02 -8.50522317e-05 9.99879256e-01 -5.11104077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.00420382199997 meters 0.012187119920649246 Centerline is valid? [True, True] Translation: X:180.10, Y:-14.19, Z:-5.11 [[ 9.89191491e-01 1.45842586e-01 1.51701452e-02 1.80100324e+02] [-1.45826316e-01 9.89307807e-01 -2.17916233e-03 -1.41931206e+01] [-1.53257578e-02 -5.65975524e-05 9.99882552e-01 -5.11219936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.06420382199997 meters 0.012319741897241346 Centerline is valid? [True, True] Translation: X:180.16, Y:-14.21, Z:-5.12 [[ 9.89367280e-01 1.44737599e-01 1.42622570e-02 1.80160415e+02] [-1.44723057e-01 9.89470074e-01 -2.05193749e-03 -1.42067667e+01] [-1.44090690e-02 -3.39576138e-05 9.99896183e-01 -5.11632521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.12420382199997 meters 0.013298904446674798 Centerline is valid? [True, True] Translation: X:180.22, Y:-14.22, Z:-5.12 [[ 9.89450660e-01 1.44302248e-01 1.28161323e-02 1.80219449e+02] [-1.44290443e-01 9.89533658e-01 -1.84595142e-03 -1.42211083e+01] [-1.29483692e-02 -2.27675491e-05 9.99916166e-01 -5.12382620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.18420382199997 meters 0.014336337593851254 Centerline is valid? [True, True] Translation: X:180.28, Y:-14.23, Z:-5.13 [[ 9.89069747e-01 1.46920258e-01 1.24688903e-02 1.80279468e+02] [-1.46909275e-01 9.89148338e-01 -1.79728130e-03 -1.42320259e+01] [-1.25976392e-02 -5.41590759e-05 9.99920645e-01 -5.12715290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24420382199997 meters 0.015654597391307746 Centerline is valid? [True, True] Translation: X:180.34, Y:-14.24, Z:-5.13 [[ 9.88497702e-01 1.50680344e-01 1.29509529e-02 1.80341808e+02] [-1.50668791e-01 9.88582532e-01 -1.86876693e-03 -1.42364062e+01] [-1.30846723e-02 -1.04032600e-04 9.99914387e-01 -5.12744246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30420382199998 meters 0.0208612584699564 Centerline is valid? [True, True] Translation: X:180.40, Y:-14.24, Z:-5.13 [[ 9.87454147e-01 1.57461943e-01 1.18340277e-02 1.80403516e+02] [-1.57452735e-01 9.87525041e-01 -1.71165972e-03 -1.42365785e+01] [-1.19559199e-02 -1.73114536e-04 9.99928510e-01 -5.13177182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36420382199998 meters 0.02596710494056275 Centerline is valid? [True, True] Translation: X:180.47, Y:-14.24, Z:-5.13 [[ 9.86417626e-01 1.63762847e-01 1.27278079e-02 1.80465386e+02] [-1.63752715e-01 9.86499700e-01 -1.84129630e-03 -1.42390576e+01] [-1.28575146e-02 -2.67925975e-04 9.99917303e-01 -5.13178941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42420382199995 meters 0.03138069158335699 Centerline is valid? [True, True] Translation: X:180.53, Y:-14.24, Z:-5.13 [[ 9.85635513e-01 1.68318396e-01 1.38402562e-02 1.80526226e+02] [-1.68306853e-01 9.85732617e-01 -2.00299886e-03 -1.42375012e+01] [-1.39799335e-02 -3.55183155e-04 9.99902213e-01 -5.13213335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48420382199996 meters 0.03498178127403662 Centerline is valid? [True, True] Translation: X:180.59, Y:-14.24, Z:-5.13 [[ 9.84920746e-01 1.72391780e-01 1.45670553e-02 1.80587565e+02] [-1.72379440e-01 9.85028368e-01 -2.10801303e-03 -1.42387401e+01] [-1.47123668e-02 -4.34835058e-04 9.99891673e-01 -5.13333475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54420382199996 meters 0.0391344937644626 Centerline is valid? [True, True] Translation: X:180.65, Y:-14.24, Z:-5.14 [[ 9.84310312e-01 1.75843869e-01 1.45651163e-02 1.80648741e+02] [-1.75831907e-01 9.84417948e-01 -2.10790962e-03 -1.42391647e+01] [-1.47088249e-02 -4.86174997e-04 9.99891701e-01 -5.13548352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.60420382199996 meters 0.040812017995782816 Centerline is valid? [True, True] Translation: X:180.71, Y:-14.24, Z:-5.14 [[ 9.83820165e-01 1.78539354e-01 1.48856352e-02 1.80710116e+02] [-1.78527164e-01 9.83932625e-01 -2.15447851e-03 -1.42409923e+01] [-1.50311213e-02 -5.37870837e-04 9.99886882e-01 -5.13590232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.66420382199996 meters 0.04305593182841566 Centerline is valid? [True, True] Translation: X:180.77, Y:-14.24, Z:-5.14 [[ 9.83674316e-01 1.79295209e-01 1.54294529e-02 1.80770516e+02] [-1.79282197e-01 9.83795154e-01 -2.23370689e-03 -1.42402586e+01] [-1.55799139e-02 -5.68986120e-04 9.99878464e-01 -5.13796902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.72420382199996 meters 0.038895306904175204 Centerline is valid? [True, True] Translation: X:180.83, Y:-14.25, Z:-5.14 [[ 9.84491300e-01 1.74797028e-01 1.49291397e-02 1.80830750e+02] [-1.74784337e-01 9.84604371e-01 -2.16078235e-03 -1.42466917e+01] [-1.50769945e-02 -4.82108347e-04 9.99886219e-01 -5.14198829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.78420382199997 meters 0.027384577002956823 Centerline is valid? [True, True] Translation: X:180.89, Y:-14.26, Z:-5.14 [[ 9.86114462e-01 1.65365237e-01 1.52514578e-02 1.80889373e+02] [-1.65350858e-01 9.86232335e-01 -2.20779208e-03 -1.42631830e+01] [-1.54065729e-02 -3.44705930e-04 9.99881252e-01 -5.14295637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.84420382199997 meters 0.018513790295263073 Centerline is valid? [True, True] Translation: X:180.95, Y:-14.28, Z:-5.15 [[ 9.87912268e-01 1.54397287e-01 1.38140386e-02 1.80947519e+02] [-1.54384415e-01 9.88008833e-01 -1.99976703e-03 -1.42797024e+01] [-1.39571508e-02 -1.57077895e-04 9.99902582e-01 -5.14853777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.90420382199997 meters 0.02623730200064604 Centerline is valid? [True, True] Translation: X:181.01, Y:-14.30, Z:-5.15 [[ 9.88934084e-01 1.47717337e-01 1.37464901e-02 1.81008211e+02] [-1.47703984e-01 9.89029617e-01 -1.98716553e-03 -1.42955880e+01] [-1.38892246e-02 -6.52356301e-05 9.99903538e-01 -5.14669041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96420382199997 meters 0.013665735235523186 Centerline is valid? [True, True] Translation: X:181.07, Y:-14.30, Z:-5.15 [[ 9.89162860e-01 1.46179578e-01 1.37247057e-02 1.81069326e+02] [-1.46166089e-01 9.89258070e-01 -1.98629509e-03 -1.43049559e+01] [-1.38676316e-02 -4.13172187e-05 9.99903839e-01 -5.15171680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02420382199998 meters 0.013690690139705801 Centerline is valid? [True, True] Translation: X:181.13, Y:-14.31, Z:-5.15 [[ 9.89131506e-01 1.46396268e-01 1.36747013e-02 1.81132593e+02] [-1.46382862e-01 9.89226026e-01 -1.98159243e-03 -1.43099380e+01] [-1.38174682e-02 -4.16864126e-05 9.99904533e-01 -5.15300369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08420382199998 meters 0.013549809500448106 Centerline is valid? [True, True] Translation: X:181.19, Y:-14.32, Z:-5.15 [[ 9.88872902e-01 1.48102945e-01 1.39964431e-02 1.81194622e+02] [-1.48089034e-01 9.88971948e-01 -2.03092379e-03 -1.43188037e+01] [-1.41428754e-02 -6.43942351e-05 9.99899982e-01 -5.15227107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14420382199995 meters 0.015613367575752227 Centerline is valid? [True, True] Translation: X:181.26, Y:-14.32, Z:-5.15 [[ 9.88226778e-01 1.52397659e-01 1.35199140e-02 1.81257224e+02] [-1.52385041e-01 9.88319250e-01 -1.96465713e-03 -1.43201788e+01] [-1.36614004e-02 -1.18705864e-04 9.99906672e-01 -5.15395484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20420382199995 meters 0.021726361406470763 Centerline is valid? [True, True] Translation: X:181.32, Y:-14.32, Z:-5.16 [[ 9.87208059e-01 1.58875901e-01 1.33677131e-02 1.81319434e+02] [-1.58864124e-01 9.87298540e-01 -1.94508369e-03 -1.43164147e+01] [-1.35069505e-02 -2.03447733e-04 9.99908756e-01 -5.15709523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26420382199996 meters 0.026523923944272432 Centerline is valid? [True, True] Translation: X:181.38, Y:-14.32, Z:-5.16 [[ 9.86529582e-01 1.63114806e-01 1.23670158e-02 1.81379670e+02] [-1.63105005e-01 9.86607066e-01 -1.80377706e-03 -1.43168978e+01] [-1.24956079e-02 -2.37642742e-04 9.99921899e-01 -5.16121334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.32420382199996 meters 0.030534079267491056 Centerline is valid? [True, True] Translation: X:181.44, Y:-14.32, Z:-5.16 [[ 9.85796003e-01 1.67580274e-01 1.10947448e-02 1.81440547e+02] [-1.67572666e-01 9.85858399e-01 -1.61842333e-03 -1.43172010e+01] [-1.12090631e-02 -2.63740713e-04 9.99937142e-01 -5.16421386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.38420382199996 meters 0.030883331282254827 Centerline is valid? [True, True] Translation: X:181.50, Y:-14.32, Z:-5.16 [[ 9.85416286e-01 1.69776530e-01 1.14312298e-02 1.81500297e+02] [-1.69768598e-01 9.85482543e-01 -1.66779637e-03 -1.43182292e+01] [-1.15484301e-02 -2.97190151e-04 9.99933270e-01 -5.16376552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.44420382199996 meters 0.03267289047571652 Centerline is valid? [True, True] Translation: X:181.56, Y:-14.32, Z:-5.17 [[ 9.85487413e-01 1.69388953e-01 1.10427242e-02 1.81558385e+02] [-1.69381526e-01 9.85549239e-01 -1.61116430e-03 -1.43227197e+01] [-1.11560618e-02 -2.82651335e-04 9.99937729e-01 -5.16751199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.50420382199997 meters 0.03224683652632087 Centerline is valid? [True, True] Translation: X:181.62, Y:-14.33, Z:-5.16 [[ 9.85547542e-01 1.68843260e-01 1.37111765e-02 1.81617774e+02] [-1.68831777e-01 9.85642854e-01 -1.99901809e-03 -1.43251208e+01] [-1.38518439e-02 -3.44754942e-04 9.99903999e-01 -5.16440256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.56420382199997 meters 0.03330367216658833 Centerline is valid? [True, True] Translation: X:181.68, Y:-14.32, Z:-5.17 [[ 9.85303417e-01 1.70328695e-01 1.28573536e-02 1.81677557e+02] [-1.70318731e-01 9.85387243e-01 -1.87401524e-03 -1.43207032e+01] [-1.29886708e-02 -3.43374539e-04 9.99915585e-01 -5.16716762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.62420382199997 meters 0.03263873119861283 Centerline is valid? [True, True] Translation: X:181.74, Y:-14.32, Z:-5.17 [[ 9.85175005e-01 1.71084869e-01 1.26560771e-02 1.81736967e+02] [-1.71075285e-01 9.85256234e-01 -1.84411516e-03 -1.43211192e+01] [-1.27849790e-02 -3.48365825e-04 9.99918208e-01 -5.16853296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.68420382199997 meters 0.029695618918947158 Centerline is valid? [True, True] Translation: X:181.80, Y:-14.32, Z:-5.17 [[ 9.85598810e-01 1.68535068e-01 1.38172430e-02 1.81796888e+02] [-1.68523410e-01 9.85695598e-01 -2.01213206e-03 -1.43242634e+01] [-1.39587104e-02 -3.45373949e-04 9.99902513e-01 -5.16777517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74420382199997 meters 0.024071504083258262 Centerline is valid? [True, True] Translation: X:181.86, Y:-14.33, Z:-5.17 [[ 9.86604486e-01 1.62477386e-01 1.45838115e-02 1.81856814e+02] [-1.62463745e-01 9.86712229e-01 -2.12318716e-03 -1.43290688e+01] [-1.47349951e-02 -2.74594662e-04 9.99891396e-01 -5.16854797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80420382199998 meters 0.020469455055259007 Centerline is valid? [True, True] Translation: X:181.91, Y:-14.34, Z:-5.17 [[ 9.87500133e-01 1.56996113e-01 1.39895881e-02 1.81914189e+02] [-1.56983008e-01 9.87599203e-01 -2.03687865e-03 -1.43391693e+01] [-1.41358881e-02 -1.84709681e-04 9.99900066e-01 -5.17347766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86420382199998 meters 0.015297178322802285 Centerline is valid? [True, True] Translation: X:181.97, Y:-14.35, Z:-5.18 [[ 9.88579687e-01 1.50101175e-01 1.34104474e-02 1.81972182e+02] [-1.50088506e-01 9.88670638e-01 -1.95191125e-03 -1.43533654e+01] [-1.35514998e-02 -8.31342055e-05 9.99908171e-01 -5.17558710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92420382199995 meters 0.014856499096856364 Centerline is valid? [True, True] Translation: X:182.03, Y:-14.36, Z:-5.18 [[ 9.89175464e-01 1.46303890e-01 1.12726755e-02 1.82029271e+02] [-1.46294686e-01 9.89239694e-01 -1.64121529e-03 -1.43598134e+01] [-1.13914942e-02 -2.56826228e-05 9.99935114e-01 -5.18126743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98420382199996 meters 0.014157601013105927 Centerline is valid? [True, True] Translation: X:182.09, Y:-14.37, Z:-5.18 [[ 9.89428462e-01 1.44555466e-01 1.16204840e-02 1.82086749e+02] [-1.44545576e-01 9.89496699e-01 -1.69090941e-03 -1.43709113e+01] [-1.17428608e-02 -6.65566171e-06 9.99931050e-01 -5.18131400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04420382199996 meters 0.013732163201378971 Centerline is valid? [True, True] Translation: X:182.14, Y:-14.38, Z:-5.18 [[ 9.89540352e-01 1.43663198e-01 1.30681899e-02 1.82143908e+02] [-1.43650621e-01 9.89626639e-01 -1.90093748e-03 -1.43788606e+01] [-1.32057236e-02 3.80074159e-06 9.99912801e-01 -5.18067487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.10420382199996 meters 0.012547430024638002 Centerline is valid? [True, True] Translation: X:182.20, Y:-14.38, Z:-5.18 [[ 9.89469699e-01 1.43996523e-01 1.46531905e-02 1.82204200e+02] [-1.43980770e-01 9.89578194e-01 -2.12991987e-03 -1.43823329e+01] [-1.48071788e-02 -2.28647478e-06 9.99890368e-01 -5.17635772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.16420382199996 meters 0.013174872268187412 Centerline is valid? [True, True] Translation: X:182.26, Y:-14.39, Z:-5.18 [[ 9.89231364e-01 1.45617889e-01 1.47220756e-02 1.82261934e+02] [-1.45602165e-01 9.89340907e-01 -2.14007365e-03 -1.43861517e+01] [-1.48767847e-02 -2.65381147e-05 9.99889334e-01 -5.17999919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.22420382199996 meters 0.013739427492647633 Centerline is valid? [True, True] Translation: X:182.32, Y:-14.39, Z:-5.18 [[ 9.88863803e-01 1.47985574e-01 1.57686366e-02 1.82320062e+02] [-1.47967853e-01 9.88989517e-01 -2.29111696e-03 -1.43912286e+01] [-1.59340686e-02 -6.76486713e-05 9.99873042e-01 -5.18003067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.28420382199997 meters 0.014717314588506518 Centerline is valid? [True, True] Translation: X:182.38, Y:-14.40, Z:-5.18 [[ 9.88778722e-01 1.48638088e-01 1.49451815e-02 1.82377077e+02] [-1.48622257e-01 9.88891659e-01 -2.17064329e-03 -1.43975739e+01] [-1.51018056e-02 -7.49007174e-05 9.99885958e-01 -5.18444396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.34420382199997 meters 0.014561341790465138 Centerline is valid? [True, True] Translation: X:182.43, Y:-14.41, Z:-5.19 [[ 9.88942417e-01 1.47737462e-01 1.29050089e-02 1.82434678e+02] [-1.47725592e-01 9.89026612e-01 -1.87345613e-03 -1.44091074e+01] [-1.30401768e-02 -5.36598451e-05 9.99914972e-01 -5.18789683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.40420382199997 meters 0.014037984021795546 Centerline is valid? [True, True] Translation: X:182.49, Y:-14.42, Z:-5.19 [[ 9.89431757e-01 1.44497055e-01 1.20581360e-02 1.82491440e+02] [-1.44486457e-01 9.89505230e-01 -1.75002588e-03 -1.44247066e+01] [-1.21844622e-02 -1.07061670e-05 9.99925767e-01 -5.19073262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46420382199997 meters 0.013595051233062738 Centerline is valid? [True, True] Translation: X:182.55, Y:-14.44, Z:-5.19 [[ 9.89615784e-01 1.43156317e-01 1.29177962e-02 1.82549284e+02] [-1.43144054e-01 9.89700090e-01 -1.87368290e-03 -1.44419007e+01] [-1.30529736e-02 5.12044811e-06 9.99914806e-01 -5.19054223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52420382199998 meters 0.012903505850217387 Centerline is valid? [True, True] Translation: X:182.61, Y:-14.45, Z:-5.19 [[ 9.89505100e-01 1.43889886e-01 1.32423065e-02 1.82607952e+02] [-1.43877065e-01 9.89593705e-01 -1.92082333e-03 -1.44505190e+01] [-1.33808902e-02 -4.59970790e-06 9.99910472e-01 -5.18951443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58420382199998 meters 0.01619962389629301 Centerline is valid? [True, True] Translation: X:182.67, Y:-14.45, Z:-5.20 [[ 9.88619521e-01 1.49987996e-01 1.16208583e-02 1.82667558e+02] [-1.49978551e-01 9.88687815e-01 -1.68499604e-03 -1.44470075e+01] [-1.17421302e-02 -7.70595045e-05 9.99931056e-01 -5.19589640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64420382199995 meters 0.020549937073695197 Centerline is valid? [True, True] Translation: X:182.73, Y:-14.45, Z:-5.20 [[ 9.87570478e-01 1.56873139e-01 9.76570292e-03 1.82727866e+02] [-1.56866809e-01 9.87618752e-01 -1.41557406e-03 -1.44463387e+01] [-9.86685688e-03 -1.33935506e-04 9.99951312e-01 -5.19863968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70420382199995 meters 0.02568438242962796 Centerline is valid? [True, True] Translation: X:182.79, Y:-14.44, Z:-5.20 [[ 9.86889912e-01 1.61006036e-01 1.11963307e-02 1.82786847e+02] [-1.60997978e-01 9.86953401e-01 -1.62320186e-03 -1.44434769e+01] [-1.13116020e-02 -2.00665068e-04 9.99936002e-01 -5.20004376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76420382199996 meters 0.024294915871648417 Centerline is valid? [True, True] Translation: X:182.85, Y:-14.45, Z:-5.20 [[ 9.86838456e-01 1.61260477e-01 1.20382912e-02 1.82845282e+02] [-1.61251194e-01 9.86911855e-01 -1.74419316e-03 -1.44505335e+01] [-1.21620017e-02 -2.19951942e-04 9.99926016e-01 -5.19816632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.82420382199996 meters 0.023070555673038253 Centerline is valid? [True, True] Translation: X:182.90, Y:-14.46, Z:-5.20 [[ 9.87267037e-01 1.58605896e-01 1.21641654e-02 1.82902316e+02] [-1.58596222e-01 9.87341954e-01 -1.76198900e-03 -1.44589469e+01] [-1.22896527e-02 -1.89637011e-04 9.99924461e-01 -5.20184081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.88420382199996 meters 0.01844863318194896 Centerline is valid? [True, True] Translation: X:182.96, Y:-14.47, Z:-5.20 [[ 9.88063923e-01 1.53554689e-01 1.22735840e-02 1.82959532e+02] [-1.53544462e-01 9.88140142e-01 -1.77687324e-03 -1.44726703e+01] [-1.24008683e-02 -1.28876515e-04 9.99923098e-01 -5.20350660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.94420382199996 meters 0.014447248613676907 Centerline is valid? [True, True] Translation: X:183.02, Y:-14.49, Z:-5.21 [[ 9.88974871e-01 1.47721597e-01 1.03457162e-02 1.83017005e+02] [-1.47714017e-01 9.89028982e-01 -1.49730611e-03 -1.44896773e+01] [-1.04533976e-02 -4.74091736e-05 9.99945361e-01 -5.20549040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.00420382199997 meters 0.01448357197828879 Centerline is valid? [True, True] Translation: X:183.07, Y:-14.51, Z:-5.21 [[ 9.89644125e-01 1.43141377e-01 1.07262464e-02 1.83073099e+02] [-1.43132959e-01 9.89702251e-01 -1.55237152e-03 -1.45058437e+01] [-1.08379988e-02 1.01597435e-06 9.99941267e-01 -5.21054047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.06420382199997 meters 0.014041456935879177 Centerline is valid? [True, True] Translation: X:183.13, Y:-14.52, Z:-5.21 [[ 9.89824848e-01 1.41938674e-01 1.00091906e-02 1.83130888e+02] [-1.41931290e-01 9.89875453e-01 -1.44783779e-03 -1.45150171e+01] [-1.01133563e-02 1.24884801e-05 9.99948859e-01 -5.21004626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.12420382199997 meters 0.013879126817715625 Centerline is valid? [True, True] Translation: X:183.19, Y:-14.52, Z:-5.21 [[ 9.89588890e-01 1.43560867e-01 1.02032063e-02 1.83188795e+02] [-1.43553286e-01 9.89641489e-01 -1.47536405e-03 -1.45232964e+01] [-1.03093209e-02 -4.69992218e-06 9.99946858e-01 -5.21153570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.18420382199997 meters 0.014658049973538019 Centerline is valid? [True, True] Translation: X:183.25, Y:-14.53, Z:-5.21 [[ 9.89197033e-01 1.46211290e-01 1.05588411e-02 1.83246326e+02] [-1.46203325e-01 9.89253384e-01 -1.52642062e-03 -1.45297776e+01] [-1.06685492e-02 -3.38069312e-05 9.99943089e-01 -5.21389173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24420382199997 meters 0.015781096737363817 Centerline is valid? [True, True] Translation: X:183.31, Y:-14.54, Z:-5.21 [[ 9.88741444e-01 1.49215510e-01 1.11842872e-02 1.83305112e+02] [-1.49206778e-01 9.88804696e-01 -1.61581169e-03 -1.45374145e+01] [-1.13001799e-02 -7.11514817e-05 9.99936148e-01 -5.21427230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30420382199998 meters 0.018332913134015555 Centerline is valid? [True, True] Translation: X:183.36, Y:-14.54, Z:-5.22 [[ 9.88183600e-01 1.52895536e-01 1.07762601e-02 1.83364185e+02] [-1.52887653e-01 9.88242350e-01 -1.55638960e-03 -1.45423119e+01] [-1.08875216e-02 -1.09558438e-04 9.99940723e-01 -5.21613016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36420382199998 meters 0.02498271413876858 Centerline is valid? [True, True] Translation: X:183.42, Y:-14.54, Z:-5.22 [[ 9.87113096e-01 1.59677069e-01 1.05341808e-02 1.83423609e+02] [-1.59669929e-01 9.87169287e-01 -1.52071355e-03 -1.45420190e+01] [-1.06418428e-02 -1.80875633e-04 9.99943358e-01 -5.21908042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42420382199995 meters 0.029331190774729687 Centerline is valid? [True, True] Translation: X:183.48, Y:-14.54, Z:-5.22 [[ 9.86219575e-01 1.65212243e-01 8.71004005e-03 1.83484345e+02] [-1.65207586e-01 9.86258016e-01 -1.25651389e-03 -1.45447308e+01] [-8.79793830e-03 -1.99766099e-04 9.99961277e-01 -5.22215837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48420382199996 meters 0.03234792298469491 Centerline is valid? [True, True] Translation: X:183.54, Y:-14.55, Z:-5.22 [[ 9.85907113e-01 1.67036313e-01 9.27546701e-03 1.83542325e+02] [-1.67031096e-01 9.85950718e-01 -1.33974803e-03 -1.45495125e+01] [-9.36893993e-03 -2.28424315e-04 9.99956084e-01 -5.22400130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54420382199996 meters 0.032514501226402134 Centerline is valid? [True, True] Translation: X:183.60, Y:-14.55, Z:-5.22 [[ 9.85847776e-01 1.67338355e-01 1.01013363e-02 1.83601513e+02] [-1.67332202e-01 9.85899493e-01 -1.45725086e-03 -1.45533541e+01] [-1.02027563e-02 -2.53651323e-04 9.99947918e-01 -5.22334910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.60420382199996 meters 0.02950117180172481 Centerline is valid? [True, True] Translation: X:183.66, Y:-14.57, Z:-5.23 [[ 9.86418402e-01 1.63976943e-01 9.50250743e-03 1.83659280e+02] [-1.63971345e-01 9.86464150e-01 -1.37048232e-03 -1.45655941e+01] [-9.59861041e-03 -2.06269948e-04 9.99953911e-01 -5.22680182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.66420382199996 meters 0.022772807392517264 Centerline is valid? [True, True] Translation: X:183.72, Y:-14.59, Z:-5.23 [[ 9.87607272e-01 1.56656371e-01 9.52145874e-03 1.83716618e+02] [-1.56650422e-01 9.87653159e-01 -1.37206658e-03 -1.45879202e+01] [-9.61884178e-03 -1.36477592e-04 9.99953729e-01 -5.22863684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.72420382199996 meters 0.020004344818035875 Centerline is valid? [True, True] Translation: X:183.77, Y:-14.60, Z:-5.23 [[ 9.88195202e-01 1.52928955e-01 9.10918950e-03 1.83774160e+02] [-1.52923346e-01 9.88237181e-01 -1.31326038e-03 -1.45993709e+01] [-9.20287529e-03 -9.52501308e-05 9.99957648e-01 -5.23166588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.78420382199997 meters 0.01890290173009896 Centerline is valid? [True, True] Translation: X:183.83, Y:-14.61, Z:-5.23 [[ 9.88515680e-01 1.50835695e-01 9.23815510e-03 1.83830396e+02] [-1.50829836e-01 9.88558844e-01 -1.33164291e-03 -1.46111300e+01] [-9.33331921e-03 -7.70395235e-05 9.99956441e-01 -5.23406328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.84420382199997 meters 0.01938952974823465 Centerline is valid? [True, True] Translation: X:183.89, Y:-14.61, Z:-5.23 [[ 9.88405119e-01 1.51490892e-01 1.02873410e-02 1.83888506e+02] [-1.51483672e-01 9.88458649e-01 -1.48201924e-03 -1.46140230e+01] [-1.03931236e-02 -9.35287856e-05 9.99945986e-01 -5.23440752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.90420382199997 meters 0.020455321585798335 Centerline is valid? [True, True] Translation: X:183.95, Y:-14.62, Z:-5.24 [[ 9.88330708e-01 1.52044501e-01 9.21304690e-03 1.83947055e+02] [-1.52038740e-01 9.88373645e-01 -1.32666584e-03 -1.46175506e+01] [-9.30764499e-03 -8.95554510e-05 9.99956679e-01 -5.23894554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96420382199997 meters 0.01977297648755182 Centerline is valid? [True, True] Translation: X:184.01, Y:-14.62, Z:-5.24 [[ 9.88312304e-01 1.52186371e-01 8.83733161e-03 1.84005356e+02] [-1.52181078e-01 9.88351810e-01 -1.27224140e-03 -1.46232793e+01] [-8.92801049e-03 -8.75028236e-05 9.99960141e-01 -5.23934507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02420382199998 meters 0.018522133469412217 Centerline is valid? [True, True] Translation: X:184.06, Y:-14.63, Z:-5.24 [[ 9.88461929e-01 1.51223741e-01 8.62525631e-03 1.84063247e+02] [-1.51218665e-01 9.88499557e-01 -1.24135448e-03 -1.46332255e+01] [-8.71378431e-03 -7.72681050e-05 9.99962031e-01 -5.23945111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08420382199998 meters 0.01667493046278844 Centerline is valid? [True, True] Translation: X:184.12, Y:-14.64, Z:-5.24 [[ 9.88850157e-01 1.48640396e-01 9.02216414e-03 1.84121918e+02] [-1.48634739e-01 9.88891313e-01 -1.29798010e-03 -1.46401966e+01] [-9.11487202e-03 -5.74991908e-05 9.99958457e-01 -5.24084029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14420382199995 meters 0.01397166449148091 Centerline is valid? [True, True] Translation: X:184.18, Y:-14.66, Z:-5.24 [[ 9.89623130e-01 1.43341352e-01 9.96583913e-03 1.84179352e+02] [-1.43334188e-01 9.89673308e-01 -1.43313860e-03 -1.46573345e+01] [-1.00683530e-02 -1.01783476e-05 9.99949313e-01 -5.23856421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20420382199995 meters 0.015303304341548293 Centerline is valid? [True, True] Translation: X:184.24, Y:-14.67, Z:-5.24 [[ 9.90286618e-01 1.38699267e-01 9.74309191e-03 1.84235975e+02] [-1.38692202e-01 9.90334545e-01 -1.40039265e-03 -1.46736437e+01] [-9.84315393e-03 3.54992302e-05 9.99951554e-01 -5.24287295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26420382199996 meters 0.015328484998104564 Centerline is valid? [True, True] Translation: X:184.29, Y:-14.68, Z:-5.24 [[ 9.90460618e-01 1.37388890e-01 1.05857227e-02 1.84293861e+02] [-1.37380478e-01 9.90517183e-01 -1.52120981e-03 -1.46843141e+01] [-1.06943376e-02 5.24267542e-05 9.99942813e-01 -5.24230815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32420382199996 meters 0.013312767541789892 Centerline is valid? [True, True] Translation: X:184.35, Y:-14.69, Z:-5.24 [[ 9.89982132e-01 1.40663815e-01 1.22093720e-02 1.84352503e+02] [-1.40652883e-01 9.90057418e-01 -1.75375795e-03 -1.46910930e+01] [-1.23346696e-02 1.89056549e-05 9.99923925e-01 -5.23913759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38420382199996 meters 0.015174205144974693 Centerline is valid? [True, True] Translation: X:184.41, Y:-14.69, Z:-5.24 [[ 9.88979252e-01 1.47531954e-01 1.24242084e-02 1.84411016e+02] [-1.47521181e-01 9.89057288e-01 -1.78416769e-03 -1.46901932e+01] [-1.25514756e-02 -6.83290640e-05 9.99921225e-01 -5.24213841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.44420382199996 meters 0.01594912376723538 Centerline is valid? [True, True] Translation: X:184.47, Y:-14.69, Z:-5.24 [[ 9.88637831e-01 1.49821210e-01 1.22001861e-02 1.84469473e+02] [-1.49811007e-01 9.88713101e-01 -1.75108905e-03 -1.46948441e+01] [-1.23248341e-02 -9.65292862e-05 9.99924042e-01 -5.24255192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.50420382199997 meters 0.020483193466642197 Centerline is valid? [True, True] Translation: X:184.53, Y:-14.69, Z:-5.24 [[ 9.87602436e-01 1.56541779e-01 1.16662089e-02 1.84530184e+02] [-1.56532929e-01 9.87671323e-01 -1.67350125e-03 -1.46923811e+01] [-1.17843528e-02 -1.73391941e-04 9.99930547e-01 -5.24407251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.56420382199997 meters 0.028898650913791724 Centerline is valid? [True, True] Translation: X:184.59, Y:-14.69, Z:-5.25 [[ 9.86518170e-01 1.63178636e-01 1.24351254e-02 1.84590238e+02] [-1.63169111e-01 9.86596503e-01 -1.78363079e-03 -1.46874908e+01] [-1.25595016e-02 -2.69444163e-04 9.99921090e-01 -5.24787173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.62420382199997 meters 0.03312340579999048 Centerline is valid? [True, True] Translation: X:184.65, Y:-14.68, Z:-5.25 [[ 9.85471674e-01 1.69307210e-01 1.34405201e-02 1.84651361e+02] [-1.69296664e-01 9.85563254e-01 -1.92685428e-03 -1.46841104e+01] [-1.35727131e-02 -3.76574911e-04 9.99907816e-01 -5.24662723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.68420382199997 meters 0.040087706260799466 Centerline is valid? [True, True] Translation: X:184.71, Y:-14.68, Z:-5.25 [[ 9.85104087e-01 1.71490018e-01 1.26930086e-02 1.84710772e+02] [-1.71480786e-01 9.85185783e-01 -1.82024264e-03 -1.46784821e+01] [-1.28171251e-02 -3.83478629e-04 9.99917784e-01 -5.25273440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74420382199997 meters 0.0416281465109119 Centerline is valid? [True, True] Translation: X:184.77, Y:-14.68, Z:-5.26 [[ 9.85292330e-01 1.70570139e-01 1.02397739e-02 1.84768748e+02] [-1.70564078e-01 9.85345492e-01 -1.46872599e-03 -1.46785874e+01] [-1.03402359e-02 -2.99413146e-04 9.99946494e-01 -5.26140389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80420382199998 meters 0.03563741599972164 Centerline is valid? [True, True] Translation: X:184.83, Y:-14.70, Z:-5.26 [[ 9.86125053e-01 1.65731679e-01 9.50742468e-03 1.84826907e+02] [-1.65726246e-01 9.86170856e-01 -1.36200409e-03 -1.46972947e+01] [-9.60167235e-03 -2.32523441e-04 9.99953876e-01 -5.26014499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86420382199998 meters 0.024998550878362034 Centerline is valid? [True, True] Translation: X:184.89, Y:-14.71, Z:-5.26 [[ 9.87002923e-01 1.60319356e-01 1.10875770e-02 1.84885619e+02] [-1.60311631e-01 9.87065175e-01 -1.58777271e-03 -1.47076872e+01] [-1.11987118e-02 -2.10331240e-04 9.99937270e-01 -5.25860697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92420382199995 meters 0.023451028897179163 Centerline is valid? [True, True] Translation: X:184.94, Y:-14.72, Z:-5.26 [[ 9.87688815e-01 1.56091547e-01 1.03069774e-02 1.84942929e+02] [-1.56084633e-01 9.87742581e-01 -1.47682119e-03 -1.47155186e+01] [-1.04111598e-02 -1.50121020e-04 9.99945791e-01 -5.26454375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98420382199996 meters 0.01753520584218608 Centerline is valid? [True, True] Translation: X:185.00, Y:-14.73, Z:-5.26 [[ 9.88585383e-01 1.50278358e-01 1.07403751e-02 1.84999986e+02] [-1.50270523e-01 9.88643721e-01 -1.53735056e-03 -1.47308858e+01] [-1.08494349e-02 -9.41594964e-05 9.99941139e-01 -5.26385918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04420382199996 meters 0.01560938308574684 Centerline is valid? [True, True] Translation: X:185.06, Y:-14.74, Z:-5.26 [[ 9.89036864e-01 1.47217388e-01 1.15378353e-02 1.85058000e+02] [-1.47208147e-01 9.89104158e-01 -1.65082275e-03 -1.47394049e+01] [-1.16551507e-02 -6.57387989e-05 9.99932074e-01 -5.26423977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.10420382199996 meters 0.015585317822863192 Centerline is valid? [True, True] Translation: X:185.12, Y:-14.74, Z:-5.26 [[ 9.89078781e-01 1.46895312e-01 1.20387672e-02 1.85115712e+02] [-1.46885233e-01 9.89152042e-01 -1.72204168e-03 -1.47449009e+01] [-1.21611310e-02 -6.50822349e-05 9.99926049e-01 -5.26477795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.16420382199996 meters 0.015134632440591175 Centerline is valid? [True, True] Translation: X:185.17, Y:-14.75, Z:-5.27 [[ 9.89073836e-01 1.46861291e-01 1.28338572e-02 1.85174334e+02] [-1.46849848e-01 9.89157094e-01 -1.83468973e-03 -1.47489759e+01] [-1.29641458e-02 -7.00063722e-05 9.99915959e-01 -5.26504659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.22420382199996 meters 0.014894198047508888 Centerline is valid? [True, True] Translation: X:185.23, Y:-14.75, Z:-5.27 [[ 9.89062530e-01 1.47010180e-01 1.19716023e-02 1.85232906e+02] [-1.47000239e-01 9.89134977e-01 -1.71097018e-03 -1.47547704e+01] [-1.20930606e-02 -6.75719096e-05 9.99926874e-01 -5.26569575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.28420382199997 meters 0.016993120247483954 Centerline is valid? [True, True] Translation: X:185.29, Y:-14.76, Z:-5.27 [[ 9.88800568e-01 1.48880268e-01 1.03972548e-02 1.85291529e+02] [-1.48872874e-01 9.88855227e-01 -1.48584955e-03 -1.47551212e+01] [-1.05025934e-02 -7.86603236e-05 9.99944843e-01 -5.27127354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.34420382199997 meters 0.01801142607333756 Centerline is valid? [True, True] Translation: X:185.35, Y:-14.76, Z:-5.27 [[ 9.88470299e-01 1.51094854e-01 9.83934160e-03 1.85350041e+02] [-1.51088341e-01 9.88519264e-01 -1.40618057e-03 -1.47573033e+01] [-9.93884537e-03 -9.66420692e-05 9.99950604e-01 -5.27292925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.40420382199997 meters 0.026752441257534842 Centerline is valid? [True, True] Translation: X:185.41, Y:-14.76, Z:-5.28 [[ 9.88090420e-01 1.53549320e-01 9.99638593e-03 1.85407967e+02] [-1.53542731e-01 9.88140977e-01 -1.42787869e-03 -1.47566333e+01] [-1.00970884e-02 -1.23999140e-04 9.99949015e-01 -5.27778881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46420382199997 meters 0.01974226180990828 Centerline is valid? [True, True] Translation: X:185.47, Y:-14.76, Z:-5.27 [[ 9.88118955e-01 1.53273686e-01 1.13185137e-02 1.85467138e+02] [-1.53265249e-01 9.88183767e-01 -1.61421698e-03 -1.47617095e+01] [-1.14321885e-02 -1.39696421e-04 9.99934641e-01 -5.27479687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52420382199998 meters 0.019368277860507665 Centerline is valid? [True, True] Translation: X:185.52, Y:-14.77, Z:-5.28 [[ 9.88336489e-01 1.51821955e-01 1.18776205e-02 1.85524949e+02] [-1.51812567e-01 9.88407850e-01 -1.69328456e-03 -1.47686766e+01] [-1.19970111e-02 -1.29637146e-04 9.99928025e-01 -5.27746818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58420382199998 meters 0.015633427954780076 Centerline is valid? [True, True] Translation: X:185.58, Y:-14.78, Z:-5.28 [[ 9.88870614e-01 1.48262456e-01 1.23755232e-02 1.85582581e+02] [-1.48251994e-01 9.88948045e-01 -1.76361663e-03 -1.47836868e+01] [-1.25002276e-02 -9.07073335e-05 9.99921865e-01 -5.27656462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64420382199995 meters 0.013794238792329163 Centerline is valid? [True, True] Translation: X:185.64, Y:-14.80, Z:-5.28 [[ 9.89678947e-01 1.42825753e-01 1.16784685e-02 1.85639821e+02] [-1.42816064e-01 9.89747849e-01 -1.66377206e-03 -1.47999273e+01] [-1.17963685e-02 -2.12727138e-05 9.99930420e-01 -5.27989102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70420382199995 meters 0.014736872641964351 Centerline is valid? [True, True] Translation: X:185.70, Y:-14.81, Z:-5.29 [[ 9.90295613e-01 1.38548638e-01 1.09029386e-02 1.85695913e+02] [-1.38539936e-01 9.90355630e-01 -1.55304629e-03 -1.48149663e+01] [-1.10129590e-02 2.74825123e-05 9.99939355e-01 -5.28523098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76420382199996 meters 0.014733759834411504 Centerline is valid? [True, True] Translation: X:185.75, Y:-14.83, Z:-5.29 [[ 9.90535043e-01 1.36797396e-01 1.12605754e-02 1.85753066e+02] [-1.36788007e-01 9.90599046e-01 -1.60343497e-03 -1.48277239e+01] [-1.13740610e-02 4.79468576e-05 9.99935312e-01 -5.28548446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.82420382199996 meters 0.016105003930530715 Centerline is valid? [True, True] Translation: X:185.81, Y:-14.84, Z:-5.29 [[ 9.90863882e-01 1.34356777e-01 1.17056914e-02 1.85808895e+02] [-1.34346474e-01 9.90933020e-01 -1.66566956e-03 -1.48429424e+01] [-1.18233501e-02 7.78334362e-05 9.99930099e-01 -5.28761442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.88420382199996 meters 0.01506305893682057 Centerline is valid? [True, True] Translation: X:185.87, Y:-14.85, Z:-5.29 [[ 9.90835188e-01 1.34607179e-01 1.12489049e-02 1.85867496e+02] [-1.34597689e-01 9.90899037e-01 -1.59988456e-03 -1.48521138e+01] [-1.13618849e-02 7.11453202e-05 9.99935449e-01 -5.28663567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.94420382199996 meters 0.014445269308541297 Centerline is valid? [True, True] Translation: X:185.93, Y:-14.86, Z:-5.29 [[ 9.90564568e-01 1.36575392e-01 1.13577753e-02 1.85925010e+02] [-1.36565851e-01 9.90629679e-01 -1.61504223e-03 -1.48591602e+01] [-1.14719244e-02 4.87193558e-05 9.99934194e-01 -5.28860535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.00420382199997 meters 0.01366510002625447 Centerline is valid? [True, True] Translation: X:185.98, Y:-14.87, Z:-5.29 [[ 9.90279277e-01 1.38591254e-01 1.18075323e-02 1.85982661e+02] [-1.38581099e-01 9.90349667e-01 -1.67791473e-03 -1.48702353e+01] [-1.19261300e-02 2.53033849e-05 9.99928881e-01 -5.28943906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.06420382199997 meters 0.013375412381021922 Centerline is valid? [True, True] Translation: X:186.04, Y:-14.88, Z:-5.29 [[ 9.90274723e-01 1.38464048e-01 1.35528986e-02 1.86039321e+02] [-1.38450666e-01 9.90367460e-01 -1.92523161e-03 -1.48820470e+01] [-1.36889251e-02 3.01003621e-05 9.99906302e-01 -5.28905522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.12420382199997 meters 0.01298588522906404 Centerline is valid? [True, True] Translation: X:186.10, Y:-14.89, Z:-5.29 [[ 9.90283948e-01 1.38356630e-01 1.39694230e-02 1.86097373e+02] [-1.38342418e-01 9.90382473e-01 -1.98330621e-03 -1.48941326e+01] [-1.41094752e-02 3.14725496e-05 9.99900456e-01 -5.28857656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.18420382199997 meters 0.013186955680006584 Centerline is valid? [True, True] Translation: X:186.15, Y:-14.90, Z:-5.29 [[ 9.90019699e-01 1.40218624e-01 1.41327095e-02 1.86154383e+02] [-1.40204275e-01 9.90120567e-01 -2.00594128e-03 -1.49032465e+01] [-1.42743566e-02 4.45509221e-06 9.99898116e-01 -5.29214846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24420382199997 meters 0.014906045641853667 Centerline is valid? [True, True] Translation: X:186.21, Y:-14.91, Z:-5.30 [[ 9.89376236e-01 1.44883046e-01 1.19819607e-02 1.86212871e+02] [-1.44873079e-01 9.89448786e-01 -1.70019833e-03 -1.49052314e+01] [-1.21018664e-02 -5.37277115e-05 9.99926768e-01 -5.29750314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30420382199998 meters 0.018344011020969747 Centerline is valid? [True, True] Translation: X:186.27, Y:-14.90, Z:-5.30 [[ 9.88669991e-01 1.49714689e-01 1.08240802e-02 1.86272448e+02] [-1.49706854e-01 9.88729236e-01 -1.53517222e-03 -1.49029847e+01] [-1.09319223e-02 -1.02660284e-04 9.99940239e-01 -5.30195979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36420382199998 meters 0.018094763815753492 Centerline is valid? [True, True] Translation: X:186.33, Y:-14.91, Z:-5.30 [[ 9.88532768e-01 1.50625656e-01 1.07181442e-02 1.86330703e+02] [-1.50618031e-01 9.88590865e-01 -1.51969684e-03 -1.49102229e+01] [-1.08247648e-02 -1.12075661e-04 9.99941404e-01 -5.30197705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42420382199995 meters 0.018846297708163574 Centerline is valid? [True, True] Translation: X:186.39, Y:-14.91, Z:-5.31 [[ 9.88520993e-01 1.50681368e-01 1.10169161e-02 1.86388624e+02] [-1.50673320e-01 9.88582375e-01 -1.56167518e-03 -1.49147272e+01] [-1.11264445e-02 -1.16206633e-04 9.99938092e-01 -5.30503608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48420382199996 meters 0.01411837744032717 Centerline is valid? [True, True] Translation: X:186.45, Y:-14.93, Z:-5.30 [[ 9.89566295e-01 1.43519686e-01 1.26746747e-02 1.86446177e+02] [-1.43508464e-01 9.89647461e-01 -1.79518996e-03 -1.49316338e+01] [-1.28011047e-02 -4.24636223e-05 9.99918062e-01 -5.30376213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54420382199996 meters 0.017302510700099406 Centerline is valid? [True, True] Translation: X:186.50, Y:-14.96, Z:-5.30 [[ 9.91370154e-01 1.30399038e-01 1.34650534e-02 1.86500354e+02] [-1.30385161e-01 9.91461584e-01 -1.90713488e-03 -1.49583724e+01] [-1.35987717e-02 1.35033441e-04 9.99907523e-01 -5.30482119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.60420382199996 meters 0.024174302487727777 Centerline is valid? [True, True] Translation: X:186.56, Y:-14.98, Z:-5.30 [[ 9.92554951e-01 1.21061934e-01 1.33670503e-02 1.86557529e+02] [-1.21047437e-01 9.92644922e-01 -1.89135723e-03 -1.49834153e+01] [-1.34977060e-02 2.59228813e-04 9.99908868e-01 -5.30490354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.66420382199996 meters 0.03389691552580056 Centerline is valid? [True, True] Translation: X:186.62, Y:-15.01, Z:-5.30 [[ 9.93691354e-01 1.11246177e-01 1.42049413e-02 1.86615007e+02] [-1.11228807e-01 9.93792792e-01 -2.00953691e-03 -1.50125106e+01] [-1.43403215e-02 4.16860782e-04 9.99897085e-01 -5.30458359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.72420382199996 meters 0.0393273773421454 Centerline is valid? [True, True] Translation: X:186.67, Y:-15.04, Z:-5.30 [[ 9.94062886e-01 1.07615531e-01 1.60585054e-02 1.86672601e+02] [-1.07592865e-01 9.94192444e-01 -2.27131457e-03 -1.50374690e+01] [-1.62096734e-02 5.30048910e-04 9.99868474e-01 -5.30328391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.78420382199997 meters 0.03907199763759805 Centerline is valid? [True, True] Translation: X:186.73, Y:-15.05, Z:-5.31 [[ 9.93874902e-01 1.09344501e-01 1.60143398e-02 1.86732060e+02] [-1.09322199e-01 9.94003788e-01 -2.26410864e-03 -1.50531405e+01] [-1.61658823e-02 4.99517906e-04 9.99869199e-01 -5.30582729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.84420382199997 meters 0.031196736921823846 Centerline is valid? [True, True] Translation: X:186.79, Y:-15.06, Z:-5.31 [[ 9.93090822e-01 1.16328465e-01 1.54371912e-02 1.86792320e+02] [-1.16308521e-01 9.93210726e-01 -2.18657551e-03 -1.50626891e+01] [-1.55867449e-02 3.75991201e-04 9.99878449e-01 -5.30812211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.90420382199997 meters 0.021953717978613042 Centerline is valid? [True, True] Translation: X:186.85, Y:-15.07, Z:-5.31 [[ 9.92104621e-01 1.24630549e-01 1.39874356e-02 1.86852843e+02] [-1.24614997e-01 9.92203193e-01 -1.98131266e-03 -1.50676808e+01] [-1.41253103e-02 2.22625201e-04 9.99900208e-01 -5.31079023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96420382199997 meters 0.01643945491328868 Centerline is valid? [True, True] Translation: X:186.91, Y:-15.08, Z:-5.31 [[ 9.91178405e-01 1.31790526e-01 1.40223988e-02 1.86913209e+02] [-1.31775613e-01 9.91277581e-01 -1.98621686e-03 -1.50828490e+01] [-1.41618541e-02 1.20885055e-04 9.99899709e-01 -5.31318077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02420382199998 meters 0.013833125170953588 Centerline is valid? [True, True] Translation: X:186.97, Y:-15.09, Z:-5.31 [[ 9.90375707e-01 1.37751460e-01 1.34348397e-02 1.86973194e+02] [-1.37738305e-01 9.90466826e-01 -1.90399409e-03 -1.50902232e+01] [-1.35690410e-02 3.51774329e-05 9.99907936e-01 -5.31498573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08420382199998 meters 0.017956003057699788 Centerline is valid? [True, True] Translation: X:187.03, Y:-15.09, Z:-5.32 [[ 9.88549359e-01 1.50276405e-01 1.36808730e-02 1.87033506e+02] [-1.50263956e-01 9.88644012e-01 -1.93922334e-03 -1.50875081e+01] [-1.38169326e-02 -1.38724097e-04 9.99904532e-01 -5.31615727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14420382199995 meters 0.02941514207639968 Centerline is valid? [True, True] Translation: X:187.10, Y:-15.08, Z:-5.32 [[ 9.86526754e-01 1.63040770e-01 1.35155641e-02 1.87095447e+02] [-1.63029825e-01 9.86619282e-01 -1.91510865e-03 -1.50838143e+01] [-1.36469569e-02 -3.14134122e-04 9.99906827e-01 -5.31741251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20420382199995 meters 0.03927296203550241 Centerline is valid? [True, True] Translation: X:187.16, Y:-15.08, Z:-5.32 [[ 9.85125300e-01 1.71285712e-01 1.37603817e-02 1.87156417e+02] [-1.71275167e-01 9.85221303e-01 -1.94997332e-03 -1.50789478e+01] [-1.38910237e-02 -4.35843608e-04 9.99903420e-01 -5.32008999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26420382199996 meters 0.038809852861414765 Centerline is valid? [True, True] Translation: X:187.21, Y:-15.09, Z:-5.32 [[ 9.84961342e-01 1.72263363e-01 1.32848745e-02 1.87214297e+02] [-1.72253617e-01 9.85050834e-01 -1.88301468e-03 -1.50879233e+01] [-1.34106512e-02 -4.33671024e-04 9.99909979e-01 -5.32154512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.32420382199996 meters 0.03482928291360142 Centerline is valid? [True, True] Translation: X:187.27, Y:-15.10, Z:-5.32 [[ 9.85321702e-01 1.70142621e-01 1.38792096e-02 1.87272673e+02] [-1.70131786e-01 9.85419357e-01 -1.96635624e-03 -1.50996677e+01] [-1.40114028e-02 -4.23801243e-04 9.99901746e-01 -5.32143757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.38420382199996 meters 0.03110683170271076 Centerline is valid? [True, True] Translation: X:187.33, Y:-15.11, Z:-5.32 [[ 9.85997018e-01 1.66228405e-01 1.33415782e-02 1.87332165e+02] [-1.66218046e-01 9.86087213e-01 -1.88934882e-03 -1.51084949e+01] [-1.34700231e-02 -3.54718761e-04 9.99909212e-01 -5.32390050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.44420382199996 meters 0.028964091229969145 Centerline is valid? [True, True] Translation: X:187.39, Y:-15.12, Z:-5.33 [[ 9.86793248e-01 1.61508711e-01 1.24105753e-02 1.87390470e+02] [-1.61499373e-01 9.86871250e-01 -1.75757523e-03 -1.51172884e+01] [-1.25315037e-02 -2.69936766e-04 9.99921441e-01 -5.32910946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.50420382199997 meters 0.02492413755334791 Centerline is valid? [True, True] Translation: X:187.45, Y:-15.13, Z:-5.33 [[ 9.87366085e-01 1.57925303e-01 1.29542305e-02 1.87449652e+02] [-1.57914828e-01 9.87451033e-01 -1.83401969e-03 -1.51292326e+01] [-1.30813064e-02 -2.34816246e-04 9.99914408e-01 -5.32901906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.56420382199997 meters 0.021373053284822436 Centerline is valid? [True, True] Translation: X:187.51, Y:-15.14, Z:-5.33 [[ 9.88119906e-01 1.53285685e-01 1.10702436e-02 1.87508002e+02] [-1.53277734e-01 9.88181905e-01 -1.56814720e-03 -1.51400745e+01] [-1.11797890e-02 -1.47304397e-04 9.99937493e-01 -5.33399617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.62420382199997 meters 0.01761217272898342 Centerline is valid? [True, True] Translation: X:187.57, Y:-15.15, Z:-5.33 [[ 9.88634548e-01 1.49943888e-01 1.08886055e-02 1.87565573e+02] [-1.49936004e-01 9.88694502e-01 -1.54146759e-03 -1.51540511e+01] [-1.09966381e-02 -1.08645887e-04 9.99939529e-01 -5.33351369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.68420382199997 meters 0.0170655678949867 Centerline is valid? [True, True] Translation: X:187.62, Y:-15.16, Z:-5.33 [[ 9.88697638e-01 1.49435351e-01 1.20854108e-02 1.87624305e+02] [-1.49425612e-01 9.88771492e-01 -1.70992234e-03 -1.51627055e+01] [-1.22052325e-02 -1.15273716e-04 9.99925507e-01 -5.33247008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74420382199997 meters 0.018000339558344847 Centerline is valid? [True, True] Translation: X:187.68, Y:-15.17, Z:-5.33 [[ 9.88500577e-01 1.50578961e-01 1.38775371e-02 1.87681830e+02] [-1.50566237e-01 9.88597974e-01 -1.96316631e-03 -1.51676617e+01] [-1.40149166e-02 -1.48897512e-04 9.99901775e-01 -5.33259194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80420382199998 meters 0.021605116567601165 Centerline is valid? [True, True] Translation: X:187.74, Y:-15.17, Z:-5.33 [[ 9.87923908e-01 1.54383012e-01 1.31239071e-02 1.87741977e+02] [-1.54371985e-01 9.88011057e-01 -1.85524108e-03 -1.51689197e+01] [-1.32529830e-02 -1.93126577e-04 9.99912157e-01 -5.33495336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86420382199995 meters 0.02567357903344509 Centerline is valid? [True, True] Translation: X:187.80, Y:-15.17, Z:-5.34 [[ 9.87408844e-01 1.57795486e-01 1.11516670e-02 1.87801290e+02] [-1.57787742e-01 9.87471794e-01 -1.57647845e-03 -1.51686724e+01] [-1.12607178e-02 -2.02967591e-04 9.99936576e-01 -5.34052900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92420382199995 meters 0.02563934263258059 Centerline is valid? [True, True] Translation: X:187.86, Y:-15.18, Z:-5.34 [[ 9.87486310e-01 1.57329255e-01 1.08762286e-02 1.87859593e+02] [-1.57321862e-01 9.87546185e-01 -1.53738335e-03 -1.51762413e+01] [-1.09826535e-02 -1.92923525e-04 9.99939670e-01 -5.34352882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98420382199996 meters 0.021998407080964438 Centerline is valid? [True, True] Translation: X:187.92, Y:-15.19, Z:-5.34 [[ 9.87864517e-01 1.54941726e-01 1.08054688e-02 1.87917117e+02] [-1.54934291e-01 9.87923597e-01 -1.52691288e-03 -1.51904855e+01] [-1.09115601e-02 -1.65754591e-04 9.99940453e-01 -5.34297658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04420382199996 meters 0.02113492044411182 Centerline is valid? [True, True] Translation: X:187.97, Y:-15.20, Z:-5.35 [[ 9.88327768e-01 1.52044400e-01 9.52484603e-03 1.87972950e+02] [-1.52038489e-01 9.88373657e-01 -1.34587099e-03 -1.52046813e+01] [-9.61873905e-03 -1.17981519e-04 9.99953732e-01 -5.34832245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.10420382199996 meters 0.020042750696009488 Centerline is valid? [True, True] Translation: X:188.03, Y:-15.22, Z:-5.35 [[ 9.88490878e-01 1.50969469e-01 9.69551074e-03 1.88030425e+02] [-1.50963301e-01 9.88538420e-01 -1.36910798e-03 -1.52163942e+01] [-9.79107837e-03 -1.10315554e-04 9.99952060e-01 -5.34987183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.16420382199996 meters 0.020564344672062904 Centerline is valid? [True, True] Translation: X:188.09, Y:-15.22, Z:-5.35 [[ 9.88391754e-01 1.51596713e-01 1.00088517e-02 1.88088569e+02] [-1.51590177e-01 9.88442422e-01 -1.41281739e-03 -1.52226719e+01] [-1.01073521e-02 -1.20826548e-04 9.99948912e-01 -5.35088045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.22420382199996 meters 0.021983197168225985 Centerline is valid? [True, True] Translation: X:188.15, Y:-15.23, Z:-5.35 [[ 9.88174472e-01 1.52971847e-01 1.05274728e-02 1.88147102e+02] [-1.52964701e-01 9.88230537e-01 -1.48543478e-03 -1.52284895e+01] [-1.06307998e-02 -1.42462999e-04 9.99943481e-01 -5.35294416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.28420382199997 meters 0.024090258242727664 Centerline is valid? [True, True] Translation: X:188.21, Y:-15.23, Z:-5.35 [[ 9.87614499e-01 1.56542986e-01 1.05780542e-02 1.88205637e+02] [-1.56535981e-01 9.87671130e-01 -1.49207694e-03 -1.52344537e+01] [-1.06812129e-02 -1.82249274e-04 9.99942938e-01 -5.35294771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.34420382199997 meters 0.026982846236128448 Centerline is valid? [True, True] Translation: X:188.27, Y:-15.23, Z:-5.35 [[ 9.86949111e-01 1.60586218e-01 1.19799383e-02 1.88265386e+02] [-1.60577540e-01 9.87021783e-01 -1.68905546e-03 -1.52342224e+01] [-1.20956991e-02 -2.56697240e-04 9.99926811e-01 -5.35117216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.40420382199997 meters 0.03375886656748834 Centerline is valid? [True, True] Translation: X:188.33, Y:-15.23, Z:-5.35 [[ 9.85904626e-01 1.66958617e-01 1.08115406e-02 1.88327131e+02] [-1.66951945e-01 9.85963857e-01 -1.52311234e-03 -1.52277203e+01] [-1.09140850e-02 -3.03364220e-04 9.99940394e-01 -5.35458125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46420382199997 meters 0.03814909695452183 Centerline is valid? [True, True] Translation: X:188.39, Y:-15.23, Z:-5.36 [[ 9.85143977e-01 1.71419108e-01 1.03360776e-02 1.88387653e+02] [-1.71413253e-01 9.85198140e-01 -1.45625621e-03 -1.52263035e+01] [-1.04327145e-02 -3.37118644e-04 9.99945521e-01 -5.35748698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52420382199998 meters 0.0359623671007223 Centerline is valid? [True, True] Translation: X:188.45, Y:-15.23, Z:-5.35 [[ 9.85270577e-01 1.70551707e-01 1.24098795e-02 1.88447286e+02] [-1.70543187e-01 9.85348649e-01 -1.74937124e-03 -1.52297347e+01] [-1.25264163e-02 -3.92816391e-04 9.99921464e-01 -5.35492411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58420382199998 meters 0.03635008317849058 Centerline is valid? [True, True] Translation: X:188.51, Y:-15.23, Z:-5.36 [[ 9.85937033e-01 1.66596595e-01 1.31811077e-02 1.88506684e+02] [-1.66586659e-01 9.86025071e-01 -1.85592362e-03 -1.52314699e+01] [-1.33060932e-02 -3.65972863e-04 9.99911403e-01 -5.35931870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64420382199995 meters 0.025087969753416192 Centerline is valid? [True, True] Translation: X:188.56, Y:-15.25, Z:-5.36 [[ 9.87285785e-01 1.58508264e-01 1.19125858e-02 1.88564870e+02] [-1.58499566e-01 9.87357623e-01 -1.67679175e-03 -1.52523405e+01] [-1.20277677e-02 -2.32667012e-04 9.99927637e-01 -5.36179724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70420382199995 meters 0.02157855626291128 Centerline is valid? [True, True] Translation: X:188.62, Y:-15.26, Z:-5.36 [[ 9.88003740e-01 1.54009424e-01 1.13889244e-02 1.88623438e+02] [-1.54001169e-01 9.88069364e-01 -1.60353491e-03 -1.52618643e+01] [-1.15000067e-02 -1.69609173e-04 9.99933858e-01 -5.36444653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76420382199996 meters 0.02081203960299881 Centerline is valid? [True, True] Translation: X:188.68, Y:-15.26, Z:-5.37 [[ 9.88155005e-01 1.53092115e-01 1.06061270e-02 1.88682413e+02] [-1.53084900e-01 9.88211912e-01 -1.49368581e-03 -1.52613367e+01] [-1.07097726e-02 -1.47644773e-04 9.99942638e-01 -5.36640934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.82420382199996 meters 0.027224313053060722 Centerline is valid? [True, True] Translation: X:188.74, Y:-15.27, Z:-5.37 [[ 9.88251636e-01 1.52498277e-01 1.01478415e-02 1.88740351e+02] [-1.52491647e-01 9.88303727e-01 -1.42847950e-03 -1.52657157e+01] [-1.02469903e-02 -1.35763861e-04 9.99947489e-01 -5.36949822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.88420382199996 meters 0.02050740564068937 Centerline is valid? [True, True] Translation: X:188.80, Y:-15.27, Z:-5.37 [[ 9.88537882e-01 1.50624341e-01 1.02549095e-02 1.88798430e+02] [-1.50617476e-01 9.88591065e-01 -1.44289371e-03 -1.52677330e+01] [-1.03552468e-02 -1.18213496e-04 9.99946376e-01 -5.37291358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.94420382199996 meters 0.018599724484694907 Centerline is valid? [True, True] Translation: X:188.86, Y:-15.27, Z:-5.37 [[ 9.88855306e-01 1.48503229e-01 1.05818473e-02 1.88857228e+02] [-1.48495815e-01 9.88911918e-01 -1.48728542e-03 -1.52740938e+01] [-1.06853816e-02 -1.00649955e-04 9.99942905e-01 -5.37398436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.00420382199997 meters 0.015916474707385816 Centerline is valid? [True, True] Translation: X:188.92, Y:-15.28, Z:-5.37 [[ 9.89153898e-01 1.46442742e-01 1.13617563e-02 1.88916335e+02] [-1.46434068e-01 9.89219145e-01 -1.59607212e-03 -1.52797950e+01] [-1.14730000e-02 -8.49872336e-05 9.99934179e-01 -5.37206368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.06420382199997 meters 0.015265841952231627 Centerline is valid? [True, True] Translation: X:188.97, Y:-15.28, Z:-5.38 [[ 9.89409349e-01 1.44663996e-01 1.18940659e-02 1.88974247e+02] [-1.44654363e-01 9.89480835e-01 -1.67076112e-03 -1.52840263e+01] [-1.20106492e-02 -6.74618547e-05 9.99927867e-01 -5.37508036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.12420382199997 meters 0.014522142554028407 Centerline is valid? [True, True] Translation: X:189.03, Y:-15.29, Z:-5.38 [[ 9.89483041e-01 1.44173489e-01 1.17181912e-02 1.89032441e+02] [-1.44164111e-01 9.89552425e-01 -1.64558063e-03 -1.52891459e+01] [-1.18330136e-02 -6.10684916e-05 9.99929986e-01 -5.37522385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.18420382199997 meters 0.01575832284364227 Centerline is valid? [True, True] Translation: X:189.09, Y:-15.29, Z:-5.38 [[ 9.89462183e-01 1.44317430e-01 1.17075956e-02 1.89089623e+02] [-1.44308086e-01 9.89531442e-01 -1.64340462e-03 -1.52926480e+01] [-1.18222059e-02 -6.34139916e-05 9.99930113e-01 -5.38007219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24420382199997 meters 0.015538946663849751 Centerline is valid? [True, True] Translation: X:189.15, Y:-15.29, Z:-5.38 [[ 9.89306395e-01 1.45349816e-01 1.20949533e-02 1.89148318e+02] [-1.45339938e-01 9.89380324e-01 -1.69642381e-03 -1.52940310e+01] [-1.22130837e-02 -7.95968298e-05 9.99925414e-01 -5.37832790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30420382199998 meters 0.017493930129465884 Centerline is valid? [True, True] Translation: X:189.21, Y:-15.29, Z:-5.38 [[ 9.88969484e-01 1.47627356e-01 1.20632898e-02 1.89207431e+02] [-1.47617712e-01 9.89043049e-01 -1.69087873e-03 -1.52892675e+01] [-1.21807329e-02 -1.08527778e-04 9.99925806e-01 -5.38127022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36420382199995 meters 0.01893462070390792 Centerline is valid? [True, True] Translation: X:189.27, Y:-15.29, Z:-5.38 [[ 9.88637307e-01 1.49764653e-01 1.29160309e-02 1.89267252e+02] [-1.49753794e-01 9.88721663e-01 -1.80930787e-03 -1.52897033e+01] [-1.30413299e-02 -1.45475372e-04 9.99914948e-01 -5.38214881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42420382199995 meters 0.01931411267125129 Centerline is valid? [True, True] Translation: X:189.32, Y:-15.29, Z:-5.39 [[ 9.88687009e-01 1.49483684e-01 1.23542522e-02 1.89324671e+02] [-1.49473731e-01 9.88764183e-01 -1.73026644e-03 -1.52930571e+01] [-1.24740887e-02 -1.35944227e-04 9.99922186e-01 -5.38576415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48420382199996 meters 0.01658604755258668 Centerline is valid? [True, True] Translation: X:189.38, Y:-15.30, Z:-5.39 [[ 9.89229198e-01 1.45859207e-01 1.22753834e-02 1.89382961e+02] [-1.45849113e-01 9.89305354e-01 -1.71830164e-03 -1.52997763e+01] [-1.23947327e-02 -9.05596355e-05 9.99923178e-01 -5.38825824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54420382199996 meters 0.017613264898181557 Centerline is valid? [True, True] Translation: X:189.44, Y:-15.31, Z:-5.39 [[ 9.89878925e-01 1.41323459e-01 1.29380594e-02 1.89441069e+02] [-1.41311867e-01 9.89963473e-01 -1.81042160e-03 -1.53118239e+01] [-1.30640613e-02 -3.62031455e-05 9.99914661e-01 -5.38793180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.60420382199996 meters 0.01398161967355452 Centerline is valid? [True, True] Translation: X:189.50, Y:-15.32, Z:-5.39 [[ 9.90371969e-01 1.38020799e-01 1.06593616e-02 1.89497776e+02] [-1.38012740e-01 9.90429331e-01 -1.49149487e-03 -1.53205726e+01] [-1.07632017e-02 6.00700705e-06 9.99942075e-01 -5.39407970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.66420382199996 meters 0.01390258349254653 Centerline is valid? [True, True] Translation: X:189.56, Y:-15.33, Z:-5.39 [[ 9.90716557e-01 1.35481781e-01 1.11978164e-02 1.89556492e+02] [-1.35472737e-01 9.90779837e-01 -1.56584231e-03 -1.53289075e+01] [-1.13067138e-02 3.43070721e-05 9.99936076e-01 -5.39472039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.72420382199996 meters 0.015327582029202542 Centerline is valid? [True, True] Translation: X:189.61, Y:-15.34, Z:-5.39 [[ 9.91386495e-01 1.30335970e-01 1.28589579e-02 1.89613154e+02] [-1.30323615e-01 9.91469880e-01 -1.79769767e-03 -1.53426893e+01] [-1.29835741e-02 1.06387304e-04 9.99915704e-01 -5.39243892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.78420382199997 meters 0.028175670809189986 Centerline is valid? [True, True] Translation: X:189.67, Y:-15.36, Z:-5.39 [[ 9.92143567e-01 1.24138401e-01 1.55177034e-02 1.89669276e+02] [-1.24119678e-01 9.92264888e-01 -2.16763947e-03 -1.53589325e+01] [-1.56667595e-02 2.24557214e-04 9.99877244e-01 -5.39117655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.84420382199997 meters 0.03309401346235794 Centerline is valid? [True, True] Translation: X:189.73, Y:-15.38, Z:-5.39 [[ 9.92629561e-01 1.20113584e-01 1.61022518e-02 1.89725837e+02] [-1.20092916e-01 9.92760111e-01 -2.24793341e-03 -1.53760072e+01] [-1.62556807e-02 2.97598773e-04 9.99867823e-01 -5.39261957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.90420382199997 meters 0.027399897175794177 Centerline is valid? [True, True] Translation: X:189.78, Y:-15.39, Z:-5.39 [[ 9.92980649e-01 1.17154688e-01 1.62545307e-02 1.89783625e+02] [-1.17133242e-01 9.93113618e-01 -2.26845462e-03 -1.53948573e+01] [-1.64083559e-02 3.48585652e-04 9.99865313e-01 -5.39292019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96420382199997 meters 0.042675924658370064 Centerline is valid? [True, True] Translation: X:189.84, Y:-15.41, Z:-5.40 [[ 9.92965352e-01 1.17444680e-01 1.50518231e-02 1.89841196e+02] [-1.17426324e-01 9.93079375e-01 -2.10064935e-03 -1.54087985e+01] [-1.51943651e-02 3.18391774e-04 9.99884508e-01 -5.39809646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02420382199998 meters 0.022380545579268503 Centerline is valid? [True, True] Translation: X:189.90, Y:-15.42, Z:-5.40 [[ 9.92512543e-01 1.21401301e-01 1.34378340e-02 1.89899141e+02] [-1.21387040e-01 9.92603481e-01 -1.87488924e-03 -1.54169360e+01] [-1.35660548e-02 2.29672194e-04 9.99907950e-01 -5.40129356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08420382199998 meters 0.020104734718515465 Centerline is valid? [True, True] Translation: X:189.96, Y:-15.43, Z:-5.40 [[ 9.92102567e-01 1.24795878e-01 1.25891321e-02 1.89956696e+02] [-1.24783641e-01 9.92182423e-01 -1.75594911e-03 -1.54263744e+01] [-1.27098508e-02 1.71163871e-04 9.99919212e-01 -5.40494386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14420382199995 meters 0.01628333579406182 Centerline is valid? [True, True] Translation: X:190.01, Y:-15.43, Z:-5.41 [[ 9.91642843e-01 1.28472742e-01 1.17993862e-02 1.90014563e+02] [-1.28462258e-01 9.91713034e-01 -1.64535704e-03 -1.54343149e+01] [-1.19129886e-02 1.15830735e-04 9.99929031e-01 -5.40610871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20420382199995 meters 0.014004658195226456 Centerline is valid? [True, True] Translation: X:190.07, Y:-15.44, Z:-5.41 [[ 9.91057074e-01 1.32918473e-01 1.17709946e-02 1.90072918e+02] [-1.32908360e-01 9.91126973e-01 -1.64081325e-03 -1.54422463e+01] [-1.18846447e-02 6.16759923e-05 9.99929373e-01 -5.40872012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26420382199996 meters 0.01286702743278022 Centerline is valid? [True, True] Translation: X:190.13, Y:-15.44, Z:-5.41 [[ 9.90045715e-01 1.40074435e-01 1.37344348e-02 1.90131492e+02] [-1.40061364e-01 9.90140976e-01 -1.91376586e-03 -1.54436740e+01] [-1.38670964e-02 -2.89479928e-05 9.99903847e-01 -5.40791157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.32420382199996 meters 0.015137952696106573 Centerline is valid? [True, True] Translation: X:190.19, Y:-15.45, Z:-5.41 [[ 9.89161894e-01 1.46143869e-01 1.41674751e-02 1.90190064e+02] [-1.46130598e-01 9.89263340e-01 -1.97301862e-03 -1.54484696e+01] [-1.43037083e-02 -1.18666771e-04 9.99897690e-01 -5.40834427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.38420382199996 meters 0.018758275713925368 Centerline is valid? [True, True] Translation: X:190.25, Y:-15.45, Z:-5.41 [[ 9.88536354e-01 1.50399872e-01 1.32572903e-02 1.90249510e+02] [-1.50388647e-01 9.88625232e-01 -1.84530038e-03 -1.54539128e+01] [-1.33840247e-02 -1.69599441e-04 9.99910416e-01 -5.41296899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.44420382199996 meters 0.0180279626705194 Centerline is valid? [True, True] Translation: X:190.31, Y:-15.47, Z:-5.42 [[ 9.88806265e-01 1.48555849e-01 1.39043355e-02 1.90306166e+02] [-1.48543317e-01 9.88904008e-01 -1.93553129e-03 -1.54675631e+01] [-1.40375876e-02 -1.51530635e-04 9.99901457e-01 -5.41642144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.50420382199997 meters 0.01805798154684591 Centerline is valid? [True, True] Translation: X:190.36, Y:-15.49, Z:-5.42 [[ 9.89508924e-01 1.43723020e-01 1.46895844e-02 1.90362732e+02] [-1.43708517e-01 9.89617949e-01 -2.04364819e-03 -1.54873891e+01] [-1.48307957e-02 -8.88102602e-05 9.99890014e-01 -5.41609189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.56420382199997 meters 0.011428922493671043 Centerline is valid? [True, True] Translation: X:190.42, Y:-15.51, Z:-5.41 [[ 9.90416328e-01 1.37100365e-01 1.67029108e-02 1.90419401e+02] [-1.37080689e-01 9.90557161e-01 -2.32270482e-03 -1.55090009e+01] [-1.68636316e-02 1.07982627e-05 9.99857799e-01 -5.41314869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.62420382199997 meters 0.012477057152480193 Centerline is valid? [True, True] Translation: X:190.48, Y:-15.53, Z:-5.42 [[ 9.90945682e-01 1.33260273e-01 1.63815193e-02 1.90476789e+02] [-1.33240840e-01 9.91081074e-01 -2.27691352e-03 -1.55291956e+01] [-1.65388359e-02 7.36102316e-05 9.99863221e-01 -5.41567221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.68420382199997 meters 0.01777426982445399 Centerline is valid? [True, True] Translation: X:190.54, Y:-15.54, Z:-5.42 [[ 9.91146973e-01 1.31841638e-01 1.56671752e-02 1.90536089e+02] [-1.31823696e-01 9.91270787e-01 -2.17694440e-03 -1.55442059e+01] [-1.58174250e-02 9.23668973e-05 9.99874892e-01 -5.41916192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74420382199997 meters 0.012838839949803196 Centerline is valid? [True, True] Translation: X:190.59, Y:-15.55, Z:-5.42 [[ 9.90982465e-01 1.32947064e-01 1.66982711e-02 1.90594704e+02] [-1.32926837e-01 9.91123137e-01 -2.32036385e-03 -1.55542988e+01] [-1.68585283e-02 7.97915278e-05 9.99857882e-01 -5.42036126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80420382199998 meters 0.011842378037966714 Centerline is valid? [True, True] Translation: X:190.65, Y:-15.56, Z:-5.42 [[ 9.90194625e-01 1.38714821e-01 1.65167488e-02 1.90653819e+02] [-1.38695829e-01 9.90332368e-01 -2.29538206e-03 -1.55587499e+01] [-1.66754745e-02 -1.79291906e-05 9.99860954e-01 -5.42330102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86420382199995 meters 0.01256441930542295 Centerline is valid? [True, True] Translation: X:190.71, Y:-15.56, Z:-5.42 [[ 9.89745282e-01 1.41877071e-01 1.65883361e-02 1.90712571e+02] [-1.41858371e-01 9.89884282e-01 -2.30453123e-03 -1.55647693e+01] [-1.67474933e-02 -7.22954334e-05 9.99859748e-01 -5.42481766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92420382199995 meters 0.014808505751762123 Centerline is valid? [True, True] Translation: X:190.77, Y:-15.56, Z:-5.43 [[ 9.89274933e-01 1.45064035e-01 1.70743339e-02 1.90771358e+02] [-1.45044711e-01 9.89422260e-01 -2.37128788e-03 -1.55648963e+01] [-1.72377147e-02 -1.30686183e-04 9.99851411e-01 -5.42722812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98420382199996 meters 0.01673437258146811 Centerline is valid? [True, True] Translation: X:190.83, Y:-15.57, Z:-5.43 [[ 9.88945716e-01 1.47399865e-01 1.61137012e-02 1.90829663e+02] [-1.47382982e-01 9.89076970e-01 -2.23681373e-03 -1.55697878e+01] [-1.62673968e-02 -1.62797994e-04 9.99867664e-01 -5.43018014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04420382199996 meters 0.017504972422189118 Centerline is valid? [True, True] Translation: X:190.89, Y:-15.58, Z:-5.43 [[ 9.88845856e-01 1.47898782e-01 1.76017957e-02 1.90887348e+02] [-1.47878731e-01 9.89002485e-01 -2.44252139e-03 -1.55766759e+01] [-1.77694656e-02 -1.87654053e-04 9.99842093e-01 -5.43058442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.10420382199996 meters 0.013759922196712024 Centerline is valid? [True, True] Translation: X:190.95, Y:-15.59, Z:-5.43 [[ 9.89371996e-01 1.44106731e-01 1.93985619e-02 1.90945280e+02] [-1.44081677e-01 9.89562142e-01 -2.69038182e-03 -1.55879998e+01] [-1.95837846e-02 -1.33188900e-04 9.99808210e-01 -5.42820664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.16420382199996 meters 0.010684208068694538 Centerline is valid? [True, True] Translation: X:191.00, Y:-15.61, Z:-5.43 [[ 9.90475211e-01 1.36226328e-01 2.00310531e-02 1.91003965e+02] [-1.36198029e-01 9.90677741e-01 -2.77667711e-03 -1.56058933e+01] [-2.02225750e-02 2.20398953e-05 9.99795503e-01 -5.42874365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.22420382199996 meters 0.014044645789233794 Centerline is valid? [True, True] Translation: X:191.06, Y:-15.63, Z:-5.43 [[ 9.91298840e-01 1.29816274e-01 2.17794662e-02 1.91062946e+02] [-1.29781294e-01 9.91538052e-01 -3.01792579e-03 -1.56291782e+01] [-2.19869454e-02 1.65099020e-04 9.99758244e-01 -5.42992868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.28420382199997 meters 0.02786847405024785 Centerline is valid? [True, True] Translation: X:191.12, Y:-15.64, Z:-5.43 [[ 9.91610799e-01 1.27557763e-01 2.09054940e-02 1.91123915e+02] [-1.27524966e-01 9.91831121e-01 -2.89998432e-03 -1.56386689e+01] [-2.11046351e-02 2.09683355e-04 9.99777250e-01 -5.43327330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.34420382199997 meters 0.019371896642105663 Centerline is valid? [True, True] Translation: X:191.18, Y:-15.65, Z:-5.44 [[ 9.91936755e-01 1.25022247e-01 2.07583970e-02 1.91183711e+02] [-1.24989273e-01 9.92153903e-01 -2.88346040e-03 -1.56546492e+01] [-2.09560213e-02 2.65633396e-04 9.99780363e-01 -5.43743131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.40420382199997 meters 0.020687064675282432 Centerline is valid? [True, True] Translation: X:191.24, Y:-15.67, Z:-5.44 [[ 9.92220487e-01 1.23157662e-01 1.81850472e-02 1.91244270e+02] [-1.23132032e-01 9.92387081e-01 -2.52668617e-03 -1.56671742e+01] [-1.83577867e-02 2.67867968e-04 9.99831446e-01 -5.44253461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46420382199997 meters 0.018376593348562092 Centerline is valid? [True, True] Translation: X:191.31, Y:-15.67, Z:-5.44 [[ 9.91984539e-01 1.25071346e-01 1.79953388e-02 1.91305643e+02] [-1.25046516e-01 9.92147723e-01 -2.50289952e-03 -1.56745498e+01] [-1.81670755e-02 2.32583209e-04 9.99834938e-01 -5.44355774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52420382199998 meters 0.015601596947930207 Centerline is valid? [True, True] Translation: X:191.37, Y:-15.68, Z:-5.44 [[ 9.91611772e-01 1.27991031e-01 1.80108093e-02 1.91367330e+02] [-1.27966557e-01 9.91775308e-01 -2.50956351e-03 -1.56797258e+01] [-1.81838775e-02 1.83731467e-04 9.99834643e-01 -5.44431728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58420382199998 meters 0.013718740784544752 Centerline is valid? [True, True] Translation: X:191.43, Y:-15.68, Z:-5.45 [[ 9.90957965e-01 1.32869065e-01 1.86580682e-02 1.91427629e+02] [-1.32843646e-01 9.91133594e-01 -2.60074270e-03 -1.56834451e+01] [-1.88381965e-02 9.86208802e-05 9.99822541e-01 -5.45002728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64420382199995 meters 0.011147476461544976 Centerline is valid? [True, True] Translation: X:191.49, Y:-15.68, Z:-5.45 [[ 9.90335056e-01 1.37455143e-01 1.85083701e-02 1.91487384e+02] [-1.37430919e-01 9.90507993e-01 -2.58048266e-03 -1.56846100e+01] [-1.86873891e-02 1.19201345e-05 9.99825375e-01 -5.44938689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70420382199995 meters 0.01215425081935692 Centerline is valid? [True, True] Translation: X:191.55, Y:-15.68, Z:-5.45 [[ 9.89760513e-01 1.41443722e-01 1.91781195e-02 1.91546210e+02] [-1.41418469e-01 9.89946296e-01 -2.67347180e-03 -1.56849036e+01] [-1.93634542e-02 -6.60434720e-05 9.99812509e-01 -5.45218459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76420382199996 meters 0.025061149420636634 Centerline is valid? [True, True] Translation: X:191.61, Y:-15.68, Z:-5.46 [[ 9.88822522e-01 1.48114566e-01 1.70907834e-02 1.91606762e+02] [-1.48095518e-01 9.88970194e-01 -2.38183725e-03 -1.56810042e+01] [-1.72550602e-02 -1.75854112e-04 9.99851105e-01 -5.45582055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.82420382199996 meters 0.020458273456129824 Centerline is valid? [True, True] Translation: X:191.67, Y:-15.68, Z:-5.46 [[ 9.87991791e-01 1.53620281e-01 1.65236137e-02 1.91667560e+02] [-1.53603253e-01 9.88129920e-01 -2.30239290e-03 -1.56775225e+01] [-1.66811714e-02 -2.63335524e-04 9.99860825e-01 -5.45795775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.88420382199996 meters 0.026952762742180666 Centerline is valid? [True, True] Translation: X:191.73, Y:-15.67, Z:-5.46 [[ 9.87241592e-01 1.58188624e-01 1.81768505e-02 1.91727985e+02] [-1.58168797e-01 9.87408841e-01 -2.53234558e-03 -1.56671560e+01] [-1.83485711e-02 -3.74973699e-04 9.99831580e-01 -5.45830553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.94420382199996 meters 0.02732633003440992 Centerline is valid? [True, True] Translation: X:191.79, Y:-15.67, Z:-5.46 [[ 9.87221467e-01 1.58169212e-01 1.93978377e-02 1.91787321e+02] [-1.58146643e-01 9.87411940e-01 -2.70173431e-03 -1.56676668e+01] [-1.95809877e-02 -4.00492806e-04 9.99808194e-01 -5.45836271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.00420382199997 meters 0.02172533736195663 Centerline is valid? [True, True] Translation: X:191.85, Y:-15.68, Z:-5.46 [[ 9.87895599e-01 1.53886473e-01 1.95253280e-02 1.91846183e+02] [-1.53862792e-01 9.88088484e-01 -2.71834307e-03 -1.56762822e+01] [-1.97110680e-02 -3.18782322e-04 9.99805667e-01 -5.45960387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.06420382199997 meters 0.020323241708810016 Centerline is valid? [True, True] Translation: X:191.90, Y:-15.68, Z:-5.46 [[ 9.88161461e-01 1.52186420e-01 1.93964066e-02 1.91904854e+02] [-1.52162730e-01 9.88351766e-01 -2.70003609e-03 -1.56847497e+01] [-1.95813815e-02 -2.83338571e-04 9.99808226e-01 -5.46145469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.12420382199997 meters 0.016034197786541835 Centerline is valid? [True, True] Translation: X:191.96, Y:-15.69, Z:-5.47 [[ 9.88965580e-01 1.47014854e-01 1.82678721e-02 1.91963048e+02] [-1.46992967e-01 9.89134270e-01 -2.54245602e-03 -1.56933684e+01] [-1.84431572e-02 -1.70847241e-04 9.99829896e-01 -5.46647756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.18420382199997 meters 0.012144323174335777 Centerline is valid? [True, True] Translation: X:192.02, Y:-15.71, Z:-5.47 [[ 9.89803325e-01 1.41165022e-01 1.90214159e-02 1.92019373e+02] [-1.41140228e-01 9.89986077e-01 -2.64646722e-03 -1.57053649e+01] [-1.92045255e-02 -6.52049125e-05 9.99815574e-01 -5.46759578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24420382199997 meters 0.011354940711417124 Centerline is valid? [True, True] Translation: X:192.08, Y:-15.71, Z:-5.47 [[ 9.90350369e-01 1.37232591e-01 1.93226152e-02 1.92077040e+02] [-1.37206282e-01 9.90538851e-01 -2.68707634e-03 -1.57146037e+01] [-1.95085555e-02 9.96286270e-06 9.99809690e-01 -5.46839432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30420382199998 meters 0.01420511001811206 Centerline is valid? [True, True] Translation: X:192.13, Y:-15.73, Z:-5.47 [[ 9.91231317e-01 1.30796900e-01 1.87788852e-02 1.92133435e+02] [-1.30770909e-01 9.91409176e-01 -2.61073307e-03 -1.57322696e+01] [-1.89590349e-02 1.32108499e-04 9.99820253e-01 -5.47135215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36420382199995 meters 0.01803866549749392 Centerline is valid? [True, True] Translation: X:192.19, Y:-15.75, Z:-5.47 [[ 9.92001795e-01 1.24874129e-01 1.84089952e-02 1.92191720e+02] [-1.24848161e-01 9.92172563e-01 -2.55766425e-03 -1.57512559e+01] [-1.85842861e-02 2.38878322e-04 9.99827269e-01 -5.47295505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42420382199995 meters 0.022331052809139884 Centerline is valid? [True, True] Translation: X:192.25, Y:-15.77, Z:-5.48 [[ 9.92445595e-01 1.21364600e-01 1.79547835e-02 1.92249000e+02] [-1.21339330e-01 9.92607952e-01 -2.49421947e-03 -1.57677613e+01] [-1.81247709e-02 2.96755720e-04 9.99835689e-01 -5.47517126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48420382199996 meters 0.021275304209577125 Centerline is valid? [True, True] Translation: X:192.31, Y:-15.78, Z:-5.48 [[ 9.92476091e-01 1.21245752e-01 1.70492504e-02 1.92308626e+02] [-1.21222935e-01 9.92622479e-01 -2.36928389e-03 -1.57767071e+01] [-1.72107348e-02 2.84697447e-04 9.99851844e-01 -5.47701956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54420382199996 meters 0.02120981097222111 Centerline is valid? [True, True] Translation: X:192.37, Y:-15.79, Z:-5.48 [[ 9.92046262e-01 1.24758434e-01 1.67196863e-02 1.92366778e+02] [-1.24736986e-01 9.92187122e-01 -2.32363199e-03 -1.57875400e+01] [-1.68789502e-02 2.19587148e-04 9.99857516e-01 -5.48325259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.60420382199996 meters 0.014112542319908205 Centerline is valid? [True, True] Translation: X:192.43, Y:-15.79, Z:-5.48 [[ 9.91279777e-01 1.30796955e-01 1.60175178e-02 1.92427093e+02] [-1.30778059e-01 9.91409171e-01 -2.22602705e-03 -1.57865548e+01] [-1.61710716e-02 1.11875709e-04 9.99869233e-01 -5.48151532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.66420382199996 meters 0.012407209852947883 Centerline is valid? [True, True] Translation: X:192.49, Y:-15.78, Z:-5.48 [[ 9.90115391e-01 1.39411411e-01 1.53613483e-02 1.92486581e+02] [-1.39395067e-01 9.90234547e-01 -2.13481971e-03 -1.57833846e+01] [-1.55089560e-02 -2.75783233e-05 9.99879729e-01 -5.48395430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.72420382199996 meters 0.01504198101045164 Centerline is valid? [True, True] Translation: X:192.54, Y:-15.78, Z:-5.49 [[ 9.89319550e-01 1.45013327e-01 1.47635547e-02 1.92544891e+02] [-1.44998861e-01 9.89429696e-01 -2.05123062e-03 -1.57843007e+01] [-1.49049552e-02 -1.11376061e-04 9.99888909e-01 -5.48710872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.78420382199997 meters 0.02044696804674729 Centerline is valid? [True, True] Translation: X:192.60, Y:-15.78, Z:-5.49 [[ 9.88246846e-01 1.52101901e-01 1.52703515e-02 1.92604858e+02] [-1.52087291e-01 9.88364791e-01 -2.12029789e-03 -1.57815363e+01] [-1.54151791e-02 -2.27048696e-04 9.99881153e-01 -5.48814176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.84420382199997 meters 0.024344125918795208 Centerline is valid? [True, True] Translation: X:192.66, Y:-15.78, Z:-5.49 [[ 9.87848903e-01 1.54780359e-01 1.40564770e-02 1.92663566e+02] [-1.54768255e-01 9.87948875e-01 -1.95148517e-03 -1.57808733e+01] [-1.41891323e-02 -2.47723935e-04 9.99899299e-01 -5.49244183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.90420382199997 meters 0.024486903330254328 Centerline is valid? [True, True] Translation: X:192.72, Y:-15.79, Z:-5.50 [[ 9.87985037e-01 1.53957434e-01 1.35157653e-02 1.92721242e+02] [-1.53946172e-01 9.88077455e-01 -1.87596415e-03 -1.57882637e+01] [-1.36434416e-02 -2.27275815e-04 9.99906898e-01 -5.49633753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96420382199997 meters 0.019760144646534965 Centerline is valid? [True, True] Translation: X:192.78, Y:-15.80, Z:-5.50 [[ 9.88502197e-01 1.50634137e-01 1.31439719e-02 1.92779047e+02] [-1.50623204e-01 9.88589564e-01 -1.82345337e-03 -1.58005952e+01] [-1.32686678e-02 -1.77299504e-04 9.99911952e-01 -5.49519379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02420382199998 meters 0.016412558900132636 Centerline is valid? [True, True] Translation: X:192.84, Y:-15.81, Z:-5.50 [[ 9.89095101e-01 1.46586062e-01 1.42621125e-02 1.92837503e+02] [-1.46572781e-01 9.89197912e-01 -1.97772650e-03 -1.58091527e+01] [-1.43979590e-02 -1.34277902e-04 9.99896335e-01 -5.49545029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08420382199998 meters 0.013859044194176655 Centerline is valid? [True, True] Translation: X:192.89, Y:-15.82, Z:-5.50 [[ 9.89910583e-01 1.41032657e-01 1.36684757e-02 1.92894581e+02] [-1.41019938e-01 9.90004943e-01 -1.89477114e-03 -1.58212393e+01] [-1.37990831e-02 -5.18735832e-05 9.99904787e-01 -5.49936590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14420382199995 meters 0.01326541862127825 Centerline is valid? [True, True] Translation: X:192.95, Y:-15.84, Z:-5.50 [[ 9.90817099e-01 1.34524207e-01 1.35909904e-02 1.92951903e+02] [-1.34511028e-01 9.90910307e-01 -1.88336713e-03 -1.58350640e+01] [-1.37208110e-02 3.79342629e-05 9.99905865e-01 -5.49977700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20420382199995 meters 0.014749287163520653 Centerline is valid? [True, True] Translation: X:193.01, Y:-15.85, Z:-5.50 [[ 9.91288465e-01 1.30906508e-01 1.45143366e-02 1.93008365e+02] [-1.30891099e-01 9.91394713e-01 -2.01067776e-03 -1.58470723e+01] [-1.46526473e-02 9.33642081e-05 9.99892640e-01 -5.50025671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26420382199996 meters 0.014963732989262943 Centerline is valid? [True, True] Translation: X:193.07, Y:-15.86, Z:-5.49 [[ 9.91637018e-01 1.27955013e-01 1.68386405e-02 1.93066201e+02] [-1.27933871e-01 9.91779960e-01 -2.33125159e-03 -1.58564480e+01] [-1.69985215e-02 1.57522916e-04 9.99855502e-01 -5.49444171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.32420382199996 meters 0.016968648544927627 Centerline is valid? [True, True] Translation: X:193.12, Y:-15.87, Z:-5.50 [[ 9.91840591e-01 1.26332669e-01 1.70967240e-02 1.93123186e+02] [-1.26310651e-01 9.91987914e-01 -2.36594782e-03 -1.58707632e+01] [-1.72586400e-02 1.87144751e-04 9.99851041e-01 -5.49750305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.38420382199996 meters 0.017473666587742083 Centerline is valid? [True, True] Translation: X:193.18, Y:-15.88, Z:-5.50 [[ 9.91961459e-01 1.25813797e-01 1.35407521e-02 1.93181941e+02] [-1.25799944e-01 9.92053862e-01 -1.87338001e-03 -1.58813231e+01] [-1.36688524e-02 1.54894912e-04 9.99906565e-01 -5.50452225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.44420382199996 meters 0.024691148337854983 Centerline is valid? [True, True] Translation: X:193.24, Y:-15.89, Z:-5.51 [[ 9.92002673e-01 1.25562399e-01 1.28367280e-02 1.93237959e+02] [-1.25549922e-01 9.92085713e-01 -1.77639751e-03 -1.58944083e+01] [-1.29581831e-02 1.50540877e-04 9.99916028e-01 -5.51020675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.50420382199997 meters 0.01789852114747651 Centerline is valid? [True, True] Translation: X:193.30, Y:-15.91, Z:-5.51 [[ 9.92028723e-01 1.25367965e-01 1.27234735e-02 1.93295945e+02] [-1.25355707e-01 9.92110302e-01 -1.75955432e-03 -1.59054344e+01] [-1.28436809e-02 1.50568405e-04 9.99917505e-01 -5.50881467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.56420382199997 meters 0.017529977155558676 Centerline is valid? [True, True] Translation: X:193.35, Y:-15.92, Z:-5.51 [[ 9.91859204e-01 1.26837002e-01 1.13002088e-02 1.93352033e+02] [-1.26827429e-01 9.91923566e-01 -1.56264401e-03 -1.59208477e+01] [-1.14071445e-02 1.16746413e-04 9.99934930e-01 -5.51327589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.62420382199997 meters 0.015734776853302056 Centerline is valid? [True, True] Translation: X:193.41, Y:-15.93, Z:-5.52 [[ 9.91267719e-01 1.31358254e-01 1.15463158e-02 1.93409167e+02] [-1.31348578e-01 9.91334961e-01 -1.59572527e-03 -1.59311107e+01] [-1.16558782e-02 6.51987983e-05 9.99932066e-01 -5.51686698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.68420382199997 meters 0.013807187774888836 Centerline is valid? [True, True] Translation: X:193.47, Y:-15.94, Z:-5.52 [[ 9.90565813e-01 1.36494430e-01 1.21917941e-02 1.93467375e+02] [-1.36484043e-01 9.90640838e-01 -1.68387573e-03 -1.59389819e+01] [-1.23075287e-02 4.00439008e-06 9.99924259e-01 -5.51595043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74420382199997 meters 0.014205449307932431 Centerline is valid? [True, True] Translation: X:193.52, Y:-15.95, Z:-5.51 [[ 9.89936118e-01 1.40899727e-01 1.31814240e-02 1.93524753e+02] [-1.40887985e-01 9.90023870e-01 -1.81983521e-03 -1.59506434e+01] [-1.33063387e-02 -5.55836723e-05 9.99911465e-01 -5.51481632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80420382199998 meters 0.016297980821280224 Centerline is valid? [True, True] Translation: X:193.58, Y:-15.96, Z:-5.52 [[ 9.89516429e-01 1.43784991e-01 1.35319482e-02 1.93581624e+02] [-1.43772893e-01 9.89608947e-01 -1.86771116e-03 -1.59592827e+01] [-1.36598859e-02 -9.73964664e-05 9.99906695e-01 -5.51705153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86420382199995 meters 0.018436907959565072 Centerline is valid? [True, True] Translation: X:193.64, Y:-15.97, Z:-5.52 [[ 9.88856740e-01 1.48302241e-01 1.29920467e-02 1.93639552e+02] [-1.48291490e-01 9.88942072e-01 -1.79233241e-03 -1.59702193e+01] [-1.31141885e-02 -1.54249992e-04 9.99913993e-01 -5.51589745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92420382199995 meters 0.025526056753716865 Centerline is valid? [True, True] Translation: X:193.70, Y:-15.97, Z:-5.52 [[ 9.87947815e-01 1.54287740e-01 1.24260752e-02 1.93698163e+02] [-1.54278385e-01 9.88025932e-01 -1.71369211e-03 -1.59731902e+01] [-1.25416863e-02 -2.24036447e-04 9.99921325e-01 -5.52045950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98420382199996 meters 0.026374441819963197 Centerline is valid? [True, True] Translation: X:193.76, Y:-15.98, Z:-5.52 [[ 9.87728208e-01 1.55724424e-01 1.19537328e-02 1.93756648e+02] [-1.55715879e-01 9.87800511e-01 -1.64797491e-03 -1.59822871e+01] [-1.20645333e-02 -2.33634699e-04 9.99927194e-01 -5.52261869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04420382199996 meters 0.033687978890483514 Centerline is valid? [True, True] Translation: X:193.81, Y:-15.99, Z:-5.53 [[ 9.87440681e-01 1.57593708e-01 1.11859072e-02 1.93814269e+02] [-1.57586350e-01 9.87504008e-01 -1.54168594e-03 -1.59940670e+01] [-1.12890882e-02 -2.40422872e-04 9.99936247e-01 -5.52530012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.10420382199996 meters 0.02977180556032916 Centerline is valid? [True, True] Translation: X:193.87, Y:-16.00, Z:-5.53 [[ 9.87310147e-01 1.58437530e-01 1.07806616e-02 1.93871621e+02] [-1.58430749e-01 9.87368974e-01 -1.48555738e-03 -1.60020181e+01] [-1.08798589e-02 -2.41282425e-04 9.99940783e-01 -5.52869686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.16420382199996 meters 0.03542395193733241 Centerline is valid? [True, True] Translation: X:193.93, Y:-16.00, Z:-5.52 [[ 9.86274854e-01 1.64574346e-01 1.33115050e-02 1.93932271e+02] [-1.64564592e-01 9.86364607e-01 -1.83232644e-03 -1.60034870e+01] [-1.34315513e-02 -3.83424886e-04 9.99909719e-01 -5.52370381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.22420382199996 meters 0.03475898604760682 Centerline is valid? [True, True] Translation: X:193.99, Y:-16.01, Z:-5.52 [[ 9.85852478e-01 1.67157750e-01 1.23765374e-02 1.93991533e+02] [-1.67149520e-01 9.85930086e-01 -1.70372070e-03 -1.60107660e+01] [-1.24871907e-02 -3.89115010e-04 9.99921956e-01 -5.52446210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.28420382199997 meters 0.0381382312805051 Centerline is valid? [True, True] Translation: X:194.05, Y:-16.01, Z:-5.53 [[ 9.85628916e-01 1.68393649e-01 1.33873069e-02 1.94049737e+02] [-1.68384129e-01 9.85719731e-01 -1.84322767e-03 -1.60084515e+01] [-1.35065204e-02 -4.37471523e-04 9.99908687e-01 -5.52648971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.34420382199997 meters 0.037351200815938485 Centerline is valid? [True, True] Translation: X:194.11, Y:-16.01, Z:-5.53 [[ 9.85809855e-01 1.67377921e-01 1.27890741e-02 1.94108702e+02] [-1.67369164e-01 9.85892726e-01 -1.75957458e-03 -1.60091462e+01] [-1.29031691e-02 -4.05890681e-04 9.99916668e-01 -5.52902961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.40420382199997 meters 0.037839404498072264 Centerline is valid? [True, True] Translation: X:194.17, Y:-16.01, Z:-5.53 [[ 9.86097108e-01 1.65777761e-01 1.14117633e-02 1.94166992e+02] [-1.65770684e-01 9.86163078e-01 -1.56986762e-03 -1.60097116e+01] [-1.15141087e-02 -3.43693885e-04 9.99933651e-01 -5.53472672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46420382199997 meters 0.02940235773786362 Centerline is valid? [True, True] Translation: X:194.23, Y:-16.02, Z:-5.54 [[ 9.86981142e-01 1.60491568e-01 1.05205523e-02 1.94226327e+02] [-1.60485267e-01 9.87037177e-01 -1.44589448e-03 -1.60206641e+01] [-1.06162301e-02 -2.61323066e-04 9.99943612e-01 -5.53526031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52420382199998 meters 0.022315131964360132 Centerline is valid? [True, True] Translation: X:194.28, Y:-16.03, Z:-5.54 [[ 9.88477741e-01 1.50955332e-01 1.11464427e-02 1.94284940e+02] [-1.50947653e-01 9.88540571e-01 -1.53178926e-03 -1.60276122e+01] [-1.12499425e-02 -1.68389773e-04 9.99936703e-01 -5.53817306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58420382199995 meters 0.01365902042604299 Centerline is valid? [True, True] Translation: X:194.34, Y:-16.05, Z:-5.54 [[ 9.90363192e-01 1.37897458e-01 1.28467324e-02 1.94342097e+02] [-1.37886159e-01 9.90446511e-01 -1.76534671e-03 -1.60467512e+01] [-1.29674381e-02 -2.30521838e-05 9.99915919e-01 -5.53716849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64420382199995 meters 0.018315375637807888 Centerline is valid? [True, True] Translation: X:194.40, Y:-16.07, Z:-5.54 [[ 9.92097560e-01 1.24675437e-01 1.40878180e-02 1.94398981e+02] [-1.24660521e-01 9.92197565e-01 -1.93548651e-03 -1.60691087e+01] [-1.42192064e-02 1.63996709e-04 9.99898889e-01 -5.53522173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70420382199995 meters 0.025164626953961114 Centerline is valid? [True, True] Translation: X:194.46, Y:-16.09, Z:-5.54 [[ 9.93002181e-01 1.17117654e-01 1.51698547e-02 1.94457527e+02] [-1.17099487e-01 9.93118004e-01 -2.08339871e-03 -1.60865950e+01] [-1.53094586e-02 2.92437272e-04 9.99882761e-01 -5.53523373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76420382199996 meters 0.040731886381621264 Centerline is valid? [True, True] Translation: X:194.52, Y:-16.10, Z:-5.54 [[ 9.93833359e-01 1.09951123e-01 1.43528942e-02 1.94515949e+02] [-1.09934113e-01 9.93936922e-01 -1.97116509e-03 -1.61039629e+01] [-1.44826033e-02 3.81136925e-04 9.99895049e-01 -5.53847328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.82420382199996 meters 0.03542167231869354 Centerline is valid? [True, True] Translation: X:194.58, Y:-16.12, Z:-5.54 [[ 9.94033447e-01 1.08342312e-01 1.26273743e-02 1.94575189e+02] [-1.08329048e-01 9.94113584e-01 -1.73171082e-03 -1.61198983e+01] [-1.27406619e-02 3.53467039e-04 9.99918772e-01 -5.54269432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.88420382199996 meters 0.03216580003275856 Centerline is valid? [True, True] Translation: X:194.64, Y:-16.13, Z:-5.54 [[ 9.93701851e-01 1.11384719e-01 1.22505479e-02 1.94635889e+02] [-1.11372416e-01 9.93777314e-01 -1.68403919e-03 -1.61262405e+01] [-1.23618928e-02 3.09059737e-04 9.99923541e-01 -5.54494008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.94420382199996 meters 0.025000597392507113 Centerline is valid? [True, True] Translation: X:194.70, Y:-16.13, Z:-5.55 [[ 9.93016719e-01 1.17319856e-01 1.24035068e-02 1.94696643e+02] [-1.17307701e-01 9.93094152e-01 -1.70555610e-03 -1.61295276e+01] [-1.25179456e-02 2.38618853e-04 9.99921619e-01 -5.54598806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.00420382199997 meters 0.02043731212103398 Centerline is valid? [True, True] Translation: X:194.76, Y:-16.13, Z:-5.55 [[ 9.92424640e-01 1.22180038e-01 1.28596937e-02 1.94756215e+02] [-1.22167370e-01 9.92507937e-01 -1.76902819e-03 -1.61345351e+01] [-1.29794880e-02 1.84592197e-04 9.99915746e-01 -5.54670963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.06420382199997 meters 0.01514411944629519 Centerline is valid? [True, True] Translation: X:194.82, Y:-16.13, Z:-5.55 [[ 9.91449703e-01 1.29827261e-01 1.31289410e-02 1.94816017e+02] [-1.29814731e-01 9.91536623e-01 -1.80573103e-03 -1.61334690e+01] [-1.32522590e-02 8.59615413e-05 9.99912181e-01 -5.54893987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.12420382199997 meters 0.013769078988024932 Centerline is valid? [True, True] Translation: X:194.88, Y:-16.13, Z:-5.55 [[ 9.90521723e-01 1.36856072e-01 1.17102904e-02 1.94875244e+02] [-1.36846592e-01 9.90590943e-01 -1.61080531e-03 -1.61344393e+01] [-1.18205561e-02 -6.97568472e-06 9.99930135e-01 -5.55301301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.18420382199997 meters 0.015915391256854403 Centerline is valid? [True, True] Translation: X:194.93, Y:-16.13, Z:-5.55 [[ 9.89489881e-01 1.44178741e-01 1.10574136e-02 1.94934835e+02] [-1.44170750e-01 9.89551657e-01 -1.52059962e-03 -1.61323525e+01] [-1.11611201e-02 -8.95376722e-05 9.99937709e-01 -5.55225724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24420382199997 meters 0.019488457733687632 Centerline is valid? [True, True] Translation: X:194.99, Y:-16.13, Z:-5.55 [[ 9.88768063e-01 1.49029449e-01 1.13110607e-02 1.94994326e+02] [-1.49021411e-01 9.88832747e-01 -1.55487314e-03 -1.61306559e+01] [-1.14164691e-02 -1.48181316e-04 9.99934819e-01 -5.55491711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30420382199998 meters 0.023748076766467046 Centerline is valid? [True, True] Translation: X:195.05, Y:-16.13, Z:-5.56 [[ 9.88325745e-01 1.51945173e-01 1.11752347e-02 1.95052746e+02] [-1.51937513e-01 9.88388907e-01 -1.53623667e-03 -1.61296685e+01] [-1.12789018e-02 -1.79635112e-04 9.99936375e-01 -5.55932760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36420382199995 meters 0.01878536642080612 Centerline is valid? [True, True] Translation: X:195.11, Y:-16.14, Z:-5.56 [[ 9.88939935e-01 1.47913445e-01 1.09278610e-02 1.95109932e+02] [-1.47905890e-01 9.89000301e-01 -1.50077719e-03 -1.61432755e+01] [-1.10296429e-02 -1.32116510e-04 9.99939163e-01 -5.55974440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42420382199995 meters 0.014157438474041266 Centerline is valid? [True, True] Translation: X:195.17, Y:-16.16, Z:-5.56 [[ 9.90145725e-01 1.39467893e-01 1.26550460e-02 1.95167728e+02] [-1.39457087e-01 9.90226593e-01 -1.73669784e-03 -1.61583779e+01] [-1.27735767e-02 -4.52519075e-05 9.99918414e-01 -5.56161854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48420382199996 meters 0.013277791818469569 Centerline is valid? [True, True] Translation: X:195.22, Y:-16.18, Z:-5.56 [[ 9.90991628e-01 1.33311278e-01 1.27943582e-02 1.95224719e+02] [-1.33299718e-01 9.91074216e-01 -1.75587176e-03 -1.61753783e+01] [-1.29142360e-02 3.45698811e-05 9.99916607e-01 -5.56144242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54420382199996 meters 0.017755821537614694 Centerline is valid? [True, True] Translation: X:195.28, Y:-16.20, Z:-5.56 [[ 9.92039148e-01 1.25361873e-01 1.19469719e-02 1.95282245e+02] [-1.25351228e-01 9.92111075e-01 -1.63867328e-03 -1.61970180e+01] [-1.20581503e-02 1.28060441e-04 9.99927290e-01 -5.56404130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.60420382199996 meters 0.021094698016753996 Centerline is valid? [True, True] Translation: X:195.34, Y:-16.21, Z:-5.57 [[ 9.92511210e-01 1.21587103e-01 1.17504739e-02 1.95340454e+02] [-1.21576546e-01 9.92580751e-01 -1.61123244e-03 -1.62110493e+01] [-1.18591993e-02 1.70584233e-04 9.99929663e-01 -5.56592037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.66420382199996 meters 0.021165941985786016 Centerline is valid? [True, True] Translation: X:195.40, Y:-16.22, Z:-5.57 [[ 9.92477640e-01 1.21758583e-01 1.27663966e-02 1.95399183e+02] [-1.21746138e-01 9.92559728e-01 -1.75034802e-03 -1.62199492e+01] [-1.28845310e-02 1.82921791e-04 9.99916974e-01 -5.56662505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.72420382199996 meters 0.018722017400023595 Centerline is valid? [True, True] Translation: X:195.46, Y:-16.22, Z:-5.57 [[ 9.92136861e-01 1.24472408e-01 1.30793446e-02 1.95458804e+02] [-1.24459581e-01 9.92223058e-01 -1.79327513e-03 -1.62244868e+01] [-1.32008406e-02 1.51324606e-04 9.99912854e-01 -5.56818595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.78420382199997 meters 0.0165458402024449 Centerline is valid? [True, True] Translation: X:195.52, Y:-16.23, Z:-5.57 [[ 9.91951063e-01 1.25897930e-01 1.35203304e-02 1.95518464e+02] [-1.25884363e-01 9.92043191e-01 -1.85322152e-03 -1.62321295e+01] [-1.36460684e-02 1.36306882e-04 9.99906879e-01 -5.56786674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.84420382199997 meters 0.016848014127827785 Centerline is valid? [True, True] Translation: X:195.58, Y:-16.24, Z:-5.57 [[ 9.91951223e-01 1.25826120e-01 1.41618502e-02 1.95577632e+02] [-1.25811231e-01 9.92052301e-01 -1.94096094e-03 -1.62405725e+01] [-1.42935197e-02 1.43618773e-04 9.99897832e-01 -5.56923434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.90420382199997 meters 0.017481778300797994 Centerline is valid? [True, True] Translation: X:195.64, Y:-16.25, Z:-5.57 [[ 9.92071006e-01 1.24749271e-01 1.52557995e-02 1.95636890e+02] [-1.24731871e-01 9.92188284e-01 -2.09051544e-03 -1.62518631e+01] [-1.53974158e-02 1.71055341e-04 9.99881438e-01 -5.56899172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96420382199997 meters 0.02904923465625877 Centerline is valid? [True, True] Translation: X:195.70, Y:-16.27, Z:-5.57 [[ 9.92473735e-01 1.21440442e-01 1.57513163e-02 1.95695502e+02] [-1.21421486e-01 9.92598694e-01 -2.15779978e-03 -1.62693549e+01] [-1.58967802e-02 2.29011361e-04 9.99873612e-01 -5.57175264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02420382199998 meters 0.025190781992336334 Centerline is valid? [True, True] Translation: X:195.75, Y:-16.29, Z:-5.57 [[ 9.92848620e-01 1.18198218e-01 1.67570311e-02 1.95754106e+02] [-1.18176282e-01 9.92989975e-01 -2.29674519e-03 -1.62888712e+01] [-1.69110351e-02 3.00036648e-04 9.99856953e-01 -5.57085547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08420382199995 meters 0.02235785368717241 Centerline is valid? [True, True] Translation: X:195.82, Y:-16.30, Z:-5.57 [[ 9.92847817e-01 1.18207267e-01 1.67408080e-02 1.95815931e+02] [-1.18185404e-01 9.92988899e-01 -2.29282303e-03 -1.63025614e+01] [-1.68944648e-02 2.97905189e-04 9.99857234e-01 -5.57074685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14420382199995 meters 0.021356115159851002 Centerline is valid? [True, True] Translation: X:195.88, Y:-16.31, Z:-5.58 [[ 9.92705342e-01 1.19660557e-01 1.47463649e-02 1.95877481e+02] [-1.19643720e-01 9.92814833e-01 -2.02189471e-03 -1.63136816e+01] [-1.48823509e-02 2.42835729e-04 9.99889222e-01 -5.57519851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20420382199995 meters 0.02002631605103329 Centerline is valid? [True, True] Translation: X:195.94, Y:-16.33, Z:-5.58 [[ 9.92394627e-01 1.22337994e-01 1.36498938e-02 1.95937208e+02] [-1.22323782e-01 9.92488478e-01 -1.87444516e-03 -1.63278625e+01] [-1.37766782e-02 1.90482673e-04 9.99905079e-01 -5.57983996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26420382199996 meters 0.017635570741356684 Centerline is valid? [True, True] Translation: X:196.00, Y:-16.34, Z:-5.58 [[ 9.92008354e-01 1.25603426e-01 1.19667882e-02 1.95998327e+02] [-1.25592727e-01 9.92080522e-01 -1.64441386e-03 -1.63384286e+01] [-1.20785615e-02 1.28330736e-04 9.99927043e-01 -5.58417410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.32420382199996 meters 0.014987889113360383 Centerline is valid? [True, True] Translation: X:196.06, Y:-16.35, Z:-5.59 [[ 9.91473721e-01 1.29698390e-01 1.25772589e-02 1.96059041e+02] [-1.29686842e-01 9.91553488e-01 -1.73297432e-03 -1.63506336e+01] [-1.26957889e-02 8.70935228e-05 9.99919401e-01 -5.58538240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.38420382199996 meters 0.013018838617701626 Centerline is valid? [True, True] Translation: X:196.12, Y:-16.36, Z:-5.58 [[ 9.90947239e-01 1.33520358e-01 1.39958627e-02 1.96118686e+02] [-1.33506423e-01 9.91046070e-01 -1.92945183e-03 -1.63585740e+01] [-1.41281659e-02 4.34473855e-05 9.99900192e-01 -5.58433127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.44420382199996 meters 0.012948368880947924 Centerline is valid? [True, True] Translation: X:196.18, Y:-16.37, Z:-5.59 [[ 9.90727543e-01 1.35166048e-01 1.37504309e-02 1.96178734e+02] [-1.35152785e-01 9.90822961e-01 -1.89361820e-03 -1.63693427e+01] [-1.38801956e-02 1.76506820e-05 9.99903665e-01 -5.58759543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.50420382199997 meters 0.012633187872630116 Centerline is valid? [True, True] Translation: X:196.24, Y:-16.38, Z:-5.59 [[ 9.90431047e-01 1.37383763e-01 1.31165091e-02 1.96240193e+02] [-1.37371868e-01 9.90517896e-01 -1.80788320e-03 -1.63798930e+01] [-1.32405107e-02 -1.12556993e-05 9.99912341e-01 -5.58904234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.56420382199997 meters 0.014140531082141479 Centerline is valid? [True, True] Translation: X:196.30, Y:-16.38, Z:-5.59 [[ 9.89921992e-01 1.40947936e-01 1.37160080e-02 1.96299223e+02] [-1.40935195e-01 9.90017008e-01 -1.89595502e-03 -1.63842263e+01] [-1.38463121e-02 -5.62206865e-05 9.99904134e-01 -5.59162111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.62420382199997 meters 0.016032421949892142 Centerline is valid? [True, True] Translation: X:196.36, Y:-16.38, Z:-5.59 [[ 9.89125998e-01 1.46349369e-01 1.45472661e-02 1.96360516e+02] [-1.46335626e-01 9.89232957e-01 -2.01048052e-03 -1.63844724e+01] [-1.46848676e-02 -1.40164727e-04 9.99892162e-01 -5.58912066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.68420382199997 meters 0.018501307266814947 Centerline is valid? [True, True] Translation: X:196.42, Y:-16.39, Z:-5.59 [[ 9.88663321e-01 1.49447318e-01 1.45029985e-02 1.96420513e+02] [-1.49433986e-01 9.88769672e-01 -2.00471621e-03 -1.63863994e+01] [-1.46397245e-02 -1.85251496e-04 9.99892816e-01 -5.59129080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74420382199997 meters 0.01882019239758394 Centerline is valid? [True, True] Translation: X:196.48, Y:-16.39, Z:-5.59 [[ 9.88644070e-01 1.49568415e-01 1.45668359e-02 1.96480163e+02] [-1.49554984e-01 9.88751361e-01 -2.01317173e-03 -1.63921037e+01] [-1.47040858e-02 -1.88232617e-04 9.99891871e-01 -5.59311934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80420382199998 meters 0.014338237806887222 Centerline is valid? [True, True] Translation: X:196.54, Y:-16.41, Z:-5.60 [[ 9.89698095e-01 1.42469798e-01 1.41434582e-02 1.96538538e+02] [-1.42456421e-01 9.89799146e-01 -1.95397223e-03 -1.64067162e+01] [-1.42775649e-02 -8.09838420e-05 9.99898067e-01 -5.59763261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86420382199995 meters 0.013711547222814797 Centerline is valid? [True, True] Translation: X:196.60, Y:-16.43, Z:-5.60 [[ 9.91294696e-01 1.30829368e-01 1.47817856e-02 1.96598619e+02] [-1.30813503e-01 9.91404896e-01 -2.03933521e-03 -1.64314354e+01] [-1.49215395e-02 8.79250266e-05 9.99888664e-01 -5.59593466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92420382199995 meters 0.02172064300428585 Centerline is valid? [True, True] Translation: X:196.66, Y:-16.46, Z:-5.60 [[ 9.92442073e-01 1.21842156e-01 1.46020923e-02 1.96656312e+02] [-1.21825617e-01 9.92549464e-01 -2.02011805e-03 -1.64556623e+01] [-1.47394344e-02 2.25941237e-04 9.99891343e-01 -5.60041837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98420382199996 meters 0.023101569277953763 Centerline is valid? [True, True] Translation: X:196.72, Y:-16.47, Z:-5.60 [[ 9.92775674e-01 1.19145656e-01 1.41694928e-02 1.96717601e+02] [-1.19129814e-01 9.92876753e-01 -1.95989326e-03 -1.64681050e+01] [-1.43020728e-02 2.57725306e-04 9.99897687e-01 -5.60098886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04420382199996 meters 0.021842591162229807 Centerline is valid? [True, True] Translation: X:196.78, Y:-16.48, Z:-5.60 [[ 9.92652897e-01 1.20171440e-01 1.41085543e-02 1.96779292e+02] [-1.20155854e-01 9.92753125e-01 -1.95031190e-03 -1.64758236e+01] [-1.42406832e-02 2.40757364e-04 9.99898567e-01 -5.60139534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.10420382199996 meters 0.018926687669848778 Centerline is valid? [True, True] Translation: X:196.84, Y:-16.48, Z:-5.61 [[ 9.92115625e-01 1.24634397e-01 1.31474027e-02 1.96841150e+02] [-1.24621228e-01 9.92202721e-01 -1.81944878e-03 -1.64814956e+01] [-1.32716546e-02 1.66658101e-04 9.99911914e-01 -5.60555175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.16420382199996 meters 0.015104505841273744 Centerline is valid? [True, True] Translation: X:196.90, Y:-16.48, Z:-5.61 [[ 9.91352407e-01 1.30384687e-01 1.48404382e-02 1.96901588e+02] [-1.30368468e-01 9.91463475e-01 -2.05922715e-03 -1.64835498e+01] [-1.49822441e-02 1.06694590e-04 9.99887754e-01 -5.60683944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.22420382199996 meters 0.012350347428898728 Centerline is valid? [True, True] Translation: X:196.96, Y:-16.48, Z:-5.61 [[ 9.90375730e-01 1.37499855e-01 1.58020021e-02 1.96962712e+02] [-1.37482368e-01 9.90501787e-01 -2.19288313e-03 -1.64803185e+01] [-1.59534324e-02 -7.18429285e-07 9.99872736e-01 -5.60756004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.28420382199997 meters 0.01538973560358515 Centerline is valid? [True, True] Translation: X:197.02, Y:-16.48, Z:-5.61 [[ 9.89383501e-01 1.44675484e-01 1.37583673e-02 1.97023996e+02] [-1.44662914e-01 9.89479153e-01 -1.90975681e-03 -1.64751843e+01] [-1.38899126e-02 -1.00843627e-04 9.99903525e-01 -5.61155912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.34420382199997 meters 0.01793696912680445 Centerline is valid? [True, True] Translation: X:197.08, Y:-16.48, Z:-5.62 [[ 9.88968193e-01 1.47572852e-01 1.28127522e-02 1.97083199e+02] [-1.47562190e-01 9.89051180e-01 -1.77874941e-03 -1.64785785e+01] [-1.29349628e-02 -1.31551189e-04 9.99916331e-01 -5.61572868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.40420382199997 meters 0.019624794506329157 Centerline is valid? [True, True] Translation: X:197.14, Y:-16.48, Z:-5.62 [[ 9.88699309e-01 1.49324802e-01 1.32582352e-02 1.97141997e+02] [-1.49313548e-01 9.88788187e-01 -1.84026152e-03 -1.64810649e+01] [-1.33843830e-02 -1.60168841e-04 9.99910412e-01 -5.61724165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46420382199997 meters 0.01705613400675618 Centerline is valid? [True, True] Translation: X:197.20, Y:-16.49, Z:-5.62 [[ 9.88855334e-01 1.48297447e-01 1.31527504e-02 1.97201481e+02] [-1.48286293e-01 9.88942792e-01 -1.82466168e-03 -1.64895588e+01] [-1.32779103e-02 -1.46046163e-04 9.99911834e-01 -5.61670346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52420382199998 meters 0.027848737922076566 Centerline is valid? [True, True] Translation: X:197.26, Y:-16.50, Z:-5.62 [[ 9.88992545e-01 1.47415706e-01 1.27418762e-02 1.97259514e+02] [-1.47405169e-01 9.89074614e-01 -1.76737687e-03 -1.64957784e+01] [-1.28632054e-02 -1.30295863e-04 9.99917257e-01 -5.62166107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58420382199995 meters 0.015839406770762374 Centerline is valid? [True, True] Translation: X:197.32, Y:-16.51, Z:-5.62 [[ 9.89322157e-01 1.45158182e-01 1.30679495e-02 1.97318054e+02] [-1.45146907e-01 9.89408455e-01 -1.81220626e-03 -1.65073261e+01] [-1.31925963e-02 -1.03916639e-04 9.99912969e-01 -5.62258150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64420382199995 meters 0.01508584987539584 Centerline is valid? [True, True] Translation: X:197.38, Y:-16.51, Z:-5.63 [[ 9.89613570e-01 1.43213162e-01 1.24487921e-02 1.97377680e+02] [-1.43202779e-01 9.89691863e-01 -1.72606875e-03 -1.65146301e+01] [-1.25676640e-02 -7.45605643e-05 9.99921021e-01 -5.62596683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70420382199995 meters 0.014898162410690302 Centerline is valid? [True, True] Translation: X:197.44, Y:-16.52, Z:-5.63 [[ 9.89525908e-01 1.43858527e-01 1.19667239e-02 1.97437009e+02] [-1.43848983e-01 9.89598261e-01 -1.65898419e-03 -1.65204998e+01] [-1.20809082e-02 -7.97932301e-05 9.99927020e-01 -5.62587056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76420382199996 meters 0.01637083571110852 Centerline is valid? [True, True] Translation: X:197.50, Y:-16.53, Z:-5.63 [[ 9.89392174e-01 1.44788176e-01 1.18114677e-02 1.97495644e+02] [-1.44778945e-01 9.89462670e-01 -1.63737888e-03 -1.65253320e+01] [-1.19240795e-02 -9.00419920e-05 9.99928902e-01 -5.62975018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.82420382199996 meters 0.01737373532424106 Centerline is valid? [True, True] Translation: X:197.55, Y:-16.53, Z:-5.63 [[ 9.89016734e-01 1.47310611e-01 1.20616769e-02 1.97554544e+02] [-1.47301176e-01 9.89090273e-01 -1.67179758e-03 -1.65261560e+01] [-1.21763608e-02 -1.23263409e-04 9.99925858e-01 -5.62932674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.88420382199996 meters 0.017143365321051582 Centerline is valid? [True, True] Translation: X:197.61, Y:-16.53, Z:-5.63 [[ 9.88957059e-01 1.47647919e-01 1.28073375e-02 1.97613166e+02] [-1.47637318e-01 9.89039976e-01 -1.77443027e-03 -1.65290161e+01] [-1.29289597e-02 -1.36005621e-04 9.99916408e-01 -5.62785290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.94420382199996 meters 0.016660817267538788 Centerline is valid? [True, True] Translation: X:197.67, Y:-16.54, Z:-5.63 [[ 9.89063307e-01 1.46887144e-01 1.33394827e-02 1.97671559e+02] [-1.46875585e-01 9.89153249e-01 -1.84741569e-03 -1.65358884e+01] [-1.34661543e-02 -1.32033263e-04 9.99909319e-01 -5.62896512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.00420382199997 meters 0.017144520137858468 Centerline is valid? [True, True] Translation: X:197.73, Y:-16.54, Z:-5.63 [[ 9.89269568e-01 1.45472456e-01 1.35457302e-02 1.97729182e+02] [-1.45460411e-01 9.89362295e-01 -1.87545454e-03 -1.65403183e+01] [-1.36744617e-02 -1.15037388e-04 9.99906494e-01 -5.63365391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.06420382199997 meters 0.015900343202743184 Centerline is valid? [True, True] Translation: X:197.79, Y:-16.55, Z:-5.63 [[ 9.89413272e-01 1.44521201e-01 1.32287218e-02 1.97787403e+02] [-1.44509642e-01 9.89501699e-01 -1.83056679e-03 -1.65470046e+01] [-1.33543984e-02 -1.00490776e-04 9.99910821e-01 -5.63478934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.12420382199997 meters 0.014117720885132912 Centerline is valid? [True, True] Translation: X:197.85, Y:-16.55, Z:-5.63 [[ 9.89695879e-01 1.42576128e-01 1.31952670e-02 1.97845732e+02] [-1.42564462e-01 9.89783836e-01 -1.82533364e-03 -1.65546614e+01] [-1.33207110e-02 -7.46509648e-05 9.99911273e-01 -5.63437139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18420382199997 meters 0.013567527309886964 Centerline is valid? [True, True] Translation: X:197.90, Y:-16.56, Z:-5.64 [[ 9.90039676e-01 1.40269222e-01 1.20824432e-02 1.97904822e+02] [-1.40259280e-01 9.90113399e-01 -1.67048701e-03 -1.65635903e+01] [-1.21973068e-02 -4.08263651e-05 9.99925609e-01 -5.63818470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24420382199997 meters 0.014140721512995048 Centerline is valid? [True, True] Translation: X:197.96, Y:-16.57, Z:-5.64 [[ 9.90085321e-01 1.39983029e-01 1.16536733e-02 1.97961773e+02] [-1.39973757e-01 9.90153902e-01 -1.61156994e-03 -1.65701522e+01] [-1.17645225e-02 -3.56166900e-05 9.99930795e-01 -5.64211429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30420382199998 meters 0.013931608714090086 Centerline is valid? [True, True] Translation: X:198.02, Y:-16.57, Z:-5.64 [[ 9.90008244e-01 1.40434521e-01 1.27209273e-02 1.98020542e+02] [-1.40423525e-01 9.90089967e-01 -1.75798736e-03 -1.65743139e+01] [-1.28417446e-02 -4.58954752e-05 9.99917540e-01 -5.64195761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36420382199995 meters 0.01347878128883135 Centerline is valid? [True, True] Translation: X:198.08, Y:-16.58, Z:-5.64 [[ 9.90239883e-01 1.38783659e-01 1.28089622e-02 1.98078462e+02] [-1.38772380e-01 9.90322723e-01 -1.76952158e-03 -1.65838344e+01] [-1.29305870e-02 -2.52793205e-05 9.99916396e-01 -5.64300690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42420382199995 meters 0.01324436006594102 Centerline is valid? [True, True] Translation: X:198.14, Y:-16.60, Z:-5.64 [[ 9.90730528e-01 1.35236141e-01 1.28143382e-02 1.98136406e+02] [-1.35224564e-01 9.90813396e-01 -1.76965484e-03 -1.65966986e+01] [-1.29359393e-02 2.04377734e-05 9.99916327e-01 -5.64427795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48420382199996 meters 0.014325871574946034 Centerline is valid? [True, True] Translation: X:198.19, Y:-16.61, Z:-5.64 [[ 9.91333445e-01 1.30717052e-01 1.30787133e-02 1.98194878e+02] [-1.30704617e-01 9.91419712e-01 -1.80473151e-03 -1.66123717e+01] [-1.32024033e-02 7.96424949e-05 9.99912841e-01 -5.64455679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54420382199996 meters 0.015433357635877084 Centerline is valid? [True, True] Translation: X:198.25, Y:-16.63, Z:-5.65 [[ 9.91659037e-01 1.28126206e-01 1.40010456e-02 1.98253758e+02] [-1.28111697e-01 9.91757864e-01 -1.93200415e-03 -1.66265767e+01] [-1.41331875e-02 1.22191654e-04 9.99900114e-01 -5.64504332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.60420382199996 meters 0.01778165863842443 Centerline is valid? [True, True] Translation: X:198.31, Y:-16.64, Z:-5.65 [[ 9.91966968e-01 1.25602217e-01 1.50205814e-02 1.98312792e+02] [-1.25585262e-01 9.92080670e-01 -2.07047218e-03 -1.66443984e+01] [-1.51616843e-02 1.67476357e-04 9.99885041e-01 -5.64603818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.66420382199996 meters 0.017660042135893183 Centerline is valid? [True, True] Translation: X:198.37, Y:-16.66, Z:-5.65 [[ 9.91936844e-01 1.26082642e-01 1.28244202e-02 1.98373251e+02] [-1.26070277e-01 9.92019732e-01 -1.77132355e-03 -1.66550712e+01] [-1.29454110e-02 1.40262895e-04 9.99916195e-01 -5.65043804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.72420382199996 meters 0.015118993086452776 Centerline is valid? [True, True] Translation: X:198.43, Y:-16.66, Z:-5.65 [[ 9.91467196e-01 1.29705688e-01 1.30090024e-02 1.98433384e+02] [-1.29693267e-01 9.91552533e-01 -1.79754142e-03 -1.66637023e+01] [-1.31322607e-02 9.50233323e-05 9.99913764e-01 -5.65196179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.78420382199997 meters 0.013643464838112077 Centerline is valid? [True, True] Translation: X:198.49, Y:-16.67, Z:-5.65 [[ 9.90953746e-01 1.33535009e-01 1.33818594e-02 1.98492946e+02] [-1.33522211e-01 9.91044096e-01 -1.84925257e-03 -1.66691110e+01] [-1.35089527e-02 4.57483014e-05 9.99908749e-01 -5.65379703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.84420382199997 meters 0.013665299684619688 Centerline is valid? [True, True] Translation: X:198.55, Y:-16.67, Z:-5.66 [[ 9.90133083e-01 1.39492104e-01 1.33577968e-02 1.98551569e+02] [-1.39479892e-01 9.90223183e-01 -1.84613485e-03 -1.66715587e+01] [-1.34847213e-02 -3.52248607e-05 9.99909076e-01 -5.65739028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.90420382199997 meters 0.019993737409286415 Centerline is valid? [True, True] Translation: X:198.61, Y:-16.67, Z:-5.66 [[ 9.89373128e-01 1.44841858e-01 1.27141463e-02 1.98611146e+02] [-1.44831243e-01 9.89454812e-01 -1.75657479e-03 -1.66734391e+01] [-1.28344988e-02 -1.03497709e-04 9.99917629e-01 -5.65955732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96420382199997 meters 0.02035734638461702 Centerline is valid? [True, True] Translation: X:198.67, Y:-16.68, Z:-5.66 [[ 9.88699844e-01 1.49266418e-01 1.38619716e-02 1.98669595e+02] [-1.49254233e-01 9.88796999e-01 -1.91529565e-03 -1.66754428e+01] [-1.39925653e-02 -1.75305425e-04 9.99902084e-01 -5.66207931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02420382199998 meters 0.023894888330658063 Centerline is valid? [True, True] Translation: X:198.73, Y:-16.68, Z:-5.67 [[ 9.88177605e-01 1.52750679e-01 1.31244545e-02 1.98729067e+02] [-1.52740078e-01 9.88264734e-01 -1.81226152e-03 -1.66759306e+01] [-1.32472597e-02 -2.13793945e-04 9.99912228e-01 -5.66504297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08420382199995 meters 0.02601412815709384 Centerline is valid? [True, True] Translation: X:198.79, Y:-16.68, Z:-5.67 [[ 9.88005216e-01 1.53965370e-01 1.18472414e-02 1.98786883e+02] [-1.53956818e-01 9.88076223e-01 -1.63596616e-03 -1.66775350e+01] [-1.19578596e-02 -2.07620487e-04 9.99928481e-01 -5.67054829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14420382199995 meters 0.023016496595618528 Centerline is valid? [True, True] Translation: X:198.85, Y:-16.69, Z:-5.67 [[ 9.88448882e-01 1.50991768e-01 1.30496699e-02 1.98845222e+02] [-1.50981150e-01 9.88535002e-01 -1.80069128e-03 -1.66881845e+01] [-1.31719450e-02 -1.90362885e-04 9.99913228e-01 -5.67103911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20420382199995 meters 0.017058867494794357 Centerline is valid? [True, True] Translation: X:198.90, Y:-16.70, Z:-5.67 [[ 9.89359738e-01 1.44894173e-01 1.31524500e-02 1.98903453e+02] [-1.44882857e-01 9.89447152e-01 -1.81423570e-03 -1.67023850e+01] [-1.32765264e-02 -1.10632773e-04 9.99911857e-01 -5.67140951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26420382199996 meters 0.013782247058596687 Centerline is valid? [True, True] Translation: X:198.96, Y:-16.72, Z:-5.67 [[ 9.90158709e-01 1.39212818e-01 1.43360794e-02 1.98961458e+02] [-1.39198783e-01 9.90262485e-01 -1.97709834e-03 -1.67170975e+01] [-1.44717191e-02 -3.79236634e-05 9.99895278e-01 -5.67048275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.32420382199996 meters 0.012936830319248954 Centerline is valid? [True, True] Translation: X:199.02, Y:-16.73, Z:-5.67 [[ 9.90651667e-01 1.35533457e-01 1.54905644e-02 1.99020752e+02] [-1.35516629e-01 9.90772770e-01 -2.13572681e-03 -1.67283221e+01] [-1.56370918e-02 1.65322483e-05 9.99877733e-01 -5.66899258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.38420382199996 meters 0.013036914380215828 Centerline is valid? [True, True] Translation: X:199.08, Y:-16.74, Z:-5.67 [[ 9.90940909e-01 1.33334656e-01 1.60618763e-02 1.99080408e+02] [-1.33316282e-01 9.91071070e-01 -2.21413207e-03 -1.67378344e+01] [-1.62136815e-02 5.27644098e-05 9.99868548e-01 -5.66919407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.44420382199996 meters 0.014925372967428999 Centerline is valid? [True, True] Translation: X:199.14, Y:-16.75, Z:-5.67 [[ 9.91364891e-01 1.30234243e-01 1.53197268e-02 1.99139693e+02] [-1.30217168e-01 9.91483249e-01 -2.11113199e-03 -1.67489325e+01] [-1.54641941e-02 9.80107092e-05 9.99880417e-01 -5.67314959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.50420382199997 meters 0.015715943626285946 Centerline is valid? [True, True] Translation: X:199.20, Y:-16.76, Z:-5.67 [[ 9.91648904e-01 1.28202264e-01 1.40225382e-02 1.99200203e+02] [-1.28187741e-01 9.91748035e-01 -1.93336476e-03 -1.67589760e+01] [-1.41546864e-02 1.19701552e-04 9.99899810e-01 -5.67445642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.56420382199997 meters 0.016842087800056117 Centerline is valid? [True, True] Translation: X:199.26, Y:-16.77, Z:-5.68 [[ 9.91762996e-01 1.27391512e-01 1.33252516e-02 1.99259421e+02] [-1.27378317e-01 9.91852503e-01 -1.83772328e-03 -1.67683478e+01] [-1.34507945e-02 1.25237827e-04 9.99909526e-01 -5.67815262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.62420382199997 meters 0.02695211343591201 Centerline is valid? [True, True] Translation: X:199.32, Y:-16.78, Z:-5.68 [[ 9.91661528e-01 1.28192745e-01 1.31921889e-02 1.99319432e+02] [-1.28179879e-01 9.91749266e-01 -1.81972716e-03 -1.67765400e+01] [-1.33166194e-02 1.13580241e-04 9.99911323e-01 -5.68079510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68420382199997 meters 0.016018442984588533 Centerline is valid? [True, True] Translation: X:199.38, Y:-16.79, Z:-5.68 [[ 9.91625169e-01 1.28437722e-01 1.35379549e-02 1.99378972e+02] [-1.28424196e-01 9.91717570e-01 -1.86742204e-03 -1.67859114e+01] [-1.36656752e-02 1.13181722e-04 9.99906614e-01 -5.68103400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74420382199997 meters 0.015406963883079433 Centerline is valid? [True, True] Translation: X:199.44, Y:-16.79, Z:-5.68 [[ 9.91401191e-01 1.30247867e-01 1.26163374e-02 1.99438226e+02] [-1.30236261e-01 9.91481460e-01 -1.74069315e-03 -1.67924560e+01] [-1.27355862e-02 8.26206575e-05 9.99918896e-01 -5.68393631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80420382199998 meters 0.015478584696089023 Centerline is valid? [True, True] Translation: X:199.50, Y:-16.80, Z:-5.69 [[ 9.91324799e-01 1.30873425e-01 1.21363164e-02 1.99496686e+02] [-1.30862744e-01 9.91399083e-01 -1.67356546e-03 -1.68009521e+01] [-1.22509581e-02 7.08552838e-05 9.99924952e-01 -5.68798610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86420382199995 meters 0.015270241198707632 Centerline is valid? [True, True] Translation: X:199.56, Y:-16.81, Z:-5.69 [[ 9.91123940e-01 1.32446427e-01 1.14577012e-02 1.99556007e+02] [-1.32437003e-01 9.91190164e-01 -1.58075178e-03 -1.68087220e+01] [-1.15661256e-02 4.92973252e-05 9.99933109e-01 -5.69139031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92420382199995 meters 0.014114637244636805 Centerline is valid? [True, True] Translation: X:199.62, Y:-16.81, Z:-5.69 [[ 9.90622431e-01 1.36071743e-01 1.23158189e-02 1.99615220e+02] [-1.36061138e-01 9.90698986e-01 -1.69879481e-03 -1.68145048e+01] [-1.24324272e-02 7.15991597e-06 9.99922714e-01 -5.69027378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98420382199996 meters 0.013353065727332776 Centerline is valid? [True, True] Translation: X:199.67, Y:-16.82, Z:-5.69 [[ 9.90383583e-01 1.37705670e-01 1.33231706e-02 1.99674178e+02] [-1.37693409e-01 9.90473194e-01 -1.83757577e-03 -1.68222940e+01] [-1.34492879e-02 -1.46079028e-05 9.99909554e-01 -5.68755448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04420382199996 meters 0.01272323301077181 Centerline is valid? [True, True] Translation: X:199.73, Y:-16.83, Z:-5.69 [[ 9.90526765e-01 1.36463302e-01 1.53132493e-02 1.99732920e+02] [-1.36446974e-01 9.90645127e-01 -2.11097574e-03 -1.68346599e+01] [-1.54580665e-02 1.53144403e-06 9.99880517e-01 -5.68730299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.10420382199996 meters 0.013226870433982657 Centerline is valid? [True, True] Translation: X:199.79, Y:-16.85, Z:-5.69 [[ 9.90653935e-01 1.35607786e-01 1.46734251e-02 1.99790992e+02] [-1.35592703e-01 9.90762599e-01 -2.02260219e-03 -1.68490588e+01] [-1.48121614e-02 1.40894583e-05 9.99890294e-01 -5.69075710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.16420382199996 meters 0.013319203227847224 Centerline is valid? [True, True] Translation: X:199.85, Y:-16.86, Z:-5.69 [[ 9.90439350e-01 1.37149631e-01 1.48281108e-02 1.99850820e+02] [-1.37134406e-01 9.90550341e-01 -2.04356870e-03 -1.68567713e+01] [-1.49682649e-02 -9.41330581e-06 9.99887969e-01 -5.69242135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.22420382199996 meters 0.015493634915322388 Centerline is valid? [True, True] Translation: X:199.91, Y:-16.86, Z:-5.69 [[ 9.89435895e-01 1.44263219e-01 1.43084818e-02 1.99911386e+02] [-1.44249782e-01 9.89539343e-01 -1.97213679e-03 -1.68566206e+01] [-1.44433125e-02 -1.12692458e-04 9.99895684e-01 -5.69232561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.28420382199997 meters 0.02448992516825256 Centerline is valid? [True, True] Translation: X:199.97, Y:-16.85, Z:-5.70 [[ 9.88044892e-01 1.53542200e-01 1.38594302e-02 1.99972105e+02] [-1.53530505e-01 9.88142062e-01 -1.91026402e-03 -1.68465600e+01] [-1.39883921e-02 -2.40418703e-04 9.99902129e-01 -5.69706517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.34420382199997 meters 0.03754071978936623 Centerline is valid? [True, True] Translation: X:200.03, Y:-16.85, Z:-5.70 [[ 9.87242334e-01 1.58745788e-01 1.23429827e-02 2.00033069e+02] [-1.58736927e-01 9.87319450e-01 -1.70061120e-03 -1.68468421e+01] [-1.24564317e-02 -2.80371771e-04 9.99922376e-01 -5.70156951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.40420382199997 meters 0.031378080216825706 Centerline is valid? [True, True] Translation: X:200.09, Y:-16.85, Z:-5.70 [[ 9.86985569e-01 1.60323093e-01 1.24896535e-02 2.00091015e+02] [-1.60314129e-01 9.87064544e-01 -1.72211401e-03 -1.68475403e+01] [-1.26041888e-02 -3.02566255e-04 9.99920518e-01 -5.70262719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46420382199997 meters 0.03032637446976179 Centerline is valid? [True, True] Translation: X:200.15, Y:-16.85, Z:-5.70 [[ 9.87113836e-01 1.59426137e-01 1.37688848e-02 2.00149822e+02] [-1.59415181e-01 9.87209807e-01 -1.89669452e-03 -1.68518383e+01] [-1.38951608e-02 -3.22715856e-04 9.99903406e-01 -5.70202651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52420382199998 meters 0.029933843309396226 Centerline is valid? [True, True] Translation: X:200.21, Y:-16.85, Z:-5.70 [[ 9.87198623e-01 1.58832577e-01 1.45289847e-02 2.00208906e+02] [-1.58820325e-01 9.87305476e-01 -2.00061747e-03 -1.68540867e+01] [-1.46623094e-02 -3.32491255e-04 9.99892447e-01 -5.70287708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58420382199995 meters 0.029134878939416135 Centerline is valid? [True, True] Translation: X:200.27, Y:-16.86, Z:-5.71 [[ 9.87342491e-01 1.57960839e-01 1.42541163e-02 2.00268070e+02] [-1.57948965e-01 9.87445327e-01 -1.96211033e-03 -1.68554929e+01] [-1.43850971e-02 -3.14148007e-04 9.99896480e-01 -5.70546477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64420382199995 meters 0.027843920339885534 Centerline is valid? [True, True] Translation: X:200.33, Y:-16.86, Z:-5.71 [[ 9.87565231e-01 1.56478572e-01 1.51449944e-02 2.00327051e+02] [-1.56465005e-01 9.87681305e-01 -2.08392892e-03 -1.68585985e+01] [-1.52845181e-02 -3.11645887e-04 9.99883136e-01 -5.70624265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70420382199995 meters 0.024399630027531254 Centerline is valid? [True, True] Translation: X:200.39, Y:-16.86, Z:-5.70 [[ 9.87888776e-01 1.54304666e-01 1.63044707e-02 2.00385659e+02] [-1.54288661e-01 9.88023269e-01 -2.24260591e-03 -1.68643392e+01] [-1.64552409e-02 -3.00149739e-04 9.99864558e-01 -5.70480425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76420382199996 meters 0.020973885690701674 Centerline is valid? [True, True] Translation: X:200.44, Y:-16.87, Z:-5.71 [[ 9.88431730e-01 1.50931146e-01 1.49165484e-02 2.00444395e+02] [-1.50917375e-01 9.88544252e-01 -2.05110902e-03 -1.68703178e+01] [-1.50552444e-02 -2.23785079e-04 9.99886638e-01 -5.70845405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.82420382199996 meters 0.021059105101344625 Centerline is valid? [True, True] Translation: X:200.50, Y:-16.87, Z:-5.72 [[ 9.88840817e-01 1.48375587e-01 1.33613042e-02 2.00502354e+02] [-1.48364308e-01 9.88931068e-01 -1.83691806e-03 -1.68718341e+01] [-1.34859626e-02 -1.65921100e-04 9.99909047e-01 -5.71592406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.88420382199996 meters 0.01912289754197391 Centerline is valid? [True, True] Translation: X:200.56, Y:-16.88, Z:-5.72 [[ 9.89075805e-01 1.46786134e-01 1.35233880e-02 2.00561629e+02] [-1.46774446e-01 9.89168241e-01 -1.85811538e-03 -1.68757002e+01] [-1.36496515e-02 -1.47070825e-04 9.99906828e-01 -5.71616164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.94420382199996 meters 0.016220249103747426 Centerline is valid? [True, True] Translation: X:200.62, Y:-16.88, Z:-5.72 [[ 9.89586444e-01 1.43349241e-01 1.30255615e-02 2.00620426e+02] [-1.43338107e-01 9.89672161e-01 -1.78916052e-03 -1.68813424e+01] [-1.31475104e-02 -9.65303337e-05 9.99913563e-01 -5.71881160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.00420382199997 meters 0.014278611397665564 Centerline is valid? [True, True] Translation: X:200.68, Y:-16.89, Z:-5.72 [[ 9.90039634e-01 1.40072126e-01 1.41888233e-02 2.00678699e+02] [-1.40058591e-01 9.90141301e-01 -1.94810805e-03 -1.68893248e+01] [-1.43218156e-02 -5.85624139e-05 9.99897436e-01 -5.71849352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.06420382199997 meters 0.013827349807020337 Centerline is valid? [True, True] Translation: X:200.74, Y:-16.90, Z:-5.72 [[ 9.90672997e-01 1.35431917e-01 1.50069362e-02 2.00735477e+02] [-1.35416253e-01 9.90786655e-01 -2.05976187e-03 -1.68990900e+01] [-1.51476296e-02 8.36739293e-06 9.99885268e-01 -5.72187189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.12420382199997 meters 0.014616456533683734 Centerline is valid? [True, True] Translation: X:200.79, Y:-16.91, Z:-5.73 [[ 9.91120723e-01 1.32363662e-01 1.26322743e-02 2.00793361e+02] [-1.32352322e-01 9.91201220e-01 -1.73313242e-03 -1.69101200e+01] [-1.27505295e-02 4.58326125e-05 9.99918708e-01 -5.72689529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18420382199997 meters 0.01562728861528932 Centerline is valid? [True, True] Translation: X:200.85, Y:-16.92, Z:-5.73 [[ 9.91323207e-01 1.30793559e-01 1.30898220e-02 2.00850459e+02] [-1.30781253e-01 9.91409623e-01 -1.79538577e-03 -1.69188923e+01] [-1.32122004e-02 6.79042436e-05 9.99912713e-01 -5.73024664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24420382199997 meters 0.01591128760104755 Centerline is valid? [True, True] Translation: X:200.91, Y:-16.93, Z:-5.73 [[ 9.91503163e-01 1.29320414e-01 1.40608872e-02 2.00908526e+02] [-1.29306084e-01 9.91602855e-01 -1.92737256e-03 -1.69278243e+01] [-1.41920645e-02 9.28377313e-05 9.99899283e-01 -5.73007447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30420382199998 meters 0.01768894534672017 Centerline is valid? [True, True] Translation: X:200.97, Y:-16.94, Z:-5.73 [[ 9.91857217e-01 1.26533633e-01 1.44395631e-02 2.00965408e+02] [-1.26518236e-01 9.91962308e-01 -1.97854164e-03 -1.69434869e+01] [-1.45738544e-02 1.35562748e-04 9.99893787e-01 -5.73174718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36420382199995 meters 0.019325657783953197 Centerline is valid? [True, True] Translation: X:201.02, Y:-16.96, Z:-5.73 [[ 9.92085753e-01 1.24695485e-01 1.47273626e-02 2.01022051e+02] [-1.24679274e-01 9.92195046e-01 -2.01740312e-03 -1.69584223e+01] [-1.48639773e-02 1.65240022e-04 9.99889511e-01 -5.73434866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42420382199995 meters 0.01865692740196246 Centerline is valid? [True, True] Translation: X:201.08, Y:-16.97, Z:-5.74 [[ 9.92226547e-01 1.23710495e-01 1.34979095e-02 2.01080997e+02] [-1.23696803e-01 9.92318339e-01 -1.84781965e-03 -1.69698599e+01] [-1.36228178e-02 1.63807460e-04 9.99907192e-01 -5.73602945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48420382199996 meters 0.019578434147928658 Centerline is valid? [True, True] Translation: X:201.14, Y:-16.99, Z:-5.74 [[ 9.92336420e-01 1.22824402e-01 1.35128210e-02 2.01137716e+02] [-1.22810599e-01 9.92428403e-01 -1.84970428e-03 -1.69876548e+01] [-1.36376962e-02 1.76011289e-04 9.99906987e-01 -5.73859183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54420382199996 meters 0.017714681794195834 Centerline is valid? [True, True] Translation: X:201.20, Y:-17.00, Z:-5.74 [[ 9.91991353e-01 1.25478106e-01 1.44361045e-02 2.01195653e+02] [-1.25462646e-01 9.92096378e-01 -1.97519830e-03 -1.69966360e+01] [-1.45698511e-02 1.48187763e-04 9.99893843e-01 -5.73864067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.60420382199996 meters 0.015250012482067622 Centerline is valid? [True, True] Translation: X:201.25, Y:-17.00, Z:-5.74 [[ 9.91362787e-01 1.30285000e-01 1.50214262e-02 2.01253905e+02] [-1.30268811e-01 9.91476582e-01 -2.05541798e-03 -1.70001516e+01] [-1.51611824e-02 8.08415717e-05 9.99885059e-01 -5.73994201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.66420382199996 meters 0.013985703399424051 Centerline is valid? [True, True] Translation: X:201.31, Y:-17.00, Z:-5.74 [[ 9.90233982e-01 1.38566433e-01 1.53624688e-02 2.01312725e+02] [-1.38550507e-01 9.90353140e-01 -2.10132868e-03 -1.70014378e+01] [-1.55054429e-02 -4.76707791e-05 9.99879782e-01 -5.74033503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.72420382199996 meters 0.015648459058698265 Centerline is valid? [True, True] Translation: X:201.37, Y:-17.01, Z:-5.74 [[ 9.89695195e-01 1.42321699e-01 1.57466162e-02 2.01370012e+02] [-1.42305452e-01 9.89820449e-01 -2.15320526e-03 -1.70072037e+01] [-1.58927705e-02 -1.09812433e-04 9.99873696e-01 -5.74225266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.78420382199997 meters 0.01931544937210317 Centerline is valid? [True, True] Translation: X:201.43, Y:-17.01, Z:-5.74 [[ 9.89009504e-01 1.46850198e-01 1.71819795e-02 2.01428337e+02] [-1.46831558e-01 9.89158723e-01 -2.34824045e-03 -1.70075605e+01] [-1.73405445e-02 -2.00424701e-04 9.99849621e-01 -5.74268548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.84420382199997 meters 0.02367411273187501 Centerline is valid? [True, True] Translation: X:201.49, Y:-17.01, Z:-5.75 [[ 9.88365372e-01 1.51228417e-01 1.62437102e-02 2.01488106e+02] [-1.51212371e-01 9.88498810e-01 -2.21863645e-03 -1.70091883e+01] [-1.63924090e-02 -2.63426492e-04 9.99865601e-01 -5.74599900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.90420382199997 meters 0.02558834417432891 Centerline is valid? [True, True] Translation: X:201.55, Y:-17.01, Z:-5.75 [[ 9.88099390e-01 1.52986996e-01 1.59553874e-02 2.01546492e+02] [-1.52971743e-01 9.88228160e-01 -2.17934420e-03 -1.70124723e+01] [-1.61009744e-02 -2.87314728e-04 9.99870330e-01 -5.74818548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96420382199997 meters 0.02570247586856359 Centerline is valid? [True, True] Translation: X:201.61, Y:-17.01, Z:-5.75 [[ 9.88127226e-01 1.52958650e-01 1.44304265e-02 2.01605017e+02] [-1.52946180e-01 9.88232556e-01 -1.97035415e-03 -1.70146039e+01] [-1.45620000e-02 -2.60118030e-04 9.99893935e-01 -5.75267148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02420382199998 meters 0.024838562918984255 Centerline is valid? [True, True] Translation: X:201.66, Y:-17.02, Z:-5.76 [[ 9.88341045e-01 1.51682549e-01 1.32054340e-02 2.01662524e+02] [-1.51671999e-01 9.88429236e-01 -1.80263014e-03 -1.70207135e+01] [-1.33260646e-02 -2.21281220e-04 9.99911180e-01 -5.75692181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08420382199995 meters 0.019780934934103198 Centerline is valid? [True, True] Translation: X:201.72, Y:-17.03, Z:-5.76 [[ 9.89146404e-01 1.46372942e-01 1.28200221e-02 2.01720114e+02] [-1.46362568e-01 9.89229468e-01 -1.74877792e-03 -1.70347348e+01] [-1.29379174e-02 -1.46573972e-04 9.99916291e-01 -5.75955150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14420382199995 meters 0.015370251449064114 Centerline is valid? [True, True] Translation: X:201.78, Y:-17.05, Z:-5.76 [[ 9.90111689e-01 1.39581841e-01 1.39911529e-02 2.01777180e+02] [-1.39568819e-01 9.90210536e-01 -1.90770564e-03 -1.70488227e+01] [-1.41204680e-02 -6.38870295e-05 9.99900299e-01 -5.76018439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.20420382199995 meters 0.024708584819117384 Centerline is valid? [True, True] Translation: X:201.84, Y:-17.06, Z:-5.77 [[ 9.90746198e-01 1.35149977e-01 1.25081612e-02 2.01835061e+02] [-1.35139221e-01 9.90825153e-01 -1.70502957e-03 -1.70615256e+01] [-1.26238354e-02 -1.09159732e-06 9.99920316e-01 -5.76624794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.26420382199996 meters 0.01513822687573093 Centerline is valid? [True, True] Translation: X:201.89, Y:-17.07, Z:-5.77 [[ 9.90906920e-01 1.33968961e-01 1.24817353e-02 2.01892372e+02] [-1.33958161e-01 9.90985528e-01 -1.70110134e-03 -1.70690131e+01] [-1.25971138e-02 1.36027820e-05 9.99920653e-01 -5.76739924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.32420382199996 meters 0.014574659589367857 Centerline is valid? [True, True] Translation: X:201.95, Y:-17.07, Z:-5.77 [[ 9.90882302e-01 1.34226687e-01 1.16386958e-02 2.01951590e+02] [-1.34217325e-01 9.90950653e-01 -1.58533207e-03 -1.70695092e+01] [-1.17461670e-02 8.76287861e-06 9.99931011e-01 -5.76678335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.38420382199996 meters 0.014330054647038057 Centerline is valid? [True, True] Translation: X:202.01, Y:-17.08, Z:-5.77 [[ 9.91019417e-01 1.33168480e-01 1.21107765e-02 2.02009742e+02] [-1.33158271e-01 9.91093414e-01 -1.64899666e-03 -1.70800721e+01] [-1.22225052e-02 2.15376498e-05 9.99925302e-01 -5.76792048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.44420382199996 meters 0.015189583300242933 Centerline is valid? [True, True] Translation: X:202.07, Y:-17.09, Z:-5.77 [[ 9.91312100e-01 1.31015625e-01 1.16287183e-02 2.02066646e+02] [-1.31006068e-01 9.91380302e-01 -1.58304039e-03 -1.70887693e+01] [-1.17358853e-02 4.58544356e-05 9.99931131e-01 -5.77090830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.50420382199997 meters 0.01722976355106016 Centerline is valid? [True, True] Translation: X:202.12, Y:-17.10, Z:-5.77 [[ 9.91671342e-01 1.28167217e-01 1.26930913e-02 2.02122975e+02] [-1.28155610e-01 9.91752569e-01 -1.72694601e-03 -1.71017731e+01] [-1.28097437e-02 8.58720118e-05 9.99917948e-01 -5.77382106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.56420382199997 meters 0.02312131418832141 Centerline is valid? [True, True] Translation: X:202.18, Y:-17.11, Z:-5.77 [[ 9.92166809e-01 1.24309895e-01 1.23318122e-02 2.02181330e+02] [-1.24298658e-01 9.92243434e-01 -1.67652130e-03 -1.71145268e+01] [-1.24445679e-02 1.30561068e-04 9.99922555e-01 -5.77421179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.62420382199997 meters 0.02163174514992513 Centerline is valid? [True, True] Translation: X:202.24, Y:-17.13, Z:-5.77 [[ 9.92627536e-01 1.20469759e-01 1.33270790e-02 2.02238453e+02] [-1.20456291e-01 9.92716979e-01 -1.81162579e-03 -1.71327079e+01] [-1.34482637e-02 1.92939145e-04 9.99909549e-01 -5.77334857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68420382199997 meters 0.023790883611629298 Centerline is valid? [True, True] Translation: X:202.30, Y:-17.15, Z:-5.78 [[ 9.92897392e-01 1.18358575e-01 1.20837551e-02 2.02296711e+02] [-1.18347354e-01 9.92970900e-01 -1.64206595e-03 -1.71470064e+01] [-1.21931697e-02 2.00322565e-04 9.99925640e-01 -5.77703105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74420382199997 meters 0.02472665295372682 Centerline is valid? [True, True] Translation: X:202.35, Y:-17.16, Z:-5.78 [[ 9.92987722e-01 1.17573605e-01 1.23220231e-02 2.02354674e+02] [-1.17561880e-01 9.93064148e-01 -1.67413360e-03 -1.71637226e+01] [-1.24333933e-02 2.13793907e-04 9.99922680e-01 -5.77870825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80420382199995 meters 0.02073922671162292 Centerline is valid? [True, True] Translation: X:202.41, Y:-17.17, Z:-5.78 [[ 9.92477099e-01 1.21843027e-01 1.19784682e-02 2.02414181e+02] [-1.21832263e-01 9.92549370e-01 -1.62699583e-03 -1.71721630e+01] [-1.20874592e-02 1.55392209e-04 9.99926932e-01 -5.77952446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86420382199995 meters 0.015343379080326989 Centerline is valid? [True, True] Translation: X:202.47, Y:-17.17, Z:-5.78 [[ 9.91478922e-01 1.29788281e-01 1.11601960e-02 2.02473736e+02] [-1.29779437e-01 9.91541728e-01 -1.51618215e-03 -1.71732611e+01] [-1.12625827e-02 5.48987028e-05 9.99936574e-01 -5.78018194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92420382199995 meters 0.015467567661008829 Centerline is valid? [True, True] Translation: X:202.53, Y:-17.17, Z:-5.78 [[ 9.90323394e-01 1.38337527e-01 1.10591136e-02 2.02532124e+02] [-1.38329374e-01 9.90385141e-01 -1.50247573e-03 -1.71714552e+01] [-1.11606305e-02 -4.18633959e-05 9.99937717e-01 -5.78327768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98420382199996 meters 0.01737145939176026 Centerline is valid? [True, True] Translation: X:202.59, Y:-17.18, Z:-5.78 [[ 9.89640871e-01 1.43139428e-01 1.10476390e-02 2.02590738e+02] [-1.43131600e-01 9.89702528e-01 -1.50005037e-03 -1.71766149e+01] [-1.11485926e-02 -9.67550954e-05 9.99937848e-01 -5.78338142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04420382199996 meters 0.023279725153149293 Centerline is valid? [True, True] Translation: X:202.65, Y:-17.18, Z:-5.78 [[ 9.88573844e-01 1.50288393e-01 1.16256004e-02 2.02650383e+02] [-1.50280229e-01 9.88642182e-01 -1.57764890e-03 -1.71753122e+01] [-1.17306612e-02 -1.87475446e-04 9.99931176e-01 -5.78429998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.10420382199996 meters 0.028122597062775267 Centerline is valid? [True, True] Translation: X:202.71, Y:-17.18, Z:-5.79 [[ 9.87982207e-01 1.54111467e-01 1.18665319e-02 2.02709417e+02] [-1.54103243e-01 9.88053439e-01 -1.60987380e-03 -1.71753228e+01] [-1.19728676e-02 -2.38144371e-04 9.99928294e-01 -5.78795684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.16420382199996 meters 0.02312591192586036 Centerline is valid? [True, True] Translation: X:202.77, Y:-17.19, Z:-5.79 [[ 9.88518730e-01 1.50540798e-01 1.29687643e-02 2.02767813e+02] [-1.50530679e-01 9.88603774e-01 -1.75844786e-03 -1.71926007e+01] [-1.30856874e-02 -2.13938248e-04 9.99914356e-01 -5.78579379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.22420382199996 meters 0.018764812104842047 Centerline is valid? [True, True] Translation: X:202.82, Y:-17.21, Z:-5.79 [[ 9.89138810e-01 1.46384948e-01 1.32612701e-02 2.02824880e+02] [-1.46373989e-01 9.89227689e-01 -1.79853649e-03 -1.72078374e+01] [-1.33816942e-02 -1.62102756e-04 9.99910448e-01 -5.78573537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.28420382199997 meters 0.028012422236275127 Centerline is valid? [True, True] Translation: X:202.88, Y:-17.22, Z:-5.79 [[ 9.89897201e-01 1.41325934e-01 1.14241392e-02 2.02881629e+02] [-1.41317469e-01 9.89963117e-01 -1.54898884e-03 -1.72238183e+01] [-1.15283887e-02 -8.10907079e-05 9.99933543e-01 -5.79349500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.34420382199997 meters 0.014550400306283136 Centerline is valid? [True, True] Translation: X:202.94, Y:-17.24, Z:-5.79 [[ 9.90716917e-01 1.35376217e-01 1.23802383e-02 2.02937814e+02] [-1.35365819e-01 9.90794267e-01 -1.67787010e-03 -1.72439048e+01] [-1.24934128e-02 -1.35668038e-05 9.99921954e-01 -5.79466962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.40420382199997 meters 0.014885864721961347 Centerline is valid? [True, True] Translation: X:203.00, Y:-17.26, Z:-5.79 [[ 9.91390815e-01 1.30339778e-01 1.24817548e-02 2.02995582e+02] [-1.30328824e-01 9.91469384e-01 -1.69056751e-03 -1.72609926e+01] [-1.25956260e-02 4.92806781e-05 9.99920671e-01 -5.79473837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46420382199997 meters 0.015165690508442447 Centerline is valid? [True, True] Translation: X:203.05, Y:-17.27, Z:-5.80 [[ 9.91498630e-01 1.29535560e-01 1.22883932e-02 2.03053636e+02] [-1.29524879e-01 9.91574775e-01 -1.66448597e-03 -1.72698057e+01] [-1.24004708e-02 5.86829254e-05 9.99923109e-01 -5.79709484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52420382199998 meters 0.01504589738394639 Centerline is valid? [True, True] Translation: X:203.11, Y:-17.28, Z:-5.80 [[ 9.91348024e-01 1.30806467e-01 1.08979103e-02 2.03112960e+02] [-1.30798152e-01 9.91407921e-01 -1.47535056e-03 -1.72765755e+01] [-1.09972600e-02 3.71593345e-05 9.99939528e-01 -5.80108770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58420382199995 meters 0.015113559002979945 Centerline is valid? [True, True] Translation: X:203.17, Y:-17.29, Z:-5.80 [[ 9.91200793e-01 1.31938586e-01 1.06394234e-02 2.03169992e+02] [-1.31930722e-01 9.91257892e-01 -1.44076270e-03 -1.72861855e+01] [-1.07365046e-02 2.44183218e-05 9.99942362e-01 -5.80479210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64420382199995 meters 0.015512037004089117 Centerline is valid? [True, True] Translation: X:203.23, Y:-17.30, Z:-5.81 [[ 9.91363581e-01 1.30731837e-01 1.03651977e-02 2.03228332e+02] [-1.30724319e-01 9.91417765e-01 -1.40239020e-03 -1.72986843e+01] [-1.04595782e-02 3.52951591e-05 9.99945296e-01 -5.80690972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70420382199995 meters 0.016322713530074234 Centerline is valid? [True, True] Translation: X:203.29, Y:-17.32, Z:-5.81 [[ 9.91863568e-01 1.26905943e-01 1.00769245e-02 2.03287415e+02] [-1.26898647e-01 9.91914753e-01 -1.36271312e-03 -1.73163799e+01] [-1.01683865e-02 7.28774085e-05 9.99948298e-01 -5.80706804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76420382199996 meters 0.017975125918964538 Centerline is valid? [True, True] Translation: X:203.35, Y:-17.34, Z:-5.81 [[ 9.92259760e-01 1.23735707e-01 1.04901785e-02 2.03346552e+02] [-1.23727629e-01 9.92315203e-01 -1.41813668e-03 -1.73374194e+01] [-1.05850377e-02 1.09235050e-04 9.99943971e-01 -5.80758878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.82420382199996 meters 0.018084427727936586 Centerline is valid? [True, True] Translation: X:203.41, Y:-17.35, Z:-5.81 [[ 9.92059748e-01 1.25400417e-01 9.60166196e-03 2.03405205e+02] [-1.25393723e-01 9.92106208e-01 -1.29844698e-03 -1.73513239e+01] [-9.68869423e-03 8.41488423e-05 9.99953060e-01 -5.81205409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.88420382199996 meters 0.014701430976377685 Centerline is valid? [True, True] Translation: X:203.47, Y:-17.35, Z:-5.81 [[ 9.91327047e-01 1.31076048e-01 9.47394608e-03 2.03465471e+02] [-1.31069784e-01 9.91372316e-01 -1.28177533e-03 -1.73542522e+01] [-9.56021791e-03 2.89104856e-05 9.99954300e-01 -5.81198495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.94420382199996 meters 0.014297627137806487 Centerline is valid? [True, True] Translation: X:203.52, Y:-17.36, Z:-5.81 [[ 9.90792387e-01 1.34991026e-01 1.03859725e-02 2.03524780e+02] [-1.34983715e-01 9.90846821e-01 -1.40499849e-03 -1.73603147e+01] [-1.04805700e-02 -9.87533337e-06 9.99945077e-01 -5.81315088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.00420382199997 meters 0.015573557295727394 Centerline is valid? [True, True] Translation: X:203.58, Y:-17.36, Z:-5.81 [[ 9.90169689e-01 1.39345701e-01 1.21145509e-02 2.03583920e+02] [-1.39336079e-01 9.90243794e-01 -1.63883021e-03 -1.73641303e+01] [-1.22247228e-02 -6.52740340e-05 9.99925273e-01 -5.81394344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.06420382199997 meters 0.01710370426026971 Centerline is valid? [True, True] Translation: X:203.64, Y:-17.37, Z:-5.82 [[ 9.89858533e-01 1.41481648e-01 1.27682055e-02 2.03641710e+02] [-1.41471139e-01 9.89940874e-01 -1.72706868e-03 -1.73712302e+01] [-1.28841170e-02 -9.67788996e-05 9.99916992e-01 -5.81528021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.12420382199997 meters 0.016089096300343792 Centerline is valid? [True, True] Translation: X:203.70, Y:-17.39, Z:-5.82 [[ 9.89899270e-01 1.41258310e-01 1.20633481e-02 2.03699835e+02] [-1.41248923e-01 9.89972768e-01 -1.63095839e-03 -1.73891698e+01] [-1.21727726e-02 -8.94504122e-05 9.99925905e-01 -5.81578599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18420382199997 meters 0.015167469390028172 Centerline is valid? [True, True] Translation: X:203.76, Y:-17.40, Z:-5.82 [[ 9.90184955e-01 1.39203765e-01 1.24926706e-02 2.03758669e+02] [-1.39193541e-01 9.90263756e-01 -1.68843130e-03 -1.74022351e+01] [-1.26060749e-02 -6.70397921e-05 9.99920538e-01 -5.81780904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24420382199997 meters 0.014111539518147474 Centerline is valid? [True, True] Translation: X:203.82, Y:-17.42, Z:-5.82 [[ 9.90426175e-01 1.37533928e-01 1.18494687e-02 2.03818163e+02] [-1.37524643e-01 9.90497055e-01 -1.59880948e-03 -1.74227380e+01] [-1.19567544e-02 -4.60911941e-05 9.99928514e-01 -5.81856499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30420382199995 meters 0.013935775216145273 Centerline is valid? [True, True] Translation: X:203.88, Y:-17.44, Z:-5.82 [[ 9.90542098e-01 1.36673413e-01 1.21132055e-02 2.03877882e+02] [-1.36663601e-01 9.90616160e-01 -1.63799184e-03 -1.74390547e+01] [-1.22234071e-02 -3.29344077e-05 9.99925291e-01 -5.82042228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36420382199995 meters 0.01426657008220804 Centerline is valid? [True, True] Translation: X:203.94, Y:-17.45, Z:-5.82 [[ 9.90521774e-01 1.36787608e-01 1.24806444e-02 2.03937443e+02] [-1.36777197e-01 9.90600398e-01 -1.68800409e-03 -1.74531568e+01] [-1.25942293e-02 -3.50627427e-05 9.99920689e-01 -5.82255048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42420382199995 meters 0.019259826852210542 Centerline is valid? [True, True] Translation: X:204.00, Y:-17.46, Z:-5.83 [[ 9.90249036e-01 1.38856118e-01 1.12171493e-02 2.03998898e+02] [-1.38847829e-01 9.90312565e-01 -1.51822701e-03 -1.74646712e+01] [-1.13192990e-02 -5.40539936e-05 9.99935933e-01 -5.82688535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48420382199996 meters 0.016076127273348912 Centerline is valid? [True, True] Translation: X:204.06, Y:-17.48, Z:-5.83 [[ 9.89983695e-01 1.40789578e-01 1.05156585e-02 2.04059096e+02] [-1.40782382e-01 9.90039540e-01 -1.42508306e-03 -1.74770070e+01] [-1.06115545e-02 -6.96104620e-05 9.99943693e-01 -5.82848107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54420382199996 meters 0.017561050952841918 Centerline is valid? [True, True] Translation: X:204.12, Y:-17.49, Z:-5.83 [[ 9.89625197e-01 1.43338340e-01 9.80249163e-03 2.04120148e+02] [-1.43332202e-01 9.89673740e-01 -1.32953018e-03 -1.74886304e+01] [-9.89184121e-03 -8.92761432e-05 9.99951071e-01 -5.83089480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.60420382199996 meters 0.01986346859963484 Centerline is valid? [True, True] Translation: X:204.18, Y:-17.50, Z:-5.83 [[ 9.89177238e-01 1.46361172e-01 1.03343843e-02 2.04180730e+02] [-1.46354490e-01 9.89231213e-01 -1.40398137e-03 -1.74979272e+01] [-1.04285838e-02 -1.23697130e-04 9.99945613e-01 -5.83247170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.66420382199996 meters 0.023177182339786394 Centerline is valid? [True, True] Translation: X:204.24, Y:-17.50, Z:-5.83 [[ 9.88370792e-01 1.51394567e-01 1.42429768e-02 2.04241698e+02] [-1.51382312e-01 9.88473383e-01 -1.94090224e-03 -1.75046688e+01] [-1.43726455e-02 -2.37803669e-04 9.99896680e-01 -5.82623662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.72420382199996 meters 0.028345929199726453 Centerline is valid? [True, True] Translation: X:204.30, Y:-17.51, Z:-5.82 [[ 9.87270879e-01 1.58326135e-01 1.51342982e-02 2.04302947e+02] [-1.58313102e-01 9.87386807e-01 -2.06292961e-03 -1.75052697e+01] [-1.52700220e-02 -3.59287365e-04 9.99883342e-01 -5.82449589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.78420382199997 meters 0.03751055374350011 Centerline is valid? [True, True] Translation: X:204.36, Y:-17.50, Z:-5.83 [[ 9.86321007e-01 1.64242843e-01 1.39699494e-02 2.04363820e+02] [-1.64232324e-01 9.86419848e-01 -1.90469284e-03 -1.74993732e+01] [-1.40930675e-02 -4.15678699e-04 9.99900601e-01 -5.83030915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.84420382199997 meters 0.03785513312314729 Centerline is valid? [True, True] Translation: X:204.42, Y:-17.50, Z:-5.83 [[ 9.85974591e-01 1.66404367e-01 1.27942587e-02 2.04424008e+02] [-1.66395729e-01 9.86057513e-01 -1.74413548e-03 -1.75049390e+01] [-1.29061067e-02 -4.09236742e-04 9.99916629e-01 -5.83291155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.90420382199997 meters 0.0405750803617312 Centerline is valid? [True, True] Translation: X:204.48, Y:-17.51, Z:-5.84 [[ 9.85885169e-01 1.67000173e-01 1.18901623e-02 2.04483276e+02] [-1.66992750e-01 9.85956790e-01 -1.62148933e-03 -1.75061740e+01] [-1.19939752e-02 -3.86968615e-04 9.99927995e-01 -5.83633549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96420382199997 meters 0.038289796844533465 Centerline is valid? [True, True] Translation: X:204.54, Y:-17.51, Z:-5.84 [[ 9.86088248e-01 1.65743480e-01 1.26121267e-02 2.04543284e+02] [-1.65735034e-01 9.86168821e-01 -1.71923828e-03 -1.75083373e+01] [-1.27226387e-02 -3.94950589e-04 9.99918986e-01 -5.83622348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02420382199998 meters 0.036472466425164884 Centerline is valid? [True, True] Translation: X:204.60, Y:-17.51, Z:-5.84 [[ 9.86414805e-01 1.63754363e-01 1.30514610e-02 2.04603200e+02] [-1.63745151e-01 9.86501071e-01 -1.77860653e-03 -1.75128581e+01] [-1.31665349e-02 -3.82669640e-04 9.99913244e-01 -5.83633817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08420382199995 meters 0.03105675558798412 Centerline is valid? [True, True] Translation: X:204.66, Y:-17.52, Z:-5.84 [[ 9.87179375e-01 1.59119590e-01 1.25633308e-02 2.04662057e+02] [-1.59110678e-01 9.87259267e-01 -1.71214743e-03 -1.75216383e+01] [-1.26757010e-02 -3.08763460e-04 9.99919612e-01 -5.83807433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14420382199995 meters 0.025916126519750553 Centerline is valid? [True, True] Translation: X:204.72, Y:-17.53, Z:-5.84 [[ 9.87927524e-01 1.54431073e-01 1.22576653e-02 2.04721447e+02] [-1.54422232e-01 9.88003535e-01 -1.67021955e-03 -1.75277512e+01] [-1.23685505e-02 -2.42800168e-04 9.99923477e-01 -5.83889522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20420382199995 meters 0.023187055417447266 Centerline is valid? [True, True] Translation: X:204.78, Y:-17.53, Z:-5.84 [[ 9.88578762e-01 1.50251082e-01 1.16894508e-02 2.04780460e+02] [-1.50242749e-01 9.88647854e-01 -1.59274230e-03 -1.75301168e+01] [-1.17960617e-02 -1.81704011e-04 9.99930408e-01 -5.84307060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26420382199996 meters 0.02090526031259866 Centerline is valid? [True, True] Translation: X:204.84, Y:-17.53, Z:-5.85 [[ 9.89179711e-01 1.46267777e-01 1.13682104e-02 2.04839352e+02] [-1.46259640e-01 9.89245025e-01 -1.54837145e-03 -1.75347104e+01] [-1.14724225e-02 -1.31092741e-04 9.99934181e-01 -5.84611543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.32420382199996 meters 0.017755107330553806 Centerline is valid? [True, True] Translation: X:204.90, Y:-17.54, Z:-5.84 [[ 9.89468938e-01 1.44354609e-01 1.06285869e-02 2.04898781e+02] [-1.44347388e-01 9.89526016e-01 -1.44745179e-03 -1.75414023e+01] [-1.07262096e-02 -1.02000170e-04 9.99942467e-01 -5.84462453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.38420382199996 meters 0.018169347659971427 Centerline is valid? [True, True] Translation: X:204.96, Y:-17.55, Z:-5.85 [[ 9.89545964e-01 1.43855327e-01 1.02191375e-02 2.04957710e+02] [-1.43848627e-01 9.89598725e-01 -1.39150097e-03 -1.75455481e+01] [-1.03130202e-02 -9.30547301e-05 9.99946815e-01 -5.84786763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.44420382199996 meters 0.01796691947908064 Centerline is valid? [True, True] Translation: X:205.02, Y:-17.55, Z:-5.85 [[ 9.89691639e-01 1.42891153e-01 9.62175120e-03 2.05016702e+02] [-1.42885166e-01 9.89738406e-01 -1.31034955e-03 -1.75451262e+01] [-9.71025406e-03 -7.79635190e-05 9.99952851e-01 -5.85044110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.50420382199997 meters 0.017678921290717825 Centerline is valid? [True, True] Translation: X:205.08, Y:-17.54, Z:-5.85 [[ 9.89838381e-01 1.41891505e-01 9.31557270e-03 2.05076543e+02] [-1.41885853e-01 9.89882213e-01 -1.26823930e-03 -1.75445665e+01] [-9.40127210e-03 -6.63960453e-05 9.99955805e-01 -5.85309573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.56420382199997 meters 0.015897497260207442 Centerline is valid? [True, True] Translation: X:205.14, Y:-17.55, Z:-5.86 [[ 9.90420211e-01 1.37789503e-01 9.04758034e-03 2.05135295e+02] [-1.37784003e-01 9.90461535e-01 -1.23136490e-03 -1.75497955e+01] [-9.13094947e-03 -2.70431566e-05 9.99958312e-01 -5.85513931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.62420382199997 meters 0.015329295058780725 Centerline is valid? [True, True] Translation: X:205.19, Y:-17.56, Z:-5.85 [[ 9.91334593e-01 1.31095170e-01 8.35352893e-03 2.05194012e+02] [-1.31090250e-01 9.91369787e-01 -1.13614304e-03 -1.75636911e+01] [-8.43037906e-03 3.12316966e-05 9.99964463e-01 -5.85405033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68420382199997 meters 0.01689979473877907 Centerline is valid? [True, True] Translation: X:205.25, Y:-17.57, Z:-5.86 [[ 9.91630457e-01 1.28819315e-01 8.63838395e-03 2.05251909e+02] [-1.28813963e-01 9.91668080e-01 -1.17538066e-03 -1.75702080e+01] [-8.71782136e-03 5.27987908e-05 9.99961998e-01 -5.85679569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74420382199997 meters 0.015883268545642683 Centerline is valid? [True, True] Translation: X:205.31, Y:-17.57, Z:-5.86 [[ 9.91505043e-01 1.29797794e-01 8.38343639e-03 2.05310707e+02] [-1.29792795e-01 9.91540484e-01 -1.13996545e-03 -1.75719685e+01] [-8.46048157e-03 4.21718508e-05 9.99964209e-01 -5.85702928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80420382199995 meters 0.01709756539931632 Centerline is valid? [True, True] Translation: X:205.37, Y:-17.58, Z:-5.86 [[ 9.91312364e-01 1.31247576e-01 8.59483471e-03 2.05368172e+02] [-1.31242378e-01 9.91349622e-01 -1.16848615e-03 -1.75765419e+01] [-8.67384712e-03 3.03282225e-05 9.99962381e-01 -5.86425958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86420382199995 meters 0.016008251075936186 Centerline is valid? [True, True] Translation: X:205.43, Y:-17.58, Z:-5.86 [[ 9.91440747e-01 1.30243458e-01 9.04912272e-03 2.05427324e+02] [-1.30237663e-01 9.91482042e-01 -1.22935079e-03 -1.75821693e+01] [-9.13215757e-03 4.02918714e-05 9.99958300e-01 -5.86148594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92420382199995 meters 0.016745788936959445 Centerline is valid? [True, True] Translation: X:205.49, Y:-17.59, Z:-5.86 [[ 9.91790395e-01 1.27504449e-01 9.71739953e-03 2.05485812e+02] [-1.27497640e-01 9.91837996e-01 -1.31958019e-03 -1.75925118e+01] [-9.80633842e-03 6.98014540e-05 9.99951914e-01 -5.86078888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98420382199996 meters 0.016269784226432445 Centerline is valid? [True, True] Translation: X:205.54, Y:-17.60, Z:-5.86 [[ 9.91884113e-01 1.26693739e-01 1.07052543e-02 2.05543995e+02] [-1.26685435e-01 9.91941878e-01 -1.45308667e-03 -1.76007468e+01] [-1.08030870e-02 8.50937932e-05 9.99941641e-01 -5.85915429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04420382199996 meters 0.014337816977825591 Centerline is valid? [True, True] Translation: X:205.60, Y:-17.61, Z:-5.86 [[ 9.91384608e-01 1.30373800e-01 1.26186703e-02 2.05601777e+02] [-1.30362568e-01 9.91464911e-01 -1.71210805e-03 -1.76071929e+01] [-1.27341828e-02 5.23553056e-05 9.99918916e-01 -5.85861976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.10420382199996 meters 0.01493769228274939 Centerline is valid? [True, True] Translation: X:205.66, Y:-17.60, Z:-5.86 [[ 9.90079605e-01 1.39940938e-01 1.26059688e-02 2.05662450e+02] [-1.39930516e-01 9.90159850e-01 -1.70940379e-03 -1.75991076e+01] [-1.27211397e-02 -7.15138813e-05 9.99919080e-01 -5.85948560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.16420382199996 meters 0.025599856018583243 Centerline is valid? [True, True] Translation: X:205.72, Y:-17.58, Z:-5.86 [[ 9.88313201e-01 1.51874701e-01 1.30801872e-02 2.05724356e+02] [-1.51864537e-01 9.88399727e-01 -1.77262688e-03 -1.75816607e+01] [-1.31976706e-02 -2.34506026e-04 9.99912879e-01 -5.86285337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.22420382199996 meters 0.032101768513659555 Centerline is valid? [True, True] Translation: X:205.79, Y:-17.58, Z:-5.86 [[ 9.87317296e-01 1.58269418e-01 1.24638683e-02 2.05785829e+02] [-1.58260703e-01 9.87395918e-01 -1.68869879e-03 -1.75775455e+01] [-1.25740421e-02 -3.05259048e-04 9.99920897e-01 -5.86493109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.28420382199997 meters 0.03938470116196035 Centerline is valid? [True, True] Translation: X:205.85, Y:-17.57, Z:-5.87 [[ 9.86214015e-01 1.64983582e-01 1.27410171e-02 2.05847932e+02] [-1.64975040e-01 9.86296232e-01 -1.72580688e-03 -1.75676481e+01] [-1.28511470e-02 -3.99934882e-04 9.99917341e-01 -5.86648820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.34420382199997 meters 0.042252860855373546 Centerline is valid? [True, True] Translation: X:205.91, Y:-17.56, Z:-5.87 [[ 9.85956063e-01 1.66591609e-01 1.17421540e-02 2.05908981e+02] [-1.66584464e-01 9.86025905e-01 -1.59084785e-03 -1.75602016e+01] [-1.18430899e-02 -3.87554347e-04 9.99929793e-01 -5.87089850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.40420382199997 meters 0.038244171340622406 Centerline is valid? [True, True] Translation: X:205.97, Y:-17.57, Z:-5.87 [[ 9.86343897e-01 1.64239762e-01 1.22888995e-02 2.05968441e+02] [-1.64231757e-01 9.86420376e-01 -1.66460990e-03 -1.75650280e+01] [-1.23954160e-02 -3.76349749e-04 9.99923103e-01 -5.87153939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46420382199997 meters 0.031674273862433176 Centerline is valid? [True, True] Translation: X:206.03, Y:-17.57, Z:-5.88 [[ 9.87693162e-01 1.55891089e-01 1.26564963e-02 2.06027574e+02] [-1.55881920e-01 9.87774210e-01 -1.71381568e-03 -1.75723954e+01] [-1.27689292e-02 -2.80194916e-04 9.99918435e-01 -5.87584595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52420382199998 meters 0.020349942445058472 Centerline is valid? [True, True] Translation: X:206.09, Y:-17.59, Z:-5.88 [[ 9.89325758e-01 1.45161880e-01 1.27503950e-02 2.06086202e+02] [-1.45151684e-01 9.89407908e-01 -1.72633472e-03 -1.75882043e+01] [-1.28659397e-02 -1.42833913e-04 9.99917220e-01 -5.87787446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.58420382199995 meters 0.013749978158469107 Centerline is valid? [True, True] Translation: X:206.14, Y:-17.60, Z:-5.88 [[ 9.90794085e-01 1.34719885e-01 1.33279612e-02 2.06143619e+02] [-1.34707793e-01 9.90883723e-01 -1.80501183e-03 -1.76049568e+01] [-1.34496308e-02 -6.98519331e-06 9.99909550e-01 -5.87742144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64420382199995 meters 0.014443997996419492 Centerline is valid? [True, True] Translation: X:206.20, Y:-17.62, Z:-5.88 [[ 9.91525239e-01 1.29203809e-01 1.35674769e-02 2.06201783e+02] [-1.29190766e-01 9.91618057e-01 -1.83714079e-03 -1.76166267e+01] [-1.36911207e-02 6.87787234e-05 9.99906270e-01 -5.87783548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.70420382199995 meters 0.017003800889422965 Centerline is valid? [True, True] Translation: X:206.26, Y:-17.63, Z:-5.88 [[ 9.92150957e-01 1.24283632e-01 1.37861398e-02 2.06259695e+02] [-1.24269699e-01 9.92246723e-01 -1.86607030e-03 -1.76255551e+01] [-1.39111740e-02 1.38223993e-04 9.99903225e-01 -5.87886594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.76420382199996 meters 0.016279776243325963 Centerline is valid? [True, True] Translation: X:206.32, Y:-17.63, Z:-5.88 [[ 9.92146539e-01 1.24211169e-01 1.47252018e-02 2.06318550e+02] [-1.24195277e-01 9.92255795e-01 -1.99238253e-03 -1.76266118e+01] [-1.48586430e-02 1.47934916e-04 9.99889593e-01 -5.87715529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.82420382199996 meters 0.014203078357170652 Centerline is valid? [True, True] Translation: X:206.38, Y:-17.63, Z:-5.88 [[ 9.91694807e-01 1.27561926e-01 1.64123542e-02 2.06377222e+02] [-1.27542656e-01 9.91830602e-01 -2.21983376e-03 -1.76265241e+01] [-1.65614414e-02 1.08122367e-04 9.99862844e-01 -5.87834587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.88420382199996 meters 0.012120032018156805 Centerline is valid? [True, True] Translation: X:206.44, Y:-17.62, Z:-5.88 [[ 9.90924246e-01 1.33324144e-01 1.71409255e-02 2.06436524e+02] [-1.33304008e-01 9.91072486e-01 -2.31709919e-03 -1.76227143e+01] [-1.72968249e-02 1.11156924e-05 9.99850399e-01 -5.87917052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.94420382199996 meters 0.012808664975342162 Centerline is valid? [True, True] Translation: X:206.50, Y:-17.62, Z:-5.88 [[ 9.90353234e-01 1.37556810e-01 1.66911817e-02 2.06496248e+02] [-1.37538330e-01 9.90493877e-01 -2.25556843e-03 -1.76200936e+01] [-1.68427821e-02 -6.18677724e-05 9.99858148e-01 -5.88080669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.00420382199997 meters 0.01712597006579136 Centerline is valid? [True, True] Translation: X:206.56, Y:-17.62, Z:-5.89 [[ 9.89562461e-01 1.43464336e-01 1.35690843e-02 2.06556491e+02] [-1.43452683e-01 9.89655479e-01 -1.83331293e-03 -1.76151921e+01] [-1.36917337e-02 -1.32343893e-04 9.99906255e-01 -5.88885932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.06420382199997 meters 0.022257409079669645 Centerline is valid? [True, True] Translation: X:206.62, Y:-17.61, Z:-5.89 [[ 9.88727371e-01 1.49075171e-01 1.39563308e-02 2.06615701e+02] [-1.49063413e-01 9.88825842e-01 -1.88480848e-03 -1.76098668e+01] [-1.40813587e-02 -2.16816574e-04 9.99900829e-01 -5.89143863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.12420382199997 meters 0.025416250070849696 Centerline is valid? [True, True] Translation: X:206.68, Y:-17.60, Z:-5.89 [[ 9.88056689e-01 1.53327764e-01 1.53158478e-02 2.06675930e+02] [-1.53314102e-01 9.88175341e-01 -2.06919907e-03 -1.76042650e+01] [-1.54520088e-02 -3.03649470e-04 9.99880564e-01 -5.88959611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18420382199997 meters 0.029808575709415745 Centerline is valid? [True, True] Translation: X:206.73, Y:-17.60, Z:-5.89 [[ 9.87582581e-01 1.56230924e-01 1.65089324e-02 2.06734184e+02] [-1.56215530e-01 9.87720483e-01 -2.22592184e-03 -1.76004328e+01] [-1.66539685e-02 -3.80669988e-04 9.99861241e-01 -5.89193172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24420382199997 meters 0.02817472613310321 Centerline is valid? [True, True] Translation: X:206.79, Y:-17.60, Z:-5.90 [[ 9.87753252e-01 1.55288583e-01 1.51317445e-02 2.06792402e+02] [-1.55275528e-01 9.87869093e-01 -2.04096099e-03 -1.76044400e+01] [-1.52651207e-02 -3.33623771e-04 9.99883426e-01 -5.89625951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30420382199995 meters 0.03038370131655723 Centerline is valid? [True, True] Translation: X:206.85, Y:-17.61, Z:-5.90 [[ 9.87860519e-01 1.54664414e-01 1.45091013e-02 2.06849433e+02] [-1.54652406e-01 9.87967014e-01 -1.95276710e-03 -1.76058338e+01] [-1.46365371e-02 -3.14805916e-04 9.99892831e-01 -5.90114076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36420382199995 meters 0.025419196096765177 Centerline is valid? [True, True] Translation: X:206.91, Y:-17.61, Z:-5.90 [[ 9.88153743e-01 1.52786493e-01 1.44384284e-02 2.06908072e+02] [-1.52774400e-01 9.88259180e-01 -1.94331455e-03 -1.76139071e+01] [-1.45658216e-02 -2.85528686e-04 9.99893872e-01 -5.90095613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42420382199995 meters 0.02229220717377544 Centerline is valid? [True, True] Translation: X:206.97, Y:-17.62, Z:-5.90 [[ 9.88656929e-01 1.49369539e-01 1.56913099e-02 2.06965027e+02] [-1.49354900e-01 9.88781408e-01 -2.10729048e-03 -1.76238367e+01] [-1.58300406e-02 -2.60186696e-04 9.99874663e-01 -5.90180812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48420382199996 meters 0.018083690182470365 Centerline is valid? [True, True] Translation: X:207.02, Y:-17.63, Z:-5.90 [[ 9.89208070e-01 1.45577700e-01 1.65688852e-02 2.07022991e+02] [-1.45560867e-01 9.89346799e-01 -2.22390321e-03 -1.76337070e+01] [-1.67161243e-02 -2.11878300e-04 9.99860253e-01 -5.90140115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54420382199996 meters 0.016003618202628894 Centerline is valid? [True, True] Translation: X:207.08, Y:-17.64, Z:-5.90 [[ 9.89600582e-01 1.42714256e-01 1.79813462e-02 2.07080857e+02] [-1.42693973e-01 9.89763916e-01 -2.41258941e-03 -1.76394069e+01] [-1.81415985e-02 -1.78329853e-04 9.99835412e-01 -5.90168280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.60420382199996 meters 0.014712855889562912 Centerline is valid? [True, True] Translation: X:207.14, Y:-17.65, Z:-5.90 [[ 9.89833816e-01 1.41137257e-01 1.75866631e-02 2.07138804e+02] [-1.41117627e-01 9.89990027e-01 -2.35845016e-03 -1.76498472e+01] [-1.77434863e-02 -1.47314447e-04 9.99842561e-01 -5.90342536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.66420382199996 meters 0.014724817191444447 Centerline is valid? [True, True] Translation: X:207.20, Y:-17.65, Z:-5.91 [[ 9.89865328e-01 1.40918806e-01 1.75647825e-02 2.07196246e+02] [-1.40899190e-01 9.90021146e-01 -2.35559065e-03 -1.76524543e+01] [-1.77214531e-02 -1.43146099e-04 9.99842952e-01 -5.90623104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.72420382199996 meters 0.017302746305610985 Centerline is valid? [True, True] Translation: X:207.25, Y:-17.65, Z:-5.91 [[ 9.89586043e-01 1.42773861e-01 1.83054242e-02 2.07254760e+02] [-1.42752934e-01 9.89755318e-01 -2.45153175e-03 -1.76528320e+01] [-1.84679056e-02 -1.87151417e-04 9.99829436e-01 -5.90855731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.78420382199997 meters 0.0203182206172 Centerline is valid? [True, True] Translation: X:207.31, Y:-17.65, Z:-5.91 [[ 9.89177458e-01 1.45645225e-01 1.77601960e-02 2.07314570e+02] [-1.45625988e-01 9.89336856e-01 -2.37860326e-03 -1.76496963e+01] [-1.79172486e-02 -2.33485350e-04 9.99839446e-01 -5.91189729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.84420382199997 meters 0.019377249389605538 Centerline is valid? [True, True] Translation: X:207.37, Y:-17.65, Z:-5.91 [[ 9.89170643e-01 1.45841548e-01 1.64827752e-02 2.07373331e+02] [-1.45825043e-01 9.89307937e-01 -2.20530729e-03 -1.76540468e+01] [-1.66281658e-02 -2.22176162e-04 9.99861718e-01 -5.91417760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.90420382199997 meters 0.023897755344256935 Centerline is valid? [True, True] Translation: X:207.43, Y:-17.66, Z:-5.92 [[ 9.89643063e-01 1.42472776e-01 1.75532403e-02 2.07431760e+02] [-1.42453585e-01 9.89798705e-01 -2.34525339e-03 -1.76617774e+01] [-1.77083093e-02 -1.79558262e-04 9.99843179e-01 -5.91751344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96420382199997 meters 0.012107812718146385 Centerline is valid? [True, True] Translation: X:207.49, Y:-17.68, Z:-5.92 [[ 9.90662919e-01 1.35213980e-01 1.74401752e-02 2.07487842e+02] [-1.35193979e-01 9.90816419e-01 -2.32619521e-03 -1.76769172e+01] [-1.75945461e-02 -5.33313418e-05 9.99845203e-01 -5.91683724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02420382199998 meters 0.01142375647324086 Centerline is valid? [True, True] Translation: X:207.55, Y:-17.69, Z:-5.92 [[ 9.91396964e-01 1.29551231e-01 1.86692042e-02 2.07545535e+02] [-1.29527350e-01 9.91572729e-01 -2.48783082e-03 -1.76908175e+01] [-1.88341753e-02 4.82553630e-05 9.99822620e-01 -5.91611259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08420382199995 meters 0.015538145027652533 Centerline is valid? [True, True] Translation: X:207.60, Y:-17.71, Z:-5.92 [[ 9.92320099e-01 1.22234075e-01 1.89644792e-02 2.07601450e+02] [-1.22208112e-01 9.92501282e-01 -2.52633452e-03 -1.77098595e+01] [-1.91310741e-02 1.89319325e-04 9.99816966e-01 -5.91918546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14420382199995 meters 0.018406124651525517 Centerline is valid? [True, True] Translation: X:207.66, Y:-17.72, Z:-5.92 [[ 9.92753900e-01 1.18525980e-01 1.97809296e-02 2.07659260e+02] [-1.18497024e-01 9.92950915e-01 -2.63369841e-03 -1.77235857e+01] [-1.99536538e-02 2.70633073e-04 9.99800869e-01 -5.91928209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20420382199995 meters 0.01754904898666934 Centerline is valid? [True, True] Translation: X:207.72, Y:-17.73, Z:-5.92 [[ 9.92752455e-01 1.18455094e-01 2.02719795e-02 2.07717378e+02] [-1.18424689e-01 9.92959371e-01 -2.69809585e-03 -1.77299270e+01] [-2.04488552e-02 2.77838420e-04 9.99790862e-01 -5.91870911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26420382199996 meters 0.01555040037148677 Centerline is valid? [True, True] Translation: X:207.78, Y:-17.74, Z:-5.92 [[ 9.92429522e-01 1.21154044e-01 2.01330841e-02 2.07775850e+02] [-1.21124628e-01 9.92633693e-01 -2.67863660e-03 -1.77380465e+01] [-2.03093053e-02 2.19745719e-04 9.99793721e-01 -5.92220183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.32420382199996 meters 0.012862593770651043 Centerline is valid? [True, True] Translation: X:207.83, Y:-17.74, Z:-5.92 [[ 9.91942592e-01 1.25057212e-01 2.02629847e-02 2.07833883e+02] [-1.25028247e-01 9.92149522e-01 -2.69502915e-03 -1.77415207e+01] [-2.04409434e-02 1.39868733e-04 9.99791052e-01 -5.92437352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.38420382199996 meters 0.011665707853424164 Centerline is valid? [True, True] Translation: X:207.89, Y:-17.74, Z:-5.93 [[ 9.91634938e-01 1.27517859e-01 1.99836405e-02 2.07892457e+02] [-1.27490213e-01 9.91836271e-01 -2.65659391e-03 -1.77444780e+01] [-2.01592626e-02 8.66527612e-05 9.99796778e-01 -5.92612962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.44420382199996 meters 0.011204675944867995 Centerline is valid? [True, True] Translation: X:207.95, Y:-17.75, Z:-5.93 [[ 9.91385356e-01 1.29600671e-01 1.89404860e-02 2.07950580e+02] [-1.29576232e-01 9.91566268e-01 -2.51708945e-03 -1.77510431e+01] [-1.91069635e-02 4.11688106e-05 9.99817444e-01 -5.93002215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.50420382199997 meters 0.01069834744702707 Centerline is valid? [True, True] Translation: X:208.01, Y:-17.76, Z:-5.93 [[ 9.91327378e-01 1.29728427e-01 2.09896385e-02 2.08007995e+02] [-1.29698466e-01 9.91549562e-01 -2.78826448e-03 -1.77636028e+01] [-2.11739841e-02 4.17589901e-05 9.99775805e-01 -5.92979368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.56420382199997 meters 0.010875491924196802 Centerline is valid? [True, True] Translation: X:208.07, Y:-17.78, Z:-5.93 [[ 9.91461070e-01 1.28705490e-01 2.09724613e-02 2.08065809e+02] [-1.28675370e-01 9.91682859e-01 -2.78498379e-03 -1.77754809e+01] [-2.11564731e-02 6.25637840e-05 9.99776175e-01 -5.93091476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.62420382199997 meters 0.011618605712461559 Centerline is valid? [True, True] Translation: X:208.12, Y:-17.79, Z:-5.93 [[ 9.91709981e-01 1.26646312e-01 2.17261246e-02 2.08123067e+02] [-1.26613519e-01 9.91947932e-01 -2.88396667e-03 -1.77919905e+01] [-2.19164281e-02 1.09237451e-04 9.99759800e-01 -5.93171814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68420382199997 meters 0.012368519849777158 Centerline is valid? [True, True] Translation: X:208.18, Y:-17.81, Z:-5.94 [[ 9.91829421e-01 1.25939451e-01 2.03385076e-02 2.08179596e+02] [-1.25910581e-01 9.92037923e-01 -2.69898005e-03 -1.78088352e+01] [-2.05164790e-02 1.16094518e-04 9.99789508e-01 -5.93620071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74420382199997 meters 0.010808348889413441 Centerline is valid? [True, True] Translation: X:208.24, Y:-17.81, Z:-5.94 [[ 9.91177950e-01 1.30979243e-01 2.02659730e-02 2.08237306e+02] [-1.30951655e-01 9.91385111e-01 -2.68815257e-03 -1.78129948e+01] [-2.04434761e-02 1.05748399e-05 9.99791010e-01 -5.93846428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80420382199995 meters 0.01440504313387283 Centerline is valid? [True, True] Translation: X:208.30, Y:-17.81, Z:-5.94 [[ 9.90004303e-01 1.39689371e-01 1.94514716e-02 2.08296506e+02] [-1.39665657e-01 9.90195361e-01 -2.57904914e-03 -1.78104219e+01] [-1.96210227e-02 -1.63432815e-04 9.99807476e-01 -5.94085139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86420382199995 meters 0.022009115077549657 Centerline is valid? [True, True] Translation: X:208.36, Y:-17.81, Z:-5.94 [[ 9.88862491e-01 1.47578922e-01 1.92726873e-02 2.08355837e+02] [-1.47557162e-01 9.89050232e-01 -2.55408564e-03 -1.78067212e+01] [-1.94385850e-02 -3.18183555e-04 9.99811002e-01 -5.94452107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92420382199995 meters 0.024389369047324055 Centerline is valid? [True, True] Translation: X:208.42, Y:-17.81, Z:-5.95 [[ 9.88324561e-01 1.51191275e-01 1.88616327e-02 2.08415151e+02] [-1.51171109e-01 9.88504452e-01 -2.49863515e-03 -1.78085201e+01] [-1.90225797e-02 -3.81871448e-04 9.99818981e-01 -5.94546390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98420382199996 meters 0.027848172782188475 Centerline is valid? [True, True] Translation: X:208.47, Y:-17.81, Z:-5.95 [[ 9.88160530e-01 1.52327649e-01 1.83045147e-02 2.08473255e+02] [-1.52308859e-01 9.88329972e-01 -2.42443797e-03 -1.78102608e+01] [-1.84602095e-02 -3.92205841e-04 9.99829519e-01 -5.95082694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04420382199996 meters 0.02386078464706053 Centerline is valid? [True, True] Translation: X:208.53, Y:-17.82, Z:-5.95 [[ 9.88646676e-01 1.49096862e-01 1.86514525e-02 2.08531601e+02] [-1.49076782e-01 9.88822538e-01 -2.47017161e-03 -1.78215155e+01] [-1.88112714e-02 -3.38371561e-04 9.99822995e-01 -5.95287588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.10420382199996 meters 0.01856001486566853 Centerline is valid? [True, True] Translation: X:208.59, Y:-17.83, Z:-5.95 [[ 9.89414892e-01 1.43857036e-01 1.90610622e-02 2.08590115e+02] [-1.43835176e-01 9.89598450e-01 -2.52006038e-03 -1.78339462e+01] [-1.92253260e-02 -2.48265959e-04 9.99815146e-01 -5.95435414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.16420382199996 meters 0.015319901513500352 Centerline is valid? [True, True] Translation: X:208.65, Y:-17.85, Z:-5.96 [[ 9.90145784e-01 1.38726384e-01 1.91394276e-02 2.08647003e+02] [-1.38703389e-01 9.90330737e-01 -2.53018310e-03 -1.78483993e+01] [-1.93053666e-02 -1.49453332e-04 9.99813623e-01 -5.95783705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.22420382199996 meters 0.011526074500182242 Centerline is valid? [True, True] Translation: X:208.70, Y:-17.87, Z:-5.96 [[ 9.90895016e-01 1.33369723e-01 1.84278131e-02 2.08704280e+02] [-1.33347495e-01 9.91066352e-01 -2.43529279e-03 -1.78664895e+01] [-1.85879799e-02 -4.41832276e-05 9.99827228e-01 -5.95875025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.28420382199997 meters 0.011487483097443348 Centerline is valid? [True, True] Translation: X:208.76, Y:-17.88, Z:-5.96 [[ 9.91619083e-01 1.27767826e-01 1.91566217e-02 2.08760072e+02] [-1.27742770e-01 9.91804103e-01 -2.53101693e-03 -1.78829226e+01] [-1.93229985e-02 6.26847720e-05 9.99813291e-01 -5.95939370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.34420382199997 meters 0.011948239231713814 Centerline is valid? [True, True] Translation: X:208.82, Y:-17.89, Z:-5.96 [[ 9.91776042e-01 1.26470237e-01 1.96357397e-02 2.08816825e+02] [-1.26443695e-01 9.91970398e-01 -2.59241832e-03 -1.78933432e+01] [-1.98059363e-02 8.82829110e-05 9.99803839e-01 -5.96016579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.40420382199997 meters 0.011781661453871094 Centerline is valid? [True, True] Translation: X:208.87, Y:-17.90, Z:-5.96 [[ 9.91795304e-01 1.25915780e-01 2.20746596e-02 2.08874240e+02] [-1.25882140e-01 9.92040929e-01 -2.91248675e-03 -1.79044470e+01] [-2.22656938e-02 1.09785289e-04 9.99752083e-01 -5.95802865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46420382199997 meters 0.012244720817632069 Centerline is valid? [True, True] Translation: X:208.93, Y:-17.92, Z:-5.96 [[ 9.91886762e-01 1.25170290e-01 2.22047432e-02 2.08932150e+02] [-1.25136088e-01 9.92135264e-01 -2.92862387e-03 -1.79161138e+01] [-2.23966854e-02 1.26248554e-04 9.99749155e-01 -5.95962021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52420382199995 meters 0.01280759085145443 Centerline is valid? [True, True] Translation: X:208.99, Y:-17.93, Z:-5.96 [[ 9.91972601e-01 1.24510459e-01 2.20794878e-02 2.08990163e+02] [-1.24476501e-01 9.92218286e-01 -2.91110634e-03 -1.79272400e+01] [-2.22701347e-02 1.39360357e-04 9.99751980e-01 -5.96230923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.58420382199995 meters 0.014020442669226668 Centerline is valid? [True, True] Translation: X:209.05, Y:-17.94, Z:-5.97 [[ 9.92104116e-01 1.23879452e-01 1.95781584e-02 2.09045856e+02] [-1.23852643e-01 9.92297265e-01 -2.58068077e-03 -1.79426304e+01] [-1.97470464e-02 1.35497352e-04 9.99804999e-01 -5.96979364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64420382199995 meters 0.01588542605866746 Centerline is valid? [True, True] Translation: X:209.10, Y:-17.96, Z:-5.98 [[ 9.92303158e-01 1.22682890e-01 1.68330560e-02 2.09102456e+02] [-1.22662914e-01 9.92445913e-01 -2.21798454e-03 -1.79596842e+01] [-1.69780064e-02 1.36121361e-04 9.99855854e-01 -5.97654517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.70420382199995 meters 0.015483761612293779 Centerline is valid? [True, True] Translation: X:209.16, Y:-17.97, Z:-5.98 [[ 9.92260955e-01 1.22873124e-01 1.78995350e-02 2.09158729e+02] [-1.22850581e-01 9.92422378e-01 -2.35775741e-03 -1.79732072e+01] [-1.80536041e-02 1.40542348e-04 9.99837011e-01 -5.97615868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76420382199996 meters 0.01159905378330005 Centerline is valid? [True, True] Translation: X:209.22, Y:-17.98, Z:-5.98 [[ 9.91474215e-01 1.28952412e-01 1.87124526e-02 2.09217640e+02] [-1.28928880e-01 9.91650783e-01 -2.46362676e-03 -1.79750247e+01] [-1.88739089e-02 3.00468565e-05 9.99821871e-01 -5.97567491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.82420382199996 meters 0.013447276139471973 Centerline is valid? [True, True] Translation: X:209.28, Y:-17.97, Z:-5.98 [[ 9.90567326e-01 1.35656409e-01 1.93315926e-02 2.09277366e+02] [-1.35632586e-01 9.90755938e-01 -2.54425610e-03 -1.79739080e+01] [-1.94980348e-02 -1.01736945e-04 9.99809890e-01 -5.97591322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.88420382199996 meters 0.021279641161149037 Centerline is valid? [True, True] Translation: X:209.34, Y:-17.97, Z:-5.97 [[ 9.89007847e-01 1.46669890e-01 1.87462550e-02 2.09339682e+02] [-1.46649486e-01 9.89185446e-01 -2.46601854e-03 -1.79657834e+01] [-1.89052133e-02 -3.10216975e-04 9.99821232e-01 -5.97499949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.94420382199996 meters 0.02934187685574187 Centerline is valid? [True, True] Translation: X:209.40, Y:-17.96, Z:-5.98 [[ 9.87868402e-01 1.54199542e-01 1.83989802e-02 2.09401492e+02] [-1.54181188e-01 9.88039626e-01 -2.42046039e-03 -1.79589723e+01] [-1.85521554e-02 -4.45680295e-04 9.99827795e-01 -5.97785253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.00420382199997 meters 0.03222754156487828 Centerline is valid? [True, True] Translation: X:209.46, Y:-17.96, Z:-5.98 [[ 9.87617744e-01 1.55946462e-01 1.70848838e-02 2.09460452e+02] [-1.55930896e-01 9.87765409e-01 -2.24768652e-03 -1.79599714e+01] [-1.72263760e-02 -4.44206138e-04 9.99851516e-01 -5.98330965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.06420382199997 meters 0.030911531466637616 Centerline is valid? [True, True] Translation: X:209.52, Y:-17.96, Z:-5.99 [[ 9.87895908e-01 1.54181894e-01 1.70181963e-02 2.09518412e+02] [-1.54166187e-01 9.88042395e-01 -2.23890514e-03 -1.79647960e+01] [-1.71598980e-02 -4.11825209e-04 9.99852673e-01 -5.98543225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.12420382199997 meters 0.021993032341213775 Centerline is valid? [True, True] Translation: X:209.58, Y:-17.98, Z:-5.99 [[ 9.89178790e-01 1.45639944e-01 1.77293242e-02 2.09576443e+02] [-1.45621569e-01 9.89337622e-01 -2.32999434e-03 -1.79801605e+01] [-1.78796277e-02 -2.76991020e-04 9.99840108e-01 -5.98615441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18420382199997 meters 0.011444845679077444 Centerline is valid? [True, True] Translation: X:209.63, Y:-18.01, Z:-5.99 [[ 9.90986138e-01 1.32741250e-01 1.80619935e-02 2.09633556e+02] [-1.32720038e-01 9.91150724e-01 -2.37340026e-03 -1.80054156e+01] [-1.82172061e-02 -4.51817033e-05 9.99834052e-01 -5.98589973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24420382199997 meters 0.013243654063145647 Centerline is valid? [True, True] Translation: X:209.69, Y:-18.03, Z:-5.99 [[ 9.92187191e-01 1.23388102e-01 1.84378414e-02 2.09690089e+02] [-1.23364379e-01 9.92358483e-01 -2.42292605e-03 -1.80264779e+01] [-1.85959085e-02 1.29423341e-04 9.99827073e-01 -5.98702092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30420382199995 meters 0.015918795506171018 Centerline is valid? [True, True] Translation: X:209.75, Y:-18.04, Z:-5.99 [[ 9.92484311e-01 1.21384332e-01 1.55157161e-02 2.09746601e+02] [-1.21367294e-01 9.92605573e-01 -2.03850093e-03 -1.80350289e+01] [-1.56484284e-02 1.40079710e-04 9.99877546e-01 -5.99444074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36420382199995 meters 0.013527582855702967 Centerline is valid? [True, True] Translation: X:209.81, Y:-18.03, Z:-5.99 [[ 9.92166879e-01 1.23983737e-01 1.52615960e-02 2.09805683e+02] [-1.23967575e-01 9.92284245e-01 -2.00417764e-03 -1.80341525e+01] [-1.53923267e-02 9.65356271e-05 9.99881526e-01 -5.99420716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42420382199995 meters 0.011527901745640915 Centerline is valid? [True, True] Translation: X:209.86, Y:-18.03, Z:-5.99 [[ 9.91405312e-01 1.29708569e-01 1.70644142e-02 2.09864557e+02] [-1.29689224e-01 9.91552161e-01 -2.24007451e-03 -1.80318196e+01] [-1.72108136e-02 7.75112855e-06 9.99851883e-01 -5.99418436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48420382199996 meters 0.013797137457065192 Centerline is valid? [True, True] Translation: X:209.92, Y:-18.03, Z:-6.00 [[ 9.90489841e-01 1.36565224e-01 1.67276738e-02 2.09924387e+02] [-1.36547632e-01 9.90631075e-01 -2.19477075e-03 -1.80267161e+01] [-1.68706828e-02 -1.10226101e-04 9.99857674e-01 -5.99546315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54420382199996 meters 0.018189977551405976 Centerline is valid? [True, True] Translation: X:209.99, Y:-18.02, Z:-6.00 [[ 9.89693162e-01 1.42111696e-01 1.76553489e-02 2.09985196e+02] [-1.42092972e-01 9.89850605e-01 -2.31689443e-03 -1.80179669e+01] [-1.78054156e-02 -2.15686432e-04 9.99841448e-01 -5.99520726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.60420382199996 meters 0.021622783569791585 Centerline is valid? [True, True] Translation: X:210.05, Y:-18.01, Z:-6.00 [[ 9.89112063e-01 1.46173280e-01 1.70499237e-02 2.10045343e+02] [-1.46156494e-01 9.89258961e-01 -2.23321315e-03 -1.80148359e+01] [-1.71932259e-02 -2.83059012e-04 9.99852145e-01 -5.99660633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.66420382199996 meters 0.02625252136119646 Centerline is valid? [True, True] Translation: X:210.11, Y:-18.01, Z:-6.00 [[ 9.88429656e-01 1.50717928e-01 1.70563901e-02 2.10106312e+02] [-1.50701818e-01 9.88576742e-01 -2.23329151e-03 -1.80080591e+01] [-1.71981476e-02 -3.62977427e-04 9.99852035e-01 -5.99794295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.72420382199996 meters 0.02899811482962697 Centerline is valid? [True, True] Translation: X:210.17, Y:-18.00, Z:-6.00 [[ 9.88062804e-01 1.52952355e-01 1.83704248e-02 2.10166395e+02] [-1.52934035e-01 9.88233470e-01 -2.40635532e-03 -1.80046591e+01] [-1.85223263e-02 -4.31832997e-04 9.99828354e-01 -5.99772368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.78420382199997 meters 0.03030154626022249 Centerline is valid? [True, True] Translation: X:210.23, Y:-18.00, Z:-6.00 [[ 9.88179172e-01 1.52209284e-01 1.82827162e-02 2.10225180e+02] [-1.52191089e-01 9.88348196e-01 -2.39061932e-03 -1.80001776e+01] [-1.84335640e-02 -4.20106259e-04 9.99829999e-01 -5.99990287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.84420382199997 meters 0.022087594314637214 Centerline is valid? [True, True] Translation: X:210.28, Y:-18.01, Z:-6.00 [[ 9.89171490e-01 1.45705948e-01 1.75937728e-02 2.10283716e+02] [-1.45688094e-01 9.89327900e-01 -2.29913907e-03 -1.80109158e+01] [-1.77410085e-02 -2.88960399e-04 9.99842574e-01 -6.00322046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.90420382199997 meters 0.01492992407942801 Centerline is valid? [True, True] Translation: X:210.34, Y:-18.02, Z:-6.00 [[ 9.90299029e-01 1.37867950e-01 1.73280556e-02 2.10342527e+02] [-1.37849436e-01 9.90450608e-01 -2.26411219e-03 -1.80243789e+01] [-1.74747317e-02 -1.46514581e-04 9.99847294e-01 -6.00433930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96420382199997 meters 0.011991639582058315 Centerline is valid? [True, True] Translation: X:210.40, Y:-18.03, Z:-6.00 [[ 9.90988337e-01 1.32775830e-01 1.76831569e-02 2.10401207e+02] [-1.32755737e-01 9.91146092e-01 -2.31053034e-03 -1.80334325e+01] [-1.78333745e-02 -5.78319142e-05 9.99840971e-01 -6.00431612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02420382199995 meters 0.011985370737551366 Centerline is valid? [True, True] Translation: X:210.46, Y:-18.04, Z:-6.01 [[ 9.91893440e-01 1.25719009e-01 1.84968902e-02 2.10458151e+02] [-1.25695835e-01 9.92065888e-01 -2.41479242e-03 -1.80425897e+01] [-1.86537191e-02 7.02347141e-05 9.99826002e-01 -6.00537641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08420382199995 meters 0.013717329569506224 Centerline is valid? [True, True] Translation: X:210.52, Y:-18.05, Z:-6.00 [[ 9.92465867e-01 1.20956164e-01 1.95220273e-02 2.10515568e+02] [-1.20929453e-01 9.92657836e-01 -2.54736923e-03 -1.80542243e+01] [-1.96868134e-02 1.67388931e-04 9.99806182e-01 -6.00393799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14420382199995 meters 0.017327080103438097 Centerline is valid? [True, True] Translation: X:210.57, Y:-18.07, Z:-6.01 [[ 9.92993870e-01 1.16497237e-01 1.97880995e-02 2.10572339e+02] [-1.16468931e-01 9.93190982e-01 -2.58085382e-03 -1.80664960e+01] [-1.99540243e-02 2.58073219e-04 9.99800865e-01 -6.00574843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20420382199995 meters 0.023909171826761152 Centerline is valid? [True, True] Translation: X:210.63, Y:-18.08, Z:-6.01 [[ 9.93701810e-01 1.10477572e-01 1.87461806e-02 2.10628309e+02] [-1.10451120e-01 9.93878553e-01 -2.44379582e-03 -1.80849417e+01] [-1.89014115e-02 3.57867686e-04 9.99821288e-01 -6.00979345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26420382199996 meters 0.024779348595234296 Centerline is valid? [True, True] Translation: X:210.69, Y:-18.10, Z:-6.01 [[ 9.93919943e-01 1.08626430e-01 1.79845915e-02 2.10686502e+02] [-1.08601795e-01 9.94082571e-01 -2.34372705e-03 -1.80954024e+01] [-1.81327596e-02 3.76318141e-04 9.99835517e-01 -6.01240497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.32420382199996 meters 0.02253855972647313 Centerline is valid? [True, True] Translation: X:210.74, Y:-18.10, Z:-6.01 [[ 9.93748817e-01 1.10204096e-01 1.78422278e-02 2.10744936e+02] [-1.10180118e-01 9.93908919e-01 -2.32435105e-03 -1.81026762e+01] [-1.79897023e-02 3.43962343e-04 9.99838113e-01 -6.01331698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.38420382199996 meters 0.021347510766881846 Centerline is valid? [True, True] Translation: X:210.80, Y:-18.11, Z:-6.02 [[ 9.93175580e-01 1.15340621e-01 1.72860927e-02 2.10804338e+02] [-1.15318911e-01 9.93325970e-01 -2.25083932e-03 -1.81058008e+01] [-1.74303380e-02 2.42065261e-04 9.99848051e-01 -6.01550587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.44420382199996 meters 0.014230965163131779 Centerline is valid? [True, True] Translation: X:210.86, Y:-18.11, Z:-6.02 [[ 9.92640698e-01 1.19828623e-01 1.74798932e-02 2.10863014e+02] [-1.19807121e-01 9.92794578e-01 -2.27593725e-03 -1.81087306e+01] [-1.76266656e-02 1.64972267e-04 9.99844625e-01 -6.01587175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.50420382199997 meters 0.011208231277009616 Centerline is valid? [True, True] Translation: X:210.92, Y:-18.11, Z:-6.02 [[ 9.91680459e-01 1.27538624e-01 1.74288808e-02 2.10921341e+02] [-1.27518449e-01 9.91833604e-01 -2.26857206e-03 -1.81108191e+01] [-1.75758802e-02 2.71947387e-05 9.99845532e-01 -6.01874146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.56420382199997 meters 0.013927027711995865 Centerline is valid? [True, True] Translation: X:210.98, Y:-18.11, Z:-6.02 [[ 9.90556126e-01 1.36033099e-01 1.71335332e-02 2.10980987e+02] [-1.36014868e-01 9.90704285e-01 -2.23035018e-03 -1.81062327e+01] [-1.72776662e-02 -1.21128217e-04 9.99850723e-01 -6.02064613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.62420382199997 meters 0.01783532583464366 Centerline is valid? [True, True] Translation: X:211.04, Y:-18.11, Z:-6.02 [[ 9.89932257e-01 1.40521102e-01 1.69689783e-02 2.11038776e+02] [-1.40503948e-01 9.90077663e-01 -2.20484227e-03 -1.81082837e+01] [-1.71104332e-02 -2.01563958e-04 9.99853586e-01 -6.02373404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68420382199997 meters 0.01860309196539411 Centerline is valid? [True, True] Translation: X:211.10, Y:-18.12, Z:-6.03 [[ 9.89942033e-01 1.40587266e-01 1.58111440e-02 2.11095515e+02] [-1.40572395e-01 9.90068273e-01 -2.05356452e-03 -1.81201835e+01] [-1.59428170e-02 -1.89700536e-04 9.99872887e-01 -6.02818135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74420382199997 meters 0.016685113158517954 Centerline is valid? [True, True] Translation: X:211.15, Y:-18.13, Z:-6.03 [[ 9.90211600e-01 1.38627535e-01 1.62294139e-02 2.11152974e+02] [-1.38611598e-01 9.90344577e-01 -2.10822644e-03 -1.81318226e+01] [-1.63649703e-02 -1.61994723e-04 9.99866072e-01 -6.02954241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80420382199995 meters 0.013746744102076868 Centerline is valid? [True, True] Translation: X:211.21, Y:-18.15, Z:-6.03 [[ 9.90850298e-01 1.33990551e-01 1.61932062e-02 2.11208863e+02] [-1.33974126e-01 9.90982605e-01 -2.09983119e-03 -1.81500346e+01] [-1.63285433e-02 -8.88522915e-05 9.99866677e-01 -6.03234439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86420382199995 meters 0.011004056004573297 Centerline is valid? [True, True] Translation: X:211.27, Y:-18.17, Z:-6.03 [[ 9.91453216e-01 1.29262830e-01 1.76533809e-02 2.11266041e+02] [-1.29242597e-01 9.91610367e-01 -2.28700285e-03 -1.81698983e+01] [-1.78009000e-02 -1.41124673e-05 9.99841551e-01 -6.03006513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92420382199995 meters 0.011799694788882618 Centerline is valid? [True, True] Translation: X:211.32, Y:-18.19, Z:-6.03 [[ 9.91934106e-01 1.25667517e-01 1.65651538e-02 2.11322047e+02] [-1.25649211e-01 9.92072413e-01 -2.14545133e-03 -1.81868646e+01] [-1.67034457e-02 4.67478503e-05 9.99860487e-01 -6.03387649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98420382199996 meters 0.011213197795316937 Centerline is valid? [True, True] Translation: X:211.38, Y:-18.20, Z:-6.03 [[ 9.92041401e-01 1.24722902e-01 1.72643050e-02 2.11379431e+02] [-1.24702895e-01 9.92191611e-01 -2.23480825e-03 -1.82005164e+01] [-1.74082304e-02 6.41134945e-05 9.99848463e-01 -6.03221646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04420382199996 meters 0.011445237632526452 Centerline is valid? [True, True] Translation: X:211.44, Y:-18.21, Z:-6.04 [[ 9.91963129e-01 1.25384052e-01 1.69702576e-02 2.11435224e+02] [-1.25364824e-01 9.92108279e-01 -2.19634611e-03 -1.82106333e+01] [-1.71117198e-02 5.12210080e-05 9.99853582e-01 -6.03582737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.10420382199996 meters 0.0226516329020065 Centerline is valid? [True, True] Translation: X:211.49, Y:-18.22, Z:-6.04 [[ 9.91626480e-01 1.28241204e-01 1.52025628e-02 2.11493291e+02] [-1.28226134e-01 9.91743008e-01 -1.96596855e-03 -1.82181351e+01] [-1.53291536e-02 1.40610519e-07 9.99882502e-01 -6.04044421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.16420382199996 meters 0.012341210105994576 Centerline is valid? [True, True] Translation: X:211.55, Y:-18.23, Z:-6.04 [[ 9.91359225e-01 1.30319564e-01 1.49565428e-02 2.11550349e+02] [-1.30305222e-01 9.91472042e-01 -1.93360763e-03 -1.82256325e+01] [-1.50809809e-02 -3.20158675e-05 9.99886275e-01 -6.04405250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.22420382199996 meters 0.013221784103743615 Centerline is valid? [True, True] Translation: X:211.61, Y:-18.23, Z:-6.05 [[ 9.91029968e-01 1.32848312e-01 1.45233889e-02 2.11609009e+02] [-1.32835075e-01 9.91136379e-01 -1.87660342e-03 -1.82314682e+01] [-1.46439627e-02 -6.94452267e-05 9.99892769e-01 -6.04507052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.28420382199997 meters 0.015912592275330706 Centerline is valid? [True, True] Translation: X:211.67, Y:-18.23, Z:-6.05 [[ 9.90543729e-01 1.36489399e-01 1.39199407e-02 2.11666866e+02] [-1.36477605e-01 9.90641524e-01 -1.79819108e-03 -1.82320081e+01] [-1.40351053e-02 -1.18573268e-04 9.99901496e-01 -6.04869265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.34420382199997 meters 0.01519802070210558 Centerline is valid? [True, True] Translation: X:211.72, Y:-18.24, Z:-6.05 [[ 9.90468899e-01 1.36943899e-01 1.47556011e-02 2.11724874e+02] [-1.36930713e-01 9.90578796e-01 -1.90502074e-03 -1.82400941e+01] [-1.48774665e-02 -1.33631190e-04 9.99889315e-01 -6.04734942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.40420382199997 meters 0.014326516747867746 Centerline is valid? [True, True] Translation: X:211.78, Y:-18.25, Z:-6.05 [[ 9.90778465e-01 1.34595616e-01 1.55580682e-02 2.11781334e+02] [-1.34580673e-01 9.90900605e-01 -2.00831432e-03 -1.82508183e+01] [-1.56868095e-02 -1.04020705e-04 9.99876949e-01 -6.04972124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46420382199997 meters 0.011735439045919283 Centerline is valid? [True, True] Translation: X:211.84, Y:-18.27, Z:-6.05 [[ 9.91609707e-01 1.28262040e-01 1.60946591e-02 2.11838595e+02] [-1.28245247e-01 9.91740313e-01 -2.07547594e-03 -1.82691510e+01] [-1.62279270e-02 -6.00143517e-06 9.99868319e-01 -6.05043008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52420382199995 meters 0.016583666472804036 Centerline is valid? [True, True] Translation: X:211.90, Y:-18.29, Z:-6.05 [[ 9.92501652e-01 1.21042169e-01 1.70077794e-02 2.11895184e+02] [-1.21022370e-01 9.92647359e-01 -2.19234074e-03 -1.82936192e+01] [-1.71480930e-02 1.17580038e-04 9.99852954e-01 -6.05128327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58420382199995 meters 0.016741317440956187 Centerline is valid? [True, True] Translation: X:211.95, Y:-18.32, Z:-6.05 [[ 9.93026004e-01 1.16758921e-01 1.63312679e-02 2.11952098e+02] [-1.16740099e-01 9.93160269e-01 -2.10443359e-03 -1.83152247e+01] [-1.64652778e-02 1.83243451e-04 9.99864421e-01 -6.05214536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64420382199995 meters 0.015813003508833797 Centerline is valid? [True, True] Translation: X:212.01, Y:-18.33, Z:-6.05 [[ 9.92944912e-01 1.17533667e-01 1.56920018e-02 2.12008568e+02] [-1.17516392e-01 9.93068885e-01 -2.02168886e-03 -1.83272515e+01] [-1.58208552e-02 1.63358233e-04 9.99874829e-01 -6.05196562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.70420382199995 meters 0.017132396660367012 Centerline is valid? [True, True] Translation: X:212.07, Y:-18.33, Z:-6.05 [[ 9.92440368e-01 1.21802438e-01 1.50427046e-02 2.12067328e+02] [-1.21787072e-01 9.92554360e-01 -1.93672273e-03 -1.83335835e+01] [-1.51665996e-02 9.00748628e-05 9.99884976e-01 -6.05376339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76420382199996 meters 0.013007313163348752 Centerline is valid? [True, True] Translation: X:212.13, Y:-18.33, Z:-6.05 [[ 9.90983992e-01 1.33003511e-01 1.61490894e-02 2.12125800e+02] [-1.32987294e-01 9.91115563e-01 -2.07877826e-03 -1.83305182e+01] [-1.62820987e-02 -8.75877285e-05 9.99867434e-01 -6.05279306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.82420382199996 meters 0.022491196401801455 Centerline is valid? [True, True] Translation: X:212.19, Y:-18.32, Z:-6.05 [[ 9.89460570e-01 1.43917414e-01 1.59861868e-02 2.12186725e+02] [-1.43902982e-01 9.89589666e-01 -2.05544459e-03 -1.83226495e+01] [-1.61155795e-02 -2.66678573e-04 9.99870100e-01 -6.05482692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.88420382199996 meters 0.03403468083786354 Centerline is valid? [True, True] Translation: X:212.25, Y:-18.32, Z:-6.06 [[ 9.88036967e-01 1.53394889e-01 1.59047138e-02 2.12247219e+02] [-1.53381835e-01 9.88164881e-01 -2.04459947e-03 -1.83155253e+01] [-1.60301107e-02 -4.19354331e-04 9.99871422e-01 -6.05717319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.94420382199996 meters 0.04258986423675825 Centerline is valid? [True, True] Translation: X:212.31, Y:-18.31, Z:-6.06 [[ 9.87088246e-01 1.59363195e-01 1.61296826e-02 2.12307584e+02] [-1.59350565e-01 9.87219883e-01 -2.07350497e-03 -1.83113497e+01] [-1.62539838e-02 -5.23541648e-04 9.99867758e-01 -6.05913652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.00420382199997 meters 0.038983232561909664 Centerline is valid? [True, True] Translation: X:212.37, Y:-18.32, Z:-6.06 [[ 9.86908442e-01 1.60443214e-01 1.64226047e-02 2.12365217e+02] [-1.60430260e-01 9.87044919e-01 -2.11182517e-03 -1.83208346e+01] [-1.65486765e-02 -5.50504645e-04 9.99862910e-01 -6.05780889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.06420382199997 meters 0.04334066683695265 Centerline is valid? [True, True] Translation: X:212.42, Y:-18.32, Z:-6.06 [[ 9.86961495e-01 1.60088100e-01 1.66975511e-02 2.12423489e+02] [-1.60074676e-01 9.87102574e-01 -2.14611055e-03 -1.83190645e+01] [-1.68257624e-02 -5.54726599e-04 9.99858283e-01 -6.06178026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.12420382199997 meters 0.037358577988734015 Centerline is valid? [True, True] Translation: X:212.48, Y:-18.34, Z:-6.06 [[ 9.87734089e-01 1.55347377e-01 1.57658223e-02 2.12481163e+02] [-1.55334826e-01 9.87859803e-01 -2.02501656e-03 -1.83372244e+01] [-1.58890031e-02 -4.48803377e-04 9.99873661e-01 -6.06288403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18420382199997 meters 0.02653992676027595 Centerline is valid? [True, True] Translation: X:212.54, Y:-18.35, Z:-6.06 [[ 9.88909823e-01 1.47665387e-01 1.58837949e-02 2.12538700e+02] [-1.47651665e-01 9.89037323e-01 -2.03965326e-03 -1.83516028e+01] [-1.60108522e-02 -3.28235618e-04 9.99871764e-01 -6.06482701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24420382199997 meters 0.01661837259606661 Centerline is valid? [True, True] Translation: X:212.60, Y:-18.37, Z:-6.06 [[ 9.90292233e-01 1.38038018e-01 1.63339821e-02 2.12597578e+02] [-1.38022203e-01 9.90426915e-01 -2.09706791e-03 -1.83697928e+01] [-1.64670906e-02 -1.77742129e-04 9.99864392e-01 -6.06479148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30420382199995 meters 0.011943627247900601 Centerline is valid? [True, True] Translation: X:212.65, Y:-18.39, Z:-6.07 [[ 9.91663435e-01 1.27920304e-01 1.54928397e-02 2.12653706e+02] [-1.27904832e-01 9.91784450e-01 -1.98953345e-03 -1.83907351e+01] [-1.56200593e-02 -8.66148819e-06 9.99877999e-01 -6.06845787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36420382199995 meters 0.0127670128511126 Centerline is valid? [True, True] Translation: X:212.71, Y:-18.40, Z:-6.07 [[ 9.92233539e-01 1.23401507e-01 1.56420153e-02 2.12709912e+02] [-1.23385183e-01 9.92356823e-01 -2.00805960e-03 -1.84037458e+01] [-1.57702582e-02 6.24711643e-05 9.99875640e-01 -6.06960790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42420382199995 meters 0.013478103309880666 Centerline is valid? [True, True] Translation: X:212.77, Y:-18.42, Z:-6.07 [[ 9.92633345e-01 1.19935182e-01 1.71637797e-02 2.12766535e+02] [-1.19915027e-01 9.92781716e-01 -2.20242000e-03 -1.84151628e+01] [-1.73040343e-02 1.28000422e-04 9.99850266e-01 -6.06726043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48420382199996 meters 0.013795410878947624 Centerline is valid? [True, True] Translation: X:212.82, Y:-18.42, Z:-6.07 [[ 9.92692244e-01 1.19496151e-01 1.68160222e-02 2.12824991e+02] [-1.19476766e-01 9.92834655e-01 -2.15631842e-03 -1.84230843e+01] [-1.69532013e-02 1.31436617e-04 9.99856276e-01 -6.06943764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54420382199996 meters 0.012787709544425848 Centerline is valid? [True, True] Translation: X:212.88, Y:-18.43, Z:-6.07 [[ 9.92488932e-01 1.21291208e-01 1.59424621e-02 2.12882383e+02] [-1.21274023e-01 9.92616962e-01 -2.04391657e-03 -1.84296369e+01] [-1.60726674e-02 9.51580621e-05 9.99870822e-01 -6.07234391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.60420382199996 meters 0.011755054011356476 Centerline is valid? [True, True] Translation: X:212.94, Y:-18.43, Z:-6.07 [[ 9.92034578e-01 1.24940485e-01 1.60396587e-02 2.12940422e+02] [-1.24923588e-01 9.92164237e-01 -2.05503565e-03 -1.84317158e+01] [-1.61707329e-02 3.49347064e-05 9.99869245e-01 -6.07460232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.66420382199996 meters 0.011480640052260387 Centerline is valid? [True, True] Translation: X:213.00, Y:-18.43, Z:-6.07 [[ 9.91379381e-01 1.29901336e-01 1.71045713e-02 2.13000176e+02] [-1.29882880e-01 9.91526924e-01 -2.19018746e-03 -1.84296113e+01] [-1.72441512e-02 -5.02842954e-05 9.99851307e-01 -6.07422569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.72420382199996 meters 0.014678285424947686 Centerline is valid? [True, True] Translation: X:213.06, Y:-18.43, Z:-6.08 [[ 9.90787377e-01 1.34346586e-01 1.70695429e-02 2.13058339e+02] [-1.34328871e-01 9.90934397e-01 -2.18535934e-03 -1.84305744e+01] [-1.72083928e-02 -1.27705990e-04 9.99851916e-01 -6.07748262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.78420382199997 meters 0.020677781931572763 Centerline is valid? [True, True] Translation: X:213.12, Y:-18.43, Z:-6.08 [[ 9.89767221e-01 1.41623144e-01 1.74279645e-02 2.13119366e+02] [-1.41605845e-01 9.89920611e-01 -2.22889433e-03 -1.84254867e+01] [-1.75679643e-02 -2.61815106e-04 9.99845637e-01 -6.07702500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.84420382199997 meters 0.026527203652168756 Centerline is valid? [True, True] Translation: X:213.18, Y:-18.42, Z:-6.08 [[ 9.88827675e-01 1.47972189e-01 1.80016548e-02 2.13181309e+02] [-1.47954794e-01 9.88991446e-01 -2.30168992e-03 -1.84169234e+01] [-1.81440687e-02 -3.87456434e-04 9.99835308e-01 -6.07738839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.90420382199997 meters 0.029512507983459346 Centerline is valid? [True, True] Translation: X:213.24, Y:-18.42, Z:-6.08 [[ 9.88454658e-01 1.50695117e-01 1.57597897e-02 2.13241111e+02] [-1.50682128e-01 9.88580212e-01 -2.01521550e-03 -1.84157527e+01] [-1.58834993e-02 -3.82769499e-04 9.99873776e-01 -6.08396447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96420382199997 meters 0.026067662016702044 Centerline is valid? [True, True] Translation: X:213.30, Y:-18.42, Z:-6.08 [[ 9.88820094e-01 1.48112498e-01 1.72484630e-02 2.13299826e+02] [-1.48096557e-01 9.88970448e-01 -2.20499160e-03 -1.84210787e+01] [-1.73848070e-02 -3.74097981e-04 9.99848803e-01 -6.08375513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02420382199995 meters 0.02646959891403723 Centerline is valid? [True, True] Translation: X:213.36, Y:-18.43, Z:-6.08 [[ 9.89571470e-01 1.42877744e-01 1.82826659e-02 2.13357889e+02] [-1.42858960e-01 9.89740299e-01 -2.33608278e-03 -1.84298707e+01] [-1.84288654e-02 -3.00121758e-04 9.99830129e-01 -6.08491500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08420382199995 meters 0.01036614599955858 Centerline is valid? [True, True] Translation: X:213.41, Y:-18.46, Z:-6.08 [[ 9.92013762e-01 1.24490758e-01 2.02668992e-02 2.13414374e+02] [-1.24463851e-01 9.92220766e-01 -2.58855282e-03 -1.84610022e+01] [-2.04314891e-02 4.53836986e-05 9.99791254e-01 -6.08372085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14420382199995 meters 0.014801309452844358 Centerline is valid? [True, True] Translation: X:213.47, Y:-18.48, Z:-6.09 [[ 9.92997720e-01 1.16540390e-01 1.93356231e-02 2.13471420e+02] [-1.16514390e-01 9.93185933e-01 -2.46962953e-03 -1.84813075e+01] [-1.94916805e-02 1.99458152e-04 9.99809999e-01 -6.08666727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.20420382199995 meters 0.023187866534950686 Centerline is valid? [True, True] Translation: X:213.53, Y:-18.50, Z:-6.09 [[ 9.94031487e-01 1.07639710e-01 1.77509231e-02 2.13528001e+02] [-1.07616391e-01 9.94189909e-01 -2.26652278e-03 -1.85021487e+01] [-1.78917565e-02 3.42704738e-04 9.99839871e-01 -6.09095721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26420382199996 meters 0.026812459684130166 Centerline is valid? [True, True] Translation: X:213.59, Y:-18.52, Z:-6.09 [[ 9.94531703e-01 1.03118851e-01 1.65285781e-02 2.13586508e+02] [-1.03098016e-01 9.94668964e-01 -2.10995337e-03 -1.85192543e+01] [-1.66580396e-02 3.94351907e-04 9.99861167e-01 -6.09429133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.32420382199996 meters 0.031135199059929803 Centerline is valid? [True, True] Translation: X:213.64, Y:-18.53, Z:-6.10 [[ 9.94538675e-01 1.03100268e-01 1.62221389e-02 2.13644746e+02] [-1.03080192e-01 9.94670893e-01 -2.07109824e-03 -1.85297671e+01] [-1.63492202e-02 3.87606107e-04 9.99866267e-01 -6.09633330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.38420382199996 meters 0.023163371000594433 Centerline is valid? [True, True] Translation: X:213.70, Y:-18.54, Z:-6.10 [[ 9.94149792e-01 1.07026643e-01 1.45426742e-02 2.13702682e+02] [-1.07010938e-01 9.94256111e-01 -1.85612240e-03 -1.85407251e+01] [-1.46577972e-02 2.89038502e-04 9.99892527e-01 -6.09958251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.44420382199996 meters 0.020598082561606612 Centerline is valid? [True, True] Translation: X:213.76, Y:-18.55, Z:-6.10 [[ 9.93727159e-01 1.10758421e-01 1.54565857e-02 2.13761289e+02] [-1.10741148e-01 9.93847328e-01 -1.97160350e-03 -1.85482568e+01] [-1.55798581e-02 2.47555905e-04 9.99878596e-01 -6.10086441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.50420382199997 meters 0.01612482447473405 Centerline is valid? [True, True] Translation: X:213.82, Y:-18.55, Z:-6.10 [[ 9.93179262e-01 1.15411297e-01 1.65887419e-02 2.13820060e+02] [-1.15392052e-01 9.93317773e-01 -2.11585397e-03 -1.85548887e+01] [-1.67220856e-02 1.87213318e-04 9.99860159e-01 -6.09981607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.56420382199997 meters 0.013118521685070189 Centerline is valid? [True, True] Translation: X:213.88, Y:-18.57, Z:-6.10 [[ 9.92649277e-01 1.19941056e-01 1.61727027e-02 2.13878339e+02] [-1.19923371e-01 9.92781009e-01 -2.06247265e-03 -1.85654865e+01] [-1.63033273e-02 1.07826970e-04 9.99867086e-01 -6.10320535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.62420382199997 meters 0.011776322407707259 Centerline is valid? [True, True] Translation: X:213.94, Y:-18.58, Z:-6.11 [[ 9.92177265e-01 1.23853453e-01 1.56395665e-02 2.13935662e+02] [-1.23837426e-01 9.92300519e-01 -1.99286347e-03 -1.85771793e+01] [-1.57659729e-02 4.05101774e-05 9.99875709e-01 -6.10599520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68420382199997 meters 0.010950304107129835 Centerline is valid? [True, True] Translation: X:213.99, Y:-18.59, Z:-6.11 [[ 9.91710399e-01 1.27398575e-01 1.67358020e-02 2.13993263e+02] [-1.27380741e-01 9.91851603e-01 -2.13167179e-03 -1.85895113e+01] [-1.68710040e-02 -1.78177866e-05 9.99857674e-01 -6.10506798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74420382199997 meters 0.015072221848892809 Centerline is valid? [True, True] Translation: X:214.05, Y:-18.60, Z:-6.11 [[ 9.91195589e-01 1.31283961e-01 1.71995755e-02 2.14049913e+02] [-1.31265722e-01 9.91344801e-01 -2.18999331e-03 -1.85988766e+01] [-1.73382207e-02 -8.70029948e-05 9.99849678e-01 -6.10743051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80420382199995 meters 0.012674328477941685 Centerline is valid? [True, True] Translation: X:214.11, Y:-18.61, Z:-6.11 [[ 9.91050613e-01 1.32335309e-01 1.74942112e-02 2.14107273e+02] [-1.32316626e-01 9.91205001e-01 -2.22627028e-03 -1.86124888e+01] [-1.76349638e-02 -1.08428485e-04 9.99844486e-01 -6.10670769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.86420382199995 meters 0.013333004865785966 Centerline is valid? [True, True] Translation: X:214.16, Y:-18.63, Z:-6.11 [[ 9.90993237e-01 1.32870701e-01 1.66667644e-02 2.14164123e+02] [-1.32853829e-01 9.91133374e-01 -2.12035965e-03 -1.86273364e+01] [-1.68007201e-02 -1.12981400e-04 9.99858852e-01 -6.10992271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92420382199995 meters 0.013000478944562341 Centerline is valid? [True, True] Translation: X:214.22, Y:-18.64, Z:-6.11 [[ 9.91121320e-01 1.31967634e-01 1.62195266e-02 2.14220385e+02] [-1.31951549e-01 9.91254021e-01 -2.06266138e-03 -1.86427975e+01] [-1.63498755e-02 -9.58439766e-05 9.99866327e-01 -6.11311794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98420382199996 meters 0.012247356748564864 Centerline is valid? [True, True] Translation: X:214.28, Y:-18.66, Z:-6.11 [[ 9.91364508e-01 1.30056635e-01 1.67834232e-02 2.14275856e+02] [-1.30039162e-01 9.91506564e-01 -2.13290971e-03 -1.86612988e+01] [-1.69182733e-02 -6.80112924e-05 9.99856873e-01 -6.11401739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04420382199996 meters 0.013145281414734278 Centerline is valid? [True, True] Translation: X:214.33, Y:-18.67, Z:-6.12 [[ 9.91266204e-01 1.30753719e-01 1.71691169e-02 2.14332155e+02] [-1.30735557e-01 9.91414877e-01 -2.18082138e-03 -1.86741680e+01] [-1.73068684e-02 -8.28395264e-05 9.99850222e-01 -6.11589352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.10420382199996 meters 0.013237133369946629 Centerline is valid? [True, True] Translation: X:214.39, Y:-18.68, Z:-6.11 [[ 9.91034548e-01 1.32509504e-01 1.70808686e-02 2.14390002e+02] [-1.32491809e-01 9.91181728e-01 -2.16848337e-03 -1.86839352e+01] [-1.72175895e-02 -1.14033240e-04 9.99851760e-01 -6.11477427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.16420382199996 meters 0.015036979616565907 Centerline is valid? [True, True] Translation: X:214.45, Y:-18.69, Z:-6.12 [[ 9.90738785e-01 1.34512250e-01 1.85233450e-02 2.14446748e+02] [-1.34491806e-01 9.90911918e-01 -2.35070156e-03 -1.86933347e+01] [-1.86712015e-02 -1.62306911e-04 9.99825665e-01 -6.11523549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.22420382199996 meters 0.017269643384326867 Centerline is valid? [True, True] Translation: X:214.51, Y:-18.70, Z:-6.12 [[ 9.90410463e-01 1.37053508e-01 1.74198600e-02 2.14505237e+02] [-1.37035840e-01 9.90563626e-01 -2.20955930e-03 -1.87008320e+01] [-1.75583075e-02 -1.98774496e-04 9.99845821e-01 -6.11757855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.28420382199997 meters 0.022520129798403968 Centerline is valid? [True, True] Translation: X:214.56, Y:-18.70, Z:-6.12 [[ 9.89787150e-01 1.41628400e-01 1.62109392e-02 2.14563573e+02] [-1.41613725e-01 9.89919859e-01 -2.05548558e-03 -1.87029158e+01] [-1.63386457e-02 -2.61198263e-04 9.99866481e-01 -6.12139073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.34420382199997 meters 0.02753017494846253 Centerline is valid? [True, True] Translation: X:214.62, Y:-18.70, Z:-6.12 [[ 9.88956665e-01 1.47404020e-01 1.53873196e-02 2.14624618e+02] [-1.47391515e-01 9.89076306e-01 -1.94983895e-03 -1.87018184e+01] [-1.55066473e-02 -3.39654122e-04 9.99879707e-01 -6.12257022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.40420382199997 meters 0.030412628485943394 Centerline is valid? [True, True] Translation: X:214.68, Y:-18.70, Z:-6.13 [[ 9.88661644e-01 1.49402175e-01 1.50712818e-02 2.14682479e+02] [-1.49390397e-01 9.88776445e-01 -1.91062844e-03 -1.87035131e+01] [-1.51875805e-02 -3.62539725e-04 9.99884596e-01 -6.12510317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46420382199997 meters 0.027660726893029106 Centerline is valid? [True, True] Translation: X:214.74, Y:-18.71, Z:-6.13 [[ 9.88922666e-01 1.47739282e-01 1.43201349e-02 2.14740712e+02] [-1.47728488e-01 9.89026290e-01 -1.81444939e-03 -1.87148735e+01] [-1.44310554e-02 -3.21141765e-04 9.99895815e-01 -6.12731254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52420382199995 meters 0.027719421220401576 Centerline is valid? [True, True] Translation: X:214.80, Y:-18.72, Z:-6.13 [[ 9.89333997e-01 1.44880621e-01 1.50946462e-02 2.14798730e+02] [-1.44868309e-01 9.89449098e-01 -1.91175162e-03 -1.87203380e+01] [-1.52123598e-02 -2.95374983e-04 9.99884242e-01 -6.12974651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58420382199995 meters 0.0249346022031972 Centerline is valid? [True, True] Translation: X:214.86, Y:-18.73, Z:-6.13 [[ 9.89348766e-01 1.44725149e-01 1.56092995e-02 2.14857519e+02] [-1.44711976e-01 9.89471849e-01 -1.97611841e-03 -1.87269071e+01] [-1.57309565e-02 -3.03782261e-04 9.99876215e-01 -6.12731615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64420382199995 meters 0.02523408664916783 Centerline is valid? [True, True] Translation: X:214.92, Y:-18.73, Z:-6.13 [[ 9.89314043e-01 1.45082407e-01 1.44505688e-02 2.14916021e+02] [-1.45071164e-01 9.89419533e-01 -1.82882604e-03 -1.87295151e+01] [-1.45630055e-02 -2.87077548e-04 9.99893913e-01 -6.13068439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.70420382199995 meters 0.023188562075437055 Centerline is valid? [True, True] Translation: X:214.97, Y:-18.74, Z:-6.13 [[ 9.89630790e-01 1.43098661e-01 1.23965051e-02 2.14974415e+02] [-1.43090237e-01 9.89708404e-01 -1.56846789e-03 -1.87359691e+01] [-1.24933709e-02 -2.21614729e-04 9.99921930e-01 -6.13489548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.76420382199996 meters 0.022761541551910472 Centerline is valid? [True, True] Translation: X:215.03, Y:-18.74, Z:-6.14 [[ 9.89993503e-01 1.40550905e-01 1.25820371e-02 2.15032094e+02] [-1.40542027e-01 9.90073435e-01 -1.59147710e-03 -1.87396025e+01] [-1.26808242e-02 -1.92752996e-04 9.99919577e-01 -6.13887111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.82420382199996 meters 0.017525235047380745 Centerline is valid? [True, True] Translation: X:215.09, Y:-18.75, Z:-6.14 [[ 9.90839701e-01 1.34471986e-01 1.24085701e-02 2.15089726e+02] [-1.34462887e-01 9.90917389e-01 -1.56853934e-03 -1.87523863e+01] [-1.25067925e-02 -1.14321102e-04 9.99921780e-01 -6.14123395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.88420382199996 meters 0.01201838114591163 Centerline is valid? [True, True] Translation: X:215.15, Y:-18.77, Z:-6.14 [[ 9.91850102e-01 1.26614305e-01 1.42194764e-02 2.15146785e+02] [-1.26601559e-01 9.91952024e-01 -1.79662397e-03 -1.87707434e+01] [-1.43325167e-02 -1.82262144e-05 9.99897284e-01 -6.13632477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.94420382199996 meters 0.013199635687043371 Centerline is valid? [True, True] Translation: X:215.20, Y:-18.79, Z:-6.14 [[ 9.92684188e-01 1.19755589e-01 1.53851211e-02 2.15202753e+02] [-1.19739853e-01 9.92803400e-01 -1.94322903e-03 -1.87875346e+01] [-1.55071130e-02 8.68005914e-05 9.99879754e-01 -6.13690905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.00420382199997 meters 0.014702044753674854 Centerline is valid? [True, True] Translation: X:215.26, Y:-18.80, Z:-6.14 [[ 9.93052540e-01 1.16596934e-01 1.58684658e-02 2.15260896e+02] [-1.16579812e-01 9.93179307e-01 -2.00295587e-03 -1.87987896e+01] [-1.59937704e-02 1.39097657e-04 9.99872082e-01 -6.13619888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.06420382199997 meters 0.014832689262869465 Centerline is valid? [True, True] Translation: X:215.32, Y:-18.81, Z:-6.14 [[ 9.93001150e-01 1.17171440e-01 1.48179045e-02 2.15318058e+02] [-1.17156581e-01 9.93111695e-01 -1.86987314e-03 -1.88074187e+01] [-1.49349300e-02 1.20771157e-04 9.99888460e-01 -6.13991463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.12420382199997 meters 0.013043874034290776 Centerline is valid? [True, True] Translation: X:215.38, Y:-18.81, Z:-6.14 [[ 9.92455058e-01 1.21917428e-01 1.30037733e-02 2.15376825e+02] [-1.21906403e-01 9.92540245e-01 -1.64016816e-03 -1.88076391e+01] [-1.31067334e-02 4.25499653e-05 9.99914102e-01 -6.14413336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18420382199997 meters 0.013356845442772424 Centerline is valid? [True, True] Translation: X:215.44, Y:-18.80, Z:-6.15 [[ 9.91513618e-01 1.29319279e-01 1.33142357e-02 2.15435767e+02] [-1.29308391e-01 9.91603006e-01 -1.67904822e-03 -1.88043473e+01] [-1.34195695e-02 -5.68432252e-05 9.99909952e-01 -6.14520859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24420382199997 meters 0.017876746385112774 Centerline is valid? [True, True] Translation: X:215.50, Y:-18.80, Z:-6.15 [[ 9.90748375e-01 1.35167280e-01 1.21435016e-02 2.15495110e+02] [-1.35158678e-01 9.90822785e-01 -1.53008608e-03 -1.87998707e+01] [-1.22388756e-02 -1.25369326e-04 9.99925094e-01 -6.14988833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30420382199995 meters 0.019325215265601645 Centerline is valid? [True, True] Translation: X:215.55, Y:-18.80, Z:-6.15 [[ 9.90489205e-01 1.36971573e-01 1.30354394e-02 2.15553849e+02] [-1.36961822e-01 9.90574966e-01 -1.64209248e-03 -1.88025940e+01] [-1.31374999e-02 -1.58882641e-04 9.99913687e-01 -6.15103940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36420382199995 meters 0.01795641123248631 Centerline is valid? [True, True] Translation: X:215.61, Y:-18.81, Z:-6.15 [[ 9.90730722e-01 1.35185824e-01 1.33202661e-02 2.15612284e+02] [-1.35175489e-01 9.90820253e-01 -1.67729910e-03 -1.88125218e+01] [-1.34247365e-02 -1.38821732e-04 9.99909875e-01 -6.15226090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42420382199995 meters 0.014014888115383478 Centerline is valid? [True, True] Translation: X:215.67, Y:-18.83, Z:-6.15 [[ 9.91469593e-01 1.29686703e-01 1.30155810e-02 2.15669283e+02] [-1.29676370e-01 9.91555019e-01 -1.63835244e-03 -1.88283105e+01] [-1.31181371e-02 -6.34366639e-05 9.99913952e-01 -6.15416939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48420382199996 meters 0.013657666306803012 Centerline is valid? [True, True] Translation: X:215.72, Y:-18.85, Z:-6.16 [[ 9.92397993e-01 1.22461728e-01 1.22208352e-02 2.15724556e+02] [-1.22452073e-01 9.92473236e-01 -1.53799244e-03 -1.88485427e+01] [-1.23171971e-02 2.98340000e-05 9.99924140e-01 -6.15916829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54420382199996 meters 0.01548447482002388 Centerline is valid? [True, True] Translation: X:215.78, Y:-18.87, Z:-6.16 [[ 9.93211286e-01 1.15505236e-01 1.37797465e-02 2.15781278e+02] [-1.15492307e-01 9.93306863e-01 -1.73298215e-03 -1.88710868e+01] [-1.38876853e-02 1.29762710e-04 9.99903553e-01 -6.15534722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.60420382199996 meters 0.022776946926905833 Centerline is valid? [True, True] Translation: X:215.84, Y:-18.89, Z:-6.16 [[ 9.93597793e-01 1.12154728e-01 1.35920434e-02 2.15839895e+02] [-1.12141850e-01 9.93690740e-01 -1.70834560e-03 -1.88853759e+01] [-1.36978867e-02 1.73171521e-04 9.99906165e-01 -6.15697139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.66420382199996 meters 0.018618738575315687 Centerline is valid? [True, True] Translation: X:215.90, Y:-18.90, Z:-6.16 [[ 9.93632332e-01 1.11904049e-01 1.31252379e-02 2.15896306e+02] [-1.11892018e-01 9.93719002e-01 -1.64975088e-03 -1.89021018e+01] [-1.32274121e-02 1.70636470e-04 9.99912499e-01 -6.16074520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.72420382199996 meters 0.016823069792736307 Centerline is valid? [True, True] Translation: X:215.96, Y:-18.91, Z:-6.16 [[ 9.93337320e-01 1.14396670e-01 1.39416987e-02 2.15955147e+02] [-1.14383357e-01 9.93435142e-01 -1.75124193e-03 -1.89116741e+01] [-1.40505096e-02 1.44875672e-04 9.99901276e-01 -6.16070121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.78420382199997 meters 0.012477520341132343 Centerline is valid? [True, True] Translation: X:216.01, Y:-18.91, Z:-6.16 [[ 9.92345061e-01 1.22705876e-01 1.39480731e-02 2.16014591e+02] [-1.22693370e-01 9.92443080e-01 -1.75206928e-03 -1.89094797e+01] [-1.40576578e-02 2.73212061e-05 9.99901186e-01 -6.16158584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.84420382199997 meters 0.01394721313534117 Centerline is valid? [True, True] Translation: X:216.07, Y:-18.91, Z:-6.17 [[ 9.91556472e-01 1.29060116e-01 1.26194329e-02 2.16073531e+02] [-1.29050399e-01 9.91636770e-01 -1.58469381e-03 -1.89092660e+01] [-1.27184144e-02 -5.72294492e-05 9.99919116e-01 -6.16669117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.90420382199997 meters 0.01974895238861747 Centerline is valid? [True, True] Translation: X:216.13, Y:-18.91, Z:-6.17 [[ 9.90679927e-01 1.35831523e-01 1.01528442e-02 2.16132554e+02] [-1.35825593e-01 9.90731943e-01 -1.27449831e-03 -1.89102540e+01] [-1.02318641e-02 -1.16396192e-04 9.99947646e-01 -6.17464952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96420382199997 meters 0.02426691084611784 Centerline is valid? [True, True] Translation: X:216.19, Y:-18.91, Z:-6.18 [[ 9.90294209e-01 1.38661425e-01 9.50725370e-03 2.16190147e+02] [-1.38656355e-01 9.90339836e-01 -1.19362301e-03 -1.89121358e+01] [-9.58092153e-03 -1.36203182e-04 9.99954093e-01 -6.17982552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02420382199995 meters 0.02652767134103582 Centerline is valid? [True, True] Translation: X:216.25, Y:-18.91, Z:-6.18 [[ 9.89656972e-01 1.42968391e-01 1.17947840e-02 2.16249570e+02] [-1.42960908e-01 9.89727230e-01 -1.47951793e-03 -1.89128851e+01] [-1.18851432e-02 -2.21977802e-04 9.99929345e-01 -6.17604875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08420382199995 meters 0.02740554341690905 Centerline is valid? [True, True] Translation: X:216.31, Y:-18.92, Z:-6.18 [[ 9.89817465e-01 1.41801943e-01 1.23933578e-02 2.16306949e+02] [-1.41793592e-01 9.89895025e-01 -1.55443614e-03 -1.89192404e+01] [-1.24885453e-02 -2.18690675e-04 9.99921991e-01 -6.17975094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14420382199995 meters 0.01811211664615178 Centerline is valid? [True, True] Translation: X:216.37, Y:-18.94, Z:-6.18 [[ 9.90676822e-01 1.35577848e-01 1.33447059e-02 2.16365196e+02] [-1.35567630e-01 9.90766685e-01 -1.67153205e-03 -1.89389562e+01] [-1.34481127e-02 -1.53162078e-04 9.99909558e-01 -6.17601865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20420382199995 meters 0.014488510244369661 Centerline is valid? [True, True] Translation: X:216.42, Y:-18.95, Z:-6.18 [[ 9.91402179e-01 1.30142865e-01 1.35850700e-02 2.16422713e+02] [-1.30131760e-01 9.91495249e-01 -1.70201561e-03 -1.89542521e+01] [-1.36910376e-02 -8.04670892e-05 9.99906270e-01 -6.17813695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26420382199996 meters 0.01352937826330234 Centerline is valid? [True, True] Translation: X:216.48, Y:-18.98, Z:-6.18 [[ 9.92529349e-01 1.21344571e-01 1.26880417e-02 2.16477957e+02] [-1.21334169e-01 9.92610444e-01 -1.58928924e-03 -1.89762151e+01] [-1.27871343e-02 3.79232196e-05 9.99918241e-01 -6.18254833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.32420382199996 meters 0.017532014243602272 Centerline is valid? [True, True] Translation: X:216.53, Y:-19.00, Z:-6.19 [[ 9.93334924e-01 1.14623922e-01 1.21278558e-02 2.16534534e+02] [-1.14613929e-01 9.93408950e-01 -1.51806427e-03 -1.89990870e+01] [-1.22219270e-02 1.17925042e-04 9.99925303e-01 -6.18627092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.38420382199996 meters 0.0207619960326228 Centerline is valid? [True, True] Translation: X:216.59, Y:-19.01, Z:-6.18 [[ 9.93526474e-01 1.12933647e-01 1.22937443e-02 2.16592726e+02] [-1.12923258e-01 9.93602522e-01 -1.53820854e-03 -1.90123825e+01] [-1.23888109e-02 1.40001246e-04 9.99923246e-01 -6.18447973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.44420382199996 meters 0.013806097881521318 Centerline is valid? [True, True] Translation: X:216.65, Y:-19.02, Z:-6.18 [[ 9.92927004e-01 1.17935407e-01 1.36822777e-02 2.16652409e+02] [-1.17923019e-01 9.93021265e-01 -1.71151948e-03 -1.90157358e+01] [-1.37886415e-02 8.59584179e-05 9.99904928e-01 -6.18313681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.50420382199997 meters 0.013904384397156546 Centerline is valid? [True, True] Translation: X:216.71, Y:-19.01, Z:-6.18 [[ 9.91454319e-01 1.29741048e-01 1.36232715e-02 2.16712138e+02] [-1.29729879e-01 9.91547908e-01 -1.70417575e-03 -1.90104996e+01] [-1.37292279e-02 -7.77329553e-05 9.99905747e-01 -6.18472456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.56420382199997 meters 0.02346864286103217 Centerline is valid? [True, True] Translation: X:216.77, Y:-19.00, Z:-6.19 [[ 9.89800918e-01 1.41711459e-01 1.45603749e-02 2.16774666e+02] [-1.41700015e-01 9.89907972e-01 -1.81988712e-03 -1.89988350e+01] [-1.46713300e-02 -2.61879402e-04 9.99892336e-01 -6.18522480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.62420382199997 meters 0.02959349427080326 Centerline is valid? [True, True] Translation: X:216.84, Y:-18.99, Z:-6.19 [[ 9.88928280e-01 1.47679248e-01 1.45498090e-02 2.16836441e+02] [-1.47668466e-01 9.89035246e-01 -1.81856650e-03 -1.89934092e+01] [-1.46588385e-02 -3.50116131e-04 9.99892492e-01 -6.18706359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68420382199997 meters 0.03366527549473021 Centerline is valid? [True, True] Translation: X:216.90, Y:-19.00, Z:-6.19 [[ 9.88431570e-01 1.50929467e-01 1.49441715e-02 2.16895114e+02] [-1.50918455e-01 9.88544450e-01 -1.86835937e-03 -1.89972830e+01] [-1.50549683e-02 -4.08605886e-04 9.99886584e-01 -6.18915737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74420382199995 meters 0.03071263841471401 Centerline is valid? [True, True] Translation: X:216.95, Y:-19.01, Z:-6.19 [[ 9.88903474e-01 1.47788897e-01 1.51116185e-02 2.16954424e+02] [-1.47777285e-01 9.89018861e-01 -1.88840152e-03 -1.90065218e+01] [-1.52247605e-02 -3.65707124e-04 9.99884030e-01 -6.19097368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80420382199995 meters 0.02879528622117855 Centerline is valid? [True, True] Translation: X:217.01, Y:-19.01, Z:-6.19 [[ 9.89543105e-01 1.43510276e-01 1.44652851e-02 2.17013090e+02] [-1.43499178e-01 9.89648785e-01 -1.80764245e-03 -1.90131555e+01] [-1.45749671e-02 -2.87016396e-04 9.99893738e-01 -6.19495863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86420382199995 meters 0.021381486999132712 Centerline is valid? [True, True] Translation: X:217.07, Y:-19.03, Z:-6.19 [[ 9.90097209e-01 1.39678506e-01 1.40510290e-02 2.17070134e+02] [-1.39667647e-01 9.90196882e-01 -1.75594595e-03 -1.90293191e+01] [-1.41585530e-02 -2.23916985e-04 9.99899738e-01 -6.19337178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92420382199995 meters 0.019069888055439573 Centerline is valid? [True, True] Translation: X:217.13, Y:-19.04, Z:-6.20 [[ 9.90525968e-01 1.36652730e-01 1.35770961e-02 2.17128656e+02] [-1.36642316e-01 9.90618999e-01 -1.69608406e-03 -1.90360395e+01] [-1.36815039e-02 -1.75190556e-04 9.99906388e-01 -6.19636397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98420382199996 meters 0.01709861683638034 Centerline is valid? [True, True] Translation: X:217.19, Y:-19.04, Z:-6.20 [[ 9.90825787e-01 1.34550215e-01 1.26688042e-02 2.17187149e+02] [-1.34540983e-01 9.90906767e-01 -1.58210348e-03 -1.90434742e+01] [-1.27664762e-02 -1.36884442e-04 9.99918496e-01 -6.19837030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04420382199996 meters 0.015856168758330198 Centerline is valid? [True, True] Translation: X:217.25, Y:-19.05, Z:-6.20 [[ 9.91280359e-01 1.31171063e-01 1.25460127e-02 2.17245072e+02] [-1.31161746e-01 9.91359745e-01 -1.56614010e-03 -1.90492254e+01] [-1.26430442e-02 -9.30730066e-05 9.99920069e-01 -6.20272445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.10420382199996 meters 0.013346981627448226 Centerline is valid? [True, True] Translation: X:217.30, Y:-19.06, Z:-6.20 [[ 9.91974910e-01 1.25710580e-01 1.35140105e-02 2.17302372e+02] [-1.25699274e-01 9.92066958e-01 -1.68615465e-03 -1.90616831e+01] [-1.36187707e-02 -2.60781934e-05 9.99907260e-01 -6.20378712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.16420382199996 meters 0.013917655459254276 Centerline is valid? [True, True] Translation: X:217.36, Y:-19.08, Z:-6.20 [[ 9.92884925e-01 1.18203399e-01 1.44042447e-02 2.17359407e+02] [-1.18189775e-01 9.92989401e-01 -1.79646356e-03 -1.90788084e+01] [-1.45156105e-02 8.12471442e-05 9.99894640e-01 -6.20293957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.22420382199996 meters 0.01779623255737723 Centerline is valid? [True, True] Translation: X:217.42, Y:-19.10, Z:-6.20 [[ 9.93628428e-01 1.11879146e-01 1.36236394e-02 2.17417618e+02] [-1.11866377e-01 9.93721807e-01 -1.69818016e-03 -1.90951781e+01] [-1.37280986e-02 1.63332894e-04 9.99905752e-01 -6.20410436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.28420382199997 meters 0.020970968320963648 Centerline is valid? [True, True] Translation: X:217.48, Y:-19.11, Z:-6.21 [[ 9.93884176e-01 1.09702916e-01 1.26299622e-02 2.17476016e+02] [-1.09691771e-01 9.93964405e-01 -1.57386042e-03 -1.91083836e+01] [-1.27263900e-02 1.78832043e-04 9.99919000e-01 -6.20872693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.34420382199997 meters 0.018894717655257656 Centerline is valid? [True, True] Translation: X:217.54, Y:-19.11, Z:-6.21 [[ 9.93685081e-01 1.11574772e-01 1.18755928e-02 2.17535330e+02] [-1.11565052e-01 9.93756031e-01 -1.47993604e-03 -1.91124760e+01] [-1.19665655e-02 1.45689241e-04 9.99928387e-01 -6.21043018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.40420382199997 meters 0.013163425089086514 Centerline is valid? [True, True] Translation: X:217.60, Y:-19.11, Z:-6.21 [[ 9.92552120e-01 1.21304641e-01 1.12015285e-02 2.17596026e+02] [-1.21296606e-01 9.92615325e-01 -1.39641982e-03 -1.91051866e+01] [-1.12882011e-02 2.73120653e-05 9.99936286e-01 -6.21120250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46420382199997 meters 0.013394999417288783 Centerline is valid? [True, True] Translation: X:217.65, Y:-19.11, Z:-6.21 [[ 9.91899590e-01 1.26460585e-01 1.19550901e-02 2.17654293e+02] [-1.26451819e-01 9.91971632e-01 -1.48941461e-03 -1.91053413e+01] [-1.20474624e-02 -3.43931429e-05 9.99927426e-01 -6.21279398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52420382199995 meters 0.01457277412831856 Centerline is valid? [True, True] Translation: X:217.71, Y:-19.11, Z:-6.21 [[ 9.91368168e-01 1.30442285e-01 1.31895908e-02 2.17712466e+02] [-1.30431977e-01 9.91455900e-01 -1.64241561e-03 -1.91084406e+01] [-1.32911381e-02 -9.21058440e-05 9.99911665e-01 -6.21187218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58420382199995 meters 0.016234127166201318 Centerline is valid? [True, True] Translation: X:217.77, Y:-19.11, Z:-6.22 [[ 9.91311621e-01 1.30947996e-01 1.24053719e-02 2.17769900e+02] [-1.30938929e-01 9.91389234e-01 -1.54373888e-03 -1.91132544e+01] [-1.25007016e-02 -9.40198152e-05 9.99921859e-01 -6.21703275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64420382199995 meters 0.018941021599290613 Centerline is valid? [True, True] Translation: X:217.83, Y:-19.11, Z:-6.22 [[ 9.90800387e-01 1.34750974e-01 1.25207382e-02 2.17828445e+02] [-1.34742053e-01 9.90879485e-01 -1.55727030e-03 -1.91146373e+01] [-1.26163864e-02 -1.44125961e-04 9.99920400e-01 -6.21701723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70420382199995 meters 0.02097864252899069 Centerline is valid? [True, True] Translation: X:217.89, Y:-19.12, Z:-6.22 [[ 9.90494973e-01 1.36943463e-01 1.28917183e-02 2.17887186e+02] [-1.36934204e-01 9.90578849e-01 -1.60239522e-03 -1.91186517e+01] [-1.29897010e-02 -1.78152768e-04 9.99915614e-01 -6.21793307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76420382199996 meters 0.027986551079055375 Centerline is valid? [True, True] Translation: X:217.95, Y:-19.11, Z:-6.22 [[ 9.89426468e-01 1.44314758e-01 1.44400812e-02 2.17948298e+02] [-1.44303942e-01 9.89531786e-01 -1.79364293e-03 -1.91111602e+01] [-1.45477684e-02 -3.09082847e-04 9.99894128e-01 -6.21591183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.82420382199996 meters 0.03107101949389677 Centerline is valid? [True, True] Translation: X:218.01, Y:-19.11, Z:-6.22 [[ 9.88744699e-01 1.48862094e-01 1.49665620e-02 2.18008988e+02] [-1.48851001e-01 9.88857889e-01 -1.85867522e-03 -1.91060111e+01] [-1.50764892e-02 -3.90032464e-04 9.99886267e-01 -6.21549703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.88420382199996 meters 0.029804770310021888 Centerline is valid? [True, True] Translation: X:218.07, Y:-19.11, Z:-6.22 [[ 9.88971545e-01 1.47359878e-01 1.48441905e-02 2.18067754e+02] [-1.47348797e-01 9.89082875e-01 -1.84345732e-03 -1.91094229e+01] [-1.49537863e-02 -3.64146775e-04 9.99888120e-01 -6.21766333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.94420382199996 meters 0.023255083245797472 Centerline is valid? [True, True] Translation: X:218.13, Y:-19.12, Z:-6.22 [[ 9.89930733e-01 1.40791101e-01 1.46632463e-02 2.18126959e+02] [-1.40779585e-01 9.90039291e-01 -1.81975008e-03 -1.91212400e+01] [-1.47733946e-02 -2.62859198e-04 9.99890833e-01 -6.22059380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.00420382199997 meters 0.017771101800657985 Centerline is valid? [True, True] Translation: X:218.18, Y:-19.13, Z:-6.22 [[ 9.90962097e-01 1.33365568e-01 1.44134713e-02 2.18184686e+02] [-1.33353655e-01 9.91066901e-01 -1.78875237e-03 -1.91335791e+01] [-1.45232723e-02 -1.49503292e-04 9.99894521e-01 -6.22440010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.06420382199997 meters 0.013950489098850456 Centerline is valid? [True, True] Translation: X:218.24, Y:-19.15, Z:-6.23 [[ 9.91861397e-01 1.26721912e-01 1.23501346e-02 2.18241955e+02] [-1.26712649e-01 9.91938282e-01 -1.53286899e-03 -1.91457915e+01] [-1.24448194e-02 -4.45246878e-05 9.99922559e-01 -6.23019602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.12420382199997 meters 0.013832044599008733 Centerline is valid? [True, True] Translation: X:218.30, Y:-19.16, Z:-6.23 [[ 9.92594543e-01 1.20945600e-01 1.13241220e-02 2.18299111e+02] [-1.20937440e-01 9.92659137e-01 -1.40509531e-03 -1.91602434e+01] [-1.14109333e-02 2.51796101e-05 9.99934893e-01 -6.23401911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18420382199997 meters 0.014978876790992433 Centerline is valid? [True, True] Translation: X:218.36, Y:-19.17, Z:-6.24 [[ 9.92916411e-01 1.18367627e-01 1.03007950e-02 2.18357089e+02] [-1.18360741e-01 9.92969840e-01 -1.27774980e-03 -1.91682182e+01] [-1.03796230e-02 4.94890082e-05 9.99946129e-01 -6.23703286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24420382199995 meters 0.015802382459000088 Centerline is valid? [True, True] Translation: X:218.41, Y:-19.18, Z:-6.24 [[ 9.93350674e-01 1.14574440e-01 1.12754502e-02 2.18414893e+02] [-1.14565952e-01 9.93414661e-01 -1.39801671e-03 -1.91808865e+01] [-1.13613745e-02 9.69381514e-05 9.99935453e-01 -6.23549567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30420382199995 meters 0.017856566129520253 Centerline is valid? [True, True] Translation: X:218.47, Y:-19.19, Z:-6.24 [[ 9.93603580e-01 1.12224787e-01 1.25507793e-02 2.18471130e+02] [-1.12214090e-01 9.93682836e-01 -1.55555165e-03 -1.91932531e+01] [-1.26460654e-02 1.37227406e-04 9.99920026e-01 -6.23647671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36420382199995 meters 0.01521821957866227 Centerline is valid? [True, True] Translation: X:218.53, Y:-19.19, Z:-6.24 [[ 9.93305530e-01 1.14787972e-01 1.29554890e-02 2.18530720e+02] [-1.14776807e-01 9.93390009e-01 -1.60447640e-03 -1.91947246e+01] [-1.30540279e-02 1.06745618e-04 9.99914787e-01 -6.23565689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42420382199995 meters 0.01230955979614148 Centerline is valid? [True, True] Translation: X:218.59, Y:-19.19, Z:-6.24 [[ 9.92555036e-01 1.20942667e-01 1.44004144e-02 2.18589706e+02] [-1.20929527e-01 9.92659494e-01 -1.78294937e-03 -1.91933082e+01] [-1.45103427e-02 2.82400764e-05 9.99894719e-01 -6.23619462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48420382199996 meters 0.012806435871742702 Centerline is valid? [True, True] Translation: X:218.65, Y:-19.20, Z:-6.24 [[ 9.92138626e-01 1.24470111e-01 1.29667905e-02 2.18648899e+02] [-1.24459765e-01 9.92223357e-01 -1.60495567e-03 -1.91950977e+01] [-1.30657214e-02 -2.15051802e-05 9.99914640e-01 -6.24087213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54420382199996 meters 0.014520655115399433 Centerline is valid? [True, True] Translation: X:218.71, Y:-19.19, Z:-6.25 [[ 9.91810548e-01 1.27240628e-01 1.10299643e-02 2.18708737e+02] [-1.27233317e-01 9.91871877e-01 -1.36490101e-03 -1.91909258e+01] [-1.11139823e-02 -4.96557332e-05 9.99938237e-01 -6.24585141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.60420382199996 meters 0.014022283318401668 Centerline is valid? [True, True] Translation: X:218.77, Y:-19.20, Z:-6.25 [[ 9.91939634e-01 1.26161519e-01 1.17912138e-02 2.18765685e+02] [-1.26153093e-01 9.92009712e-01 -1.45864056e-03 -1.91995051e+01] [-1.18810230e-02 -4.06147127e-05 9.99929417e-01 -6.24725749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.66420382199996 meters 0.012735275098399456 Centerline is valid? [True, True] Translation: X:218.82, Y:-19.21, Z:-6.25 [[ 9.92388100e-01 1.22436247e-01 1.32372060e-02 2.18823865e+02] [-1.22425313e-01 9.92476380e-01 -1.63632216e-03 -1.92106560e+01] [-1.33379595e-02 3.29756024e-06 9.99911045e-01 -6.24712203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.72420382199996 meters 0.013394297792942416 Centerline is valid? [True, True] Translation: X:218.88, Y:-19.22, Z:-6.25 [[ 9.93008411e-01 1.17376449e-01 1.25325786e-02 2.18881509e+02] [-1.17366250e-01 9.93087491e-01 -1.54873351e-03 -1.92219734e+01] [-1.26277318e-02 6.70036481e-05 9.99920265e-01 -6.24754790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.78420382199997 meters 0.01674280068270275 Centerline is valid? [True, True] Translation: X:218.94, Y:-19.24, Z:-6.25 [[ 9.93529156e-01 1.12827361e-01 1.30308489e-02 2.18937952e+02] [-1.12815948e-01 9.93614598e-01 -1.60996000e-03 -1.92377019e+01] [-1.31292893e-02 1.29454613e-04 9.99913799e-01 -6.25084098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.84420382199997 meters 0.019196402582516377 Centerline is valid? [True, True] Translation: X:219.00, Y:-19.25, Z:-6.25 [[ 9.93865543e-01 1.09803394e-01 1.32097198e-02 2.18995506e+02] [-1.09791417e-01 9.93953312e-01 -1.63066550e-03 -1.92521440e+01] [-1.33088974e-02 1.70348399e-04 9.99911418e-01 -6.25207958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.90420382199997 meters 0.018777743892459786 Centerline is valid? [True, True] Translation: X:219.05, Y:-19.26, Z:-6.25 [[ 9.93871856e-01 1.09706588e-01 1.35351064e-02 2.19053722e+02] [-1.09694014e-01 9.93964000e-01 -1.67016789e-03 -1.92599584e+01] [-1.36366370e-02 1.75212707e-04 9.99907001e-01 -6.25206428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96420382199997 meters 0.015444148056945597 Centerline is valid? [True, True] Translation: X:219.11, Y:-19.26, Z:-6.25 [[ 9.93281414e-01 1.14861972e-01 1.40982482e-02 2.19112065e+02] [-1.14848859e-01 9.93381455e-01 -1.73891631e-03 -1.92627740e+01] [-1.42046737e-02 1.08065529e-04 9.99899103e-01 -6.25453192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02420382199995 meters 0.012596700190894951 Centerline is valid? [True, True] Translation: X:219.17, Y:-19.26, Z:-6.26 [[ 9.92209315e-01 1.23820585e-01 1.37527547e-02 2.19171984e+02] [-1.23808975e-01 9.92304622e-01 -1.69569423e-03 -1.92573057e+01] [-1.38568839e-02 -2.02308472e-05 9.99903989e-01 -6.25600386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.08420382199995 meters 0.01704416498832165 Centerline is valid? [True, True] Translation: X:219.23, Y:-19.25, Z:-6.26 [[ 9.91230506e-01 1.31555552e-01 1.24587595e-02 2.19233111e+02] [-1.31546645e-01 9.91308793e-01 -1.53529255e-03 -1.92494418e+01] [-1.25524541e-02 -1.17079200e-04 9.99921208e-01 -6.25996572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14420382199995 meters 0.021588939174111876 Centerline is valid? [True, True] Translation: X:219.29, Y:-19.25, Z:-6.26 [[ 9.90579009e-01 1.36353124e-01 1.26906542e-02 2.19291192e+02] [-1.36344264e-01 9.90660281e-01 -1.56478869e-03 -1.92460174e+01] [-1.27854909e-02 -1.80251083e-04 9.99918246e-01 -6.26173056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.20420382199995 meters 0.02749621490532253 Centerline is valid? [True, True] Translation: X:219.35, Y:-19.24, Z:-6.26 [[ 9.90058868e-01 1.40055553e-01 1.29568287e-02 2.19350986e+02] [-1.40046666e-01 9.90143619e-01 -1.59520706e-03 -1.92409916e+01] [-1.30525389e-02 -2.35211759e-04 9.99914784e-01 -6.26474748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.26420382199996 meters 0.02469844656491968 Centerline is valid? [True, True] Translation: X:219.41, Y:-19.25, Z:-6.26 [[ 9.89958283e-01 1.40707257e-01 1.35670581e-02 2.19409518e+02] [-1.40697578e-01 9.90051212e-01 -1.67002530e-03 -1.92471541e+01] [-1.36670670e-02 -2.55596830e-04 9.99906569e-01 -6.26215394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.32420382199996 meters 0.02332494629145646 Centerline is valid? [True, True] Translation: X:219.47, Y:-19.25, Z:-6.26 [[ 9.90358218e-01 1.37760461e-01 1.45827016e-02 2.19467432e+02] [-1.37748963e-01 9.90465548e-01 -1.79474341e-03 -1.92504467e+01] [-1.46909082e-02 -2.31313143e-04 9.99892056e-01 -6.26419571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.38420382199996 meters 0.01813332954415631 Centerline is valid? [True, True] Translation: X:219.53, Y:-19.26, Z:-6.26 [[ 9.90948605e-01 1.33350558e-01 1.54431669e-02 2.19525075e+02] [-1.33337159e-01 9.91068916e-01 -1.89866980e-03 -1.92631314e+01] [-1.55584314e-02 -1.77663804e-04 9.99878944e-01 -6.26337331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.44420382199996 meters 0.012847394144151694 Centerline is valid? [True, True] Translation: X:219.58, Y:-19.28, Z:-6.27 [[ 9.91970712e-01 1.25605487e-01 1.47433804e-02 2.19582370e+02] [-1.25592428e-01 9.92080268e-01 -1.81199409e-03 -1.92797872e+01] [-1.48542132e-02 -5.42118840e-05 9.99889669e-01 -6.26583066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.50420382199997 meters 0.012881884058518636 Centerline is valid? [True, True] Translation: X:219.64, Y:-19.30, Z:-6.27 [[ 9.92923949e-01 1.17810408e-01 1.49244591e-02 2.19637954e+02] [-1.17796151e-01 9.93036104e-01 -1.83383799e-03 -1.92994350e+01] [-1.50365720e-02 6.28178087e-05 9.99886942e-01 -6.26757526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.56420382199997 meters 0.017246551312693904 Centerline is valid? [True, True] Translation: X:219.69, Y:-19.32, Z:-6.27 [[ 9.93744142e-01 1.10647919e-01 1.51531571e-02 2.19694889e+02] [-1.10632411e-01 9.93859652e-01 -1.86048577e-03 -1.93205435e+01] [-1.52659703e-02 1.72416538e-04 9.99883453e-01 -6.26803220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.62420382199997 meters 0.021453850961592722 Centerline is valid? [True, True] Translation: X:219.75, Y:-19.34, Z:-6.27 [[ 9.94145428e-01 1.06975306e-01 1.52037104e-02 2.19751496e+02] [-1.06959277e-01 9.94261651e-01 -1.86587605e-03 -1.93376079e+01] [-1.53160689e-02 2.28774273e-04 9.99882676e-01 -6.27088314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68420382199997 meters 0.0223532877290766 Centerline is valid? [True, True] Translation: X:219.81, Y:-19.35, Z:-6.27 [[ 9.94374913e-01 1.04752267e-01 1.56682887e-02 2.19809738e+02] [-1.04734979e-01 9.94498310e-01 -1.92215778e-03 -1.93503591e+01] [-1.57834370e-02 2.70327588e-04 9.99875397e-01 -6.26969486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74420382199995 meters 0.020024275600131612 Centerline is valid? [True, True] Translation: X:219.87, Y:-19.36, Z:-6.27 [[ 9.94248813e-01 1.06045727e-01 1.49532890e-02 2.19867426e+02] [-1.06030126e-01 9.94361226e-01 -1.83447314e-03 -1.93640512e+01] [-1.50635088e-02 2.38423617e-04 9.99886510e-01 -6.27066150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80420382199995 meters 0.0191256416993498 Centerline is valid? [True, True] Translation: X:219.92, Y:-19.37, Z:-6.28 [[ 9.93950895e-01 1.08931560e-01 1.39833071e-02 2.19925000e+02] [-1.08918212e-01 9.94049235e-01 -1.71487303e-03 -1.93732463e+01] [-1.40868995e-02 1.81462782e-04 9.99900758e-01 -6.27546544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86420382199995 meters 0.013854135318424374 Centerline is valid? [True, True] Translation: X:219.98, Y:-19.38, Z:-6.28 [[ 9.93223812e-01 1.15465607e-01 1.31967298e-02 2.19983771e+02] [-1.15454302e-01 9.93311475e-01 -1.61784173e-03 -1.93771954e+01] [-1.32952682e-02 8.32597014e-05 9.99911611e-01 -6.27733845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92420382199995 meters 0.013003802776570728 Centerline is valid? [True, True] Translation: X:220.04, Y:-19.38, Z:-6.28 [[ 9.92459591e-01 1.21972160e-01 1.21141302e-02 2.20041985e+02] [-1.21963121e-01 9.92533522e-01 -1.48483858e-03 -1.93785128e+01] [-1.22047892e-02 -3.83483391e-06 9.99925519e-01 -6.28192594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98420382199996 meters 0.014849806865731017 Centerline is valid? [True, True] Translation: X:220.10, Y:-19.38, Z:-6.28 [[ 9.91809579e-01 1.27190628e-01 1.16749284e-02 2.20100283e+02] [-1.27182605e-01 9.91878289e-01 -1.43014425e-03 -1.93835307e+01] [-1.17620090e-02 -6.64170429e-05 9.99930823e-01 -6.28481753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.04420382199996 meters 0.018186924337032045 Centerline is valid? [True, True] Translation: X:220.16, Y:-19.39, Z:-6.28 [[ 9.91107924e-01 1.32516781e-01 1.20160375e-02 2.20158824e+02] [-1.32508681e-01 9.91180753e-01 -1.47132475e-03 -1.93881766e+01] [-1.21050404e-02 -1.33987667e-04 9.99926722e-01 -6.28480012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.10420382199996 meters 0.019723020321520162 Centerline is valid? [True, True] Translation: X:220.22, Y:-19.39, Z:-6.28 [[ 9.90666398e-01 1.35753537e-01 1.22908694e-02 2.20217739e+02] [-1.35745318e-01 9.90742623e-01 -1.50437991e-03 -1.93925542e+01] [-1.23813130e-02 -1.78089337e-04 9.99923333e-01 -6.28354721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.16420382199996 meters 0.024946843119933095 Centerline is valid? [True, True] Translation: X:220.28, Y:-19.39, Z:-6.28 [[ 9.89995222e-01 1.40423207e-01 1.38124049e-02 2.20276235e+02] [-1.40413291e-01 9.90091537e-01 -1.68990568e-03 -1.93922103e+01] [-1.39128472e-02 -2.66446681e-04 9.99903176e-01 -6.28398077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.22420382199996 meters 0.028396148942532267 Centerline is valid? [True, True] Translation: X:220.34, Y:-19.40, Z:-6.29 [[ 9.89590066e-01 1.43295967e-01 1.33329350e-02 2.20336074e+02] [-1.43287007e-01 9.89679836e-01 -1.62988655e-03 -1.93962144e+01] [-1.34288931e-02 -2.97516805e-04 9.99909784e-01 -6.28699454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.28420382199997 meters 0.027703932806835713 Centerline is valid? [True, True] Translation: X:220.39, Y:-19.40, Z:-6.29 [[ 9.89782242e-01 1.41964747e-01 1.33088212e-02 2.20393612e+02] [-1.41955690e-01 9.89871675e-01 -1.62756919e-03 -1.94048945e+01] [-1.34050825e-02 -2.78323816e-04 9.99910109e-01 -6.28972796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.34420382199997 meters 0.024045625586592043 Centerline is valid? [True, True] Translation: X:220.45, Y:-19.42, Z:-6.29 [[ 9.90400219e-01 1.37542363e-01 1.37660765e-02 2.20451417e+02] [-1.37532276e-01 9.90495859e-01 -1.68128357e-03 -1.94185893e+01] [-1.38664895e-02 -2.28136217e-04 9.99903830e-01 -6.29253040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.40420382199997 meters 0.018502689493312827 Centerline is valid? [True, True] Translation: X:220.51, Y:-19.44, Z:-6.29 [[ 9.91028305e-01 1.32899551e-01 1.41636128e-02 2.20508305e+02] [-1.32888398e-01 9.91129498e-01 -1.72983470e-03 -1.94364770e+01] [-1.42678687e-02 -1.67864662e-04 9.99898195e-01 -6.29183759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46420382199997 meters 0.013553079172837655 Centerline is valid? [True, True] Translation: X:220.57, Y:-19.46, Z:-6.29 [[ 9.92030954e-01 1.25277192e-01 1.34243177e-02 2.20565617e+02] [-1.25266485e-01 9.92121778e-01 -1.63877566e-03 -1.94556462e+01] [-1.35238592e-02 -5.59009205e-05 9.99908547e-01 -6.29431370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52420382199995 meters 0.012420128614736145 Centerline is valid? [True, True] Translation: X:220.62, Y:-19.47, Z:-6.29 [[ 9.92182438e-01 1.24025584e-01 1.38442704e-02 2.20623939e+02] [-1.24014080e-01 9.92279020e-01 -1.68972017e-03 -1.94653965e+01] [-1.39469476e-02 -4.03737860e-05 9.99902736e-01 -6.29363610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58420382199995 meters 0.013433996423240216 Centerline is valid? [True, True] Translation: X:220.68, Y:-19.48, Z:-6.30 [[ 9.92198128e-01 1.24027645e-01 1.26498507e-02 2.20680985e+02] [-1.24018042e-01 9.92278762e-01 -1.54376333e-03 -1.94757847e+01] [-1.27436475e-02 -3.70906321e-05 9.99918796e-01 -6.29830760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64420382199995 meters 0.013747465644687321 Centerline is valid? [True, True] Translation: X:220.74, Y:-19.48, Z:-6.30 [[ 9.91934798e-01 1.26208395e-01 1.16960590e-02 2.20739857e+02] [-1.26200349e-01 9.92003749e-01 -1.42636072e-03 -1.94778608e+01] [-1.17825530e-02 -6.11898881e-05 9.99930581e-01 -6.29879303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70420382199995 meters 0.015768790611946495 Centerline is valid? [True, True] Translation: X:220.80, Y:-19.48, Z:-6.30 [[ 9.91656042e-01 1.28291051e-01 1.26373058e-02 2.20797590e+02] [-1.28281834e-01 9.91736557e-01 -1.54058499e-03 -1.94794847e+01] [-1.27305214e-02 -9.34063524e-05 9.99918959e-01 -6.30265549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76420382199996 meters 0.01663109833797768 Centerline is valid? [True, True] Translation: X:220.86, Y:-19.48, Z:-6.30 [[ 9.91366815e-01 1.30387697e-01 1.38162000e-02 2.20856862e+02] [-1.30376901e-01 9.91463076e-01 -1.68303583e-03 -1.94836935e+01] [-1.39176993e-02 -1.32807477e-04 9.99903135e-01 -6.30144205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.82420382199996 meters 0.01834399357217383 Centerline is valid? [True, True] Translation: X:220.92, Y:-19.48, Z:-6.30 [[ 9.91000016e-01 1.33059359e-01 1.46347420e-02 2.20916075e+02] [-1.33047549e-01 9.91108054e-01 -1.78196457e-03 -1.94848858e+01] [-1.47417177e-02 -1.81189639e-04 9.99891319e-01 -6.30081175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.88420382199996 meters 0.02335743605744112 Centerline is valid? [True, True] Translation: X:220.98, Y:-19.48, Z:-6.31 [[ 9.90687081e-01 1.35540091e-01 1.29611355e-02 2.20975981e+02] [-1.35531049e-01 9.90771844e-01 -1.57750670e-03 -1.94785842e+01] [-1.30553435e-02 -1.93820790e-04 9.99914757e-01 -6.30853807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.94420382199996 meters 0.02271179179762915 Centerline is valid? [True, True] Translation: X:221.04, Y:-19.48, Z:-6.31 [[ 9.90488471e-01 1.36932470e-01 1.34939930e-02 2.21035248e+02] [-1.36922803e-01 9.90580360e-01 -1.64200715e-03 -1.94792610e+01] [-1.35917285e-02 -2.21246194e-04 9.99907604e-01 -6.30796589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.00420382199997 meters 0.018259583889882417 Centerline is valid? [True, True] Translation: X:221.09, Y:-19.49, Z:-6.31 [[ 9.90937185e-01 1.33670760e-01 1.32523160e-02 2.21093985e+02] [-1.33661153e-01 9.91025781e-01 -1.61201654e-03 -1.94861914e+01] [-1.33488662e-02 -1.73912690e-04 9.99910885e-01 -6.30836953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.06420382199997 meters 0.026502231065609554 Centerline is valid? [True, True] Translation: X:221.15, Y:-19.50, Z:-6.32 [[ 9.91735360e-01 1.27702521e-01 1.23710206e-02 2.21151348e+02] [-1.27693691e-01 9.91812512e-01 -1.50426691e-03 -1.94962790e+01] [-1.24618317e-02 -8.78665954e-05 9.99922344e-01 -6.31539113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.12420382199997 meters 0.013564556777845552 Centerline is valid? [True, True] Translation: X:221.21, Y:-19.51, Z:-6.32 [[ 9.93065315e-01 1.16922915e-01 1.22602206e-02 2.21208202e+02] [-1.16913428e-01 9.93140992e-01 -1.49016278e-03 -1.95146463e+01] [-1.23503619e-02 4.64445522e-05 9.99923730e-01 -6.31577819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18420382199997 meters 0.020261097553108013 Centerline is valid? [True, True] Translation: X:221.27, Y:-19.54, Z:-6.32 [[ 9.94177981e-01 1.07042495e-01 1.23307181e-02 2.21265398e+02] [-1.07032150e-01 9.94254432e-01 -1.49771924e-03 -1.95368982e+01] [-1.24201907e-02 1.69216217e-04 9.99922852e-01 -6.31880267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24420382199995 meters 0.029022789653376964 Centerline is valid? [True, True] Translation: X:221.32, Y:-19.56, Z:-6.32 [[ 9.95214888e-01 9.69873835e-02 1.18648409e-02 2.21323205e+02] [-9.69770986e-02 9.95285571e-01 -1.44048474e-03 -1.95586406e+01] [-1.19486138e-02 2.82974018e-04 9.99928573e-01 -6.32067259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30420382199995 meters 0.03787374859274305 Centerline is valid? [True, True] Translation: X:221.38, Y:-19.58, Z:-6.32 [[ 9.96028216e-01 8.82665384e-02 1.16966225e-02 2.21381377e+02] [-8.82559423e-02 9.96096819e-01 -1.42000772e-03 -1.95815529e+01] [-1.17763077e-02 3.82071315e-04 9.99930584e-01 -6.32149622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36420382199995 meters 0.039221421887015925 Centerline is valid? [True, True] Translation: X:221.44, Y:-19.60, Z:-6.32 [[ 9.96319403e-01 8.46708568e-02 1.33601117e-02 2.21440841e+02] [-8.46567109e-02 9.96408857e-01 -1.62184075e-03 -1.95970396e+01] [-1.34494563e-02 4.84848296e-04 9.99909434e-01 -6.32008641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42420382199995 meters 0.039356865337059885 Centerline is valid? [True, True] Translation: X:221.50, Y:-19.62, Z:-6.32 [[ 9.96323375e-01 8.47837940e-02 1.23060915e-02 2.21501041e+02] [-8.47718317e-02 9.96399274e-01 -1.49139487e-03 -1.96193708e+01] [-1.23882268e-02 4.42701650e-04 9.99923165e-01 -6.32253075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48420382199996 meters 0.033822593421473986 Centerline is valid? [True, True] Translation: X:221.56, Y:-19.63, Z:-6.32 [[ 9.95935096e-01 8.91417383e-02 1.29241822e-02 2.21561157e+02] [-8.91288432e-02 9.96018865e-01 -1.57147240e-03 -1.96265567e+01] [-1.30128130e-02 4.13167115e-04 9.99915244e-01 -6.32197926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54420382199996 meters 0.037071002002416156 Centerline is valid? [True, True] Translation: X:221.62, Y:-19.63, Z:-6.32 [[ 9.95261766e-01 9.64926707e-02 1.19658829e-02 2.21621033e+02] [-9.64821482e-02 9.95333652e-01 -1.45489484e-03 -1.96330019e+01] [-1.20504326e-02 2.93507125e-04 9.99927348e-01 -6.32456290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.60420382199996 meters 0.016429646772990383 Centerline is valid? [True, True] Translation: X:221.68, Y:-19.63, Z:-6.33 [[ 9.93660771e-01 1.11852490e-01 1.12823722e-02 2.21680745e+02] [-1.11844119e-01 9.93724816e-01 -1.37213464e-03 -1.96337357e+01] [-1.13650499e-02 1.01569384e-04 9.99935411e-01 -6.32850230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.66420382199996 meters 0.01314354079855744 Centerline is valid? [True, True] Translation: X:221.74, Y:-19.63, Z:-6.33 [[ 9.92263287e-01 1.23556813e-01 1.21360326e-02 2.21740919e+02] [-1.23547998e-01 9.92337499e-01 -1.47633126e-03 -1.96261139e+01] [-1.22254510e-02 -3.44732212e-05 9.99925266e-01 -6.32733643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.72420382199996 meters 0.025983891815858435 Centerline is valid? [True, True] Translation: X:221.80, Y:-19.61, Z:-6.33 [[ 9.90020637e-01 1.40422039e-01 1.18654731e-02 2.21802504e+02] [-1.40414834e-01 9.90091710e-01 -1.44224368e-03 -1.96108335e+01] [-1.19504293e-02 -2.38237420e-04 9.99928563e-01 -6.33118305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.78420382199997 meters 0.039709893279176275 Centerline is valid? [True, True] Translation: X:221.86, Y:-19.60, Z:-6.33 [[ 9.88182154e-01 1.52814208e-01 1.19936491e-02 2.21862832e+02] [-1.52807760e-01 9.88254858e-01 -1.45753571e-03 -1.96025677e+01] [-1.20755142e-02 -3.92411888e-04 9.99927011e-01 -6.33396280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.84420382199997 meters 0.044743506377270266 Centerline is valid? [True, True] Translation: X:221.92, Y:-19.60, Z:-6.34 [[ 9.87512593e-01 1.57186912e-01 1.05429052e-02 2.21923530e+02] [-1.57182180e-01 9.87568793e-01 -1.28113210e-03 -1.96003663e+01] [-1.06132213e-02 -3.92022738e-04 9.99943601e-01 -6.33803701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.90420382199997 meters 0.04281810782355395 Centerline is valid? [True, True] Translation: X:221.98, Y:-19.61, Z:-6.34 [[ 9.88009373e-01 1.53999418e-01 1.10298441e-02 2.21981812e+02] [-1.53994037e-01 9.88070868e-01 -1.34064467e-03 -1.96100851e+01] [-1.11047262e-02 -3.73960723e-04 9.99938271e-01 -6.33993380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96420382199997 meters 0.03625114910598132 Centerline is valid? [True, True] Translation: X:222.04, Y:-19.63, Z:-6.34 [[ 9.88881976e-01 1.48250677e-01 1.15833682e-02 2.22040796e+02] [-1.48244355e-01 9.88949762e-01 -1.40724353e-03 -1.96261634e+01] [-1.16639940e-02 -3.25571179e-04 9.99931920e-01 -6.34058626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02420382199995 meters 0.025439480010838456 Centerline is valid? [True, True] Translation: X:222.10, Y:-19.64, Z:-6.34 [[ 9.90162065e-01 1.39185200e-01 1.43723912e-02 2.22099306e+02] [-1.39174509e-01 9.90266331e-01 -1.74631573e-03 -1.96435974e+01] [-1.44755564e-02 -2.71134891e-04 9.99895187e-01 -6.33613456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08420382199995 meters 0.01886998935662741 Centerline is valid? [True, True] Translation: X:222.16, Y:-19.66, Z:-6.34 [[ 9.90909709e-01 1.33728956e-01 1.46463077e-02 2.22157850e+02] [-1.33717260e-01 9.91017925e-01 -1.77932294e-03 -1.96578226e+01] [-1.47527004e-02 -1.95315754e-04 9.99891154e-01 -6.33597684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14420382199995 meters 0.01838113362091547 Centerline is valid? [True, True] Translation: X:222.21, Y:-19.66, Z:-6.34 [[ 9.91372589e-01 1.30387313e-01 1.33991680e-02 2.22214947e+02] [-1.30377216e-01 9.91463126e-01 -1.62810392e-03 -1.96640247e+01] [-1.34970651e-02 -1.32888624e-04 9.99908902e-01 -6.34296090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20420382199995 meters 0.015526321796181993 Centerline is valid? [True, True] Translation: X:222.27, Y:-19.67, Z:-6.34 [[ 9.91854610e-01 1.26658734e-01 1.34906257e-02 2.22273583e+02] [-1.26648170e-01 9.91946348e-01 -1.63795827e-03 -1.96735959e+01] [-1.35894387e-02 -8.39466033e-05 9.99907656e-01 -6.34485790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26420382199996 meters 0.012695963086841925 Centerline is valid? [True, True] Translation: X:222.33, Y:-19.68, Z:-6.34 [[ 9.92250692e-01 1.23536682e-01 1.33136159e-02 2.22332080e+02] [-1.23526116e-01 9.92340005e-01 -1.61626436e-03 -1.96831850e+01] [-1.34113016e-02 -4.08398326e-05 9.99910064e-01 -6.34230797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.32420382199996 meters 0.012347472560979822 Centerline is valid? [True, True] Translation: X:222.39, Y:-19.69, Z:-6.35 [[ 9.92554881e-01 1.21124109e-01 1.27968166e-02 2.22389994e+02] [-1.21114154e-01 9.92637371e-01 -1.55294714e-03 -1.96939027e+01] [-1.28906977e-02 -8.49035612e-06 9.99916911e-01 -6.34502412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.38420382199996 meters 0.012635638784069474 Centerline is valid? [True, True] Translation: X:222.45, Y:-19.70, Z:-6.35 [[ 9.92582060e-01 1.20949222e-01 1.23345019e-02 2.22447845e+02] [-1.20939963e-01 9.92658695e-01 -1.49659293e-03 -1.97010356e+01] [-1.24249623e-02 -6.24289944e-06 9.99922807e-01 -6.34759670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.44420382199996 meters 0.013460988472874648 Centerline is valid? [True, True] Translation: X:222.51, Y:-19.70, Z:-6.35 [[ 9.92272476e-01 1.23550794e-01 1.14252086e-02 2.22506915e+02] [-1.23543033e-01 9.92338249e-01 -1.38528435e-03 -1.97035238e+01] [-1.15088245e-02 -3.69253944e-05 9.99933771e-01 -6.35046518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.50420382199997 meters 0.015438966033707086 Centerline is valid? [True, True] Translation: X:222.56, Y:-19.71, Z:-6.36 [[ 9.91917337e-01 1.26392830e-01 1.11735618e-02 2.22564482e+02] [-1.26385591e-01 9.91980266e-01 -1.35445517e-03 -1.97051673e+01] [-1.12551462e-02 -6.86696453e-05 9.99936656e-01 -6.35508396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.56420382199997 meters 0.017622452794047203 Centerline is valid? [True, True] Translation: X:222.62, Y:-19.71, Z:-6.36 [[ 9.91420644e-01 1.30244871e-01 1.10172505e-02 2.22623482e+02] [-1.30238081e-01 9.91481851e-01 -1.33463064e-03 -1.97079435e+01] [-1.10972327e-02 -1.11685186e-04 9.99938418e-01 -6.35692225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.62420382199997 meters 0.017162848043637904 Centerline is valid? [True, True] Translation: X:222.68, Y:-19.71, Z:-6.36 [[ 9.91420444e-01 1.30128860e-01 1.23281338e-02 2.22681996e+02] [-1.30120359e-01 9.91497082e-01 -1.49265521e-03 -1.97126105e+01] [-1.24175462e-02 -1.24292301e-04 9.99922892e-01 -6.35670014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68420382199997 meters 0.014299890107242717 Centerline is valid? [True, True] Translation: X:222.74, Y:-19.73, Z:-6.36 [[ 9.91949448e-01 1.26059965e-01 1.20490049e-02 2.22738970e+02] [-1.26051550e-01 9.92022621e-01 -1.45831274e-03 -1.97286644e+01] [-1.21367202e-02 -7.22232228e-05 9.99926345e-01 -6.35831321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74420382199995 meters 0.012759085994930539 Centerline is valid? [True, True] Translation: X:222.80, Y:-19.75, Z:-6.36 [[ 9.92669074e-01 1.20136380e-01 1.32423435e-02 2.22795328e+02] [-1.20125697e-01 9.92757397e-01 -1.60212160e-03 -1.97456339e+01] [-1.33389075e-02 -3.69166992e-07 9.99911033e-01 -6.35933374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80420382199995 meters 0.0139819706469103 Centerline is valid? [True, True] Translation: X:222.85, Y:-19.77, Z:-6.36 [[ 9.93378598e-01 1.13973881e-01 1.44538908e-02 2.22852703e+02] [-1.13960524e-01 9.93483743e-01 -1.74709657e-03 -1.97690743e+01] [-1.45588289e-02 8.83553807e-05 9.99894011e-01 -6.35844050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86420382199995 meters 0.016063229552607472 Centerline is valid? [True, True] Translation: X:222.91, Y:-19.79, Z:-6.36 [[ 9.93833801e-01 1.10004561e-01 1.39058162e-02 2.22912647e+02] [-1.09991824e-01 9.93931073e-01 -1.67980438e-03 -1.97869379e+01] [-1.40062090e-02 1.39920280e-04 9.99901898e-01 -6.35961245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92420382199995 meters 0.02240725316514133 Centerline is valid? [True, True] Translation: X:222.97, Y:-19.81, Z:-6.36 [[ 9.94318925e-01 1.05496509e-01 1.41549285e-02 2.22970359e+02] [-1.05482861e-01 9.94419652e-01 -1.70936181e-03 -1.98144109e+01] [-1.42562708e-02 2.06548433e-04 9.99898353e-01 -6.36395883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98420382199996 meters 0.02124494942226915 Centerline is valid? [True, True] Translation: X:223.03, Y:-19.83, Z:-6.37 [[ 9.94324757e-01 1.05442435e-01 1.41481330e-02 2.23032098e+02] [-1.05428800e-01 9.94425387e-01 -1.70823747e-03 -1.98290360e+01] [-1.42493833e-02 2.06922133e-04 9.99898451e-01 -6.36502314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04420382199996 meters 0.020335690603456323 Centerline is valid? [True, True] Translation: X:223.09, Y:-19.85, Z:-6.37 [[ 9.94140078e-01 1.07061195e-01 1.49467920e-02 2.23091535e+02] [-1.07046104e-01 9.94252413e-01 -1.80834714e-03 -1.98477685e+01] [-1.50544878e-02 1.97754509e-04 9.99886655e-01 -6.36600802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.10420382199996 meters 0.018634891726458238 Centerline is valid? [True, True] Translation: X:223.15, Y:-19.86, Z:-6.37 [[ 9.93887131e-01 1.09482326e-01 1.42123860e-02 2.23152476e+02] [-1.09468903e-01 9.93988731e-01 -1.72132366e-03 -1.98611742e+01] [-1.43154060e-02 1.54987132e-04 9.99897517e-01 -6.36947421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.16420382199996 meters 0.01597705917870336 Centerline is valid? [True, True] Translation: X:223.21, Y:-19.88, Z:-6.37 [[ 9.93607911e-01 1.12110027e-01 1.32159583e-02 2.23213016e+02] [-1.12098630e-01 9.93695793e-01 -1.60235152e-03 -1.98764853e+01] [-1.33122818e-02 1.10618329e-04 9.99911382e-01 -6.37098414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.22420382199996 meters 0.015970345600047803 Centerline is valid? [True, True] Translation: X:223.27, Y:-19.89, Z:-6.38 [[ 9.93312299e-01 1.14780547e-01 1.24941247e-02 2.23272568e+02] [-1.14770546e-01 9.93390870e-01 -1.51692835e-03 -1.98931674e+01] [-1.25856633e-02 7.28260700e-05 9.99920795e-01 -6.37713308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.28420382199997 meters 0.013598416362866492 Centerline is valid? [True, True] Translation: X:223.33, Y:-19.91, Z:-6.37 [[ 9.93080652e-01 1.16519443e-01 1.46300525e-02 2.23333363e+02] [-1.16505875e-01 9.93188409e-01 -1.77918115e-03 -1.99088551e+01] [-1.47377078e-02 6.23833071e-05 9.99891392e-01 -6.37219533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.34420382199997 meters 0.013015763661163837 Centerline is valid? [True, True] Translation: X:223.39, Y:-19.92, Z:-6.37 [[ 9.93003768e-01 1.17151834e-01 1.47974284e-02 2.23394798e+02] [-1.17137993e-01 9.93114014e-01 -1.80163573e-03 -1.99247483e+01] [-1.49065984e-02 5.56900036e-05 9.99888889e-01 -6.37218990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.40420382199997 meters 0.012759985629752448 Centerline is valid? [True, True] Translation: X:223.46, Y:-19.94, Z:-6.38 [[ 9.92826706e-01 1.18771832e-01 1.37253195e-02 2.23455417e+02] [-1.18760042e-01 9.92921573e-01 -1.67376408e-03 -1.99443085e+01] [-1.38269618e-02 3.17381644e-05 9.99904402e-01 -6.37519292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46420382199994 meters 0.013191604946891648 Centerline is valid? [True, True] Translation: X:223.52, Y:-19.95, Z:-6.38 [[ 9.92683164e-01 1.20010053e-01 1.33313004e-02 2.23516548e+02] [-1.19999015e-01 9.92772676e-01 -1.62773938e-03 -1.99536934e+01] [-1.34302958e-02 1.60865611e-05 9.99909809e-01 -6.37914792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52420382199995 meters 0.012464327616121545 Centerline is valid? [True, True] Translation: X:223.58, Y:-19.96, Z:-6.38 [[ 9.92189557e-01 1.23905766e-01 1.43959807e-02 2.23578112e+02] [-1.23893257e-01 9.92293989e-01 -1.76100611e-03 -1.99633754e+01] [-1.45032439e-02 -3.63130643e-05 9.99894822e-01 -6.37790881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58420382199995 meters 0.012949969374081067 Centerline is valid? [True, True] Translation: X:223.64, Y:-19.98, Z:-6.38 [[ 9.91913102e-01 1.26030308e-01 1.49920185e-02 2.23639336e+02] [-1.26016943e-01 9.92026389e-01 -1.83656701e-03 -1.99762852e+01] [-1.51039411e-02 -6.75334629e-05 9.99885927e-01 -6.37936363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64420382199995 meters 0.012975097505218318 Centerline is valid? [True, True] Translation: X:223.70, Y:-19.99, Z:-6.38 [[ 9.92167593e-01 1.24176302e-01 1.35541156e-02 2.23699994e+02] [-1.24165176e-01 9.92260170e-01 -1.66260688e-03 -1.99941119e+01] [-1.36556654e-02 -3.33644775e-05 9.99906756e-01 -6.38445475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70420382199995 meters 0.012967405703939373 Centerline is valid? [True, True] Translation: X:223.76, Y:-20.01, Z:-6.39 [[ 9.92497636e-01 1.21503785e-01 1.36114605e-02 2.23761312e+02] [-1.21492286e-01 9.92590968e-01 -1.67158534e-03 -2.00120152e+01] [-1.37137167e-02 5.35704950e-06 9.99905963e-01 -6.38680110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.76420382199996 meters 0.013548433877237817 Centerline is valid? [True, True] Translation: X:223.82, Y:-20.03, Z:-6.39 [[ 9.92890829e-01 1.18161827e-01 1.43382235e-02 2.23822088e+02] [-1.18148676e-01 9.92994350e-01 -1.76381217e-03 -2.00337532e+01] [-1.44461902e-02 5.72308093e-05 9.99895647e-01 -6.38604900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.82420382199996 meters 0.013207485069151469 Centerline is valid? [True, True] Translation: X:223.88, Y:-20.04, Z:-6.39 [[ 9.92829900e-01 1.18709624e-01 1.40290990e-02 2.23884253e+02] [-1.18697052e-01 9.92929012e-01 -1.72834473e-03 -2.00437608e+01] [-1.41350706e-02 5.07396322e-05 9.99900094e-01 -6.38804991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.88420382199996 meters 0.012301308830796479 Centerline is valid? [True, True] Translation: X:223.95, Y:-20.05, Z:-6.39 [[ 9.92397081e-01 1.22229901e-01 1.44181950e-02 2.23945922e+02] [-1.22216943e-01 9.92501814e-01 -1.77972522e-03 -2.00510971e+01] [-1.45276203e-02 4.04639944e-06 9.99894469e-01 -6.38973545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.94420382199996 meters 0.012267990540211259 Centerline is valid? [True, True] Translation: X:224.01, Y:-20.06, Z:-6.39 [[ 9.92303104e-01 1.22966069e-01 1.46251471e-02 2.24007837e+02] [-1.22952780e-01 9.92410876e-01 -1.80771975e-03 -2.00591244e+01] [-1.47364432e-02 -4.39657741e-06 9.99891413e-01 -6.39127311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.00420382199997 meters 0.013082208376198123 Centerline is valid? [True, True] Translation: X:224.07, Y:-20.07, Z:-6.40 [[ 9.92495259e-01 1.21664803e-01 1.22815722e-02 2.24068810e+02] [-1.21655314e-01 9.92571245e-01 -1.51960641e-03 -2.00705866e+01] [-1.23752180e-02 1.40836392e-05 9.99923424e-01 -6.39658732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.06420382199997 meters 0.014077779981459558 Centerline is valid? [True, True] Translation: X:224.13, Y:-20.09, Z:-6.40 [[ 9.92925667e-01 1.17934060e-01 1.37904586e-02 2.24129462e+02] [-1.17921694e-01 9.93021426e-01 -1.70931104e-03 -2.00884555e+01] [-1.38958069e-02 7.10245673e-05 9.99903446e-01 -6.39655567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.12420382199997 meters 0.014514734654460862 Centerline is valid? [True, True] Translation: X:224.19, Y:-20.10, Z:-6.40 [[ 9.93051311e-01 1.16949174e-01 1.31142488e-02 2.24190981e+02] [-1.16937879e-01 9.93137898e-01 -1.62744327e-03 -2.00992144e+01] [-1.32145856e-02 8.25822238e-05 9.99912680e-01 -6.39826046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18420382199997 meters 0.013734098817265613 Centerline is valid? [True, True] Translation: X:224.25, Y:-20.11, Z:-6.40 [[ 9.92792443e-01 1.19192580e-01 1.25017932e-02 2.24253311e+02] [-1.19182473e-01 9.92871153e-01 -1.55301758e-03 -2.01080611e+01] [-1.25977780e-02 5.18294845e-05 9.99920643e-01 -6.40080126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24420382199995 meters 0.013527086747020385 Centerline is valid? [True, True] Translation: X:224.31, Y:-20.12, Z:-6.40 [[ 9.92603938e-01 1.20732483e-01 1.26921269e-02 2.24313891e+02] [-1.20722150e-01 9.92685079e-01 -1.57994131e-03 -2.01174903e+01] [-1.27900352e-02 3.60351230e-05 9.99918204e-01 -6.40430686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30420382199995 meters 0.01357152641701097 Centerline is valid? [True, True] Translation: X:224.38, Y:-20.12, Z:-6.41 [[ 9.92570743e-01 1.21070373e-01 1.20534168e-02 2.24375595e+02] [-1.21061060e-01 9.92643926e-01 -1.50198580e-03 -2.01243648e+01] [-1.21465970e-02 3.16277497e-05 9.99926227e-01 -6.40809811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36420382199995 meters 0.014030298165464004 Centerline is valid? [True, True] Translation: X:224.44, Y:-20.13, Z:-6.41 [[ 9.92427057e-01 1.22476452e-01 9.38380852e-03 2.24437087e+02] [-1.22470867e-01 9.92471419e-01 -1.16978179e-03 -2.01325252e+01] [-9.45643249e-03 1.16799397e-05 9.99955287e-01 -6.41264935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42420382199995 meters 0.01466165742091786 Centerline is valid? [True, True] Translation: X:224.50, Y:-20.14, Z:-6.42 [[ 9.92347457e-01 1.23157120e-01 8.87967425e-03 2.24497627e+02] [-1.23152131e-01 9.92387184e-01 -1.10851833e-03 -2.01423384e+01] [-8.94859685e-03 6.48454044e-06 9.99959960e-01 -6.41637565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48420382199996 meters 0.025047418807157426 Centerline is valid? [True, True] Translation: X:224.56, Y:-20.15, Z:-6.42 [[ 9.92283017e-01 1.23613599e-01 9.70015827e-03 2.24558515e+02] [-1.23607647e-01 9.92330428e-01 -1.21302172e-03 -2.01491830e+01] [-9.77570819e-03 4.64711225e-06 9.99952217e-01 -6.42014177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54420382199996 meters 0.013860887122570524 Centerline is valid? [True, True] Translation: X:224.62, Y:-20.16, Z:-6.42 [[ 9.92370239e-01 1.22757020e-01 1.14900721e-02 2.24619261e+02] [-1.22748584e-01 9.92436755e-01 -1.43927954e-03 -2.01622005e+01] [-1.15798515e-02 1.79081039e-05 9.99932951e-01 -6.41585898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.60420382199996 meters 0.01346761386406924 Centerline is valid? [True, True] Translation: X:224.68, Y:-20.17, Z:-6.42 [[ 9.92393555e-01 1.22525862e-01 1.19350451e-02 2.24680879e+02] [-1.22516717e-01 9.92465321e-01 -1.49716002e-03 -2.01719171e+01] [-1.20285592e-02 2.35294055e-05 9.99927654e-01 -6.41565891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.66420382199996 meters 0.013350403862463495 Centerline is valid? [True, True] Translation: X:224.74, Y:-20.18, Z:-6.42 [[ 9.92387982e-01 1.22451485e-01 1.31044319e-02 2.24741447e+02] [-1.22440415e-01 9.92474500e-01 -1.64679953e-03 -2.01804392e+01] [-1.32074676e-02 2.97519816e-05 9.99912777e-01 -6.41641383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.72420382199996 meters 0.02425891210257694 Centerline is valid? [True, True] Translation: X:224.80, Y:-20.19, Z:-6.42 [[ 9.92086587e-01 1.24820564e-01 1.35657734e-02 2.24803134e+02] [-1.24808894e-01 9.92179332e-01 -1.70676768e-03 -2.01876936e+01] [-1.36727197e-02 1.32139337e-07 9.99906524e-01 -6.41643893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.78420382199997 meters 0.013134483860417705 Centerline is valid? [True, True] Translation: X:224.86, Y:-20.19, Z:-6.42 [[ 9.91643959e-01 1.28394327e-01 1.25361950e-02 2.24864085e+02] [-1.28384606e-01 9.91723195e-01 -1.58052577e-03 -2.01893797e+01] [-1.26353658e-02 -4.21356143e-05 9.99920170e-01 -6.41851283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.84420382199997 meters 0.016368138408980663 Centerline is valid? [True, True] Translation: X:224.93, Y:-20.19, Z:-6.42 [[ 9.91241979e-01 1.31217213e-01 1.48789321e-02 2.24925481e+02] [-1.31203824e-01 9.91353637e-01 -1.87669857e-03 -2.01905709e+01] [-1.49965386e-02 -9.19103858e-05 9.99887541e-01 -6.41784543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.90420382199997 meters 0.01460359896346332 Centerline is valid? [True, True] Translation: X:224.99, Y:-20.19, Z:-6.41 [[ 9.90786229e-01 1.34407334e-01 1.66528506e-02 2.24989510e+02] [-1.34390967e-01 9.90926155e-01 -2.10313952e-03 -2.01890581e+01] [-1.67844226e-02 -1.54231013e-04 9.99859120e-01 -6.41360499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96420382199994 meters 0.017335796814138462 Centerline is valid? [True, True] Translation: X:225.05, Y:-20.19, Z:-6.42 [[ 9.90446634e-01 1.36828851e-01 1.71268887e-02 2.25051643e+02] [-1.36811832e-01 9.90594683e-01 -2.16699930e-03 -2.01874214e+01] [-1.72623129e-02 -1.96863848e-04 9.99850976e-01 -6.41646605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02420382199995 meters 0.019547934224993235 Centerline is valid? [True, True] Translation: X:225.11, Y:-20.18, Z:-6.42 [[ 9.90016388e-01 1.40157408e-01 1.49483333e-02 2.25114736e+02] [-1.40144773e-01 9.90129210e-01 -1.89464411e-03 -2.01844324e+01] [-1.50663298e-02 -2.19202052e-04 9.99886472e-01 -6.42048913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08420382199995 meters 0.030856376455349603 Centerline is valid? [True, True] Translation: X:225.18, Y:-20.18, Z:-6.43 [[ 9.89727868e-01 1.42484218e-01 1.17044816e-02 2.25175809e+02] [-1.42476629e-01 9.89797054e-01 -1.48400181e-03 -2.01788107e+01] [-1.17965083e-02 -1.98857135e-04 9.99930399e-01 -6.43306056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14420382199995 meters 0.02224108615316671 Centerline is valid? [True, True] Translation: X:225.24, Y:-20.18, Z:-6.43 [[ 9.89906460e-01 1.41283140e-01 1.11479017e-02 2.25238334e+02] [-1.41276201e-01 9.89969213e-01 -1.41145368e-03 -2.01796124e+01] [-1.12354941e-02 -1.77726089e-04 9.99936864e-01 -6.43359799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.20420382199995 meters 0.01826979546690539 Centerline is valid? [True, True] Translation: X:225.30, Y:-20.19, Z:-6.44 [[ 9.90528532e-01 1.36878734e-01 1.08369843e-02 2.25300306e+02] [-1.36871895e-01 9.90587804e-01 -1.37374502e-03 -2.01867525e+01] [-1.09230209e-02 -1.22544941e-04 9.99940335e-01 -6.43578446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26420382199996 meters 0.013959556463008073 Centerline is valid? [True, True] Translation: X:225.36, Y:-20.20, Z:-6.44 [[ 9.91560351e-01 1.29086620e-01 1.20297435e-02 2.25358939e+02] [-1.29077556e-01 9.91633321e-01 -1.53011799e-03 -2.02019437e+01] [-1.21266123e-02 -3.55655700e-05 9.99926469e-01 -6.43671974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.32420382199996 meters 0.013705877865225431 Centerline is valid? [True, True] Translation: X:225.42, Y:-20.21, Z:-6.44 [[ 9.92279759e-01 1.23331167e-01 1.30500219e-02 2.25420228e+02] [-1.23320031e-01 9.92365569e-01 -1.65765364e-03 -2.02149914e+01] [-1.31548327e-02 3.55270524e-05 9.99913471e-01 -6.43661256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.38420382199996 meters 0.01777103689078962 Centerline is valid? [True, True] Translation: X:225.48, Y:-20.23, Z:-6.44 [[ 9.92962824e-01 1.17762112e-01 1.25265963e-02 2.25479914e+02] [-1.17751382e-01 9.93041829e-01 -1.59327292e-03 -2.02284787e+01] [-1.26270613e-02 1.07036750e-04 9.99920270e-01 -6.44133299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.44420382199996 meters 0.022637396984200555 Centerline is valid? [True, True] Translation: X:225.54, Y:-20.25, Z:-6.44 [[ 9.93713698e-01 1.11265760e-01 1.23700376e-02 2.25539366e+02] [-1.11254743e-01 9.93790669e-01 -1.57731405e-03 -2.02466227e+01] [-1.24687290e-02 1.91173220e-04 9.99922244e-01 -6.44206109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.50420382199997 meters 0.03172432241563579 Centerline is valid? [True, True] Translation: X:225.60, Y:-20.26, Z:-6.45 [[ 9.93827651e-01 1.10531437e-01 9.45523516e-03 2.25600209e+02] [-1.10524972e-01 9.93872617e-01 -1.20524324e-03 -2.02573503e+01] [-9.53051657e-03 1.52764456e-04 9.99954572e-01 -6.45117622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.56420382199997 meters 0.016520037968078487 Centerline is valid? [True, True] Translation: X:225.66, Y:-20.25, Z:-6.45 [[ 9.92871917e-01 1.18826203e-01 9.25688507e-03 2.25663208e+02] [-1.18820358e-01 9.92915066e-01 -1.18082714e-03 -2.02499690e+01] [-9.33161385e-03 7.25037080e-05 9.99956457e-01 -6.44873902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.62420382199997 meters 0.013140418575605946 Centerline is valid? [True, True] Translation: X:225.72, Y:-20.25, Z:-6.44 [[ 9.92246524e-01 1.23745924e-01 1.15664173e-02 2.25724812e+02] [-1.23737127e-01 9.92313935e-01 -1.47589589e-03 -2.02507632e+01] [-1.16601532e-02 3.32573243e-05 9.99932018e-01 -6.44474712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68420382199997 meters 0.024790755634794263 Centerline is valid? [True, True] Translation: X:225.79, Y:-20.25, Z:-6.45 [[ 9.91460998e-01 1.29916181e-01 1.12639044e-02 2.25787034e+02] [-1.29908265e-01 9.91524979e-01 -1.43465502e-03 -2.02490428e+01] [-1.13548275e-02 -4.08697892e-05 9.99935531e-01 -6.45110237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74420382199995 meters 0.01681231039811508 Centerline is valid? [True, True] Translation: X:225.85, Y:-20.25, Z:-6.45 [[ 9.90851341e-01 1.34465946e-01 1.15121748e-02 2.25848950e+02] [-1.34457952e-01 9.90918211e-01 -1.46914553e-03 -2.02475635e+01] [-1.16051737e-02 -9.21986164e-05 9.99932653e-01 -6.45447951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80420382199995 meters 0.020570187191664223 Centerline is valid? [True, True] Translation: X:225.91, Y:-20.24, Z:-6.45 [[ 9.90166088e-01 1.39263072e-01 1.33009219e-02 2.25911049e+02] [-1.39252792e-01 9.90255406e-01 -1.70048240e-03 -2.02435634e+01] [-1.34081242e-02 -1.68430506e-04 9.99910093e-01 -6.45338460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86420382199995 meters 0.021895233386609616 Centerline is valid? [True, True] Translation: X:225.97, Y:-20.24, Z:-6.45 [[ 9.89678628e-01 1.42765469e-01 1.24191179e-02 2.25973375e+02] [-1.42756764e-01 9.89756526e-01 -1.58918836e-03 -2.02438180e+01] [-1.25187842e-02 -2.00127324e-04 9.99921617e-01 -6.45349764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92420382199995 meters 0.01926114259454232 Centerline is valid? [True, True] Translation: X:226.03, Y:-20.25, Z:-6.46 [[ 9.89991571e-01 1.40591586e-01 1.22757776e-02 2.26034444e+02] [-1.40582894e-01 9.90067663e-01 -1.57247694e-03 -2.02535154e+01] [-1.23749275e-02 -1.69025421e-04 9.99923413e-01 -6.45595162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98420382199996 meters 0.014161585903170145 Centerline is valid? [True, True] Translation: X:226.09, Y:-20.27, Z:-6.46 [[ 9.91236645e-01 1.31515548e-01 1.23925159e-02 2.26093226e+02] [-1.31505921e-01 9.91314107e-01 -1.59209010e-03 -2.02738201e+01] [-1.24942604e-02 -5.15511574e-05 9.99921942e-01 -6.45941513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04420382199996 meters 0.01499350843760282 Centerline is valid? [True, True] Translation: X:226.15, Y:-20.30, Z:-6.46 [[ 9.92586408e-01 1.20992147e-01 1.15379302e-02 2.26152548e+02] [-1.20983118e-01 9.92653462e-01 -1.47987992e-03 -2.02989771e+01] [-1.16322202e-02 7.30139211e-05 9.99932341e-01 -6.46001493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.10420382199996 meters 0.022996778072207517 Centerline is valid? [True, True] Translation: X:226.21, Y:-20.32, Z:-6.47 [[ 9.93497623e-01 1.13381290e-01 1.03516489e-02 2.26209409e+02] [-1.13373561e-01 9.93551539e-01 -1.33234515e-03 -2.03243077e+01] [-1.04359597e-02 1.50078441e-04 9.99945533e-01 -6.46737773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.16420382199996 meters 0.023955476774516645 Centerline is valid? [True, True] Translation: X:226.27, Y:-20.34, Z:-6.46 [[ 9.93678207e-01 1.11573742e-01 1.24467327e-02 2.26271164e+02] [-1.11562438e-01 9.93756137e-01 -1.60103158e-03 -2.03364494e+01] [-1.25476501e-02 2.02322348e-04 9.99921255e-01 -6.46425363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.22420382199996 meters 0.019697943107383018 Centerline is valid? [True, True] Translation: X:226.33, Y:-20.34, Z:-6.46 [[ 9.93377672e-01 1.14140963e-01 1.31393334e-02 2.26333256e+02] [-1.14128603e-01 9.93464548e-01 -1.68917340e-03 -2.03419708e+01] [-1.32462658e-02 1.78413372e-04 9.99912248e-01 -6.46210513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.28420382199997 meters 0.01696488687224674 Centerline is valid? [True, True] Translation: X:226.39, Y:-20.35, Z:-6.46 [[ 9.92943511e-01 1.17707608e-01 1.44258076e-02 2.26393330e+02] [-1.17693007e-01 9.93048285e-01 -1.85994451e-03 -2.03504382e+01] [-1.45444531e-02 1.49003166e-04 9.99894213e-01 -6.46184576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.34420382199997 meters 0.016128166144632503 Centerline is valid? [True, True] Translation: X:226.45, Y:-20.36, Z:-6.47 [[ 9.92592924e-01 1.20707992e-01 1.37429511e-02 2.26453378e+02] [-1.20695056e-01 9.92688053e-01 -1.76984264e-03 -2.03591187e+01] [-1.38560975e-02 9.80270265e-05 9.99903995e-01 -6.46714365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40420382199997 meters 0.013898153111331864 Centerline is valid? [True, True] Translation: X:226.51, Y:-20.37, Z:-6.47 [[ 9.92302385e-01 1.23020723e-01 1.42083846e-02 2.26514845e+02] [-1.23007102e-01 9.92404099e-01 -1.83198846e-03 -2.03714187e+01] [-1.43258317e-02 7.01543025e-05 9.99897378e-01 -6.46672193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46420382199994 meters 0.01350574720456588 Centerline is valid? [True, True] Translation: X:226.57, Y:-20.39, Z:-6.47 [[ 9.92087678e-01 1.24711328e-01 1.44610823e-02 2.26574387e+02] [-1.24697343e-01 9.92193067e-01 -1.86829066e-03 -2.03856961e+01] [-1.45811826e-02 5.02496022e-05 9.99893688e-01 -6.46854235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52420382199995 meters 0.013326329650430901 Centerline is valid? [True, True] Translation: X:226.64, Y:-20.40, Z:-6.47 [[ 9.91560570e-01 1.29056371e-01 1.23324020e-02 2.26635726e+02] [-1.29046541e-01 9.91637259e-01 -1.59289018e-03 -2.03963409e+01] [-1.24348419e-02 -1.20067213e-05 9.99922684e-01 -6.47331895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58420382199995 meters 0.01523920000037263 Centerline is valid? [True, True] Translation: X:226.70, Y:-20.40, Z:-6.48 [[ 9.90820370e-01 1.34664169e-01 1.18556556e-02 2.26697984e+02] [-1.34655463e-01 9.90891294e-01 -1.53318616e-03 -2.04015709e+01] [-1.19541312e-02 -7.73167299e-05 9.99928544e-01 -6.47729377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64420382199995 meters 0.017728665335454172 Centerline is valid? [True, True] Translation: X:226.76, Y:-20.41, Z:-6.48 [[ 9.90147505e-01 1.39343708e-01 1.38292744e-02 2.26760180e+02] [-1.39332279e-01 9.90244065e-01 -1.79122563e-03 -2.04097249e+01] [-1.39439529e-02 -1.53286733e-04 9.99902767e-01 -6.47601377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.70420382199995 meters 0.020067744428482935 Centerline is valid? [True, True] Translation: X:226.82, Y:-20.42, Z:-6.47 [[ 9.89707691e-01 1.42267848e-01 1.54449485e-02 2.26820592e+02] [-1.42253884e-01 9.89828174e-01 -2.00459667e-03 -2.04181483e+01] [-1.55730348e-02 -2.13139172e-04 9.99878710e-01 -6.47398856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.76420382199996 meters 0.022929172556159762 Centerline is valid? [True, True] Translation: X:226.88, Y:-20.42, Z:-6.48 [[ 9.89444369e-01 1.44378996e-01 1.24316603e-02 2.26881551e+02] [-1.44370076e-01 9.89522444e-01 -1.61667523e-03 -2.04248358e+01] [-1.25348208e-02 -1.95149539e-04 9.99921417e-01 -6.48165288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.82420382199996 meters 0.024074812787185117 Centerline is valid? [True, True] Translation: X:226.94, Y:-20.44, Z:-6.49 [[ 9.89371198e-01 1.45014836e-01 1.07391736e-02 2.26942626e+02] [-1.45008243e-01 9.89429465e-01 -1.39424037e-03 -2.04357569e+01] [-1.08278403e-02 -1.77847429e-04 9.99941361e-01 -6.48876386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.88420382199996 meters 0.021830015994576686 Centerline is valid? [True, True] Translation: X:227.00, Y:-20.45, Z:-6.48 [[ 9.89420368e-01 1.44448468e-01 1.34898064e-02 2.27003184e+02] [-1.44437939e-01 9.89512302e-01 -1.75664438e-03 -2.04495191e+01] [-1.36020739e-02 -2.10380100e-04 9.99907465e-01 -6.48489495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.94420382199996 meters 0.02203116803167246 Centerline is valid? [True, True] Translation: X:227.06, Y:-20.46, Z:-6.48 [[ 9.89357852e-01 1.44755746e-01 1.47246499e-02 2.27064306e+02] [-1.44743253e-01 9.89467391e-01 -1.91626164e-03 -2.04589387e+01] [-1.48469508e-02 -2.35425226e-04 9.99889750e-01 -6.48266247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.00420382199997 meters 0.02511161683617264 Centerline is valid? [True, True] Translation: X:227.12, Y:-20.46, Z:-6.49 [[ 9.89054734e-01 1.47010375e-01 1.25969666e-02 2.27124985e+02] [-1.47001394e-01 9.89134924e-01 -1.64096795e-03 -2.04634434e+01] [-1.27013389e-02 -2.28764533e-04 9.99919309e-01 -6.48950944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.06420382199997 meters 0.025321520129888427 Centerline is valid? [True, True] Translation: X:227.19, Y:-20.47, Z:-6.49 [[ 9.88450663e-01 1.50888365e-01 1.40708081e-02 2.27187350e+02] [-1.50877520e-01 9.88550760e-01 -1.83526393e-03 -2.04685231e+01] [-1.41866280e-02 -3.08900779e-04 9.99899317e-01 -6.48662242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.12420382199997 meters 0.028282545102838823 Centerline is valid? [True, True] Translation: X:227.25, Y:-20.47, Z:-6.49 [[ 9.88092337e-01 1.53197192e-01 1.42882458e-02 2.27248967e+02] [-1.53186211e-01 9.88195579e-01 -1.86637732e-03 -2.04693706e+01] [-1.44055051e-02 -3.44609107e-04 9.99896176e-01 -6.48831931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18420382199997 meters 0.03091921422656181 Centerline is valid? [True, True] Translation: X:227.31, Y:-20.47, Z:-6.50 [[ 9.88324946e-01 1.51772985e-01 1.33701703e-02 2.27310112e+02] [-1.51763201e-01 9.88415333e-01 -1.74928328e-03 -2.04726879e+01] [-1.34807753e-02 -3.00239536e-04 9.99909085e-01 -6.49536389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24420382199995 meters 0.03167627037917344 Centerline is valid? [True, True] Translation: X:227.37, Y:-20.49, Z:-6.50 [[ 9.88801196e-01 1.48594612e-01 1.38505159e-02 2.27370516e+02] [-1.48583768e-01 9.88898160e-01 -1.81446173e-03 -2.04870376e+01] [-1.39663690e-02 -2.63819919e-04 9.99902431e-01 -6.49736213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30420382199995 meters 0.019805331548760564 Centerline is valid? [True, True] Translation: X:227.43, Y:-20.50, Z:-6.49 [[ 9.89356238e-01 1.44833200e-01 1.40562378e-02 2.27430927e+02] [-1.44821642e-01 9.89456062e-01 -1.84210892e-03 -2.04989429e+01] [-1.41748283e-02 -2.13145485e-04 9.99899509e-01 -6.49296038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36420382199995 meters 0.021107653112952176 Centerline is valid? [True, True] Translation: X:227.49, Y:-20.50, Z:-6.50 [[ 9.89386642e-01 1.44613300e-01 1.41797734e-02 2.27491689e+02] [-1.44601525e-01 9.89488225e-01 -1.85759757e-03 -2.05022621e+01] [-1.42993521e-02 -2.12534636e-04 9.99897736e-01 -6.49721502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42420382199995 meters 0.020553078998349048 Centerline is valid? [True, True] Translation: X:227.55, Y:-20.50, Z:-6.50 [[ 9.89340664e-01 1.44724012e-01 1.61248417e-02 2.27554059e+02] [-1.44708782e-01 9.89472032e-01 -2.11350273e-03 -2.05049619e+01] [-1.62609545e-02 -2.42432011e-04 9.99867753e-01 -6.49534048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48420382199996 meters 0.01840034762643846 Centerline is valid? [True, True] Translation: X:227.62, Y:-20.51, Z:-6.50 [[ 9.89505572e-01 1.43614211e-01 1.59273777e-02 2.27616507e+02] [-1.43599167e-01 9.89633725e-01 -2.09015208e-03 -2.05090265e+01] [-1.60624457e-02 -2.18941038e-04 9.99870967e-01 -6.49584065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54420382199996 meters 0.017631725988460713 Centerline is valid? [True, True] Translation: X:227.68, Y:-20.51, Z:-6.50 [[ 9.89801049e-01 1.41872713e-01 1.28847261e-02 2.27678546e+02] [-1.41862703e-01 9.89884897e-01 -1.69214638e-03 -2.05139719e+01] [-1.29944652e-02 -1.52973816e-04 9.99915557e-01 -6.50404315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.60420382199996 meters 0.016818014809495824 Centerline is valid? [True, True] Translation: X:227.74, Y:-20.52, Z:-6.51 [[ 9.90104089e-01 1.39743747e-01 1.28676941e-02 2.27739476e+02] [-1.39733553e-01 9.90187694e-01 -1.69235896e-03 -2.05210068e+01] [-1.29779289e-02 -1.22437090e-04 9.99915776e-01 -6.50785950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.66420382199996 meters 0.021918776718125522 Centerline is valid? [True, True] Translation: X:227.80, Y:-20.53, Z:-6.51 [[ 9.90644985e-01 1.35702743e-01 1.43971808e-02 2.27800744e+02] [-1.35689514e-01 9.90749595e-01 -1.89626695e-03 -2.05322753e+01] [-1.45213296e-02 -7.50191119e-05 9.99894557e-01 -6.51025348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.72420382199996 meters 0.013355829200037198 Centerline is valid? [True, True] Translation: X:227.86, Y:-20.54, Z:-6.51 [[ 9.91150523e-01 1.32115570e-01 1.28886548e-02 2.27862162e+02] [-1.32104644e-01 9.91234319e-01 -1.69923392e-03 -2.05421038e+01] [-1.30001722e-02 -1.84545581e-05 9.99915494e-01 -6.50962112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.78420382199997 meters 0.013736541476540597 Centerline is valid? [True, True] Translation: X:227.92, Y:-20.55, Z:-6.51 [[ 9.91384553e-01 1.30395978e-01 1.23918548e-02 2.27924851e+02] [-1.30385724e-01 9.91461996e-01 -1.63525136e-03 -2.05504600e+01] [-1.24992833e-02 5.44198200e-06 9.99921881e-01 -6.51376111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.84420382199997 meters 0.012696262497274992 Centerline is valid? [True, True] Translation: X:227.99, Y:-20.55, Z:-6.51 [[ 9.91242849e-01 1.31188084e-01 1.50764791e-02 2.27987661e+02] [-1.31172908e-01 9.91357497e-01 -1.99541947e-03 -2.05547306e+01] [-1.52079559e-02 3.19663161e-07 9.99884352e-01 -6.51069097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90420382199997 meters 0.013017408694983213 Centerline is valid? [True, True] Translation: X:228.05, Y:-20.56, Z:-6.51 [[ 9.90828301e-01 1.34373938e-01 1.42451041e-02 2.28049654e+02] [-1.34360715e-01 9.90930695e-01 -1.88562610e-03 -2.05563067e+01] [-1.43692899e-02 -4.56506706e-05 9.99896755e-01 -6.51206967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96420382199994 meters 0.013746821219526983 Centerline is valid? [True, True] Translation: X:228.11, Y:-20.56, Z:-6.51 [[ 9.90441056e-01 1.37242560e-01 1.38200832e-02 2.28111849e+02] [-1.37230394e-01 9.90537467e-01 -1.82935149e-03 -2.05566814e+01] [-1.39403751e-02 -8.46706333e-05 9.99902825e-01 -6.51399927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02420382199995 meters 0.01604463356392895 Centerline is valid? [True, True] Translation: X:228.17, Y:-20.56, Z:-6.52 [[ 9.90084963e-01 1.39697684e-01 1.47079174e-02 2.28174453e+02] [-1.39684133e-01 9.90194194e-01 -1.94970196e-03 -2.05587349e+01] [-1.48360632e-02 -1.24092097e-04 9.99889932e-01 -6.51736974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08420382199995 meters 0.015699821757522544 Centerline is valid? [True, True] Translation: X:228.24, Y:-20.57, Z:-6.52 [[ 9.89979633e-01 1.40519754e-01 1.39472097e-02 2.28235605e+02] [-1.40507610e-01 9.90077867e-01 -1.85167068e-03 -2.05672064e+01] [-1.40690200e-02 -1.26572846e-04 9.99901018e-01 -6.51744717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14420382199995 meters 0.0166210129439841 Centerline is valid? [True, True] Translation: X:228.30, Y:-20.57, Z:-6.52 [[ 9.89819913e-01 1.41596969e-01 1.43818717e-02 2.28297308e+02] [-1.41584139e-01 9.89924380e-01 -1.91151946e-03 -2.05713276e+01] [-1.45076308e-02 -1.44184906e-04 9.99894748e-01 -6.51963812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20420382199995 meters 0.017984608795012992 Centerline is valid? [True, True] Translation: X:228.36, Y:-20.57, Z:-6.52 [[ 9.89573715e-01 1.43255158e-01 1.48936765e-02 2.28358198e+02] [-1.43241537e-01 9.89685774e-01 -1.98288502e-03 -2.05741805e+01] [-1.50241182e-02 -1.71182207e-04 9.99887117e-01 -6.52124497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26420382199996 meters 0.020609087937868975 Centerline is valid? [True, True] Translation: X:228.42, Y:-20.58, Z:-6.53 [[ 9.89208424e-01 1.45862297e-01 1.38161093e-02 2.28420146e+02] [-1.45850805e-01 9.89304884e-01 -1.84111605e-03 -2.05774053e+01] [-1.39368939e-02 -1.93843170e-04 9.99902858e-01 -6.52583824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.32420382199996 meters 0.021759999631210197 Centerline is valid? [True, True] Translation: X:228.48, Y:-20.58, Z:-6.52 [[ 9.88779190e-01 1.48498870e-01 1.62418990e-02 2.28482773e+02] [-1.48483287e-01 9.88912541e-01 -2.16787719e-03 -2.05798876e+01] [-1.63837449e-02 -2.68098697e-04 9.99865741e-01 -6.52148844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.38420382199996 meters 0.02454460979238408 Centerline is valid? [True, True] Translation: X:228.55, Y:-20.58, Z:-6.52 [[ 9.88098348e-01 1.52947306e-01 1.63943780e-02 2.28545474e+02] [-1.52931993e-01 9.88234286e-01 -2.19116212e-03 -2.05770516e+01] [-1.65366188e-02 -3.42141224e-04 9.99863202e-01 -6.52152401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.44420382199996 meters 0.02809538295568265 Centerline is valid? [True, True] Translation: X:228.61, Y:-20.57, Z:-6.53 [[ 9.87568382e-01 1.56399397e-01 1.57454726e-02 2.28606242e+02] [-1.56385637e-01 9.87693821e-01 -2.10896901e-03 -2.05736529e+01] [-1.58815474e-02 -3.79614651e-04 9.99873808e-01 -6.52537867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.50420382199997 meters 0.028919361741077957 Centerline is valid? [True, True] Translation: X:228.67, Y:-20.58, Z:-6.53 [[ 9.87460259e-01 1.57001873e-01 1.65121125e-02 2.28667379e+02] [-1.56986827e-01 9.87598221e-01 -2.21153385e-03 -2.05751316e+01] [-1.66545479e-02 -4.08382359e-04 9.99861220e-01 -6.52623661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.56420382199997 meters 0.02819375749048176 Centerline is valid? [True, True] Translation: X:228.73, Y:-20.58, Z:-6.53 [[ 9.87675408e-01 1.55749900e-01 1.54679627e-02 2.28727113e+02] [-1.55736539e-01 9.87796455e-01 -2.07201244e-03 -2.05760736e+01] [-1.56019144e-02 -3.62451239e-04 9.99878217e-01 -6.52967897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.62420382199997 meters 0.028131682324901645 Centerline is valid? [True, True] Translation: X:228.79, Y:-20.58, Z:-6.53 [[ 9.87918104e-01 1.54118388e-01 1.62893108e-02 2.28786895e+02] [-1.54103356e-01 9.88052325e-01 -2.18159543e-03 -2.05750325e+01] [-1.64309154e-02 -3.54999839e-04 9.99864940e-01 -6.53114568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68420382199997 meters 0.02534200488455453 Centerline is valid? [True, True] Translation: X:228.85, Y:-20.58, Z:-6.53 [[ 9.88238666e-01 1.51898677e-01 1.76389000e-02 2.28847149e+02] [-1.51880708e-01 9.88396010e-01 -2.36172030e-03 -2.05789054e+01] [-1.77929606e-02 -3.45065302e-04 9.99841633e-01 -6.53099774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74420382199995 meters 0.02190474057332913 Centerline is valid? [True, True] Translation: X:228.91, Y:-20.58, Z:-6.54 [[ 9.88630886e-01 1.49617397e-01 1.49534606e-02 2.28906933e+02] [-1.49604221e-01 9.88743935e-01 -2.00221325e-03 -2.05818317e+01] [-1.50847094e-02 -2.57650955e-04 9.99886186e-01 -6.53640805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.80420382199995 meters 0.022299110052623843 Centerline is valid? [True, True] Translation: X:228.97, Y:-20.58, Z:-6.54 [[ 9.88937865e-01 1.47676294e-01 1.39144363e-02 2.28966097e+02] [-1.47664698e-01 9.89035726e-01 -1.86277386e-03 -2.05838017e+01] [-1.40369621e-02 -2.12503424e-04 9.99901454e-01 -6.54213123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.86420382199995 meters 0.020981780375603522 Centerline is valid? [True, True] Translation: X:229.03, Y:-20.59, Z:-6.55 [[ 9.89646678e-01 1.42912361e-01 1.32480071e-02 2.29025546e+02] [-1.42901424e-01 9.89735337e-01 -1.77342500e-03 -2.05921976e+01] [-1.33654651e-02 -1.38094913e-04 9.99910669e-01 -6.54620366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92420382199995 meters 0.01275514257039715 Centerline is valid? [True, True] Translation: X:229.08, Y:-20.60, Z:-6.54 [[ 9.90745286e-01 1.34926563e-01 1.47851531e-02 2.29083744e+02] [-1.34912062e-01 9.90855601e-01 -1.97846522e-03 -2.06036305e+01] [-1.49168993e-02 -3.45403944e-05 9.99888736e-01 -6.54339425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98420382199996 meters 0.014682272273792563 Centerline is valid? [True, True] Translation: X:229.14, Y:-20.62, Z:-6.55 [[ 9.91950056e-01 1.25886226e-01 1.37019865e-02 2.29143117e+02] [-1.25872922e-01 9.92044681e-01 -1.83247351e-03 -2.06196308e+01] [-1.38236660e-02 9.30131228e-05 9.99904444e-01 -6.54706852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04420382199996 meters 0.02672240427284137 Centerline is valid? [True, True] Translation: X:229.20, Y:-20.63, Z:-6.55 [[ 9.92692113e-01 1.19782543e-01 1.46461942e-02 2.29203691e+02] [-1.19766703e-01 9.92800134e-01 -1.95703754e-03 -2.06348574e+01] [-1.47751625e-02 1.88609334e-04 9.99890824e-01 -6.55093422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.10420382199996 meters 0.021216490386417687 Centerline is valid? [True, True] Translation: X:229.26, Y:-20.65, Z:-6.55 [[ 9.92856008e-01 1.18243865e-01 1.59792335e-02 2.29264343e+02] [-1.18224748e-01 9.92984558e-01 -2.13910718e-03 -2.06471041e+01] [-1.61200685e-02 2.34684557e-04 9.99870036e-01 -6.54777241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.16420382199996 meters 0.026556588774725175 Centerline is valid? [True, True] Translation: X:229.33, Y:-20.65, Z:-6.55 [[ 9.92785653e-01 1.18931908e-01 1.52265473e-02 2.29326433e+02] [-1.18914614e-01 9.92902390e-01 -2.03942371e-03 -2.06515582e+01] [-1.53610278e-02 2.14051605e-04 9.99881990e-01 -6.55270046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.22420382199996 meters 0.018420155055313667 Centerline is valid? [True, True] Translation: X:229.39, Y:-20.66, Z:-6.55 [[ 9.92607138e-01 1.20351533e-01 1.57028102e-02 2.29388895e+02] [-1.20333272e-01 9.92731317e-01 -2.10607954e-03 -2.06572523e+01] [-1.58421414e-02 2.00939050e-04 9.99874485e-01 -6.55067565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.28420382199997 meters 0.015902159831355702 Centerline is valid? [True, True] Translation: X:229.45, Y:-20.66, Z:-6.56 [[ 9.92042197e-01 1.25071514e-01 1.44705388e-02 2.29448935e+02] [-1.25056443e-01 9.92147722e-01 -1.94524433e-03 -2.06611400e+01] [-1.46002068e-02 1.20130339e-04 9.99893404e-01 -6.55557153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.34420382199997 meters 0.013575314831631132 Centerline is valid? [True, True] Translation: X:229.51, Y:-20.66, Z:-6.56 [[ 9.91467743e-01 1.29504490e-01 1.48425834e-02 2.29508700e+02] [-1.29489130e-01 9.91578834e-01 -1.99533502e-03 -2.06630345e+01] [-1.49759963e-02 5.63571037e-05 9.99887852e-01 -6.55746176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40420382199997 meters 0.012935054291258949 Centerline is valid? [True, True] Translation: X:229.57, Y:-20.66, Z:-6.56 [[ 9.90600683e-01 1.36049707e-01 1.41691537e-02 2.29569217e+02] [-1.36036364e-01 9.90702012e-01 -1.90573441e-03 -2.06603393e+01] [-1.42966837e-02 -3.96983473e-05 9.99897796e-01 -6.55822054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46420382199994 meters 0.02570477796443589 Centerline is valid? [True, True] Translation: X:229.63, Y:-20.66, Z:-6.56 [[ 9.89939453e-01 1.40713807e-01 1.48156704e-02 2.29627665e+02] [-1.40699745e-01 9.90050308e-01 -1.99245512e-03 -2.06616090e+01] [-1.49486250e-02 -1.12151115e-04 9.99888257e-01 -6.56303497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52420382199995 meters 0.016019591397856293 Centerline is valid? [True, True] Translation: X:229.69, Y:-20.67, Z:-6.56 [[ 9.89781734e-01 1.41903748e-01 1.39801712e-02 2.29686134e+02] [-1.41891350e-01 9.89880453e-01 -1.87981658e-03 -2.06672130e+01] [-1.41054512e-02 -1.23057257e-04 9.99900506e-01 -6.56229544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58420382199995 meters 0.01819727000966013 Centerline is valid? [True, True] Translation: X:229.74, Y:-20.67, Z:-6.57 [[ 9.89588297e-01 1.43317165e-01 1.32360547e-02 2.29743990e+02] [-1.43306183e-01 9.89676802e-01 -1.77935865e-03 -2.06688013e+01] [-1.33544289e-02 -1.35975977e-04 9.99910816e-01 -6.56680586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64420382199995 meters 0.019523422508502433 Centerline is valid? [True, True] Translation: X:229.80, Y:-20.67, Z:-6.57 [[ 9.89420637e-01 1.44457535e-01 1.33725322e-02 2.29801883e+02] [-1.44446441e-01 9.89510989e-01 -1.79682995e-03 -2.06721586e+01] [-1.34918332e-02 -1.53794055e-04 9.99908969e-01 -6.56852094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70420382199995 meters 0.017788342899373498 Centerline is valid? [True, True] Translation: X:229.86, Y:-20.68, Z:-6.57 [[ 9.89619266e-01 1.43006941e-01 1.42381100e-02 2.29860406e+02] [-1.42994231e-01 9.89721675e-01 -1.91199597e-03 -2.06786576e+01] [-1.43651947e-02 -1.43819538e-04 9.99896805e-01 -6.56760985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76420382199996 meters 0.013591567892307956 Centerline is valid? [True, True] Translation: X:229.92, Y:-20.69, Z:-6.57 [[ 9.90363253e-01 1.37694342e-01 1.48625693e-02 2.29917783e+02] [-1.37679905e-01 9.90474767e-01 -1.99510639e-03 -2.06925166e+01] [-1.49957147e-02 -7.03970726e-05 9.99887555e-01 -6.56582856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.82420382199996 meters 0.012514294737209766 Centerline is valid? [True, True] Translation: X:229.98, Y:-20.71, Z:-6.57 [[ 9.91136836e-01 1.32019710e-01 1.47840289e-02 2.29976373e+02] [-1.32004810e-01 9.91247091e-01 -1.98348481e-03 -2.07062010e+01] [-1.49164847e-02 1.43419319e-05 9.99888743e-01 -6.56602408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.88420382199996 meters 0.013491504201235797 Centerline is valid? [True, True] Translation: X:230.03, Y:-20.72, Z:-6.57 [[ 9.91539695e-01 1.28981369e-01 1.45890320e-02 2.30034833e+02] [-1.28966543e-01 9.91647015e-01 -1.95647005e-03 -2.07168588e+01] [-1.47195182e-02 5.84206861e-05 9.99891660e-01 -6.56971105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.94420382199996 meters 0.014790361062796971 Centerline is valid? [True, True] Translation: X:230.09, Y:-20.73, Z:-6.57 [[ 9.91919731e-01 1.26064149e-01 1.42505345e-02 2.30093991e+02] [-1.26049699e-01 9.92022087e-01 -1.91132430e-03 -2.07304909e+01] [-1.43777945e-02 9.96047047e-05 9.99896629e-01 -6.57121566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.00420382199997 meters 0.023446870388630654 Centerline is valid? [True, True] Translation: X:230.15, Y:-20.74, Z:-6.58 [[ 9.91867520e-01 1.26506155e-01 1.39648267e-02 2.30151491e+02] [-1.26492314e-01 9.91965818e-01 -1.87355109e-03 -2.07382575e+01] [-1.40896465e-02 9.18712226e-05 9.99900732e-01 -6.57835709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.06420382199997 meters 0.014235246645246877 Centerline is valid? [True, True] Translation: X:230.21, Y:-20.74, Z:-6.57 [[ 9.91640754e-01 1.28251396e-01 1.41490395e-02 2.30211238e+02] [-1.28237375e-01 9.91741688e-01 -1.89753863e-03 -2.07448171e+01] [-1.42755543e-02 6.72409593e-05 9.99898097e-01 -6.57475214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.12420382199997 meters 0.013971737954365132 Centerline is valid? [True, True] Translation: X:230.27, Y:-20.75, Z:-6.58 [[ 9.91358602e-01 1.30579648e-01 1.25330558e-02 2.30270661e+02] [-1.30568836e-01 9.91437822e-01 -1.68059996e-03 -2.07515827e+01] [-1.26451977e-02 2.96507213e-05 9.99920046e-01 -6.57886207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18420382199997 meters 0.013396005885298701 Centerline is valid? [True, True] Translation: X:230.33, Y:-20.76, Z:-6.58 [[ 9.91206603e-01 1.31730331e-01 1.25135799e-02 2.30329343e+02] [-1.31719643e-01 9.91285589e-01 -1.67811163e-03 -2.07600618e+01] [-1.26255896e-02 1.50710588e-05 9.99920294e-01 -6.57932587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24420382199995 meters 0.014715941688687945 Centerline is valid? [True, True] Translation: X:230.39, Y:-20.77, Z:-6.58 [[ 9.90597082e-01 1.36456954e-01 9.84485224e-03 2.30388976e+02] [-1.36450578e-01 9.90646001e-01 -1.31956184e-03 -2.07656581e+01] [-9.93282689e-03 -3.61816726e-05 9.99950668e-01 -6.58457479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.30420382199995 meters 0.017019943745702516 Centerline is valid? [True, True] Translation: X:230.45, Y:-20.77, Z:-6.59 [[ 9.90227453e-01 1.39172312e-01 8.98100642e-03 2.30446873e+02] [-1.39167111e-01 9.90268178e-01 -1.20455926e-03 -2.07708738e+01] [-9.06124616e-03 -5.70730703e-05 9.99958944e-01 -6.59043822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36420382199995 meters 0.017823762462703476 Centerline is valid? [True, True] Translation: X:230.51, Y:-20.78, Z:-6.59 [[ 9.89823797e-01 1.41796448e-01 1.19422784e-02 2.30505372e+02] [-1.41787466e-01 9.89895831e-01 -1.59973720e-03 -2.07755451e+01] [-1.20484487e-02 -1.09807450e-04 9.99927409e-01 -6.58730397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42420382199995 meters 0.018289928492339465 Centerline is valid? [True, True] Translation: X:230.56, Y:-20.79, Z:-6.59 [[ 9.89860754e-01 1.41673566e-01 1.02122173e-02 2.30562580e+02] [-1.41666990e-01 9.89913427e-01 -1.36808348e-03 -2.07863237e+01] [-1.03030323e-02 -9.25219424e-05 9.99946918e-01 -6.59244320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.48420382199996 meters 0.019546438487372114 Centerline is valid? [True, True] Translation: X:230.62, Y:-20.79, Z:-6.59 [[ 9.89488518e-01 1.44359004e-01 8.54116311e-03 2.30621865e+02] [-1.44354514e-01 9.89525375e-01 -1.14306336e-03 -2.07924359e+01] [-8.61670912e-03 -1.01907382e-04 9.99962870e-01 -6.59323652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54420382199996 meters 0.023519996083798598 Centerline is valid? [True, True] Translation: X:230.68, Y:-20.79, Z:-6.60 [[ 9.89035269e-01 1.47358640e-01 9.72970427e-03 2.30679674e+02] [-1.47352953e-01 9.89083116e-01 -1.30266298e-03 -2.07936870e+01] [-9.81544486e-03 -1.45321032e-04 9.99951817e-01 -6.59563067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.60420382199996 meters 0.023256573505774893 Centerline is valid? [True, True] Translation: X:230.74, Y:-20.80, Z:-6.60 [[ 9.88977169e-01 1.47697723e-01 1.04662614e-02 2.30738532e+02] [-1.47691177e-01 9.89032536e-01 -1.39993511e-03 -2.08008543e+01] [-1.05582403e-02 -1.61270600e-04 9.99944247e-01 -6.59518469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.66420382199996 meters 0.01796409574470585 Centerline is valid? [True, True] Translation: X:230.80, Y:-20.82, Z:-6.59 [[ 9.89698369e-01 1.42772660e-01 1.06351679e-02 2.30796160e+02] [-1.42765622e-01 9.89755503e-01 -1.42203098e-03 -2.08158313e+01] [-1.07292431e-02 -1.10954615e-04 9.99942434e-01 -6.59335809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.72420382199996 meters 0.01600558827336655 Centerline is valid? [True, True] Translation: X:230.85, Y:-20.83, Z:-6.60 [[ 9.90249843e-01 1.38896537e-01 1.06301886e-02 2.30852765e+02] [-1.38889285e-01 9.90306895e-01 -1.42104991e-03 -2.08287477e+01] [-1.07245279e-02 -6.92248353e-05 9.99942488e-01 -6.59666623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.78420382199997 meters 0.014901457807028283 Centerline is valid? [True, True] Translation: X:230.91, Y:-20.85, Z:-6.60 [[ 9.90719075e-01 1.35584892e-01 9.61521463e-03 2.30909584e+02] [-1.35578809e-01 9.90765732e-01 -1.28469785e-03 -2.08453924e+01] [-9.70061078e-03 -3.08446847e-05 9.99952947e-01 -6.59909540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.84420382199997 meters 0.01569217622950324 Centerline is valid? [True, True] Translation: X:230.97, Y:-20.85, Z:-6.60 [[ 9.90351792e-01 1.38200871e-01 1.01905794e-02 2.30968887e+02] [-1.38194182e-01 9.90404218e-01 -1.36097449e-03 -2.08454596e+01] [-1.02808807e-02 -6.04352716e-05 9.99947149e-01 -6.59929569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90420382199997 meters 0.01978577405414557 Centerline is valid? [True, True] Translation: X:231.03, Y:-20.84, Z:-6.60 [[ 9.89573879e-01 1.43772066e-01 8.55163474e-03 2.31029079e+02] [-1.43767567e-01 9.89610824e-01 -1.14163667e-03 -2.08416932e+01] [-8.62692577e-03 -9.97138974e-05 9.99962782e-01 -6.60221454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96420382199994 meters 0.024155653975167075 Centerline is valid? [True, True] Translation: X:231.09, Y:-20.84, Z:-6.61 [[ 9.88803839e-01 1.49003240e-01 8.06236599e-03 2.31089300e+02] [-1.48999418e-01 9.88836698e-01 -1.07607759e-03 -2.08387274e+01] [-8.13270241e-03 -1.37258185e-04 9.99966920e-01 -6.60574586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02420382199995 meters 0.02539014111837397 Centerline is valid? [True, True] Translation: X:231.15, Y:-20.84, Z:-6.61 [[ 9.88783195e-01 1.49028689e-01 9.91178464e-03 2.31147800e+02] [-1.49022911e-01 9.88832858e-01 -1.32311808e-03 -2.08387478e+01] [-9.99828089e-03 -1.68806072e-04 9.99950002e-01 -6.60665558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.08420382199995 meters 0.024646290691790907 Centerline is valid? [True, True] Translation: X:231.21, Y:-20.85, Z:-6.61 [[ 9.88876107e-01 1.48398315e-01 1.00987164e-02 2.31205831e+02] [-1.48392300e-01 9.88927658e-01 -1.34659047e-03 -2.08459907e+01] [-1.01867318e-02 -1.66960616e-04 9.99948100e-01 -6.60734164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14420382199995 meters 0.02171362212623937 Centerline is valid? [True, True] Translation: X:231.26, Y:-20.86, Z:-6.61 [[ 9.89436171e-01 1.44734167e-01 8.25129371e-03 2.31263580e+02] [-1.44730025e-01 9.89470570e-01 -1.10011199e-03 -2.08568945e+01] [-8.32363609e-03 -1.05719352e-04 9.99965352e-01 -6.61172949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.20420382199995 meters 0.01919528923675891 Centerline is valid? [True, True] Translation: X:231.32, Y:-20.87, Z:-6.61 [[ 9.89962897e-01 1.41092346e-01 8.14933687e-03 2.31321573e+02] [-1.41088185e-01 9.89996437e-01 -1.08613604e-03 -2.08657959e+01] [-8.22105995e-03 -7.45407630e-05 9.99966204e-01 -6.61383167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26420382199996 meters 0.016974188452945613 Centerline is valid? [True, True] Translation: X:231.38, Y:-20.87, Z:-6.61 [[ 9.90166248e-01 1.39502322e-01 1.04834477e-02 2.31380856e+02] [-1.39495358e-01 9.90221741e-01 -1.39611297e-03 -2.08712948e+01] [-1.05756988e-02 -8.00083513e-05 9.99944073e-01 -6.60902724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.32420382199996 meters 0.015824829035460824 Centerline is valid? [True, True] Translation: X:231.44, Y:-20.88, Z:-6.61 [[ 9.90309701e-01 1.38344604e-01 1.21436025e-02 2.31439487e+02] [-1.38335179e-01 9.90384150e-01 -1.61678841e-03 -2.08775726e+01] [-1.22505054e-02 -7.87661738e-05 9.99924957e-01 -6.60699439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.38420382199996 meters 0.015865473130087702 Centerline is valid? [True, True] Translation: X:231.50, Y:-20.88, Z:-6.61 [[ 9.90296355e-01 1.38435876e-01 1.21916623e-02 2.31498015e+02] [-1.38426390e-01 9.90371396e-01 -1.62258931e-03 -2.08802563e+01] [-1.22988982e-02 -8.08035227e-05 9.99924362e-01 -6.60910241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.44420382199996 meters 0.014958806534271432 Centerline is valid? [True, True] Translation: X:231.56, Y:-20.89, Z:-6.61 [[ 9.90559978e-01 1.36466740e-01 1.29521599e-02 2.31555839e+02] [-1.36455872e-01 9.90644651e-01 -1.72329278e-03 -2.08864826e+01] [-1.30661601e-02 -6.03734097e-05 9.99914632e-01 -6.61207038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.50420382199997 meters 0.014491345507023874 Centerline is valid? [True, True] Translation: X:231.61, Y:-20.89, Z:-6.61 [[ 9.90678199e-01 1.35579516e-01 1.32250137e-02 2.31614501e+02] [-1.35568120e-01 9.90766467e-01 -1.75852705e-03 -2.08930955e+01] [-1.33413204e-02 -5.07558436e-05 9.99910999e-01 -6.61204079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.56420382199997 meters 0.014165178931052567 Centerline is valid? [True, True] Translation: X:231.67, Y:-20.90, Z:-6.61 [[ 9.90909060e-01 1.33995250e-01 1.20211619e-02 2.31672880e+02] [-1.33985723e-01 9.90981974e-01 -1.59801645e-03 -2.08998463e+01] [-1.21268814e-02 -2.71750996e-05 9.99926466e-01 -6.61406954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.62420382199997 meters 0.01452759448119333 Centerline is valid? [True, True] Translation: X:231.73, Y:-20.91, Z:-6.62 [[ 9.91545192e-01 1.29292123e-01 1.10308039e-02 2.31730169e+02] [-1.29283815e-01 9.91606548e-01 -1.46593786e-03 -2.09130709e+01] [-1.11277516e-02 2.74392266e-05 9.99938084e-01 -6.61933806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68420382199994 meters 0.015716950095922926 Centerline is valid? [True, True] Translation: X:231.79, Y:-20.93, Z:-6.62 [[ 9.92168003e-01 1.24356327e-01 1.17540246e-02 2.31787677e+02] [-1.24346555e-01 9.92237621e-01 -1.56140730e-03 -2.09257900e+01] [-1.18569563e-02 8.76058983e-05 9.99929700e-01 -6.61917598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74420382199995 meters 0.01845827533139181 Centerline is valid? [True, True] Translation: X:231.85, Y:-20.94, Z:-6.62 [[ 9.92562119e-01 1.21138155e-01 1.20825210e-02 2.31845251e+02] [-1.21127602e-01 9.92635649e-01 -1.60419499e-03 -2.09381411e+01] [-1.21878703e-02 1.28736385e-04 9.99925717e-01 -6.62179009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.80420382199995 meters 0.021877370754600424 Centerline is valid? [True, True] Translation: X:231.90, Y:-20.95, Z:-6.63 [[ 9.93014911e-01 1.17492927e-01 1.08073291e-02 2.31903822e+02] [-1.17484273e-01 9.93073707e-01 -1.43437414e-03 -2.09511881e+01] [-1.09010032e-02 1.54663708e-04 9.99940570e-01 -6.62524927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.86420382199995 meters 0.024079995984326474 Centerline is valid? [True, True] Translation: X:231.96, Y:-20.96, Z:-6.63 [[ 9.93119673e-01 1.16552030e-01 1.13551703e-02 2.31960825e+02] [-1.16542410e-01 9.93184572e-01 -1.50747437e-03 -2.09623884e+01] [-1.14534792e-02 1.73743530e-04 9.99934392e-01 -6.62830674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92420382199995 meters 0.019102873840750895 Centerline is valid? [True, True] Translation: X:232.02, Y:-20.96, Z:-6.62 [[ 9.92811650e-01 1.19081331e-01 1.20276396e-02 2.32020548e+02] [-1.19070737e-01 9.92884492e-01 -1.59563290e-03 -2.09631111e+01] [-1.21320669e-02 1.52023022e-04 9.99926392e-01 -6.62395768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98420382199996 meters 0.015932811432744033 Centerline is valid? [True, True] Translation: X:232.08, Y:-20.96, Z:-6.62 [[ 9.92318355e-01 1.23108084e-01 1.21935005e-02 2.32080275e+02] [-1.23097510e-01 9.92393263e-01 -1.61682095e-03 -2.09648458e+01] [-1.22997915e-02 1.03411553e-04 9.99924349e-01 -6.62430223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04420382199996 meters 0.015042492610977556 Centerline is valid? [True, True] Translation: X:232.14, Y:-20.97, Z:-6.63 [[ 9.92056200e-01 1.25237316e-01 1.18368511e-02 2.32138771e+02] [-1.25227506e-01 9.92126811e-01 -1.56932477e-03 -2.09705310e+01] [-1.19401954e-02 7.45590252e-05 9.99928711e-01 -6.62765792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.10420382199996 meters 0.015147499781517717 Centerline is valid? [True, True] Translation: X:232.20, Y:-20.98, Z:-6.63 [[ 9.91973234e-01 1.25789264e-01 1.28904574e-02 2.32195455e+02] [-1.25777683e-01 9.92056982e-01 -1.70843255e-03 -2.09801550e+01] [-1.30029708e-02 7.33874977e-05 9.99915455e-01 -6.63009654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.16420382199996 meters 0.01558741820859181 Centerline is valid? [True, True] Translation: X:232.25, Y:-20.99, Z:-6.63 [[ 9.92039138e-01 1.25379048e-01 1.17662023e-02 2.32253440e+02] [-1.25369380e-01 9.92108910e-01 -1.55862532e-03 -2.09895157e+01] [-1.18687731e-02 7.10958386e-05 9.99929561e-01 -6.63297925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.22420382199996 meters 0.017105612682926652 Centerline is valid? [True, True] Translation: X:232.31, Y:-21.01, Z:-6.64 [[ 9.92336890e-01 1.23087996e-01 1.08093393e-02 2.32311148e+02] [-1.23079710e-01 9.92395756e-01 -1.43103737e-03 -2.10097156e+01] [-1.09032860e-02 8.96608265e-05 9.99940553e-01 -6.63706192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.28420382199997 meters 0.017368585181358642 Centerline is valid? [True, True] Translation: X:232.37, Y:-21.02, Z:-6.64 [[ 9.92368023e-01 1.22809906e-01 1.11101066e-02 2.32368867e+02] [-1.22801134e-01 9.92430208e-01 -1.47098705e-03 -2.10210556e+01] [-1.12066571e-02 9.54268280e-05 9.99937199e-01 -6.63829485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.34420382199997 meters 0.015235439236456781 Centerline is valid? [True, True] Translation: X:232.43, Y:-21.03, Z:-6.64 [[ 9.92128630e-01 1.24702423e-01 1.14055365e-02 2.32426851e+02] [-1.24693309e-01 9.92194185e-01 -1.50955959e-03 -2.10294691e+01] [-1.15047527e-02 7.54832008e-05 9.99933815e-01 -6.63642744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40420382199997 meters 0.013921355754140184 Centerline is valid? [True, True] Translation: X:232.49, Y:-21.04, Z:-6.64 [[ 9.91609395e-01 1.28781770e-01 1.12278295e-02 2.32485090e+02] [-1.28773205e-01 9.91672958e-01 -1.48549950e-03 -2.10362358e+01] [-1.13256401e-02 2.71916734e-05 9.99935863e-01 -6.63885919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46420382199994 meters 0.013461737597283644 Centerline is valid? [True, True] Translation: X:232.54, Y:-21.04, Z:-6.64 [[ 9.90813145e-01 1.34561750e-01 1.35073323e-02 2.32544880e+02] [-1.34549906e-01 9.90905209e-01 -1.78593537e-03 -2.10377462e+01] [-1.36248045e-02 -4.78820529e-05 9.99907177e-01 -6.63549286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52420382199995 meters 0.01773669346091802 Centerline is valid? [True, True] Translation: X:232.60, Y:-21.04, Z:-6.64 [[ 9.90010979e-01 1.40385238e-01 1.30478549e-02 2.32602874e+02] [-1.40374692e-01 9.90096950e-01 -1.72511142e-03 -2.10371933e+01] [-1.31608215e-02 -1.23709376e-04 9.99913385e-01 -6.63993582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58420382199995 meters 0.031477018464983075 Centerline is valid? [True, True] Translation: X:232.66, Y:-21.04, Z:-6.64 [[ 9.89334771e-01 1.44997851e-01 1.38684306e-02 2.32661955e+02] [-1.44986406e-01 9.89431950e-01 -1.83243113e-03 -2.10394302e+01] [-1.39875669e-02 -1.97846084e-04 9.99902150e-01 -6.64230414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64420382199995 meters 0.024444272541792225 Centerline is valid? [True, True] Translation: X:232.72, Y:-21.04, Z:-6.64 [[ 9.89169631e-01 1.46002141e-01 1.50603738e-02 2.32720142e+02] [-1.45988773e-01 9.89284247e-01 -1.98920671e-03 -2.10404710e+01] [-1.51894190e-02 -2.30982624e-04 9.99884607e-01 -6.64244510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70420382199995 meters 0.02243929411233415 Centerline is valid? [True, True] Translation: X:232.78, Y:-21.05, Z:-6.65 [[ 9.89066562e-01 1.47026154e-01 1.14300716e-02 2.32779421e+02] [-1.47018533e-01 9.89132587e-01 -1.50880317e-03 -2.10475140e+01] [-1.15276899e-02 -1.88125594e-04 9.99933536e-01 -6.64525007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76420382199996 meters 0.02379454058926675 Centerline is valid? [True, True] Translation: X:232.84, Y:-21.05, Z:-6.65 [[ 9.88877924e-01 1.48283962e-01 1.15029479e-02 2.32838111e+02] [-1.48276321e-01 9.88944804e-01 -1.51909812e-03 -2.10480376e+01] [-1.16010384e-02 -2.03412194e-04 9.99932685e-01 -6.64766781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.82420382199996 meters 0.02457711079904197 Centerline is valid? [True, True] Translation: X:232.90, Y:-21.05, Z:-6.65 [[ 9.89032965e-01 1.47253874e-01 1.14057376e-02 2.32896160e+02] [-1.47246307e-01 9.89098711e-01 -1.50501705e-03 -2.10511473e+01] [-1.15030199e-02 -1.90941269e-04 9.99933820e-01 -6.65145043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.88420382199996 meters 0.02035127103019926 Centerline is valid? [True, True] Translation: X:232.95, Y:-21.06, Z:-6.65 [[ 9.89575397e-01 1.43619512e-01 1.06756781e-02 2.32954174e+02] [-1.43612679e-01 9.89632970e-01 -1.40790260e-03 -2.10602159e+01] [-1.07672053e-02 -1.39936964e-04 9.99942022e-01 -6.65337057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.94420382199996 meters 0.018894576553077295 Centerline is valid? [True, True] Translation: X:233.01, Y:-21.06, Z:-6.66 [[ 9.89986337e-01 1.40692710e-01 1.15157889e-02 2.33011832e+02] [-1.40684567e-01 9.90053305e-01 -1.51821572e-03 -2.10642316e+01] [-1.16148467e-02 -1.17080941e-04 9.99932539e-01 -6.65506867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.00420382199997 meters 0.013571157670098113 Centerline is valid? [True, True] Translation: X:233.07, Y:-21.08, Z:-6.65 [[ 9.90784348e-01 1.34826394e-01 1.29699307e-02 2.33069740e+02] [-1.34815577e-01 9.90869235e-01 -1.70873586e-03 -2.10764513e+01] [-1.30818880e-02 -5.55599481e-05 9.99914427e-01 -6.65140126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.06420382199997 meters 0.013348790590526556 Centerline is valid? [True, True] Translation: X:233.13, Y:-21.09, Z:-6.66 [[ 9.91329175e-01 1.30782231e-01 1.27465248e-02 2.33127118e+02] [-1.30771454e-01 9.91411120e-01 -1.67894124e-03 -2.10860774e+01] [-1.28566221e-02 -2.49814188e-06 9.99917350e-01 -6.65572743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.12420382199997 meters 0.01440333134653354 Centerline is valid? [True, True] Translation: X:233.19, Y:-21.10, Z:-6.66 [[ 9.92096090e-01 1.24910173e-01 1.19497715e-02 2.33185080e+02] [-1.24900286e-01 9.92168052e-01 -1.57302433e-03 -2.10992250e+01] [-1.20526683e-02 6.80614068e-05 9.99927362e-01 -6.65691866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18420382199994 meters 0.016412110685737728 Centerline is valid? [True, True] Translation: X:233.24, Y:-21.11, Z:-6.66 [[ 9.92502163e-01 1.21792250e-01 1.03007371e-02 2.33243424e+02] [-1.21784739e-01 9.92555610e-01 -1.35564107e-03 -2.11068136e+01] [-1.03891610e-02 9.10041149e-05 9.99946027e-01 -6.66142416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24420382199995 meters 0.015357341036660354 Centerline is valid? [True, True] Translation: X:233.30, Y:-21.11, Z:-6.66 [[ 9.92240582e-01 1.23858047e-01 1.08540714e-02 2.33300858e+02] [-1.23849835e-01 9.92299944e-01 -1.42805730e-03 -2.11114765e+01] [-1.09473708e-02 7.27014564e-05 9.99940073e-01 -6.66271106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30420382199995 meters 0.013555738855391932 Centerline is valid? [True, True] Translation: X:233.36, Y:-21.11, Z:-6.66 [[ 9.91596366e-01 1.28946389e-01 1.04630451e-02 2.33360452e+02] [-1.28939050e-01 9.91651566e-01 -1.37581946e-03 -2.11076211e+01] [-1.05531020e-02 1.51624794e-05 9.99944314e-01 -6.66327788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36420382199995 meters 0.013485645414714833 Centerline is valid? [True, True] Translation: X:233.42, Y:-21.11, Z:-6.66 [[ 9.91167913e-01 1.32134904e-01 1.12488033e-02 2.33419321e+02] [-1.32126634e-01 9.91231742e-01 -1.47846415e-03 -2.11092221e+01] [-1.13455276e-02 -2.08602939e-05 9.99935637e-01 -6.66447170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42420382199995 meters 0.028036291974806355 Centerline is valid? [True, True] Translation: X:233.48, Y:-21.10, Z:-6.67 [[ 9.90490189e-01 1.37155665e-01 1.08401761e-02 2.33478949e+02] [-1.37148291e-01 9.90549503e-01 -1.42426964e-03 -2.11046310e+01] [-1.09330777e-02 -7.59865303e-05 9.99940229e-01 -6.67017663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48420382199996 meters 0.0168106778576252 Centerline is valid? [True, True] Translation: X:233.54, Y:-21.10, Z:-6.67 [[ 9.90223358e-01 1.38948812e-01 1.22852805e-02 2.33537454e+02] [-1.38939487e-01 9.90299559e-01 -1.61352332e-03 -2.11046801e+01] [-1.23903050e-02 -1.09162085e-04 9.99923231e-01 -6.66788774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.54420382199996 meters 0.015741830225811798 Centerline is valid? [True, True] Translation: X:233.60, Y:-21.11, Z:-6.67 [[ 9.90409338e-01 1.37628002e-01 1.21604577e-02 2.33595883e+02] [-1.37618777e-01 9.90483985e-01 -1.59617328e-03 -2.11103801e+01] [-1.22644168e-02 -9.26424036e-05 9.99924785e-01 -6.66948234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.60420382199996 meters 0.013224587231395052 Centerline is valid? [True, True] Translation: X:233.65, Y:-21.12, Z:-6.67 [[ 9.91151244e-01 1.32174126e-01 1.22151971e-02 2.33653661e+02] [-1.32164411e-01 9.91226513e-01 -1.60275826e-03 -2.11229245e+01] [-1.23198704e-02 -2.58384820e-05 9.99924107e-01 -6.67048726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.66420382199996 meters 0.013072402689725916 Centerline is valid? [True, True] Translation: X:233.71, Y:-21.13, Z:-6.67 [[ 9.91795631e-01 1.27183787e-01 1.28728476e-02 2.33711430e+02] [-1.27172586e-01 9.91879167e-01 -1.68832314e-03 -2.11320076e+01] [-1.29830367e-02 3.73981899e-05 9.99915716e-01 -6.67032057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.72420382199996 meters 0.014783379313711377 Centerline is valid? [True, True] Translation: X:233.77, Y:-21.14, Z:-6.68 [[ 9.92133349e-01 1.24559708e-01 1.25018867e-02 2.33768454e+02] [-1.24548938e-01 9.92212112e-01 -1.63938691e-03 -2.11411493e+01] [-1.26087250e-02 6.93937117e-05 9.99920504e-01 -6.67550436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.78420382199997 meters 0.015110820058820962 Centerline is valid? [True, True] Translation: X:233.83, Y:-21.15, Z:-6.67 [[ 9.92408548e-01 1.22279355e-01 1.31542264e-02 2.33826951e+02] [-1.22267249e-01 9.92495717e-01 -1.72362534e-03 -2.11499639e+01] [-1.32662772e-02 1.02209442e-04 9.99911994e-01 -6.67436097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.84420382199997 meters 0.016073968577670156 Centerline is valid? [True, True] Translation: X:233.89, Y:-21.16, Z:-6.67 [[ 9.92660312e-01 1.20033862e-01 1.47437356e-02 2.33885849e+02] [-1.20018419e-01 9.92769787e-01 -1.93099564e-03 -2.11558707e+01] [-1.48689201e-02 1.47302897e-04 9.99889441e-01 -6.67232509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90420382199997 meters 0.019625916454681723 Centerline is valid? [True, True] Translation: X:233.94, Y:-21.17, Z:-6.68 [[ 9.92998956e-01 1.17323926e-01 1.37174902e-02 2.33941766e+02] [-1.17310303e-01 9.93093684e-01 -1.79636998e-03 -2.11684383e+01] [-1.38335101e-02 1.74590582e-04 9.99904297e-01 -6.67840896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96420382199994 meters 0.02312860390262813 Centerline is valid? [True, True] Translation: X:234.00, Y:-21.19, Z:-6.67 [[ 9.93655218e-01 1.11298973e-01 1.61816716e-02 2.33999711e+02] [-1.11279252e-01 9.93786922e-01 -2.11687614e-03 -2.11859184e+01] [-1.63167398e-02 3.02760705e-04 9.99866827e-01 -6.67445102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02420382199995 meters 0.03246547425066524 Centerline is valid? [True, True] Translation: X:234.06, Y:-21.21, Z:-6.68 [[ 9.94375517e-01 1.05199228e-01 1.22659898e-02 2.34057833e+02] [-1.05187439e-01 9.94451120e-01 -1.60412445e-03 -2.12071083e+01] [-1.23666799e-02 3.04874026e-04 9.99923483e-01 -6.68291446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08420382199995 meters 0.03476257592238901 Centerline is valid? [True, True] Translation: X:234.12, Y:-21.23, Z:-6.69 [[ 9.94837026e-01 1.00854851e-01 1.12956333e-02 2.34115852e+02] [-1.00844571e-01 9.94901095e-01 -1.47739247e-03 -2.12271535e+01] [-1.13870401e-02 3.30661433e-04 9.99935111e-01 -6.68680133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14420382199995 meters 0.03429994288300568 Centerline is valid? [True, True] Translation: X:234.17, Y:-21.24, Z:-6.68 [[ 9.94874327e-01 1.00200832e-01 1.35965851e-02 2.34174174e+02] [-1.00185878e-01 9.94967149e-01 -1.77828734e-03 -2.12433061e+01] [-1.37063414e-02 4.06986602e-04 9.99905981e-01 -6.68304192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20420382199995 meters 0.029567028378519464 Centerline is valid? [True, True] Translation: X:234.23, Y:-21.25, Z:-6.68 [[ 9.94506369e-01 1.03862986e-01 1.30215824e-02 2.34233954e+02] [-1.03849592e-01 9.94591556e-01 -1.70241436e-03 -2.12517997e+01] [-1.31279738e-02 3.40775899e-04 9.99913766e-01 -6.68338833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26420382199996 meters 0.02720511364294339 Centerline is valid? [True, True] Translation: X:234.29, Y:-21.26, Z:-6.69 [[ 9.93900535e-01 1.09535568e-01 1.27940126e-02 2.34292173e+02] [-1.09523102e-01 9.93982842e-01 -1.67305376e-03 -2.12613918e+01] [-1.29002880e-02 2.61609072e-04 9.99916754e-01 -6.68844005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.32420382199996 meters 0.03159178753292459 Centerline is valid? [True, True] Translation: X:234.35, Y:-21.26, Z:-6.69 [[ 9.93352808e-01 1.14459924e-01 1.22116294e-02 2.34351958e+02] [-1.14448943e-01 9.93427849e-01 -1.59661569e-03 -2.12635122e+01] [-1.23141213e-02 1.88394603e-04 9.99924161e-01 -6.69231389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.38420382199996 meters 0.015936744679949832 Centerline is valid? [True, True] Translation: X:234.41, Y:-21.26, Z:-6.69 [[ 9.92521336e-01 1.21517455e-01 1.16148504e-02 2.34411606e+02] [-1.21508002e-01 9.92589290e-01 -1.51877657e-03 -2.12625766e+01] [-1.17133340e-02 9.61208855e-05 9.99931392e-01 -6.69187499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.44420382199996 meters 0.014428973429019878 Centerline is valid? [True, True] Translation: X:234.47, Y:-21.27, Z:-6.70 [[ 9.91927518e-01 1.26326165e-01 1.10226296e-02 2.34469574e+02] [-1.26317952e-01 9.91988759e-01 -1.44087248e-03 -2.12682101e+01] [-1.11163445e-02 3.68850700e-05 9.99938211e-01 -6.69721558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.50420382199997 meters 0.014658840319711583 Centerline is valid? [True, True] Translation: X:234.53, Y:-21.28, Z:-6.70 [[ 9.91947129e-01 1.26198889e-01 1.07113884e-02 2.34527075e+02] [-1.26191132e-01 9.92004959e-01 -1.39969002e-03 -2.12790227e+01] [-1.08023897e-02 3.67362708e-05 9.99941652e-01 -6.69942329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.56420382199997 meters 0.015880428599733824 Centerline is valid? [True, True] Translation: X:234.58, Y:-21.30, Z:-6.70 [[ 9.92389035e-01 1.22423652e-01 1.32835238e-02 2.34583205e+02] [-1.22411394e-01 9.92477929e-01 -1.73500184e-03 -2.12962427e+01] [-1.33960095e-02 9.57421324e-05 9.99910265e-01 -6.69731141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.62420382199997 meters 0.023755803083819943 Centerline is valid? [True, True] Translation: X:234.64, Y:-21.31, Z:-6.70 [[ 9.92709736e-01 1.19887225e-01 1.24271442e-02 2.34641758e+02] [-1.19876313e-01 9.92787509e-01 -1.62194938e-03 -2.13102011e+01] [-1.25319646e-02 1.20404707e-04 9.99921465e-01 -6.69963537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68420382199994 meters 0.02358155542918792 Centerline is valid? [True, True] Translation: X:234.70, Y:-21.33, Z:-6.70 [[ 9.93000619e-01 1.17396303e-01 1.29568047e-02 2.34701050e+02] [-1.17384239e-01 9.93085134e-01 -1.69033159e-03 -2.13265256e+01] [-1.30656488e-02 1.57575659e-04 9.99914628e-01 -6.70077226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74420382199995 meters 0.017942540917413805 Centerline is valid? [True, True] Translation: X:234.76, Y:-21.33, Z:-6.70 [[ 9.93052987e-01 1.16808464e-01 1.41967677e-02 2.34760847e+02] [-1.16793915e-01 9.93154444e-01 -1.85246517e-03 -2.13336980e+01] [-1.43159665e-02 1.81499985e-04 9.99897505e-01 -6.69783142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.80420382199995 meters 0.017933470851683845 Centerline is valid? [True, True] Translation: X:234.82, Y:-21.34, Z:-6.70 [[ 9.92824903e-01 1.18795264e-01 1.36527016e-02 2.34819252e+02] [-1.18782004e-01 9.92918760e-01 -1.78096052e-03 -2.13427539e+01] [-1.37675932e-02 1.46486692e-04 9.99905211e-01 -6.70248484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.86420382199995 meters 0.017069374836406925 Centerline is valid? [True, True] Translation: X:234.88, Y:-21.35, Z:-6.71 [[ 9.92690563e-01 1.20026228e-01 1.26155112e-02 2.34878635e+02] [-1.20015004e-01 9.92770714e-01 -1.64571830e-03 -2.13499763e+01] [-1.27218394e-02 1.19638396e-04 9.99919067e-01 -6.70585182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92420382199995 meters 0.01735923494650513 Centerline is valid? [True, True] Translation: X:234.94, Y:-21.36, Z:-6.71 [[ 9.92739703e-01 1.19823946e-01 1.04930517e-02 2.34938271e+02] [-1.19816176e-01 9.92795151e-01 -1.36826110e-03 -2.13581255e+01] [-1.05814013e-02 1.01089793e-04 9.99944010e-01 -6.71036752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.98420382199996 meters 0.019155584589110777 Centerline is valid? [True, True] Translation: X:235.00, Y:-21.37, Z:-6.71 [[ 9.93035303e-01 1.17248432e-01 1.15625422e-02 2.34996929e+02] [-1.17238818e-01 9.93102605e-01 -1.50814289e-03 -2.13689926e+01] [-1.16596181e-02 1.42060349e-04 9.99932014e-01 -6.71193482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04420382199996 meters 0.022517612152394735 Centerline is valid? [True, True] Translation: X:235.06, Y:-21.39, Z:-6.71 [[ 9.93530928e-01 1.12933144e-01 1.19331391e-02 2.35055981e+02] [-1.12922602e-01 9.93602569e-01 -1.55574982e-03 -2.13851235e+01] [-1.20324934e-02 1.98164440e-04 9.99927587e-01 -6.71315802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.10420382199996 meters 0.02535015048623837 Centerline is valid? [True, True] Translation: X:235.12, Y:-21.40, Z:-6.71 [[ 9.93961435e-01 1.08915665e-01 1.33433205e-02 2.35115980e+02] [-1.08902126e-01 9.94050955e-01 -1.73921720e-03 -2.13996979e+01] [-1.34533685e-02 2.75598840e-04 9.99909461e-01 -6.71166486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.16420382199996 meters 0.029993729622709065 Centerline is valid? [True, True] Translation: X:235.17, Y:-21.42, Z:-6.72 [[ 9.94248879e-01 1.06425065e-01 1.19529016e-02 2.35174994e+02] [-1.06414046e-01 9.94320688e-01 -1.55595675e-03 -2.14180639e+01] [-1.20506101e-02 2.75051638e-04 9.99927351e-01 -6.71707962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.22420382199996 meters 0.027062176871618947 Centerline is valid? [True, True] Translation: X:235.24, Y:-21.42, Z:-6.71 [[ 9.93913074e-01 1.09352285e-01 1.33745941e-02 2.35236677e+02] [-1.09338689e-01 9.94003020e-01 -1.74573876e-03 -2.14211051e+01] [-1.34852874e-02 2.72751996e-04 9.99909032e-01 -6.71472111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.28420382199997 meters 0.019340423564982424 Centerline is valid? [True, True] Translation: X:235.30, Y:-21.42, Z:-6.71 [[ 9.93141906e-01 1.16002280e-01 1.45817099e-02 2.35296913e+02] [-1.15986824e-01 9.93248927e-01 -1.90409572e-03 -2.14210072e+01] [-1.47041472e-02 1.99751025e-04 9.99891868e-01 -6.71375205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.34420382199997 meters 0.01599537440767217 Centerline is valid? [True, True] Translation: X:235.36, Y:-21.42, Z:-6.72 [[ 9.92453218e-01 1.22150141e-01 1.07681907e-02 2.35357856e+02] [-1.22142074e-01 9.92511631e-01 -1.40612218e-03 -2.14212513e+01] [-1.08593125e-02 8.02613464e-05 9.99941033e-01 -6.72290304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40420382199997 meters 0.014058107353595587 Centerline is valid? [True, True] Translation: X:235.42, Y:-21.42, Z:-6.72 [[ 9.91934576e-01 1.26212906e-01 1.16661683e-02 2.35417932e+02] [-1.26203713e-01 9.92003176e-01 -1.52380721e-03 -2.14221834e+01] [-1.17652002e-02 3.92032966e-05 9.99930787e-01 -6.72308628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46420382199994 meters 0.013984487608645891 Centerline is valid? [True, True] Translation: X:235.48, Y:-21.41, Z:-6.72 [[ 9.91208830e-01 1.31724927e-01 1.23935262e-02 2.35477143e+02] [-1.31714979e-01 9.91286307e-01 -1.61914245e-03 -2.14131345e+01] [-1.24988143e-02 -2.75047532e-05 9.99921886e-01 -6.72375555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52420382199995 meters 0.014048937252416844 Centerline is valid? [True, True] Translation: X:235.53, Y:-21.42, Z:-6.73 [[ 9.91131295e-01 1.32245652e-01 1.30323848e-02 2.35534593e+02] [-1.32234710e-01 9.91216972e-01 -1.70153825e-03 -2.14176664e+01] [-1.31429421e-02 -3.68858189e-05 9.99913627e-01 -6.72601395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.58420382199995 meters 0.012632312660630782 Centerline is valid? [True, True] Translation: X:235.59, Y:-21.42, Z:-6.72 [[ 9.91637108e-01 1.28096705e-01 1.57187717e-02 2.35593105e+02] [-1.28080289e-01 9.91761682e-01 -2.05081365e-03 -2.14243676e+01] [-1.58519779e-02 2.03980982e-05 9.99874349e-01 -6.72339652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64420382199995 meters 0.016025772799826067 Centerline is valid? [True, True] Translation: X:235.65, Y:-21.44, Z:-6.73 [[ 9.92526878e-01 1.21075015e-01 1.52065205e-02 2.35650461e+02] [-1.21058840e-01 9.92643352e-01 -1.98306395e-03 -2.14377163e+01] [-1.53347510e-02 1.27360523e-04 9.99882408e-01 -6.72669485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70420382199995 meters 0.026297465634269424 Centerline is valid? [True, True] Translation: X:235.71, Y:-21.45, Z:-6.73 [[ 9.93325257e-01 1.14566459e-01 1.33963161e-02 2.35709730e+02] [-1.14553325e-01 9.93415566e-01 -1.74619196e-03 -2.14505940e+01] [-1.35081640e-02 1.99944024e-04 9.99908741e-01 -6.73298230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76420382199996 meters 0.03504687314946261 Centerline is valid? [True, True] Translation: X:235.77, Y:-21.46, Z:-6.73 [[ 9.94091538e-01 1.07695716e-01 1.35516688e-02 2.35769755e+02] [-1.07681644e-01 9.94183859e-01 -1.76595932e-03 -2.14634901e+01] [-1.36630367e-02 2.96259238e-04 9.99906612e-01 -6.73433033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.82420382199996 meters 0.04045643027442002 Centerline is valid? [True, True] Translation: X:235.83, Y:-21.49, Z:-6.74 [[ 9.94963874e-01 9.90559477e-02 1.53234876e-02 2.35825898e+02] [-9.90369120e-02 9.95081754e-01 -1.99801899e-03 -2.14917864e+01] [-1.54460386e-02 4.70365818e-04 9.99880592e-01 -6.73542452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.88420382199996 meters 0.038534861590444516 Centerline is valid? [True, True] Translation: X:235.89, Y:-21.50, Z:-6.73 [[ 9.95377207e-01 9.48292955e-02 1.52191129e-02 2.35886582e+02] [-9.48100341e-02 9.95493406e-01 -1.98378817e-03 -2.15029905e+01] [-1.53386478e-02 5.31692921e-04 9.99882215e-01 -6.73249441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.94420382199996 meters 0.045361942389620345 Centerline is valid? [True, True] Translation: X:235.95, Y:-21.52, Z:-6.74 [[ 9.95656633e-01 9.20624957e-02 1.38696355e-02 2.35945934e+02] [-9.20462243e-02 9.95753093e-01 -1.80834637e-03 -2.15187616e+01] [-1.39772134e-02 5.23844470e-04 9.99902177e-01 -6.73907347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.00420382199997 meters 0.040681484756366605 Centerline is valid? [True, True] Translation: X:236.01, Y:-21.54, Z:-6.74 [[ 9.95730508e-01 9.10683029e-02 1.50771434e-02 2.36006625e+02] [-9.10489913e-02 9.95844478e-01 -1.96378012e-03 -2.15357813e+01] [-1.51933282e-02 5.82637071e-04 9.99884405e-01 -6.73546007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.06420382199997 meters 0.045126613022794075 Centerline is valid? [True, True] Translation: X:236.06, Y:-21.56, Z:-6.74 [[ 9.95388562e-01 9.49188486e-02 1.38572306e-02 2.36064450e+02] [-9.49028439e-02 9.95484895e-01 -1.80950187e-03 -2.15561899e+01] [-1.39664196e-02 4.86066876e-04 9.99902347e-01 -6.74339624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.12420382199997 meters 0.027666682730633572 Centerline is valid? [True, True] Translation: X:236.13, Y:-21.55, Z:-6.74 [[ 9.93989383e-01 1.08487014e-01 1.46858363e-02 2.36125059e+02] [-1.08470513e-01 9.94097817e-01 -1.91787218e-03 -2.15531696e+01] [-1.48072220e-02 3.13364392e-04 9.99890318e-01 -6.74163825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18420382199994 meters 0.013901899547398603 Centerline is valid? [True, True] Translation: X:236.19, Y:-21.53, Z:-6.75 [[ 9.91738792e-01 1.27653026e-01 1.26045261e-02 2.36188192e+02] [-1.27642418e-01 9.91818887e-01 -1.64580995e-03 -2.15333581e+01] [-1.27114996e-02 2.33413869e-05 9.99919205e-01 -6.74746033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24420382199995 meters 0.020254532146759412 Centerline is valid? [True, True] Translation: X:236.25, Y:-21.52, Z:-6.75 [[ 9.89563006e-01 1.43430020e-01 1.38883433e-02 2.36250432e+02] [-1.43418687e-01 9.89660442e-01 -1.81373162e-03 -2.15186224e+01] [-1.40048876e-02 -1.97046259e-04 9.99901907e-01 -6.74548315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30420382199995 meters 0.027903351118446492 Centerline is valid? [True, True] Translation: X:236.31, Y:-21.51, Z:-6.75 [[ 9.88610358e-01 1.49830954e-01 1.41508124e-02 2.36309837e+02] [-1.49819844e-01 9.88711585e-01 -1.84799718e-03 -2.15119584e+01] [-1.42679594e-02 -2.93123358e-04 9.99898165e-01 -6.74855306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36420382199995 meters 0.028722037604679094 Centerline is valid? [True, True] Translation: X:236.37, Y:-21.51, Z:-6.75 [[ 9.88458503e-01 1.50968893e-01 1.25770313e-02 2.36368462e+02] [-1.50960215e-01 9.88538475e-01 -1.64200276e-03 -2.15142549e+01] [-1.26807707e-02 -2.75579753e-04 9.99919558e-01 -6.75397688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42420382199995 meters 0.021134443142134366 Centerline is valid? [True, True] Translation: X:236.43, Y:-21.53, Z:-6.75 [[ 9.89569575e-01 1.43191308e-01 1.57577313e-02 2.36426304e+02] [-1.43176723e-01 9.89695004e-01 -2.05570027e-03 -2.15289724e+01] [-1.58897063e-02 -2.21881871e-04 9.99873726e-01 -6.75181372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48420382199996 meters 0.012212469351306458 Centerline is valid? [True, True] Translation: X:236.48, Y:-21.55, Z:-6.75 [[ 9.91247712e-01 1.30859723e-01 1.74271936e-02 2.36483829e+02] [-1.30839981e-01 9.91400894e-01 -2.27316975e-03 -2.15542034e+01] [-1.75748016e-02 -2.68993560e-05 9.99845551e-01 -6.74948935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54420382199996 meters 0.01660388433533298 Centerline is valid? [True, True] Translation: X:236.54, Y:-21.58, Z:-6.75 [[ 9.92827896e-01 1.18357926e-01 1.68573281e-02 2.36543068e+02] [-1.18337665e-01 9.92970980e-01 -2.19790467e-03 -2.15822026e+01] [-1.69989771e-02 1.87284225e-04 9.99855489e-01 -6.75112185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.60420382199996 meters 0.026677316823279697 Centerline is valid? [True, True] Translation: X:236.60, Y:-21.61, Z:-6.75 [[ 9.93759296e-01 1.10158460e-01 1.75377957e-02 2.36600448e+02] [-1.10135228e-01 9.93913978e-01 -2.28799613e-03 -2.16084025e+01] [-1.76831024e-02 3.42188291e-04 9.99843583e-01 -6.75439914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.66420382199996 meters 0.034741165622766086 Centerline is valid? [True, True] Translation: X:236.66, Y:-21.62, Z:-6.76 [[ 9.93946209e-01 1.08852653e-01 1.49007928e-02 2.36661568e+02] [-1.08835742e-01 9.94057847e-01 -1.94358130e-03 -2.16182665e+01] [-1.50238140e-02 3.10076429e-04 9.99887088e-01 -6.76096048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.72420382199996 meters 0.023723924707389394 Centerline is valid? [True, True] Translation: X:236.72, Y:-21.63, Z:-6.76 [[ 9.93612819e-01 1.11742500e-01 1.57219501e-02 2.36721883e+02] [-1.11724016e-01 9.93737155e-01 -2.05187949e-03 -2.16257115e+01] [-1.58527682e-02 2.82254350e-04 9.99874297e-01 -6.75911310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.78420382199997 meters 0.01816739282424664 Centerline is valid? [True, True] Translation: X:236.78, Y:-21.63, Z:-6.76 [[ 9.92990778e-01 1.17104607e-01 1.59945420e-02 2.36784103e+02] [-1.17086167e-01 9.93119565e-01 -2.08770985e-03 -2.16273643e+01] [-1.61289731e-02 2.00337003e-04 9.99869900e-01 -6.75913411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.84420382199997 meters 0.012904682485615484 Centerline is valid? [True, True] Translation: X:236.85, Y:-21.62, Z:-6.76 [[ 9.91906634e-01 1.26061803e-01 1.51542639e-02 2.36845261e+02] [-1.26046279e-01 9.92022388e-01 -1.97903848e-03 -2.16230775e+01] [-1.52828503e-02 5.28828267e-05 9.99883209e-01 -6.76270953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90420382199997 meters 0.012254479830913316 Centerline is valid? [True, True] Translation: X:236.90, Y:-21.62, Z:-6.76 [[ 9.91036816e-01 1.32439141e-01 1.74900731e-02 2.36904928e+02] [-1.32419447e-01 9.91191138e-01 -2.28449240e-03 -2.16189143e+01] [-1.76385616e-02 -5.20097191e-05 9.99844427e-01 -6.76122440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96420382199994 meters 0.014083585215788303 Centerline is valid? [True, True] Translation: X:236.96, Y:-21.62, Z:-6.77 [[ 9.90627398e-01 1.35677942e-01 1.57751347e-02 2.36964659e+02] [-1.35662341e-01 9.90752990e-01 -2.05986196e-03 -2.16194380e+01] [-1.59087397e-02 -9.95360033e-05 9.99873443e-01 -6.76557103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02420382199995 meters 0.013415622223048838 Centerline is valid? [True, True] Translation: X:237.02, Y:-21.63, Z:-6.77 [[ 9.90884912e-01 1.33775104e-01 1.58528270e-02 2.37022795e+02] [-1.33759110e-01 9.91011714e-01 -2.06976624e-03 -2.16291265e+01] [-1.59872205e-02 -6.95598830e-05 9.99872194e-01 -6.76948912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.08420382199995 meters 0.01211893458865216 Centerline is valid? [True, True] Translation: X:237.08, Y:-21.64, Z:-6.77 [[ 9.91252014e-01 1.30914052e-01 1.67617630e-02 2.37081657e+02] [-1.30895775e-01 9.91393721e-01 -2.18760566e-03 -2.16396470e+01] [-1.69038949e-02 -2.55754524e-05 9.99857119e-01 -6.76970238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14420382199995 meters 0.013809752483338935 Centerline is valid? [True, True] Translation: X:237.14, Y:-21.66, Z:-6.77 [[ 9.92072920e-01 1.24600334e-01 1.63119237e-02 2.37139263e+02] [-1.24582180e-01 9.92207010e-01 -2.12836320e-03 -2.16570700e+01] [-1.64499999e-02 7.93164719e-05 9.99864686e-01 -6.77439062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.20420382199995 meters 0.017299959979513817 Centerline is valid? [True, True] Translation: X:237.20, Y:-21.68, Z:-6.77 [[ 9.92870171e-01 1.18095163e-01 1.61973930e-02 2.37199067e+02] [-1.18076436e-01 9.93002265e-01 -2.11104946e-03 -2.16765021e+01] [-1.63333527e-02 1.83467598e-04 9.99866585e-01 -6.77377849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26420382199996 meters 0.019984358706734852 Centerline is valid? [True, True] Translation: X:237.26, Y:-21.69, Z:-6.78 [[ 9.93291005e-01 1.14637980e-01 1.52024104e-02 2.37260316e+02] [-1.14621021e-01 9.93407309e-01 -1.98504325e-03 -2.16877948e+01] [-1.53297469e-02 2.29209805e-04 9.99882466e-01 -6.77642516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.32420382199996 meters 0.019865762805332046 Centerline is valid? [True, True] Translation: X:237.32, Y:-21.70, Z:-6.78 [[ 9.93252883e-01 1.14994897e-01 1.49961648e-02 2.37321903e+02] [-1.14978456e-01 9.93366058e-01 -1.95677438e-03 -2.17002043e+01] [-1.51217001e-02 2.19335918e-04 9.99885636e-01 -6.77880792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.38420382199996 meters 0.01928808319842792 Centerline is valid? [True, True] Translation: X:237.38, Y:-21.71, Z:-6.78 [[ 9.93092771e-01 1.16309642e-01 1.54536716e-02 2.37382599e+02] [-1.16292283e-01 9.93212980e-01 -2.02027728e-03 -2.17096988e+01] [-1.55837649e-02 2.09180022e-04 9.99878544e-01 -6.78058039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.44420382199996 meters 0.017021512764538976 Centerline is valid? [True, True] Translation: X:237.44, Y:-21.71, Z:-6.78 [[ 9.92648788e-01 1.19789461e-01 1.72877982e-02 2.37443536e+02] [-1.19768175e-01 9.92799302e-01 -2.26510522e-03 -2.17100685e+01] [-1.74346498e-02 1.77925897e-04 9.99847989e-01 -6.77952777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.50420382199997 meters 0.017731982223666204 Centerline is valid? [True, True] Translation: X:237.50, Y:-21.72, Z:-6.78 [[ 9.92754407e-01 1.19077218e-01 1.61029161e-02 2.37504751e+02] [-1.19058686e-01 9.92884981e-01 -2.10804709e-03 -2.17229150e+01] [-1.62393639e-02 1.75581005e-04 9.99868117e-01 -6.78307053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.56420382199997 meters 0.021339103544183467 Centerline is valid? [True, True] Translation: X:237.56, Y:-21.74, Z:-6.79 [[ 9.93228493e-01 1.15035890e-01 1.62451463e-02 2.37564203e+02] [-1.15016441e-01 9.93361305e-01 -2.12960800e-03 -2.17437695e+01] [-1.63822810e-02 2.46728438e-04 9.99865771e-01 -6.78583759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.62420382199997 meters 0.026097521018526665 Centerline is valid? [True, True] Translation: X:237.62, Y:-21.76, Z:-6.79 [[ 9.93965529e-01 1.08495362e-01 1.61642680e-02 2.37623506e+02] [-1.08475172e-01 9.94096891e-01 -2.12318509e-03 -2.17634126e+01] [-1.62992043e-02 3.56951027e-04 9.99867095e-01 -6.78648295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68420382199994 meters 0.040237869830132306 Centerline is valid? [True, True] Translation: X:237.68, Y:-21.79, Z:-6.80 [[ 9.94566108e-01 1.03098472e-01 1.44555093e-02 2.37680081e+02] [-1.03081746e-01 9.94671074e-01 -1.89946657e-03 -2.17907339e+01] [-1.45743091e-02 3.99045937e-04 9.99893709e-01 -6.79621998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74420382199995 meters 0.0312270881521947 Centerline is valid? [True, True] Translation: X:237.74, Y:-21.80, Z:-6.79 [[ 9.94520530e-01 1.03568308e-01 1.42310035e-02 2.37741915e+02] [-1.03552188e-01 9.94622269e-01 -1.86689805e-03 -2.18040343e+01] [-1.43478245e-02 3.83016875e-04 9.99896991e-01 -6.79301770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.80420382199995 meters 0.029466923003288233 Centerline is valid? [True, True] Translation: X:237.80, Y:-21.81, Z:-6.79 [[ 9.94124832e-01 1.07104710e-01 1.56332591e-02 2.37801975e+02] [-1.07085600e-01 9.94247677e-01 -2.05684049e-03 -2.18139491e+01] [-1.57636289e-02 3.70659274e-04 9.99875678e-01 -6.79355036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86420382199995 meters 0.022375654372951564 Centerline is valid? [True, True] Translation: X:237.86, Y:-21.82, Z:-6.80 [[ 9.93219402e-01 1.15462642e-01 1.35498132e-02 2.37862011e+02] [-1.15449055e-01 9.93311802e-01 -1.78332173e-03 -2.18158657e+01] [-1.36650964e-02 2.06916618e-04 9.99906607e-01 -6.80085912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92420382199995 meters 0.015480562437942373 Centerline is valid? [True, True] Translation: X:237.92, Y:-21.82, Z:-6.80 [[ 9.92208348e-01 1.23811570e-01 1.39028860e-02 2.37924136e+02] [-1.23798089e-01 9.92305742e-01 -1.82943373e-03 -2.18150319e+01] [-1.40224186e-02 9.40287030e-05 9.99901677e-01 -6.80200982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98420382199996 meters 0.013540670355366205 Centerline is valid? [True, True] Translation: X:237.99, Y:-21.81, Z:-6.80 [[ 9.91388319e-01 1.30307261e-01 1.30084391e-02 2.37986653e+02] [-1.30296045e-01 9.91473660e-01 -1.70971466e-03 -2.18137436e+01] [-1.31203129e-02 4.29868878e-08 9.99913925e-01 -6.80482394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04420382199996 meters 0.014362881165096635 Centerline is valid? [True, True] Translation: X:238.05, Y:-21.82, Z:-6.81 [[ 9.90847796e-01 1.34485218e-01 1.15918452e-02 2.38047545e+02] [-1.34476551e-01 9.90915599e-01 -1.52744542e-03 -2.18184132e+01] [-1.16919591e-02 -4.53654308e-05 9.99931646e-01 -6.80876299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.10420382199996 meters 0.014835311318565718 Centerline is valid? [True, True] Translation: X:238.11, Y:-21.82, Z:-6.81 [[ 9.90672653e-01 1.35726935e-01 1.20786074e-02 2.38107388e+02] [-1.35717620e-01 9.90746282e-01 -1.59135961e-03 -2.18231975e+01] [-1.21828258e-02 -6.27634153e-05 9.99925785e-01 -6.81023184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.16420382199996 meters 0.014434602551784777 Centerline is valid? [True, True] Translation: X:238.17, Y:-21.83, Z:-6.81 [[ 9.90807036e-01 1.34733175e-01 1.21814958e-02 2.38168417e+02] [-1.34723609e-01 9.90881915e-01 -1.60620252e-03 -2.18325672e+01] [-1.22868327e-02 -4.96983262e-05 9.99924513e-01 -6.81268417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.22420382199996 meters 0.013207457811609548 Centerline is valid? [True, True] Translation: X:238.23, Y:-21.84, Z:-6.81 [[ 9.91229655e-01 1.31432466e-01 1.37578094e-02 2.38229770e+02] [-1.31419971e-01 9.91325127e-01 -1.81228572e-03 -2.18449940e+01] [-1.38766554e-02 -1.16595728e-05 9.99903715e-01 -6.81203402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.28420382199997 meters 0.013842588821516939 Centerline is valid? [True, True] Translation: X:238.29, Y:-21.86, Z:-6.81 [[ 9.91697915e-01 1.27931309e-01 1.29933173e-02 2.38291009e+02] [-1.27919839e-01 9.91783030e-01 -1.71347763e-03 -2.18564223e+01] [-1.31057590e-02 3.71491399e-05 9.99914115e-01 -6.81427421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.34420382199997 meters 0.014442663463093235 Centerline is valid? [True, True] Translation: X:238.35, Y:-21.87, Z:-6.81 [[ 9.91997640e-01 1.25434229e-01 1.43852679e-02 2.38351765e+02] [-1.25419863e-01 9.92101934e-01 -1.90007517e-03 -2.18689398e+01] [-1.45099866e-02 8.06717490e-05 9.99894721e-01 -6.81337057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40420382199994 meters 0.016602578500712232 Centerline is valid? [True, True] Translation: X:238.41, Y:-21.88, Z:-6.81 [[ 9.92283478e-01 1.22886748e-01 1.65029121e-02 2.38412250e+02] [-1.22867412e-01 9.92420691e-01 -2.18435655e-03 -2.18797151e+01] [-1.66462599e-02 1.39830813e-04 9.99861432e-01 -6.81356498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46420382199994 meters 0.01616957190881848 Centerline is valid? [True, True] Translation: X:238.47, Y:-21.89, Z:-6.82 [[ 9.92247938e-01 1.23267860e-01 1.57817857e-02 2.38474630e+02] [-1.23250222e-01 9.92373427e-01 -2.08910138e-03 -2.18861672e+01] [-1.59189438e-02 1.27797940e-04 9.99873277e-01 -6.81558674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52420382199995 meters 0.014544571923134847 Centerline is valid? [True, True] Translation: X:238.54, Y:-21.89, Z:-6.82 [[ 9.91849548e-01 1.26558177e-01 1.47479599e-02 2.38536626e+02] [-1.26543096e-01 9.91959184e-01 -1.95505217e-03 -2.18876341e+01] [-1.48768021e-02 7.28650959e-05 9.99889332e-01 -6.82062445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58420382199995 meters 0.013644507624536598 Centerline is valid? [True, True] Translation: X:238.60, Y:-21.89, Z:-6.82 [[ 9.91490413e-01 1.29247508e-01 1.55512888e-02 2.38598013e+02] [-1.29231023e-01 9.91612364e-01 -2.06460269e-03 -2.18890502e+01] [-1.56876950e-02 3.73248212e-05 9.99876940e-01 -6.82175748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64420382199995 meters 0.012563672045256975 Centerline is valid? [True, True] Translation: X:238.66, Y:-21.88, Z:-6.82 [[ 9.90957234e-01 1.33243416e-01 1.58098947e-02 2.38660532e+02] [-1.33226819e-01 9.91083342e-01 -2.10311087e-03 -2.18848426e+01] [-1.59491490e-02 -2.22090477e-05 9.99872804e-01 -6.81966582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70420382199995 meters 0.013520156172146613 Centerline is valid? [True, True] Translation: X:238.72, Y:-21.89, Z:-6.82 [[ 9.90679092e-01 1.35494065e-01 1.40105112e-02 2.38721609e+02] [-1.35481247e-01 9.90778157e-01 -1.86438305e-03 -2.18856671e+01] [-1.41339213e-02 -5.11562204e-05 9.99900110e-01 -6.82456769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76420382199996 meters 0.013644999601701013 Centerline is valid? [True, True] Translation: X:238.78, Y:-21.89, Z:-6.83 [[ 9.90610884e-01 1.35931886e-01 1.45807641e-02 2.38782084e+02] [-1.35918051e-01 9.90718183e-01 -1.94026678e-03 -2.18871096e+01] [-1.47091722e-02 -5.97396464e-05 9.99891812e-01 -6.82572398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.82420382199996 meters 0.013371930869132685 Centerline is valid? [True, True] Translation: X:238.84, Y:-21.89, Z:-6.83 [[ 9.91101486e-01 1.32313288e-01 1.45271718e-02 2.38840957e+02] [-1.32299168e-01 9.91207947e-01 -1.93294555e-03 -2.18945800e+01] [-1.46552025e-02 -6.18753871e-06 9.99892607e-01 -6.82951617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.88420382199996 meters 0.014148165569744416 Centerline is valid? [True, True] Translation: X:238.90, Y:-21.91, Z:-6.83 [[ 9.91666493e-01 1.28011333e-01 1.45142812e-02 2.38900798e+02] [-1.27996772e-01 9.91772703e-01 -1.93161365e-03 -2.19052159e+01] [-1.46421363e-02 5.77353942e-05 9.99892797e-01 -6.83172459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.94420382199996 meters 0.016720785830640905 Centerline is valid? [True, True] Translation: X:238.96, Y:-21.92, Z:-6.83 [[ 9.92382963e-01 1.22201364e-01 1.55846627e-02 2.38962482e+02] [-1.22183895e-01 9.92505317e-01 -2.07177380e-03 -2.19165620e+01] [-1.57210341e-02 1.51798240e-04 9.99876405e-01 -6.83076140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.00420382199997 meters 0.02015340785443352 Centerline is valid? [True, True] Translation: X:239.02, Y:-21.93, Z:-6.83 [[ 9.92825431e-01 1.18273402e-01 1.75802989e-02 2.39022462e+02] [-1.18250474e-01 9.92981038e-01 -2.34168071e-03 -2.19292544e+01] [-1.77338620e-02 2.46001478e-04 9.99842712e-01 -6.82869569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.06420382199997 meters 0.021028462644034823 Centerline is valid? [True, True] Translation: X:239.08, Y:-21.93, Z:-6.83 [[ 9.92857923e-01 1.18150675e-01 1.65397160e-02 2.39083306e+02] [-1.18130355e-01 9.92995651e-01 -2.20368738e-03 -2.19328512e+01] [-1.66842332e-02 2.34105960e-04 9.99860781e-01 -6.83197621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.12420382199997 meters 0.018421964504440735 Centerline is valid? [True, True] Translation: X:239.14, Y:-21.94, Z:-6.84 [[ 9.92434880e-01 1.20200209e-01 2.49983586e-02 2.39143557e+02] [-1.20612169e-01 9.92575915e-01 1.56766828e-02 -2.19382086e+01] [-2.29284281e-02 -1.85731930e-02 9.99564567e-01 -6.84080949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18420382199994 meters 0.01893236434151649 Centerline is valid? [True, True] Translation: X:239.21, Y:-21.92, Z:-6.84 [[ 9.92556350e-01 1.21305316e-01 1.08126142e-02 2.39207893e+02] [-1.21066952e-01 9.92432757e-01 -2.04943050e-02 -2.19174728e+01] [-1.32168607e-02 1.90327023e-02 9.99731499e-01 -6.84135504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24420382199995 meters 0.020841084012793856 Centerline is valid? [True, True] Translation: X:239.27, Y:-21.93, Z:-6.85 [[ 9.92790154e-01 1.19206935e-01 1.25465605e-02 2.39265531e+02] [-1.19195267e-01 9.92869417e-01 -1.67631124e-03 -2.19308939e+01] [-1.26569242e-02 1.68734656e-04 9.99919884e-01 -6.84568994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30420382199995 meters 0.025553454281515488 Centerline is valid? [True, True] Translation: X:239.33, Y:-21.94, Z:-6.85 [[ 9.93370600e-01 1.14388648e-01 1.14055904e-02 2.39325152e+02] [-1.14378678e-01 9.93436054e-01 -1.52480845e-03 -2.19424045e+01] [-1.15051455e-02 2.10143536e-04 9.99933792e-01 -6.84969445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36420382199995 meters 0.02802538246137176 Centerline is valid? [True, True] Translation: X:239.38, Y:-21.95, Z:-6.85 [[ 9.93866370e-01 1.09996066e-01 1.14238163e-02 2.39384911e+02] [-1.09985773e-01 9.93931988e-01 -1.52724507e-03 -2.19536819e+01] [-1.15224874e-02 2.61420240e-04 9.99933580e-01 -6.84966670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42420382199995 meters 0.03462780448768875 Centerline is valid? [True, True] Translation: X:239.44, Y:-21.97, Z:-6.85 [[ 9.94472587e-01 1.04342292e-01 1.17029809e-02 2.39443329e+02] [-1.04331109e-01 9.94541389e-01 -1.56375974e-03 -2.19698903e+01] [-1.18022651e-02 3.34131220e-04 9.99930295e-01 -6.85283359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48420382199996 meters 0.03402122070577805 Centerline is valid? [True, True] Translation: X:239.50, Y:-21.98, Z:-6.85 [[ 9.94626626e-01 1.02835764e-01 1.19449036e-02 2.39504594e+02] [-1.02824021e-01 9.94698285e-01 -1.59475895e-03 -2.19775934e+01] [-1.20455734e-02 3.57966692e-04 9.99927385e-01 -6.85224038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54420382199996 meters 0.029200002888698843 Centerline is valid? [True, True] Translation: X:239.57, Y:-21.98, Z:-6.86 [[ 9.94244221e-01 1.06751351e-01 9.08719361e-03 2.39565909e+02] [-1.06744693e-01 9.94285719e-01 -1.21600586e-03 -2.19838139e+01] [-9.16507710e-03 2.38997104e-04 9.99957971e-01 -6.85715887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.60420382199996 meters 0.02632246076885816 Centerline is valid? [True, True] Translation: X:239.63, Y:-21.98, Z:-6.86 [[ 9.93400357e-01 1.14359328e-01 8.81335493e-03 2.39625753e+02] [-1.14353351e-01 9.93439438e-01 -1.18079461e-03 -2.19836867e+01] [-8.89056925e-03 1.65165120e-04 9.99960464e-01 -6.86406931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.66420382199996 meters 0.021747054643306472 Centerline is valid? [True, True] Translation: X:239.68, Y:-21.98, Z:-6.87 [[ 9.92777991e-01 1.19721387e-01 7.65835250e-03 2.39684981e+02] [-1.19717029e-01 9.92807524e-01 -1.02660838e-03 -2.19822191e+01] [-7.72617696e-03 1.02358995e-04 9.99970147e-01 -6.86738988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.72420382199996 meters 0.019830100642546578 Centerline is valid? [True, True] Translation: X:239.74, Y:-21.99, Z:-6.87 [[ 9.92539401e-01 1.21800783e-01 5.48690018e-03 2.39743921e+02] [-1.21798577e-01 9.92554565e-01 -7.35700989e-04 -2.19854180e+01] [-5.53565678e-03 6.19155848e-05 9.99984676e-01 -6.87050301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.78420382199997 meters 0.020397546087095857 Centerline is valid? [True, True] Translation: X:239.80, Y:-21.99, Z:-6.87 [[ 9.92530019e-01 1.21788809e-01 7.18662941e-03 2.39800637e+02] [-1.21785028e-01 9.92556033e-01 -9.63058632e-04 -2.19942763e+01] [-7.25042215e-03 8.06407357e-05 9.99973712e-01 -6.87304400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.84420382199997 meters 0.020628150841470246 Centerline is valid? [True, True] Translation: X:239.86, Y:-22.00, Z:-6.87 [[ 9.92794167e-01 1.19617509e-01 7.16895234e-03 2.39858596e+02] [-1.19613695e-01 9.92820045e-01 -9.59990841e-04 -2.20032781e+01] [-7.23231130e-03 9.55684296e-05 9.99973842e-01 -6.87162951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90420382199994 meters 0.023033032259501086 Centerline is valid? [True, True] Translation: X:239.92, Y:-22.02, Z:-6.87 [[ 9.93176759e-01 1.16278444e-01 8.90221945e-03 2.39916153e+02] [-1.16272436e-01 9.93216644e-01 -1.19128788e-03 -2.20185239e+01] [-8.98035362e-03 1.48076700e-04 9.99959665e-01 -6.87089462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96420382199994 meters 0.02283447075864685 Centerline is valid? [True, True] Translation: X:239.98, Y:-22.03, Z:-6.87 [[ 9.93128141e-01 1.16672272e-01 9.16927601e-03 2.39975331e+02] [-1.16665924e-01 9.93170458e-01 -1.22604540e-03 -2.20272042e+01] [-9.24969956e-03 1.47878133e-04 9.99957210e-01 -6.87329594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02420382199995 meters 0.019601400970960317 Centerline is valid? [True, True] Translation: X:240.03, Y:-22.03, Z:-6.87 [[ 9.92782691e-01 1.19578911e-01 9.13299405e-03 2.40034446e+02] [-1.19572738e-01 9.92824692e-01 -1.22099063e-03 -2.20342437e+01] [-9.21346673e-03 1.20121265e-04 9.99957548e-01 -6.87406907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08420382199995 meters 0.018736399180741624 Centerline is valid? [True, True] Translation: X:240.09, Y:-22.04, Z:-6.88 [[ 9.92357106e-01 1.23067109e-01 9.04766149e-03 2.40093026e+02] [-1.23061195e-01 9.92398347e-01 -1.20960461e-03 -2.20404771e+01] [-9.12774685e-03 8.69436971e-05 9.99958337e-01 -6.87994535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14420382199995 meters 0.02344952608601665 Centerline is valid? [True, True] Translation: X:240.15, Y:-22.05, Z:-6.89 [[ 9.92158282e-01 1.24768231e-01 7.40483221e-03 2.40150322e+02] [-1.24764314e-01 9.92185913e-01 -9.90346911e-04 -2.20461146e+01] [-7.47053404e-03 5.87220774e-05 9.99972093e-01 -6.88626974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.20420382199995 meters 0.016752964867055187 Centerline is valid? [True, True] Translation: X:240.21, Y:-22.06, Z:-6.88 [[ 9.92070013e-01 1.25438846e-01 7.88578069e-03 2.40208553e+02] [-1.25434432e-01 9.92101352e-01 -1.05390393e-03 -2.20556484e+01] [-7.95569418e-03 5.63980618e-05 9.99968351e-01 -6.88382006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.26420382199996 meters 0.016402294416978217 Centerline is valid? [True, True] Translation: X:240.27, Y:-22.06, Z:-6.88 [[ 9.92009802e-01 1.25833515e-01 9.08186032e-03 2.40265579e+02] [-1.25827680e-01 9.92051371e-01 -1.21331625e-03 -2.20644952e+01] [-9.16234783e-03 6.08722050e-05 9.99958023e-01 -6.88408259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.32420382199996 meters 0.016307421602426764 Centerline is valid? [True, True] Translation: X:240.32, Y:-22.07, Z:-6.89 [[ 9.91682019e-01 1.28427506e-01 8.55272195e-03 2.40323029e+02] [-1.28422431e-01 9.91718899e-01 -1.14218064e-03 -2.20668181e+01] [-8.62858340e-03 3.43186593e-05 9.99962772e-01 -6.88984369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.38420382199996 meters 0.016332872564930018 Centerline is valid? [True, True] Translation: X:240.38, Y:-22.08, Z:-6.89 [[ 9.91545189e-01 1.29523646e-01 7.85896728e-03 2.40380880e+02] [-1.29519400e-01 9.91576333e-01 -1.04890721e-03 -2.20752232e+01] [-7.92862425e-03 2.21501729e-05 9.99968568e-01 -6.89336267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.44420382199996 meters 0.015824696649841808 Centerline is valid? [True, True] Translation: X:240.44, Y:-22.08, Z:-6.89 [[ 9.91494905e-01 1.29964564e-01 6.86047176e-03 2.40439032e+02] [-1.29961340e-01 9.91518639e-01 -9.15540578e-04 -2.20820522e+01] [-6.92127345e-03 1.61577180e-05 9.99976048e-01 -6.89488280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.50420382199997 meters 0.016944386161047167 Centerline is valid? [True, True] Translation: X:240.50, Y:-22.09, Z:-6.90 [[ 9.91422469e-01 1.30562999e-01 5.89848407e-03 2.40496408e+02] [-1.30560625e-01 9.91440015e-01 -7.87336055e-04 -2.20870541e+01] [-5.95079009e-03 1.04728884e-05 9.99982294e-01 -6.90130631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.56420382199997 meters 0.015951369337342078 Centerline is valid? [True, True] Translation: X:240.56, Y:-22.09, Z:-6.90 [[ 9.91439685e-01 1.30402582e-01 6.52049164e-03 2.40555177e+02] [-1.30399684e-01 9.91461127e-01 -8.69507662e-04 -2.20946316e+01] [-6.57820003e-03 1.17943536e-05 9.99978363e-01 -6.90052816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.62420382199997 meters 0.018112702988449487 Centerline is valid? [True, True] Translation: X:240.61, Y:-22.11, Z:-6.90 [[ 9.91574678e-01 1.29384389e-01 6.27202939e-03 2.40613159e+02] [-1.29381689e-01 9.91594514e-01 -8.36128063e-04 -2.21064510e+01] [-6.32749185e-03 1.75976602e-05 9.99979981e-01 -6.90265191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68420382199994 meters 0.01720624555573761 Centerline is valid? [True, True] Translation: X:240.67, Y:-22.12, Z:-6.90 [[ 9.92004957e-01 1.26054423e-01 6.03721122e-03 2.40670263e+02] [-1.26051861e-01 9.92023327e-01 -8.04567654e-04 -2.21204758e+01] [-6.09047367e-03 3.71333946e-05 9.99981452e-01 -6.90482135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74420382199995 meters 0.01784728703433298 Centerline is valid? [True, True] Translation: X:240.73, Y:-22.13, Z:-6.91 [[ 9.92157973e-01 1.24878711e-01 5.27861250e-03 2.40728058e+02] [-1.24876736e-01 9.92172014e-01 -7.03392434e-04 -2.21309685e+01] [-5.32513034e-03 3.87005104e-05 9.99985821e-01 -6.90774328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.80420382199995 meters 0.017332340025811122 Centerline is valid? [True, True] Translation: X:240.78, Y:-22.14, Z:-6.91 [[ 9.92051427e-01 1.25655880e-01 6.67582185e-03 2.40784779e+02] [-1.25652742e-01 9.92073887e-01 -8.89115621e-04 -2.21427593e+01] [-6.73463114e-03 4.32131004e-05 9.99977321e-01 -6.90857194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.86420382199995 meters 0.017034039273050413 Centerline is valid? [True, True] Translation: X:240.84, Y:-22.15, Z:-6.91 [[ 9.91740093e-01 1.28116172e-01 6.15102124e-03 2.40842090e+02] [-1.28113557e-01 9.91759167e-01 -8.18963545e-04 -2.21466321e+01] [-6.20525418e-03 2.41697716e-05 9.99980747e-01 -6.91407420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92420382199995 meters 0.018789748491176598 Centerline is valid? [True, True] Translation: X:240.90, Y:-22.15, Z:-6.92 [[ 9.91408102e-01 1.30718081e-01 4.77058832e-03 2.40899498e+02] [-1.30716538e-01 9.91419580e-01 -6.35243990e-04 -2.21487351e+01] [-4.81269255e-03 6.19124834e-06 9.99988419e-01 -6.92482453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98420382199996 meters 0.016767510766896927 Centerline is valid? [True, True] Translation: X:240.96, Y:-22.16, Z:-6.92 [[ 9.91402302e-01 1.30764803e-01 4.69495623e-03 2.40957370e+02] [-1.30763311e-01 9.91413418e-01 -6.24675164e-04 -2.21576172e+01] [-4.73632813e-03 5.37637416e-06 9.99988784e-01 -6.92010409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04420382199996 meters 0.017905223039114997 Centerline is valid? [True, True] Translation: X:241.01, Y:-22.16, Z:-6.93 [[ 9.91495716e-01 1.30098001e-01 3.27953060e-03 2.41014720e+02] [-1.30097268e-01 9.91501140e-01 -4.36915632e-04 -2.21626718e+01] [-3.30850018e-03 6.54200672e-06 9.99994527e-01 -6.92629330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.10420382199996 meters 0.01674283236821371 Centerline is valid? [True, True] Translation: X:241.07, Y:-22.17, Z:-6.92 [[ 9.91563353e-01 1.29529717e-01 4.91630448e-03 2.41073203e+02] [-1.29528069e-01 9.91575540e-01 -6.53511373e-04 -2.21674937e+01] [-4.95953641e-03 1.11985036e-05 9.99987701e-01 -6.92481451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.16420382199996 meters 0.024529103270772207 Centerline is valid? [True, True] Translation: X:241.13, Y:-22.18, Z:-6.93 [[ 9.92203991e-01 1.24528632e-01 4.88477390e-03 2.41129802e+02] [-1.24526944e-01 9.92216014e-01 -6.49392831e-04 -2.21845735e+01] [-4.92761889e-03 3.60441936e-05 9.99987859e-01 -6.92715658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.22420382199996 meters 0.021699591134007015 Centerline is valid? [True, True] Translation: X:241.19, Y:-22.20, Z:-6.93 [[ 9.92661445e-01 1.20836983e-01 4.65607490e-03 2.41187074e+02] [-1.20835412e-01 9.92672363e-01 -6.18159941e-04 -2.21992146e+01] [-4.69665346e-03 5.10048087e-05 9.99988969e-01 -6.93089719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.28420382199997 meters 0.019687080434251263 Centerline is valid? [True, True] Translation: X:241.25, Y:-22.21, Z:-6.93 [[ 9.92894133e-01 1.18875171e-01 5.47117296e-03 2.41245734e+02] [-1.18872973e-01 9.92909205e-01 -7.26335441e-04 -2.22073074e+01] [-5.51872124e-03 7.07996044e-05 9.99984769e-01 -6.92502547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.34420382199997 meters 0.020084461264113295 Centerline is valid? [True, True] Translation: X:241.30, Y:-22.21, Z:-6.93 [[ 9.92706029e-01 1.20439033e-01 5.40180373e-03 2.41304123e+02] [-1.20436919e-01 9.92720724e-01 -7.16213734e-04 -2.22149664e+01] [-5.44874260e-03 6.04130926e-05 9.99985154e-01 -6.92953302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40420382199994 meters 0.019006088216374395 Centerline is valid? [True, True] Translation: X:241.36, Y:-22.22, Z:-6.93 [[ 9.92369340e-01 1.23245066e-01 3.70766742e-03 2.41362936e+02] [-1.23244086e-01 9.92376266e-01 -4.92365969e-04 -2.22191076e+01] [-3.74008283e-03 3.16608079e-05 9.99993005e-01 -6.93458561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46420382199994 meters 0.017794087398679326 Centerline is valid? [True, True] Translation: X:241.42, Y:-22.22, Z:-6.94 [[ 9.91901707e-01 1.26969483e-01 3.12305882e-03 2.41421888e+02] [-1.26968806e-01 9.91906624e-01 -4.14802238e-04 -2.22187110e+01] [-3.15044996e-03 1.49119991e-05 9.99995037e-01 -6.93651928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52420382199995 meters 0.017360811421284577 Centerline is valid? [True, True] Translation: X:241.48, Y:-22.22, Z:-6.94 [[ 9.91684678e-01 1.28660438e-01 2.82688037e-03 2.41480551e+02] [-1.28659890e-01 9.91688707e-01 -3.75470474e-04 -2.22241533e+01] [-2.85169354e-03 8.64219771e-06 9.99995934e-01 -6.93880831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.58420382199995 meters 0.01845195286968225 Centerline is valid? [True, True] Translation: X:241.54, Y:-22.23, Z:-6.94 [[ 9.91944068e-01 1.26627732e-01 3.51906158e-03 2.41537460e+02] [-1.26626872e-01 9.91950310e-01 -4.67171429e-04 -2.22335860e+01] [-3.54989109e-03 1.78001688e-05 9.99993699e-01 -6.94209412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64420382199995 meters 0.019080589013452935 Centerline is valid? [True, True] Translation: X:241.59, Y:-22.25, Z:-6.94 [[ 9.92598016e-01 1.21273549e-01 6.47346983e-03 2.41594685e+02] [-1.21270537e-01 9.92619122e-01 -8.57184759e-04 -2.22482106e+01] [-6.52964378e-03 6.57987252e-05 9.99978679e-01 -6.93594562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.70420382199995 meters 0.025597687182339263 Centerline is valid? [True, True] Translation: X:241.65, Y:-22.27, Z:-6.94 [[ 9.93367850e-01 1.14860227e-01 5.23860016e-03 2.41651459e+02] [-1.14858171e-01 9.93381659e-01 -6.92612775e-04 -2.22711224e+01] [-5.28348298e-03 8.63232274e-05 9.99986039e-01 -6.94290924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76420382199996 meters 0.0383374682854503 Centerline is valid? [True, True] Translation: X:241.71, Y:-22.29, Z:-6.95 [[ 9.93744800e-01 1.11519638e-01 5.88572910e-03 2.41708841e+02] [-1.11516982e-01 9.93762223e-01 -7.78570318e-04 -2.22874534e+01] [-5.93584112e-03 1.17341459e-04 9.99982376e-01 -6.94706344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.82420382199996 meters 0.028736217440912117 Centerline is valid? [True, True] Translation: X:241.77, Y:-22.31, Z:-6.94 [[ 9.94025658e-01 1.08923818e-01 6.97081384e-03 2.41767687e+02] [-1.08920038e-01 9.94050088e-01 -9.20756494e-04 -2.23093246e+01] [-7.02963042e-03 1.55994270e-04 9.99975280e-01 -6.94026214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.88420382199996 meters 0.03015257477993411 Centerline is valid? [True, True] Translation: X:241.83, Y:-22.32, Z:-6.95 [[ 9.93781141e-01 1.11276432e-01 4.07430145e-03 2.41828544e+02] [-1.11275161e-01 9.93789489e-01 -5.37957236e-04 -2.23177279e+01] [-4.10885992e-03 8.12432050e-05 9.99991555e-01 -6.94721547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.94420382199996 meters 0.023340883109111386 Centerline is valid? [True, True] Translation: X:241.89, Y:-22.32, Z:-6.95 [[ 9.92822913e-01 1.19525514e-01 4.03925117e-03 2.41889457e+02] [-1.19524329e-01 9.92831128e-01 -5.34357948e-04 -2.23175524e+01] [-4.07416370e-03 4.77340279e-05 9.99991699e-01 -6.94863529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.00420382199997 meters 0.01725283910082753 Centerline is valid? [True, True] Translation: X:241.95, Y:-22.32, Z:-6.95 [[ 9.91654309e-01 1.28863528e-01 3.99019647e-03 2.41948475e+02] [-1.28862447e-01 9.91662337e-01 -5.27858453e-04 -2.23195540e+01] [-4.02494926e-03 9.26662893e-06 9.99991900e-01 -6.94997201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.06420382199997 meters 0.017767686568635227 Centerline is valid? [True, True] Translation: X:242.01, Y:-22.32, Z:-6.95 [[ 9.90871920e-01 1.34762485e-01 3.45117684e-03 2.42007907e+02] [-1.34761709e-01 9.90877930e-01 -4.57470970e-04 -2.23181671e+01] [-3.48134489e-03 -1.17913509e-05 9.99993940e-01 -6.95294453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.12420382199997 meters 0.019304634272496127 Centerline is valid? [True, True] Translation: X:242.07, Y:-22.32, Z:-6.96 [[ 9.90605223e-01 1.36697193e-01 3.89470240e-03 2.42065239e+02] [-1.36696220e-01 9.90612880e-01 -5.16181558e-04 -2.23248201e+01] [-3.92870293e-03 -2.10589481e-05 9.99992282e-01 -6.95699272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18420382199994 meters 0.026888537922112377 Centerline is valid? [True, True] Translation: X:242.12, Y:-22.33, Z:-6.96 [[ 9.90445272e-01 1.37872809e-01 3.04158366e-03 2.42123731e+02] [-1.37872221e-01 9.90449942e-01 -4.03012178e-04 -2.23331883e+01] [-3.06810078e-03 -2.01883890e-05 9.99995293e-01 -6.96042598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24420382199995 meters 0.019260766673901288 Centerline is valid? [True, True] Translation: X:242.18, Y:-22.34, Z:-6.96 [[ 9.90487197e-01 1.37571668e-01 3.02460644e-03 2.42181620e+02] [-1.37571086e-01 9.90491815e-01 -4.00612761e-04 -2.23426070e+01] [-3.05096089e-03 -1.92965801e-05 9.99995346e-01 -6.95985419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.30420382199995 meters 0.024456149250340658 Centerline is valid? [True, True] Translation: X:242.24, Y:-22.35, Z:-6.96 [[ 9.90627779e-01 1.36541177e-01 3.62085796e-03 2.42239722e+02] [-1.36540338e-01 9.90634396e-01 -4.79151830e-04 -2.23548403e+01] [-3.65237040e-03 -1.97320561e-05 9.99993330e-01 -6.96135478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.36420382199995 meters 0.027147399439569873 Centerline is valid? [True, True] Translation: X:242.30, Y:-22.36, Z:-6.96 [[ 9.90735819e-01 1.35757057e-01 3.54371105e-03 2.42298259e+02] [-1.35756249e-01 9.90742157e-01 -4.68790745e-04 -2.23634353e+01] [-3.57454558e-03 -1.66331352e-05 9.99993611e-01 -6.96439202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42420382199995 meters 0.018324024367662034 Centerline is valid? [True, True] Translation: X:242.36, Y:-22.38, Z:-6.97 [[ 9.91160179e-01 1.32618198e-01 3.72993319e-03 2.42355424e+02] [-1.32617283e-01 9.91167198e-01 -4.92829021e-04 -2.23776486e+01] [-3.76234553e-03 -6.18110397e-06 9.99992922e-01 -6.96600481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48420382199996 meters 0.01788819930518263 Centerline is valid? [True, True] Translation: X:242.41, Y:-22.39, Z:-6.97 [[ 9.91337734e-01 1.31274489e-01 4.06266568e-03 2.42414544e+02] [-1.31273394e-01 9.91346059e-01 -5.36202791e-04 -2.23880197e+01] [-4.09789736e-03 -1.76185301e-06 9.99991604e-01 -6.96634028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54420382199996 meters 0.026605660486052136 Centerline is valid? [True, True] Translation: X:242.47, Y:-22.40, Z:-6.97 [[ 9.91917860e-01 1.26821972e-01 3.89195832e-03 2.42473173e+02] [-1.26820935e-01 9.91925495e-01 -5.13004478e-04 -2.24031097e+01] [-3.92559292e-03 1.52765102e-05 9.99992295e-01 -6.96544313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.60420382199996 meters 0.019428697524923343 Centerline is valid? [True, True] Translation: X:242.53, Y:-22.42, Z:-6.97 [[ 9.92365730e-01 1.23292954e-01 3.01768055e-03 2.42531367e+02] [-1.23292313e-01 9.92370317e-01 -3.98093876e-04 -2.24163206e+01] [-3.04373878e-03 2.29979042e-05 9.99995368e-01 -6.96802385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.66420382199996 meters 0.018563138825418986 Centerline is valid? [True, True] Translation: X:242.59, Y:-22.43, Z:-6.97 [[ 9.92500514e-01 1.22193302e-01 3.39503996e-03 2.42590991e+02] [-1.22192487e-01 9.92506320e-01 -4.47461525e-04 -2.24265546e+01] [-3.42427542e-03 2.92574195e-05 9.99994137e-01 -6.96602752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.72420382199996 meters 0.019247404395010815 Centerline is valid? [True, True] Translation: X:242.65, Y:-22.44, Z:-6.97 [[ 9.92455724e-01 1.22530928e-01 4.21999426e-03 2.42649774e+02] [-1.22529669e-01 9.92464695e-01 -5.56507120e-04 -2.24368344e+01] [-4.25638465e-03 3.52341755e-05 9.99990941e-01 -6.96809241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.78420382199997 meters 0.020480398720529522 Centerline is valid? [True, True] Translation: X:242.71, Y:-22.44, Z:-6.97 [[ 9.92417463e-01 1.22894469e-01 2.12801863e-03 2.42709142e+02] [-1.22894149e-01 9.92419744e-01 -2.80772395e-04 -2.24432570e+01] [-2.14639308e-03 1.71223885e-05 9.99997696e-01 -6.97455186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.84420382199997 meters 0.02125815821705373 Centerline is valid? [True, True] Translation: X:242.77, Y:-22.46, Z:-6.98 [[ 9.92481625e-01 1.22374092e-01 2.19230242e-03 2.42766962e+02] [-1.22373752e-01 9.92484046e-01 -2.89209475e-04 -2.24574774e+01] [-2.21121692e-03 1.87548175e-05 9.99997555e-01 -6.97820923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90420382199994 meters 0.02148438307394539 Centerline is valid? [True, True] Translation: X:242.83, Y:-22.47, Z:-6.98 [[ 9.92491162e-01 1.22306088e-01 1.58582951e-03 2.42826624e+02] [-1.22305910e-01 9.92492429e-01 -2.08950618e-04 -2.24700922e+01] [-1.59947971e-03 1.34253209e-05 9.99998721e-01 -6.97953195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96420382199994 meters 0.031368079358400754 Centerline is valid? [True, True] Translation: X:242.89, Y:-22.47, Z:-6.98 [[ 9.92113047e-01 1.25344267e-01 -7.18394715e-04 2.42887385e+02] [-1.25344232e-01 9.92113307e-01 9.46564678e-05 -2.24742162e+01] [ 7.24593602e-04 -3.86328322e-06 9.99999737e-01 -6.98290109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02420382199995 meters 0.02925556908232041 Centerline is valid? [True, True] Translation: X:242.95, Y:-22.48, Z:-6.99 [[ 9.91638463e-01 1.29041204e-01 1.23544780e-03 2.42945818e+02] [-1.29041101e-01 9.91639233e-01 -1.63496675e-04 -2.24823584e+01] [-1.24621631e-03 2.70604784e-06 9.99999223e-01 -6.98674808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.08420382199995 meters 0.018613324663217155 Centerline is valid? [True, True] Translation: X:243.01, Y:-22.49, Z:-6.98 [[ 9.91085385e-01 1.33222476e-01 1.23762054e-03 2.43005803e+02] [-1.33222375e-01 9.91086158e-01 -1.63731278e-04 -2.24860962e+01] [-1.24840127e-03 -2.60707123e-06 9.99999221e-01 -6.98198055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14420382199995 meters 0.022016773233715297 Centerline is valid? [True, True] Translation: X:243.06, Y:-22.48, Z:-6.99 [[ 9.90281287e-01 1.39062359e-01 2.15231905e-03 2.43064633e+02] [-1.39062068e-01 9.90283626e-01 -2.85136982e-04 -2.24826751e+01] [-2.17105813e-03 -1.69401201e-05 9.99997643e-01 -6.98542670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.20420382199995 meters 0.020948189765451274 Centerline is valid? [True, True] Translation: X:243.12, Y:-22.49, Z:-6.98 [[ 9.90155064e-01 1.39940155e-01 3.11476912e-03 2.43123502e+02] [-1.39939554e-01 9.90159963e-01 -4.11312689e-04 -2.24906424e+01] [-3.14167883e-03 -2.86160582e-05 9.99995065e-01 -6.98110739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.26420382199996 meters 0.019469377988641123 Centerline is valid? [True, True] Translation: X:243.18, Y:-22.50, Z:-6.98 [[ 9.90554660e-01 1.37114486e-01 1.04089865e-03 2.43182036e+02] [-1.37114418e-01 9.90555207e-01 -1.37335732e-04 -2.25046976e+01] [-1.04989830e-03 -6.68366351e-06 9.99999449e-01 -6.98460900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.32420382199996 meters 0.020005045439000415 Centerline is valid? [True, True] Translation: X:243.24, Y:-22.52, Z:-6.99 [[ 9.91007024e-01 1.33794272e-01 2.04254910e-03 2.43239433e+02] [-1.33794001e-01 9.91009128e-01 -2.69789920e-04 -2.25163143e+01] [-2.06028115e-03 -5.91711012e-06 9.99997878e-01 -6.99113032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.38420382199996 meters 0.019630974318093453 Centerline is valid? [True, True] Translation: X:243.30, Y:-22.53, Z:-6.99 [[ 9.91386556e-01 1.30960118e-01 1.46445324e-03 2.43298474e+02] [-1.30959976e-01 9.91387637e-01 -1.92645200e-04 -2.25316165e+01] [-1.47706967e-03 -7.98899677e-07 9.99998909e-01 -6.99111543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.44420382199996 meters 0.020640945802995768 Centerline is valid? [True, True] Translation: X:243.36, Y:-22.54, Z:-7.00 [[ 9.91524628e-01 1.29918504e-01 -3.07192422e-04 2.43357785e+02] [-1.29918498e-01 9.91524676e-01 4.04104029e-05 -2.25429010e+01] [ 3.09838925e-04 -1.57931700e-07 9.99999952e-01 -6.99718435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.50420382199997 meters 0.019954299367758315 Centerline is valid? [True, True] Translation: X:243.42, Y:-22.55, Z:-7.00 [[ 9.91111382e-01 1.33030971e-01 9.94515310e-04 2.43418055e+02] [-1.33030906e-01 9.91111881e-01 -1.31508714e-04 -2.25455648e+01] [-1.00317067e-03 -1.96148948e-06 9.99999497e-01 -6.99521589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.56420382199997 meters 0.020376089345593318 Centerline is valid? [True, True] Translation: X:243.48, Y:-22.55, Z:-6.99 [[ 9.90479776e-01 1.37638979e-01 2.30743584e-03 2.43477811e+02] [-1.37638642e-01 9.90482464e-01 -3.04803534e-04 -2.25455348e+01] [-2.32742759e-03 -1.56905998e-05 9.99997291e-01 -6.99209071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.62420382199997 meters 0.02393386191777908 Centerline is valid? [True, True] Translation: X:243.54, Y:-22.54, Z:-7.00 [[ 9.89897721e-01 1.41765456e-01 2.24893602e-03 2.43537154e+02] [-1.41765148e-01 9.89900275e-01 -2.96653431e-04 -2.25425205e+01] [-2.26827759e-03 -2.51641926e-05 9.99997427e-01 -6.99613500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68420382199994 meters 0.026444194490330572 Centerline is valid? [True, True] Translation: X:243.60, Y:-22.53, Z:-6.99 [[ 9.89295404e-01 1.45883492e-01 3.55097226e-03 2.43597814e+02] [-1.45882752e-01 9.89301776e-01 -4.67944335e-04 -2.25337859e+01] [-3.58124852e-03 -5.50904273e-05 9.99993586e-01 -6.99470231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74420382199995 meters 0.023826414153354427 Centerline is valid? [True, True] Translation: X:243.66, Y:-22.54, Z:-6.99 [[ 9.89470817e-01 1.44665859e-01 4.39218176e-03 2.43656652e+02] [-1.44664717e-01 9.89480563e-01 -5.78302612e-04 -2.25385963e+01] [-4.42963913e-03 -6.31801747e-05 9.99990187e-01 -6.99277428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.80420382199995 meters 0.02111704402638905 Centerline is valid? [True, True] Translation: X:243.71, Y:-22.55, Z:-7.00 [[ 9.90454161e-01 1.37782397e-01 4.07005977e-03 2.43714510e+02] [-1.37781361e-01 9.90462523e-01 -5.35164374e-04 -2.25522377e+01] [-4.10497790e-03 -3.07225940e-05 9.99991574e-01 -6.99867353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.86420382199995 meters 0.019173534790733138 Centerline is valid? [True, True] Translation: X:243.77, Y:-22.57, Z:-7.00 [[ 9.91612060e-01 1.29174372e-01 4.41625181e-03 2.43771142e+02] [-1.29173067e-01 9.91621894e-01 -5.80777840e-04 -2.25705785e+01] [-4.45427360e-03 5.44551965e-06 9.99990080e-01 -6.99944028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92420382199995 meters 0.02547093312148603 Centerline is valid? [True, True] Translation: X:243.83, Y:-22.59, Z:-7.00 [[ 9.92645482e-01 1.21000564e-01 3.71623411e-03 2.43829816e+02] [-1.20999584e-01 9.92652438e-01 -4.88169307e-04 -2.25859048e+01] [-3.74799761e-03 3.49162758e-05 9.99992976e-01 -7.00070509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98420382199996 meters 0.03265508816243724 Centerline is valid? [True, True] Translation: X:243.89, Y:-22.61, Z:-7.00 [[ 9.93681513e-01 1.12153742e-01 4.31151857e-03 2.43888560e+02] [-1.12152345e-01 9.93690863e-01 -5.65321045e-04 -2.26099770e+01] [-4.34771948e-03 7.82021539e-05 9.99990546e-01 -7.00122967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04420382199996 meters 0.029096273300130968 Centerline is valid? [True, True] Translation: X:243.95, Y:-22.63, Z:-7.00 [[ 9.93925420e-01 1.10004176e-01 3.36769372e-03 2.43948543e+02] [-1.10003323e-01 9.93931123e-01 -4.37967357e-04 -2.26257116e+01] [-3.39543384e-03 6.48493878e-05 9.99994233e-01 -7.00126547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.10420382199996 meters 0.028884023648369412 Centerline is valid? [True, True] Translation: X:244.01, Y:-22.64, Z:-7.00 [[ 9.94018966e-01 1.09126068e-01 4.21849108e-03 2.44010186e+02] [-1.09124718e-01 9.94027914e-01 -5.49549902e-04 -2.26412013e+01] [-4.25326811e-03 8.59213772e-05 9.99990951e-01 -6.99909241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.16420382199996 meters 0.026548549538666835 Centerline is valid? [True, True] Translation: X:244.07, Y:-22.65, Z:-7.00 [[ 9.93465958e-01 1.14098616e-01 2.62618082e-03 2.44070730e+02] [-1.14098113e-01 9.93469428e-01 -3.41169592e-04 -2.26534537e+01] [-2.64795733e-03 3.92981000e-05 9.99996493e-01 -7.00410200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.22420382199996 meters 0.024954169944787007 Centerline is valid? [True, True] Translation: X:244.13, Y:-22.66, Z:-7.01 [[ 9.93065406e-01 1.17513215e-01 3.42694103e-03 2.44130421e+02] [-1.17512357e-01 9.93071318e-01 -4.51471137e-04 -2.26633862e+01] [-3.45625067e-03 4.56324508e-05 9.99994026e-01 -7.00697880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.28420382199997 meters 0.02173373776306916 Centerline is valid? [True, True] Translation: X:244.19, Y:-22.68, Z:-7.00 [[ 9.92517497e-01 1.21964553e-01 5.80227934e-03 2.44189310e+02] [-1.21962165e-01 9.92534455e-01 -7.65005443e-04 -2.26761566e+01] [-5.85226571e-03 5.16227399e-05 9.99982874e-01 -7.00435047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.34420382199997 meters 0.02050477933645346 Centerline is valid? [True, True] Translation: X:244.25, Y:-22.68, Z:-7.01 [[ 9.91893787e-01 1.27010452e-01 3.88068940e-03 2.44251178e+02] [-1.27009439e-01 9.91901379e-01 -5.07523567e-04 -2.26845826e+01] [-3.91372196e-03 1.05252901e-05 9.99992341e-01 -7.00953482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40420382199994 meters 0.01843268321692251 Centerline is valid? [True, True] Translation: X:244.31, Y:-22.69, Z:-7.01 [[ 9.91301105e-01 1.31557272e-01 3.84743017e-03 2.44313474e+02] [-1.31556308e-01 9.91308572e-01 -5.03452634e-04 -2.26920018e+01] [-3.88022336e-03 -7.08055824e-06 9.99992472e-01 -7.00736992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46420382199994 meters 0.026110154111024592 Centerline is valid? [True, True] Translation: X:244.37, Y:-22.70, Z:-7.01 [[ 9.90359845e-01 1.38427616e-01 5.01714130e-03 2.44374074e+02] [-1.38426040e-01 9.90372553e-01 -6.61741153e-04 -2.26950478e+01] [-5.06044229e-03 -3.91411343e-05 9.99987195e-01 -7.01204028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52420382199995 meters 0.023776467301480718 Centerline is valid? [True, True] Translation: X:244.43, Y:-22.70, Z:-7.01 [[ 9.89600546e-01 1.43727653e-01 5.75502434e-03 2.44434452e+02] [-1.43725658e-01 9.89617278e-01 -7.60836213e-04 -2.26973053e+01] [-5.80462472e-03 -7.42207290e-05 9.99983150e-01 -7.01193225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.58420382199995 meters 0.024153556282085806 Centerline is valid? [True, True] Translation: X:244.49, Y:-22.71, Z:-7.02 [[ 9.89461603e-01 1.44771741e-01 2.62271893e-03 2.44494869e+02] [-1.44771332e-01 9.89465079e-01 -3.46244207e-04 -2.27083156e+01] [-2.64521517e-03 -3.70991651e-05 9.99996501e-01 -7.01617379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64420382199995 meters 0.02376245116952302 Centerline is valid? [True, True] Translation: X:244.55, Y:-22.72, Z:-7.02 [[ 9.89817974e-01 1.42314509e-01 2.63786694e-03 2.44554266e+02] [-1.42314096e-01 9.89821489e-01 -3.44767660e-04 -2.27248377e+01] [-2.66008282e-03 -3.41484225e-05 9.99996461e-01 -7.02155772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.70420382199995 meters 0.02218431347035543 Centerline is valid? [True, True] Translation: X:244.61, Y:-22.74, Z:-7.02 [[ 9.90255000e-01 1.39225622e-01 3.35590552e-03 2.44613941e+02] [-1.39224917e-01 9.90260686e-01 -4.43889734e-04 -2.27379755e+01] [-3.38502213e-03 -2.76616405e-05 9.99994270e-01 -7.02348864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.76420382199996 meters 0.018894517988540246 Centerline is valid? [True, True] Translation: X:244.67, Y:-22.76, Z:-7.02 [[ 9.91138185e-01 1.32731573e-01 5.23713482e-03 2.44672596e+02] [-1.32729763e-01 9.91152021e-01 -6.93212924e-04 -2.27617577e+01] [-5.28280801e-03 -8.05386646e-06 9.99986046e-01 -7.01989391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.82420382199996 meters 0.018589351950960287 Centerline is valid? [True, True] Translation: X:244.73, Y:-22.77, Z:-7.02 [[ 9.91182680e-01 1.32400340e-01 5.20047238e-03 2.44734916e+02] [-1.32398571e-01 9.91196323e-01 -6.84385440e-04 -2.27745374e+01] [-5.24530196e-03 -1.01841181e-05 9.99986243e-01 -7.01938868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.88420382199996 meters 0.02683663595494235 Centerline is valid? [True, True] Translation: X:244.80, Y:-22.78, Z:-7.02 [[ 9.90747643e-01 1.35610529e-01 5.37515565e-03 2.44797419e+02] [-1.35608670e-01 9.90762224e-01 -7.10397651e-04 -2.27763214e+01] [-5.42183857e-03 -2.50929119e-05 9.99985301e-01 -7.02450208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.94420382199996 meters 0.021873964949850073 Centerline is valid? [True, True] Translation: X:244.86, Y:-22.77, Z:-7.02 [[ 9.89868337e-01 1.41870047e-01 5.79350647e-03 2.44860734e+02] [-1.41867995e-01 9.89885289e-01 -7.65604119e-04 -2.27696069e+01] [-5.84352312e-03 -6.40658734e-05 9.99982924e-01 -7.02238127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.00420382199997 meters 0.02425275137331414 Centerline is valid? [True, True] Translation: X:244.92, Y:-22.77, Z:-7.03 [[ 9.89638420e-01 1.43540221e-01 3.46450590e-03 2.44921147e+02] [-1.43539487e-01 9.89644483e-01 -4.60745569e-04 -2.27688651e+01] [-3.49476467e-03 -4.13218837e-05 9.99993892e-01 -7.02927386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.06420382199997 meters 0.021969513638621867 Centerline is valid? [True, True] Translation: X:244.98, Y:-22.78, Z:-7.03 [[ 9.90168005e-01 1.39843742e-01 3.32414234e-03 2.44981517e+02] [-1.39843048e-01 9.90173584e-01 -4.41469696e-04 -2.27773385e+01] [-3.35321471e-03 -2.77290281e-05 9.99994378e-01 -7.03034675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.12420382199997 meters 0.01939516546824025 Centerline is valid? [True, True] Translation: X:245.04, Y:-22.78, Z:-7.03 [[ 9.90751969e-01 1.35600293e-01 4.80582312e-03 2.45043114e+02] [-1.35598793e-01 9.90763625e-01 -6.37972586e-04 -2.27824897e+01] [-4.84794400e-03 -1.95912191e-05 9.99988248e-01 -7.02852679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18420382199994 meters 0.01931144328853079 Centerline is valid? [True, True] Translation: X:245.11, Y:-22.79, Z:-7.03 [[ 9.91076058e-01 1.33238200e-01 3.97853114e-03 2.45105093e+02] [-1.33237165e-01 9.91084044e-01 -5.25105264e-04 -2.27897547e+01] [-4.01302281e-03 -9.66895482e-06 9.99991948e-01 -7.03046317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24420382199995 meters 0.01925247851282724 Centerline is valid? [True, True] Translation: X:245.17, Y:-22.80, Z:-7.03 [[ 9.91417896e-01 1.30668701e-01 4.03074807e-03 2.45166917e+02] [-1.30667615e-01 9.91426089e-01 -5.32742365e-04 -2.27959788e+01] [-4.06580155e-03 1.48207613e-06 9.99991735e-01 -7.03140302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.30420382199995 meters 0.02044810161350618 Centerline is valid? [True, True] Translation: X:245.23, Y:-22.80, Z:-7.04 [[ 9.91724497e-01 1.28334032e-01 3.59132949e-03 2.45227863e+02] [-1.28333153e-01 9.91731000e-01 -4.75098945e-04 -2.28016699e+01] [-3.62260415e-03 1.02806248e-05 9.99993438e-01 -7.03532768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36420382199995 meters 0.026467966585922705 Centerline is valid? [True, True] Translation: X:245.29, Y:-22.81, Z:-7.04 [[ 9.91765863e-01 1.28017267e-01 3.47169995e-03 2.45287925e+02] [-1.28016429e-01 9.91771939e-01 -4.63434797e-04 -2.28061775e+01] [-3.50246225e-03 1.51841800e-05 9.99993866e-01 -7.04131983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42420382199995 meters 0.020055935033088487 Centerline is valid? [True, True] Translation: X:245.35, Y:-22.81, Z:-7.04 [[ 9.91717867e-01 1.28342211e-01 4.89380048e-03 2.45348259e+02] [-1.28340548e-01 9.91729941e-01 -6.53757605e-04 -2.28110378e+01] [-4.93723316e-03 2.02700641e-05 9.99987812e-01 -7.03879450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48420382199996 meters 0.02129686490949236 Centerline is valid? [True, True] Translation: X:245.41, Y:-22.82, Z:-7.04 [[ 9.92000528e-01 1.26155644e-01 4.43902640e-03 2.45408876e+02] [-1.26154256e-01 9.92010460e-01 -5.92426944e-04 -2.28191652e+01] [-4.47829862e-03 2.76857677e-05 9.99989972e-01 -7.04227075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54420382199996 meters 0.0217224908585397 Centerline is valid? [True, True] Translation: X:245.47, Y:-22.83, Z:-7.04 [[ 9.92385611e-01 1.23096463e-01 4.24965985e-03 2.45469958e+02] [-1.23095179e-01 9.92394709e-01 -5.63521015e-04 -2.28324846e+01] [-4.28670740e-03 3.61175075e-05 9.99990811e-01 -7.04202985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.60420382199996 meters 0.022530609248330762 Centerline is valid? [True, True] Translation: X:245.53, Y:-22.84, Z:-7.04 [[ 9.92451108e-01 1.22595714e-01 3.33012460e-03 2.45531302e+02] [-1.22594924e-01 9.92456694e-01 -4.41103021e-04 -2.28408246e+01] [-3.35908180e-03 2.95168100e-05 9.99994358e-01 -7.04478907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.66420382199996 meters 0.020406901217842933 Centerline is valid? [True, True] Translation: X:245.59, Y:-22.84, Z:-7.05 [[ 9.92028193e-01 1.25955255e-01 3.91650202e-03 2.45592755e+02] [-1.25954165e-01 9.92035923e-01 -5.24662872e-04 -2.28380650e+01] [-3.95139475e-03 2.71806185e-05 9.99992193e-01 -7.04503403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.72420382199996 meters 0.020435228735360977 Centerline is valid? [True, True] Translation: X:245.65, Y:-22.84, Z:-7.05 [[ 9.91453311e-01 1.30330070e-01 5.86564895e-03 2.45652655e+02] [-1.30327699e-01 9.91470661e-01 -7.86344268e-04 -2.28364799e+01] [-5.91810315e-03 1.51670984e-05 9.99982488e-01 -7.05054699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.78420382199997 meters 0.019654018250801677 Centerline is valid? [True, True] Translation: X:245.71, Y:-22.83, Z:-7.05 [[ 9.91079223e-01 1.33123203e-01 6.33927650e-03 2.45713384e+02] [-1.33120492e-01 9.91099497e-01 -8.49580780e-04 -2.28336373e+01] [-6.39595266e-03 -1.88574699e-06 9.99979546e-01 -7.05054875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.84420382199997 meters 0.020421878599300395 Centerline is valid? [True, True] Translation: X:245.77, Y:-22.83, Z:-7.06 [[ 9.90766207e-01 1.35532028e-01 3.65950521e-03 2.45774662e+02] [-1.35531140e-01 9.90772966e-01 -4.90658344e-04 -2.28255216e+01] [-3.69223875e-03 -9.84920494e-06 9.99993184e-01 -7.05566887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90420382199994 meters 0.0207658909234173 Centerline is valid? [True, True] Translation: X:245.83, Y:-22.83, Z:-7.06 [[ 9.90629249e-01 1.36531817e-01 3.57136422e-03 2.45833796e+02] [-1.36530976e-01 9.90635686e-01 -4.79372626e-04 -2.28254435e+01] [-3.60337046e-03 -1.27212984e-05 9.99993508e-01 -7.05758914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96420382199994 meters 0.020357972475208295 Centerline is valid? [True, True] Translation: X:245.89, Y:-22.83, Z:-7.06 [[ 9.90914577e-01 1.34449201e-01 3.42238321e-03 2.45892694e+02] [-1.34448416e-01 9.90920487e-01 -4.59271427e-04 -2.28308062e+01] [-3.45305832e-03 -5.03525120e-06 9.99994038e-01 -7.05883412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02420382199995 meters 0.01963611751718949 Centerline is valid? [True, True] Translation: X:245.95, Y:-22.84, Z:-7.06 [[ 9.91782234e-01 1.27872946e-01 4.06332481e-03 2.45951030e+02] [-1.27871787e-01 9.91790557e-01 -5.44889753e-04 -2.28368198e+01] [-4.09964383e-03 2.08273726e-05 9.99991596e-01 -7.05611230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.08420382199995 meters 0.02145363275350662 Centerline is valid? [True, True] Translation: X:246.01, Y:-22.85, Z:-7.06 [[ 9.92184877e-01 1.24692900e-01 4.56628342e-03 2.46007718e+02] [-1.24691402e-01 9.92195384e-01 -6.12358134e-04 -2.28451379e+01] [-4.60700205e-03 3.81961955e-05 9.99989387e-01 -7.05915864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14420382199995 meters 0.023434783349390798 Centerline is valid? [True, True] Translation: X:246.07, Y:-22.86, Z:-7.06 [[ 9.92560282e-01 1.21665677e-01 4.64217754e-03 2.46065809e+02] [-1.21664101e-01 9.92571136e-01 -6.21414800e-04 -2.28552649e+01] [-4.68329629e-03 5.20052912e-05 9.99989032e-01 -7.06143542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.20420382199995 meters 0.02313462349203683 Centerline is valid? [True, True] Translation: X:246.12, Y:-22.86, Z:-7.06 [[ 9.92481000e-01 1.22298097e-01 4.96389234e-03 2.46124759e+02] [-1.22296303e-01 9.92493412e-01 -6.64502808e-04 -2.28556517e+01] [-5.00789788e-03 5.24407290e-05 9.99987459e-01 -7.06175152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.26420382199996 meters 0.02332141854012196 Centerline is valid? [True, True] Translation: X:246.18, Y:-22.86, Z:-7.07 [[ 9.92383691e-01 1.23161169e-01 2.43633695e-03 2.46184160e+02] [-1.23160739e-01 9.92386682e-01 -3.26104619e-04 -2.28586562e+01] [-2.45795176e-03 2.35598462e-05 9.99996979e-01 -7.06757579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.32420382199996 meters 0.026054794154814275 Centerline is valid? [True, True] Translation: X:246.24, Y:-22.86, Z:-7.07 [[ 9.92499385e-01 1.22204164e-01 3.33350596e-03 2.46242774e+02] [-1.22203354e-01 9.92504983e-01 -4.46470498e-04 -2.28644570e+01] [-3.36308183e-03 3.57560872e-05 9.99994344e-01 -7.06933602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.38420382199996 meters 0.022889220563518598 Centerline is valid? [True, True] Translation: X:246.30, Y:-22.87, Z:-7.06 [[ 9.92770234e-01 1.19931304e-01 4.87283609e-03 2.46301123e+02] [-1.19929549e-01 9.92782191e-01 -6.51817420e-04 -2.28698712e+01] [-4.91583820e-03 6.27079002e-05 9.99987915e-01 -7.06477227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.44420382199996 meters 0.02453586495966925 Centerline is valid? [True, True] Translation: X:246.36, Y:-22.88, Z:-7.07 [[ 9.93074419e-01 1.17392263e-01 4.71751571e-03 2.46359987e+02] [-1.17390593e-01 9.93085621e-01 -6.30251703e-04 -2.28800881e+01] [-4.75888370e-03 7.20948758e-05 9.99988674e-01 -7.06733849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.50420382199997 meters 0.02661499633221558 Centerline is valid? [True, True] Translation: X:246.42, Y:-22.89, Z:-7.07 [[ 9.93393250e-01 1.14720088e-01 3.02521318e-03 2.46418232e+02] [-1.14719387e-01 9.93397855e-01 -4.04737260e-04 -2.28898159e+01] [-3.05167177e-03 5.50126618e-05 9.99995342e-01 -7.07154191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.56420382199997 meters 0.02823382033853533 Centerline is valid? [True, True] Translation: X:246.48, Y:-22.90, Z:-7.07 [[ 9.93630322e-01 1.12565290e-01 5.27623211e-03 2.46475649e+02] [-1.12563133e-01 9.93644325e-01 -7.05048766e-04 -2.29004389e+01] [-5.32206211e-03 1.06648617e-04 9.99985832e-01 -7.07101461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.62420382199994 meters 0.028671380929606024 Centerline is valid? [True, True] Translation: X:246.53, Y:-22.91, Z:-7.07 [[ 9.93824437e-01 1.10704039e-01 7.58976064e-03 2.46534318e+02] [-1.10699532e-01 9.93853404e-01 -1.01267865e-03 -2.29136404e+01] [-7.65521707e-03 1.66241838e-04 9.99970685e-01 -7.06739524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68420382199994 meters 0.03172653213192467 Centerline is valid? [True, True] Translation: X:246.59, Y:-22.93, Z:-7.07 [[ 9.93972237e-01 1.09509935e-01 5.17363015e-03 2.46592678e+02] [-1.09507835e-01 9.93985694e-01 -6.88357062e-04 -2.29277321e+01] [-5.21789629e-03 1.17654771e-04 9.99986380e-01 -7.07401942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74420382199995 meters 0.03097361897723107 Centerline is valid? [True, True] Translation: X:246.65, Y:-22.94, Z:-7.07 [[ 9.94045157e-01 1.08834450e-01 5.41184368e-03 2.46651348e+02] [-1.08832129e-01 9.94059880e-01 -7.22488233e-04 -2.29393887e+01] [-5.45832829e-03 1.29203461e-04 9.99985095e-01 -7.07492268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.80420382199995 meters 0.03090098204179692 Centerline is valid? [True, True] Translation: X:246.71, Y:-22.96, Z:-7.08 [[ 9.93781851e-01 1.11072900e-01 7.77453931e-03 2.46709253e+02] [-1.11068184e-01 9.93812247e-01 -1.03714173e-03 -2.29558682e+01] [-7.84163072e-03 1.67188671e-04 9.99969240e-01 -7.07546592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.86420382199995 meters 0.024615020551749644 Centerline is valid? [True, True] Translation: X:246.77, Y:-22.96, Z:-7.07 [[ 9.93266972e-01 1.15494213e-01 9.04480011e-03 2.46770109e+02] [-1.15488019e-01 9.93308141e-01 -1.20586259e-03 -2.29604199e+01] [-9.12354373e-03 1.53177436e-04 9.99958368e-01 -7.07117293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92420382199995 meters 0.024013198735010455 Centerline is valid? [True, True] Translation: X:246.83, Y:-22.97, Z:-7.08 [[ 9.93073826e-01 1.17251939e-01 7.50732109e-03 2.46829842e+02] [-1.17247723e-01 9.93102195e-01 -1.00074663e-03 -2.29734791e+01] [-7.57287654e-03 1.13598976e-04 9.99971319e-01 -7.07640920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98420382199996 meters 0.02246471584597113 Centerline is valid? [True, True] Translation: X:246.89, Y:-22.99, Z:-7.08 [[ 9.92563675e-01 1.21446674e-01 8.24961205e-03 2.46887706e+02] [-1.21441720e-01 9.92597953e-01 -1.10073461e-03 -2.29867046e+01] [-8.32222860e-03 9.07021155e-05 9.99965366e-01 -7.08103269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04420382199996 meters 0.020311986209011708 Centerline is valid? [True, True] Translation: X:246.95, Y:-23.00, Z:-7.08 [[ 9.92223116e-01 1.24127984e-01 9.24833563e-03 2.46947381e+02] [-1.24121878e-01 9.92266213e-01 -1.23359454e-03 -2.29983568e+01] [-9.32993458e-03 7.60802328e-05 9.99956472e-01 -7.08001183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.10420382199996 meters 0.01913931456133919 Centerline is valid? [True, True] Translation: X:247.01, Y:-23.01, Z:-7.08 [[ 9.91775281e-01 1.27735456e-01 8.08983423e-03 2.47007715e+02] [-1.27730907e-01 9.91808274e-01 -1.07857107e-03 -2.30116712e+01] [-8.16133629e-03 3.63782611e-05 9.99966695e-01 -7.08380238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.16420382199996 meters 0.018698145564855915 Centerline is valid? [True, True] Translation: X:247.07, Y:-23.01, Z:-7.09 [[ 9.91047965e-01 1.33257452e-01 8.14759225e-03 2.47067414e+02] [-1.33253017e-01 9.91081455e-01 -1.08721244e-03 -2.30136395e+01] [-8.21980675e-03 -8.21157054e-06 9.99966217e-01 -7.08694337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.22420382199996 meters 0.02047731681639967 Centerline is valid? [True, True] Translation: X:247.13, Y:-23.02, Z:-7.09 [[ 9.90219342e-01 1.39304539e-01 7.73955746e-03 2.47127245e+02] [-1.39300720e-01 9.90249586e-01 -1.03293900e-03 -2.30189377e+01] [-7.80798666e-03 -5.52897473e-05 9.99969516e-01 -7.08855462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.28420382199997 meters 0.02368389014567117 Centerline is valid? [True, True] Translation: X:247.19, Y:-23.02, Z:-7.09 [[ 9.89392821e-01 1.44970848e-01 9.23571815e-03 2.47186312e+02] [-1.44965655e-01 9.89435920e-01 -1.23273361e-03 -2.30202283e+01] [-9.31686172e-03 -1.19204151e-04 9.99956590e-01 -7.08670699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.34420382199997 meters 0.02426731556213095 Centerline is valid? [True, True] Translation: X:247.25, Y:-23.03, Z:-7.09 [[ 9.89219838e-01 1.46217187e-01 8.04034741e-03 2.47245983e+02] [-1.46213299e-01 9.89252506e-01 -1.07249130e-03 -2.30268756e+01] [-8.11075049e-03 -1.14676049e-04 9.99967101e-01 -7.08832453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40420382199994 meters 0.022708893145988344 Centerline is valid? [True, True] Translation: X:247.30, Y:-23.04, Z:-7.10 [[ 9.89726334e-01 1.42827107e-01 6.49629151e-03 2.47303203e+02] [-1.42824495e-01 9.89747651e-01 -8.66472459e-04 -2.30371302e+01] [-6.55344502e-03 -7.02589480e-05 9.99978523e-01 -7.09516194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46420382199994 meters 0.019446694874454103 Centerline is valid? [True, True] Translation: X:247.36, Y:-23.05, Z:-7.09 [[ 9.90299891e-01 1.38708082e-01 8.13595924e-03 2.47361712e+02] [-1.38703850e-01 9.90333310e-01 -1.08485782e-03 -2.30512298e+01] [-8.20778999e-03 -5.41542860e-05 9.99966314e-01 -7.09372640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52420382199995 meters 0.018659803829810556 Centerline is valid? [True, True] Translation: X:247.42, Y:-23.07, Z:-7.10 [[ 9.91227589e-01 1.31945427e-01 7.63360483e-03 2.47420181e+02] [-1.31941508e-01 9.91256982e-01 -1.01695903e-03 -2.30701488e+01] [-7.70104718e-03 8.48518396e-07 9.99970346e-01 -7.09963160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.58420382199995 meters 0.021319987330343557 Centerline is valid? [True, True] Translation: X:247.48, Y:-23.09, Z:-7.10 [[ 9.92243039e-01 1.24043453e-01 8.18376382e-03 2.47480474e+02] [-1.24038704e-01 9.92276785e-01 -1.08725122e-03 -2.30912942e+01] [-8.25542524e-03 6.37139955e-05 9.99965921e-01 -7.10115915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64420382199995 meters 0.034002299658343754 Centerline is valid? [True, True] Translation: X:247.54, Y:-23.11, Z:-7.10 [[ 9.93017119e-01 1.17724964e-01 7.60486594e-03 2.47539745e+02] [-1.17720648e-01 9.93046233e-01 -1.01422346e-03 -2.31098587e+01] [-7.67138289e-03 1.11891512e-04 9.99970568e-01 -7.10367018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.70420382199995 meters 0.02811502553792684 Centerline is valid? [True, True] Translation: X:247.60, Y:-23.13, Z:-7.10 [[ 9.93230845e-01 1.15896557e-01 7.77666198e-03 2.47599476e+02] [-1.15892008e-01 9.93261281e-01 -1.03463324e-03 -2.31259524e+01] [-7.84416767e-03 1.26376677e-04 9.99969226e-01 -7.10485137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.76420382199996 meters 0.024350574750692543 Centerline is valid? [True, True] Translation: X:247.66, Y:-23.13, Z:-7.10 [[ 9.92874784e-01 1.18869235e-01 8.35269060e-03 2.47662145e+02] [-1.18864081e-01 9.92909912e-01 -1.11253049e-03 -2.31282346e+01] [-8.42571493e-03 1.11768572e-04 9.99964497e-01 -7.10352937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.82420382199996 meters 0.02176035000187388 Centerline is valid? [True, True] Translation: X:247.72, Y:-23.13, Z:-7.11 [[ 9.92244974e-01 1.23886673e-01 1.00997311e-02 2.47722829e+02] [-1.23879340e-01 9.92296369e-01 -1.35088188e-03 -2.31285417e+01] [-1.01892828e-02 8.92577370e-05 9.99948084e-01 -7.10628342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.88420382199996 meters 0.02073204947070461 Centerline is valid? [True, True] Translation: X:247.78, Y:-23.14, Z:-7.11 [[ 9.92013877e-01 1.25917476e-01 7.29781270e-03 2.47784327e+02] [-1.25913726e-01 9.92040719e-01 -9.72820414e-04 -2.31372723e+01] [-7.36222245e-03 4.61565595e-05 9.99972897e-01 -7.11193979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.94420382199996 meters 0.021158225316337258 Centerline is valid? [True, True] Translation: X:247.85, Y:-23.15, Z:-7.11 [[ 9.92139986e-01 1.24836676e-01 8.60536263e-03 2.47845050e+02] [-1.24831399e-01 9.92177303e-01 -1.14965826e-03 -2.31457123e+01] [-8.68156500e-03 6.64024678e-05 9.99962312e-01 -7.11160104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.00420382199997 meters 0.02124935666954356 Centerline is valid? [True, True] Translation: X:247.91, Y:-23.15, Z:-7.11 [[ 9.92071522e-01 1.25407443e-01 8.18952951e-03 2.47906852e+02] [-1.25402677e-01 9.92105322e-01 -1.09494032e-03 -2.31508770e+01] [-8.26218948e-03 5.92701833e-05 9.99965866e-01 -7.11439158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.06420382199997 meters 0.019670928091563813 Centerline is valid? [True, True] Translation: X:247.97, Y:-23.16, Z:-7.12 [[ 9.91579570e-01 1.29254550e-01 7.95095422e-03 2.47967925e+02] [-1.29250149e-01 9.91611446e-01 -1.06707908e-03 -2.31563319e+01] [-8.02218204e-03 3.04317961e-05 9.99967821e-01 -7.11678839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.12420382199994 meters 0.01933442858378006 Centerline is valid? [True, True] Translation: X:248.03, Y:-23.16, Z:-7.12 [[ 9.91336760e-01 1.31120985e-01 7.66255808e-03 2.48028701e+02] [-1.31116948e-01 9.91366374e-01 -1.02901221e-03 -2.31550421e+01] [-7.73132751e-03 1.54063990e-05 9.99970113e-01 -7.11985678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18420382199994 meters 0.019534435538481422 Centerline is valid? [True, True] Translation: X:248.09, Y:-23.16, Z:-7.12 [[ 9.91379910e-01 1.30790565e-01 7.72666729e-03 2.48088700e+02] [-1.30786450e-01 9.91410020e-01 -1.03762150e-03 -2.31627131e+01] [-7.79600647e-03 1.81337167e-05 9.99969611e-01 -7.12115757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24420382199995 meters 0.021966068507224587 Centerline is valid? [True, True] Translation: X:248.15, Y:-23.18, Z:-7.12 [[ 9.92016150e-01 1.25891773e-01 7.43104937e-03 2.48147408e+02] [-1.25887831e-01 9.92043980e-01 -9.97681167e-04 -2.31772765e+01] [-7.49752764e-03 5.42371425e-05 9.99971892e-01 -7.12437821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.30420382199995 meters 0.028940333603539533 Centerline is valid? [True, True] Translation: X:248.21, Y:-23.20, Z:-7.13 [[ 9.92994870e-01 1.17964269e-01 6.75425710e-03 2.48205974e+02] [-1.17960831e-01 9.93017835e-01 -9.06524174e-04 -2.32001076e+01] [-6.81403522e-03 1.03436076e-04 9.99976779e-01 -7.12886341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.36420382199995 meters 0.0292443441204402 Centerline is valid? [True, True] Translation: X:248.27, Y:-23.21, Z:-7.12 [[ 9.93565520e-01 1.13098568e-01 6.02262137e-03 2.48265964e+02] [-1.13095743e-01 9.93583765e-01 -8.08732924e-04 -2.32114727e+01] [-6.07544536e-03 1.22396309e-04 9.99981537e-01 -7.12363016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42420382199995 meters 0.029910479050362062 Centerline is valid? [True, True] Translation: X:248.33, Y:-23.22, Z:-7.12 [[ 9.93675076e-01 1.12127762e-01 6.09979644e-03 2.48327377e+02] [-1.12124868e-01 9.93693790e-01 -8.15525303e-04 -2.32199654e+01] [-6.15277288e-03 1.26428299e-04 9.99981064e-01 -7.12430806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48420382199996 meters 0.03672722917633888 Centerline is valid? [True, True] Translation: X:248.39, Y:-23.24, Z:-7.13 [[ 9.93670926e-01 1.11970260e-01 8.98622397e-03 2.48386637e+02] [-1.11963936e-01 9.93711540e-01 -1.20539602e-03 -2.32408613e+01] [-9.06468296e-03 1.91633977e-04 9.99958897e-01 -7.12815051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54420382199996 meters 0.030683721258749432 Centerline is valid? [True, True] Translation: X:248.45, Y:-23.24, Z:-7.13 [[ 9.93666368e-01 1.12098016e-01 7.82206619e-03 2.48449017e+02] [-1.12093222e-01 9.93697141e-01 -1.04997680e-03 -2.32436232e+01] [-7.89046512e-03 1.66526025e-04 9.99968856e-01 -7.12514968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.60420382199996 meters 0.02945993325054356 Centerline is valid? [True, True] Translation: X:248.51, Y:-23.25, Z:-7.13 [[ 9.93448032e-01 1.13908690e-01 9.26380283e-03 2.48508566e+02] [-1.13902004e-01 9.93491206e-01 -1.24788670e-03 -2.32545179e+01] [-9.34565178e-03 1.84544886e-04 9.99956311e-01 -7.12591831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.66420382199996 meters 0.026227227319172947 Centerline is valid? [True, True] Translation: X:248.57, Y:-23.26, Z:-7.13 [[ 9.92876075e-01 1.18915560e-01 7.49598861e-03 2.48569731e+02] [-1.18911337e-01 9.92904365e-01 -1.00815782e-03 -2.32565776e+01] [-7.56268546e-03 1.09617755e-04 9.99971396e-01 -7.13063551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.72420382199996 meters 0.021889742345325494 Centerline is valid? [True, True] Translation: X:248.63, Y:-23.26, Z:-7.14 [[ 9.92059057e-01 1.25606678e-01 6.46453942e-03 2.48631947e+02] [-1.25603658e-01 9.92080117e-01 -8.72712165e-04 -2.32556138e+01] [-6.52295951e-03 5.38122073e-05 9.99978724e-01 -7.13510975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.78420382199997 meters 0.019358654519826237 Centerline is valid? [True, True] Translation: X:248.69, Y:-23.26, Z:-7.14 [[ 9.91353868e-01 1.31028074e-01 7.01080063e-03 2.48692291e+02] [-1.31024652e-01 9.91378658e-01 -9.47193872e-04 -2.32585055e+01] [-7.07446711e-03 2.04165981e-05 9.99974975e-01 -7.13637615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.84420382199997 meters 0.01910497426646531 Centerline is valid? [True, True] Translation: X:248.75, Y:-23.26, Z:-7.14 [[ 9.90967924e-01 1.33905956e-01 7.19506188e-03 2.48753812e+02] [-1.33902427e-01 9.90994044e-01 -9.72088479e-04 -2.32557076e+01] [-7.26043191e-03 -1.27746835e-07 9.99973643e-01 -7.13911905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90420382199994 meters 0.01993671981513653 Centerline is valid? [True, True] Translation: X:248.81, Y:-23.27, Z:-7.14 [[ 9.91084648e-01 1.33086904e-01 6.25269109e-03 2.48811906e+02] [-1.33084224e-01 9.91104372e-01 -8.44613950e-04 -2.32663035e+01] [-6.30947653e-03 4.94937907e-06 9.99980095e-01 -7.14424124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96420382199994 meters 0.020121168888804067 Centerline is valid? [True, True] Translation: X:248.87, Y:-23.28, Z:-7.14 [[ 9.91508626e-01 1.29787959e-01 8.10736980e-03 2.48870541e+02] [-1.29783341e-01 9.91541771e-01 -1.09540191e-03 -2.32812264e+01] [-8.18096580e-03 3.38989025e-05 9.99966535e-01 -7.14257214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02420382199995 meters 0.019431501610751502 Centerline is valid? [True, True] Translation: X:248.93, Y:-23.29, Z:-7.14 [[ 9.91828959e-01 1.27264088e-01 8.89760337e-03 2.48931874e+02] [-1.27258454e-01 9.91868867e-01 -1.19878000e-03 -2.32913715e+01] [-8.97781741e-03 5.66894689e-05 9.99959697e-01 -7.13801327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08420382199995 meters 0.020369245044387536 Centerline is valid? [True, True] Translation: X:248.99, Y:-23.30, Z:-7.14 [[ 9.91945745e-01 1.26412645e-01 7.96754538e-03 2.48992801e+02] [-1.26408093e-01 9.91977742e-01 -1.07437451e-03 -2.33030139e+01] [-8.03944220e-03 5.85590029e-05 9.99967681e-01 -7.14169145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14420382199995 meters 0.02021578954662109 Centerline is valid? [True, True] Translation: X:249.05, Y:-23.31, Z:-7.14 [[ 9.91884701e-01 1.26864752e-01 8.37109550e-03 2.49054526e+02] [-1.26859729e-01 9.91920023e-01 -1.13047629e-03 -2.33094484e+01] [-8.44687484e-03 5.93472266e-05 9.99964323e-01 -7.14230009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.20420382199995 meters 0.020701825638424598 Centerline is valid? [True, True] Translation: X:249.12, Y:-23.32, Z:-7.14 [[ 9.92049531e-01 1.25633957e-01 7.33736711e-03 2.49115613e+02] [-1.25630061e-01 9.92076663e-01 -9.91400450e-04 -2.33198974e+01] [-7.40378424e-03 6.17244754e-05 9.99972590e-01 -7.14362792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.26420382199996 meters 0.02141168427699452 Centerline is valid? [True, True] Translation: X:249.18, Y:-23.33, Z:-7.14 [[ 9.92238931e-01 1.24124735e-01 7.41314317e-03 2.49176114e+02] [-1.24120693e-01 9.92266620e-01 -1.00460090e-03 -2.33327817e+01] [-7.48051033e-03 7.66796532e-05 9.99972018e-01 -7.14499247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.32420382199996 meters 0.021783645355692778 Centerline is valid? [True, True] Translation: X:249.24, Y:-23.34, Z:-7.14 [[ 9.92337043e-01 1.23214753e-01 9.23673782e-03 2.49237681e+02] [-1.23208438e-01 9.92380025e-01 -1.25177097e-03 -2.33415488e+01] [-9.32059076e-03 1.04134658e-04 9.99956557e-01 -7.14456677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.38420382199996 meters 0.02338209154057608 Centerline is valid? [True, True] Translation: X:249.30, Y:-23.36, Z:-7.15 [[ 9.92424544e-01 1.22695822e-01 6.26578121e-03 2.49297737e+02] [-1.22692897e-01 9.92444321e-01 -8.50584263e-04 -2.33553856e+01] [-6.32280211e-03 7.53738515e-05 9.99980008e-01 -7.15228380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.44420382199996 meters 0.024798132868094673 Centerline is valid? [True, True] Translation: X:249.36, Y:-23.37, Z:-7.15 [[ 9.92597789e-01 1.21271583e-01 6.54462178e-03 2.49358731e+02] [-1.21268368e-01 9.92619361e-01 -8.87255909e-04 -2.33681520e+01] [-6.60391721e-03 8.70326514e-05 9.99978190e-01 -7.15391927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.50420382199997 meters 0.024751961465270342 Centerline is valid? [True, True] Translation: X:249.42, Y:-23.38, Z:-7.16 [[ 9.92510740e-01 1.21969279e-01 6.77686242e-03 2.49419047e+02] [-1.21965829e-01 9.92533872e-01 -9.21677140e-04 -2.33760429e+01] [-6.83868180e-03 8.82288196e-05 9.99976612e-01 -7.15585369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.56420382199997 meters 0.0247702364577218 Centerline is valid? [True, True] Translation: X:249.48, Y:-23.39, Z:-7.16 [[ 9.92473817e-01 1.22252797e-01 7.06943782e-03 2.49479195e+02] [-1.22249043e-01 9.92498990e-01 -9.62302950e-04 -2.33869838e+01] [-7.13405413e-03 9.08284696e-05 9.99974548e-01 -7.15822142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.62420382199994 meters 0.024183707490956427 Centerline is valid? [True, True] Translation: X:249.54, Y:-23.40, Z:-7.16 [[ 9.92264475e-01 1.23956439e-01 6.78324992e-03 2.49540175e+02] [-1.23953030e-01 9.92287658e-01 -9.22350163e-04 -2.33982114e+01] [-6.84526641e-03 7.44109231e-05 9.99976568e-01 -7.16214929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68420382199994 meters 0.020404357914114137 Centerline is valid? [True, True] Translation: X:249.60, Y:-23.40, Z:-7.16 [[ 9.91862813e-01 1.27064109e-01 7.92925382e-03 2.49602819e+02] [-1.27059516e-01 9.91894504e-01 -1.08238595e-03 -2.34033717e+01] [-8.00251570e-03 6.60912219e-05 9.99967977e-01 -7.15926121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74420382199995 meters 0.02040489420118192 Centerline is valid? [True, True] Translation: X:249.66, Y:-23.41, Z:-7.16 [[ 9.91501455e-01 1.29801647e-01 8.74060079e-03 2.49662575e+02] [-1.29796183e-01 9.91539979e-01 -1.19190550e-03 -2.34138257e+01] [-8.82136642e-03 4.72794140e-05 9.99961090e-01 -7.16457523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.80420382199995 meters 0.019784203002045697 Centerline is valid? [True, True] Translation: X:249.72, Y:-23.42, Z:-7.17 [[ 9.91047577e-01 1.33276495e-01 7.87883695e-03 2.49723700e+02] [-1.33272161e-01 9.91078895e-01 -1.07495447e-03 -2.34207265e+01] [-7.95181518e-03 1.53013962e-05 9.99968384e-01 -7.16842590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.86420382199995 meters 0.019640784133410142 Centerline is valid? [True, True] Translation: X:249.78, Y:-23.42, Z:-7.17 [[ 9.90618057e-01 1.36445622e-01 7.64569885e-03 2.49784691e+02] [-1.36441602e-01 9.90647562e-01 -1.04745280e-03 -2.34247071e+01] [-7.71711328e-03 -5.56573660e-06 9.99970223e-01 -7.17156496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92420382199995 meters 0.020156651175136722 Centerline is valid? [True, True] Translation: X:249.85, Y:-23.43, Z:-7.17 [[ 9.89784384e-01 1.42382943e-01 7.34644331e-03 2.49846188e+02] [-1.42379394e-01 9.89811646e-01 -1.00656771e-03 -2.34269582e+01] [-7.41491322e-03 -4.96971443e-05 9.99972508e-01 -7.17056607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98420382199996 meters 0.021021561399072696 Centerline is valid? [True, True] Translation: X:249.91, Y:-23.43, Z:-7.17 [[ 9.89461283e-01 1.44607926e-01 7.41057293e-03 2.49907088e+02] [-1.44604371e-01 9.89489032e-01 -1.01604851e-03 -2.34313395e+01] [-7.47960930e-03 -6.62605775e-05 9.99972025e-01 -7.17165735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04420382199996 meters 0.02480030211634347 Centerline is valid? [True, True] Translation: X:249.97, Y:-23.43, Z:-7.18 [[ 9.89054367e-01 1.47296494e-01 8.67191704e-03 2.49967570e+02] [-1.47291728e-01 9.89092378e-01 -1.18922831e-03 -2.34292751e+01] [-8.75249621e-03 -1.01090193e-04 9.99961691e-01 -7.17675799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.10420382199996 meters 0.022394327800360686 Centerline is valid? [True, True] Translation: X:250.03, Y:-23.44, Z:-7.17 [[ 9.89019191e-01 1.47573437e-01 7.94486922e-03 2.50027896e+02] [-1.47569452e-01 9.89051097e-01 -1.08870236e-03 -2.34395304e+01] [-8.01854516e-03 -9.56724751e-05 9.99967846e-01 -7.17416520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.16420382199996 meters 0.022213700252272397 Centerline is valid? [True, True] Translation: X:250.09, Y:-23.45, Z:-7.18 [[ 9.89257799e-01 1.45991495e-01 7.44923355e-03 2.50087053e+02] [-1.45987943e-01 9.89285842e-01 -1.02118522e-03 -2.34507551e+01] [-7.51850564e-03 -7.72828429e-05 9.99971733e-01 -7.17795157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.22420382199996 meters 0.01945711736177057 Centerline is valid? [True, True] Translation: X:250.15, Y:-23.46, Z:-7.18 [[ 9.89923805e-01 1.41319237e-01 8.92936784e-03 2.50147071e+02] [-1.41313953e-01 9.89964075e-01 -1.22310185e-03 -2.34594401e+01] [-9.01260120e-03 -5.10666339e-05 9.99959384e-01 -7.17706261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.28420382199997 meters 0.018307689856946946 Centerline is valid? [True, True] Translation: X:250.21, Y:-23.48, Z:-7.18 [[ 9.90692031e-01 1.35863337e-01 8.39364701e-03 2.50207955e+02] [-1.35858490e-01 9.90727588e-01 -1.14769539e-03 -2.34755363e+01] [-8.47174739e-03 -3.33552798e-06 9.99964114e-01 -7.17832253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.34420382199997 meters 0.02027185057285633 Centerline is valid? [True, True] Translation: X:250.27, Y:-23.49, Z:-7.18 [[ 9.91627571e-01 1.28813804e-01 9.04239382e-03 2.50267910e+02] [-1.28807860e-01 9.91668795e-01 -1.23908289e-03 -2.34944764e+01] [-9.12667077e-03 6.39773619e-05 9.99958349e-01 -7.17848580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40420382199994 meters 0.0270025749768854 Centerline is valid? [True, True] Translation: X:250.33, Y:-23.51, Z:-7.18 [[ 9.92796680e-01 1.19328185e-01 1.07487851e-02 2.50327029e+02] [-1.19319172e-01 9.92854848e-01 -1.47823649e-03 -2.35148978e+01] [-1.08483787e-02 1.85052135e-04 9.99941137e-01 -7.17705496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46420382199994 meters 0.03784669668446578 Centerline is valid? [True, True] Translation: X:250.38, Y:-23.55, Z:-7.18 [[ 9.93992203e-01 1.08855336e-01 1.14025044e-02 2.50384133e+02] [-1.08844496e-01 9.94057551e-01 -1.56879372e-03 -2.35465262e+01] [-1.15055171e-02 3.18268881e-04 9.99933759e-01 -7.17870497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52420382199995 meters 0.047084922805177065 Centerline is valid? [True, True] Translation: X:250.44, Y:-23.57, Z:-7.19 [[ 9.94683204e-01 1.02711215e-01 7.46520544e-03 2.50442794e+02] [-1.02706399e-01 9.94711185e-01 -1.02674618e-03 -2.35688528e+01] [-7.53118169e-03 2.54562819e-04 9.99971608e-01 -7.18759153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.58420382199995 meters 0.04563320465033182 Centerline is valid? [True, True] Translation: X:250.50, Y:-23.58, Z:-7.19 [[ 9.94601745e-01 1.03387178e-01 8.85782114e-03 2.50502953e+02] [-1.03380447e-01 9.94641144e-01 -1.21565298e-03 -2.35837259e+01] [-8.93603629e-03 2.93365065e-04 9.99960030e-01 -7.18705325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.64420382199995 meters 0.04483227926204669 Centerline is valid? [True, True] Translation: X:250.56, Y:-23.60, Z:-7.19 [[ 9.94320544e-01 1.05954465e-01 1.00153349e-02 2.50563512e+02] [-1.05945942e-01 9.94370934e-01 -1.37926452e-03 -2.35950652e+01] [-1.01050972e-02 3.10346952e-04 9.99948894e-01 -7.18707463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.70420382199995 meters 0.033707687222527365 Centerline is valid? [True, True] Translation: X:250.62, Y:-23.60, Z:-7.19 [[ 9.93592521e-01 1.12576685e-01 1.00195475e-02 2.50623722e+02] [-1.12568481e-01 9.93643010e-01 -1.38082610e-03 -2.35990630e+01] [-1.01113022e-02 2.44093239e-04 9.99948850e-01 -7.18709093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.76420382199996 meters 0.02370430414021849 Centerline is valid? [True, True] Translation: X:250.69, Y:-23.59, Z:-7.19 [[ 9.92262697e-01 1.23739183e-01 1.01663517e-02 2.50685022e+02] [-1.23731321e-01 9.92314767e-01 -1.40110584e-03 -2.35940305e+01] [-1.02615926e-02 1.32368938e-04 9.99947340e-01 -7.18940879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.82420382199996 meters 0.018157937111088283 Centerline is valid? [True, True] Translation: X:250.75, Y:-23.59, Z:-7.19 [[ 9.90772835e-01 1.35145509e-01 1.02411562e-02 2.50747007e+02] [-1.35138144e-01 9.90825762e-01 -1.41097698e-03 -2.35875983e+01] [-1.03378886e-02 1.39868164e-05 9.99946563e-01 -7.19381368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.88420382199996 meters 0.019133161485151373 Centerline is valid? [True, True] Translation: X:250.81, Y:-23.58, Z:-7.19 [[ 9.89471145e-01 1.44327670e-01 1.07878278e-02 2.50810788e+02] [-1.44320068e-01 9.89529947e-01 -1.48398060e-03 -2.35808741e+01] [-1.08890581e-02 -8.85440563e-05 9.99940709e-01 -7.19147757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.94420382199996 meters 0.023538376518334302 Centerline is valid? [True, True] Translation: X:250.87, Y:-23.58, Z:-7.20 [[ 9.88791907e-01 1.48872358e-01 1.12953961e-02 2.50873495e+02] [-1.48864292e-01 9.88856411e-01 -1.55619074e-03 -2.35757063e+01] [-1.14011987e-02 -1.42732345e-04 9.99934994e-01 -7.19609211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.00420382199997 meters 0.026779519665632908 Centerline is valid? [True, True] Translation: X:250.94, Y:-23.59, Z:-7.20 [[ 9.88884612e-01 1.48270409e-01 1.10954550e-02 2.50935809e+02] [-1.48262579e-01 9.88946848e-01 -1.52953796e-03 -2.35856980e+01] [-1.11996005e-02 -1.32504225e-04 9.99937274e-01 -7.19576931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.06420382199997 meters 0.01904730694800428 Centerline is valid? [True, True] Translation: X:251.00, Y:-23.60, Z:-7.20 [[ 9.89432375e-01 1.44576788e-01 1.10058470e-02 2.50995477e+02] [-1.44568824e-01 9.89493580e-01 -1.51999636e-03 -2.35973568e+01] [-1.11099711e-02 -8.71687450e-05 9.99938279e-01 -7.19862358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.12420382199994 meters 0.01713753061365106 Centerline is valid? [True, True] Translation: X:251.06, Y:-23.61, Z:-7.20 [[ 9.90147714e-01 1.39595028e-01 1.09878820e-02 2.51056995e+02] [-1.39586766e-01 9.90208679e-01 -1.51903315e-03 -2.36070553e+01] [-1.10923456e-02 -2.96957127e-05 9.99938478e-01 -7.19952791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18420382199994 meters 0.01700591187017966 Centerline is valid? [True, True] Translation: X:251.12, Y:-23.62, Z:-7.20 [[ 9.91005325e-01 1.33319498e-01 1.15912618e-02 2.51118892e+02] [-1.33309854e-01 9.91073110e-01 -1.60416269e-03 -2.36206690e+01] [-1.17016540e-02 4.45043475e-05 9.99931532e-01 -7.19922796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24420382199995 meters 0.02139582493769549 Centerline is valid? [True, True] Translation: X:251.18, Y:-23.64, Z:-7.20 [[ 9.91837867e-01 1.27065697e-01 1.05808688e-02 2.51177285e+02] [-1.27057266e-01 9.91894297e-01 -1.46799933e-03 -2.36403948e+01] [-1.06816358e-02 1.11641058e-04 9.99942943e-01 -7.20469763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.30420382199995 meters 0.033192836307263475 Centerline is valid? [True, True] Translation: X:251.24, Y:-23.65, Z:-7.21 [[ 9.92437689e-01 1.22284605e-01 1.06728521e-02 2.51238580e+02] [-1.22275732e-01 9.92495062e-01 -1.48237781e-03 -2.36521089e+01] [-1.07740249e-02 1.66136807e-04 9.99941945e-01 -7.20589047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.36420382199995 meters 0.02693248636620389 Centerline is valid? [True, True] Translation: X:251.30, Y:-23.66, Z:-7.21 [[ 9.92733858e-01 1.19873969e-01 1.04747196e-02 2.51298637e+02] [-1.19865304e-01 9.92789100e-01 -1.45334727e-03 -2.36632899e+01] [-1.05734060e-02 1.87231580e-04 9.99944082e-01 -7.20795229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.42420382199995 meters 0.02736912192905595 Centerline is valid? [True, True] Translation: X:251.36, Y:-23.68, Z:-7.21 [[ 9.92740123e-01 1.19923285e-01 9.24408468e-03 2.51359544e+02] [-1.19916532e-01 9.92783148e-01 -1.28335048e-03 -2.36750961e+01] [-9.33127510e-03 1.65514940e-04 9.99956449e-01 -7.21150593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.48420382199996 meters 0.02633333138805249 Centerline is valid? [True, True] Translation: X:251.42, Y:-23.68, Z:-7.21 [[ 9.92579178e-01 1.21153903e-01 1.04070641e-02 2.51421161e+02] [-1.21145386e-01 9.92633719e-01 -1.44720721e-03 -2.36839700e+01] [-1.05057375e-02 1.75699951e-04 9.99944798e-01 -7.21184262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.54420382199996 meters 0.025383942367948196 Centerline is valid? [True, True] Translation: X:251.48, Y:-23.69, Z:-7.21 [[ 9.92539812e-01 1.21469774e-01 1.04792603e-02 2.51483614e+02] [-1.21461143e-01 9.92595116e-01 -1.45852695e-03 -2.36933905e+01] [-1.05788295e-02 1.74823137e-04 9.99944027e-01 -7.21291890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.60420382199996 meters 0.02362831614891375 Centerline is valid? [True, True] Translation: X:251.55, Y:-23.71, Z:-7.22 [[ 9.92224690e-01 1.23986041e-01 1.08455458e-02 2.51545144e+02] [-1.23976901e-01 9.92283950e-01 -1.51369723e-03 -2.37051169e+01] [-1.09495384e-02 1.57330606e-04 9.99940040e-01 -7.21573517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.66420382199996 meters 0.021220492558424783 Centerline is valid? [True, True] Translation: X:251.60, Y:-23.71, Z:-7.22 [[ 9.91726954e-01 1.27786584e-01 1.21752752e-02 2.51604998e+02] [-1.27775328e-01 9.91801680e-01 -1.70111358e-03 -2.37114010e+01] [-1.22928379e-02 1.31340408e-04 9.99924432e-01 -7.21716143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.72420382199996 meters 0.015957002271034495 Centerline is valid? [True, True] Translation: X:251.67, Y:-23.71, Z:-7.22 [[ 9.90550799e-01 1.36512872e-01 1.31662551e-02 2.51667802e+02] [-1.36500460e-01 9.90638297e-01 -1.84101416e-03 -2.37095560e+01] [-1.32943187e-02 2.64181724e-05 9.99911626e-01 -7.21698767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.78420382199997 meters 0.017990908143156268 Centerline is valid? [True, True] Translation: X:251.73, Y:-23.70, Z:-7.22 [[ 9.89164949e-01 1.46166887e-01 1.37092675e-02 2.51731612e+02] [-1.46154368e-01 9.89259940e-01 -1.91602594e-03 -2.37011136e+01] [-1.38420887e-02 -1.08403634e-04 9.99904188e-01 -7.21840772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.84420382199997 meters 0.022820578353799126 Centerline is valid? [True, True] Translation: X:251.79, Y:-23.69, Z:-7.23 [[ 9.88343622e-01 1.51749125e-01 1.22101476e-02 2.51793348e+02] [-1.51739570e-01 9.88419029e-01 -1.71056144e-03 -2.36948112e+01] [-1.23283185e-02 -1.62140061e-04 9.99923990e-01 -7.22552315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90420382199994 meters 0.0201295934580056 Centerline is valid? [True, True] Translation: X:251.86, Y:-23.71, Z:-7.23 [[ 9.88752381e-01 1.49228216e-01 9.98340689e-03 2.51855235e+02] [-1.49221735e-01 9.88802775e-01 -1.39521525e-03 -2.37069000e+01] [-1.00798259e-02 -1.10218893e-04 9.99949191e-01 -7.22982086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96420382199994 meters 0.01636509052278493 Centerline is valid? [True, True] Translation: X:251.91, Y:-23.73, Z:-7.23 [[ 9.90065402e-01 1.40199445e-01 1.07058188e-02 2.51914205e+02] [-1.40191402e-01 9.90123283e-01 -1.50176693e-03 -2.37273784e+01] [-1.08106273e-02 -1.40162673e-05 9.99941563e-01 -7.23142703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.024203822 meters 0.02050437751669617 Centerline is valid? [True, True] Translation: X:251.97, Y:-23.74, Z:-7.24 [[ 9.90503657e-01 1.37108123e-01 1.01915963e-02 2.51974854e+02] [-1.37100696e-01 9.90556087e-01 -1.42716970e-03 -2.37411634e+01] [-1.02910244e-02 1.63418541e-05 9.99947046e-01 -7.23538987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.084203822 meters 0.021926726169358497 Centerline is valid? [True, True] Translation: X:252.03, Y:-23.77, Z:-7.24 [[ 9.91788354e-01 1.27494735e-01 1.00475302e-02 2.52033326e+02] [-1.27486990e-01 9.91839240e-01 -1.41028059e-03 -2.37682787e+01] [-1.01453381e-02 1.17770482e-04 9.99948528e-01 -7.23733208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.144203822 meters 0.02580607234786187 Centerline is valid? [True, True] Translation: X:252.09, Y:-23.79, Z:-7.24 [[ 9.92441422e-01 1.22356989e-01 9.42289385e-03 2.52091899e+02] [-1.22349927e-01 9.92486141e-01 -1.32453688e-03 -2.37893398e+01] [-9.51415791e-03 1.61634891e-04 9.99954726e-01 -7.23876674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.204203822 meters 0.02300781183805897 Centerline is valid? [True, True] Translation: X:252.15, Y:-23.80, Z:-7.24 [[ 9.92117443e-01 1.24944820e-01 9.57971220e-03 2.52153428e+02] [-1.24937670e-01 9.92163683e-01 -1.34359110e-03 -2.37959970e+01] [-9.67251728e-03 1.36133239e-04 9.99953211e-01 -7.23950365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26420382199996 meters 0.03371208481085518 Centerline is valid? [True, True] Translation: X:252.22, Y:-23.80, Z:-7.24 [[ 9.91253991e-01 1.31718121e-01 8.11554814e-03 2.52215684e+02] [-1.31713198e-01 9.91287210e-01 -1.14051962e-03 -2.38017984e+01] [-8.19506617e-03 6.16198243e-05 9.99966418e-01 -7.24468263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.32420382199996 meters 0.017971184575727456 Centerline is valid? [True, True] Translation: X:252.28, Y:-23.81, Z:-7.25 [[ 9.90416602e-01 1.37957661e-01 6.52984653e-03 2.52277214e+02] [-1.37954622e-01 9.90438127e-01 -9.15716381e-04 -2.38068419e+01] [-6.59373906e-03 6.11819623e-06 9.99978261e-01 -7.25069144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.38420382199996 meters 0.017289314304958038 Centerline is valid? [True, True] Translation: X:252.34, Y:-23.80, Z:-7.25 [[ 9.89406284e-01 1.44890526e-01 9.05210848e-03 2.52340675e+02] [-1.44884938e-01 9.89447691e-01 -1.27350921e-03 -2.38024195e+01] [-9.14110725e-03 -5.14961560e-05 9.99958218e-01 -7.24704890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.44420382199996 meters 0.02035467005608636 Centerline is valid? [True, True] Translation: X:252.40, Y:-23.81, Z:-7.25 [[ 9.88690931e-01 1.49729084e-01 8.45243894e-03 2.52401398e+02] [-1.49724353e-01 9.88727057e-01 -1.19327946e-03 -2.38062595e+01] [-8.53582372e-03 -8.57513738e-05 9.99963566e-01 -7.25037966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.50420382199997 meters 0.022160052795642777 Centerline is valid? [True, True] Translation: X:252.46, Y:-23.81, Z:-7.25 [[ 9.88316973e-01 1.52182613e-01 8.36740821e-03 2.52463689e+02] [-1.52178088e-01 9.88352387e-01 -1.17856894e-03 -2.38089242e+01] [-8.44930558e-03 -1.08536494e-04 9.99964298e-01 -7.25389225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.56420382199997 meters 0.020598430885469875 Centerline is valid? [True, True] Translation: X:252.52, Y:-23.82, Z:-7.25 [[ 9.88647644e-01 1.50002590e-01 8.66362390e-03 2.52524410e+02] [-1.49997639e-01 9.88685599e-01 -1.22217352e-03 -2.38160937e+01] [-8.74892939e-03 -9.12241580e-05 9.99961723e-01 -7.25485471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.62420382199997 meters 0.01785574215000288 Centerline is valid? [True, True] Translation: X:252.59, Y:-23.83, Z:-7.26 [[ 9.89224501e-01 1.46195570e-01 7.85763112e-03 2.52585155e+02] [-1.46191374e-01 9.89255706e-01 -1.10891428e-03 -2.38289904e+01] [-7.93532478e-03 -5.17527128e-05 9.99968513e-01 -7.25687280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.684203822 meters 0.016105211022172848 Centerline is valid? [True, True] Translation: X:252.65, Y:-23.84, Z:-7.25 [[ 9.89691778e-01 1.42872969e-01 9.87421722e-03 2.52646166e+02] [-1.42866147e-01 9.89741034e-01 -1.39644779e-03 -2.38428440e+01] [-9.97243260e-03 -2.86384658e-05 9.99950274e-01 -7.25455573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.744203822 meters 0.015762606410233578 Centerline is valid? [True, True] Translation: X:252.71, Y:-23.85, Z:-7.26 [[ 9.89774581e-01 1.42227806e-01 1.08410894e-02 2.52707763e+02] [-1.42219518e-01 9.89833951e-01 -1.53555700e-03 -2.38482388e+01] [-1.09492773e-02 -2.19592226e-05 9.99940055e-01 -7.25598702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.804203822 meters 0.015770718025698387 Centerline is valid? [True, True] Translation: X:252.77, Y:-23.86, Z:-7.26 [[ 9.89944064e-01 1.41014495e-01 1.12098821e-02 2.52767738e+02] [-1.41005530e-01 9.90007531e-01 -1.59010741e-03 -2.38611828e+01] [-1.13220959e-02 -6.53797347e-06 9.99935903e-01 -7.25820905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.864203822 meters 0.01563613545513157 Centerline is valid? [True, True] Translation: X:252.83, Y:-23.87, Z:-7.26 [[ 9.90190868e-01 1.39340071e-01 1.03145698e-02 2.52829178e+02] [-1.39332380e-01 9.90244588e-01 -1.46402560e-03 -2.38722682e+01] [-1.04179443e-02 1.25112276e-05 9.99945732e-01 -7.26005781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.924203822 meters 0.017293386606051692 Centerline is valid? [True, True] Translation: X:252.89, Y:-23.89, Z:-7.27 [[ 9.90465495e-01 1.37402794e-01 9.92848843e-03 2.52888215e+02] [-1.37395552e-01 9.90515255e-01 -1.41104679e-03 -2.38871177e+01] [-1.00282010e-02 3.34630116e-05 9.99949716e-01 -7.26684687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.984203822 meters 0.02478869050301019 Centerline is valid? [True, True] Translation: X:252.95, Y:-23.90, Z:-7.27 [[ 9.90530569e-01 1.37057976e-01 8.01889536e-03 2.52948037e+02] [-1.37053236e-01 9.90563027e-01 -1.14023901e-03 -2.39004827e+01] [-8.09950011e-03 3.04260301e-05 9.99967198e-01 -7.27406470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.044203822 meters 0.01569362777895458 Centerline is valid? [True, True] Translation: X:253.01, Y:-23.91, Z:-7.27 [[ 9.90389814e-01 1.37941270e-01 1.00111148e-02 2.53010057e+02] [-1.37933907e-01 9.90440410e-01 -1.42560010e-03 -2.39055171e+01] [-1.01120618e-02 3.10276382e-05 9.99948871e-01 -7.26748125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.104203822 meters 0.024842959691285922 Centerline is valid? [True, True] Translation: X:253.07, Y:-23.92, Z:-7.27 [[ 9.90431576e-01 1.37717452e-01 8.89920776e-03 2.53069985e+02] [-1.37711613e-01 9.90471556e-01 -1.26858597e-03 -2.39184929e+01] [-8.98911858e-03 3.09233470e-05 9.99959597e-01 -7.27472826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.164203822 meters 0.017379468506881983 Centerline is valid? [True, True] Translation: X:253.13, Y:-23.93, Z:-7.28 [[ 9.90477915e-01 1.37416598e-01 8.37725318e-03 2.53130286e+02] [-1.37411402e-01 9.90513340e-01 -1.19535370e-03 -2.39296279e+01] [-8.46204247e-03 3.28413330e-05 9.99964196e-01 -7.27812266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.224203822 meters 0.01687901089850211 Centerline is valid? [True, True] Translation: X:253.19, Y:-23.94, Z:-7.28 [[ 9.90170023e-01 1.39646908e-01 7.87819492e-03 2.53192532e+02] [-1.39642382e-01 9.90201364e-01 -1.12438835e-03 -2.39362809e+01] [-7.95801671e-03 1.32057287e-05 9.99968334e-01 -7.28068403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.284203822 meters 0.029627436766392262 Centerline is valid? [True, True] Translation: X:253.26, Y:-23.93, Z:-7.28 [[ 9.89359338e-01 1.45292662e-01 7.62508017e-03 2.53256897e+02] [-1.45288580e-01 9.89388721e-01 -1.08952364e-03 -2.39338414e+01] [-7.70246810e-03 -2.99066839e-05 9.99970335e-01 -7.28375807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.344203822 meters 0.026515898386265262 Centerline is valid? [True, True] Translation: X:253.32, Y:-23.93, Z:-7.29 [[ 9.88773062e-01 1.49047336e-01 1.06170878e-02 2.53318695e+02] [-1.49039584e-01 9.88830059e-01 -1.52212655e-03 -2.39307074e+01] [-1.07253645e-02 -7.73286198e-05 9.99942479e-01 -7.28755436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.404203822 meters 0.016593687165809348 Centerline is valid? [True, True] Translation: X:253.38, Y:-23.94, Z:-7.28 [[ 9.88752231e-01 1.49011043e-01 1.28348892e-02 2.53380819e+02] [-1.48999650e-01 9.88835528e-01 -1.84467619e-03 -2.39404197e+01] [-1.29664715e-02 -8.84663014e-05 9.99915928e-01 -7.27888239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.464203822 meters 0.016118747895447785 Centerline is valid? [True, True] Translation: X:253.44, Y:-23.95, Z:-7.28 [[ 9.88784630e-01 1.48901084e-01 1.15509119e-02 2.53443088e+02] [-1.48891867e-01 9.88852092e-01 -1.65869162e-03 -2.39459088e+01] [-1.16691244e-02 -7.97480595e-05 9.99931910e-01 -7.28300432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.524203822 meters 0.015930320111331872 Centerline is valid? [True, True] Translation: X:253.50, Y:-23.95, Z:-7.29 [[ 9.88820516e-01 1.48615790e-01 1.21381677e-02 2.53503691e+02] [-1.48605558e-01 9.88895010e-01 -1.74564336e-03 -2.39533187e+01] [-1.22628036e-02 -7.76712123e-05 9.99924806e-01 -7.28538387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.584203822 meters 0.016402029639385574 Centerline is valid? [True, True] Translation: X:253.57, Y:-23.96, Z:-7.29 [[ 9.88822992e-01 1.48675957e-01 1.11601786e-02 2.53565921e+02] [-1.48667297e-01 9.88885967e-01 -1.60623442e-03 -2.39593007e+01] [-1.12749524e-02 -7.08720589e-05 9.99936433e-01 -7.28939215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.644203822 meters 0.017521374636922087 Centerline is valid? [True, True] Translation: X:253.63, Y:-23.96, Z:-7.29 [[ 9.88545924e-01 1.50455141e-01 1.18408446e-02 2.53627651e+02] [-1.50445483e-01 9.88616833e-01 -1.70736717e-03 -2.39630102e+01] [-1.19629405e-02 -9.35907267e-05 9.99928437e-01 -7.29209328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.704203822 meters 0.019220553693240775 Centerline is valid? [True, True] Translation: X:253.69, Y:-23.96, Z:-7.29 [[ 9.88169145e-01 1.52985296e-01 1.08277598e-02 2.53689133e+02] [-1.52977338e-01 9.88228459e-01 -1.56427965e-03 -2.39625352e+01] [-1.09396122e-02 -1.10628997e-04 9.99940155e-01 -7.29450624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76420382199996 meters 0.01907421107877187 Centerline is valid? [True, True] Translation: X:253.75, Y:-23.97, Z:-7.30 [[ 9.88175626e-01 1.52901664e-01 1.14023316e-02 2.53749723e+02] [-1.52892830e-01 9.88241402e-01 -1.64765155e-03 -2.39656011e+01] [-1.15201848e-02 -1.15165639e-04 9.99933634e-01 -7.29583500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.82420382199996 meters 0.015653487149203584 Centerline is valid? [True, True] Translation: X:253.81, Y:-23.98, Z:-7.30 [[ 9.88853033e-01 1.48520302e-01 1.05545960e-02 2.53809468e+02] [-1.48512517e-01 9.88909357e-01 -1.52192353e-03 -2.39837047e+01] [-1.06635752e-02 -6.25309191e-05 9.99943141e-01 -7.29686607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.88420382199996 meters 0.015643501750923095 Centerline is valid? [True, True] Translation: X:253.87, Y:-23.99, Z:-7.30 [[ 9.89419175e-01 1.44758556e-01 9.72919758e-03 2.53870712e+02] [-1.44751749e-01 9.89467008e-01 -1.40402368e-03 -2.39914693e+01] [-9.82996446e-03 -1.91504170e-05 9.99951685e-01 -7.30367120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.94420382199996 meters 0.016617511902113528 Centerline is valid? [True, True] Translation: X:253.93, Y:-24.00, Z:-7.31 [[ 9.89776027e-01 1.42347290e-01 8.98142186e-03 2.53930425e+02] [-1.42341361e-01 9.89816775e-01 -1.29924438e-03 -2.40042755e+01] [-9.07490594e-03 7.53313232e-06 9.99958822e-01 -7.30922766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.00420382199997 meters 0.027962847143201897 Centerline is valid? [True, True] Translation: X:253.99, Y:-24.01, Z:-7.31 [[ 9.89904676e-01 1.41459793e-01 8.82379990e-03 2.53992023e+02] [-1.41454042e-01 9.89944002e-01 -1.27568197e-03 -2.40128472e+01] [-8.91552549e-03 1.46413885e-05 9.99960256e-01 -7.31107491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.06420382199997 meters 0.015416511813668179 Centerline is valid? [True, True] Translation: X:254.05, Y:-24.02, Z:-7.31 [[ 9.89835484e-01 1.41880855e-01 9.77433300e-03 2.54053195e+02] [-1.41873796e-01 9.89883742e-01 -1.41532250e-03 -2.40222616e+01] [-9.87626049e-03 1.42147087e-05 9.99951228e-01 -7.30863064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.12420382199997 meters 0.015214331844306714 Centerline is valid? [True, True] Translation: X:254.12, Y:-24.03, Z:-7.31 [[ 9.89594279e-01 1.43559393e-01 9.68835485e-03 2.54115354e+02] [-1.43552522e-01 9.89641703e-01 -1.40452628e-03 -2.40280438e+01] [-9.78963293e-03 -8.76606251e-07 9.99952080e-01 -7.31065825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.184203822 meters 0.01538119219922768 Centerline is valid? [True, True] Translation: X:254.18, Y:-24.04, Z:-7.31 [[ 9.89407776e-01 1.44848378e-01 9.54987245e-03 2.54177157e+02] [-1.44841747e-01 9.89453863e-01 -1.38605517e-03 -2.40360338e+01] [-9.64992604e-03 -1.18464422e-05 9.99953438e-01 -7.31381857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.244203822 meters 0.021195396291531637 Centerline is valid? [True, True] Translation: X:254.24, Y:-24.04, Z:-7.32 [[ 9.89230652e-01 1.46051505e-01 9.57468218e-03 2.54238405e+02] [-1.46044852e-01 9.89276987e-01 -1.39416841e-03 -2.40422865e+01] [-9.67563314e-03 -1.91789178e-05 9.99953190e-01 -7.31728469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.304203822 meters 0.014881312301161164 Centerline is valid? [True, True] Translation: X:254.30, Y:-24.05, Z:-7.32 [[ 9.89215640e-01 1.46104511e-01 1.02902990e-02 2.54299518e+02] [-1.46096855e-01 9.89269160e-01 -1.49588178e-03 -2.40515973e+01] [-1.03984305e-02 -2.36306609e-05 9.99945935e-01 -7.31654803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.364203822 meters 0.014974324748502531 Centerline is valid? [True, True] Translation: X:254.36, Y:-24.06, Z:-7.32 [[ 9.88929178e-01 1.47961143e-01 1.12508694e-02 2.54360204e+02] [-1.47952080e-01 9.88993174e-01 -1.63823762e-03 -2.40598597e+01] [-1.13694286e-02 -4.44885476e-05 9.99935365e-01 -7.31710125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.424203822 meters 0.018042436364982796 Centerline is valid? [True, True] Translation: X:254.42, Y:-24.06, Z:-7.32 [[ 9.88060239e-01 1.53593227e-01 1.20865728e-02 2.54420781e+02] [-1.53583125e-01 9.88134155e-01 -1.76514500e-03 -2.40593481e+01] [-1.22142698e-02 -1.12224040e-04 9.99925397e-01 -7.31812696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.484203822 meters 0.022121230657101375 Centerline is valid? [True, True] Translation: X:254.48, Y:-24.06, Z:-7.32 [[ 9.87181226e-01 1.59270518e-01 1.03018623e-02 2.54481423e+02] [-1.59263488e-01 9.87234966e-01 -1.50443062e-03 -2.40605973e+01] [-1.04099701e-02 -1.55564859e-04 9.99945803e-01 -7.32173236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.544203822 meters 0.025758399709620704 Centerline is valid? [True, True] Translation: X:254.54, Y:-24.06, Z:-7.32 [[ 9.86694612e-01 1.62161532e-01 1.17209611e-02 2.54541101e+02] [-1.62152633e-01 9.86764203e-01 -1.71189130e-03 -2.40592000e+01] [-1.18434278e-02 -2.11470783e-04 9.99929842e-01 -7.32458375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.604203822 meters 0.025130735066821317 Centerline is valid? [True, True] Translation: X:254.60, Y:-24.06, Z:-7.33 [[ 9.86789909e-01 1.61607110e-01 1.13497338e-02 2.54599378e+02] [-1.61598732e-01 9.86855158e-01 -1.65747233e-03 -2.40649212e+01] [-1.14684027e-02 -1.98525629e-04 9.99934216e-01 -7.32687672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.664203822 meters 0.023541547234419362 Centerline is valid? [True, True] Translation: X:254.66, Y:-24.07, Z:-7.33 [[ 9.87312694e-01 1.58536004e-01 8.94312902e-03 2.54656885e+02] [-1.58530680e-01 9.87353189e-01 -1.30564005e-03 -2.40741442e+01] [-9.03701791e-03 -1.28685323e-04 9.99959157e-01 -7.33244241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.724203822 meters 0.02011745451590189 Centerline is valid? [True, True] Translation: X:254.72, Y:-24.08, Z:-7.33 [[ 9.87824041e-01 1.55250153e-01 1.00525258e-02 2.54716293e+02] [-1.55243265e-01 9.87875183e-01 -1.46667558e-03 -2.40845173e+01] [-1.01583424e-02 -1.11769534e-04 9.99948396e-01 -7.33202013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.784203822 meters 0.016186219846771578 Centerline is valid? [True, True] Translation: X:254.77, Y:-24.10, Z:-7.33 [[ 9.88866126e-01 1.48433514e-01 1.05487628e-02 2.54774798e+02] [-1.48425539e-01 9.88922388e-01 -1.53924077e-03 -2.40997963e+01] [-1.06603827e-02 -4.36027532e-05 9.99943176e-01 -7.33397709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.844203822 meters 0.015526288396259653 Centerline is valid? [True, True] Translation: X:254.83, Y:-24.12, Z:-7.33 [[ 9.90021078e-01 1.40369707e-01 1.24342787e-02 2.54834123e+02] [-1.40358007e-01 9.90099158e-01 -1.81299985e-03 -2.41191984e+01] [-1.25656591e-02 4.96574812e-05 9.99921048e-01 -7.33333534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.904203822 meters 0.019526902251078025 Centerline is valid? [True, True] Translation: X:254.89, Y:-24.14, Z:-7.34 [[ 9.91011348e-01 1.33340159e-01 1.08124776e-02 2.54892690e+02] [-1.33330894e-01 9.91070324e-01 -1.57646884e-03 -2.41390227e+01] [-1.09261323e-02 1.20661196e-04 9.99940301e-01 -7.33562019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.964203822 meters 0.02057935116259336 Centerline is valid? [True, True] Translation: X:254.95, Y:-24.15, Z:-7.34 [[ 9.91257204e-01 1.31677269e-01 8.38163141e-03 2.54953072e+02] [-1.31671644e-01 9.91292634e-01 -1.22183493e-03 -2.41533377e+01] [-8.46953736e-03 1.07529496e-04 9.99964127e-01 -7.34057487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.024203822 meters 0.01833053816707195 Centerline is valid? [True, True] Translation: X:255.01, Y:-24.16, Z:-7.34 [[ 9.90906987e-01 1.34129840e-01 1.06079382e-02 2.55013787e+02] [-1.34120956e-01 9.90963760e-01 -1.54775858e-03 -2.41631079e+01] [-1.07196830e-02 1.10937971e-04 9.99942536e-01 -7.33761588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.084203822 meters 0.016861677374875213 Centerline is valid? [True, True] Translation: X:255.08, Y:-24.17, Z:-7.34 [[ 9.90554841e-01 1.36683045e-01 1.09019205e-02 2.55076146e+02] [-1.36673820e-01 9.90614828e-01 -1.59027755e-03 -2.41692043e+01] [-1.10169681e-02 8.52499974e-05 9.99939308e-01 -7.33914285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.144203822 meters 0.018028713537296927 Centerline is valid? [True, True] Translation: X:255.14, Y:-24.18, Z:-7.35 [[ 9.90048144e-01 1.40459501e-01 8.70633914e-03 2.55135926e+02] [-1.40453768e-01 9.90086424e-01 -1.26955383e-03 -2.41790482e+01] [-8.79834909e-03 3.40812749e-05 9.99961293e-01 -7.35162453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.204203822 meters 0.017859336386750132 Centerline is valid? [True, True] Translation: X:255.20, Y:-24.19, Z:-7.36 [[ 9.89772429e-01 1.42422948e-01 8.13901069e-03 2.55195294e+02] [-1.42417983e-01 9.89805892e-01 -1.18937639e-03 -2.41899560e+01] [-8.22543522e-03 1.80704743e-05 9.99966170e-01 -7.35532392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26420382199996 meters 0.015227211831923498 Centerline is valid? [True, True] Translation: X:255.26, Y:-24.20, Z:-7.35 [[ 9.89330465e-01 1.45392090e-01 9.29359144e-03 2.55256563e+02] [-1.45385751e-01 9.89374115e-01 -1.35761486e-03 -2.41988887e+01] [-9.39222527e-03 -8.02602836e-06 9.99955892e-01 -7.34721646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.32420382199996 meters 0.016318064483426004 Centerline is valid? [True, True] Translation: X:255.32, Y:-24.21, Z:-7.35 [[ 9.88648641e-01 1.50035056e-01 7.95907113e-03 2.55317869e+02] [-1.50030583e-01 9.88680676e-01 -1.15958603e-03 -2.42064146e+01] [-8.04295838e-03 -4.76809229e-05 9.99967654e-01 -7.35070064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.38420382199996 meters 0.031165677852474667 Centerline is valid? [True, True] Translation: X:255.38, Y:-24.21, Z:-7.35 [[ 9.87836069e-01 1.55203717e-01 9.57643496e-03 2.55377606e+02] [-1.55197423e-01 9.87882481e-01 -1.40137652e-03 -2.42136766e+01] [-9.67789117e-03 -1.01907760e-04 9.99953163e-01 -7.35214315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.44420382199996 meters 0.02467637107011233 Centerline is valid? [True, True] Translation: X:255.44, Y:-24.21, Z:-7.35 [[ 9.86880449e-01 1.61219019e-01 8.68369057e-03 2.55437346e+02] [-1.61214072e-01 9.86918643e-01 -1.27123198e-03 -2.42143084e+01] [-8.77504288e-03 -1.45379127e-04 9.99961488e-01 -7.35399703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.50420382199997 meters 0.028674258047777408 Centerline is valid? [True, True] Translation: X:255.50, Y:-24.22, Z:-7.35 [[ 9.86082888e-01 1.65950369e-01 1.00505008e-02 2.55496974e+02] [-1.65943990e-01 9.86134082e-01 -1.47116200e-03 -2.42156330e+01] [-1.01552812e-02 -2.17132525e-04 9.99948410e-01 -7.35309615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.56420382199997 meters 0.029344388545412756 Centerline is valid? [True, True] Translation: X:255.56, Y:-24.22, Z:-7.36 [[ 9.86031806e-01 1.66267689e-01 9.81494927e-03 2.55556370e+02] [-1.66261626e-01 9.86080630e-01 -1.43614286e-03 -2.42222294e+01] [-9.91711551e-03 -2.15766886e-04 9.99950801e-01 -7.35525663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.62420382199997 meters 0.028300068675175146 Centerline is valid? [True, True] Translation: X:255.62, Y:-24.23, Z:-7.35 [[ 9.86152931e-01 1.65435080e-01 1.15598482e-02 2.55616386e+02] [-1.65426620e-01 9.86220652e-01 -1.69085061e-03 -2.42281764e+01] [-1.16802871e-02 -2.44869339e-04 9.99931753e-01 -7.35415769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.684203822 meters 0.025147000375930945 Centerline is valid? [True, True] Translation: X:255.67, Y:-24.24, Z:-7.35 [[ 9.86799680e-01 1.61503439e-01 1.19595599e-02 2.55674355e+02] [-1.61494098e-01 9.86872128e-01 -1.74905449e-03 -2.42356592e+01] [-1.20850346e-02 -2.05431924e-04 9.99926952e-01 -7.35490345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.744203822 meters 0.021563705491899315 Centerline is valid? [True, True] Translation: X:255.73, Y:-24.25, Z:-7.36 [[ 9.87293152e-01 1.58421363e-01 1.24459943e-02 2.55734153e+02] [-1.58411005e-01 9.87371582e-01 -1.82002616e-03 -2.42456614e+01] [-1.25771521e-02 -1.74683092e-04 9.99920889e-01 -7.35510114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.804203822 meters 0.019073756371407017 Centerline is valid? [True, True] Translation: X:255.79, Y:-24.26, Z:-7.36 [[ 9.87915834e-01 1.54472685e-01 1.26686357e-02 2.55792649e+02] [-1.54461625e-01 9.87997051e-01 -1.85277452e-03 -2.42551658e+01] [-1.28027778e-02 -1.26432780e-04 9.99918033e-01 -7.35831238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.864203822 meters 0.014694781894958634 Centerline is valid? [True, True] Translation: X:255.85, Y:-24.27, Z:-7.36 [[ 9.88926138e-01 1.47754361e-01 1.39191241e-02 2.55851246e+02] [-1.47740363e-01 9.89024088e-01 -2.03425653e-03 -2.42725722e+01] [-1.40669193e-02 -4.46869947e-05 9.99901055e-01 -7.35916390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.924203822 meters 0.015632867205888062 Centerline is valid? [True, True] Translation: X:255.91, Y:-24.29, Z:-7.37 [[ 9.89453639e-01 1.44440003e-01 1.08895071e-02 2.55911624e+02] [-1.44431250e-01 9.89513560e-01 -1.59015521e-03 -2.42872861e+01] [-1.10049970e-02 5.99735227e-07 9.99939443e-01 -7.36609304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.984203822 meters 0.021483599783943163 Centerline is valid? [True, True] Translation: X:255.97, Y:-24.29, Z:-7.37 [[ 9.89499607e-01 1.44231416e-01 9.37155158e-03 2.55972695e+02] [-1.44224890e-01 9.89543985e-01 -1.37203028e-03 -2.42944775e+01] [-9.47145237e-03 6.01243093e-06 9.99955145e-01 -7.36944411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.044203822 meters 0.01509579891177109 Centerline is valid? [True, True] Translation: X:256.03, Y:-24.30, Z:-7.37 [[ 9.89232636e-01 1.46055611e-01 9.30319358e-03 2.56033346e+02] [-1.46049255e-01 9.89276381e-01 -1.36271080e-03 -2.42990766e+01] [-9.40246124e-03 -1.06864871e-05 9.99955796e-01 -7.36698995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.104203822 meters 0.015370637789470336 Centerline is valid? [True, True] Translation: X:256.09, Y:-24.30, Z:-7.37 [[ 9.88895098e-01 1.48338095e-01 9.07162482e-03 2.56094149e+02] [-1.48332146e-01 9.88936706e-01 -1.32879113e-03 -2.43026472e+01] [-9.16837311e-03 -3.15785406e-05 9.99957969e-01 -7.36904482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.164203822 meters 0.01715746003711669 Centerline is valid? [True, True] Translation: X:256.15, Y:-24.30, Z:-7.38 [[ 9.88678325e-01 1.49842895e-01 7.89156300e-03 2.56153852e+02] [-1.49838440e-01 9.88709819e-01 -1.15619957e-03 -2.43033317e+01] [-7.97571411e-03 -3.93500268e-05 9.99968193e-01 -7.37668913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.224203822 meters 0.01768280188543944 Centerline is valid? [True, True] Translation: X:256.21, Y:-24.31, Z:-7.38 [[ 9.88518892e-01 1.50901415e-01 7.69174723e-03 2.56213166e+02] [-1.50897213e-01 9.88548816e-01 -1.12708179e-03 -2.43093535e+01] [-7.77374585e-03 -4.65215796e-05 9.99969783e-01 -7.37850302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.284203822 meters 0.017007067527008608 Centerline is valid? [True, True] Translation: X:256.27, Y:-24.31, Z:-7.38 [[ 9.88370786e-01 1.51833440e-01 8.35439318e-03 2.56272752e+02] [-1.51828519e-01 9.88406092e-01 -1.22393998e-03 -2.43130604e+01] [-8.44336813e-03 -5.87286159e-05 9.99964352e-01 -7.37663577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.344203822 meters 0.01612999909032276 Centerline is valid? [True, True] Translation: X:256.33, Y:-24.32, Z:-7.38 [[ 9.88669294e-01 1.49882014e-01 8.27095144e-03 2.56331893e+02] [-1.49877124e-01 9.88703889e-01 -1.21151670e-03 -2.43228365e+01] [-8.35910642e-03 -4.18370543e-05 9.99965061e-01 -7.37779493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.404203822 meters 0.0168105997411436 Centerline is valid? [True, True] Translation: X:256.39, Y:-24.33, Z:-7.39 [[ 9.89241333e-01 1.46054355e-01 8.34927091e-03 2.56390311e+02] [-1.46049237e-01 9.89276567e-01 -1.22276211e-03 -2.43306113e+01] [-8.43832779e-03 -9.79782838e-06 9.99964397e-01 -7.38560369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.464203822 meters 0.015896245213862004 Centerline is valid? [True, True] Translation: X:256.45, Y:-24.35, Z:-7.38 [[ 9.89854237e-01 1.41881352e-01 7.63358301e-03 2.56448772e+02] [-1.41876955e-01 9.89883671e-01 -1.11728972e-03 -2.43474448e+01] [-7.71488175e-03 2.29244490e-05 9.99970240e-01 -7.38415887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.524203822 meters 0.014920023006176722 Centerline is valid? [True, True] Translation: X:256.51, Y:-24.35, Z:-7.38 [[ 9.89437235e-01 1.44681709e-01 9.00894841e-03 2.56509518e+02] [-1.44675696e-01 9.89478248e-01 -1.31909073e-03 -2.43463484e+01] [-9.10500679e-03 1.78160788e-06 9.99958549e-01 -7.38273847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.584203822 meters 0.01579276881963658 Centerline is valid? [True, True] Translation: X:256.57, Y:-24.35, Z:-7.39 [[ 9.88765836e-01 1.49274117e-01 7.70457029e-03 2.56569460e+02] [-1.49269857e-01 9.88795852e-01 -1.12829885e-03 -2.43454418e+01] [-7.78667296e-03 -3.44367450e-05 9.99969683e-01 -7.38538939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.644203822 meters 0.01687054246902715 Centerline is valid? [True, True] Translation: X:256.63, Y:-24.35, Z:-7.39 [[ 9.88470349e-01 1.51186954e-01 8.29898564e-03 2.56627584e+02] [-1.51182078e-01 9.88505186e-01 -1.21545590e-03 -2.43456635e+01] [-8.38735142e-03 -5.32157759e-05 9.99964824e-01 -7.38862780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.70420382199995 meters 0.017333093301437903 Centerline is valid? [True, True] Translation: X:256.69, Y:-24.35, Z:-7.39 [[ 9.88556986e-01 1.50749194e-01 5.45583364e-03 2.56686977e+02] [-1.50747080e-01 9.88572041e-01 -7.98913502e-04 -2.43478229e+01] [-5.51392016e-03 -3.26794690e-05 9.99984798e-01 -7.39492035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76420382199996 meters 0.016406599510794966 Centerline is valid? [True, True] Translation: X:256.74, Y:-24.36, Z:-7.40 [[ 9.88929581e-01 1.48245798e-01 6.43956311e-03 2.56743256e+02] [-1.48242801e-01 9.88950546e-01 -9.42829136e-04 -2.43604923e+01] [-6.50817991e-03 -2.22272509e-05 9.99978821e-01 -7.39629061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.82420382199996 meters 0.016053652939413698 Centerline is valid? [True, True] Translation: X:256.80, Y:-24.37, Z:-7.40 [[ 9.89371622e-01 1.45276934e-01 6.19730575e-03 2.56801333e+02] [-1.45274104e-01 9.89391031e-01 -9.06729331e-04 -2.43685624e+01] [-6.26328559e-03 -3.21577375e-06 9.99980385e-01 -7.39794759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.88420382199996 meters 0.015388161320744796 Centerline is valid? [True, True] Translation: X:256.86, Y:-24.38, Z:-7.40 [[ 9.89569443e-01 1.43855382e-01 7.61220365e-03 2.56859101e+02] [-1.43851077e-01 9.89598721e-01 -1.11303577e-03 -2.43781286e+01] [-7.69314318e-03 6.40249372e-06 9.99970407e-01 -7.39721536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.94420382199996 meters 0.015146376798777901 Centerline is valid? [True, True] Translation: X:256.92, Y:-24.39, Z:-7.40 [[ 9.89945988e-01 1.41120940e-01 9.58233246e-03 2.56917591e+02] [-1.41114001e-01 9.89992363e-01 -1.39974962e-03 -2.43886805e+01] [-9.68396994e-03 3.34752413e-05 9.99953109e-01 -7.39578443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.00420382199997 meters 0.01684267147275391 Centerline is valid? [True, True] Translation: X:256.98, Y:-24.41, Z:-7.40 [[ 9.90614125e-01 1.36299661e-01 1.02984274e-02 2.56976700e+02] [-1.36291394e-01 9.90667651e-01 -1.50357892e-03 -2.44051182e+01] [-1.04072561e-02 8.58794924e-05 9.99945839e-01 -7.39644778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.06420382199997 meters 0.02037143060072128 Centerline is valid? [True, True] Translation: X:257.03, Y:-24.42, Z:-7.40 [[ 9.91244626e-01 1.31629471e-01 1.03813852e-02 2.57034993e+02] [-1.31620817e-01 9.91298978e-01 -1.51546339e-03 -2.44234498e+01] [-1.04905362e-02 1.35788538e-04 9.99944964e-01 -7.39894043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.12420382199997 meters 0.020028841315625004 Centerline is valid? [True, True] Translation: X:257.09, Y:-24.44, Z:-7.40 [[ 9.91210120e-01 1.32021561e-01 8.53259563e-03 2.57094869e+02] [-1.32015732e-01 9.91246839e-01 -1.24536166e-03 -2.44365301e+01] [-8.62232304e-03 1.07978227e-04 9.99962821e-01 -7.40228638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.184203822 meters 0.018681666587973406 Centerline is valid? [True, True] Translation: X:257.15, Y:-24.44, Z:-7.41 [[ 9.90862351e-01 1.34633314e-01 8.10381714e-03 2.57154113e+02] [-1.34628135e-01 9.90895486e-01 -1.18372900e-03 -2.44441382e+01] [-8.18940518e-03 8.19107146e-05 9.99966463e-01 -7.40525675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.244203822 meters 0.01670505206866165 Centerline is valid? [True, True] Translation: X:257.21, Y:-24.45, Z:-7.41 [[ 9.90171373e-01 1.39585119e-01 8.75481985e-03 2.57212483e+02] [-1.39579265e-01 9.90210075e-01 -1.27916510e-03 -2.44489867e+01] [-8.84766323e-03 4.46013414e-05 9.99960858e-01 -7.40868088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.304203822 meters 0.01592115489612731 Centerline is valid? [True, True] Translation: X:257.27, Y:-24.45, Z:-7.41 [[ 9.89323002e-01 1.45509485e-01 8.18463321e-03 2.57271878e+02] [-1.45504571e-01 9.89356857e-01 -1.19585436e-03 -2.44514536e+01] [-8.27153114e-03 -7.81532362e-06 9.99965790e-01 -7.41106265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.364203822 meters 0.016934558375492733 Centerline is valid? [True, True] Translation: X:257.33, Y:-24.46, Z:-7.41 [[ 9.88701213e-01 1.49654359e-01 8.57234680e-03 2.57330667e+02] [-1.49649129e-01 9.88738373e-01 -1.25202461e-03 -2.44553266e+01] [-8.66317917e-03 -4.49659761e-05 9.99962473e-01 -7.41234587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.424203822 meters 0.016564585788795494 Centerline is valid? [True, True] Translation: X:257.39, Y:-24.47, Z:-7.41 [[ 9.88459157e-01 1.51143880e-01 1.01991111e-02 2.57388038e+02] [-1.51136562e-01 9.88511772e-01 -1.48889741e-03 -2.44673429e+01] [-1.03069791e-02 -6.97443070e-05 9.99946879e-01 -7.41068689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.484203822 meters 0.01818301520632296 Centerline is valid? [True, True] Translation: X:257.45, Y:-24.48, Z:-7.42 [[ 9.88456789e-01 1.51301570e-01 7.81100446e-03 2.57445904e+02] [-1.51297286e-01 9.88487649e-01 -1.13995553e-03 -2.44768253e+01] [-7.89355850e-03 -5.49869949e-05 9.99968844e-01 -7.41862394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.544203822 meters 0.018507054904434272 Centerline is valid? [True, True] Translation: X:257.50, Y:-24.49, Z:-7.42 [[ 9.88510801e-01 1.50899748e-01 8.69836419e-03 2.57502508e+02] [-1.50894419e-01 9.88549069e-01 -1.26947383e-03 -2.44899566e+01] [-8.79032311e-03 -5.76460188e-05 9.99961363e-01 -7.42200018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.604203822 meters 0.017952074043946407 Centerline is valid? [True, True] Translation: X:257.56, Y:-24.50, Z:-7.42 [[ 9.88385115e-01 1.51730757e-01 8.52300387e-03 2.57560896e+02] [-1.51725681e-01 9.88421860e-01 -1.24268917e-03 -2.45027985e+01] [-8.61287751e-03 -6.49030882e-05 9.99962906e-01 -7.42014614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.664203822 meters 0.018163141101415693 Centerline is valid? [True, True] Translation: X:257.62, Y:-24.51, Z:-7.42 [[ 9.88385933e-01 1.51724206e-01 8.54479123e-03 2.57619847e+02] [-1.51719106e-01 9.88422866e-01 -1.24565120e-03 -2.45117286e+01] [-8.63486247e-03 -6.52239678e-05 9.99962717e-01 -7.42287591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.724203822 meters 0.01608667019378697 Centerline is valid? [True, True] Translation: X:257.68, Y:-24.53, Z:-7.42 [[ 9.88522856e-01 1.50823712e-01 8.64700963e-03 2.57679022e+02] [-1.50818461e-01 9.88560673e-01 -1.25984882e-03 -2.45254302e+01] [-8.73810874e-03 -5.87393397e-05 9.99961820e-01 -7.42002834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.784203822 meters 0.01562873824484025 Centerline is valid? [True, True] Translation: X:257.74, Y:-24.54, Z:-7.42 [[ 9.88987193e-01 1.47794880e-01 7.81063705e-03 2.57736889e+02] [-1.47790503e-01 9.89018035e-01 -1.13772161e-03 -2.45428646e+01] [-7.89301034e-03 -2.91458808e-05 9.99968849e-01 -7.42487158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.844203822 meters 0.01609364482020525 Centerline is valid? [True, True] Translation: X:257.80, Y:-24.55, Z:-7.43 [[ 9.88837241e-01 1.48750543e-01 8.61320405e-03 2.57795109e+02] [-1.48745252e-01 9.88874752e-01 -1.25529013e-03 -2.45547500e+01] [-8.70410511e-03 -3.98955803e-05 9.99962118e-01 -7.42774975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.904203822 meters 0.0172633967625472 Centerline is valid? [True, True] Translation: X:257.86, Y:-24.56, Z:-7.43 [[ 9.88361865e-01 1.51899138e-01 8.21432946e-03 2.57855459e+02] [-1.51894437e-01 9.88395997e-01 -1.19680993e-03 -2.45586401e+01] [-8.30080476e-03 -6.48296503e-05 9.99965546e-01 -7.42887738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.964203822 meters 0.019055398329875243 Centerline is valid? [True, True] Translation: X:257.92, Y:-24.57, Z:-7.43 [[ 9.87915330e-01 1.54788135e-01 7.99591186e-03 2.57915192e+02] [-1.54783775e-01 9.87947684e-01 -1.16498696e-03 -2.45675522e+01] [-8.07986876e-03 -8.67289429e-05 9.99967354e-01 -7.43200983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.024203822 meters 0.020193458085096 Centerline is valid? [True, True] Translation: X:257.97, Y:-24.58, Z:-7.44 [[ 9.88023617e-01 1.54109676e-01 7.71616103e-03 2.57974316e+02] [-1.54105594e-01 9.88053744e-01 -1.12449048e-03 -2.45756500e+01] [-7.79727666e-03 -7.80804258e-05 9.99969598e-01 -7.43828334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.084203822 meters 0.01712051527882081 Centerline is valid? [True, True] Translation: X:258.03, Y:-24.59, Z:-7.44 [[ 9.88606092e-01 1.50284545e-01 8.51760187e-03 2.58033523e+02] [-1.50279433e-01 9.88642783e-01 -1.24073897e-03 -2.45925887e+01] [-8.60732951e-03 -5.34182753e-05 9.99962955e-01 -7.43803086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.144203822 meters 0.01549198243898135 Centerline is valid? [True, True] Translation: X:258.09, Y:-24.61, Z:-7.44 [[ 9.89143087e-01 1.46637026e-01 9.67139826e-03 2.58093201e+02] [-1.46630265e-01 9.89190367e-01 -1.40836103e-03 -2.46118247e+01] [-9.77337186e-03 -2.50491125e-05 9.99952239e-01 -7.43828047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.20420382199995 meters 0.014414497262803203 Centerline is valid? [True, True] Translation: X:258.15, Y:-24.63, Z:-7.44 [[ 9.89646257e-01 1.43067069e-01 1.14934980e-02 2.58153833e+02] [-1.43057277e-01 9.89712996e-01 -1.67387950e-03 -2.46304278e+01] [-1.16147414e-02 1.23200605e-05 9.99932547e-01 -7.43787602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26420382199996 meters 0.01512823969062072 Centerline is valid? [True, True] Translation: X:258.21, Y:-24.65, Z:-7.44 [[ 9.90005975e-01 1.40617806e-01 1.07146115e-02 2.58214140e+02] [-1.40609170e-01 9.90063953e-01 -1.55893623e-03 -2.46503464e+01] [-1.08273648e-02 3.67835590e-05 9.99941382e-01 -7.43999123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.32420382199996 meters 0.017857061585935797 Centerline is valid? [True, True] Translation: X:258.27, Y:-24.67, Z:-7.45 [[ 9.90176827e-01 1.39584600e-01 8.12343474e-03 2.58272957e+02] [-1.39579584e-01 9.90210148e-01 -1.18395330e-03 -2.46661931e+01] [-8.20916917e-03 3.84574806e-05 9.99966303e-01 -7.45093849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.38420382199996 meters 0.018052247246974483 Centerline is valid? [True, True] Translation: X:258.33, Y:-24.68, Z:-7.45 [[ 9.90038159e-01 1.40621951e-01 7.06469246e-03 2.58333802e+02] [-1.40618193e-01 9.90063365e-01 -1.02828279e-03 -2.46821841e+01] [-7.13909232e-03 2.46149151e-05 9.99974516e-01 -7.45483269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.44420382199996 meters 0.015489356709178623 Centerline is valid? [True, True] Translation: X:258.40, Y:-24.69, Z:-7.45 [[ 9.89596431e-01 1.43682001e-01 7.37469881e-03 2.58395289e+02] [-1.43677984e-01 9.89623910e-01 -1.07447577e-03 -2.46934357e+01] [-7.45256110e-03 3.71553109e-06 9.99972229e-01 -7.45080592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.50420382199997 meters 0.024445515409334047 Centerline is valid? [True, True] Translation: X:258.46, Y:-24.70, Z:-7.46 [[ 9.89015096e-01 1.47567852e-01 8.53630515e-03 2.58455163e+02] [-1.47562591e-01 9.89051934e-01 -1.24637011e-03 -2.47026742e+01] [-8.62677328e-03 -2.69604548e-05 9.99962788e-01 -7.45986798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.56420382199997 meters 0.029789450338576957 Centerline is valid? [True, True] Translation: X:258.52, Y:-24.72, Z:-7.46 [[ 9.88788806e-01 1.49133724e-01 7.47187498e-03 2.58515298e+02] [-1.49129735e-01 9.88817036e-01 -1.09134558e-03 -2.47190724e+01] [-7.55107370e-03 -3.51684372e-05 9.99971490e-01 -7.46062432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.62420382199997 meters 0.01684399802530101 Centerline is valid? [True, True] Translation: X:258.58, Y:-24.73, Z:-7.46 [[ 9.88610744e-01 1.50278845e-01 8.06626702e-03 2.58575992e+02] [-1.50274217e-01 9.88643650e-01 -1.18028674e-03 -2.47275225e+01] [-8.15203579e-03 -4.53078085e-05 9.99966771e-01 -7.45970474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.684203822 meters 0.01621278331817626 Centerline is valid? [True, True] Translation: X:258.64, Y:-24.74, Z:-7.46 [[ 9.88537454e-01 1.50694097e-01 9.21905181e-03 2.58636574e+02] [-1.50688051e-01 9.88580440e-01 -1.35092635e-03 -2.47448688e+01] [-9.31735092e-03 -5.37596471e-05 9.99956591e-01 -7.45703726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.744203822 meters 0.01554615791798482 Centerline is valid? [True, True] Translation: X:258.70, Y:-24.76, Z:-7.46 [[ 9.88543589e-01 1.50614926e-01 9.83442105e-03 2.58697393e+02] [-1.50608023e-01 9.88592505e-01 -1.44306103e-03 -2.47605968e+01] [-9.93958147e-03 -5.46139855e-05 9.99950600e-01 -7.45629649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.804203822 meters 0.016807591411792853 Centerline is valid? [True, True] Translation: X:258.76, Y:-24.77, Z:-7.46 [[ 9.88236340e-01 1.52570694e-01 1.05413530e-02 2.58758911e+02] [-1.52562841e-01 9.88292557e-01 -1.54993190e-03 -2.47691422e+01] [-1.06544149e-02 -7.65197294e-05 9.99943237e-01 -7.46044168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.864203822 meters 0.018376244517397198 Centerline is valid? [True, True] Translation: X:258.82, Y:-24.78, Z:-7.46 [[ 9.87607584e-01 1.56592568e-01 1.04893653e-02 2.58820282e+02] [-1.56585014e-01 9.87663279e-01 -1.54264665e-03 -2.47780949e+01] [-1.06015280e-02 -1.18947886e-04 9.99943795e-01 -7.46011799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.924203822 meters 0.02102762964670644 Centerline is valid? [True, True] Translation: X:258.88, Y:-24.78, Z:-7.47 [[ 9.87211887e-01 1.59141723e-01 9.30602206e-03 2.58881600e+02] [-1.59135865e-01 9.87255740e-01 -1.37134214e-03 -2.47824115e+01] [-9.40566145e-03 -1.27116612e-04 9.99955758e-01 -7.46522206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.984203822 meters 0.019630614812761592 Centerline is valid? [True, True] Translation: X:258.94, Y:-24.79, Z:-7.47 [[ 9.87359865e-01 1.58226128e-01 9.21896362e-03 2.58943164e+02] [-1.58220347e-01 9.87402896e-01 -1.35760709e-03 -2.47926282e+01] [-9.31764029e-03 -1.18180876e-04 9.99956583e-01 -7.46639462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.044203822 meters 0.01784810436849626 Centerline is valid? [True, True] Translation: X:259.00, Y:-24.80, Z:-7.47 [[ 9.87745933e-01 1.55771547e-01 9.65390033e-03 2.59004259e+02] [-1.55765072e-01 9.87793104e-01 -1.42361361e-03 -2.48021850e+01] [-9.75781466e-03 -9.75719287e-05 9.99952387e-01 -7.46794626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.104203822 meters 0.015811246158675078 Centerline is valid? [True, True] Translation: X:259.07, Y:-24.82, Z:-7.47 [[ 9.88539437e-01 1.50760380e-01 7.81591222e-03 2.59065743e+02] [-1.50755980e-01 9.88570335e-01 -1.15240459e-03 -2.48162440e+01] [-7.90031591e-03 -3.90981269e-05 9.99968791e-01 -7.47190209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.164203822 meters 0.01576369594843266 Centerline is valid? [True, True] Translation: X:259.13, Y:-24.83, Z:-7.47 [[ 9.89225625e-01 1.46202631e-01 7.57983136e-03 2.59125874e+02] [-1.46198346e-01 9.89254664e-01 -1.11925473e-03 -2.48297483e+01] [-7.66202152e-03 -9.63347992e-07 9.99970646e-01 -7.47449289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.224203822 meters 0.017463714974096156 Centerline is valid? [True, True] Translation: X:259.19, Y:-24.84, Z:-7.48 [[ 9.90085690e-01 1.40281037e-01 7.18029385e-03 2.59186267e+02] [-1.40277027e-01 9.90111725e-01 -1.06156846e-03 -2.48431322e+01] [-7.25821106e-03 4.38134645e-05 9.99973658e-01 -7.47728189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.284203822 meters 0.020581663732307087 Centerline is valid? [True, True] Translation: X:259.25, Y:-24.86, Z:-7.48 [[ 9.90741358e-01 1.35545607e-01 7.67783902e-03 2.59247064e+02] [-1.35540866e-01 9.90771104e-01 -1.13686205e-03 -2.48579671e+01] [-7.76107771e-03 8.56753042e-05 9.99969879e-01 -7.47799572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.344203822 meters 0.02150303392746339 Centerline is valid? [True, True] Translation: X:259.31, Y:-24.87, Z:-7.48 [[ 9.90813853e-01 1.35012593e-01 7.71422895e-03 2.59308833e+02] [-1.35007784e-01 9.90843878e-01 -1.14314015e-03 -2.48684294e+01] [-7.79793485e-03 9.11581388e-05 9.99969591e-01 -7.48035888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.404203822 meters 0.02169311004333742 Centerline is valid? [True, True] Translation: X:259.37, Y:-24.87, Z:-7.48 [[ 9.90320137e-01 1.38552468e-01 8.32100437e-03 2.59371080e+02] [-1.38546976e-01 9.90355092e-01 -1.23562283e-03 -2.48702344e+01] [-8.41194765e-03 7.08121760e-05 9.99964616e-01 -7.48354619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.464203822 meters 0.017172872586990434 Centerline is valid? [True, True] Translation: X:259.43, Y:-24.87, Z:-7.48 [[ 9.90005632e-01 1.40725611e-01 9.22776330e-03 2.59433433e+02] [-1.40718931e-01 9.90048635e-01 -1.37246106e-03 -2.48737282e+01] [-9.32907487e-03 6.02231938e-05 9.99956481e-01 -7.47991651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.524203822 meters 0.01747087003733138 Centerline is valid? [True, True] Translation: X:259.50, Y:-24.88, Z:-7.48 [[ 9.89965798e-01 1.41076294e-01 8.07453334e-03 2.59495006e+02] [-1.41071185e-01 9.89998726e-01 -1.20172740e-03 -2.48831193e+01] [-8.16331296e-03 5.05850417e-05 9.99966678e-01 -7.48471827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.584203822 meters 0.026792387485735057 Centerline is valid? [True, True] Translation: X:259.56, Y:-24.89, Z:-7.49 [[ 9.89617986e-01 1.43582007e-01 6.35997301e-03 2.59557442e+02] [-1.43578889e-01 9.89638422e-01 -9.46544578e-04 -2.48872435e+01] [-6.42998043e-03 2.35596815e-05 9.99979327e-01 -7.49330217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.644203822 meters 0.019642617000493634 Centerline is valid? [True, True] Translation: X:259.62, Y:-24.90, Z:-7.49 [[ 9.89479881e-01 1.44522678e-01 6.53911868e-03 2.59619668e+02] [-1.44519378e-01 9.89501488e-01 -9.77002765e-04 -2.48950752e+01] [-6.61166672e-03 2.16952180e-05 9.99978142e-01 -7.49240841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.70420382199995 meters 0.01649236800422139 Centerline is valid? [True, True] Translation: X:259.68, Y:-24.90, Z:-7.49 [[ 9.89149274e-01 1.46778537e-01 6.30672774e-03 2.59681326e+02] [-1.46775519e-01 9.89169379e-01 -9.41211244e-04 -2.49018465e+01] [-6.37657157e-03 5.32518222e-06 9.99979669e-01 -7.49210787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.76420382199996 meters 0.017214885599193996 Centerline is valid? [True, True] Translation: X:259.74, Y:-24.91, Z:-7.50 [[ 9.88934263e-01 1.48233187e-01 5.99540496e-03 2.59742912e+02] [-1.48230491e-01 9.88952437e-01 -8.94075294e-04 -2.49099898e+01] [-6.06170197e-03 -4.52012911e-06 9.99981628e-01 -7.49805991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.82420382199996 meters 0.016448087524583665 Centerline is valid? [True, True] Translation: X:259.81, Y:-24.91, Z:-7.50 [[ 9.88636233e-01 1.50220753e-01 5.66774161e-03 2.59805739e+02] [-1.50218371e-01 9.88652479e-01 -8.46138899e-04 -2.49130382e+01] [-5.73053441e-03 -1.48753362e-05 9.99983580e-01 -7.49780181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.88420382199996 meters 0.027267295955550518 Centerline is valid? [True, True] Translation: X:259.87, Y:-24.92, Z:-7.50 [[ 9.88350823e-01 1.52038326e-01 6.85554692e-03 2.59867875e+02] [-1.52034852e-01 9.88374598e-01 -1.02816205e-03 -2.49206850e+01] [-6.93216847e-03 -2.60972569e-05 9.99975972e-01 -7.50053485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.94420382199996 meters 0.016914178125921657 Centerline is valid? [True, True] Translation: X:259.93, Y:-24.92, Z:-7.50 [[ 9.87939441e-01 1.54680436e-01 7.04439995e-03 2.59931713e+02] [-1.54676852e-01 9.87964554e-01 -1.05402015e-03 -2.49206168e+01] [-7.12265375e-03 -4.82975314e-05 9.99974632e-01 -7.49794917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.00420382199997 meters 0.01848014128093518 Centerline is valid? [True, True] Translation: X:259.99, Y:-24.93, Z:-7.51 [[ 9.88006221e-01 1.54339646e-01 4.79375532e-03 2.59991802e+02] [-1.54337974e-01 9.88017851e-01 -7.19036523e-04 -2.49297410e+01] [-4.84729167e-03 -2.94459237e-05 9.99988251e-01 -7.50702431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.06420382199997 meters 0.016737303516892045 Centerline is valid? [True, True] Translation: X:260.05, Y:-24.94, Z:-7.51 [[ 9.88682879e-01 1.49871756e-01 6.67994417e-03 2.60052459e+02] [-1.49868386e-01 9.88705445e-01 -1.00500984e-03 -2.49407848e+01] [-6.75511976e-03 -7.47643400e-06 9.99977184e-01 -7.50656923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.12420382199997 meters 0.01824197919893562 Centerline is valid? [True, True] Translation: X:260.11, Y:-24.95, Z:-7.51 [[ 9.89356513e-01 1.45457285e-01 3.98341816e-03 2.60113393e+02] [-1.45456054e-01 9.89364532e-01 -5.98510312e-04 -2.49545628e+01] [-4.02811033e-03 1.27277894e-05 9.99991887e-01 -7.51159405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.184203822 meters 0.020059802832759568 Centerline is valid? [True, True] Translation: X:260.17, Y:-24.97, Z:-7.51 [[ 9.89976977e-01 1.41144749e-01 4.87292304e-03 2.60174663e+02] [-1.41142870e-01 9.89988969e-01 -7.29225480e-04 -2.49724189e+01] [-4.92706641e-03 3.41380934e-05 9.99987861e-01 -7.51252335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.244203822 meters 0.029803659366757693 Centerline is valid? [True, True] Translation: X:260.24, Y:-24.98, Z:-7.52 [[ 9.90328028e-01 1.38682383e-01 4.19439269e-03 2.60235567e+02] [-1.38680966e-01 9.90336910e-01 -6.28325806e-04 -2.49847084e+01] [-4.24099962e-03 4.05662275e-05 9.99991006e-01 -7.51955108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.304203822 meters 0.02023718509265676 Centerline is valid? [True, True] Translation: X:260.30, Y:-24.99, Z:-7.51 [[ 9.90272247e-01 1.39058000e-01 4.87344513e-03 2.60297569e+02] [-1.39056083e-01 9.90284237e-01 -7.31502445e-04 -2.49941281e+01] [-4.92781716e-03 4.67043770e-05 9.99987857e-01 -7.51307486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.364203822 meters 0.019794098160325613 Centerline is valid? [True, True] Translation: X:260.36, Y:-25.00, Z:-7.52 [[ 9.90215579e-01 1.39512700e-01 3.05190044e-03 2.60358394e+02] [-1.39511955e-01 9.90220281e-01 -4.56909354e-04 -2.50042558e+01] [-3.08579837e-03 2.66621652e-05 9.99995239e-01 -7.51536152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.424203822 meters 0.01998560838172288 Centerline is valid? [True, True] Translation: X:260.42, Y:-25.02, Z:-7.52 [[ 9.90047167e-01 1.40683532e-01 3.84065765e-03 2.60418240e+02] [-1.40682352e-01 9.90054616e-01 -5.76978754e-04 -2.50170458e+01] [-3.88363224e-03 3.09234298e-05 9.99992458e-01 -7.51846447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.484203822 meters 0.019733344342761527 Centerline is valid? [True, True] Translation: X:260.48, Y:-25.03, Z:-7.52 [[ 9.89988913e-01 1.41066237e-01 4.71906245e-03 2.60478734e+02] [-1.41064452e-01 9.90000159e-01 -7.10665675e-04 -2.50326698e+01] [-4.77212351e-03 3.78591783e-05 9.99988613e-01 -7.51959098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.544203822 meters 0.03307729210827644 Centerline is valid? [True, True] Translation: X:260.54, Y:-25.05, Z:-7.53 [[ 9.89970453e-01 1.41204765e-01 4.44043058e-03 2.60540250e+02] [-1.41203187e-01 9.89980410e-01 -6.68522743e-04 -2.50466670e+01] [-4.49033789e-03 3.48148114e-05 9.99989918e-01 -7.52617765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.604203822 meters 0.018621228626173266 Centerline is valid? [True, True] Translation: X:260.60, Y:-25.06, Z:-7.53 [[ 9.89427672e-01 1.45000175e-01 2.79859215e-03 2.60601656e+02] [-1.44999565e-01 9.89431629e-01 -4.20434858e-04 -2.50553023e+01] [-2.82997872e-03 1.01952365e-05 9.99995996e-01 -7.52527301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.664203822 meters 0.016856600290179487 Centerline is valid? [True, True] Translation: X:260.66, Y:-25.06, Z:-7.52 [[ 9.88630201e-01 1.50299177e-01 4.52584730e-03 2.60663680e+02] [-1.50297622e-01 9.88640560e-01 -6.83897498e-04 -2.50590511e+01] [-4.57722544e-03 -4.10236415e-06 9.99989524e-01 -7.52393608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.724203822 meters 0.01605075149649427 Centerline is valid? [True, True] Translation: X:260.72, Y:-25.06, Z:-7.52 [[ 9.88183550e-01 1.53099194e-01 7.34216263e-03 2.60723928e+02] [-1.53095118e-01 9.88210826e-01 -1.11740670e-03 -2.50649668e+01] [-7.42667866e-03 -1.98463347e-05 9.99972422e-01 -7.52278166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.784203822 meters 0.01567676116571016 Centerline is valid? [True, True] Translation: X:260.79, Y:-25.08, Z:-7.52 [[ 9.88467850e-01 1.51259889e-01 7.19414508e-03 2.60785363e+02] [-1.51255956e-01 9.88494029e-01 -1.09091092e-03 -2.50770809e+01] [-7.27638052e-03 -9.82691348e-06 9.99973527e-01 -7.52471248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.844203822 meters 0.022728761203423306 Centerline is valid? [True, True] Translation: X:260.85, Y:-25.10, Z:-7.53 [[ 9.89341351e-01 1.45509746e-01 5.53222865e-03 2.60845161e+02] [-1.45507328e-01 9.89356818e-01 -8.39166549e-04 -2.50961601e+01] [-5.59545504e-03 2.52423572e-05 9.99984345e-01 -7.53279117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.904203822 meters 0.0346275470104645 Centerline is valid? [True, True] Translation: X:260.90, Y:-25.12, Z:-7.54 [[ 9.90096323e-01 1.40290182e-01 5.28543019e-03 2.60903084e+02] [-1.40287896e-01 9.90110429e-01 -8.02773310e-04 -2.51196355e+01] [-5.34578077e-03 5.33410230e-05 9.99985710e-01 -7.53923828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.964203822 meters 0.033697472828673976 Centerline is valid? [True, True] Translation: X:260.96, Y:-25.14, Z:-7.54 [[ 9.90733099e-01 1.35763439e-01 4.02675725e-03 2.60960738e+02] [-1.35762061e-01 9.90741280e-01 -6.14939992e-04 -2.51412004e+01] [-4.07296100e-03 6.25605423e-05 9.99991704e-01 -7.54331775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.024203822 meters 0.02564421056282859 Centerline is valid? [True, True] Translation: X:261.02, Y:-25.16, Z:-7.53 [[ 9.90916556e-01 1.34286894e-01 7.17003121e-03 2.61021420e+02] [-1.34282508e-01 9.90942489e-01 -1.09184004e-03 -2.51596448e+01] [-7.25170838e-03 1.19112599e-04 9.99973699e-01 -7.53435085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.084203822 meters 0.02436749312903225 Centerline is valid? [True, True] Translation: X:261.08, Y:-25.18, Z:-7.54 [[ 9.90745935e-01 1.35640344e-01 4.91829737e-03 2.61081211e+02] [-1.35638291e-01 9.90758140e-01 -7.50121860e-04 -2.51759054e+01] [-4.97458994e-03 7.60707342e-05 9.99987624e-01 -7.53774450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.144203822 meters 0.023873027092059716 Centerline is valid? [True, True] Translation: X:261.14, Y:-25.19, Z:-7.55 [[ 9.90064213e-01 1.40574721e-01 3.40622889e-03 2.61141810e+02] [-1.40573775e-01 9.90070072e-01 -5.16916775e-04 -2.51856642e+01] [-3.44507072e-03 3.29543473e-05 9.99994065e-01 -7.54670650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.20420382199995 meters 0.0188924422744921 Centerline is valid? [True, True] Translation: X:261.20, Y:-25.19, Z:-7.55 [[ 9.88836797e-01 1.48981903e-01 2.48636499e-03 2.61203376e+02] [-1.48981427e-01 9.88839923e-01 -3.76835635e-04 -2.51895770e+01] [-2.51475866e-03 2.20673811e-06 9.99996838e-01 -7.54906061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.26420382199996 meters 0.029579687140580162 Centerline is valid? [True, True] Translation: X:261.27, Y:-25.19, Z:-7.55 [[ 9.87518800e-01 1.57485173e-01 2.24499796e-03 2.61266163e+02] [-1.57484808e-01 9.87521352e-01 -3.39715308e-04 -2.51906612e+01] [-2.27048354e-03 -1.80778186e-05 9.99997422e-01 -7.55089175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.32420382199996 meters 0.02325788746804444 Centerline is valid? [True, True] Translation: X:261.33, Y:-25.19, Z:-7.55 [[ 9.86361333e-01 1.64506332e-01 5.38395049e-03 2.61328424e+02] [-1.64504289e-01 9.86376024e-01 -8.23105493e-04 -2.51888776e+01] [-5.44600574e-03 -7.38035176e-05 9.99985168e-01 -7.54861121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.38420382199996 meters 0.024384859267018437 Centerline is valid? [True, True] Translation: X:261.39, Y:-25.20, Z:-7.54 [[ 9.85749899e-01 1.68057515e-01 7.33541929e-03 2.61391185e+02] [-1.68053805e-01 9.85777184e-01 -1.12366757e-03 -2.51969525e+01] [-7.41992974e-03 -1.25089928e-04 9.99972464e-01 -7.54420662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.44420382199996 meters 0.023765904361597225 Centerline is valid? [True, True] Translation: X:261.45, Y:-25.21, Z:-7.54 [[ 9.85483375e-01 1.69561124e-01 8.45828144e-03 2.61453265e+02] [-1.69556227e-01 9.85519660e-01 -1.29800578e-03 -2.52055678e+01] [-8.55589397e-03 -1.54991171e-04 9.99963386e-01 -7.54221032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.50420382199997 meters 0.02900852247978212 Centerline is valid? [True, True] Translation: X:261.52, Y:-25.20, Z:-7.55 [[ 9.85207438e-01 1.71225909e-01 6.92758773e-03 2.61515678e+02] [-1.71222645e-01 9.85231785e-01 -1.06594939e-03 -2.52004143e+01] [-7.00779778e-03 -1.35978630e-04 9.99975436e-01 -7.55233372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.56420382199997 meters 0.02625484333689784 Centerline is valid? [True, True] Translation: X:261.58, Y:-25.21, Z:-7.55 [[ 9.85115029e-01 1.71750680e-01 7.07702112e-03 2.61578133e+02] [-1.71747300e-01 9.85140438e-01 -1.08715817e-03 -2.52117179e+01] [-7.15857984e-03 -1.44483417e-04 9.99974367e-01 -7.54989223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.62420382199997 meters 0.025849733678201873 Centerline is valid? [True, True] Translation: X:261.64, Y:-25.21, Z:-7.55 [[ 9.85029254e-01 1.72334072e-01 4.28204011e-03 2.61640055e+02] [-1.72332843e-01 9.85038557e-01 -6.57189325e-04 -2.52142226e+01] [-4.33123073e-03 -9.05854339e-05 9.99990616e-01 -7.55275497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.684203822 meters 0.026137983170120963 Centerline is valid? [True, True] Translation: X:261.70, Y:-25.22, Z:-7.56 [[ 9.85187079e-01 1.71431349e-01 4.20854566e-03 2.61701193e+02] [-1.71430151e-01 9.85196064e-01 -6.46568839e-04 -2.52165388e+01] [-4.25708479e-03 -8.44803497e-05 9.99990935e-01 -7.55574937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.744203822 meters 0.03525971321425868 Centerline is valid? [True, True] Translation: X:261.76, Y:-25.22, Z:-7.56 [[ 9.86328681e-01 1.64712419e-01 5.05482323e-03 2.61761848e+02] [-1.64710575e-01 9.86341632e-01 -7.81895990e-04 -2.52241700e+01] [-5.11457057e-03 -6.13763994e-05 9.99986919e-01 -7.55875204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.804203822 meters 0.026900594090346532 Centerline is valid? [True, True] Translation: X:261.82, Y:-25.25, Z:-7.56 [[ 9.88072459e-01 1.53931481e-01 4.23266513e-03 2.61820499e+02] [-1.53930098e-01 9.88081525e-01 -6.52532225e-04 -2.52450346e+01] [-4.28266346e-03 -6.78543660e-06 9.99990829e-01 -7.56345033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.864203822 meters 0.030770472402143697 Centerline is valid? [True, True] Translation: X:261.88, Y:-25.26, Z:-7.57 [[ 9.89317681e-01 1.45712948e-01 4.27351778e-03 2.61880046e+02] [-1.45711466e-01 9.89326911e-01 -6.57744736e-04 -2.52633808e+01] [-4.32374807e-03 2.80179542e-05 9.99990652e-01 -7.56525907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.924203822 meters 0.02375343817256522 Centerline is valid? [True, True] Translation: X:261.94, Y:-25.28, Z:-7.57 [[ 9.90058218e-01 1.40582642e-01 4.60939104e-03 2.61938947e+02] [-1.40580857e-01 9.90068946e-01 -7.10611604e-04 -2.52813545e+01] [-4.66351459e-03 5.55547172e-05 9.99989124e-01 -7.56528744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.984203822 meters 0.028707588238125636 Centerline is valid? [True, True] Translation: X:262.00, Y:-25.29, Z:-7.57 [[ 9.90286456e-01 1.38938595e-01 5.36681749e-03 2.62000915e+02] [-1.38936146e-01 9.90300995e-01 -8.28255662e-04 -2.52909440e+01] [-5.42984138e-03 7.45654260e-05 9.99985256e-01 -7.56800469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.044203822 meters 0.021514927657914743 Centerline is valid? [True, True] Translation: X:262.06, Y:-25.30, Z:-7.56 [[ 9.89901544e-01 1.41624524e-01 6.11786018e-03 2.62062760e+02] [-1.41621378e-01 9.89920446e-01 -9.46633097e-04 -2.52975529e+01] [-6.19026134e-03 7.06537759e-05 9.99980838e-01 -7.56199978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.104203822 meters 0.017853084818833798 Centerline is valid? [True, True] Translation: X:262.13, Y:-25.30, Z:-7.56 [[ 9.88991138e-01 1.47875598e-01 5.41638618e-03 2.62126011e+02] [-1.47873224e-01 9.89005969e-01 -8.38431890e-04 -2.52973562e+01] [-5.48082188e-03 2.82632206e-05 9.99984980e-01 -7.56383634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.164203822 meters 0.015733762603071744 Centerline is valid? [True, True] Translation: X:262.19, Y:-25.30, Z:-7.56 [[ 9.88128977e-01 1.53523101e-01 5.63765598e-03 2.62189037e+02] [-1.53520614e-01 9.88145059e-01 -8.73779159e-04 -2.52963285e+01] [-5.70496718e-03 -2.08990109e-06 9.99983727e-01 -7.56269366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.224203822 meters 0.016016148297213526 Centerline is valid? [True, True] Translation: X:262.25, Y:-25.30, Z:-7.57 [[ 9.87820247e-01 1.55497349e-01 5.63330750e-03 2.62251905e+02] [-1.55494895e-01 9.87836310e-01 -8.73594003e-04 -2.53021327e+01] [-5.70062724e-03 -1.29967158e-05 9.99983751e-01 -7.56585722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.284203822 meters 0.01762477886372109 Centerline is valid? [True, True] Translation: X:262.31, Y:-25.32, Z:-7.57 [[ 9.88359816e-01 1.52040379e-01 5.34755310e-03 2.62311012e+02] [-1.52038108e-01 9.88374283e-01 -8.31050729e-04 -2.53188274e+01] [-5.41173723e-03 8.34528928e-06 9.99985356e-01 -7.57271295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.344203822 meters 0.029326888804885525 Centerline is valid? [True, True] Translation: X:262.37, Y:-25.33, Z:-7.58 [[ 9.88638332e-01 1.50278380e-01 3.26452851e-03 2.62371237e+02] [-1.50277528e-01 9.88643722e-01 -5.06044187e-04 -2.53319136e+01] [-3.30350312e-03 9.70940463e-06 9.99994543e-01 -7.57949833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.404203822 meters 0.029075057096536502 Centerline is valid? [True, True] Translation: X:262.43, Y:-25.34, Z:-7.58 [[ 9.88137065e-01 1.53556167e-01 2.37564717e-03 2.62433483e+02] [-1.53555728e-01 9.88139921e-01 -3.67043979e-04 -2.53368319e+01] [-2.40383368e-03 -2.10447065e-06 9.99997111e-01 -7.58189684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.464203822 meters 0.027260152159360795 Centerline is valid? [True, True] Translation: X:262.50, Y:-25.34, Z:-7.58 [[ 9.87451762e-01 1.57898918e-01 2.63605687e-03 2.62496908e+02] [-1.57898392e-01 9.87455281e-01 -4.07692364e-04 -2.53410231e+01] [-2.66736246e-03 -1.36525991e-05 9.99996442e-01 -7.58312463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.524203822 meters 0.029971321124753626 Centerline is valid? [True, True] Translation: X:262.56, Y:-25.34, Z:-7.59 [[ 9.86909580e-01 1.61264597e-01 1.79190634e-03 2.62558954e+02] [-1.61264360e-01 9.86911207e-01 -2.76676996e-04 -2.53435480e+01] [-1.81307066e-03 -1.59154522e-05 9.99998356e-01 -7.58595256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.584203822 meters 0.02067322430535323 Centerline is valid? [True, True] Translation: X:262.62, Y:-25.35, Z:-7.58 [[ 9.86566071e-01 1.63351798e-01 1.89155912e-03 2.62619500e+02] [-1.63351530e-01 9.86567884e-01 -2.96667551e-04 -2.53481571e+01] [-1.91461266e-03 -1.63069356e-05 9.99998167e-01 -7.58425833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.644203822 meters 0.01870742675726744 Centerline is valid? [True, True] Translation: X:262.68, Y:-25.36, Z:-7.58 [[ 9.86473908e-01 1.63860824e-01 4.34275985e-03 2.62681298e+02] [-1.63859429e-01 9.86483466e-01 -6.77564319e-04 -2.53554515e+01] [-4.39508703e-03 -4.32026280e-05 9.99990341e-01 -7.57838945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.70420382199995 meters 0.017876798223403902 Centerline is valid? [True, True] Translation: X:262.74, Y:-25.37, Z:-7.58 [[ 9.86803529e-01 1.61836406e-01 5.27003558e-03 2.62741679e+02] [-1.61834310e-01 9.86817600e-01 -8.24602148e-04 -2.53654609e+01] [-5.33401451e-03 -3.91522629e-05 9.99985773e-01 -7.57979138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.76420382199996 meters 0.01666523421233594 Centerline is valid? [True, True] Translation: X:262.80, Y:-25.38, Z:-7.58 [[ 9.87322024e-01 1.58634593e-01 5.50330882e-03 2.62801958e+02] [-1.58632253e-01 9.87337361e-01 -8.61950357e-04 -2.53802888e+01] [-5.57035755e-03 -2.19797058e-05 9.99984485e-01 -7.58001747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.82420382199996 meters 0.017502493949525525 Centerline is valid? [True, True] Translation: X:262.86, Y:-25.40, Z:-7.59 [[ 9.88072121e-01 1.53923100e-01 4.60038469e-03 2.62861232e+02] [-1.53921405e-01 9.88082830e-01 -7.22368725e-04 -2.53973054e+01] [-4.65675036e-03 5.65472288e-06 9.99989157e-01 -7.58551876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.88420382199996 meters 0.02219349110191287 Centerline is valid? [True, True] Translation: X:262.92, Y:-25.41, Z:-7.59 [[ 9.88527221e-01 1.50967948e-01 4.75515056e-03 2.62921727e+02] [-1.50966111e-01 9.88538658e-01 -7.44908817e-04 -2.54146585e+01] [-4.81310751e-03 1.84960540e-05 9.99988417e-01 -7.59008255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.94420382199996 meters 0.01960669431491254 Centerline is valid? [True, True] Translation: X:262.98, Y:-25.43, Z:-7.59 [[ 9.88558839e-01 1.50800474e-01 3.26186197e-03 2.62981068e+02] [-1.50799603e-01 9.88564220e-01 -5.12698311e-04 -2.54273522e+01] [-3.30187518e-03 1.49449578e-05 9.99994549e-01 -7.59236468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.00420382199997 meters 0.03346697559709312 Centerline is valid? [True, True] Translation: X:263.04, Y:-25.43, Z:-7.61 [[ 9.88101896e-01 1.53799447e-01 -6.11106620e-04 2.63041782e+02] [-1.53799416e-01 9.88102085e-01 9.72259367e-05 -2.54335067e+01] [ 6.18789020e-04 -2.08129115e-06 9.99999809e-01 -7.60508215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.06420382199997 meters 0.030807118776565712 Centerline is valid? [True, True] Translation: X:263.10, Y:-25.44, Z:-7.61 [[ 9.87776451e-01 1.55874470e-01 -9.12913005e-04 2.63102518e+02] [-1.55874398e-01 9.87776872e-01 1.49206130e-04 -2.54439861e+01] [ 9.25011779e-04 -5.08253622e-06 9.99999572e-01 -7.60809971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.12420382199997 meters 0.02115246356216548 Centerline is valid? [True, True] Translation: X:263.16, Y:-25.46, Z:-7.60 [[ 9.88043143e-01 1.54143417e-01 3.24874062e-03 2.63162107e+02] [-1.54142562e-01 9.88048484e-01 -5.13389557e-04 -2.54607251e+01] [-3.28904886e-03 6.48182901e-06 9.99994591e-01 -7.59740813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.184203822 meters 0.019522388354418576 Centerline is valid? [True, True] Translation: X:263.22, Y:-25.48, Z:-7.60 [[ 9.88410869e-01 1.51764931e-01 3.37049054e-03 2.63221798e+02] [-1.51764012e-01 9.88416615e-01 -5.28321290e-04 -2.54790757e+01] [-3.41162950e-03 1.06793385e-05 9.99994180e-01 -7.59934548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.244203822 meters 0.018881767896649155 Centerline is valid? [True, True] Translation: X:263.28, Y:-25.50, Z:-7.60 [[ 9.88396280e-01 1.51860945e-01 3.32369400e-03 2.63282685e+02] [-1.51860051e-01 9.88401868e-01 -5.21185959e-04 -2.54996894e+01] [-3.36429316e-03 1.04019213e-05 9.99994341e-01 -7.59835795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.304203822 meters 0.01803674996394396 Centerline is valid? [True, True] Translation: X:263.35, Y:-25.51, Z:-7.60 [[ 9.88025158e-01 1.54268618e-01 2.73511696e-03 2.63345270e+02] [-1.54268024e-01 9.88028944e-01 -4.28346193e-04 -2.55091598e+01] [-2.76845510e-03 1.27572595e-06 9.99996168e-01 -7.60005180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.364203822 meters 0.021266989516743585 Centerline is valid? [True, True] Translation: X:263.41, Y:-25.51, Z:-7.61 [[ 9.86652074e-01 1.62833454e-01 1.71814432e-03 2.63405602e+02] [-1.62833230e-01 9.86653569e-01 -2.70364898e-04 -2.55143083e+01] [-1.73923768e-03 -1.30149019e-05 9.99998487e-01 -7.60901678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.424203822 meters 0.021953590510057686 Centerline is valid? [True, True] Translation: X:263.47, Y:-25.52, Z:-7.61 [[ 9.86300735e-01 1.64942651e-01 2.18694750e-03 2.63467995e+02] [-1.64942297e-01 9.86303159e-01 -3.42419626e-04 -2.55220800e+01] [-2.21347283e-03 -2.29914148e-05 9.99997550e-01 -7.60919552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.484203822 meters 0.022237652573140396 Centerline is valid? [True, True] Translation: X:263.53, Y:-25.53, Z:-7.61 [[ 9.85767767e-01 1.68092856e-01 2.58887462e-03 2.63529034e+02] [-1.68092366e-01 9.85771165e-01 -4.07216209e-04 -2.55343094e+01] [-2.62048808e-03 -3.37494467e-05 9.99996566e-01 -7.60795869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.544203822 meters 0.021172125053817412 Centerline is valid? [True, True] Translation: X:263.59, Y:-25.55, Z:-7.61 [[ 9.85751470e-01 1.68200747e-01 1.59642105e-03 2.63588568e+02] [-1.68200563e-01 9.85752762e-01 -2.49677294e-04 -2.55527468e+01] [-1.61567237e-03 -2.23991603e-05 9.99998695e-01 -7.60844388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.604203822 meters 0.031113025877105686 Centerline is valid? [True, True] Translation: X:263.65, Y:-25.56, Z:-7.62 [[ 9.85465750e-01 1.69873204e-01 -5.91223115e-04 2.63649143e+02] [-1.69873177e-01 9.85465928e-01 9.49242424e-05 -2.55594804e+01] [ 5.98755320e-04 6.88835917e-06 9.99999821e-01 -7.61869026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.664203822 meters 0.030106715520108258 Centerline is valid? [True, True] Translation: X:263.71, Y:-25.56, Z:-7.63 [[ 9.85016437e-01 1.72455341e-01 -1.33164632e-03 2.63710620e+02] [-1.72455205e-01 9.85017337e-01 2.16991220e-04 -2.55610972e+01] [ 1.34911601e-03 1.59094207e-05 9.99999090e-01 -7.62737687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.724203822 meters 0.025754895237957928 Centerline is valid? [True, True] Translation: X:263.77, Y:-25.58, Z:-7.62 [[ 9.84988005e-01 1.72618360e-01 -1.23761288e-03 2.63772206e+02] [-1.72618241e-01 9.84988783e-01 2.03239055e-04 -2.55773508e+01] [ 1.25411759e-03 1.34465262e-05 9.99999214e-01 -7.61747695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.784203822 meters 0.024471546772117974 Centerline is valid? [True, True] Translation: X:263.83, Y:-25.58, Z:-7.62 [[ 9.85220294e-01 1.71291900e-01 -2.40970432e-04 2.63834422e+02] [-1.71291895e-01 9.85220323e-01 4.02451368e-05 -2.55845332e+01] [ 2.44302632e-04 1.62595651e-06 9.99999970e-01 -7.61817602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.844203822 meters 0.021771600287444834 Centerline is valid? [True, True] Translation: X:263.90, Y:-25.60, Z:-7.62 [[ 9.85780678e-01 1.68032412e-01 -1.25049659e-03 2.63895174e+02] [-1.68032287e-01 9.85781471e-01 2.05019255e-04 -2.55958048e+01] [ 1.26716625e-03 8.01978144e-06 9.99999197e-01 -7.62061084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.904203822 meters 0.022814645483448005 Centerline is valid? [True, True] Translation: X:263.96, Y:-25.60, Z:-7.62 [[ 9.85581331e-01 1.69186742e-01 -2.29933695e-03 2.63956560e+02] [-1.69186332e-01 9.85584013e-01 3.73184280e-04 -2.56032038e+01] [ 2.32932757e-03 2.12129260e-05 9.99997287e-01 -7.62289154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.964203822 meters 0.02462168301360278 Centerline is valid? [True, True] Translation: X:264.02, Y:-25.61, Z:-7.63 [[ 9.85362862e-01 1.70465751e-01 -1.20769918e-03 2.64017567e+02] [-1.70465636e-01 9.85363602e-01 1.98181505e-04 -2.56063382e+01] [ 1.22380598e-03 1.05905157e-05 9.99999251e-01 -7.62591707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.024203822 meters 0.032639197260326686 Centerline is valid? [True, True] Translation: X:264.08, Y:-25.61, Z:-7.62 [[ 9.85126628e-01 1.71829290e-01 -4.71245061e-04 2.64080506e+02] [-1.71829271e-01 9.85126741e-01 8.07905176e-05 -2.56054395e+01] [ 4.78118288e-04 1.38480494e-06 9.99999886e-01 -7.62391821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.084203822 meters 0.031934589432940155 Centerline is valid? [True, True] Translation: X:264.14, Y:-25.61, Z:-7.62 [[ 9.85465743e-01 1.69869666e-01 1.25147779e-03 2.64141193e+02] [-1.69869548e-01 9.85466537e-01 -2.00459106e-04 -2.56093131e+01] [-1.26734141e-03 -1.50423856e-05 9.99999197e-01 -7.62484673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.144203822 meters 0.02885922418739648 Centerline is valid? [True, True] Translation: X:264.20, Y:-25.62, Z:-7.63 [[ 9.86072225e-01 1.66315124e-01 9.20018813e-04 2.64202968e+02] [-1.66315063e-01 9.86072654e-01 -1.42806018e-04 -2.56165637e+01] [-9.30956194e-04 -1.21959389e-05 9.99999567e-01 -7.62578870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.20420382199995 meters 0.025921499564589428 Centerline is valid? [True, True] Translation: X:264.26, Y:-25.63, Z:-7.63 [[ 9.87053461e-01 1.60387194e-01 1.18914710e-03 2.64264139e+02] [-1.60387086e-01 9.87054177e-01 -1.86237075e-04 -2.56293734e+01] [-1.20362265e-03 -6.89788827e-06 9.99999276e-01 -7.62834468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.26420382199996 meters 0.029979589802679917 Centerline is valid? [True, True] Translation: X:264.32, Y:-25.65, Z:-7.63 [[ 9.88308790e-01 1.52462457e-01 9.66441034e-04 2.64324049e+02] [-1.52462383e-01 9.88309263e-01 -1.50600243e-04 -2.56491987e+01] [-9.78103509e-04 1.49364052e-06 9.99999522e-01 -7.63125023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.32420382199996 meters 0.03550767311948489 Centerline is valid? [True, True] Translation: X:264.38, Y:-25.67, Z:-7.64 [[ 9.88978643e-01 1.48057799e-01 -3.63800727e-04 2.64383539e+02] [-1.48057786e-01 9.88978710e-01 6.33039670e-05 -2.56665995e+01] [ 3.69163820e-04 -8.74274110e-06 9.99999932e-01 -7.63634814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.38420382199996 meters 0.030390671596579995 Centerline is valid? [True, True] Translation: X:264.44, Y:-25.68, Z:-7.64 [[ 9.89077595e-01 1.47393906e-01 7.39279003e-04 2.64443916e+02] [-1.47393862e-01 9.89077872e-01 -1.14292297e-04 -2.56796563e+01] [-7.48050492e-04 4.07876281e-06 9.99999720e-01 -7.63686357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.44420382199996 meters 0.03076646140245738 Centerline is valid? [True, True] Translation: X:264.51, Y:-25.69, Z:-7.64 [[ 9.88915761e-01 1.48475452e-01 -8.11270695e-04 2.64505594e+02] [-1.48475390e-01 9.88916094e-01 1.36145411e-04 -2.56891482e+01] [ 8.22492898e-04 -1.41826104e-05 9.99999662e-01 -7.63695024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.50420382199997 meters 0.027727693865512434 Centerline is valid? [True, True] Translation: X:264.57, Y:-25.69, Z:-7.64 [[ 9.88200915e-01 1.53151957e-01 -1.85210204e-03 2.64567499e+02] [-1.53151656e-01 9.88202650e-01 3.04557890e-04 -2.56932864e+01] [ 1.87689578e-03 -1.73118911e-05 9.99998238e-01 -7.64017236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.56420382199997 meters 0.021756384985149622 Centerline is valid? [True, True] Translation: X:264.63, Y:-25.70, Z:-7.64 [[ 9.87215697e-01 1.59389127e-01 -5.23897774e-04 2.64629918e+02] [-1.59389102e-01 9.87215836e-01 8.99246933e-05 -2.56950527e+01] [ 5.31533197e-04 -5.27147295e-06 9.99999859e-01 -7.63823742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.62420382199997 meters 0.018666765603430092 Centerline is valid? [True, True] Translation: X:264.69, Y:-25.70, Z:-7.63 [[ 9.86309214e-01 1.64894341e-01 1.99742297e-03 2.64692037e+02] [-1.64894034e-01 9.86311237e-01 -3.18953386e-04 -2.56958186e+01] [-2.02267433e-03 -1.47764667e-05 9.99997954e-01 -7.63429672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.684203822 meters 0.022397590461529327 Centerline is valid? [True, True] Translation: X:264.75, Y:-25.70, Z:-7.64 [[ 9.85737068e-01 1.68274673e-01 2.46314914e-03 2.64752690e+02] [-1.68274202e-01 9.85740145e-01 -3.98791285e-04 -2.56973922e+01] [-2.49513146e-03 -2.13811039e-05 9.99996887e-01 -7.63784956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.744203822 meters 0.02167748850248069 Centerline is valid? [True, True] Translation: X:264.81, Y:-25.70, Z:-7.64 [[ 9.85216906e-01 1.71269717e-01 3.78577402e-03 2.64813417e+02] [-1.71268624e-01 9.85224179e-01 -6.13471861e-04 -2.56993620e+01] [-3.83490525e-03 -4.39814575e-05 9.99992646e-01 -7.63719242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.804203822 meters 0.024595068710518756 Centerline is valid? [True, True] Translation: X:264.87, Y:-25.70, Z:-7.65 [[ 9.84890346e-01 1.73176878e-01 8.80854234e-04 2.64874344e+02] [-1.73176821e-01 9.84890740e-01 -1.41151174e-04 -2.56979767e+01] [-8.91989298e-04 -1.35251069e-05 9.99999602e-01 -7.64549974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.864203822 meters 0.032350520864129116 Centerline is valid? [True, True] Translation: X:264.93, Y:-25.71, Z:-7.65 [[ 9.84921288e-01 1.73002688e-01 3.54513658e-04 2.64933370e+02] [-1.73002679e-01 9.84921352e-01 -5.81483708e-05 -2.57053244e+01] [-3.59227896e-04 -4.06024415e-06 9.99999935e-01 -7.65079106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.924203822 meters 0.025648951383970817 Centerline is valid? [True, True] Translation: X:264.99, Y:-25.72, Z:-7.65 [[ 9.85965304e-01 1.66948439e-01 7.99355691e-04 2.64992433e+02] [-1.66948389e-01 9.85965628e-01 -1.29251619e-04 -2.57212192e+01] [-8.09715592e-04 -6.01353328e-06 9.99999672e-01 -7.65037962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.984203822 meters 0.023856211792685263 Centerline is valid? [True, True] Translation: X:265.05, Y:-25.74, Z:-7.65 [[ 9.86729434e-01 1.62366898e-01 1.41954877e-03 2.65052586e+02] [-1.62366736e-01 9.86730455e-01 -2.29071625e-04 -2.57364142e+01] [-1.43790565e-03 -4.45578493e-06 9.99998966e-01 -7.64941130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.044203822 meters 0.01839730399752477 Centerline is valid? [True, True] Translation: X:265.11, Y:-25.75, Z:-7.65 [[ 9.87534572e-01 1.57391932e-01 1.80267647e-03 2.65113293e+02] [-1.57391669e-01 9.87536217e-01 -2.87488731e-04 -2.57528066e+01] [-1.82545671e-03 1.78801136e-07 9.99998334e-01 -7.64830687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.104203822 meters 0.02405415418440549 Centerline is valid? [True, True] Translation: X:265.17, Y:-25.77, Z:-7.65 [[ 9.87933309e-01 1.54872873e-01 1.47331637e-03 2.65173890e+02] [-1.54872696e-01 9.87934407e-01 -2.34216256e-04 -2.57697531e+01] [-1.49181368e-03 3.21356359e-06 9.99998887e-01 -7.65139486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.164203822 meters 0.03347957849633854 Centerline is valid? [True, True] Translation: X:265.23, Y:-25.79, Z:-7.66 [[ 9.88154194e-01 1.53458364e-01 1.34855433e-03 2.65232775e+02] [-1.53458214e-01 9.88155115e-01 -2.14598243e-04 -2.57853251e+01] [-1.36551275e-03 5.10941597e-06 9.99999068e-01 -7.65526912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.224203822 meters 0.026923563819058784 Centerline is valid? [True, True] Translation: X:265.29, Y:-25.80, Z:-7.66 [[ 9.87914593e-01 1.54999132e-01 1.64564774e-04 2.65293385e+02] [-1.54999130e-01 9.87914606e-01 -2.17104615e-05 -2.58009536e+01] [-1.65941047e-04 -4.05931509e-06 9.99999986e-01 -7.65860413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.284203822 meters 0.03188828172944783 Centerline is valid? [True, True] Translation: X:265.35, Y:-25.81, Z:-7.66 [[ 9.87619386e-01 1.56867359e-01 -7.62000916e-04 2.65354539e+02] [-1.56867306e-01 9.87619680e-01 1.29292479e-04 -2.58130616e+01] [ 7.72848871e-04 -8.15872810e-06 9.99999701e-01 -7.66131871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.344203822 meters 0.01820073340810609 Centerline is valid? [True, True] Translation: X:265.42, Y:-25.82, Z:-7.66 [[ 9.87410653e-01 1.58172553e-01 1.28270413e-03 2.65415083e+02] [-1.58172416e-01 9.87411486e-01 -2.08381267e-04 -2.58234780e+01] [-1.29951699e-03 2.86947203e-06 9.99999156e-01 -7.65627025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.404203822 meters 0.02940601114625415 Centerline is valid? [True, True] Translation: X:265.48, Y:-25.84, Z:-7.66 [[ 9.87355789e-01 1.58515755e-01 1.14058831e-03 2.65475654e+02] [-1.58515652e-01 9.87356448e-01 -1.80339562e-04 -2.58408207e+01] [-1.15475389e-03 -2.74178911e-06 9.99999333e-01 -7.66149550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.464203822 meters 0.01765717410562909 Centerline is valid? [True, True] Translation: X:265.54, Y:-25.86, Z:-7.66 [[ 9.87307850e-01 1.58804862e-01 2.05573520e-03 2.65535679e+02] [-1.58804517e-01 9.87309990e-01 -3.30773598e-04 -2.58571991e+01] [-2.08217636e-03 1.15333735e-07 9.99997832e-01 -7.65915323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.524203822 meters 0.020977631999023895 Centerline is valid? [True, True] Translation: X:265.60, Y:-25.87, Z:-7.67 [[ 9.86981281e-01 1.60834243e-01 5.45071217e-04 2.65595393e+02] [-1.60834221e-01 9.86981432e-01 -8.44069928e-05 -2.58712597e+01] [-5.51550705e-04 -4.35798271e-06 9.99999848e-01 -7.67144170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.584203822 meters 0.01890558952254524 Centerline is valid? [True, True] Translation: X:265.66, Y:-25.88, Z:-7.67 [[ 9.86182384e-01 1.65663170e-01 1.43063282e-04 2.65657347e+02] [-1.65663169e-01 9.86182394e-01 -1.83292945e-05 -2.58770018e+01] [-1.44122979e-04 -5.62428929e-06 9.99999990e-01 -7.66581551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.644203822 meters 0.022380305119209753 Centerline is valid? [True, True] Translation: X:265.72, Y:-25.88, Z:-7.67 [[ 9.85445618e-01 1.69990629e-01 -3.46952857e-04 2.65719174e+02] [-1.69990619e-01 9.85445679e-01 5.94887560e-05 -2.58787718e+01] [ 3.52015724e-04 3.55796966e-07 9.99999938e-01 -7.67336460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.70420382199995 meters 0.019948636475915337 Centerline is valid? [True, True] Translation: X:265.78, Y:-25.89, Z:-7.67 [[ 9.85482606e-01 1.69771430e-01 -1.30176750e-03 2.65779862e+02] [-1.69771289e-01 9.85483466e-01 2.18751625e-04 -2.58937689e+01] [ 1.32000812e-03 5.42682530e-06 9.99999129e-01 -7.67025927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.76420382199996 meters 0.029441611770281376 Centerline is valid? [True, True] Translation: X:265.84, Y:-25.91, Z:-7.67 [[ 9.86107183e-01 1.66100501e-01 1.80215572e-03 2.65837925e+02] [-1.66100238e-01 9.86108829e-01 -2.95970055e-04 -2.59072784e+01] [-1.82628244e-03 -7.48029586e-06 9.99998332e-01 -7.67258771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.82420382199996 meters 0.017655984330843703 Centerline is valid? [True, True] Translation: X:265.90, Y:-25.92, Z:-7.67 [[ 9.86684703e-01 1.62626910e-01 2.40518564e-03 2.65898448e+02] [-1.62626442e-01 9.86687635e-01 -3.89890287e-04 -2.59231690e+01] [-2.43657358e-03 -6.44800131e-06 9.99997032e-01 -7.67130868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.88420382199996 meters 0.018242414283747198 Centerline is valid? [True, True] Translation: X:265.96, Y:-25.94, Z:-7.67 [[ 9.86976035e-01 1.60858258e-01 1.71072625e-03 2.65958581e+02] [-1.60858021e-01 9.86977518e-01 -2.76186412e-04 -2.59386282e+01] [-1.73287521e-03 -2.59466950e-06 9.99998499e-01 -7.67438318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.94420382199996 meters 0.027467216649873893 Centerline is valid? [True, True] Translation: X:266.02, Y:-25.95, Z:-7.68 [[ 9.87048386e-01 1.60419385e-01 1.05052473e-03 2.66019813e+02] [-1.60419298e-01 9.87048945e-01 -1.67716641e-04 -2.59500432e+01] [-1.06382433e-03 -2.97999962e-06 9.99999434e-01 -7.67821425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.00420382199997 meters 0.018069841943582413 Centerline is valid? [True, True] Translation: X:266.08, Y:-25.96, Z:-7.68 [[ 9.86774803e-01 1.62089233e-01 1.60301507e-03 2.66080832e+02] [-1.62089023e-01 9.86776105e-01 -2.61033427e-04 -2.59584241e+01] [-1.62412768e-03 -2.24993873e-06 9.99998681e-01 -7.67651952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.06420382199997 meters 0.027008659257870816 Centerline is valid? [True, True] Translation: X:266.14, Y:-25.96, Z:-7.68 [[ 9.86283759e-01 1.65031363e-01 2.99930472e-03 2.66143058e+02] [-1.65030638e-01 9.86288319e-01 -4.89304324e-04 -2.59640868e+01] [-3.03892977e-03 -1.23842639e-05 9.99995382e-01 -7.67794247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.12420382199997 meters 0.018214476700938627 Centerline is valid? [True, True] Translation: X:266.21, Y:-25.96, Z:-7.68 [[ 9.85594492e-01 1.69113440e-01 2.03534285e-03 2.66205856e+02] [-1.69113117e-01 9.85596593e-01 -3.30703366e-04 -2.59644374e+01] [-2.06195336e-03 -1.82637575e-05 9.99997874e-01 -7.67642030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.184203822 meters 0.02533157521503572 Centerline is valid? [True, True] Translation: X:266.27, Y:-25.96, Z:-7.68 [[ 9.84997463e-01 1.72563646e-01 1.33632393e-03 2.66269067e+02] [-1.72563512e-01 9.84998369e-01 -2.15638148e-04 -2.59632165e+01] [-1.35348820e-03 -1.81977228e-05 9.99999084e-01 -7.68294654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.244203822 meters 0.030572402670768477 Centerline is valid? [True, True] Translation: X:266.33, Y:-25.97, Z:-7.69 [[ 9.85121370e-01 1.71846240e-01 2.18072075e-03 2.66329864e+02] [-1.71845873e-01 9.85123784e-01 -3.55913012e-04 -2.59676339e+01] [-2.20944219e-03 -2.41303477e-05 9.99997559e-01 -7.68601400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.304203822 meters 0.017031286015227246 Centerline is valid? [True, True] Translation: X:266.39, Y:-25.99, Z:-7.68 [[ 9.86410344e-01 1.64273705e-01 2.96378265e-03 2.66389829e+02] [-1.64272988e-01 9.86414796e-01 -4.85503638e-04 -2.59863698e+01] [-3.00327454e-03 -7.96361991e-06 9.99995490e-01 -7.68171542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.364203822 meters 0.0188406375967859 Centerline is valid? [True, True] Translation: X:266.45, Y:-26.00, Z:-7.69 [[ 9.87391405e-01 1.58297366e-01 3.96673731e-04 2.66449321e+02] [-1.58297354e-01 9.87391485e-01 -6.08655085e-05 -2.60032450e+01] [-4.01307114e-04 -2.69432214e-06 9.99999919e-01 -7.68740236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.424203822 meters 0.02123214477466901 Centerline is valid? [True, True] Translation: X:266.51, Y:-26.02, Z:-7.69 [[ 9.87690547e-01 1.56417561e-01 -9.64281707e-04 2.66508615e+02] [-1.56417475e-01 9.87691018e-01 1.64790534e-04 -2.60171232e+01] [ 9.78188513e-04 -1.19315430e-05 9.99999521e-01 -7.69371053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.484203822 meters 0.020060951536720002 Centerline is valid? [True, True] Translation: X:266.57, Y:-26.03, Z:-7.69 [[ 9.87549610e-01 1.57306460e-01 -6.67982117e-04 2.66569813e+02] [-1.57306418e-01 9.87549835e-01 1.16116905e-04 -2.60294801e+01] [ 6.77931569e-04 -9.59333035e-06 9.99999770e-01 -7.69381461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.544203822 meters 0.030845959914571418 Centerline is valid? [True, True] Translation: X:266.63, Y:-26.04, Z:-7.70 [[ 9.87045984e-01 1.60422981e-01 -2.16621839e-03 2.66630432e+02] [-1.60422567e-01 9.87048361e-01 3.64852326e-04 -2.60359950e+01] [ 2.19669301e-03 -1.26157087e-05 9.99997587e-01 -7.70439594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.604203822 meters 0.03949643402076656 Centerline is valid? [True, True] Translation: X:266.69, Y:-26.05, Z:-7.70 [[ 9.86779140e-01 1.62063359e-01 -1.54829762e-03 2.66692164e+02] [-1.62063146e-01 9.86780354e-01 2.62749833e-04 -2.60450031e+01] [ 1.57041180e-03 -8.35407005e-06 9.99998767e-01 -7.70497253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.664203822 meters 0.03051160832673812 Centerline is valid? [True, True] Translation: X:266.75, Y:-26.06, Z:-7.71 [[ 9.86923990e-01 1.61184110e-01 -8.48687597e-04 2.66752329e+02] [-1.61184044e-01 9.86924355e-01 1.46408767e-04 -2.60611975e+01] [ 8.61189226e-04 -7.69942585e-06 9.99999629e-01 -7.70606104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.724203822 meters 0.029514088441227226 Centerline is valid? [True, True] Translation: X:266.81, Y:-26.07, Z:-7.70 [[ 9.86510766e-01 1.63693467e-01 9.78481810e-04 2.66813943e+02] [-1.63693387e-01 9.86511251e-01 -1.61604839e-04 -2.60690871e+01] [-9.91736971e-04 -7.46088388e-07 9.99999508e-01 -7.70218527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.784203822 meters 0.02334847907295164 Centerline is valid? [True, True] Translation: X:266.88, Y:-26.08, Z:-7.70 [[ 9.85808591e-01 1.67867791e-01 1.35156480e-03 2.66876695e+02] [-1.67867648e-01 9.85809517e-01 -2.19499848e-04 -2.60759617e+01] [-1.36923240e-03 -1.04991683e-05 9.99999063e-01 -7.70113339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.844203822 meters 0.018566695825152708 Centerline is valid? [True, True] Translation: X:266.94, Y:-26.09, Z:-7.70 [[ 9.85487101e-01 1.69732850e-01 2.43582906e-03 2.66937239e+02] [-1.69732375e-01 9.85490111e-01 -4.02000501e-04 -2.60854363e+01] [-2.46871814e-03 -1.72727427e-05 9.99996953e-01 -7.69956797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.904203822 meters 0.03110410031178259 Centerline is valid? [True, True] Translation: X:267.00, Y:-26.10, Z:-7.70 [[ 9.85338724e-01 1.70597663e-01 2.00915248e-03 2.66998179e+02] [-1.70597343e-01 9.85340772e-01 -3.30765590e-04 -2.60960303e+01] [-2.03612769e-03 -1.68399304e-05 9.99997927e-01 -7.70397652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.964203822 meters 0.029138097190278562 Centerline is valid? [True, True] Translation: X:267.06, Y:-26.11, Z:-7.70 [[ 9.85136600e-01 1.71727066e-01 3.96151604e-03 2.67059570e+02] [-1.71725809e-01 9.85144565e-01 -6.57865324e-04 -2.61064909e+01] [-4.01563928e-03 -3.22073363e-05 9.99991937e-01 -7.70206762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.024203822 meters 0.019217615410668167 Centerline is valid? [True, True] Translation: X:267.12, Y:-26.11, Z:-7.70 [[ 9.84655796e-01 1.74396724e-01 6.22467134e-03 2.67120880e+02] [-1.74393637e-01 9.84675469e-01 -1.03955225e-03 -2.61114250e+01] [-6.31057567e-03 -6.19419311e-05 9.99980086e-01 -7.69937359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.084203822 meters 0.020737015248666817 Centerline is valid? [True, True] Translation: X:267.18, Y:-26.12, Z:-7.70 [[ 9.84302074e-01 1.76454242e-01 3.65068526e-03 2.67182055e+02] [-1.76453203e-01 9.84308843e-01 -6.07321761e-04 -2.61189165e+01] [-3.70056628e-03 -4.63870359e-05 9.99993152e-01 -7.70410349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.144203822 meters 0.031660553649686854 Centerline is valid? [True, True] Translation: X:267.24, Y:-26.13, Z:-7.71 [[ 9.83836658e-01 1.79062270e-01 1.46045293e-03 2.67242915e+02] [-1.79062111e-01 9.83837742e-01 -2.40205175e-04 -2.61275499e+01] [-1.47986040e-03 -2.51891276e-05 9.99998905e-01 -7.70968226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.20420382199995 meters 0.03025146964976571 Centerline is valid? [True, True] Translation: X:267.31, Y:-26.13, Z:-7.71 [[ 9.83097364e-01 1.83062310e-01 2.78621372e-03 2.67305586e+02] [-1.83061732e-01 9.83101311e-01 -4.63214012e-04 -2.61256255e+01] [-2.82392739e-03 -5.46646349e-05 9.99996011e-01 -7.71210223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.26420382199996 meters 0.026506729915969987 Centerline is valid? [True, True] Translation: X:267.37, Y:-26.13, Z:-7.71 [[ 9.82942760e-01 1.83886254e-01 3.06219381e-03 2.67366168e+02] [-1.83885545e-01 9.82947528e-01 -5.13754675e-04 -2.61333565e+01] [-3.10444826e-03 -5.81017404e-05 9.99995179e-01 -7.70930000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.32420382199996 meters 0.02861248994583797 Centerline is valid? [True, True] Translation: X:267.43, Y:-26.13, Z:-7.71 [[ 9.82644786e-01 1.85466052e-01 3.40122175e-03 2.67426390e+02] [-1.85465183e-01 9.82650670e-01 -5.71730253e-04 -2.61324219e+01] [-3.44824938e-03 -6.90004631e-05 9.99994052e-01 -7.71188205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.38420382199996 meters 0.025834996726323483 Centerline is valid? [True, True] Translation: X:267.49, Y:-26.14, Z:-7.71 [[ 9.82927357e-01 1.83980462e-01 2.23627136e-03 2.67486731e+02] [-1.83980083e-01 9.82929900e-01 -3.75676928e-04 -2.61410125e+01] [-2.26721520e-03 -4.21662611e-05 9.99997429e-01 -7.71400132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.44420382199996 meters 0.026267727727010345 Centerline is valid? [True, True] Translation: X:267.55, Y:-26.15, Z:-7.72 [[ 9.83678509e-01 1.79934960e-01 -3.90362679e-05 2.67545873e+02] [-1.79934959e-01 9.83678510e-01 6.19928985e-06 -2.61492164e+01] [ 3.95146066e-05 9.25881086e-07 9.99999999e-01 -7.72435445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.50420382199997 meters 0.02047977450575593 Centerline is valid? [True, True] Translation: X:267.60, Y:-26.17, Z:-7.72 [[ 9.84759563e-01 1.73921212e-01 1.21945251e-04 2.67604895e+02] [-1.73921211e-01 9.84759571e-01 -2.01266675e-05 -2.61662628e+01] [-1.23587208e-04 -1.38893744e-06 9.99999992e-01 -7.72134710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.56420382199997 meters 0.018841413617315027 Centerline is valid? [True, True] Translation: X:267.67, Y:-26.18, Z:-7.72 [[ 9.85504684e-01 1.69647265e-01 -5.69507801e-04 2.67665152e+02] [-1.69647237e-01 9.85504848e-01 9.64219263e-05 -2.61805282e+01] [ 5.77610415e-04 1.59116519e-06 9.99999833e-01 -7.72306974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.62420382199997 meters 0.019835810564998523 Centerline is valid? [True, True] Translation: X:267.73, Y:-26.19, Z:-7.73 [[ 9.85514114e-01 1.69593394e-01 1.10070683e-04 2.67725050e+02] [-1.69593394e-01 9.85514120e-01 -1.65431210e-05 -2.61899168e+01] [-1.11281817e-04 -2.36378145e-06 9.99999994e-01 -7.72741832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.684203822 meters 0.03366085120101206 Centerline is valid? [True, True] Translation: X:267.79, Y:-26.19, Z:-7.73 [[ 9.84927569e-01 1.72965642e-01 -7.55329723e-04 2.67785928e+02] [-1.72965596e-01 9.84927859e-01 1.26960943e-04 -2.61944538e+01] [ 7.65905167e-04 5.59872257e-06 9.99999707e-01 -7.73084813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.744203822 meters 0.021474873727742382 Centerline is valid? [True, True] Translation: X:267.85, Y:-26.20, Z:-7.73 [[ 9.84226033e-01 1.76913054e-01 -9.41672932e-04 2.67846171e+02] [-1.76912984e-01 9.84226484e-01 1.57515408e-04 -2.61964434e+01] [ 9.54685971e-04 1.15634034e-05 9.99999544e-01 -7.72764571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.804203822 meters 0.025261998485687227 Centerline is valid? [True, True] Translation: X:267.90, Y:-26.20, Z:-7.73 [[ 9.83811978e-01 1.79196247e-01 -1.64206491e-03 2.67904674e+02] [-1.79196039e-01 9.83813348e-01 2.74416906e-04 -2.61985632e+01] [ 1.66465986e-03 2.42768887e-05 9.99998614e-01 -7.73458154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.864203822 meters 0.024708817933892666 Centerline is valid? [True, True] Translation: X:267.96, Y:-26.21, Z:-7.73 [[ 9.83617226e-01 1.80253671e-01 -2.40137240e-03 2.67963075e+02] [-1.80253226e-01 9.83620157e-01 4.02270500e-04 -2.62087741e+01] [ 2.43454903e-03 3.71749278e-05 9.99997036e-01 -7.73358000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.924203822 meters 0.024719451103272866 Centerline is valid? [True, True] Translation: X:268.02, Y:-26.21, Z:-7.73 [[ 9.83554614e-01 1.80607479e-01 -1.12253346e-03 2.68021936e+02] [-1.80607383e-01 9.83555254e-01 1.87049844e-04 -2.62138179e+01] [ 1.13785628e-03 1.87640928e-05 9.99999352e-01 -7.73399112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.984203822 meters 0.022321316098529213 Centerline is valid? [True, True] Translation: X:268.08, Y:-26.23, Z:-7.73 [[ 9.84095776e-01 1.77637839e-01 -5.49816710e-04 2.68080302e+02] [-1.77637815e-01 9.84095929e-01 9.15823052e-05 -2.62282531e+01] [ 5.57340868e-04 7.54247946e-06 9.99999845e-01 -7.73405847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.044203822 meters 0.03417067940317558 Centerline is valid? [True, True] Translation: X:268.14, Y:-26.24, Z:-7.74 [[ 9.84524059e-01 1.75249217e-01 -2.98550023e-04 2.68138475e+02] [-1.75249210e-01 9.84524104e-01 4.93839460e-05 -2.62403787e+01] [ 3.02584192e-04 3.70097266e-06 9.99999954e-01 -7.73883487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.104203822 meters 0.02821409273340715 Centerline is valid? [True, True] Translation: X:268.20, Y:-26.25, Z:-7.74 [[ 9.84877302e-01 1.73244722e-01 -1.72246017e-03 2.68196762e+02] [-1.73244481e-01 9.84878808e-01 2.89369653e-04 -2.62493237e+01] [ 1.74654628e-03 1.34131147e-05 9.99998475e-01 -7.74442267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.164203822 meters 0.030812473635914096 Centerline is valid? [True, True] Translation: X:268.26, Y:-26.26, Z:-7.75 [[ 9.85391269e-01 1.70262512e-01 -3.83721653e-03 2.68256114e+02] [-1.70261294e-01 9.85398740e-01 6.44179823e-04 -2.62630241e+01] [ 3.89086801e-03 1.85602800e-05 9.99992430e-01 -7.74717274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.224203822 meters 0.030081838904367855 Centerline is valid? [True, True] Translation: X:268.31, Y:-26.28, Z:-7.75 [[ 9.86036479e-01 1.66523724e-01 -1.38273120e-03 2.68313000e+02] [-1.66523564e-01 9.86037448e-01 2.30969941e-04 -2.62771272e+01] [ 1.40188672e-03 2.51253995e-06 9.99999017e-01 -7.74562127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.284203822 meters 0.02427718641182688 Centerline is valid? [True, True] Translation: X:268.37, Y:-26.29, Z:-7.75 [[ 9.86137913e-01 1.65925499e-01 -8.63791775e-04 2.68372084e+02] [-1.65925436e-01 9.86138291e-01 1.44977246e-04 -2.62888850e+01] [ 8.75873567e-04 3.57467737e-07 9.99999616e-01 -7.74509161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.344203822 meters 0.01863533457916768 Centerline is valid? [True, True] Translation: X:268.43, Y:-26.30, Z:-7.74 [[ 9.85742818e-01 1.68259008e-01 -5.50343363e-05 2.68432277e+02] [-1.68259008e-01 9.85742819e-01 9.23686321e-06 -2.62987393e+01] [ 5.58038870e-05 1.54851259e-07 9.99999998e-01 -7.74099374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.404203822 meters 0.024817286166337507 Centerline is valid? [True, True] Translation: X:268.49, Y:-26.30, Z:-7.74 [[ 9.84826917e-01 1.73534143e-01 1.35832591e-03 2.68492518e+02] [-1.73533994e-01 9.84827853e-01 -2.28329575e-04 -2.63034265e+01] [-1.37734017e-03 -1.08506082e-05 9.99999051e-01 -7.74178688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.464203822 meters 0.024656063700425813 Centerline is valid? [True, True] Translation: X:268.55, Y:-26.30, Z:-7.74 [[ 9.83574031e-01 1.80501845e-01 1.10007705e-03 2.68552854e+02] [-1.80501750e-01 9.83574646e-01 -1.85669726e-04 -2.62978595e+01] [-1.11552162e-03 -1.59459113e-05 9.99999378e-01 -7.74254039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.524203822 meters 0.02964635876010456 Centerline is valid? [True, True] Translation: X:268.61, Y:-26.29, Z:-7.74 [[ 9.82271675e-01 1.87459387e-01 1.15505207e-03 2.68614900e+02] [-1.87459288e-01 9.82272354e-01 -1.93802895e-04 -2.62938187e+01] [-1.17090589e-03 -2.61581437e-05 9.99999314e-01 -7.74421497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.584203822 meters 0.03451253006114914 Centerline is valid? [True, True] Translation: X:268.67, Y:-26.29, Z:-7.75 [[ 9.81661332e-01 1.90632953e-01 3.27537197e-04 2.68673912e+02] [-1.90632944e-01 9.81661386e-01 -5.63634566e-05 -2.62941649e+01] [-3.32275351e-04 -7.10955440e-06 9.99999945e-01 -7.74824963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.644203822 meters 0.031054582577041516 Centerline is valid? [True, True] Translation: X:268.73, Y:-26.30, Z:-7.75 [[ 9.82394191e-01 1.86819105e-01 -5.25560865e-04 2.68732845e+02] [-1.86819085e-01 9.82394331e-01 8.67267505e-05 -2.62995730e+01] [ 5.32510229e-04 1.29849443e-05 9.99999858e-01 -7.75192559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.70420382199995 meters 0.02458844454833173 Centerline is valid? [True, True] Translation: X:268.79, Y:-26.32, Z:-7.76 [[ 9.84128516e-01 1.77455379e-01 -8.07425738e-04 2.68789305e+02] [-1.77455328e-01 9.84128847e-01 1.34742374e-04 -2.63200933e+01] [ 8.18521720e-04 1.06781873e-05 9.99999665e-01 -7.75551534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.76420382199996 meters 0.01985249217787586 Centerline is valid? [True, True] Translation: X:268.85, Y:-26.35, Z:-7.76 [[ 9.85925520e-01 1.67173638e-01 -1.96068899e-03 2.68845383e+02] [-1.67173316e-01 9.85927469e-01 3.27974766e-04 -2.63451518e+01] [ 1.98792587e-03 4.41618908e-06 9.99998024e-01 -7.75757323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.82420382199996 meters 0.019419806831041265 Centerline is valid? [True, True] Translation: X:268.90, Y:-26.36, Z:-7.76 [[ 9.86830146e-01 1.61758797e-01 -5.95368693e-04 2.68902968e+02] [-1.61758766e-01 9.86830326e-01 9.90628058e-05 -2.63614238e+01] [ 6.03552162e-04 -1.45205769e-06 9.99999818e-01 -7.75627892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.88420382199996 meters 0.020215149709448734 Centerline is valid? [True, True] Translation: X:268.96, Y:-26.37, Z:-7.76 [[ 9.86954570e-01 1.60986144e-01 -2.03406737e-03 2.68962583e+02] [-1.60985783e-01 9.86956666e-01 3.40941035e-04 -2.63727347e+01] [ 2.06242314e-03 -9.03738480e-06 9.99997873e-01 -7.75961855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.94420382199996 meters 0.028205275814484405 Centerline is valid? [True, True] Translation: X:269.02, Y:-26.38, Z:-7.77 [[ 9.86877954e-01 1.61442673e-01 -2.85795323e-03 2.69020593e+02] [-1.61441966e-01 9.86882092e-01 4.77840572e-04 -2.63809290e+01] [ 2.89760672e-03 -1.01767380e-05 9.99995802e-01 -7.76818453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.00420382199997 meters 0.021093853521809158 Centerline is valid? [True, True] Translation: X:269.08, Y:-26.39, Z:-7.77 [[ 9.87045958e-01 1.60412704e-01 -2.83570050e-03 2.69079423e+02] [-1.60412003e-01 9.87050031e-01 4.74401965e-04 -2.63910214e+01] [ 2.87507837e-03 -1.33761440e-05 9.99995867e-01 -7.76564204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.06420382199997 meters 0.03279023209429069 Centerline is valid? [True, True] Translation: X:269.14, Y:-26.41, Z:-7.77 [[ 9.87435995e-01 1.57994609e-01 -2.80346839e-03 2.69136652e+02] [-1.57993916e-01 9.87439974e-01 4.68509055e-04 -2.64071087e+01] [ 2.84227866e-03 -1.96917566e-05 9.99995961e-01 -7.76901193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.12420382199997 meters 0.02128445517771572 Centerline is valid? [True, True] Translation: X:269.20, Y:-26.42, Z:-7.77 [[ 9.87561913e-01 1.57210234e-01 -2.53193786e-03 2.69195710e+02] [-1.57209663e-01 9.87565158e-01 4.24132999e-04 -2.64204522e+01] [ 2.56713166e-03 -2.08124971e-05 9.99996705e-01 -7.76594931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.184203822 meters 0.027962317831262212 Centerline is valid? [True, True] Translation: X:269.25, Y:-26.43, Z:-7.77 [[ 9.87253619e-01 1.59120394e-01 -3.31542107e-03 2.69254151e+02] [-1.59119427e-01 9.87259186e-01 5.54967786e-04 -2.64305398e+01] [ 3.36148659e-03 -2.03460535e-05 9.99994350e-01 -7.77246207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.244203822 meters 0.020138021251467218 Centerline is valid? [True, True] Translation: X:269.31, Y:-26.44, Z:-7.77 [[ 9.86516527e-01 1.63642944e-01 -2.47553960e-03 2.69314135e+02] [-1.63642421e-01 9.86519633e-01 4.13865943e-04 -2.64359206e+01] [ 2.50989466e-03 -3.18229912e-06 9.99996850e-01 -7.77118738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.304203822 meters 0.020796709822751724 Centerline is valid? [True, True] Translation: X:269.37, Y:-26.44, Z:-7.78 [[ 9.85829667e-01 1.67729263e-01 -2.60050161e-03 2.69371599e+02] [-1.67728703e-01 9.85833097e-01 4.33555534e-04 -2.64418641e+01] [ 2.63638050e-03 8.76685327e-06 9.99996525e-01 -7.77513034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.364203822 meters 0.021866165827708846 Centerline is valid? [True, True] Translation: X:269.43, Y:-26.45, Z:-7.78 [[ 9.85277769e-01 1.70915182e-01 -3.96467795e-03 2.69430922e+02] [-1.70913898e-01 9.85285745e-01 6.62922982e-04 -2.64485229e+01] [ 4.01964427e-03 2.44552858e-05 9.99991921e-01 -7.77886871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.424203822 meters 0.029433978906836255 Centerline is valid? [True, True] Translation: X:269.49, Y:-26.45, Z:-7.78 [[ 9.84780848e-01 1.73706083e-01 -5.73393102e-03 2.69490013e+02] [-1.73703444e-01 9.84797540e-01 9.58911588e-04 -2.64547061e+01] [ 5.81332994e-03 5.16857995e-05 9.99983101e-01 -7.78466319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.484203822 meters 0.025331099810607084 Centerline is valid? [True, True] Translation: X:269.55, Y:-26.46, Z:-7.78 [[ 9.84005163e-01 1.78069288e-01 -5.01673763e-03 2.69548737e+02] [-1.78067329e-01 9.84017949e-01 8.37913804e-04 -2.64610958e+01] [ 5.08576659e-03 6.88055628e-05 9.99987065e-01 -7.78352102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.544203822 meters 0.041174747236525366 Centerline is valid? [True, True] Translation: X:269.61, Y:-26.47, Z:-7.79 [[ 9.83418941e-01 1.81262412e-01 -5.57884463e-03 2.69607786e+02] [-1.81260040e-01 9.83434761e-01 9.32093321e-04 -2.64654811e+01] [ 5.65538322e-03 9.45833755e-05 9.99984004e-01 -7.78911307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.604203822 meters 0.027617988761192345 Centerline is valid? [True, True] Translation: X:269.67, Y:-26.48, Z:-7.79 [[ 9.83328645e-01 1.81774004e-01 -4.79457628e-03 2.69665448e+02] [-1.81772262e-01 9.83340330e-01 8.00313373e-04 -2.64752808e+01] [ 4.86017639e-03 8.45499095e-05 9.99988186e-01 -7.78690580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.664203822 meters 0.024326829740946146 Centerline is valid? [True, True] Translation: X:269.72, Y:-26.49, Z:-7.78 [[ 9.83728586e-01 1.79652825e-01 -1.71198488e-03 2.69723440e+02] [-1.79652599e-01 9.83730076e-01 2.85893365e-04 -2.64933949e+01] [ 1.73549257e-03 2.63210586e-05 9.99998494e-01 -7.78088161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.724203822 meters 0.02318719350521961 Centerline is valid? [True, True] Translation: X:269.78, Y:-26.50, Z:-7.78 [[ 9.83902514e-01 1.78695924e-01 1.90002016e-03 2.69782055e+02] [-1.78695642e-01 9.83904348e-01 -3.18375691e-04 -2.65018884e+01] [-1.92633054e-03 -2.62746804e-05 9.99998144e-01 -7.77722284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.784203822 meters 0.02315870918108739 Centerline is valid? [True, True] Translation: X:269.84, Y:-26.51, Z:-7.78 [[ 9.83959204e-01 1.78366576e-01 3.10621824e-03 2.69839888e+02] [-1.78365821e-01 9.83964106e-01 -5.20582000e-04 -2.65096212e+01] [-3.14926168e-03 -4.18117171e-05 9.99995040e-01 -7.77850668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.844203822 meters 0.022292208243724576 Centerline is valid? [True, True] Translation: X:269.90, Y:-26.52, Z:-7.78 [[ 9.84153996e-01 1.77300258e-01 2.35153598e-03 2.69898229e+02] [-1.77299824e-01 9.84156805e-01 -3.93672366e-04 -2.65223837e+01] [-2.38407835e-03 -2.94926823e-05 9.99997158e-01 -7.78101787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.904203822 meters 0.021883590211488124 Centerline is valid? [True, True] Translation: X:269.96, Y:-26.53, Z:-7.79 [[ 9.84793272e-01 1.73728054e-01 8.79709282e-04 2.69955700e+02] [-1.73727992e-01 9.84793665e-01 -1.47700567e-04 -2.65323804e+01] [-8.91991861e-04 -7.37560221e-06 9.99999602e-01 -7.78885821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.964203822 meters 0.019211592940296597 Centerline is valid? [True, True] Translation: X:270.01, Y:-26.55, Z:-7.79 [[ 9.85674644e-01 1.68653051e-01 1.28262961e-03 2.70014152e+02] [-1.68652915e-01 9.85675478e-01 -2.14641250e-04 -2.65471231e+01] [-1.30045646e-03 -4.75278525e-06 9.99999154e-01 -7.78922029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.024203822 meters 0.01901398931125292 Centerline is valid? [True, True] Translation: X:270.07, Y:-26.56, Z:-7.79 [[ 9.86534720e-01 1.63551317e-01 -4.61402397e-04 2.70072749e+02] [-1.63551299e-01 9.86534828e-01 7.70875323e-05 -2.65644627e+01] [ 4.67797302e-04 -5.86565607e-07 9.99999891e-01 -7.79058521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.084203822 meters 0.0194348270381742 Centerline is valid? [True, True] Translation: X:270.13, Y:-26.57, Z:-7.79 [[ 9.86711077e-01 1.62484169e-01 -3.82327426e-04 2.70132196e+02] [-1.62484157e-01 9.86711151e-01 6.31496954e-05 -2.65727651e+01] [ 3.87507560e-04 -1.88354516e-07 9.99999925e-01 -7.79308280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.144203822 meters 0.01768674198486202 Centerline is valid? [True, True] Translation: X:270.19, Y:-26.58, Z:-7.79 [[ 9.86328910e-01 1.64764143e-01 2.83859912e-03 2.70191990e+02] [-1.64763459e-01 9.86332995e-01 -4.74825811e-04 -2.65778971e+01] [-2.87803824e-03 6.37015775e-07 9.99995858e-01 -7.78909346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.20420382199995 meters 0.029404772235190158 Centerline is valid? [True, True] Translation: X:270.25, Y:-26.58, Z:-7.79 [[ 9.85766877e-01 1.68098648e-01 2.55125801e-03 2.70252080e+02] [-1.68098107e-01 9.85770178e-01 -4.26761101e-04 -2.65800715e+01] [-2.58669203e-03 -8.17468320e-06 9.99996654e-01 -7.79482472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.26420382199996 meters 0.02031072903905326 Centerline is valid? [True, True] Translation: X:270.31, Y:-26.58, Z:-7.79 [[ 9.84812770e-01 1.73602614e-01 2.43726113e-03 2.70312860e+02] [-1.73602137e-01 9.84815786e-01 -4.07668526e-04 -2.65798248e+01] [-2.47102555e-03 -2.16365693e-05 9.99996947e-01 -7.79334348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.32420382199996 meters 0.026950205367304827 Centerline is valid? [True, True] Translation: X:270.37, Y:-26.57, Z:-7.80 [[ 9.83453219e-01 1.81151764e-01 1.95063107e-03 2.70373415e+02] [-1.81151473e-01 9.83455153e-01 -3.26358621e-04 -2.65737451e+01] [-1.97747862e-03 -3.24012562e-05 9.99998044e-01 -7.79703931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.38420382199996 meters 0.03121086767199068 Centerline is valid? [True, True] Translation: X:270.44, Y:-26.57, Z:-7.80 [[ 9.82329304e-01 1.87148702e-01 2.12199115e-03 2.70435139e+02] [-1.87148372e-01 9.82331594e-01 -3.54608289e-04 -2.65694976e+01] [-2.15086343e-03 -4.87850759e-05 9.99997686e-01 -7.79617313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.44420382199996 meters 0.03327565435032006 Centerline is valid? [True, True] Translation: X:270.49, Y:-26.57, Z:-7.80 [[ 9.82232360e-01 1.87646703e-01 2.88210709e-03 2.70493641e+02] [-1.87646094e-01 9.82236586e-01 -4.82684524e-04 -2.65683345e+01] [-2.92148519e-03 -6.67077789e-05 9.99995730e-01 -7.79981955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.50420382199997 meters 0.029344380516413845 Centerline is valid? [True, True] Translation: X:270.55, Y:-26.58, Z:-7.80 [[ 9.83025860e-01 1.83457835e-01 1.83859609e-03 2.70551223e+02] [-1.83457580e-01 9.83027579e-01 -3.08095786e-04 -2.65800346e+01] [-1.86391325e-03 -3.44382620e-05 9.99998262e-01 -7.80434047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.56420382199997 meters 0.024363872994979895 Centerline is valid? [True, True] Translation: X:270.61, Y:-26.60, Z:-7.81 [[ 9.84240602e-01 1.76832447e-01 8.50352528e-04 2.70609488e+02] [-1.76832390e-01 9.84240969e-01 -1.42192700e-04 -2.65956308e+01] [-8.62096080e-04 -1.04180416e-05 9.99999628e-01 -7.80920601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.62420382199997 meters 0.020760034925597227 Centerline is valid? [True, True] Translation: X:270.67, Y:-26.61, Z:-7.81 [[ 9.85166405e-01 1.71597550e-01 -1.19780362e-03 2.70667666e+02] [-1.71597436e-01 9.85167133e-01 1.98311771e-04 -2.66065551e+01] [ 1.21406658e-03 1.01699364e-05 9.99999263e-01 -7.81141868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.684203822 meters 0.02279636040252209 Centerline is valid? [True, True] Translation: X:270.73, Y:-26.61, Z:-7.82 [[ 9.85244068e-01 1.71152270e-01 -1.01297157e-03 2.70725104e+02] [-1.71152188e-01 9.85244589e-01 1.67077199e-04 -2.66109283e+01] [ 1.02662040e-03 8.76048222e-06 9.99999473e-01 -7.81803286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.744203822 meters 0.019555669250501503 Centerline is valid? [True, True] Translation: X:270.78, Y:-26.61, Z:-7.81 [[ 9.85149543e-01 1.71696735e-01 7.80256831e-04 2.70784595e+02] [-1.71696685e-01 9.85149852e-01 -1.31495112e-04 -2.66149890e+01] [-7.91247183e-04 -4.42516210e-06 9.99999687e-01 -7.80946552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.804203822 meters 0.020180067922984168 Centerline is valid? [True, True] Translation: X:270.84, Y:-26.62, Z:-7.81 [[ 9.85465059e-01 1.69874286e-01 1.15967382e-03 2.70842760e+02] [-1.69874174e-01 9.85465741e-01 -1.95321438e-04 -2.66170072e+01] [-1.17599891e-03 -4.51618033e-06 9.99999309e-01 -7.81403183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.864203822 meters 0.01855327841897015 Centerline is valid? [True, True] Translation: X:270.90, Y:-26.63, Z:-7.81 [[ 9.86794904e-01 1.61956790e-01 2.41139082e-03 2.70899884e+02] [-1.61956289e-01 9.86797851e-01 -4.02961322e-04 -2.66334736e+01] [-2.44481760e-03 7.10027097e-06 9.99997011e-01 -7.81450553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.924203822 meters 0.026590954465350817 Centerline is valid? [True, True] Translation: X:270.96, Y:-26.65, Z:-7.81 [[ 9.87935804e-01 1.54841881e-01 2.61500059e-03 2.70957250e+02] [-1.54841267e-01 9.87939265e-01 -4.36791292e-04 -2.66497356e+01] [-2.65109535e-03 2.66117515e-05 9.99996485e-01 -7.81397621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.984203822 meters 0.02284355073468735 Centerline is valid? [True, True] Translation: X:271.01, Y:-26.66, Z:-7.82 [[ 9.88384679e-01 1.51970889e-01 7.58138604e-04 2.71014697e+02] [-1.51970836e-01 9.88384970e-01 -1.27258140e-04 -2.66608106e+01] [-7.68672334e-04 1.05650384e-05 9.99999705e-01 -7.81693182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.044203822 meters 0.02523255891364754 Centerline is valid? [True, True] Translation: X:271.07, Y:-26.67, Z:-7.82 [[ 9.88439537e-01 1.51613043e-01 8.75284168e-04 2.71072500e+02] [-1.51612973e-01 9.88439925e-01 -1.47094882e-04 -2.66689636e+01] [-8.87467320e-04 1.26899629e-05 9.99999606e-01 -7.81871944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.104203822 meters 0.023013708453458095 Centerline is valid? [True, True] Translation: X:271.13, Y:-26.68, Z:-7.82 [[ 9.88463506e-01 1.51440111e-01 2.40632618e-03 2.71130205e+02] [-1.51439581e-01 9.88466434e-01 -4.01999109e-04 -2.66756881e+01] [-2.43945145e-03 3.29484211e-05 9.99997024e-01 -7.81784962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.164203822 meters 0.02739100833496943 Centerline is valid? [True, True] Translation: X:271.19, Y:-26.68, Z:-7.82 [[ 9.88298317e-01 1.52482647e-01 3.93442692e-03 2.71188294e+02] [-1.52481245e-01 9.88306147e-01 -6.55633264e-04 -2.66848967e+01] [-3.98839100e-03 4.80349372e-05 9.99992045e-01 -7.81750879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.224203822 meters 0.018825201060674594 Centerline is valid? [True, True] Translation: X:271.25, Y:-26.69, Z:-7.82 [[ 9.87819364e-01 1.55567869e-01 3.39731182e-03 2.71247183e+02] [-1.55566841e-01 9.87825206e-01 -5.66182191e-04 -2.66920682e+01] [-3.44403000e-03 3.07766631e-05 9.99994069e-01 -7.81641800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.284203822 meters 0.017507981830511367 Centerline is valid? [True, True] Translation: X:271.31, Y:-26.70, Z:-7.82 [[ 9.86917940e-01 1.61195796e-01 2.98252187e-03 2.71305008e+02] [-1.61195029e-01 9.86922446e-01 -4.97394937e-04 -2.66957905e+01] [-3.02369575e-03 1.01202863e-05 9.99995429e-01 -7.81987656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.344203822 meters 0.018188964253126508 Centerline is valid? [True, True] Translation: X:271.36, Y:-26.70, Z:-7.83 [[ 9.86180618e-01 1.65657191e-01 2.34178906e-03 2.71362890e+02] [-1.65656730e-01 9.86183398e-01 -3.90750737e-04 -2.67021141e+01] [-2.37416416e-03 -2.58231548e-06 9.99997182e-01 -7.82553558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.404203822 meters 0.02019762925810474 Centerline is valid? [True, True] Translation: X:271.42, Y:-26.71, Z:-7.83 [[ 9.85612972e-01 1.69013655e-01 1.20604167e-03 2.71420583e+02] [-1.69013535e-01 9.85613709e-01 -2.01999949e-04 -2.67079288e+01] [-1.22283195e-03 -4.74359569e-06 9.99999252e-01 -7.83094458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.464203822 meters 0.021096700946623137 Centerline is valid? [True, True] Translation: X:271.48, Y:-26.71, Z:-7.83 [[ 9.85300774e-01 1.70793265e-01 3.47070211e-03 2.71478466e+02] [-1.70792289e-01 9.85306886e-01 -5.77769356e-04 -2.67141273e+01] [-3.51838580e-03 -2.34925645e-05 9.99993810e-01 -7.83017731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.524203822 meters 0.018657700864679178 Centerline is valid? [True, True] Translation: X:271.54, Y:-26.73, Z:-7.82 [[ 9.85158987e-01 1.71584329e-01 4.53745946e-03 2.71536173e+02] [-1.71582674e-01 9.85169436e-01 -7.54328909e-04 -2.67255869e+01] [-4.59959740e-03 -3.54155247e-05 9.99989421e-01 -7.82294682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.584203822 meters 0.031151328623996867 Centerline is valid? [True, True] Translation: X:271.59, Y:-26.73, Z:-7.83 [[ 9.85035963e-01 1.72285904e-01 4.66027403e-03 2.71594030e+02] [-1.72284168e-01 9.85046987e-01 -7.74455590e-04 -2.67337456e+01] [-4.72401667e-03 -4.00248250e-05 9.99988841e-01 -7.82779225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.64420382199995 meters 0.020020341354011893 Centerline is valid? [True, True] Translation: X:271.65, Y:-26.74, Z:-7.83 [[ 9.84723277e-01 1.74079606e-01 4.04460835e-03 2.71652352e+02] [-1.74078313e-01 9.84731582e-01 -6.72156683e-04 -2.67427216e+01] [-4.09986235e-03 -4.21902693e-05 9.99991595e-01 -7.82595512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.70420382199995 meters 0.02142355323314829 Centerline is valid? [True, True] Translation: X:271.71, Y:-26.75, Z:-7.83 [[ 9.84403837e-01 1.75867271e-01 4.44840434e-03 2.71709751e+02] [-1.75865725e-01 9.84413887e-01 -7.39483826e-04 -2.67468118e+01] [-4.50912201e-03 -5.43711379e-05 9.99989832e-01 -7.82746480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.76420382199996 meters 0.023036289985566984 Centerline is valid? [True, True] Translation: X:271.77, Y:-26.75, Z:-7.83 [[ 9.84249751e-01 1.76719090e-01 4.77389826e-03 2.71767593e+02] [-1.76717320e-01 9.84261327e-01 -7.93435901e-04 -2.67519213e+01] [-4.83897871e-03 -6.26914169e-05 9.99988290e-01 -7.83141294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.82420382199996 meters 0.0199715172969359 Centerline is valid? [True, True] Translation: X:271.83, Y:-26.77, Z:-7.83 [[ 9.84689943e-01 1.74198890e-01 6.36102180e-03 2.71825695e+02] [-1.74195712e-01 9.84710486e-01 -1.05456798e-03 -2.67653177e+01] [-6.44746944e-03 -6.96402372e-05 9.99979212e-01 -7.82978761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.88420382199996 meters 0.016470577042969316 Centerline is valid? [True, True] Translation: X:271.88, Y:-26.79, Z:-7.83 [[ 9.85989877e-01 1.66710825e-01 5.60925373e-03 2.71881437e+02] [-1.66708231e-01 9.86005832e-01 -9.30159008e-04 -2.67879188e+01] [-5.68582447e-03 -1.79813999e-05 9.99983835e-01 -7.83258548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.94420382199996 meters 0.016666921822315574 Centerline is valid? [True, True] Translation: X:271.94, Y:-26.81, Z:-7.83 [[ 9.87132180e-01 1.59818540e-01 5.30038381e-03 2.71937086e+02] [-1.59816126e-01 9.87146409e-01 -8.78750336e-04 -2.68135330e+01] [-5.37269545e-03 2.03559280e-05 9.99985567e-01 -7.83476966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.00420382199997 meters 0.017681341392198957 Centerline is valid? [True, True] Translation: X:271.99, Y:-26.83, Z:-7.84 [[ 9.87232293e-01 1.59226512e-01 4.39516293e-03 2.71993279e+02] [-1.59224845e-01 9.87242076e-01 -7.28987950e-04 -2.68274990e+01] [-4.45516399e-03 1.98613101e-05 9.99990076e-01 -7.83917892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.06420382199997 meters 0.01777754461777281 Centerline is valid? [True, True] Translation: X:272.05, Y:-26.84, Z:-7.84 [[ 9.86613221e-01 1.63041745e-01 3.42674153e-03 2.72051222e+02] [-1.63040755e-01 9.86619171e-01 -5.68208023e-04 -2.68366214e+01] [-3.47353052e-03 1.90302136e-06 9.99993967e-01 -7.84333366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.12420382199997 meters 0.021502922722997902 Centerline is valid? [True, True] Translation: X:272.11, Y:-26.84, Z:-7.85 [[ 9.85840238e-01 1.67662721e-01 2.86988131e-03 2.72109983e+02] [-1.67662046e-01 9.85844416e-01 -4.75961281e-04 -2.68405027e+01] [-2.90905743e-03 -1.19483897e-05 9.99995769e-01 -7.84689469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.184203822 meters 0.020646241366736352 Centerline is valid? [True, True] Translation: X:272.17, Y:-26.85, Z:-7.85 [[ 9.85249207e-01 1.71108939e-01 2.39399728e-03 2.72167852e+02] [-1.71108478e-01 9.85252115e-01 -3.97459294e-04 -2.68461528e+01] [-2.42669972e-03 -1.80367767e-05 9.99997055e-01 -7.84946199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.244203822 meters 0.023207396621405082 Centerline is valid? [True, True] Translation: X:272.23, Y:-26.85, Z:-7.85 [[ 9.84498369e-01 1.75351016e-01 3.87071891e-03 2.72226485e+02] [-1.75349851e-01 9.84505977e-01 -6.40982449e-04 -2.68500699e+01] [-3.92314283e-03 -4.76838072e-05 9.99992303e-01 -7.84937623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.304203822 meters 0.02671957717887346 Centerline is valid? [True, True] Translation: X:272.28, Y:-26.86, Z:-7.85 [[ 9.84128990e-01 1.77424494e-01 3.26800853e-03 2.72284294e+02] [-1.77423674e-01 9.84134415e-01 -5.41525100e-04 -2.68553058e+01] [-3.31223948e-03 -4.68915279e-05 9.99994513e-01 -7.85482694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.364203822 meters 0.02343546549368114 Centerline is valid? [True, True] Translation: X:272.34, Y:-26.87, Z:-7.85 [[ 9.84247951e-01 1.76752931e-01 3.79102232e-03 2.72342011e+02] [-1.76751826e-01 9.84255251e-01 -6.27434262e-04 -2.68656295e+01] [-3.84223447e-03 -5.25192291e-05 9.99992617e-01 -7.85173551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.424203822 meters 0.02441268882703966 Centerline is valid? [True, True] Translation: X:272.40, Y:-26.87, Z:-7.85 [[ 9.84320839e-01 1.76327252e-01 4.60275460e-03 2.72398950e+02] [-1.76325618e-01 9.84331599e-01 -7.61524870e-04 -2.68749224e+01] [-4.66491438e-03 -6.19987495e-05 9.99989117e-01 -7.85488248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.484203822 meters 0.022367098854087525 Centerline is valid? [True, True] Translation: X:272.46, Y:-26.88, Z:-7.86 [[ 9.84555493e-01 1.75054296e-01 2.54441857e-03 2.72457102e+02] [-1.75053791e-01 9.84558781e-01 -4.21310145e-04 -2.68847850e+01] [-2.57888179e-03 -3.06068994e-05 9.99996674e-01 -7.85601764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.544203822 meters 0.021598741377394728 Centerline is valid? [True, True] Translation: X:272.51, Y:-26.90, Z:-7.86 [[ 9.84946155e-01 1.72791692e-01 4.90948268e-03 2.72514503e+02] [-1.72789795e-01 9.84958389e-01 -8.11036801e-04 -2.68966012e+01] [-4.97577658e-03 -4.94809290e-05 9.99987620e-01 -7.85623879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.604203822 meters 0.01893728830054211 Centerline is valid? [True, True] Translation: X:272.57, Y:-26.91, Z:-7.85 [[ 9.85261832e-01 1.70963264e-01 5.53945988e-03 2.72572425e+02] [-1.70960821e-01 9.85277403e-01 -9.15065276e-04 -2.69081972e+01] [-5.61434719e-03 -4.54517199e-05 9.99984238e-01 -7.85361105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.664203822 meters 0.018959816866434002 Centerline is valid? [True, True] Translation: X:272.63, Y:-26.92, Z:-7.86 [[ 9.85677808e-01 1.68595963e-01 3.82880178e-03 2.72628163e+02] [-1.68594776e-01 9.85685244e-01 -6.33030680e-04 -2.69224989e+01] [-3.88071983e-03 -2.15516835e-05 9.99992470e-01 -7.86042268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.724203822 meters 0.018835476177414292 Centerline is valid? [True, True] Translation: X:272.69, Y:-26.93, Z:-7.86 [[ 9.85963235e-01 1.66937460e-01 2.89559718e-03 2.72685575e+02] [-1.66936774e-01 9.85967486e-01 -4.78657752e-04 -2.69330949e+01] [-2.93487059e-03 -1.14427078e-05 9.99995693e-01 -7.86322213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.784203822 meters 0.01961231688442731 Centerline is valid? [True, True] Translation: X:272.74, Y:-26.94, Z:-7.87 [[ 9.85853139e-01 1.67597673e-01 2.14674238e-03 2.72743868e+02] [-1.67597297e-01 9.85855476e-01 -3.55119162e-04 -2.69402876e+01] [-2.17589487e-03 -9.69287894e-06 9.99997633e-01 -7.86717804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.844203822 meters 0.020117404062316203 Centerline is valid? [True, True] Translation: X:272.80, Y:-26.94, Z:-7.87 [[ 9.85507153e-01 1.69631058e-01 9.77619059e-04 2.72802417e+02] [-1.69630980e-01 9.85507638e-01 -1.62480810e-04 -2.69449508e+01] [-9.91012841e-04 -5.70847837e-06 9.99999509e-01 -7.86963235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.904203822 meters 0.020983676068603452 Centerline is valid? [True, True] Translation: X:272.86, Y:-26.95, Z:-7.87 [[ 9.85441934e-01 1.70008204e-01 1.18569968e-03 2.72858671e+02] [-1.70008089e-01 9.85442647e-01 -1.97710433e-04 -2.69535774e+01] [-1.20205142e-03 -6.74638373e-06 9.99999278e-01 -7.87321106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.964203822 meters 0.024317036440477596 Centerline is valid? [True, True] Translation: X:272.92, Y:-26.96, Z:-7.88 [[ 9.85511819e-01 1.69599488e-01 1.57081753e-03 2.72915601e+02] [-1.69599289e-01 9.85513071e-01 -2.60260230e-04 -2.69606439e+01] [-1.59220121e-03 -9.92000181e-06 9.99998732e-01 -7.87859806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.024203822 meters 0.018919170603698902 Centerline is valid? [True, True] Translation: X:272.97, Y:-26.97, Z:-7.87 [[ 9.85981090e-01 1.66855207e-01 7.93253956e-04 2.72973221e+02] [-1.66855155e-01 9.85981409e-01 -1.31976977e-04 -2.69746938e+01] [-8.04154700e-04 -2.23170814e-06 9.99999677e-01 -7.87404970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.084203822 meters 0.01965063656729212 Centerline is valid? [True, True] Translation: X:273.03, Y:-26.99, Z:-7.88 [[ 9.86322346e-01 1.64825673e-01 8.53196697e-04 2.73030216e+02] [-1.64825612e-01 9.86322715e-01 -1.42130442e-04 -2.69863522e+01] [-8.64954029e-04 -4.42237124e-07 9.99999626e-01 -7.87921257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.14420382199995 meters 0.017993742643664642 Centerline is valid? [True, True] Translation: X:273.09, Y:-27.00, Z:-7.88 [[ 9.86771369e-01 1.62101299e-01 2.33122032e-03 2.73087276e+02] [-1.62100843e-01 9.86774122e-01 -3.84712598e-04 -2.70022714e+01] [-2.36275029e-03 1.73059817e-06 9.99997209e-01 -7.87620066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.20420382199995 meters 0.017552293554723927 Centerline is valid? [True, True] Translation: X:273.14, Y:-27.01, Z:-7.88 [[ 9.86869281e-01 1.61444433e-01 4.97159678e-03 2.73144048e+02] [-1.61442357e-01 9.86881804e-01 -8.18837432e-04 -2.70119897e+01] [-5.03857515e-03 5.45920577e-06 9.99987306e-01 -7.87508020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.26420382199996 meters 0.017942423730068057 Centerline is valid? [True, True] Translation: X:273.20, Y:-27.03, Z:-7.88 [[ 9.86906987e-01 1.61236449e-01 4.17202749e-03 2.73201437e+02] [-1.61234986e-01 9.86915806e-01 -6.86829977e-04 -2.70276274e+01] [-4.22818190e-03 5.16051046e-06 9.99991061e-01 -7.87839486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.32420382199996 meters 0.01822421049660125 Centerline is valid? [True, True] Translation: X:273.26, Y:-27.03, Z:-7.88 [[ 9.86123784e-01 1.65982656e-01 3.10500798e-03 2.73260386e+02] [-1.65981868e-01 9.86128672e-01 -5.11414452e-04 -2.70323628e+01] [-3.14682332e-03 -1.10570704e-05 9.99995049e-01 -7.87945370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.38420382199996 meters 0.021377823165688998 Centerline is valid? [True, True] Translation: X:273.32, Y:-27.03, Z:-7.88 [[ 9.85037352e-01 1.72302124e-01 3.65972280e-03 2.73319131e+02] [-1.72301074e-01 9.85044150e-01 -6.02631228e-04 -2.70312973e+01] [-3.70882317e-03 -3.69599010e-05 9.99993122e-01 -7.88076300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.44420382199996 meters 0.02403788641653768 Centerline is valid? [True, True] Translation: X:273.38, Y:-27.04, Z:-7.88 [[ 9.84458075e-01 1.75565914e-01 4.34831989e-03 2.73376606e+02] [-1.75564467e-01 9.84467677e-01 -7.15393216e-04 -2.70369111e+01] [-4.40637905e-03 -5.91358339e-05 9.99990290e-01 -7.88222744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.50420382199997 meters 0.024569828406911815 Centerline is valid? [True, True] Translation: X:273.43, Y:-27.05, Z:-7.88 [[ 9.84406417e-01 1.75855051e-01 4.35979317e-03 2.73434966e+02] [-1.75853602e-01 9.84416069e-01 -7.16688759e-04 -2.70457217e+01] [-4.41788380e-03 -6.11723179e-05 9.99990239e-01 -7.88416611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.56420382199997 meters 0.02455528723689947 Centerline is valid? [True, True] Translation: X:273.49, Y:-27.05, Z:-7.89 [[ 9.84319069e-01 1.76347092e-01 4.20403753e-03 2.73493197e+02] [-1.76345749e-01 9.84328045e-01 -6.90946474e-04 -2.70534335e+01] [-4.25999844e-03 -6.12523575e-05 9.99990924e-01 -7.88597545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.62420382199997 meters 0.023583482812660376 Centerline is valid? [True, True] Translation: X:273.55, Y:-27.06, Z:-7.89 [[ 9.84591557e-01 1.74800296e-01 4.93183348e-03 2.73549906e+02] [-1.74798430e-01 9.84603906e-01 -8.10356433e-04 -2.70648519e+01] [-4.99755305e-03 -6.42066468e-05 9.99987510e-01 -7.88718200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.684203822 meters 0.020733789027422032 Centerline is valid? [True, True] Translation: X:273.61, Y:-27.08, Z:-7.89 [[ 9.85166724e-01 1.71574118e-01 2.97457056e-03 2.73606841e+02] [-1.71573424e-01 9.85171214e-01 -4.89002038e-04 -2.70800035e+01] [-3.01436138e-03 -2.86087182e-05 9.99995456e-01 -7.88834388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.744203822 meters 0.01927780756188007 Centerline is valid? [True, True] Translation: X:273.66, Y:-27.09, Z:-7.89 [[ 9.85352520e-01 1.70463239e-01 4.76392458e-03 2.73664882e+02] [-1.70461450e-01 9.85364035e-01 -7.82072558e-04 -2.70887414e+01] [-4.82751457e-03 -4.14483266e-05 9.99988347e-01 -7.88648725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.804203822 meters 0.028537275382829828 Centerline is valid? [True, True] Translation: X:273.72, Y:-27.10, Z:-7.89 [[ 9.85267688e-01 1.70925364e-01 5.66588019e-03 2.73722947e+02] [-1.70922844e-01 9.85283978e-01 -9.29604556e-04 -2.70970872e+01] [-5.74139397e-03 -5.25190258e-05 9.99983517e-01 -7.88962711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.864203822 meters 0.020653520792692986 Centerline is valid? [True, True] Translation: X:273.78, Y:-27.10, Z:-7.89 [[ 9.85391245e-01 1.70257002e-01 4.08003997e-03 2.73780552e+02] [-1.70255687e-01 9.85399692e-01 -6.69916698e-04 -2.71040785e+01] [-4.13452814e-03 -3.45199609e-05 9.99991452e-01 -7.89467847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.924203822 meters 0.027659625835347777 Centerline is valid? [True, True] Translation: X:273.84, Y:-27.12, Z:-7.90 [[ 9.85952143e-01 1.66937879e-01 5.48789599e-03 2.73838432e+02] [-1.66935457e-01 9.85967415e-01 -8.99735674e-04 -2.71159420e+01] [-5.56108659e-03 -2.90281119e-05 9.99984537e-01 -7.89740961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.984203822 meters 0.017040513466778734 Centerline is valid? [True, True] Translation: X:273.90, Y:-27.13, Z:-7.89 [[ 9.86335727e-01 1.64684155e-01 4.57859521e-03 2.73896240e+02] [-1.64682444e-01 9.86346353e-01 -7.50731012e-04 -2.71296897e+01] [-4.63971419e-03 -1.35414311e-05 9.99989236e-01 -7.89373650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.044203822 meters 0.018170993844016145 Centerline is valid? [True, True] Translation: X:273.95, Y:-27.14, Z:-7.90 [[ 9.86049698e-01 1.66349496e-01 5.81714593e-03 2.73954431e+02] [-1.66346768e-01 9.86066856e-01 -9.53105294e-04 -2.71350319e+01] [-5.89464338e-03 -2.78542342e-05 9.99982626e-01 -7.89597083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.104203822 meters 0.018089759868351794 Centerline is valid? [True, True] Translation: X:274.01, Y:-27.14, Z:-7.90 [[ 9.85703966e-01 1.68431203e-01 4.31531015e-03 2.74013070e+02] [-1.68429721e-01 9.85713411e-01 -7.07223402e-04 -2.71412576e+01] [-4.37277757e-03 -2.97135704e-05 9.99990439e-01 -7.89598974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.164203822 meters 0.019061116703633346 Centerline is valid? [True, True] Translation: X:274.07, Y:-27.15, Z:-7.90 [[ 9.85487785e-01 1.69663491e-01 5.30336634e-03 2.74070605e+02] [-1.69661271e-01 9.85502054e-01 -8.68987095e-04 -2.71469611e+01] [-5.37391381e-03 -4.33997090e-05 9.99985559e-01 -7.89843978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.224203822 meters 0.018957513461628196 Centerline is valid? [True, True] Translation: X:274.13, Y:-27.16, Z:-7.90 [[ 9.85915658e-01 1.67191028e-01 4.18032179e-03 2.74126564e+02] [-1.67189627e-01 9.85924520e-01 -6.84894989e-04 -2.71615704e+01] [-4.23599005e-03 -2.36577463e-05 9.99991028e-01 -7.90288489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.284203822 meters 0.01734060431398426 Centerline is valid? [True, True] Translation: X:274.18, Y:-27.18, Z:-7.90 [[ 9.86040347e-01 1.66433426e-01 4.93442170e-03 2.74184520e+02] [-1.66431471e-01 9.86052693e-01 -8.07253178e-04 -2.71755570e+01] [-4.99995372e-03 -2.52588561e-05 9.99987500e-01 -7.90082832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.344203822 meters 0.019607169126983192 Centerline is valid? [True, True] Translation: X:274.24, Y:-27.18, Z:-7.90 [[ 9.85255987e-01 1.70931146e-01 7.29263145e-03 2.74242818e+02] [-1.70927000e-01 9.85282974e-01 -1.19277024e-03 -2.71797025e+01] [-7.38918718e-03 -7.13235932e-05 9.99972697e-01 -7.89993711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.404203822 meters 0.026007380482794447 Centerline is valid? [True, True] Translation: X:274.30, Y:-27.18, Z:-7.90 [[ 9.83757855e-01 1.79303408e-01 8.41256784e-03 2.74303319e+02] [-1.79298209e-01 9.83793811e-01 -1.37435724e-03 -2.71795880e+01] [-8.52265912e-03 -1.56323618e-04 9.99963669e-01 -7.89931969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.464203822 meters 0.030196212270313112 Centerline is valid? [True, True] Translation: X:274.36, Y:-27.18, Z:-7.90 [[ 9.83119313e-01 1.82720512e-01 9.46738118e-03 2.74361137e+02] [-1.82714080e-01 9.83164875e-01 -1.54722265e-03 -2.71809715e+01] [-9.59070594e-03 -2.08719374e-04 9.99953986e-01 -7.90043021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.524203822 meters 0.02872991581132699 Centerline is valid? [True, True] Translation: X:274.42, Y:-27.19, Z:-7.90 [[ 9.82851723e-01 1.84300667e-01 5.97960219e-03 2.74420583e+02] [-1.84298133e-01 9.82869902e-01 -9.76843212e-04 -2.71855913e+01] [-6.05720387e-03 -1.41937486e-04 9.99981645e-01 -7.90409282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.584203822 meters 0.027886090419332425 Centerline is valid? [True, True] Translation: X:274.48, Y:-27.19, Z:-7.91 [[ 9.83257619e-01 1.82128800e-01 5.79274787e-03 2.74478089e+02] [-1.82126383e-01 9.83274674e-01 -9.46420915e-04 -2.71948359e+01] [-5.86823278e-03 -1.24436645e-04 9.99982774e-01 -7.90780930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.64420382199995 meters 0.02228454739297727 Centerline is valid? [True, True] Translation: X:274.54, Y:-27.21, Z:-7.91 [[ 9.84398501e-01 1.75814975e-01 6.97747737e-03 2.74536307e+02] [-1.75811318e-01 9.84423224e-01 -1.13877801e-03 -2.72108545e+01] [-7.06900500e-03 -1.05708128e-04 9.99975009e-01 -7.90822056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.70420382199995 meters 0.01644604157604171 Centerline is valid? [True, True] Translation: X:274.59, Y:-27.23, Z:-7.91 [[ 9.86022590e-01 1.66430606e-01 7.76569539e-03 2.74593823e+02] [-1.66425788e-01 9.86053169e-01 -1.26710704e-03 -2.72296551e+01] [-7.86827394e-03 -4.30158039e-05 9.99969044e-01 -7.90902046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.76420382199996 meters 0.015975007667513183 Centerline is valid? [True, True] Translation: X:274.65, Y:-27.25, Z:-7.91 [[ 9.87476545e-01 1.57605474e-01 7.11249636e-03 2.74651235e+02] [-1.57601204e-01 9.87502159e-01 -1.16041150e-03 -2.72506541e+01] [-7.20649272e-03 2.49411530e-05 9.99974033e-01 -7.91063940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.82420382199996 meters 0.018754555723620198 Centerline is valid? [True, True] Translation: X:274.71, Y:-27.27, Z:-7.91 [[ 9.88424687e-01 1.51506928e-01 7.89233028e-03 2.74707942e+02] [-1.51501480e-01 9.88456193e-01 -1.28708903e-03 -2.72703207e+01] [-7.99622565e-03 7.64908516e-05 9.99968027e-01 -7.91176192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.88420382199996 meters 0.02011296285633149 Centerline is valid? [True, True] Translation: X:274.77, Y:-27.29, Z:-7.91 [[ 9.88819372e-01 1.48933167e-01 7.42707247e-03 2.74766122e+02] [-1.48928271e-01 9.88847260e-01 -1.21114369e-03 -2.72863128e+01] [-7.52461973e-03 9.15012781e-05 9.99971685e-01 -7.91298874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.94420382199996 meters 0.021980401947407656 Centerline is valid? [True, True] Translation: X:274.83, Y:-27.30, Z:-7.92 [[ 9.88636284e-01 1.50127948e-01 7.73927739e-03 2.74825187e+02] [-1.50122668e-01 9.88666573e-01 -1.26194195e-03 -2.72970500e+01] [-7.84101761e-03 8.57606286e-05 9.99969255e-01 -7.91685582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.00420382199997 meters 0.017273005184403507 Centerline is valid? [True, True] Translation: X:274.88, Y:-27.30, Z:-7.92 [[ 9.87655874e-01 1.56466005e-01 7.36645932e-03 2.74883905e+02] [-1.56461394e-01 9.87683344e-01 -1.20160699e-03 -2.73012639e+01] [-7.46373982e-03 3.42077060e-05 9.99972145e-01 -7.92047370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.06420382199997 meters 0.017921779861786065 Centerline is valid? [True, True] Translation: X:274.94, Y:-27.30, Z:-7.93 [[ 9.86223603e-01 1.65347049e-01 4.83308046e-03 2.74943622e+02] [-1.65345170e-01 9.86235445e-01 -7.88534981e-04 -2.73013630e+01] [-4.89693719e-03 -2.14547020e-05 9.99988010e-01 -7.92618876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.12420382199997 meters 0.02172163936621147 Centerline is valid? [True, True] Translation: X:275.00, Y:-27.30, Z:-7.93 [[ 9.85220930e-01 1.71240491e-01 4.05143460e-03 2.75002648e+02] [-1.71239220e-01 9.85229259e-01 -6.61098158e-04 -2.73002211e+01] [-4.10479869e-03 -4.24367589e-05 9.99991574e-01 -7.93070979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.184203822 meters 0.022870449498214127 Centerline is valid? [True, True] Translation: X:275.06, Y:-27.30, Z:-7.93 [[ 9.84713537e-01 1.74146633e-01 3.49301692e-03 2.75061211e+02] [-1.74145704e-01 9.84719731e-01 -5.70570552e-04 -2.73041437e+01] [-3.53900562e-03 -4.64453454e-05 9.99993737e-01 -7.93046222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.244203822 meters 0.021506862549107848 Centerline is valid? [True, True] Translation: X:275.12, Y:-27.31, Z:-7.93 [[ 9.84802559e-01 1.73582213e-01 5.75626710e-03 2.75119572e+02] [-1.73579694e-01 9.84819379e-01 -9.38172723e-04 -2.73147932e+01] [-5.83173349e-03 -7.52561843e-05 9.99982992e-01 -7.92822810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.304203822 meters 0.018017915412161842 Centerline is valid? [True, True] Translation: X:275.18, Y:-27.33, Z:-7.93 [[ 9.85698999e-01 1.68386784e-01 6.58590464e-03 2.75177207e+02] [-1.68383369e-01 9.85720999e-01 -1.07361706e-03 -2.73300002e+01] [-6.67264743e-03 -5.06935500e-05 9.99977736e-01 -7.92902083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.364203822 meters 0.016179945533112094 Centerline is valid? [True, True] Translation: X:275.23, Y:-27.35, Z:-7.93 [[ 9.87141912e-01 1.59739497e-01 5.84275533e-03 2.75234025e+02] [-1.59736666e-01 9.87159204e-01 -9.51069211e-04 -2.73548101e+01] [-5.91965301e-03 5.53802595e-06 9.99982479e-01 -7.93264067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.424203822 meters 0.01805251282141206 Centerline is valid? [True, True] Translation: X:275.29, Y:-27.38, Z:-7.93 [[ 9.88159205e-01 1.53313926e-01 6.01872888e-03 2.75291163e+02] [-1.53310804e-01 9.88177534e-01 -9.79337838e-04 -2.73786235e+01] [-6.09771879e-03 4.50055338e-05 9.99981408e-01 -7.93369797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.484203822 meters 0.01829247015330206 Centerline is valid? [True, True] Translation: X:275.35, Y:-27.40, Z:-7.94 [[ 9.88156245e-01 1.53335868e-01 5.94536106e-03 2.75348986e+02] [-1.53332821e-01 9.88174129e-01 -9.67685519e-04 -2.73966204e+01] [-6.02343289e-03 4.46055063e-05 9.99981858e-01 -7.93580582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.544203822 meters 0.01810251693623044 Centerline is valid? [True, True] Translation: X:275.41, Y:-27.41, Z:-7.94 [[ 9.87717599e-01 1.56155668e-01 5.41773602e-03 2.75407299e+02] [-1.56153184e-01 9.87732457e-01 -8.81170973e-04 -2.74108916e+01] [-5.48887355e-03 2.43513472e-05 9.99984936e-01 -7.94017274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.604203822 meters 0.01757807146665645 Centerline is valid? [True, True] Translation: X:275.47, Y:-27.42, Z:-7.94 [[ 9.86490417e-01 1.63712075e-01 5.91725396e-03 2.75465384e+02] [-1.63709242e-01 9.86508163e-01 -9.63343816e-04 -2.74162246e+01] [-5.99513035e-03 -1.83797157e-05 9.99982029e-01 -7.94213023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.664203822 meters 0.022004517809927314 Centerline is valid? [True, True] Translation: X:275.52, Y:-27.42, Z:-7.94 [[ 9.84797942e-01 1.73631440e-01 5.01357199e-03 2.75524830e+02] [-1.73629533e-01 9.84810702e-01 -8.16564603e-04 -2.74184142e+01] [-5.07920064e-03 -6.63530216e-05 9.99987099e-01 -7.94213778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.724203822 meters 0.026108678532294243 Centerline is valid? [True, True] Translation: X:275.58, Y:-27.42, Z:-7.94 [[ 9.83694473e-01 1.79778198e-01 4.99837277e-03 2.75583654e+02] [-1.79776382e-01 9.83707167e-01 -8.13914647e-04 -2.74247048e+01] [-5.06325922e-03 -9.79460346e-05 9.99987177e-01 -7.94239202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.784203822 meters 0.0353357314158392 Centerline is valid? [True, True] Translation: X:275.64, Y:-27.42, Z:-7.94 [[ 9.82118842e-01 1.88139173e-01 6.79939604e-03 2.75643562e+02] [-1.88136021e-01 9.82142359e-01 -1.10599731e-03 -2.74232604e+01] [-6.88605629e-03 -1.92990524e-04 9.99976272e-01 -7.94298665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.844203822 meters 0.037778099289648606 Centerline is valid? [True, True] Translation: X:275.70, Y:-27.43, Z:-7.95 [[ 9.81731958e-01 1.90152179e-01 6.67169381e-03 2.75702462e+02] [-1.90149188e-01 9.81754607e-01 -1.08563814e-03 -2.74304305e+01] [-6.75640259e-03 -2.02811503e-04 9.99977155e-01 -7.94521998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.904203822 meters 0.03562914120815601 Centerline is valid? [True, True] Translation: X:275.76, Y:-27.44, Z:-7.95 [[ 9.81874402e-01 1.89421115e-01 6.50389079e-03 2.75760405e+02] [-1.89418256e-01 9.81895923e-01 -1.05841484e-03 -2.74393000e+01] [-6.58662997e-03 -1.92725213e-04 9.99978289e-01 -7.94744788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.964203822 meters 0.034863779253429567 Centerline is valid? [True, True] Translation: X:275.82, Y:-27.45, Z:-7.95 [[ 9.82288860e-01 1.87276732e-01 6.00174947e-03 2.75818670e+02] [-1.87274258e-01 9.82307181e-01 -9.76518432e-04 -2.74483169e+01] [-6.07844078e-03 -1.64750001e-04 9.99981513e-01 -7.95134917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.024203822 meters 0.03591045935032745 Centerline is valid? [True, True] Translation: X:275.88, Y:-27.46, Z:-7.96 [[ 9.83177319e-01 1.82569155e-01 5.55548102e-03 2.75876593e+02] [-1.82566963e-01 9.83193006e-01 -9.03440333e-04 -2.74559407e+01] [-5.62705042e-03 -1.26005253e-04 9.99984160e-01 -7.95713002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.084203822 meters 0.023474191819057834 Centerline is valid? [True, True] Translation: X:275.94, Y:-27.47, Z:-7.95 [[ 9.84406526e-01 1.75824450e-01 5.43647328e-03 2.75935075e+02] [-1.75822252e-01 9.84421533e-01 -8.83341158e-04 -2.74712488e+01] [-5.50709434e-03 -8.62861765e-05 9.99984832e-01 -7.95326432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.14420382199995 meters 0.020139851932982213 Centerline is valid? [True, True] Translation: X:275.99, Y:-27.48, Z:-7.96 [[ 9.85587877e-01 1.69066906e-01 5.73748531e-03 2.75992511e+02] [-1.69064342e-01 9.85604575e-01 -9.32443428e-04 -2.74843053e+01] [-5.81253710e-03 -5.09992420e-05 9.99983106e-01 -7.95834732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.20420382199995 meters 0.017350176353955294 Centerline is valid? [True, True] Translation: X:276.05, Y:-27.50, Z:-7.96 [[ 9.86739972e-01 1.62211784e-01 5.61823690e-03 2.76050395e+02] [-1.62209215e-01 9.86755966e-01 -9.12919406e-04 -2.74988091e+01] [-5.69191507e-03 -1.05157305e-05 9.99983801e-01 -7.96078859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.26420382199996 meters 0.01711774787675865 Centerline is valid? [True, True] Translation: X:276.11, Y:-27.52, Z:-7.96 [[ 9.88097812e-01 1.53728068e-01 5.51326404e-03 2.76109533e+02] [-1.53725469e-01 9.88113192e-01 -8.94565521e-04 -2.75192578e+01] [-5.58524875e-03 3.63891330e-05 9.99984402e-01 -7.95662761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.32420382199996 meters 0.02319810480191698 Centerline is valid? [True, True] Translation: X:276.17, Y:-27.54, Z:-7.96 [[ 9.89072088e-01 1.47282653e-01 6.65019064e-03 2.76167691e+02] [-1.47278746e-01 9.89094441e-01 -1.07619425e-03 -2.75438388e+01] [-6.73617133e-03 8.50019629e-05 9.99977308e-01 -7.96238457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.38420382199996 meters 0.0250405689395957 Centerline is valid? [True, True] Translation: X:276.23, Y:-27.56, Z:-7.96 [[ 9.89386953e-01 1.45171696e-01 6.21576209e-03 2.76228232e+02] [-1.45168236e-01 9.89406474e-01 -1.00666481e-03 -2.75583734e+01] [-6.29605449e-03 9.36498128e-05 9.99980175e-01 -7.96420391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.44420382199996 meters 0.031141901276493418 Centerline is valid? [True, True] Translation: X:276.29, Y:-27.56, Z:-7.97 [[ 9.88866684e-01 1.48738981e-01 4.40410819e-03 2.76289309e+02] [-1.48737267e-01 9.88876490e-01 -7.16087934e-04 -2.75624762e+01] [-4.46162924e-03 5.30604841e-05 9.99990045e-01 -7.96942810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.50420382199997 meters 0.026122975429900563 Centerline is valid? [True, True] Translation: X:276.35, Y:-27.57, Z:-7.97 [[ 9.87918037e-01 1.54886337e-01 5.30803728e-03 2.76349079e+02] [-1.54883935e-01 9.87932296e-01 -8.63101237e-04 -2.75669762e+01] [-5.37766405e-03 3.05435789e-05 9.99985540e-01 -7.96996278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.56420382199997 meters 0.025451376123365226 Centerline is valid? [True, True] Translation: X:276.41, Y:-27.57, Z:-7.97 [[ 9.86874482e-01 1.61423612e-01 4.60159728e-03 2.76408293e+02] [-1.61421870e-01 9.86885210e-01 -7.50030955e-04 -2.75657937e+01] [-4.66232101e-03 -2.61202655e-06 9.99989131e-01 -7.97482551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.62420382199997 meters 0.017136003878527137 Centerline is valid? [True, True] Translation: X:276.47, Y:-27.57, Z:-7.97 [[ 9.85942806e-01 1.66951955e-01 6.62020289e-03 2.76468020e+02] [-1.66948476e-01 9.85965031e-01 -1.07863945e-03 -2.75678675e+01] [-6.70736951e-03 -4.17559826e-05 9.99977504e-01 -7.96599937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.684203822 meters 0.021779619169530046 Centerline is valid? [True, True] Translation: X:276.53, Y:-27.56, Z:-7.97 [[ 9.84600098e-01 1.74639012e-01 7.99139826e-03 2.76528509e+02] [-1.74634201e-01 9.84632522e-01 -1.30132809e-03 -2.75638935e+01] [-8.09585327e-03 -1.14283688e-04 9.99967222e-01 -7.96524599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.744203822 meters 0.023600177391585736 Centerline is valid? [True, True] Translation: X:276.59, Y:-27.57, Z:-7.97 [[ 9.84168515e-01 1.77029242e-01 8.54291777e-03 2.76586829e+02] [-1.77023835e-01 9.84205582e-01 -1.39102237e-03 -2.75686090e+01] [-8.65423899e-03 -1.43299646e-04 9.99962541e-01 -7.96611342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.804203822 meters 0.026103540552938214 Centerline is valid? [True, True] Translation: X:276.64, Y:-27.57, Z:-7.97 [[ 9.83888614e-01 1.78535486e-01 9.39554355e-03 2.76644609e+02] [-1.78529024e-01 9.83933458e-01 -1.52879558e-03 -2.75709857e+01] [-9.51753392e-03 -1.73212663e-04 9.99954692e-01 -7.96808472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.864203822 meters 0.02789513535229803 Centerline is valid? [True, True] Translation: X:276.70, Y:-27.57, Z:-7.97 [[ 9.83440336e-01 1.81067504e-01 7.72426062e-03 2.76704182e+02] [-1.81063220e-01 9.83470657e-01 -1.25617539e-03 -2.75730156e+01] [-7.82403621e-03 -1.63205955e-04 9.99969378e-01 -7.97065797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.924203822 meters 0.03135121105612282 Centerline is valid? [True, True] Translation: X:276.76, Y:-27.57, Z:-7.98 [[ 9.83143066e-01 1.82702881e-01 7.02627846e-03 2.76762858e+02] [-1.82699374e-01 9.83168160e-01 -1.14328785e-03 -2.75688065e+01] [-7.11689525e-03 -1.59681152e-04 9.99974662e-01 -7.97630559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.984203822 meters 0.02906657258843525 Centerline is valid? [True, True] Translation: X:276.82, Y:-27.58, Z:-7.98 [[ 9.83798675e-01 1.79183712e-01 5.77621101e-03 2.76820392e+02] [-1.79181283e-01 9.83815626e-01 -9.39504041e-04 -2.75750821e+01] [-5.85107047e-03 -1.10706068e-04 9.99982876e-01 -7.98107409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.044203822 meters 0.027258291061689432 Centerline is valid? [True, True] Translation: X:276.88, Y:-27.59, Z:-7.99 [[ 9.85428028e-01 1.70056339e-01 3.52745717e-03 2.76877195e+02] [-1.70055375e-01 9.85434341e-01 -5.73648282e-04 -2.75933474e+01] [-3.57362996e-03 -3.45739575e-05 9.99993614e-01 -7.98803401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.104203822 meters 0.017424392290366568 Centerline is valid? [True, True] Translation: X:276.93, Y:-27.61, Z:-7.99 [[ 9.87212654e-01 1.59332530e-01 4.93160444e-03 2.76933820e+02] [-1.59330517e-01 9.87224972e-01 -8.01086219e-04 -2.76141730e+01] [-4.99624215e-03 5.08736950e-06 9.99987519e-01 -7.98672223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.164203822 meters 0.01924856299281893 Centerline is valid? [True, True] Translation: X:276.99, Y:-27.63, Z:-7.99 [[ 9.88294342e-01 1.52465284e-01 5.35083288e-03 2.76990517e+02] [-1.52462810e-01 9.88308826e-01 -8.69548561e-04 -2.76317426e+01] [-5.42085133e-03 4.35669039e-05 9.99985306e-01 -7.98610737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.224203822 meters 0.028954273509539365 Centerline is valid? [True, True] Translation: X:277.05, Y:-27.64, Z:-7.99 [[ 9.88603834e-01 1.50384919e-01 6.84365963e-03 2.77048603e+02] [-1.50380828e-01 9.88627519e-01 -1.11143894e-03 -2.76420374e+01] [-6.93297390e-03 6.96175929e-05 9.99975964e-01 -7.98673023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.284203822 meters 0.03043531558947038 Centerline is valid? [True, True] Translation: X:277.11, Y:-27.65, Z:-7.99 [[ 9.88666959e-01 1.50038588e-01 5.10556772e-03 2.77108575e+02] [-1.50036309e-01 9.88680140e-01 -8.28683342e-04 -2.76468878e+01] [-5.17210789e-03 5.32713048e-05 9.99986623e-01 -7.98999645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.344203822 meters 0.01931593348872431 Centerline is valid? [True, True] Translation: X:277.17, Y:-27.65, Z:-7.99 [[ 9.88347032e-01 1.52189362e-01 2.92287901e-03 2.77167584e+02] [-1.52188622e-01 9.88351353e-01 -4.75306159e-04 -2.76517968e+01] [-2.96116796e-03 2.49385020e-05 9.99995615e-01 -7.99171199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.404203822 meters 0.023758974191750968 Centerline is valid? [True, True] Translation: X:277.23, Y:-27.65, Z:-8.00 [[ 9.87807818e-01 1.55651908e-01 2.86338631e-03 2.77225309e+02] [-1.55651212e-01 9.87811968e-01 -4.65830285e-04 -2.76544617e+01] [-2.90099464e-03 1.44612477e-05 9.99995792e-01 -7.99807638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.464203822 meters 0.01653332475874506 Centerline is valid? [True, True] Translation: X:277.28, Y:-27.65, Z:-7.99 [[ 9.87184569e-01 1.59511933e-01 4.75088319e-03 2.77284817e+02] [-1.59510069e-01 9.87196000e-01 -7.71117202e-04 -2.76547740e+01] [-4.81305528e-03 3.42129624e-06 9.99988417e-01 -7.99276186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.524203822 meters 0.017373605263385807 Centerline is valid? [True, True] Translation: X:277.34, Y:-27.67, Z:-8.00 [[ 9.87624579e-01 1.56799893e-01 3.38878561e-03 2.77341713e+02] [-1.56798926e-01 9.87630393e-01 -5.50606993e-04 -2.76684579e+01] [-3.43320278e-03 1.24350541e-05 9.99994106e-01 -7.99608962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.584203822 meters 0.018830861526374566 Centerline is valid? [True, True] Translation: X:277.40, Y:-27.68, Z:-8.00 [[ 9.88008731e-01 1.54330906e-01 4.55183545e-03 2.77398192e+02] [-1.54329141e-01 9.88019216e-01 -7.38640324e-04 -2.76834251e+01] [-4.61129592e-03 2.73022352e-05 9.99989368e-01 -7.99908482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.64420382199995 meters 0.017489840978451784 Centerline is valid? [True, True] Translation: X:277.46, Y:-27.69, Z:-8.00 [[ 9.88021967e-01 1.54218912e-01 5.39631098e-03 2.77456286e+02] [-1.54216434e-01 9.88036703e-01 -8.74708337e-04 -2.76906977e+01] [-5.46664988e-03 3.20312142e-05 9.99985057e-01 -7.99561213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.70420382199995 meters 0.018694811342155615 Centerline is valid? [True, True] Translation: X:277.51, Y:-27.71, Z:-8.00 [[ 9.88097422e-01 1.53716333e-01 5.89684553e-03 2.77511975e+02] [-1.53713367e-01 9.88115017e-01 -9.55681916e-04 -2.77051184e+01] [-5.97366554e-03 3.78828553e-05 9.99982157e-01 -8.00004656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.76420382199996 meters 0.0188940695906196 Centerline is valid? [True, True] Translation: X:277.57, Y:-27.72, Z:-8.00 [[ 9.88343521e-01 1.52075460e-01 7.08084585e-03 2.77569141e+02] [-1.52071149e-01 9.88368884e-01 -1.14644520e-03 -2.77210782e+01] [-7.17283390e-03 5.62893211e-05 9.99974273e-01 -7.99832079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.82420382199996 meters 0.018295351735836428 Centerline is valid? [True, True] Translation: X:277.63, Y:-27.73, Z:-8.00 [[ 9.88409651e-01 1.51621683e-01 7.56481658e-03 2.77627366e+02] [-1.51616752e-01 9.88438598e-01 -1.22437779e-03 -2.77329143e+01] [-7.66299891e-03 6.32338975e-05 9.99970637e-01 -7.99669321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.88420382199996 meters 0.018928836718185512 Centerline is valid? [True, True] Translation: X:277.68, Y:-27.75, Z:-8.00 [[ 9.88443479e-01 1.51429602e-01 6.96881577e-03 2.77683912e+02] [-1.51425416e-01 9.88468043e-01 -1.12740312e-03 -2.77502407e+01] [-7.05917389e-03 5.91184310e-05 9.99975082e-01 -8.00065518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.94420382199996 meters 0.01826529517089368 Centerline is valid? [True, True] Translation: X:277.74, Y:-27.76, Z:-8.00 [[ 9.88161237e-01 1.53350323e-01 4.58790373e-03 2.77742278e+02] [-1.53348530e-01 9.88171887e-01 -7.42132172e-04 -2.77626687e+01] [-4.64744369e-03 2.97979538e-05 9.99989200e-01 -8.00494096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.00420382199997 meters 0.01693433884381462 Centerline is valid? [True, True] Translation: X:277.80, Y:-27.77, Z:-8.01 [[ 9.87102734e-01 1.60027829e-01 4.39153730e-03 2.77801178e+02] [-1.60026250e-01 9.87112503e-01 -7.10905175e-04 -2.77689797e+01] [-4.44870599e-03 -1.02480422e-06 9.99990104e-01 -8.00513383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.06420382199997 meters 0.020632525444857823 Centerline is valid? [True, True] Translation: X:277.86, Y:-27.76, Z:-8.01 [[ 9.85404335e-01 1.70165192e-01 4.70152129e-03 2.77861813e+02] [-1.70163499e-01 9.85415549e-01 -7.60739122e-04 -2.77648057e+01] [-4.76240350e-03 -5.03916827e-05 9.99988658e-01 -8.00649268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.12420382199997 meters 0.029948707233386482 Centerline is valid? [True, True] Translation: X:277.92, Y:-27.76, Z:-8.01 [[ 9.83696496e-01 1.79749869e-01 5.58460816e-03 2.77922988e+02] [-1.79747642e-01 9.83712342e-01 -9.02274241e-04 -2.77587069e+01] [-5.65583165e-03 -1.16256138e-04 9.99983999e-01 -8.00917564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.184203822 meters 0.03087789621433169 Centerline is valid? [True, True] Translation: X:277.98, Y:-27.76, Z:-8.01 [[ 9.82834172e-01 1.84407209e-01 5.56518492e-03 2.77983378e+02] [-1.84405071e-01 9.82849918e-01 -8.99272136e-04 -2.77587909e+01] [-5.63557381e-03 -1.42412938e-04 9.99984110e-01 -8.00682291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.244203822 meters 0.03282819653485547 Centerline is valid? [True, True] Translation: X:278.04, Y:-27.76, Z:-8.01 [[ 9.83106485e-01 1.82958227e-01 5.28458111e-03 2.78041668e+02] [-1.82956274e-01 9.83120680e-01 -8.54711887e-04 -2.77576143e+01] [-5.35175754e-03 -1.26574473e-04 9.99985671e-01 -8.01367522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.304203822 meters 0.022911290634409377 Centerline is valid? [True, True] Translation: X:278.10, Y:-27.78, Z:-8.01 [[ 9.84772138e-01 1.73785483e-01 4.73723983e-03 2.78098958e+02] [-1.73783814e-01 9.84783530e-01 -7.64973707e-04 -2.77783533e+01] [-4.79809709e-03 -6.99308106e-05 9.99988487e-01 -8.01357240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.364203822 meters 0.016915265986637423 Centerline is valid? [True, True] Translation: X:278.16, Y:-27.80, Z:-8.02 [[ 9.86903737e-01 1.61241638e-01 4.70616102e-03 2.78156362e+02] [-1.61239848e-01 9.86914958e-01 -7.59774316e-04 -2.78002572e+01] [-4.76708796e-03 -8.99657401e-06 9.99988637e-01 -8.01675500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.424203822 meters 0.02199076365146702 Centerline is valid? [True, True] Translation: X:278.21, Y:-27.82, Z:-8.02 [[ 9.88863221e-01 1.48772348e-01 4.03968264e-03 2.78211379e+02] [-1.48770924e-01 9.88871471e-01 -6.52406499e-04 -2.78248115e+01] [-4.09178696e-03 4.41534727e-05 9.99991628e-01 -8.02245024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.484203822 meters 0.028873534186980538 Centerline is valid? [True, True] Translation: X:278.27, Y:-27.84, Z:-8.02 [[ 9.90266367e-01 1.39138700e-01 3.59795605e-03 2.78269711e+02] [-1.39137508e-01 9.90272900e-01 -5.80815267e-04 -2.78428541e+01] [-3.64377225e-03 7.45511853e-05 9.99993359e-01 -8.02349479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.544203822 meters 0.03828577035142546 Centerline is valid? [True, True] Translation: X:278.33, Y:-27.86, Z:-8.03 [[ 9.90980373e-01 1.33975743e-01 2.89842338e-03 2.78328020e+02] [-1.33974947e-01 9.90984609e-01 -4.67922626e-04 -2.78588183e+01] [-2.93498324e-03 7.53860182e-05 9.99995690e-01 -8.02968237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.604203822 meters 0.03561863891610801 Centerline is valid? [True, True] Translation: X:278.39, Y:-27.87, Z:-8.03 [[ 9.91154535e-01 1.32645081e-01 4.23901422e-03 2.78386197e+02] [-1.32643365e-01 9.91163593e-01 -6.84720210e-04 -2.78694101e+01] [-4.29238133e-03 1.16386432e-04 9.99990781e-01 -8.02629855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.664203822 meters 0.041489509106396386 Centerline is valid? [True, True] Translation: X:278.44, Y:-27.88, Z:-8.03 [[ 9.91045219e-01 1.33481168e-01 3.48605971e-03 2.78444967e+02] [-1.33480013e-01 9.91051345e-01 -5.62870414e-04 -2.78769480e+01] [-3.52999677e-03 9.25107364e-05 9.99993765e-01 -8.03021917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.724203822 meters 0.030625267232347424 Centerline is valid? [True, True] Translation: X:278.50, Y:-27.89, Z:-8.03 [[ 9.90825907e-01 1.35069353e-01 4.50457548e-03 2.78503896e+02] [-1.35067443e-01 9.90836140e-01 -7.27001683e-04 -2.78864600e+01] [-4.56149183e-03 1.11910609e-04 9.99989590e-01 -8.02643180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.784203822 meters 0.037527637636673404 Centerline is valid? [True, True] Translation: X:278.56, Y:-27.89, Z:-8.03 [[ 9.90078572e-01 1.40462952e-01 3.81838064e-03 2.78563883e+02] [-1.40461620e-01 9.90085933e-01 -6.15954515e-04 -2.78903863e+01] [-3.86704375e-03 7.35074348e-05 9.99992520e-01 -8.03387707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.844203822 meters 0.021570954781753096 Centerline is valid? [True, True] Translation: X:278.62, Y:-27.89, Z:-8.03 [[ 9.89179081e-01 1.46668940e-01 3.60107218e-03 2.78624043e+02] [-1.46667797e-01 9.89185635e-01 -5.80880278e-04 -2.78945179e+01] [-3.64732597e-03 4.64332960e-05 9.99993347e-01 -8.03225850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.904203822 meters 0.018343707047715048 Centerline is valid? [True, True] Translation: X:278.68, Y:-27.90, Z:-8.03 [[ 9.88240183e-01 1.52861745e-01 3.82453968e-03 2.78683660e+02] [-1.52860497e-01 9.88247583e-01 -6.18287625e-04 -2.78970348e+01] [-3.87410462e-03 2.63956408e-05 9.99992495e-01 -8.03467498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.964203822 meters 0.03304010589543121 Centerline is valid? [True, True] Translation: X:278.74, Y:-27.90, Z:-8.04 [[ 9.87335894e-01 1.58594061e-01 3.96935059e-03 2.78741444e+02] [-1.58592765e-01 9.87343873e-01 -6.41160178e-04 -2.78986148e+01] [-4.02079818e-03 3.53017407e-06 9.99991917e-01 -8.04130523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.024203822 meters 0.028316178863717973 Centerline is valid? [True, True] Translation: X:278.80, Y:-27.90, Z:-8.04 [[ 9.86863751e-01 1.61524921e-01 3.10437979e-03 2.78800612e+02] [-1.61524143e-01 9.86868633e-01 -5.01383742e-04 -2.78994449e+01] [-3.14460101e-03 -6.63484589e-06 9.99995056e-01 -8.04118662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.084203822 meters 0.01693201714473857 Centerline is valid? [True, True] Translation: X:278.86, Y:-27.92, Z:-8.04 [[ 9.87151790e-01 1.59690984e-01 5.48943942e-03 2.78856799e+02] [-1.59688530e-01 9.87167052e-01 -8.85433776e-04 -2.79157248e+01] [-5.56038953e-03 -2.54297362e-06 9.99984541e-01 -8.04148605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.14420382199995 meters 0.016809952923723476 Centerline is valid? [True, True] Translation: X:278.91, Y:-27.93, Z:-8.04 [[ 9.87778761e-01 1.55738513e-01 6.21565377e-03 2.78913960e+02] [-1.55735294e-01 9.87798317e-01 -1.00155842e-03 -2.79298362e+01] [-6.29579355e-03 2.13214635e-05 9.99980181e-01 -8.04121682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.20420382199995 meters 0.018672123057201073 Centerline is valid? [True, True] Translation: X:278.97, Y:-27.95, Z:-8.04 [[ 9.88424916e-01 1.51637889e-01 4.70478846e-03 2.78971733e+02] [-1.51636001e-01 9.88436113e-01 -7.57624887e-04 -2.79478415e+01] [-4.76526746e-03 3.54400096e-05 9.99988645e-01 -8.04421902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.26420382199996 meters 0.01985539397639152 Centerline is valid? [True, True] Translation: X:279.03, Y:-27.97, Z:-8.04 [[ 9.88844046e-01 1.48825311e-01 6.20311526e-03 2.79029761e+02] [-1.48821976e-01 9.88863500e-01 -9.98512124e-04 -2.79654452e+01] [-6.28263815e-03 6.42129002e-05 9.99980262e-01 -8.04382370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.32420382199996 meters 0.020114619379890692 Centerline is valid? [True, True] Translation: X:279.09, Y:-27.98, Z:-8.04 [[ 9.88943626e-01 1.48048831e-01 8.48811976e-03 2.79086806e+02] [-1.48042559e-01 9.88980048e-01 -1.36609107e-03 -2.79793809e+01] [-8.59682927e-03 9.43840862e-05 9.99963042e-01 -8.04226888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.38420382199996 meters 0.026888017754799466 Centerline is valid? [True, True] Translation: X:279.15, Y:-27.99, Z:-8.05 [[ 9.88739236e-01 1.49446763e-01 7.77094074e-03 2.79145013e+02] [-1.49441553e-01 9.88769771e-01 -1.25020079e-03 -2.79903838e+01] [-7.87050975e-03 7.48211202e-05 9.99969024e-01 -8.04864585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.44420382199996 meters 0.017437830035245686 Centerline is valid? [True, True] Translation: X:279.20, Y:-28.00, Z:-8.05 [[ 9.88133537e-01 1.53383978e-01 8.09124504e-03 2.79204315e+02] [-1.53378463e-01 9.88166663e-01 -1.30150491e-03 -2.79978198e+01] [-8.19512861e-03 4.50379260e-05 9.99966418e-01 -8.04659504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.50420382199997 meters 0.02617045384031749 Centerline is valid? [True, True] Translation: X:279.26, Y:-28.00, Z:-8.05 [[ 9.87676685e-01 1.56340660e-01 7.23633162e-03 2.79263507e+02] [-1.56336328e-01 9.87703193e-01 -1.16391731e-03 -2.80029614e+01] [-7.32931545e-03 1.82724790e-05 9.99973140e-01 -8.05098751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.56420382199997 meters 0.016299121340264726 Centerline is valid? [True, True] Translation: X:279.32, Y:-28.01, Z:-8.05 [[ 9.87302359e-01 1.58690041e-01 7.17799563e-03 2.79320589e+02] [-1.58685836e-01 9.87328451e-01 -1.15516485e-03 -2.80118083e+01] [-7.27035246e-03 1.45074235e-06 9.99973571e-01 -8.05147917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.62420382199997 meters 0.016092894972631416 Centerline is valid? [True, True] Translation: X:279.38, Y:-28.03, Z:-8.05 [[ 9.87559413e-01 1.57109054e-01 6.56894905e-03 2.79379023e+02] [-1.57105505e-01 9.87581260e-01 -1.05605418e-03 -2.80265940e+01] [-6.65328665e-03 1.08981917e-05 9.99977867e-01 -8.05127639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.684203822 meters 0.016117041227359564 Centerline is valid? [True, True] Translation: X:279.44, Y:-28.04, Z:-8.05 [[ 9.87840249e-01 1.55302626e-01 7.26206177e-03 2.79437436e+02] [-1.55298241e-01 9.87866941e-01 -1.16721693e-03 -2.80411853e+01] [-7.35522260e-03 2.52384417e-05 9.99972950e-01 -8.05224221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.744203822 meters 0.02729122767983955 Centerline is valid? [True, True] Translation: X:279.50, Y:-28.06, Z:-8.06 [[ 9.87788953e-01 1.55593067e-01 7.98629873e-03 2.79495792e+02] [-1.55587777e-01 9.87821237e-01 -1.28334419e-03 -2.80551019e+01] [-8.08871496e-03 2.51027480e-05 9.99967285e-01 -8.05708162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.804203822 meters 0.015525653075863588 Centerline is valid? [True, True] Translation: X:279.56, Y:-28.07, Z:-8.05 [[ 9.87641304e-01 1.56530396e-01 7.93023810e-03 2.79555729e+02] [-1.56525216e-01 9.87673142e-01 -1.27362248e-03 -2.80652702e+01] [-8.03184381e-03 1.65999400e-05 9.99967744e-01 -8.05294683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.864203822 meters 0.015844896492188336 Centerline is valid? [True, True] Translation: X:279.61, Y:-28.08, Z:-8.06 [[ 9.87384501e-01 1.58212788e-01 6.36877255e-03 2.79614980e+02] [-1.58209481e-01 9.87405040e-01 -1.02284595e-03 -2.80752443e+01] [-6.45038543e-03 2.34203322e-06 9.99979196e-01 -8.05754707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.924203822 meters 0.016956653269395452 Centerline is valid? [True, True] Translation: X:279.68, Y:-28.08, Z:-8.06 [[ 9.86598226e-01 1.63094949e-01 4.89680200e-03 2.79675048e+02] [-1.63093052e-01 9.86610378e-01 -7.87054858e-04 -2.80791871e+01] [-4.95960034e-03 -2.21274562e-05 9.99987701e-01 -8.06004796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.984203822 meters 0.01874440931122308 Centerline is valid? [True, True] Translation: X:279.73, Y:-28.08, Z:-8.06 [[ 9.86032760e-01 1.66475654e-01 5.02513865e-03 2.79732940e+02] [-1.66473696e-01 9.86045564e-01 -8.08424527e-04 -2.80839324e+01] [-5.08959868e-03 -3.94203367e-05 9.99987047e-01 -8.06250935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.044203822 meters 0.021198946028207433 Centerline is valid? [True, True] Translation: X:279.79, Y:-28.08, Z:-8.06 [[ 9.85531306e-01 1.69367211e-01 6.54166172e-03 2.79791684e+02] [-1.69363963e-01 9.85553014e-01 -1.05140617e-03 -2.80849297e+01] [-6.62522815e-03 -7.17280565e-05 9.99978050e-01 -8.06473118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.104203822 meters 0.01819467285688887 Centerline is valid? [True, True] Translation: X:279.85, Y:-28.10, Z:-8.06 [[ 9.85993654e-01 1.66657514e-01 6.46436870e-03 2.79849821e+02] [-1.66654288e-01 9.86014843e-01 -1.03834657e-03 -2.80950198e+01] [-6.54701174e-03 -5.35116384e-05 9.99978567e-01 -8.06373637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.164203822 meters 0.018135005780939656 Centerline is valid? [True, True] Translation: X:279.91, Y:-28.11, Z:-8.07 [[ 9.86560869e-01 1.63305848e-01 5.37146797e-03 2.79906242e+02] [-1.63303569e-01 9.86575491e-01 -8.63052862e-04 -2.81081374e+01] [-5.44030023e-03 -2.57257119e-05 9.99985201e-01 -8.07000774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.224203822 meters 0.01704112101090066 Centerline is valid? [True, True] Translation: X:279.96, Y:-28.12, Z:-8.07 [[ 9.86867095e-01 1.61464913e-01 4.73484209e-03 2.79964593e+02] [-1.61463123e-01 9.86878453e-01 -7.60385076e-04 -2.81182816e+01] [-4.79548915e-03 -1.41033791e-05 9.99988501e-01 -8.06990711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.284203822 meters 0.016257380484579507 Centerline is valid? [True, True] Translation: X:280.02, Y:-28.13, Z:-8.07 [[ 9.87575392e-01 1.57065656e-01 5.02248676e-03 2.80022973e+02] [-1.57063590e-01 9.87588163e-01 -8.05648910e-04 -2.81335304e+01] [-5.08668825e-03 6.78923697e-06 9.99987063e-01 -8.06931706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.344203822 meters 0.016791087723671872 Centerline is valid? [True, True] Translation: X:280.08, Y:-28.15, Z:-8.07 [[ 9.88048925e-01 1.54050092e-01 5.28127786e-03 2.80081134e+02] [-1.54047765e-01 9.88063039e-01 -8.46984438e-04 -2.81457063e+01] [-5.34871348e-03 2.32930107e-05 9.99985695e-01 -8.07028749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.404203822 meters 0.02536397504552669 Centerline is valid? [True, True] Translation: X:280.14, Y:-28.16, Z:-8.08 [[ 9.88275560e-01 1.52561950e-01 6.02232975e-03 2.80138612e+02] [-1.52558897e-01 9.88293909e-01 -9.65851595e-04 -2.81568617e+01] [-6.09918401e-03 3.57675453e-05 9.99981399e-01 -8.07514124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.464203822 meters 0.017487654462274425 Centerline is valid? [True, True] Translation: X:280.20, Y:-28.17, Z:-8.07 [[ 9.88202073e-01 1.53073960e-01 5.00258232e-03 2.80197262e+02] [-1.53071861e-01 9.88214735e-01 -8.01996302e-04 -2.81681788e+01] [-5.06639031e-03 2.67798221e-05 9.99987165e-01 -8.07361676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.524203822 meters 0.016943232339642584 Centerline is valid? [True, True] Translation: X:280.26, Y:-28.18, Z:-8.08 [[ 9.87952489e-01 1.54715028e-01 3.62490769e-03 2.80256628e+02] [-1.54713937e-01 9.87959139e-01 -5.81260696e-04 -2.81750683e+01] [-3.67119044e-03 1.34342117e-05 9.99993261e-01 -8.07538716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.584203822 meters 0.026944971653068136 Centerline is valid? [True, True] Translation: X:280.31, Y:-28.18, Z:-8.08 [[ 9.87623370e-01 1.56815799e-01 2.98053492e-03 2.80314307e+02] [-1.56815071e-01 9.87627868e-01 -4.78080661e-04 -2.81824217e+01] [-3.01862995e-03 4.77083889e-06 9.99995444e-01 -8.08315799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.64420382199995 meters 0.01718397874716755 Centerline is valid? [True, True] Translation: X:280.37, Y:-28.18, Z:-8.08 [[ 9.86816808e-01 1.61785066e-01 4.26370622e-03 2.80373642e+02] [-1.61783621e-01 9.86826019e-01 -6.83928658e-04 -2.81831445e+01] [-4.31818568e-03 -1.48855350e-05 9.99990676e-01 -8.07841708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.70420382199995 meters 0.01872192695667967 Centerline is valid? [True, True] Translation: X:280.43, Y:-28.18, Z:-8.08 [[ 9.86063723e-01 1.66274402e-01 5.58180709e-03 2.80433558e+02] [-1.66272002e-01 9.86079521e-01 -8.94618285e-04 -2.81828403e+01] [-5.65285778e-03 -4.59476015e-05 9.99984021e-01 -8.07659176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.76420382199996 meters 0.021841877579166745 Centerline is valid? [True, True] Translation: X:280.49, Y:-28.18, Z:-8.08 [[ 9.85600153e-01 1.68972459e-01 6.37549287e-03 2.80491905e+02] [-1.68969386e-01 9.85620770e-01 -1.02156541e-03 -2.81822234e+01] [-6.45643461e-03 -7.04080951e-05 9.99979155e-01 -8.08088622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.82420382199996 meters 0.021215396705703275 Centerline is valid? [True, True] Translation: X:280.55, Y:-28.20, Z:-8.09 [[ 9.85834861e-01 1.67638939e-01 5.17806890e-03 2.80548946e+02] [-1.67636895e-01 9.85848459e-01 -8.29361653e-04 -2.81952981e+01] [-5.24382455e-03 -5.04217621e-05 9.99986250e-01 -8.08564316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.88420382199996 meters 0.018783234005000083 Centerline is valid? [True, True] Translation: X:280.61, Y:-28.21, Z:-8.09 [[ 9.86551542e-01 1.63403298e-01 3.92654185e-03 2.80606633e+02] [-1.63402088e-01 9.86559355e-01 -6.29080313e-04 -2.82090458e+01] [-3.97656039e-03 -2.09849830e-05 9.99992093e-01 -8.08748397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.94420382199996 meters 0.01711977575832719 Centerline is valid? [True, True] Translation: X:280.66, Y:-28.22, Z:-8.09 [[ 9.87331961e-01 1.58630670e-01 3.45094139e-03 2.80663563e+02] [-1.58629707e-01 9.87337992e-01 -5.52932430e-04 -2.82247784e+01] [-3.49495758e-03 -1.49396047e-06 9.99993893e-01 -8.08648944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.00420382199997 meters 0.017046679985818984 Centerline is valid? [True, True] Translation: X:280.72, Y:-28.24, Z:-8.09 [[ 9.88132209e-01 1.53581137e-01 2.75180190e-03 2.80720782e+02] [-1.53580506e-01 9.88136040e-01 -4.40439039e-04 -2.82446281e+01] [-2.78679776e-03 1.25888710e-05 9.99996117e-01 -8.08585477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.06420382199997 meters 0.017718605938442444 Centerline is valid? [True, True] Translation: X:280.78, Y:-28.26, Z:-8.09 [[ 9.88435686e-01 1.51556976e-01 5.03756225e-03 2.80778184e+02] [-1.51554838e-01 9.88448523e-01 -8.05819529e-04 -2.82576761e+01] [-5.10149853e-03 3.30338500e-05 9.99986987e-01 -8.08572562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.12420382199997 meters 0.0329809900037296 Centerline is valid? [True, True] Translation: X:280.83, Y:-28.27, Z:-8.09 [[ 9.88397361e-01 1.51832941e-01 4.17318114e-03 2.80834888e+02] [-1.51831476e-01 9.88406170e-01 -6.67536011e-04 -2.82711820e+01] [-4.22615194e-03 2.61705821e-05 9.99991069e-01 -8.09431468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.184203822 meters 0.01718096846868132 Centerline is valid? [True, True] Translation: X:280.89, Y:-28.28, Z:-8.09 [[ 9.88108661e-01 1.53701233e-01 4.14784001e-03 2.80893941e+02] [-1.53699804e-01 9.88117367e-01 -6.63033115e-04 -2.82822878e+01] [-4.20046176e-03 1.76265666e-05 9.99991178e-01 -8.08913923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.244203822 meters 0.01721389604657404 Centerline is valid? [True, True] Translation: X:280.95, Y:-28.30, Z:-8.09 [[ 9.87911677e-01 1.54955855e-01 4.38182847e-03 2.80950621e+02] [-1.54954273e-01 9.87921395e-01 -7.00275372e-04 -2.82963484e+01] [-4.43741386e-03 1.28271709e-05 9.99990155e-01 -8.09021654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.304203822 meters 0.016889683594621733 Centerline is valid? [True, True] Translation: X:281.01, Y:-28.31, Z:-8.09 [[ 9.87880951e-01 1.55121364e-01 5.34695277e-03 2.81009579e+02] [-1.55119016e-01 9.87895421e-01 -8.53632946e-04 -2.83129093e+01] [-5.41464687e-03 1.38736750e-05 9.99985341e-01 -8.09034914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.364203822 meters 0.017564124585861863 Centerline is valid? [True, True] Translation: X:281.07, Y:-28.33, Z:-8.09 [[ 9.87849732e-01 1.55351421e-01 4.34079458e-03 2.81067909e+02] [-1.55349877e-01 9.87859269e-01 -6.92824769e-04 -2.83271204e+01] [-4.39572548e-03 1.00648600e-05 9.99990339e-01 -8.09429064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.424203822 meters 0.01708981372273268 Centerline is valid? [True, True] Translation: X:281.13, Y:-28.34, Z:-8.10 [[ 9.87466397e-01 1.57772474e-01 4.23800494e-03 2.81127287e+02] [-1.57771023e-01 9.87475492e-01 -6.76621902e-04 -2.83396920e+01] [-4.29167832e-03 -4.92981841e-07 9.99990791e-01 -8.09646154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.484203822 meters 0.024879396689834923 Centerline is valid? [True, True] Translation: X:281.19, Y:-28.36, Z:-8.10 [[ 9.87139919e-01 1.59844398e-01 2.13291230e-03 2.81185567e+02] [-1.59844035e-01 9.87142223e-01 -3.40531735e-04 -2.83562306e+01] [-2.15991988e-03 -4.78083897e-06 9.99997667e-01 -8.10224938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.544203822 meters 0.017891594984194754 Centerline is valid? [True, True] Translation: X:281.25, Y:-28.37, Z:-8.10 [[ 9.86518608e-01 1.63605906e-01 3.76093445e-03 2.81245096e+02] [-1.63604806e-01 9.86525776e-01 -6.00454850e-04 -2.83673436e+01] [-3.80849673e-03 -2.29470662e-05 9.99992747e-01 -8.09689339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.604203822 meters 0.022012421442533882 Centerline is valid? [True, True] Translation: X:281.30, Y:-28.37, Z:-8.10 [[ 9.85568215e-01 1.69204864e-01 5.00080519e-03 2.81303841e+02] [-1.69202986e-01 9.85580900e-01 -7.99299637e-04 -2.83711888e+01] [-5.06394346e-03 -5.83868550e-05 9.99987176e-01 -8.09984775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.664203822 meters 0.027467745552915687 Centerline is valid? [True, True] Translation: X:281.36, Y:-28.37, Z:-8.10 [[ 9.84280178e-01 1.76599872e-01 2.23985912e-03 2.81364076e+02] [-1.76599516e-01 9.84282725e-01 -3.57574212e-04 -2.83743087e+01] [-2.26780220e-03 -4.36048267e-05 9.99997428e-01 -8.10325856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.724203822 meters 0.033877980044923525 Centerline is valid? [True, True] Translation: X:281.42, Y:-28.37, Z:-8.11 [[ 9.83223287e-01 1.82394283e-01 2.07211297e-03 2.81423787e+02] [-1.82393990e-01 9.83225469e-01 -3.31396826e-04 -2.83725385e+01] [-2.09779914e-03 -5.21038761e-05 9.99997798e-01 -8.10613170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.784203822 meters 0.035167778443712626 Centerline is valid? [True, True] Translation: X:281.48, Y:-28.38, Z:-8.11 [[ 9.82881960e-01 1.84233509e-01 1.03264237e-03 2.81483088e+02] [-1.84233437e-01 9.82882502e-01 -1.65816743e-04 -2.83768633e+01] [-1.04551512e-03 -2.72689673e-05 9.99999453e-01 -8.10917668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.844203822 meters 0.02922949921881322 Centerline is valid? [True, True] Translation: X:281.54, Y:-28.39, Z:-8.11 [[ 9.83642187e-01 1.80111715e-01 2.79624375e-03 2.81541280e+02] [-1.80111173e-01 9.83646159e-01 -4.46476057e-04 -2.83918630e+01] [-2.83093000e-03 -6.44620579e-05 9.99995991e-01 -8.10614081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.904203822 meters 0.03278754310133334 Centerline is valid? [True, True] Translation: X:281.60, Y:-28.41, Z:-8.11 [[ 9.85064250e-01 1.72169007e-01 2.50138938e-03 2.81599122e+02] [-1.72168548e-01 9.85067425e-01 -3.99505973e-04 -2.84082881e+01] [-2.53281974e-03 -3.71215238e-05 9.99996792e-01 -8.11016146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.964203822 meters 0.01874894907883112 Centerline is valid? [True, True] Translation: X:281.66, Y:-28.43, Z:-8.11 [[ 9.86488299e-01 1.63775737e-01 4.28295056e-03 2.81656140e+02] [-1.63774313e-01 9.86497596e-01 -6.83548738e-04 -2.84275657e+01] [-4.33706913e-03 -2.71244515e-05 9.99990595e-01 -8.11078521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.024203822 meters 0.01748234674434457 Centerline is valid? [True, True] Translation: X:281.71, Y:-28.45, Z:-8.11 [[ 9.87607841e-01 1.56884182e-01 4.25507794e-03 2.81714874e+02] [-1.56882717e-01 9.87617007e-01 -6.78146879e-04 -2.84461055e+01] [-4.30877786e-03 2.19498936e-06 9.99990717e-01 -8.11252591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.084203822 meters 0.019269161154976924 Centerline is valid? [True, True] Translation: X:281.77, Y:-28.47, Z:-8.11 [[ 9.88538614e-01 1.50908378e-01 4.25081214e-03 2.81773744e+02] [-1.50906875e-01 9.88547753e-01 -6.73968123e-04 -2.84690890e+01] [-4.30383822e-03 2.47667395e-05 9.99990738e-01 -8.11382776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.14420382199995 meters 0.028882489174094157 Centerline is valid? [True, True] Translation: X:281.83, Y:-28.48, Z:-8.12 [[ 9.88718727e-01 1.49771267e-01 1.96124785e-03 2.81834580e+02] [-1.49770943e-01 9.88720672e-01 -3.11875806e-04 -2.84811796e+01] [-1.98583632e-03 1.46195112e-05 9.99998028e-01 -8.11989454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.20420382199995 meters 0.019356418958785072 Centerline is valid? [True, True] Translation: X:281.90, Y:-28.49, Z:-8.12 [[ 9.88272415e-01 1.52672157e-01 2.97433124e-03 2.81895126e+02] [-1.52671431e-01 9.88276891e-01 -4.70997146e-04 -2.84887153e+01] [-3.01137098e-03 1.13780806e-05 9.99995466e-01 -8.12159235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.26420382199996 meters 0.01754791095051716 Centerline is valid? [True, True] Translation: X:281.96, Y:-28.49, Z:-8.12 [[ 9.87307702e-01 1.58784747e-01 3.30231349e-03 2.81955887e+02] [-1.58783869e-01 9.87313225e-01 -5.28116576e-04 -2.84925660e+01] [-3.34427464e-03 -2.94054835e-06 9.99994408e-01 -8.12104048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.32420382199996 meters 0.018602227319146483 Centerline is valid? [True, True] Translation: X:282.02, Y:-28.50, Z:-8.12 [[ 9.86535351e-01 1.63530604e-01 2.39625695e-03 2.82016691e+02] [-1.63530155e-01 9.86538262e-01 -3.83217105e-04 -2.84957674e+01] [-2.42666689e-03 -1.38030500e-05 9.99997056e-01 -8.12298267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.38420382199996 meters 0.023751749852540055 Centerline is valid? [True, True] Translation: X:282.08, Y:-28.49, Z:-8.13 [[ 9.85320504e-01 1.70699102e-01 2.30655058e-03 2.82076230e+02] [-1.70698703e-01 9.85323204e-01 -3.70184023e-04 -2.84913924e+01] [-2.33588789e-03 -2.89752843e-05 9.99997271e-01 -8.12796601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.44420382199996 meters 0.027263138024568284 Centerline is valid? [True, True] Translation: X:282.14, Y:-28.49, Z:-8.13 [[ 9.84340106e-01 1.76242752e-01 3.61220838e-03 2.82136743e+02] [-1.76241817e-01 9.84346731e-01 -5.78109580e-04 -2.84933262e+01] [-3.65755313e-03 -6.75657218e-05 9.99993309e-01 -8.12593713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.50420382199997 meters 0.03458530711609278 Centerline is valid? [True, True] Translation: X:282.20, Y:-28.50, Z:-8.13 [[ 9.84183282e-01 1.77112353e-01 3.80555441e-03 2.82195063e+02] [-1.77111319e-01 9.84190637e-01 -6.09533331e-04 -2.85001041e+01] [-3.85334690e-03 -7.41142494e-05 9.99992573e-01 -8.12887839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.56420382199997 meters 0.025027086887870826 Centerline is valid? [True, True] Translation: X:282.25, Y:-28.50, Z:-8.13 [[ 9.84539658e-01 1.75071420e-01 5.62665258e-03 2.82254768e+02] [-1.75069136e-01 9.84555731e-01 -8.99707646e-04 -2.85040493e+01] [-5.69726614e-03 -9.92553498e-05 9.99983766e-01 -8.12680301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.62420382199997 meters 0.026941927496682175 Centerline is valid? [True, True] Translation: X:282.31, Y:-28.52, Z:-8.14 [[ 9.85512421e-01 1.69546143e-01 4.40156839e-03 2.82312573e+02] [-1.69544691e-01 9.85522249e-01 -7.03556927e-04 -2.85192677e+01] [-4.45712894e-03 -5.28984639e-05 9.99990066e-01 -8.13589184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.684203822 meters 0.01670661105390864 Centerline is valid? [True, True] Translation: X:282.37, Y:-28.54, Z:-8.13 [[ 9.87112011e-01 1.59958076e-01 4.82619064e-03 2.82371771e+02] [-1.59956222e-01 9.87123809e-01 -7.70145330e-04 -2.85419590e+01] [-4.88723865e-03 -1.17595153e-05 9.99988057e-01 -8.13229985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.744203822 meters 0.01929150130351158 Centerline is valid? [True, True] Translation: X:282.43, Y:-28.57, Z:-8.13 [[ 9.88760445e-01 1.49359221e-01 6.67880122e-03 2.82430135e+02] [-1.49355443e-01 9.88783000e-01 -1.06370745e-03 -2.85650048e+01] [-6.76275962e-03 5.42365351e-05 9.99977131e-01 -8.13282691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.804203822 meters 0.022844431996476337 Centerline is valid? [True, True] Translation: X:282.49, Y:-28.58, Z:-8.13 [[ 9.89567365e-01 1.43912432e-01 6.75587076e-03 2.82489818e+02] [-1.43908420e-01 9.89590422e-01 -1.07879845e-03 -2.85819635e+01] [-6.84079751e-03 9.53170581e-05 9.99976597e-01 -8.13394341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.864203822 meters 0.026983178043949393 Centerline is valid? [True, True] Translation: X:282.55, Y:-28.60, Z:-8.13 [[ 9.90339655e-01 1.38485236e-01 7.01483576e-03 2.82548671e+02] [-1.38480758e-01 9.90364488e-01 -1.12244665e-03 -2.85992208e+01] [-7.10268652e-03 1.40183656e-04 9.99974766e-01 -8.13485987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.924203822 meters 0.027735572303772993 Centerline is valid? [True, True] Translation: X:282.61, Y:-28.61, Z:-8.14 [[ 9.90216386e-01 1.39376832e-01 6.75335855e-03 2.82608915e+02] [-1.39372715e-01 9.90239407e-01 -1.07877776e-03 -2.86108416e+01] [-6.83779839e-03 1.26989501e-04 9.99976614e-01 -8.13913512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.984203822 meters 0.021558922013921903 Centerline is valid? [True, True] Translation: X:282.67, Y:-28.61, Z:-8.14 [[ 9.89438796e-01 1.44808640e-01 6.42858844e-03 2.82670446e+02] [-1.44805010e-01 9.89459676e-01 -1.02904408e-03 -2.86129608e+01] [-6.50984351e-03 8.72843195e-05 9.99978807e-01 -8.13865382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.044203822 meters 0.017824649977426495 Centerline is valid? [True, True] Translation: X:282.73, Y:-28.62, Z:-8.14 [[ 9.88488221e-01 1.51147391e-01 6.74563805e-03 2.82730867e+02] [-1.51143538e-01 9.88511236e-01 -1.08028340e-03 -2.86152163e+01] [-6.83142103e-03 4.82878171e-05 9.99976664e-01 -8.14186321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.104203822 meters 0.024449505284482115 Centerline is valid? [True, True] Translation: X:282.79, Y:-28.62, Z:-8.14 [[ 9.87642316e-01 1.56548312e-01 7.43517416e-03 2.82792538e+02] [-1.56543810e-01 9.87670302e-01 -1.18736827e-03 -2.86231587e+01] [-7.52938121e-03 8.76465473e-06 9.99971654e-01 -8.14425205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.164203822 meters 0.015545066789348055 Centerline is valid? [True, True] Translation: X:282.85, Y:-28.63, Z:-8.14 [[ 9.86963499e-01 1.60760438e-01 7.68977061e-03 2.82854673e+02] [-1.60755738e-01 9.86993455e-01 -1.22954081e-03 -2.86310815e+01] [-7.78741479e-03 -2.26628484e-05 9.99969677e-01 -8.14402511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.224203822 meters 0.01738853229734743 Centerline is valid? [True, True] Translation: X:282.91, Y:-28.64, Z:-8.15 [[ 9.86200655e-01 1.65383537e-01 7.52021602e-03 2.82914979e+02] [-1.65379140e-01 9.86229326e-01 -1.20713611e-03 -2.86381355e+01] [-7.61629801e-03 -5.32084366e-05 9.99970994e-01 -8.14717988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.284203822 meters 0.022451642265757188 Centerline is valid? [True, True] Translation: X:282.98, Y:-28.64, Z:-8.15 [[ 9.84823109e-01 1.73404166e-01 7.37829153e-03 2.82975516e+02] [-1.73400155e-01 9.84850741e-01 -1.18479457e-03 -2.86396004e+01] [-7.47196420e-03 -1.12583825e-04 9.99972078e-01 -8.14858304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.344203822 meters 0.028856809966132872 Centerline is valid? [True, True] Translation: X:283.04, Y:-28.64, Z:-8.15 [[ 9.83490653e-01 1.80835707e-01 6.67704362e-03 2.83035890e+02] [-1.80832592e-01 9.83513306e-01 -1.07235640e-03 -2.86416299e+01] [-6.76088157e-03 -1.52774604e-04 9.99977133e-01 -8.15212443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.404203822 meters 0.03087383985356537 Centerline is valid? [True, True] Translation: X:283.09, Y:-28.65, Z:-8.15 [[ 9.83281770e-01 1.81948624e-01 7.18737079e-03 2.83094054e+02] [-1.81945041e-01 9.83308023e-01 -1.15472207e-03 -2.86512054e+01] [-7.27749946e-03 -1.72289317e-04 9.99973504e-01 -8.15449038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.464203822 meters 0.026753609273993506 Centerline is valid? [True, True] Translation: X:283.15, Y:-28.67, Z:-8.15 [[ 9.83716294e-01 1.79548453e-01 8.03780263e-03 2.83152481e+02] [-1.79543904e-01 9.83749116e-01 -1.28991364e-03 -2.86714469e+01] [-8.13878323e-03 -1.74229406e-04 9.99966864e-01 -8.15243361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.524203822 meters 0.02439959173422592 Centerline is valid? [True, True] Translation: X:283.21, Y:-28.69, Z:-8.15 [[ 9.84061493e-01 1.77639646e-01 8.19351339e-03 2.83212859e+02] [-1.77634861e-01 9.84095590e-01 -1.31396171e-03 -2.86906785e+01] [-8.29661208e-03 -1.62434492e-04 9.99965569e-01 -8.15286160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.584203822 meters 0.026443211424000253 Centerline is valid? [True, True] Translation: X:283.27, Y:-28.70, Z:-8.16 [[ 9.84195639e-01 1.76916529e-01 7.71275701e-03 2.83273240e+02] [-1.76912280e-01 9.84225848e-01 -1.23515089e-03 -2.87007781e+01] [-7.80961342e-03 -1.48851305e-04 9.99969493e-01 -8.16068430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.64420382199995 meters 0.02682390889021481 Centerline is valid? [True, True] Translation: X:283.33, Y:-28.72, Z:-8.16 [[ 9.83944889e-01 1.78331960e-01 7.08291978e-03 2.83333973e+02] [-1.78328408e-01 9.83970371e-01 -1.13492240e-03 -2.87150181e+01] [-7.17177614e-03 -1.46384711e-04 9.99974272e-01 -8.16229636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.70420382199995 meters 0.03264629199426373 Centerline is valid? [True, True] Translation: X:283.40, Y:-28.71, Z:-8.17 [[ 9.82423406e-01 1.86597957e-01 5.04526238e-03 2.83395400e+02] [-1.86596246e-01 9.82436350e-01 -8.11812434e-04 -2.87118155e+01] [-5.10813170e-03 -1.43883485e-04 9.99986943e-01 -8.16555192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.76420382199996 meters 0.045204376396347966 Centerline is valid? [True, True] Translation: X:283.46, Y:-28.70, Z:-8.17 [[ 9.81413428e-01 1.91787488e-01 6.72629914e-03 2.83458189e+02] [-1.91784567e-01 9.81436451e-01 -1.08273206e-03 -2.86964329e+01] [-6.80908962e-03 -2.27392579e-04 9.99976792e-01 -8.17026286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.82420382199996 meters 0.040597863181767016 Centerline is valid? [True, True] Translation: X:283.52, Y:-28.70, Z:-8.17 [[ 9.81306395e-01 1.92305325e-01 7.51139154e-03 2.83517413e+02] [-1.92301692e-01 9.81335109e-01 -1.20973013e-03 -2.87023528e+01] [-7.60382978e-03 -2.57337388e-04 9.99971057e-01 -8.16550806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.88420382199996 meters 0.03802193755687007 Centerline is valid? [True, True] Translation: X:283.58, Y:-28.71, Z:-8.17 [[ 9.81967978e-01 1.88959783e-01 5.75252865e-03 2.83576170e+02] [-1.88957596e-01 9.81984811e-01 -9.26226801e-04 -2.87095332e+01] [-5.82391538e-03 -1.77458926e-04 9.99983025e-01 -8.17008984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.94420382199996 meters 0.023174997267198343 Centerline is valid? [True, True] Translation: X:283.63, Y:-28.73, Z:-8.17 [[ 9.84554018e-01 1.74910992e-01 7.71563444e-03 2.83634842e+02] [-1.74906636e-01 9.84584241e-01 -1.24097391e-03 -2.87282542e+01] [-7.81375206e-03 -1.27709820e-04 9.99969464e-01 -8.16624196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.00420382199997 meters 0.015099004835636335 Centerline is valid? [True, True] Translation: X:283.69, Y:-28.75, Z:-8.17 [[ 9.86940254e-01 1.60803064e-01 9.55560094e-03 2.83691568e+02] [-1.60795721e-01 9.86986512e-01 -1.53692730e-03 -2.87500055e+01] [-9.67839186e-03 -1.96443195e-05 9.99953163e-01 -8.16710359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.06420382199997 meters 0.019904430340813867 Centerline is valid? [True, True] Translation: X:283.75, Y:-28.78, Z:-8.17 [[ 9.88904760e-01 1.48222299e-01 9.87548423e-03 2.83749007e+02] [-1.48213845e-01 9.88954063e-01 -1.58654141e-03 -2.87783595e+01] [-1.00015611e-02 1.05254868e-04 9.99949978e-01 -8.16976800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.12420382199997 meters 0.026233284763795234 Centerline is valid? [True, True] Translation: X:283.81, Y:-28.80, Z:-8.17 [[ 9.89891516e-01 1.41605179e-01 7.92206088e-03 2.83807339e+02] [-1.41599513e-01 9.89923206e-01 -1.27450910e-03 -2.87980395e+01] [-8.02270900e-03 1.39865789e-04 9.99967808e-01 -8.17395655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.184203822 meters 0.02520066345695912 Centerline is valid? [True, True] Translation: X:283.87, Y:-28.81, Z:-8.17 [[ 9.90006121e-01 1.40896726e-01 5.99942318e-03 2.83868926e+02] [-1.40893469e-01 9.90024293e-01 -9.64299674e-04 -2.88065381e+01] [-6.07544136e-03 1.09383036e-04 9.99981538e-01 -8.17498178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.244203822 meters 0.021700785043063938 Centerline is valid? [True, True] Translation: X:283.93, Y:-28.81, Z:-8.18 [[ 9.89298287e-01 1.45799832e-01 5.59542466e-03 2.83930480e+02] [-1.45797072e-01 9.89314108e-01 -9.00140934e-04 -2.88109427e+01] [-5.66687296e-03 7.47113507e-05 9.99983940e-01 -8.17715877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.304203822 meters 0.016328300467149878 Centerline is valid? [True, True] Translation: X:283.99, Y:-28.80, Z:-8.18 [[ 9.87291395e-01 1.58821834e-01 5.59703036e-03 2.83992792e+02] [-1.58819276e-01 9.87307260e-01 -9.01418412e-04 -2.87977218e+01] [-5.66915363e-03 1.04633313e-06 9.99983930e-01 -8.18026778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.364203822 meters 0.020223107871839688 Centerline is valid? [True, True] Translation: X:284.05, Y:-28.80, Z:-8.19 [[ 9.86303074e-01 1.64862910e-01 5.14455199e-03 2.84051841e+02] [-1.64860826e-01 9.86316491e-01 -8.29389193e-04 -2.87962605e+01] [-5.21089198e-03 -3.01059797e-05 9.99986423e-01 -8.18533644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.424203822 meters 0.034164205570755474 Centerline is valid? [True, True] Translation: X:284.11, Y:-28.80, Z:-8.18 [[ 9.85556541e-01 1.69258848e-01 5.45405787e-03 2.84111475e+02] [-1.69256577e-01 9.85571631e-01 -8.78658451e-04 -2.87988437e+01] [-5.52408543e-03 -5.71675815e-05 9.99984740e-01 -8.18495592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.484203822 meters 0.02152930814452903 Centerline is valid? [True, True] Translation: X:284.17, Y:-28.80, Z:-8.18 [[ 9.84986728e-01 1.72518396e-01 6.20872806e-03 2.84171242e+02] [-1.72515519e-01 9.85006292e-01 -1.00011982e-03 -2.87987734e+01] [-6.28817527e-03 -8.59971882e-05 9.99980226e-01 -8.18212329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.544203822 meters 0.02324295266579081 Centerline is valid? [True, True] Translation: X:284.23, Y:-28.80, Z:-8.19 [[ 9.84920452e-01 1.72901610e-01 6.06104565e-03 2.84229686e+02] [-1.72898875e-01 9.84939097e-01 -9.76322863e-04 -2.87996349e+01] [-6.13856863e-03 -8.63476216e-05 9.99981155e-01 -8.18756981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.604203822 meters 0.021828519188058823 Centerline is valid? [True, True] Translation: X:284.29, Y:-28.81, Z:-8.19 [[ 9.85167607e-01 1.71521101e-01 5.02971673e-03 2.84288496e+02] [-1.71519201e-01 9.85180444e-01 -8.09892916e-04 -2.88058676e+01] [-5.09409229e-03 -6.48127284e-05 9.99987023e-01 -8.18952419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.664203822 meters 0.02303325820755042 Centerline is valid? [True, True] Translation: X:284.35, Y:-28.81, Z:-8.19 [[ 9.85705549e-01 1.68402791e-01 5.00708581e-03 2.84347149e+02] [-1.68400871e-01 9.85718265e-01 -8.05730208e-04 -2.88148030e+01] [-5.07126315e-03 -4.89848720e-05 9.99987140e-01 -8.19206907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.724203822 meters 0.019453223999087794 Centerline is valid? [True, True] Translation: X:284.40, Y:-28.82, Z:-8.20 [[ 9.86174693e-01 1.65647566e-01 4.51206965e-03 2.84404526e+02] [-1.65645975e-01 9.86185015e-01 -7.26697821e-04 -2.88223219e+01] [-4.57011120e-03 -3.07551750e-05 9.99989557e-01 -8.19501891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.784203822 meters 0.017488793031503067 Centerline is valid? [True, True] Translation: X:284.46, Y:-28.83, Z:-8.19 [[ 9.86690391e-01 1.62530539e-01 5.08882092e-03 2.84462882e+02] [-1.62528479e-01 9.86703513e-01 -8.18585264e-04 -2.88292901e+01] [-5.15420259e-03 -1.93881099e-05 9.99986717e-01 -8.19440734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.844203822 meters 0.01625700135199077 Centerline is valid? [True, True] Translation: X:284.52, Y:-28.84, Z:-8.19 [[ 9.87267618e-01 1.58910510e-01 7.07820101e-03 2.84520535e+02] [-1.58906437e-01 9.87292991e-01 -1.13769004e-03 -2.88387534e+01] [-7.16904915e-03 -1.56717395e-06 9.99974302e-01 -8.19261912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.904203822 meters 0.01583288141647737 Centerline is valid? [True, True] Translation: X:284.58, Y:-28.85, Z:-8.19 [[ 9.87555353e-01 1.57081081e-01 7.74332470e-03 2.84579033e+02] [-1.57076155e-01 9.87585710e-01 -1.24409185e-03 -2.88463544e+01] [-7.84262011e-03 1.23178914e-05 9.99969246e-01 -8.19304594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.964203822 meters 0.016403268458718038 Centerline is valid? [True, True] Translation: X:284.64, Y:-28.85, Z:-8.20 [[ 9.87642963e-01 1.56640343e-01 5.01793871e-03 2.84638789e+02] [-1.56638270e-01 9.87655711e-01 -8.05904998e-04 -2.88518936e+01] [-5.08223306e-03 9.94516083e-06 9.99987085e-01 -8.19669706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.024203822 meters 0.017387349649684476 Centerline is valid? [True, True] Translation: X:284.70, Y:-28.85, Z:-8.20 [[ 9.87468122e-01 1.57802045e-01 2.28518130e-03 2.84699094e+02] [-1.57801617e-01 9.87470767e-01 -3.67349815e-04 -2.88525076e+01] [-2.31451829e-03 2.14092749e-06 9.99997321e-01 -8.20200802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.084203822 meters 0.01596902800587721 Centerline is valid? [True, True] Translation: X:284.76, Y:-28.85, Z:-8.20 [[ 9.87192871e-01 1.59463249e-01 4.65915128e-03 2.84758621e+02] [-1.59461492e-01 9.87203866e-01 -7.48731529e-04 -2.88537873e+01] [-4.71892732e-03 -3.81278561e-06 9.99988866e-01 -8.19717306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.14420382199995 meters 0.01613586606550602 Centerline is valid? [True, True] Translation: X:284.82, Y:-28.85, Z:-8.20 [[ 9.86979682e-01 1.60738075e-01 5.86324221e-03 2.84816866e+02] [-1.60735316e-01 9.86997098e-01 -9.41821706e-04 -2.88546001e+01] [-5.93838965e-03 -1.28712035e-05 9.99982368e-01 -8.19892828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.20420382199995 meters 0.01749120837128106 Centerline is valid? [True, True] Translation: X:284.88, Y:-28.85, Z:-8.20 [[ 9.86633098e-01 1.62847048e-01 5.99737715e-03 2.84876491e+02] [-1.62844204e-01 9.86651326e-01 -9.62906757e-04 -2.88488306e+01] [-6.07412664e-03 -2.66024304e-05 9.99981552e-01 -8.20411754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.26420382199996 meters 0.017169316515845946 Centerline is valid? [True, True] Translation: X:284.93, Y:-28.85, Z:-8.21 [[ 9.86718544e-01 1.62383663e-01 4.24978291e-03 2.84934785e+02] [-1.62382230e-01 9.86727696e-01 -6.82600619e-04 -2.88532152e+01] [-4.30422169e-03 -1.65545352e-05 9.99990737e-01 -8.20632807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.32420382199996 meters 0.017244359728566944 Centerline is valid? [True, True] Translation: X:284.99, Y:-28.86, Z:-8.21 [[ 9.87347584e-01 1.58497727e-01 4.81855199e-03 2.84992271e+02] [-1.58495842e-01 9.87359342e-01 -7.73090073e-04 -2.88625425e+01] [-4.88017535e-03 -4.11837118e-07 9.99988092e-01 -8.20997993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.38420382199996 meters 0.016251300082493574 Centerline is valid? [True, True] Translation: X:285.05, Y:-28.87, Z:-8.21 [[ 9.87903601e-01 1.54972995e-01 5.46310322e-03 2.85050292e+02] [-1.54970520e-01 9.87918706e-01 -8.76050708e-04 -2.88700542e+01] [-5.53286607e-03 1.88337050e-05 9.99984693e-01 -8.20713038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.44420382199996 meters 0.030305881875910618 Centerline is valid? [True, True] Translation: X:285.11, Y:-28.89, Z:-8.21 [[ 9.88826555e-01 1.49014772e-01 4.07937409e-03 2.85107708e+02] [-1.49013343e-01 9.88834969e-01 -6.53693774e-04 -2.88881177e+01] [-4.13123778e-03 3.85085922e-05 9.99991466e-01 -8.21490750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.50420382199997 meters 0.02989153405299328 Centerline is valid? [True, True] Translation: X:285.16, Y:-28.90, Z:-8.22 [[ 9.89560605e-01 1.44074964e-01 3.49468718e-03 2.85164565e+02] [-1.44073883e-01 9.89566775e-01 -5.60570194e-04 -2.89041824e+01] [-3.53899046e-03 5.12250283e-05 9.99993736e-01 -8.21758429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.56420382199997 meters 0.023670179106649786 Centerline is valid? [True, True] Translation: X:285.22, Y:-28.91, Z:-8.22 [[ 9.89878341e-01 1.41889039e-01 2.89334974e-03 2.85222658e+02] [-1.41888288e-01 9.89882568e-01 -4.64301522e-04 -2.89141084e+01] [-2.92995577e-03 4.90695801e-05 9.99995706e-01 -8.21532906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.62420382199997 meters 0.023115485429208146 Centerline is valid? [True, True] Translation: X:285.28, Y:-28.92, Z:-8.22 [[ 9.89568391e-01 1.43995311e-01 4.44417156e-03 2.85279803e+02] [-1.43993563e-01 9.89578368e-01 -7.12445308e-04 -2.89231432e+01] [-4.50044482e-03 6.50812600e-05 9.99989871e-01 -8.21669839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.684203822 meters 0.02485588652534632 Centerline is valid? [True, True] Translation: X:285.34, Y:-28.91, Z:-8.22 [[ 9.88372514e-01 1.52010335e-01 3.55409257e-03 2.85340761e+02] [-1.52009269e-01 9.88378904e-01 -5.69576331e-04 -2.89145066e+01] [-3.59937161e-03 2.26985763e-05 9.99993522e-01 -8.22096858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.744203822 meters 0.01649865431001685 Centerline is valid? [True, True] Translation: X:285.40, Y:-28.91, Z:-8.22 [[ 9.87074624e-01 1.60186790e-01 4.88652916e-03 2.85402113e+02] [-1.60184880e-01 9.87086720e-01 -7.82331265e-04 -2.89061568e+01] [-4.94874717e-03 -1.05287464e-05 9.99987755e-01 -8.21831464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.804203822 meters 0.01848767317057032 Centerline is valid? [True, True] Translation: X:285.46, Y:-28.90, Z:-8.22 [[ 9.86304311e-01 1.64824966e-01 6.04458706e-03 2.85459731e+02] [-1.64822122e-01 9.86322832e-01 -9.69038904e-04 -2.89043790e+01] [-6.12163604e-03 -4.05144192e-05 9.99981262e-01 -8.22039972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.864203822 meters 0.017169981432942582 Centerline is valid? [True, True] Translation: X:285.52, Y:-28.92, Z:-8.22 [[ 9.86983466e-01 1.60747324e-01 4.89238281e-03 2.85517057e+02] [-1.60745420e-01 9.86995592e-01 -7.82331965e-04 -2.89160854e+01] [-4.95451804e-03 -1.42794176e-05 9.99987726e-01 -8.22400497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.924203822 meters 0.017456678310376665 Centerline is valid? [True, True] Translation: X:285.57, Y:-28.94, Z:-8.23 [[ 9.88300721e-01 1.52481103e-01 3.34645154e-03 2.85572745e+02] [-1.52480163e-01 9.88306386e-01 -5.35770400e-04 -2.89376863e+01] [-3.38901429e-03 1.92347949e-05 9.99994257e-01 -8.22605964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.984203822 meters 0.01940289493098308 Centerline is valid? [True, True] Translation: X:285.63, Y:-28.95, Z:-8.23 [[ 9.88755336e-01 1.49532564e-01 1.70221905e-03 2.85630272e+02] [-1.49532317e-01 9.88756801e-01 -2.72276400e-04 -2.89532580e+01] [-1.72379485e-03 1.46779848e-05 9.99998514e-01 -8.23068666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.044203822 meters 0.01840670234620615 Centerline is valid? [True, True] Translation: X:285.69, Y:-28.96, Z:-8.23 [[ 9.88288303e-01 1.52587386e-01 1.82182983e-03 2.85688025e+02] [-1.52587107e-01 9.88289982e-01 -2.91975850e-04 -2.89619190e+01] [-1.84504800e-03 1.05685730e-05 9.99998298e-01 -8.23231887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.104203822 meters 0.03150175548585406 Centerline is valid? [True, True] Translation: X:285.75, Y:-28.96, Z:-8.23 [[ 9.87381995e-01 1.58310089e-01 3.83561162e-03 2.85748082e+02] [-1.58308902e-01 9.87389445e-01 -6.13009094e-04 -2.89602256e+01] [-3.88428795e-03 -1.93732273e-06 9.99992456e-01 -8.23036625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.164203822 meters 0.016981572912617208 Centerline is valid? [True, True] Translation: X:285.81, Y:-28.96, Z:-8.23 [[ 9.86767608e-01 1.62072405e-01 4.71416963e-03 2.85806522e+02] [-1.62070657e-01 9.86778868e-01 -7.53130667e-04 -2.89625551e+01] [-4.77390467e-03 -2.08636215e-05 9.99988605e-01 -8.22935095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.224203822 meters 0.01897973175206326 Centerline is valid? [True, True] Translation: X:285.86, Y:-28.97, Z:-8.23 [[ 9.86226196e-01 1.65277340e-01 6.42580275e-03 2.85864195e+02] [-1.65274166e-01 9.86247128e-01 -1.02543220e-03 -2.89664972e+01] [-6.50691022e-03 -5.07110960e-05 9.99978829e-01 -8.23144362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.284203822 meters 0.019844803054810144 Centerline is valid? [True, True] Translation: X:285.92, Y:-28.97, Z:-8.23 [[ 9.85969287e-01 1.66814125e-01 6.13293379e-03 2.85922592e+02] [-1.66811268e-01 9.85988359e-01 -9.78083665e-04 -2.89724967e+01] [-6.21015950e-03 -5.86820092e-05 9.99980715e-01 -8.23289139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.344203822 meters 0.020829298416243376 Centerline is valid? [True, True] Translation: X:285.98, Y:-28.98, Z:-8.24 [[ 9.85703119e-01 1.68389143e-01 5.87013922e-03 2.85981415e+02] [-1.68386554e-01 9.85720595e-01 -9.35959006e-04 -2.89761026e+01] [-5.94392246e-03 -6.58748062e-05 9.99982333e-01 -8.23508347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.404203822 meters 0.01886027518085197 Centerline is valid? [True, True] Translation: X:286.04, Y:-28.99, Z:-8.24 [[ 9.86092762e-01 1.66085112e-01 6.06631708e-03 2.86039281e+02] [-1.66082306e-01 9.86111420e-01 -9.66909862e-04 -2.89895251e+01] [-6.14265388e-03 -5.40451139e-05 9.99981132e-01 -8.23515087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.464203822 meters 0.024305345155135764 Centerline is valid? [True, True] Translation: X:286.10, Y:-29.00, Z:-8.24 [[ 9.86650834e-01 1.62747626e-01 5.77430805e-03 2.86097248e+02] [-1.62745030e-01 9.86667730e-01 -9.19853058e-04 -2.90021266e+01] [-5.84702732e-03 -3.21661506e-05 9.99982905e-01 -8.23958081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.524203822 meters 0.016394032016205585 Centerline is valid? [True, True] Translation: X:286.15, Y:-29.01, Z:-8.24 [[ 9.87155898e-01 1.59607370e-01 6.97996341e-03 2.86153788e+02] [-1.59603498e-01 9.87180575e-01 -1.11195261e-03 -2.90145252e+01] [-7.06796012e-03 -1.63559956e-05 9.99975022e-01 -8.23768285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.58420382199995 meters 0.014649120331032127 Centerline is valid? [True, True] Translation: X:286.21, Y:-29.03, Z:-8.23 [[ 9.87717950e-01 1.56012380e-01 8.56670311e-03 2.86211021e+02] [-1.56006422e-01 9.87755100e-01 -1.36356067e-03 -2.90306419e+01] [-8.67453703e-03 1.03526502e-05 9.99962375e-01 -8.23297219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.64420382199995 meters 0.015057023373692227 Centerline is valid? [True, True] Translation: X:286.27, Y:-29.05, Z:-8.23 [[ 9.88206883e-01 1.52821777e-01 9.62607252e-03 2.86266512e+02] [-1.52814107e-01 9.88253764e-01 -1.53173851e-03 -2.90483017e+01] [-9.74708540e-03 4.26748712e-05 9.99952495e-01 -8.23381178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.70420382199995 meters 0.02346667606595529 Centerline is valid? [True, True] Translation: X:286.32, Y:-29.06, Z:-8.24 [[ 9.88614373e-01 1.50218577e-01 8.71779181e-03 2.86323644e+02] [-1.50212190e-01 9.88652808e-01 -1.38660233e-03 -2.90621961e+01] [-8.82716279e-03 6.12964006e-05 9.99961038e-01 -8.23878699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.76420382199996 meters 0.01675750350639648 Centerline is valid? [True, True] Translation: X:286.38, Y:-29.08, Z:-8.24 [[ 9.88639175e-01 1.50125413e-01 7.41229037e-03 2.86381116e+02] [-1.50120794e-01 9.88666960e-01 -1.17879934e-03 -2.90771884e+01] [-7.50525433e-03 5.26682847e-05 9.99971834e-01 -8.23981763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.82420382199996 meters 0.016674033292888357 Centerline is valid? [True, True] Translation: X:286.44, Y:-29.10, Z:-8.24 [[ 9.88347366e-01 1.52049908e-01 7.09296884e-03 2.86437115e+02] [-1.52045728e-01 9.88372816e-01 -1.12797924e-03 -2.90950165e+01] [-7.18200673e-03 3.63796937e-05 9.99974208e-01 -8.24347480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.88420382199996 meters 0.01490169735671996 Centerline is valid? [True, True] Translation: X:286.49, Y:-29.11, Z:-8.24 [[ 9.87950759e-01 1.54422889e-01 1.03377056e-02 2.86493738e+02] [-1.54414156e-01 9.88004843e-01 -1.64248350e-03 -2.91075110e+01] [-1.04673403e-02 2.64047304e-05 9.99945216e-01 -8.24144730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.94420382199996 meters 0.01563376268872108 Centerline is valid? [True, True] Translation: X:286.55, Y:-29.12, Z:-8.24 [[ 9.87176907e-01 1.59365800e-01 9.18130712e-03 2.86550970e+02] [-1.59359131e-01 9.87219601e-01 -1.45814982e-03 -2.91200575e+01] [-9.29634557e-03 -2.36732940e-05 9.99956788e-01 -8.24497924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.00420382199997 meters 0.02023204119436968 Centerline is valid? [True, True] Translation: X:286.61, Y:-29.13, Z:-8.25 [[ 9.85989825e-01 1.66630031e-01 7.64845570e-03 2.86609866e+02] [-1.66625626e-01 9.86019486e-01 -1.21406160e-03 -2.91277453e+01] [-7.74382548e-03 -7.73763332e-05 9.99970013e-01 -8.24959607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.06420382199997 meters 0.028246397999220324 Centerline is valid? [True, True] Translation: X:286.67, Y:-29.13, Z:-8.25 [[ 9.84299623e-01 1.76278350e-01 8.95517954e-03 2.86670778e+02] [-1.76272715e-01 9.84340343e-01 -1.42091354e-03 -2.91282926e+01] [-9.06542080e-03 -1.79949150e-04 9.99958892e-01 -8.24758063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.12420382199997 meters 0.037739522796038996 Centerline is valid? [True, True] Translation: X:286.73, Y:-29.13, Z:-8.25 [[ 9.82508602e-01 1.86058025e-01 7.69795872e-03 2.86731313e+02] [-1.86054162e-01 9.82538731e-01 -1.22131226e-03 -2.91286733e+01] [-7.79077754e-03 -2.32287457e-04 9.99969624e-01 -8.25059893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.184203822 meters 0.05023378861473992 Centerline is valid? [True, True] Translation: X:286.79, Y:-29.13, Z:-8.26 [[ 9.81656615e-01 1.90546517e-01 6.50498625e-03 2.86790661e+02] [-1.90543855e-01 9.81678142e-01 -1.03219433e-03 -2.91312483e+01] [-6.58248385e-03 -2.26224771e-04 9.99978310e-01 -8.25917127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.244203822 meters 0.0426326046000597 Centerline is valid? [True, True] Translation: X:286.85, Y:-29.14, Z:-8.26 [[ 9.81947391e-01 1.89070549e-01 5.62570882e-03 2.86848179e+02] [-1.89068530e-01 9.81963489e-01 -8.93411205e-04 -2.91445614e+01] [-5.69315840e-03 -1.86361691e-04 9.99983776e-01 -8.25947096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.304203822 meters 0.03199046811082114 Centerline is valid? [True, True] Translation: X:286.91, Y:-29.17, Z:-8.26 [[ 9.83330419e-01 1.81778701e-01 4.21791747e-03 2.86905434e+02] [-1.81777503e-01 9.83339459e-01 -6.68843892e-04 -2.91665928e+01] [-4.26922626e-03 -1.09027960e-04 9.99990881e-01 -8.26069882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.364203822 meters 0.02284822979753118 Centerline is valid? [True, True] Translation: X:286.96, Y:-29.19, Z:-8.26 [[ 9.85216614e-01 1.71241282e-01 4.96455234e-03 2.86963204e+02] [-1.71239491e-01 9.85229119e-01 -7.86914994e-04 -2.91916518e+01] [-5.02597386e-03 -7.48456870e-05 9.99987367e-01 -8.26141964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.424203822 meters 0.015526291769350456 Centerline is valid? [True, True] Translation: X:287.02, Y:-29.22, Z:-8.26 [[ 9.87123577e-01 1.59801742e-01 7.10263472e-03 2.87019706e+02] [-1.59797773e-01 9.87149129e-01 -1.12649837e-03 -2.92211485e+01] [-7.19137608e-03 -2.29921078e-05 9.99974141e-01 -8.25703012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.484203822 meters 0.027073002058519525 Centerline is valid? [True, True] Translation: X:287.08, Y:-29.24, Z:-8.26 [[ 9.88110636e-01 1.53655530e-01 5.22959414e-03 2.87076153e+02] [-1.53653289e-01 9.88124475e-01 -8.29953846e-04 -2.92422038e+01] [-5.29501696e-03 1.65418812e-05 9.99985981e-01 -8.26425325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.544203822 meters 0.01661188168561029 Centerline is valid? [True, True] Translation: X:287.13, Y:-29.26, Z:-8.26 [[ 9.88090783e-01 1.53798637e-01 4.75223289e-03 2.87133586e+02] [-1.53796788e-01 9.88102211e-01 -7.54227892e-04 -2.92551427e+01] [-4.81169105e-03 1.43674734e-05 9.99988424e-01 -8.26471080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.604203822 meters 0.016985704777319685 Centerline is valid? [True, True] Translation: X:287.19, Y:-29.27, Z:-8.27 [[ 9.87769105e-01 1.55836517e-01 5.21293123e-03 2.87190904e+02] [-1.55834319e-01 9.87782861e-01 -8.27611859e-04 -2.92651976e+01] [-5.27821627e-03 5.13583583e-06 9.99986070e-01 -8.26781283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.664203822 meters 0.016627899636708715 Centerline is valid? [True, True] Translation: X:287.25, Y:-29.27, Z:-8.27 [[ 9.87132197e-01 1.59778166e-01 6.40032235e-03 2.87250122e+02] [-1.59774944e-01 9.87152945e-01 -1.01500147e-03 -2.92705852e+01] [-6.48027213e-03 -2.06705094e-05 9.99979003e-01 -8.26590124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.724203822 meters 0.03367509512169365 Centerline is valid? [True, True] Translation: X:287.31, Y:-29.27, Z:-8.27 [[ 9.86121193e-01 1.65926683e-01 5.77304726e-03 2.87309566e+02] [-1.65924167e-01 9.86138090e-01 -9.15360941e-04 -2.92717442e+01] [-5.84490460e-03 -5.52312337e-05 9.99982917e-01 -8.27205578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.784203822 meters 0.022023882825569364 Centerline is valid? [True, True] Translation: X:287.37, Y:-29.28, Z:-8.27 [[ 9.85461788e-01 1.69790547e-01 6.01954803e-03 2.87367973e+02] [-1.69787886e-01 9.85480169e-01 -9.54130760e-04 -2.92788418e+01] [-6.09414760e-03 -8.17869320e-05 9.99981427e-01 -8.26883207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.844203822 meters 0.022204007488139124 Centerline is valid? [True, True] Translation: X:287.43, Y:-29.29, Z:-8.27 [[ 9.85534494e-01 1.69381537e-01 5.62629362e-03 2.87426137e+02] [-1.69379207e-01 9.85550551e-01 -8.91598972e-04 -2.92850893e+01] [-5.69601719e-03 -7.42756105e-05 9.99983775e-01 -8.27243050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.904203822 meters 0.019742493860345427 Centerline is valid? [True, True] Translation: X:287.48, Y:-29.30, Z:-8.27 [[ 9.85978051e-01 1.66806418e-01 4.78553165e-03 2.87482721e+02] [-1.66804702e-01 9.85989663e-01 -7.58379047e-04 -2.93007894e+01] [-4.84498723e-03 -5.05040844e-05 9.99988262e-01 -8.27440243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.964203822 meters 0.0197047547659289 Centerline is valid? [True, True] Translation: X:287.54, Y:-29.31, Z:-8.28 [[ 9.86144820e-01 1.65833897e-01 4.18478042e-03 2.87538792e+02] [-1.65832575e-01 9.86153698e-01 -6.63446992e-04 -2.93138748e+01] [-4.23685869e-03 -3.97180983e-05 9.99991024e-01 -8.27806798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.024203822 meters 0.018342538448022996 Centerline is valid? [True, True] Translation: X:287.60, Y:-29.32, Z:-8.28 [[ 9.86418970e-01 1.64184195e-01 4.60056185e-03 2.87597063e+02] [-1.64182583e-01 9.86429698e-01 -7.28600382e-04 -2.93240186e+01] [-4.65775551e-03 -3.66268896e-05 9.99989152e-01 -8.27879950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.08420382199995 meters 0.01785781718582752 Centerline is valid? [True, True] Translation: X:287.65, Y:-29.34, Z:-8.28 [[ 9.86851604e-01 1.61587324e-01 3.66712449e-03 2.87654197e+02] [-1.61586281e-01 9.86858418e-01 -5.80869139e-04 -2.93373485e+01] [-3.71279376e-03 -1.93253648e-05 9.99993107e-01 -8.28253239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.14420382199995 meters 0.017078756427171167 Centerline is valid? [True, True] Translation: X:287.71, Y:-29.36, Z:-8.28 [[ 9.87694740e-01 1.56363564e-01 3.08812623e-03 2.87710996e+02] [-1.56362799e-01 9.87699568e-01 -4.89235609e-04 -2.93567726e+01] [-3.12663956e-03 3.47377324e-07 9.99995112e-01 -8.28496614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.20420382199995 meters 0.01772691544598958 Centerline is valid? [True, True] Translation: X:287.77, Y:-29.37, Z:-8.29 [[ 9.87874737e-01 1.55229944e-01 2.67731439e-03 2.87768140e+02] [-1.55229365e-01 9.87878365e-01 -4.24199418e-04 -2.93673941e+01] [-2.71070942e-03 3.45807594e-06 9.99996326e-01 -8.28839471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.26420382199996 meters 0.016727989426375493 Centerline is valid? [True, True] Translation: X:287.83, Y:-29.38, Z:-8.28 [[ 9.88327995e-01 1.52219671e-01 6.07835813e-03 2.87826939e+02] [-1.52216645e-01 9.88346686e-01 -9.60062595e-04 -2.93802072e+01] [-6.15366553e-03 2.36294565e-05 9.99981066e-01 -8.28440160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.32420382199996 meters 0.022777083928219907 Centerline is valid? [True, True] Translation: X:287.89, Y:-29.39, Z:-8.29 [[ 9.88733191e-01 1.49556140e-01 6.29579492e-03 2.87886224e+02] [-1.49552843e-01 9.88753235e-01 -9.94033358e-04 -2.93923468e+01] [-6.37365138e-03 4.12797479e-05 9.99979687e-01 -8.28667343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.38420382199996 meters 0.017760852042572915 Centerline is valid? [True, True] Translation: X:287.95, Y:-29.41, Z:-8.29 [[ 9.88966261e-01 1.47987947e-01 6.73072579e-03 2.87945122e+02] [-1.47984141e-01 9.88989163e-01 -1.06270392e-03 -2.94058273e+01] [-6.81388224e-03 5.49376492e-05 9.99976784e-01 -8.28594397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.44420382199996 meters 0.018594599820652924 Centerline is valid? [True, True] Translation: X:288.00, Y:-29.42, Z:-8.29 [[ 9.89074895e-01 1.47287948e-01 6.09201378e-03 2.88004590e+02] [-1.47284817e-01 9.89093655e-01 -9.61858668e-04 -2.94164189e+01] [-6.16724236e-03 5.40891269e-05 9.99980981e-01 -8.28897423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.50420382199997 meters 0.020132577729650696 Centerline is valid? [True, True] Translation: X:288.06, Y:-29.42, Z:-8.30 [[ 9.89009446e-01 1.47766984e-01 5.02336142e-03 2.88063414e+02] [-1.47764860e-01 9.89022202e-01 -7.93427319e-04 -2.94249613e+01] [-5.08545834e-03 4.24308165e-05 9.99987068e-01 -8.29542361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.56420382199997 meters 0.019566063689473688 Centerline is valid? [True, True] Translation: X:288.12, Y:-29.44, Z:-8.29 [[ 9.89182122e-01 1.46557702e-01 6.29035314e-03 2.88122850e+02] [-1.46554350e-01 9.89202121e-01 -9.93095169e-04 -2.94377373e+01] [-6.36797641e-03 6.04733703e-05 9.99979722e-01 -8.29257015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.62420382199997 meters 0.020991810406437654 Centerline is valid? [True, True] Translation: X:288.18, Y:-29.45, Z:-8.29 [[ 9.89524441e-01 1.44125571e-01 8.31871091e-03 2.88181911e+02] [-1.44119625e-01 9.89559402e-01 -1.31307535e-03 -2.94531953e+01] [-8.42110633e-03 1.00430663e-04 9.99964537e-01 -8.29128441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.684203822 meters 0.020195465054122737 Centerline is valid? [True, True] Translation: X:288.24, Y:-29.47, Z:-8.29 [[ 9.89539139e-01 1.43964851e-01 9.29591859e-03 2.88242891e+02] [-1.43957446e-01 9.89582796e-01 -1.46431418e-03 -2.94664445e+01] [-9.40989088e-03 1.10779497e-04 9.99955720e-01 -8.28910836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.744203822 meters 0.020121977054110018 Centerline is valid? [True, True] Translation: X:288.30, Y:-29.48, Z:-8.29 [[ 9.89347204e-01 1.45250943e-01 9.70948860e-03 2.88303151e+02] [-1.45242905e-01 9.89394842e-01 -1.53165857e-03 -2.94773164e+01] [-9.82899279e-03 1.05107787e-04 9.99951689e-01 -8.29264115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.804203822 meters 0.026135437102544054 Centerline is valid? [True, True] Translation: X:288.36, Y:-29.48, Z:-8.30 [[ 9.88570750e-01 1.50529159e-01 8.29723839e-03 2.88363890e+02] [-1.50523446e-01 9.88605568e-01 -1.31231839e-03 -2.94828225e+01] [-8.40023825e-03 4.83906575e-05 9.99964716e-01 -8.29734208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.864203822 meters 0.015871914382343838 Centerline is valid? [True, True] Translation: X:288.42, Y:-29.49, Z:-8.30 [[ 9.87950157e-01 1.54514040e-01 8.93864448e-03 2.88423701e+02] [-1.54507568e-01 9.87990593e-01 -1.41430196e-03 -2.94906912e+01] [-9.04982616e-03 1.61716266e-05 9.99959049e-01 -8.29949407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.924203822 meters 0.017191933780051988 Centerline is valid? [True, True] Translation: X:288.48, Y:-29.49, Z:-8.31 [[ 9.87160277e-01 1.59635693e-01 5.57065699e-03 2.88483534e+02] [-1.59633258e-01 9.87175995e-01 -8.81918378e-04 -2.94947774e+01] [-5.64000451e-03 -1.86673315e-05 9.99984095e-01 -8.30592229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.984203822 meters 0.018194385035924326 Centerline is valid? [True, True] Translation: X:288.54, Y:-29.50, Z:-8.31 [[ 9.86442525e-01 1.63991211e-01 6.16665758e-03 2.88542794e+02] [-1.63988311e-01 9.86461799e-01 -9.76449386e-04 -2.95027511e+01] [-6.24330125e-03 -4.80485649e-05 9.99980509e-01 -8.30509660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.044203822 meters 0.0207521450673518 Centerline is valid? [True, True] Translation: X:288.60, Y:-29.51, Z:-8.31 [[ 9.85747188e-01 1.68035996e-01 8.14772697e-03 2.88601378e+02] [-1.68031073e-01 9.85780855e-01 -1.28994651e-03 -2.95102445e+01] [-8.24863071e-03 -9.75101585e-05 9.99965975e-01 -8.30532191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.104203822 meters 0.023701063232711053 Centerline is valid? [True, True] Translation: X:288.66, Y:-29.52, Z:-8.31 [[ 9.85079964e-01 1.71997246e-01 5.86614749e-03 2.88660739e+02] [-1.71994768e-01 9.85097426e-01 -9.28244925e-04 -2.95190313e+01] [-5.93838236e-03 -9.45511964e-05 9.99982363e-01 -8.30907527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.164203822 meters 0.02846416851822096 Centerline is valid? [True, True] Translation: X:288.72, Y:-29.52, Z:-8.31 [[ 9.84302992e-01 1.76334044e-01 7.34335822e-03 2.88719169e+02] [-1.76330274e-01 9.84330372e-01 -1.16285910e-03 -2.95206402e+01] [-7.43334218e-03 -1.50250672e-04 9.99972361e-01 -8.31135051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.224203822 meters 0.02800358093435619 Centerline is valid? [True, True] Translation: X:288.78, Y:-29.53, Z:-8.31 [[ 9.83949914e-01 1.78288142e-01 7.47695657e-03 2.88778382e+02] [-1.78284299e-01 9.83978308e-01 -1.18275671e-03 -2.95313025e+01] [-7.56803457e-03 -1.69250598e-04 9.99971348e-01 -8.30837939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.284203822 meters 0.029745281440454133 Centerline is valid? [True, True] Translation: X:288.84, Y:-29.54, Z:-8.31 [[ 9.83728948e-01 1.79542171e-01 6.47803853e-03 2.88836161e+02] [-1.79539312e-01 9.83750266e-01 -1.02494577e-03 -2.95397545e+01] [-6.55679311e-03 -1.54793754e-04 9.99978492e-01 -8.31255359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.344203822 meters 0.027909011839011462 Centerline is valid? [True, True] Translation: X:288.89, Y:-29.55, Z:-8.31 [[ 9.84125287e-01 1.77290015e-01 8.10367077e-03 2.88894414e+02] [-1.77285472e-01 9.84158635e-01 -1.28130954e-03 -2.95507896e+01] [-8.20246096e-03 -1.75693977e-04 9.99966344e-01 -8.31278787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.404203822 meters 0.02157552035239333 Centerline is valid? [True, True] Translation: X:288.95, Y:-29.57, Z:-8.31 [[ 9.85450155e-01 1.69751982e-01 8.50040156e-03 2.88952734e+02] [-1.69746711e-01 9.85486809e-01 -1.34304870e-03 -2.95745511e+01] [-8.60501879e-03 -1.19407654e-04 9.99962969e-01 -8.31417248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.464203822 meters 0.02873315078000297 Centerline is valid? [True, True] Translation: X:289.01, Y:-29.60, Z:-8.32 [[ 9.86613594e-01 1.62901841e-01 7.52365669e-03 2.89011975e+02] [-1.62897525e-01 9.86642279e-01 -1.18706322e-03 -2.95992183e+01] [-7.61653256e-03 -5.44123453e-05 9.99970992e-01 -8.32177679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.524203822 meters 0.01717471849130591 Centerline is valid? [True, True] Translation: X:289.07, Y:-29.61, Z:-8.32 [[ 9.86792138e-01 1.61833482e-01 7.15539994e-03 2.89072769e+02] [-1.61829558e-01 9.86818080e-01 -1.12784013e-03 -2.96141604e+01] [-7.24360032e-03 -4.50114336e-05 9.99973764e-01 -8.32155281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.58420382199995 meters 0.021769745245737406 Centerline is valid? [True, True] Translation: X:289.13, Y:-29.62, Z:-8.33 [[ 9.86524584e-01 1.63522618e-01 5.44051608e-03 2.89133191e+02] [-1.63520358e-01 9.86539584e-01 -8.60675324e-04 -2.96249315e+01] [-5.50802435e-03 -4.05577727e-05 9.99984830e-01 -8.32631621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.64420382199995 meters 0.01867415750944628 Centerline is valid? [True, True] Translation: X:289.19, Y:-29.63, Z:-8.32 [[ 9.86136406e-01 1.65848400e-01 5.41266178e-03 2.89193485e+02] [-1.65846197e-01 9.86151259e-01 -8.56386689e-04 -2.96343646e+01] [-5.47973360e-03 -5.31552809e-05 9.99984985e-01 -8.32461023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.70420382199995 meters 0.02366358583882395 Centerline is valid? [True, True] Translation: X:289.25, Y:-29.64, Z:-8.33 [[ 9.85261558e-01 1.70968362e-01 5.42969683e-03 2.89253668e+02] [-1.70966218e-01 9.85276516e-01 -8.60104353e-04 -2.96353731e+01] [-5.49680341e-03 -8.08669757e-05 9.99984889e-01 -8.32838961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.76420382199996 meters 0.02819482926496251 Centerline is valid? [True, True] Translation: X:289.31, Y:-29.64, Z:-8.33 [[ 9.84150525e-01 1.77227118e-01 6.18819755e-03 2.89314425e+02] [-1.77224455e-01 9.84169971e-01 -9.80402248e-04 -2.96350073e+01] [-6.26399206e-03 -1.31836551e-04 9.99980372e-01 -8.32681447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.82420382199996 meters 0.034710792586191704 Centerline is valid? [True, True] Translation: X:289.38, Y:-29.63, Z:-8.33 [[ 9.83105021e-01 1.82904790e-01 7.09614261e-03 2.89375086e+02] [-1.82901442e-01 9.83130612e-01 -1.12356474e-03 -2.96300349e+01] [-7.18194040e-03 -1.93312578e-04 9.99974191e-01 -8.32807593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.88420382199996 meters 0.034844511966681736 Centerline is valid? [True, True] Translation: X:289.43, Y:-29.63, Z:-8.33 [[ 9.83046971e-01 1.83128513e-01 9.08852513e-03 2.89434327e+02] [-1.83123022e-01 9.83088951e-01 -1.43974230e-03 -2.96326750e+01] [-9.19848650e-03 -2.48983880e-04 9.99957662e-01 -8.32731564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.94420382199996 meters 0.03618819350411463 Centerline is valid? [True, True] Translation: X:289.49, Y:-29.65, Z:-8.33 [[ 9.84253064e-01 1.76542126e-01 8.87602041e-03 2.89492704e+02] [-1.76536633e-01 9.84293068e-01 -1.40483766e-03 -2.96483027e+01] [-8.98461839e-03 -1.84226983e-04 9.99959621e-01 -8.33281375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.00420382199997 meters 0.01973649515747915 Centerline is valid? [True, True] Translation: X:289.55, Y:-29.67, Z:-8.33 [[ 9.85990626e-01 1.66577287e-01 8.63089810e-03 2.89551165e+02] [-1.66571713e-01 9.86028397e-01 -1.36566518e-03 -2.96708377e+01] [-8.73779942e-03 -9.11304148e-05 9.99961821e-01 -8.33355369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.06420382199997 meters 0.016113748404269143 Centerline is valid? [True, True] Translation: X:289.61, Y:-29.69, Z:-8.33 [[ 9.86967708e-01 1.60733447e-01 7.71383047e-03 2.89610217e+02] [-1.60728843e-01 9.86997851e-01 -1.21716195e-03 -2.96928256e+01] [-7.80917273e-03 -3.85355082e-05 9.99969507e-01 -8.33451533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.12420382199997 meters 0.015340645248119287 Centerline is valid? [True, True] Translation: X:289.67, Y:-29.71, Z:-8.34 [[ 9.87597936e-01 1.56797168e-01 8.06012523e-03 2.89670044e+02] [-1.56791997e-01 9.87630826e-01 -1.27344895e-03 -2.97119535e+01] [-8.16010133e-03 -6.10757592e-06 9.99966706e-01 -8.33510870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.184203822 meters 0.03230703883916029 Centerline is valid? [True, True] Translation: X:289.73, Y:-29.72, Z:-8.34 [[ 9.87725197e-01 1.56071690e-01 6.36889527e-03 2.89730617e+02] [-1.56068445e-01 9.87745730e-01 -1.00628433e-03 -2.97245559e+01] [-6.44790160e-03 -5.11990157e-08 9.99979212e-01 -8.34225919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.244203822 meters 0.015610517110638558 Centerline is valid? [True, True] Translation: X:289.79, Y:-29.74, Z:-8.34 [[ 9.87238511e-01 1.59088469e-01 7.14009060e-03 2.89792010e+02] [-1.59084457e-01 9.87264331e-01 -1.13001429e-03 -2.97375549e+01] [-7.22892901e-03 -2.02838102e-05 9.99973871e-01 -8.33983661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.304203822 meters 0.017649918384072302 Centerline is valid? [True, True] Translation: X:289.85, Y:-29.75, Z:-8.34 [[ 9.86453092e-01 1.63859586e-01 7.76744275e-03 2.89853099e+02] [-1.63854969e-01 9.86483671e-01 -1.23145178e-03 -2.97451388e+01] [-7.86424062e-03 -5.79646710e-05 9.99969075e-01 -8.34323244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.364203822 meters 0.02042910318224504 Centerline is valid? [True, True] Translation: X:289.91, Y:-29.75, Z:-8.34 [[ 9.85618591e-01 1.68725715e-01 9.36085342e-03 2.89914266e+02] [-1.68719179e-01 9.85663036e-01 -1.48928328e-03 -2.97540121e+01] [-9.47792759e-03 -1.11490215e-04 9.99955077e-01 -8.34316128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.424203822 meters 0.026126842987696564 Centerline is valid? [True, True] Translation: X:289.98, Y:-29.76, Z:-8.34 [[ 9.84372338e-01 1.75772550e-01 1.07289758e-02 2.89975883e+02] [-1.75764375e-01 9.84430784e-01 -1.70752492e-03 -2.97560154e+01] [-1.08620701e-02 -2.04931433e-04 9.99940985e-01 -8.34182970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.484203822 meters 0.03345907452369342 Centerline is valid? [True, True] Translation: X:290.04, Y:-29.75, Z:-8.34 [[ 9.82669030e-01 1.85296739e-01 5.16688920e-03 2.90038307e+02] [-1.85231701e-01 9.82632601e-01 -1.10629034e-02 -2.97525772e+01] [-7.12707369e-03 9.91410083e-03 9.99925455e-01 -8.34479085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.544203822 meters 0.040966039591158715 Centerline is valid? [True, True] Translation: X:290.10, Y:-29.76, Z:-8.35 [[ 9.81793727e-01 1.89678811e-01 1.01501420e-02 2.90096164e+02] [-1.89767371e-01 9.81791319e-01 8.61109336e-03 -2.97614423e+01] [-8.33197939e-03 -1.03804832e-02 9.99911408e-01 -8.34911324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.604203822 meters 0.0419114445832035 Centerline is valid? [True, True] Translation: X:290.16, Y:-29.76, Z:-8.35 [[ 9.81455715e-01 1.91505877e-01 8.37727292e-03 2.90157036e+02] [-1.91501460e-01 9.81491422e-01 -1.33380259e-03 -2.97601559e+01] [-8.47765255e-03 -2.95191817e-04 9.99964020e-01 -8.35207405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.664203822 meters 0.04160027312192462 Centerline is valid? [True, True] Translation: X:290.21, Y:-29.77, Z:-8.36 [[ 9.82321351e-01 1.87010561e-01 8.47433588e-03 2.90214982e+02] [-1.87005873e-01 9.82357869e-01 -1.34926648e-03 -2.97683751e+01] [-8.57715762e-03 -2.59337303e-04 9.99963182e-01 -8.35771684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.724203822 meters 0.03342391887293169 Centerline is valid? [True, True] Translation: X:290.27, Y:-29.78, Z:-8.36 [[ 9.83104763e-01 1.82867526e-01 8.03079541e-03 2.90273706e+02] [-1.82863184e-01 9.83137540e-01 -1.27793983e-03 -2.97838856e+01] [-8.12907014e-03 -2.12188085e-04 9.99966936e-01 -8.35722668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.784203822 meters 0.02959301142877543 Centerline is valid? [True, True] Translation: X:290.33, Y:-29.80, Z:-8.36 [[ 9.83860287e-01 1.78708930e-01 9.05836662e-03 2.90332354e+02] [-1.78703230e-01 9.83901966e-01 -1.44130138e-03 -2.97975884e+01] [-9.17011815e-03 -2.00720185e-04 9.99957933e-01 -8.35736283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.844203822 meters 0.028175706059689366 Centerline is valid? [True, True] Translation: X:290.39, Y:-29.82, Z:-8.36 [[ 9.85902175e-01 1.66959648e-01 1.10170959e-02 2.90389806e+02] [-1.66950487e-01 9.85963723e-01 -1.75254591e-03 -2.98216187e+01] [-1.11550613e-02 -1.11470691e-04 9.99937774e-01 -8.35659889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.904203822 meters 0.015817287806016343 Centerline is valid? [True, True] Translation: X:290.45, Y:-29.84, Z:-8.36 [[ 9.86813340e-01 1.61424058e-01 1.19040529e-02 2.90449200e+02] [-1.61412979e-01 9.86885135e-01 -1.89199428e-03 -2.98386787e+01] [-1.20533462e-02 -5.44234420e-05 9.99927354e-01 -8.35762211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.964203822 meters 0.014037548082663328 Centerline is valid? [True, True] Translation: X:290.51, Y:-29.85, Z:-8.36 [[ 9.87457686e-01 1.57369914e-01 1.27290676e-02 2.90510052e+02] [-1.57356906e-01 9.87539726e-01 -2.02339309e-03 -2.98539206e+01] [-1.28888812e-02 -4.99163730e-06 9.99916935e-01 -8.35623747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.024203822 meters 0.018715891654697944 Centerline is valid? [True, True] Translation: X:290.57, Y:-29.86, Z:-8.36 [[ 9.87224320e-01 1.58929513e-01 1.13820623e-02 2.90571683e+02] [-1.58919200e-01 9.87289932e-01 -1.81061185e-03 -2.98595445e+01] [-1.15251552e-02 -2.13481946e-05 9.99933583e-01 -8.36041874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.08420382199995 meters 0.0159710700656037 Centerline is valid? [True, True] Translation: X:290.63, Y:-29.86, Z:-8.36 [[ 9.86457208e-01 1.63682868e-01 1.04926214e-02 2.90634099e+02] [-1.63674357e-01 9.86513007e-01 -1.67060020e-03 -2.98626239e+01] [-1.06245562e-02 -6.93974650e-05 9.99943555e-01 -8.36241255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.14420382199995 meters 0.018269317492354265 Centerline is valid? [True, True] Translation: X:290.70, Y:-29.86, Z:-8.36 [[ 9.85585726e-01 1.68787928e-01 1.14634799e-02 2.90696688e+02] [-1.68778056e-01 9.85652382e-01 -1.83024190e-03 -2.98624071e+01] [-1.16079290e-02 -1.30923561e-04 9.99932617e-01 -8.36196429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.20420382199995 meters 0.02846048395037106 Centerline is valid? [True, True] Translation: X:290.76, Y:-29.87, Z:-8.37 [[ 9.85402649e-01 1.69939624e-01 1.01066366e-02 2.90759000e+02] [-1.69932038e-01 9.85454467e-01 -1.61087626e-03 -2.98672791e+01] [-1.02333819e-02 -1.30079616e-04 9.99947629e-01 -8.36770492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.26420382199996 meters 0.019621090769421944 Centerline is valid? [True, True] Translation: X:290.82, Y:-29.87, Z:-8.37 [[ 9.85801732e-01 1.67639800e-01 9.58342996e-03 2.90818950e+02] [-1.67632825e-01 9.85848309e-01 -1.53219038e-03 -2.98739760e+01] [-9.70466431e-03 -9.60615058e-05 9.99952904e-01 -8.37340677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.32420382199996 meters 0.017213423530129137 Centerline is valid? [True, True] Translation: X:290.88, Y:-29.89, Z:-8.37 [[ 9.86213363e-01 1.65183789e-01 9.87509819e-03 2.90878852e+02] [-1.65176261e-01 9.86262800e-01 -1.57873966e-03 -2.98871589e+01] [-1.00002242e-02 -7.41576509e-05 9.99949994e-01 -8.37271529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.38420382199996 meters 0.02414991738150104 Centerline is valid? [True, True] Translation: X:290.94, Y:-29.90, Z:-8.37 [[ 9.86515886e-01 1.63311762e-01 1.07552385e-02 2.90939168e+02] [-1.63302718e-01 9.86574511e-01 -1.71976208e-03 -2.98959678e+01] [-1.08917015e-02 -5.97870717e-05 9.99940682e-01 -8.37428390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.44420382199996 meters 0.02374264878074892 Centerline is valid? [True, True] Translation: X:291.00, Y:-29.91, Z:-8.38 [[ 9.86848790e-01 1.61248974e-01 1.13240647e-02 2.90999051e+02] [-1.61238836e-01 9.86913758e-01 -1.80865337e-03 -2.99075619e+01] [-1.14675188e-02 -4.10116246e-05 9.99934245e-01 -8.37773128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.50420382199997 meters 0.014328462727824443 Centerline is valid? [True, True] Translation: X:291.06, Y:-29.92, Z:-8.38 [[ 9.87325218e-01 1.58286802e-01 1.15845525e-02 2.91059041e+02] [-1.58275967e-01 9.87393178e-01 -1.85206628e-03 -2.99236629e+01] [-1.17316658e-02 -4.96450792e-06 9.99931182e-01 -8.37605643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.56420382199997 meters 0.014766658801529753 Centerline is valid? [True, True] Translation: X:291.12, Y:-29.94, Z:-8.38 [[ 9.87669850e-01 1.56175814e-01 1.08342997e-02 2.91119829e+02] [-1.56166192e-01 9.87729272e-01 -1.73364777e-03 -2.99392124e+01] [-1.09721088e-02 2.03203059e-05 9.99939804e-01 -8.37869508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.62420382199997 meters 0.016210179305203958 Centerline is valid? [True, True] Translation: X:291.18, Y:-29.96, Z:-8.38 [[ 9.87977849e-01 1.54212748e-01 1.08718647e-02 2.91179897e+02] [-1.54202921e-01 9.88037665e-01 -1.74140623e-03 -2.99572523e+01] [-1.10103588e-02 4.39974910e-05 9.99939383e-01 -8.38315723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.684203822 meters 0.015372338088333713 Centerline is valid? [True, True] Translation: X:291.24, Y:-29.96, Z:-8.39 [[ 9.87616491e-01 1.56606989e-01 9.37646477e-03 2.91241434e+02] [-1.56599776e-01 9.87661000e-01 -1.50312493e-03 -2.99649287e+01] [-9.49616844e-03 1.61586872e-05 9.99954910e-01 -8.38584578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.744203822 meters 0.015594683438922828 Centerline is valid? [True, True] Translation: X:291.30, Y:-29.97, Z:-8.39 [[ 9.86802707e-01 1.61684688e-01 8.85881677e-03 2.91303298e+02] [-1.61678443e-01 9.86842470e-01 -1.42142679e-03 -2.99715349e+01] [-8.97207957e-03 -2.96118966e-05 9.99959750e-01 -8.38730647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.804203822 meters 0.01787201261840431 Centerline is valid? [True, True] Translation: X:291.36, Y:-29.98, Z:-8.39 [[ 9.85890827e-01 1.67092920e-01 9.96160160e-03 2.91363155e+02] [-1.67085244e-01 9.85941149e-01 -1.60385077e-03 -2.99765276e+01] [-1.00895450e-02 -8.32148678e-05 9.99949096e-01 -8.38831253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.864203822 meters 0.019638801422026838 Centerline is valid? [True, True] Translation: X:291.42, Y:-29.98, Z:-8.39 [[ 9.85136738e-01 1.71385665e-01 1.15134967e-02 2.91424406e+02] [-1.71375701e-01 9.85204005e-01 -1.85390780e-03 -2.99796606e+01] [-1.16608763e-02 -1.46780875e-04 9.99931999e-01 -8.38577491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.924203822 meters 0.026998263467400866 Centerline is valid? [True, True] Translation: X:291.49, Y:-29.99, Z:-8.39 [[ 9.84659525e-01 1.74024823e-01 1.26878532e-02 2.91485335e+02] [-1.74012941e-01 9.84741246e-01 -2.04299754e-03 -2.99896201e+01] [-1.28497846e-02 -1.96193665e-04 9.99917419e-01 -8.38830802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.984203822 meters 0.021530414509144207 Centerline is valid? [True, True] Translation: X:291.55, Y:-30.00, Z:-8.39 [[ 9.84809836e-01 1.73220567e-01 1.20092772e-02 2.91546372e+02] [-1.73209892e-01 9.84883040e-01 -1.93130582e-03 -3.00029942e+01] [-1.21622753e-02 -1.78156641e-04 9.99926021e-01 -8.39092071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.044203822 meters 0.020013946808199106 Centerline is valid? [True, True] Translation: X:291.61, Y:-30.02, Z:-8.39 [[ 9.84974125e-01 1.72392729e-01 1.03305494e-02 2.91607106e+02] [-1.72384770e-01 9.85028287e-01 -1.66269508e-03 -3.00158376e+01] [-1.04625199e-02 -1.43117744e-04 9.99945256e-01 -8.39399122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.104203822 meters 0.021143241590602047 Centerline is valid? [True, True] Translation: X:291.67, Y:-30.03, Z:-8.40 [[ 9.84892636e-01 1.72866907e-01 1.01748554e-02 2.91667443e+02] [-1.72859191e-01 9.84945182e-01 -1.63963594e-03 -3.00262669e+01] [-1.03051136e-02 -1.43951895e-04 9.99946891e-01 -8.39683784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.164203822 meters 0.023282368778429433 Centerline is valid? [True, True] Translation: X:291.73, Y:-30.03, Z:-8.40 [[ 9.84460392e-01 1.75358672e-01 9.33130300e-03 2.91728051e+02] [-1.75352258e-01 9.84504603e-01 -1.50751065e-03 -3.00349596e+01] [-9.45106582e-03 -1.52180524e-04 9.99955326e-01 -8.39910270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.224203822 meters 0.026156752627946374 Centerline is valid? [True, True] Translation: X:291.79, Y:-30.04, Z:-8.40 [[ 9.83875726e-01 1.78586463e-01 9.76892396e-03 2.91788865e+02] [-1.78579585e-01 9.83924204e-01 -1.57895206e-03 -3.00391431e+01] [-9.89386020e-03 -1.91037785e-04 9.99951036e-01 -8.40016891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.284203822 meters 0.025354270467938995 Centerline is valid? [True, True] Translation: X:291.85, Y:-30.05, Z:-8.40 [[ 9.83853251e-01 1.78653509e-01 1.07565570e-02 2.91848984e+02] [-1.78645174e-01 9.83912028e-01 -1.73858328e-03 -3.00479743e+01] [-1.08941098e-02 -2.11096187e-04 9.99940635e-01 -8.40011397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.344203822 meters 0.023800529928739107 Centerline is valid? [True, True] Translation: X:291.91, Y:-30.06, Z:-8.40 [[ 9.84414704e-01 1.75558764e-01 1.03349573e-02 2.91908928e+02] [-1.75550930e-01 9.84468938e-01 -1.66750153e-03 -3.00608365e+01] [-1.04671890e-02 -1.72798344e-04 9.99945203e-01 -8.40447783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.404203822 meters 0.01907609810631598 Centerline is valid? [True, True] Translation: X:291.97, Y:-30.08, Z:-8.41 [[ 9.85320862e-01 1.70416698e-01 1.00472958e-02 2.91968409e+02] [-1.70408988e-01 9.85372080e-01 -1.62486602e-03 -3.00806007e+01] [-1.01772290e-02 -1.11135109e-04 9.99948204e-01 -8.40583778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.464203822 meters 0.016324308755186725 Centerline is valid? [True, True] Translation: X:292.03, Y:-30.10, Z:-8.41 [[ 9.86107345e-01 1.65711991e-01 1.14821867e-02 2.92026761e+02] [-1.65701603e-01 9.86174189e-01 -1.85687759e-03 -3.00975492e+01] [-1.16311430e-02 -7.15360963e-05 9.99932353e-01 -8.40636337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.524203822 meters 0.014536765538127952 Centerline is valid? [True, True] Translation: X:292.09, Y:-30.11, Z:-8.41 [[ 9.86743996e-01 1.61849861e-01 1.18705362e-02 2.92087032e+02] [-1.61838487e-01 9.86815394e-01 -1.91894638e-03 -3.01135950e+01] [-1.20246091e-02 -2.76008036e-05 9.99927701e-01 -8.40530501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.58420382199995 meters 0.021233601884010817 Centerline is valid? [True, True] Translation: X:292.15, Y:-30.13, Z:-8.41 [[ 9.87188122e-01 1.59252854e-01 9.90659617e-03 2.92146340e+02] [-1.59244790e-01 9.87237828e-01 -1.60261922e-03 -3.01276853e+01] [-1.00353882e-02 4.51282647e-06 9.99949644e-01 -8.41467788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.64420382199995 meters 0.015015356662625405 Centerline is valid? [True, True] Translation: X:292.21, Y:-30.14, Z:-8.41 [[ 9.87105304e-01 1.59759459e-01 1.00016956e-02 2.92208814e+02] [-1.59751256e-01 9.87155973e-01 -1.61889390e-03 -3.01367455e+01] [-1.01318672e-02 2.35321834e-07 9.99948671e-01 -8.41244434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.70420382199995 meters 0.015451016955912797 Centerline is valid? [True, True] Translation: X:292.27, Y:-30.14, Z:-8.41 [[ 9.86877214e-01 1.61137995e-01 1.03880252e-02 2.92270023e+02] [-1.61129179e-01 9.86931885e-01 -1.68560571e-03 -3.01439871e+01] [-1.05238884e-02 -1.03281051e-05 9.99944622e-01 -8.41483330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.76420382199996 meters 0.023627918642015727 Centerline is valid? [True, True] Translation: X:292.33, Y:-30.16, Z:-8.42 [[ 9.87088171e-01 1.59806811e-01 1.08961413e-02 2.92330807e+02] [-1.59797032e-01 9.87148309e-01 -1.76784322e-03 -3.01555703e+01] [-1.10386208e-02 3.84609420e-06 9.99939073e-01 -8.41580235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.82420382199996 meters 0.015170363471006587 Centerline is valid? [True, True] Translation: X:292.39, Y:-30.17, Z:-8.42 [[ 9.87418992e-01 1.57826419e-01 9.72395964e-03 2.92391217e+02] [-1.57818524e-01 9.87466871e-01 -1.57881654e-03 -3.01725249e+01] [-9.85126696e-03 2.43324828e-05 9.99951475e-01 -8.41657675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.88420382199996 meters 0.016137198664627418 Centerline is valid? [True, True] Translation: X:292.45, Y:-30.19, Z:-8.42 [[ 9.87511581e-01 1.57321189e-01 8.42143463e-03 2.92450267e+02] [-1.57315239e-01 9.87547489e-01 -1.36845938e-03 -3.01892755e+01] [-8.53185428e-03 2.65494825e-05 9.99963603e-01 -8.42275123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.94420382199996 meters 0.015007442263841108 Centerline is valid? [True, True] Translation: X:292.51, Y:-30.20, Z:-8.42 [[ 9.86874567e-01 1.61223339e-01 9.25336424e-03 2.92512005e+02] [-1.61216311e-01 9.86917947e-01 -1.50540372e-03 -3.01959995e+01] [-9.37501746e-03 -6.14860200e-06 9.99956054e-01 -8.42028437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.00420382199997 meters 0.015745152323564843 Centerline is valid? [True, True] Translation: X:292.58, Y:-30.20, Z:-8.42 [[ 9.85769653e-01 1.67718982e-01 1.13372660e-02 2.92575380e+02] [-1.67708802e-01 9.85834843e-01 -1.84955656e-03 -3.01972007e+01] [-1.14868776e-02 -7.81225605e-05 9.99934021e-01 -8.41728860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.06420382199997 meters 0.019840829534209115 Centerline is valid? [True, True] Translation: X:292.64, Y:-30.20, Z:-8.42 [[ 9.84679715e-01 1.73951180e-01 1.21180296e-02 2.92636930e+02] [-1.73940002e-01 9.84754264e-01 -1.97845948e-03 -3.01972840e+01] [-1.22774366e-02 -1.59661173e-04 9.99924617e-01 -8.41815594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.12420382199997 meters 0.02335636286901852 Centerline is valid? [True, True] Translation: X:292.70, Y:-30.20, Z:-8.42 [[ 9.83835523e-01 1.78749385e-01 1.07852462e-02 2.92698478e+02] [-1.78740817e-01 9.83894618e-01 -1.76104953e-03 -3.02024208e+01] [-1.09263323e-02 -1.95180639e-04 9.99940287e-01 -8.41953691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.184203822 meters 0.02528922492831262 Centerline is valid? [True, True] Translation: X:292.76, Y:-30.21, Z:-8.42 [[ 9.83281793e-01 1.81788658e-01 1.04785102e-02 2.92760571e+02] [-1.81780767e-01 9.83337599e-01 -1.70863937e-03 -3.02050176e+01] [-1.06145243e-02 -2.24717632e-04 9.99943639e-01 -8.42123660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.244203822 meters 0.023171616766618972 Centerline is valid? [True, True] Translation: X:292.82, Y:-30.22, Z:-8.42 [[ 9.83714467e-01 1.79373558e-01 1.14444062e-02 2.92821198e+02] [-1.79363929e-01 9.83781013e-01 -1.87070461e-03 -3.02177725e+01] [-1.15943445e-02 -2.12474480e-04 9.99932761e-01 -8.42120085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.304203822 meters 0.02036838817467216 Centerline is valid? [True, True] Translation: X:292.88, Y:-30.23, Z:-8.42 [[ 9.84440923e-01 1.75331831e-01 1.16111221e-02 2.92880139e+02] [-1.75321630e-01 9.84509381e-01 -1.89864091e-03 -3.02332881e+01] [-1.17641508e-02 -1.66581042e-04 9.99930786e-01 -8.42357733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.364203822 meters 0.0253436991840763 Centerline is valid? [True, True] Translation: X:292.94, Y:-30.26, Z:-8.43 [[ 9.85660806e-01 1.68428455e-01 1.02289607e-02 2.92938166e+02] [-1.68420190e-01 9.85713878e-01 -1.67027616e-03 -3.02553643e+01] [-1.03641505e-02 -7.64377532e-05 9.99946288e-01 -8.43328720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.424203822 meters 0.025314878689114438 Centerline is valid? [True, True] Translation: X:293.00, Y:-30.27, Z:-8.44 [[ 9.86272092e-01 1.64884523e-01 8.96961817e-03 2.92998444e+02] [-1.64878021e-01 9.86312878e-01 -1.46476395e-03 -3.02744376e+01] [-9.08836681e-03 -3.42370852e-05 9.99958699e-01 -8.43531738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.484203822 meters 0.016362357616539813 Centerline is valid? [True, True] Translation: X:293.06, Y:-30.29, Z:-8.44 [[ 9.86446964e-01 1.63923021e-01 7.18541063e-03 2.93058214e+02] [-1.63918814e-01 9.86473133e-01 -1.17455095e-03 -3.02880748e+01] [-7.28075048e-03 -1.91917697e-05 9.99973495e-01 -8.43927996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.544203822 meters 0.01530321788746357 Centerline is valid? [True, True] Translation: X:293.12, Y:-30.30, Z:-8.44 [[ 9.86426905e-01 1.64030063e-01 7.48990467e-03 2.93118779e+02] [-1.64025487e-01 9.86455340e-01 -1.22536948e-03 -3.03040685e+01] [-7.58945389e-03 -1.97978417e-05 9.99971199e-01 -8.43703033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.604203822 meters 0.01628921751718669 Centerline is valid? [True, True] Translation: X:293.18, Y:-30.31, Z:-8.44 [[ 9.85695044e-01 1.68233319e-01 1.01405747e-02 2.93179969e+02] [-1.68225113e-01 9.85747202e-01 -1.66293511e-03 -3.03090370e+01] [-1.02758042e-02 -6.67524281e-05 9.99947200e-01 -8.43565456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.664203822 meters 0.022286929688392854 Centerline is valid? [True, True] Translation: X:293.24, Y:-30.31, Z:-8.44 [[ 9.84189213e-01 1.76874536e-01 9.32693581e-03 2.93242432e+02] [-1.76867945e-01 9.84233397e-01 -1.53336953e-03 -3.03069110e+01] [-9.45109574e-03 -1.40510214e-04 9.99955328e-01 -8.43802552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.724203822 meters 0.02806880754332945 Centerline is valid? [True, True] Translation: X:293.30, Y:-30.30, Z:-8.44 [[ 9.82583949e-01 1.85546841e-01 1.00574429e-02 2.93304947e+02] [-1.85539625e-01 9.82635391e-01 -1.65399132e-03 -3.03019587e+01] [-1.01896922e-02 -2.40868858e-04 9.99948055e-01 -8.43621163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.784203822 meters 0.031900210175154216 Centerline is valid? [True, True] Translation: X:293.37, Y:-30.30, Z:-8.44 [[ 9.82068797e-01 1.88309461e-01 8.96799516e-03 2.93365124e+02] [-1.88303836e-01 9.82109714e-01 -1.47514756e-03 -3.03037197e+01] [-9.08533940e-03 -2.40011496e-04 9.99958699e-01 -8.44147067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.844203822 meters 0.02895262968561168 Centerline is valid? [True, True] Translation: X:293.42, Y:-30.31, Z:-8.45 [[ 9.83094699e-01 1.82875250e-01 9.02530948e-03 2.93423825e+02] [-1.82869324e-01 9.83136108e-01 -1.48457521e-03 -3.03134763e+01] [-9.14459970e-03 -1.90974226e-04 9.99958169e-01 -8.44639320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.904203822 meters 0.031508473550747734 Centerline is valid? [True, True] Translation: X:293.48, Y:-30.33, Z:-8.45 [[ 9.83767005e-01 1.79210633e-01 9.27514985e-03 2.93483614e+02] [-1.79204218e-01 9.83810715e-01 -1.52495319e-03 -3.03306259e+01] [-9.39827964e-03 -1.61947340e-04 9.99955822e-01 -8.44853356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.964203822 meters 0.01694863159757282 Centerline is valid? [True, True] Translation: X:293.54, Y:-30.35, Z:-8.45 [[ 9.85594796e-01 1.68815041e-01 1.02166791e-02 2.93541258e+02] [-1.68806686e-01 9.85647745e-01 -1.68092341e-03 -3.03519859e+01] [-1.03538119e-02 -6.79343805e-05 9.99946396e-01 -8.44760761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.024203822 meters 0.030089173996956754 Centerline is valid? [True, True] Translation: X:293.60, Y:-30.37, Z:-8.45 [[ 9.86457448e-01 1.63714532e-01 9.96272531e-03 2.93600857e+02] [-1.63706359e-01 9.86507756e-01 -1.63600288e-03 -3.03700304e+01] [-1.00961432e-02 -1.71142568e-05 9.99949032e-01 -8.45262905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.08420382199995 meters 0.020764444657420444 Centerline is valid? [True, True] Translation: X:293.66, Y:-30.38, Z:-8.45 [[ 9.86527709e-01 1.63314397e-01 9.56493425e-03 2.93663598e+02] [-1.63306836e-01 9.86574076e-01 -1.57149194e-03 -3.03777089e+01] [-9.69316343e-03 -1.16988121e-05 9.99953020e-01 -8.45233574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.14420382199995 meters 0.021295119351726847 Centerline is valid? [True, True] Translation: X:293.73, Y:-30.38, Z:-8.45 [[ 9.86055486e-01 1.66093788e-01 1.03649065e-02 2.93725100e+02] [-1.66085017e-01 9.86109960e-01 -1.70731763e-03 -3.03815920e+01] [-1.05045124e-02 -3.79457519e-05 9.99944825e-01 -8.45402110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.20420382199995 meters 0.016454653989352787 Centerline is valid? [True, True] Translation: X:293.79, Y:-30.38, Z:-8.45 [[ 9.85425527e-01 1.69749797e-01 1.10243506e-02 2.93787720e+02] [-1.69740074e-01 9.85487189e-01 -1.81853208e-03 -3.03821432e+01] [-1.11730518e-02 -7.92461640e-05 9.99937576e-01 -8.45204972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.26420382199996 meters 0.017304182844380685 Centerline is valid? [True, True] Translation: X:293.85, Y:-30.38, Z:-8.45 [[ 9.84963945e-01 1.72369674e-01 1.16069779e-02 2.93850277e+02] [-1.72359074e-01 9.85032326e-01 -1.91495073e-03 -3.03818069e+01] [-1.17633279e-02 -1.14410546e-04 9.99930803e-01 -8.45052102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.32420382199996 meters 0.019003580397207925 Centerline is valid? [True, True] Translation: X:293.91, Y:-30.38, Z:-8.46 [[ 9.84736330e-01 1.73719224e-01 1.07699801e-02 2.93910990e+02] [-1.73710171e-01 9.84795216e-01 -1.77752822e-03 -3.03811369e+01] [-1.09150157e-02 -1.20458469e-04 9.99940422e-01 -8.45509517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.38420382199996 meters 0.019377997950768003 Centerline is valid? [True, True] Translation: X:293.97, Y:-30.38, Z:-8.46 [[ 9.84695845e-01 1.73935580e-01 1.09775942e-02 2.93971664e+02] [-1.73926183e-01 9.84757025e-01 -1.81222359e-03 -3.03826387e+01] [-1.11254732e-02 -1.24802030e-04 9.99938102e-01 -8.45647479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.44420382199996 meters 0.018524540055071467 Centerline is valid? [True, True] Translation: X:294.03, Y:-30.38, Z:-8.46 [[ 9.84643578e-01 1.74218831e-01 1.11724137e-02 2.94032929e+02] [-1.74209120e-01 9.84706952e-01 -1.84411742e-03 -3.03810154e+01] [-1.13228334e-02 -1.30537969e-04 9.99935886e-01 -8.45564139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.50420382199997 meters 0.017973712676238086 Centerline is valid? [True, True] Translation: X:294.09, Y:-30.38, Z:-8.46 [[ 9.84897135e-01 1.72765108e-01 1.13952147e-02 2.94092515e+02] [-1.72754909e-01 9.84963047e-01 -1.88080133e-03 -3.03802352e+01] [-1.15488022e-02 -1.16183432e-04 9.99933304e-01 -8.45907559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.56420382199997 meters 0.01600378350344524 Centerline is valid? [True, True] Translation: X:294.15, Y:-30.38, Z:-8.46 [[ 9.85587262e-01 1.68808721e-01 1.10165730e-02 2.94151653e+02] [-1.68798943e-01 9.85648828e-01 -1.81813705e-03 -3.03843081e+01] [-1.11653897e-02 -6.76531597e-05 9.99937663e-01 -8.46280078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.62420382199997 meters 0.015065086596895413 Centerline is valid? [True, True] Translation: X:294.21, Y:-30.40, Z:-8.47 [[ 9.86932574e-01 1.60766630e-01 1.08713320e-02 2.94209414e+02] [-1.60756628e-01 9.86992447e-01 -1.79342288e-03 -3.03950807e+01] [-1.10182451e-02 2.23487885e-05 9.99939297e-01 -8.46755790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.684203822 meters 0.02069783145824166 Centerline is valid? [True, True] Translation: X:294.27, Y:-30.41, Z:-8.47 [[ 9.88167900e-01 1.53119874e-01 8.86033299e-03 2.94269333e+02] [-1.53112937e-01 9.88207618e-01 -1.45997799e-03 -3.04066373e+01] [-8.97940020e-03 8.60717741e-05 9.99959681e-01 -8.46909005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.744203822 meters 0.032515947430013264 Centerline is valid? [True, True] Translation: X:294.33, Y:-30.42, Z:-8.48 [[ 9.88865800e-01 1.48557548e-01 8.66514866e-03 2.94326906e+02] [-1.48550724e-01 9.88903756e-01 -1.42950143e-03 -3.04200327e+01] [-8.78136129e-03 1.26370971e-04 9.99961435e-01 -8.47597513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.804203822 meters 0.02043019919933342 Centerline is valid? [True, True] Translation: X:294.39, Y:-30.42, Z:-8.47 [[ 9.88689177e-01 1.49693035e-01 9.25774114e-03 2.94387359e+02] [-1.49685298e-01 9.88732512e-01 -1.52697271e-03 -3.04188844e+01] [-9.38200684e-03 1.23953653e-04 9.99955980e-01 -8.47087696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.864203822 meters 0.019254561667336634 Centerline is valid? [True, True] Translation: X:294.45, Y:-30.42, Z:-8.47 [[ 9.88353871e-01 1.51851772e-01 9.88252894e-03 2.94446311e+02] [-1.51843064e-01 9.88403271e-01 -1.62995439e-03 -3.04230551e+01] [-1.00154354e-02 1.10378257e-04 9.99949838e-01 -8.47240058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.924203822 meters 0.01566038747415498 Centerline is valid? [True, True] Translation: X:294.51, Y:-30.42, Z:-8.47 [[ 9.87829021e-01 1.55053302e-01 1.23409540e-02 2.94506409e+02] [-1.55039978e-01 9.87906101e-01 -2.03492518e-03 -3.04226185e+01] [-1.25072256e-02 9.68169148e-05 9.99921777e-01 -8.46791118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.984203822 meters 0.013940204765249344 Centerline is valid? [True, True] Translation: X:294.57, Y:-30.42, Z:-8.47 [[ 9.87404268e-01 1.57723655e-01 1.24923909e-02 2.94565641e+02] [-1.57710224e-01 9.87483288e-01 -2.05927254e-03 -3.04229994e+01] [-1.26608232e-02 6.31567295e-05 9.99919847e-01 -8.46888443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.044203822 meters 0.013896176831290363 Centerline is valid? [True, True] Translation: X:294.62, Y:-30.43, Z:-8.47 [[ 9.87214247e-01 1.58909394e-01 1.24833737e-02 2.94622964e+02] [-1.58896083e-01 9.87293169e-01 -2.05733087e-03 -3.04289013e+01] [-1.26516788e-02 4.74671605e-05 9.99919963e-01 -8.47235389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.104203822 meters 0.02585786867948764 Centerline is valid? [True, True] Translation: X:294.68, Y:-30.44, Z:-8.48 [[ 9.87151718e-01 1.59300033e-01 1.24493272e-02 2.94681889e+02] [-1.59286839e-01 9.87230215e-01 -2.05068777e-03 -3.04355590e+01] [-1.26170266e-02 4.13259759e-05 9.99920401e-01 -8.47601998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.164203822 meters 0.013491496409988854 Centerline is valid? [True, True] Translation: X:294.74, Y:-30.44, Z:-8.48 [[ 9.86706306e-01 1.62035750e-01 1.24531343e-02 2.94740295e+02] [-1.62022773e-01 9.86784888e-01 -2.05067678e-03 -3.04403504e+01] [-1.26208477e-02 5.72436346e-06 9.99920354e-01 -8.47565365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.224203822 meters 0.014071095677359124 Centerline is valid? [True, True] Translation: X:294.80, Y:-30.44, Z:-8.48 [[ 9.86027515e-01 1.66103166e-01 1.26284297e-02 2.94799643e+02] [-1.66090163e-01 9.86108379e-01 -2.07889263e-03 -3.04411624e+01] [-1.27983110e-02 -4.76126180e-05 9.99918097e-01 -8.47667476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.284203822 meters 0.01695048380556398 Centerline is valid? [True, True] Translation: X:294.86, Y:-30.44, Z:-8.48 [[ 9.85080617e-01 1.71612170e-01 1.28623641e-02 2.94859382e+02] [-1.71599158e-01 9.85164579e-01 -2.11673246e-03 -3.04388152e+01] [-1.30348026e-02 -1.22018729e-04 9.99915036e-01 -8.47742137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.344203822 meters 0.023042635378847678 Centerline is valid? [True, True] Translation: X:294.92, Y:-30.43, Z:-8.48 [[ 9.83838102e-01 1.78616193e-01 1.26033527e-02 2.94920782e+02] [-1.78604285e-01 9.83918803e-01 -2.07329846e-03 -3.04289150e+01] [-1.27710004e-02 -2.11222778e-04 9.99918425e-01 -8.47926031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.404203822 meters 0.028732764308588177 Centerline is valid? [True, True] Translation: X:294.98, Y:-30.43, Z:-8.48 [[ 9.83142106e-01 1.82472141e-01 1.16411952e-02 2.94979974e+02] [-1.82462251e-01 9.83210994e-01 -1.91501704e-03 -3.04260238e+01] [-1.17951884e-02 -2.41344798e-04 9.99930405e-01 -8.48460632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.464203822 meters 0.026013296672210792 Centerline is valid? [True, True] Translation: X:295.04, Y:-30.43, Z:-8.49 [[ 9.83704690e-01 1.79439242e-01 1.12535316e-02 2.95038313e+02] [-1.79429810e-01 9.83769037e-01 -1.85053381e-03 -3.04326946e+01] [-1.14029343e-02 -1.98840248e-04 9.99934965e-01 -8.48644200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.524203822 meters 0.019250091085349946 Centerline is valid? [True, True] Translation: X:295.10, Y:-30.44, Z:-8.49 [[ 9.84797457e-01 1.73412997e-01 1.00945918e-02 2.95095136e+02] [-1.73405092e-01 9.84849186e-01 -1.65981892e-03 -3.04436216e+01] [-1.02294846e-02 -1.15868158e-04 9.99947671e-01 -8.48968221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.58420382199995 meters 0.02288170782040001 Centerline is valid? [True, True] Translation: X:295.15, Y:-30.46, Z:-8.49 [[ 9.86483056e-01 1.63449178e-01 1.16424727e-02 2.95152032e+02] [-1.63437987e-01 9.86551755e-01 -1.91263849e-03 -3.04640929e+01] [-1.17985211e-02 -1.60368499e-05 9.99930395e-01 -8.49076641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.64420382199995 meters 0.022021242317221423 Centerline is valid? [True, True] Translation: X:295.21, Y:-30.48, Z:-8.49 [[ 9.87471419e-01 1.57339207e-01 1.20237204e-02 2.95209626e+02] [-1.57326817e-01 9.87544617e-01 -1.97535912e-03 -3.04765700e+01] [-1.21847618e-02 5.89570148e-05 9.99925761e-01 -8.49134375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.70420382199995 meters 0.028090011102831127 Centerline is valid? [True, True] Translation: X:295.27, Y:-30.48, Z:-8.50 [[ 9.87767715e-01 1.55596887e-01 1.02249684e-02 2.95267508e+02] [-1.55587829e-01 9.87820634e-01 -1.68023871e-03 -3.04815190e+01] [-1.03618747e-02 6.88049152e-05 9.99946312e-01 -8.49790315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.76420382199996 meters 0.016435040353250233 Centerline is valid? [True, True] Translation: X:295.33, Y:-30.49, Z:-8.50 [[ 9.87962754e-01 1.54443998e-01 8.75485517e-03 2.95325610e+02] [-1.54437321e-01 9.88001542e-01 -1.43776325e-03 -3.04875057e+01] [-8.87186431e-03 6.83801649e-05 9.99960642e-01 -8.49736766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.82420382199996 meters 0.01799308737444787 Centerline is valid? [True, True] Translation: X:295.38, Y:-30.50, Z:-8.50 [[ 9.88049387e-01 1.53915366e-01 8.27454980e-03 2.95381885e+02] [-1.53909386e-01 9.88084033e-01 -1.35844096e-03 -3.04985412e+01] [-8.38503547e-03 6.86758806e-05 9.99964843e-01 -8.50305449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.88420382199996 meters 0.02289242620066905 Centerline is valid? [True, True] Translation: X:295.44, Y:-30.50, Z:-8.50 [[ 9.87993533e-01 1.54186281e-01 9.76576754e-03 2.95441456e+02] [-1.54177977e-01 9.88041793e-01 -1.60210901e-03 -3.04997449e+01] [-9.89600970e-03 7.72070555e-05 9.99951030e-01 -8.50001203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.94420382199996 meters 0.014829020733407918 Centerline is valid? [True, True] Translation: X:295.50, Y:-30.50, Z:-8.50 [[ 9.87481204e-01 1.57430482e-01 9.82418885e-03 2.95499839e+02] [-1.57422236e-01 9.87530071e-01 -1.61193670e-03 -3.05030474e+01] [-9.95544988e-03 4.52114191e-05 9.99950442e-01 -8.50029441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.00420382199997 meters 0.015035528824643572 Centerline is valid? [True, True] Translation: X:295.56, Y:-30.50, Z:-8.50 [[ 9.86200653e-01 1.65275897e-01 9.59951746e-03 2.95560135e+02] [-1.65268411e-01 9.86247371e-01 -1.57345641e-03 -3.04997750e+01] [-9.72755328e-03 -3.47532572e-05 9.99952686e-01 -8.50307529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.06420382199997 meters 0.018882144790152038 Centerline is valid? [True, True] Translation: X:295.62, Y:-30.49, Z:-8.50 [[ 9.84953846e-01 1.72475412e-01 1.08698310e-02 2.95619979e+02] [-1.72466251e-01 9.85013816e-01 -1.78170633e-03 -3.04930122e+01] [-1.10142342e-02 -1.19780489e-04 9.99939334e-01 -8.50358956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.12420382199997 meters 0.022476776175798362 Centerline is valid? [True, True] Translation: X:295.68, Y:-30.49, Z:-8.50 [[ 9.84359969e-01 1.75682793e-01 1.30769881e-02 2.95678746e+02] [-1.75669847e-01 9.84446809e-01 -2.14119300e-03 -3.04903005e+01] [-1.32497700e-02 -1.89527821e-04 9.99912200e-01 -8.50319221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.184203822 meters 0.01867005876507903 Centerline is valid? [True, True] Translation: X:295.74, Y:-30.50, Z:-8.50 [[ 9.84921842e-01 1.72414121e-01 1.42244605e-02 2.95736640e+02] [-1.72398456e-01 9.85024541e-01 -2.32944674e-03 -3.05044153e+01] [-1.44130722e-02 -1.57952049e-04 9.99896114e-01 -8.50270900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.244203822 meters 0.014302639461685107 Centerline is valid? [True, True] Translation: X:295.79, Y:-30.52, Z:-8.51 [[ 9.86360156e-01 1.64158300e-01 1.20704482e-02 2.95793556e+02] [-1.64146415e-01 9.86434008e-01 -1.97552150e-03 -3.05229884e+01] [-1.22309989e-02 -3.27451147e-05 9.99925198e-01 -8.50711537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.304203822 meters 0.015585425260820034 Centerline is valid? [True, True] Translation: X:295.85, Y:-30.55, Z:-8.51 [[ 9.87642739e-01 1.56341188e-01 1.09202839e-02 2.95847960e+02] [-1.56331017e-01 9.87703108e-01 -1.78414641e-03 -3.05476289e+01] [-1.10649339e-02 5.49201517e-05 9.99938780e-01 -8.51338158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.364203822 meters 0.017470509879398546 Centerline is valid? [True, True] Translation: X:295.91, Y:-30.56, Z:-8.51 [[ 9.88479045e-01 1.50982581e-01 1.06507265e-02 2.95905169e+02] [-1.50972604e-01 9.88536417e-01 -1.73929149e-03 -3.05643076e+01] [-1.07912337e-02 1.11285279e-04 9.99941767e-01 -8.51206152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.424203822 meters 0.020206470239065653 Centerline is valid? [True, True] Translation: X:295.96, Y:-30.58, Z:-8.52 [[ 9.88626579e-01 1.50091782e-01 9.48386697e-03 2.95962210e+02] [-1.50083833e-01 9.88672062e-01 -1.54841194e-03 -3.05781212e+01] [-9.60883822e-03 1.07426092e-04 9.99953828e-01 -8.51702264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.484203822 meters 0.016829775501411053 Centerline is valid? [True, True] Translation: X:296.02, Y:-30.59, Z:-8.52 [[ 9.88112425e-01 1.53443825e-01 9.42487808e-03 2.96019666e+02] [-1.53436129e-01 9.88157370e-01 -1.53854063e-03 -3.05862655e+01] [-9.54934229e-03 7.41343006e-05 9.99954401e-01 -8.51862941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.544203822 meters 0.014452990382440608 Centerline is valid? [True, True] Translation: X:296.08, Y:-30.59, Z:-8.52 [[ 9.87209531e-01 1.59095912e-01 1.02874872e-02 2.96078319e+02] [-1.59087061e-01 9.87263131e-01 -1.67832165e-03 -3.05901458e+01] [-1.04234709e-02 2.02490262e-05 9.99945674e-01 -8.51836953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.604203822 meters 0.014486829470695906 Centerline is valid? [True, True] Translation: X:296.14, Y:-30.60, Z:-8.52 [[ 9.86472549e-01 1.63504189e-01 1.17596689e-02 2.96136415e+02] [-1.63492943e-01 9.86542639e-01 -1.91789719e-03 -3.05954543e+01] [-1.19149991e-02 -3.06699530e-05 9.99929013e-01 -8.51921215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.664203822 meters 0.01481860429009442 Centerline is valid? [True, True] Translation: X:296.19, Y:-30.61, Z:-8.52 [[ 9.86200793e-01 1.65172116e-01 1.12324312e-02 2.96194252e+02] [-1.65161974e-01 9.86264756e-01 -1.83107873e-03 -3.06051521e+01] [-1.13805941e-02 -4.93592064e-05 9.99935238e-01 -8.52037154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.724203822 meters 0.017915826361349863 Centerline is valid? [True, True] Translation: X:296.25, Y:-30.61, Z:-8.52 [[ 9.85212393e-01 1.70972770e-01 1.11737626e-02 2.96253308e+02] [-1.70963112e-01 9.85275747e-01 -1.82096022e-03 -3.06072552e+01] [-1.13205719e-02 -1.16268652e-04 9.99935914e-01 -8.52268225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.784203822 meters 0.020408630257803023 Centerline is valid? [True, True] Translation: X:296.31, Y:-30.62, Z:-8.53 [[ 9.85149744e-01 1.71480906e-01 8.61864756e-03 2.96309703e+02] [-1.71475178e-01 9.85187439e-01 -1.40469165e-03 -3.06186071e+01] [-8.73186112e-03 -9.40525133e-05 9.99961872e-01 -8.53228727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.844203822 meters 0.0189147174948776 Centerline is valid? [True, True] Translation: X:296.37, Y:-30.63, Z:-8.54 [[ 9.85510127e-01 1.69492520e-01 6.48650348e-03 2.96367463e+02] [-1.69489234e-01 9.85531472e-01 -1.05695202e-03 -3.06298651e+01] [-6.57179878e-03 -5.77555901e-05 9.99978404e-01 -8.53589334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.904203822 meters 0.0172314913688233 Centerline is valid? [True, True] Translation: X:296.42, Y:-30.65, Z:-8.54 [[ 9.86125571e-01 1.65883466e-01 6.24773775e-03 2.96424089e+02] [-1.65880347e-01 9.86145362e-01 -1.01778396e-03 -3.06458003e+01] [-6.33001113e-03 -3.27141121e-05 9.99979965e-01 -8.53700847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.964203822 meters 0.016694024093690373 Centerline is valid? [True, True] Translation: X:296.48, Y:-30.66, Z:-8.54 [[ 9.86374007e-01 1.64340217e-01 7.65585977e-03 2.96480563e+02] [-1.64335491e-01 9.86403717e-01 -1.24671471e-03 -3.06592016e+01] [-7.75665390e-03 -2.84024925e-05 9.99969916e-01 -8.53802623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.024203822 meters 0.016056312896766584 Centerline is valid? [True, True] Translation: X:296.54, Y:-30.66, Z:-8.54 [[ 9.86143071e-01 1.65635464e-01 9.31326227e-03 2.96538989e+02] [-1.65628538e-01 9.86187047e-01 -1.51540765e-03 -3.06645581e+01] [-9.43562387e-03 -4.81332592e-05 9.99955482e-01 -8.53504589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.08420382199995 meters 0.01728383253149935 Centerline is valid? [True, True] Translation: X:296.60, Y:-30.67, Z:-8.54 [[ 9.85773866e-01 1.67848905e-01 8.75386504e-03 2.96597385e+02] [-1.67842875e-01 9.85812731e-01 -1.42429124e-03 -3.06682891e+01] [-8.86873733e-03 -6.52447926e-05 9.99960670e-01 -8.53764260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.14420382199995 meters 0.016304966161687633 Centerline is valid? [True, True] Translation: X:296.66, Y:-30.67, Z:-8.53 [[ 9.85700632e-01 1.68185967e-01 1.03799842e-02 2.96656238e+02] [-1.68177519e-01 9.85755281e-01 -1.68769084e-03 -3.06745454e+01] [-1.05159702e-02 -8.21220655e-05 9.99944702e-01 -8.53446177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.20420382199995 meters 0.016920525548357525 Centerline is valid? [True, True] Translation: X:296.71, Y:-30.68, Z:-8.54 [[ 9.85880227e-01 1.67129122e-01 1.03939717e-02 2.96713591e+02] [-1.67120596e-01 9.85935014e-01 -1.68964564e-03 -3.06807336e+01] [-1.05301697e-02 -7.12585212e-05 9.99944554e-01 -8.53893365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.26420382199996 meters 0.016150503834974975 Centerline is valid? [True, True] Translation: X:296.77, Y:-30.69, Z:-8.54 [[ 9.86090506e-01 1.65958214e-01 9.13151911e-03 2.96771715e+02] [-1.65951589e-01 9.86132784e-01 -1.48379533e-03 -3.06903815e+01] [-9.25113839e-03 -5.22336184e-05 9.99957206e-01 -8.54008773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.32420382199996 meters 0.01503237920068741 Centerline is valid? [True, True] Translation: X:296.83, Y:-30.70, Z:-8.54 [[ 9.86694459e-01 1.62333450e-01 9.04967245e-03 2.96828804e+02] [-1.62326792e-01 9.86735958e-01 -1.47028292e-03 -3.07005678e+01] [-9.16831331e-03 -1.82842894e-05 9.99957970e-01 -8.54202960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.38420382199996 meters 0.025925453488732417 Centerline is valid? [True, True] Translation: X:296.89, Y:-30.71, Z:-8.54 [[ 9.87165007e-01 1.59365365e-01 1.03888812e-02 2.96886777e+02] [-1.59356439e-01 9.87219672e-01 -1.68670353e-03 -3.07125192e+01] [-1.05249100e-02 9.51958050e-06 9.99944612e-01 -8.54485289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.44420382199996 meters 0.015458941696141964 Centerline is valid? [True, True] Translation: X:296.94, Y:-30.73, Z:-8.54 [[ 9.88192690e-01 1.52695693e-01 1.26187301e-02 2.96943171e+02] [-1.52681992e-01 9.88273250e-01 -2.04782931e-03 -3.07333697e+01] [-1.27834481e-02 9.69971215e-05 9.99918284e-01 -8.53862994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.50420382199997 meters 0.021281441978115778 Centerline is valid? [True, True] Translation: X:297.00, Y:-30.76, Z:-8.54 [[ 9.89492086e-01 1.43949575e-01 1.35621362e-02 2.96999332e+02] [-1.43932942e-01 9.89584999e-01 -2.19974980e-03 -3.07591817e+01] [-1.37375396e-02 2.24596864e-04 9.99905610e-01 -8.53835439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.56420382199997 meters 0.03348031746971545 Centerline is valid? [True, True] Translation: X:297.06, Y:-30.78, Z:-8.55 [[ 9.90514804e-01 1.36905649e-01 1.17161068e-02 2.97056233e+02] [-1.36892749e-01 9.90584053e-01 -1.89983156e-03 -3.07832289e+01] [-1.18658862e-02 2.77961225e-04 9.99929559e-01 -8.54558093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.62420382199997 meters 0.03306710734821655 Centerline is valid? [True, True] Translation: X:297.11, Y:-30.81, Z:-8.55 [[ 9.90805774e-01 1.34862637e-01 1.07697685e-02 2.97111038e+02] [-1.34851608e-01 9.90864265e-01 -1.74706209e-03 -3.08090811e+01] [-1.09069922e-02 2.78678602e-04 9.99940478e-01 -8.54875789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.684203822 meters 0.03281688233957997 Centerline is valid? [True, True] Translation: X:297.17, Y:-30.82, Z:-8.55 [[ 9.90363195e-01 1.38137758e-01 9.93483764e-03 2.97169543e+02] [-1.38128539e-01 9.90413000e-01 -1.61147714e-03 -3.08177902e+01] [-1.00621982e-02 2.23663043e-04 9.99949350e-01 -8.55161168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.744203822 meters 0.033206304250068576 Centerline is valid? [True, True] Translation: X:297.23, Y:-30.83, Z:-8.55 [[ 9.90100273e-01 1.39941883e-01 1.08498558e-02 2.97227639e+02] [-1.39931010e-01 9.90159694e-01 -1.75860759e-03 -3.08293581e+01] [-1.09891928e-02 2.22966568e-04 9.99939592e-01 -8.55201360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.804203822 meters 0.020134515477908007 Centerline is valid? [True, True] Translation: X:297.29, Y:-30.84, Z:-8.55 [[ 9.89002042e-01 1.47502312e-01 1.08641023e-02 2.97285781e+02] [-1.47491873e-01 9.89061701e-01 -1.76028093e-03 -3.08408008e+01] [-1.10049131e-02 1.38554628e-04 9.99939435e-01 -8.55106467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.864203822 meters 0.014604826055068318 Centerline is valid? [True, True] Translation: X:297.35, Y:-30.85, Z:-8.55 [[ 9.87781556e-01 1.55403995e-01 1.17130583e-02 2.97345322e+02] [-1.55392423e-01 9.87850999e-01 -1.89728263e-03 -3.08503327e+01] [-1.18656017e-02 5.39802835e-05 9.99929600e-01 -8.54935461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.924203822 meters 0.02825554902615222 Centerline is valid? [True, True] Translation: X:297.40, Y:-30.86, Z:-8.56 [[ 9.86450898e-01 1.63783399e-01 9.46700066e-03 2.97402508e+02] [-1.63776212e-01 9.86496324e-01 -1.53477683e-03 -3.08556860e+01] [-9.59053232e-03 -3.64875252e-05 9.99954009e-01 -8.56040500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.984203822 meters 0.020262131637953807 Centerline is valid? [True, True] Translation: X:297.46, Y:-30.86, Z:-8.56 [[ 9.85026066e-01 1.72152593e-01 9.33453893e-03 2.97461361e+02] [-1.72145996e-01 9.85070287e-01 -1.51167335e-03 -3.08632715e+01] [-9.45541543e-03 -1.17865852e-04 9.99955290e-01 -8.55738819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.044203822 meters 0.02814286119130333 Centerline is valid? [True, True] Translation: X:297.52, Y:-30.86, Z:-8.56 [[ 9.83468072e-01 1.80850011e-01 9.15562688e-03 2.97521503e+02] [-1.80844048e-01 9.83510668e-01 -1.48187795e-03 -3.08649948e+01] [-9.27265435e-03 -1.98360980e-04 9.99956988e-01 -8.55969365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.104203822 meters 0.033743332719517655 Centerline is valid? [True, True] Translation: X:297.58, Y:-30.87, Z:-8.56 [[ 9.82675862e-01 1.85107777e-01 9.12479202e-03 2.97580133e+02] [-1.85102034e-01 9.82718197e-01 -1.47725426e-03 -3.08704236e+01] [-9.24055041e-03 -2.37355462e-04 9.99957277e-01 -8.56270748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.164203822 meters 0.03425592518432992 Centerline is valid? [True, True] Translation: X:297.64, Y:-30.88, Z:-8.56 [[ 9.82133875e-01 1.87950807e-01 9.35658599e-03 2.97639137e+02] [-1.87944903e-01 9.82178406e-01 -1.51417748e-03 -3.08804812e+01] [-9.47442759e-03 -2.71397653e-04 9.99955080e-01 -8.56292375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.224203822 meters 0.036299112237745935 Centerline is valid? [True, True] Translation: X:297.70, Y:-30.89, Z:-8.57 [[ 9.82246586e-01 1.87395948e-01 8.62576939e-03 2.97695530e+02] [-1.87390900e-01 9.82284429e-01 -1.39699529e-03 -3.08874705e+01] [-8.73475022e-03 -2.44196833e-04 9.99961822e-01 -8.56742124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.284203822 meters 0.033409888816281576 Centerline is valid? [True, True] Translation: X:297.75, Y:-30.90, Z:-8.57 [[ 9.82523299e-01 1.85936242e-01 8.69951514e-03 2.97753190e+02] [-1.85931063e-01 9.82561784e-01 -1.40739670e-03 -3.09013902e+01] [-8.80949717e-03 -2.34710049e-04 9.99961168e-01 -8.56798675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.344203822 meters 0.028632515086243256 Centerline is valid? [True, True] Translation: X:297.81, Y:-30.91, Z:-8.56 [[ 9.83139773e-01 1.82584178e-01 9.96013902e-03 2.97811625e+02] [-1.82577230e-01 9.83190196e-01 -1.61018460e-03 -3.09131056e+01] [-1.00867053e-02 -2.35458069e-04 9.99949100e-01 -8.56486258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.404203822 meters 0.030813699011742423 Centerline is valid? [True, True] Translation: X:297.87, Y:-30.92, Z:-8.57 [[ 9.83775015e-01 1.79134202e-01 9.88218521e-03 2.97869322e+02] [-1.79127185e-01 9.83824628e-01 -1.59782253e-03 -3.09244505e+01] [-1.00085619e-02 -1.98270135e-04 9.99949893e-01 -8.56902426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.464203822 meters 0.019517636633574108 Centerline is valid? [True, True] Translation: X:297.93, Y:-30.94, Z:-8.57 [[ 9.85089327e-01 1.71730186e-01 1.03807820e-02 2.97927568e+02] [-1.71722046e-01 9.85144013e-01 -1.67712983e-03 -3.09389818e+01] [-1.05145791e-02 -1.30486429e-04 9.99944712e-01 -8.56834827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.524203822 meters 0.0182803853808645 Centerline is valid? [True, True] Translation: X:297.99, Y:-30.95, Z:-8.57 [[ 9.85453326e-01 1.69659555e-01 9.86805246e-03 2.97986212e+02] [-1.69652089e-01 9.85502727e-01 -1.59490548e-03 -3.09471075e+01] [-9.99558356e-03 -1.02430813e-04 9.99950038e-01 -8.57100400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.58420382199995 meters 0.01727663590791339 Centerline is valid? [True, True] Translation: X:298.04, Y:-30.95, Z:-8.57 [[ 9.85833902e-01 1.67411612e-01 1.02406314e-02 2.98044744e+02] [-1.67403456e-01 9.85887085e-01 -1.65453434e-03 -3.09503308e+01] [-1.03730945e-02 -8.32210406e-05 9.99946195e-01 -8.57387740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.64420382199995 meters 0.01645218582169933 Centerline is valid? [True, True] Translation: X:298.10, Y:-30.95, Z:-8.58 [[ 9.86297674e-01 1.64693815e-01 9.63568910e-03 2.98102690e+02] [-1.64686461e-01 9.86344739e-01 -1.55712751e-03 -3.09539443e+01] [-9.76056053e-03 -5.10763037e-05 9.99952363e-01 -8.57786659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.70420382199995 meters 0.01508611917978276 Centerline is valid? [True, True] Translation: X:298.16, Y:-30.96, Z:-8.58 [[ 9.87182172e-01 1.59384299e-01 8.24643461e-03 2.98160576e+02] [-1.59378737e-01 9.87216615e-01 -1.33146104e-03 -3.09625476e+01] [-8.35323125e-03 8.82661230e-08 9.99965111e-01 -8.57991954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.76420382199996 meters 0.022297170228997694 Centerline is valid? [True, True] Translation: X:298.22, Y:-30.97, Z:-8.58 [[ 9.88275504e-01 1.52448548e-01 8.42425656e-03 2.98218964e+02] [-1.52442496e-01 9.88311407e-01 -1.35970718e-03 -3.09696894e+01] [-8.53307424e-03 5.95505999e-05 9.99963591e-01 -8.58290135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.82420382199996 meters 0.022801485116158066 Centerline is valid? [True, True] Translation: X:298.28, Y:-30.99, Z:-8.58 [[ 9.89663531e-01 1.43093292e-01 9.50817481e-03 2.98275942e+02] [-1.43085159e-01 9.89709192e-01 -1.53375581e-03 -3.09877492e+01] [-9.62979817e-03 1.57423487e-04 9.99953620e-01 -8.58185702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.88420382199996 meters 0.03217163076979841 Centerline is valid? [True, True] Translation: X:298.33, Y:-31.01, Z:-8.58 [[ 9.91229205e-01 1.31908435e-01 8.05152044e-03 2.98332970e+02] [-1.31902240e-01 9.91261880e-01 -1.29803373e-03 -3.10112846e+01] [-8.15238688e-03 2.24635363e-04 9.99966744e-01 -8.58493397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.94420382199996 meters 0.03936663190576535 Centerline is valid? [True, True] Translation: X:298.39, Y:-31.03, Z:-8.59 [[ 9.92242474e-01 1.24048294e-01 8.17886967e-03 2.98391018e+02] [-1.24041634e-01 9.92276138e-01 -1.31859376e-03 -3.10296053e+01] [-8.27926652e-03 2.93844379e-04 9.99965683e-01 -8.58514291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.00420382199997 meters 0.04331958568610391 Centerline is valid? [True, True] Translation: X:298.45, Y:-31.04, Z:-8.59 [[ 9.92418888e-01 1.22520867e-01 9.66376778e-03 2.98447936e+02] [-1.22511494e-01 9.92465871e-01 -1.55828172e-03 -3.10446749e+01] [-9.78188174e-03 3.62545587e-04 9.99952091e-01 -8.58542469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.06420382199997 meters 0.03203999955845519 Centerline is valid? [True, True] Translation: X:298.51, Y:-31.04, Z:-8.58 [[ 9.91427431e-01 1.30252108e-01 1.02974474e-02 2.98508821e+02] [-1.30241889e-01 9.91480860e-01 -1.65971623e-03 -3.10430690e+01] [-1.04259035e-02 3.04329198e-04 9.99945602e-01 -8.58282048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.12420382199997 meters 0.024957016990549613 Centerline is valid? [True, True] Translation: X:298.57, Y:-31.04, Z:-8.58 [[ 9.90224905e-01 1.39071422e-01 1.06666026e-02 2.98569368e+02] [-1.39060972e-01 9.90282329e-01 -1.71887256e-03 -3.10386858e+01] [-1.08019942e-02 2.18762291e-04 9.99941633e-01 -8.58392323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.184203822 meters 0.015995152948501075 Centerline is valid? [True, True] Translation: X:298.63, Y:-31.03, Z:-8.59 [[ 9.88125697e-01 1.53301020e-01 1.03152476e-02 2.98630343e+02] [-1.53292021e-01 9.88179535e-01 -1.66212052e-03 -3.10299144e+01] [-1.04481213e-02 6.11388496e-05 9.99945415e-01 -8.58985732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.244203822 meters 0.01430430535023603 Centerline is valid? [True, True] Translation: X:298.69, Y:-31.03, Z:-8.59 [[ 9.86719354e-01 1.62082882e-01 1.06796910e-02 2.98689829e+02] [-1.62073745e-01 9.86777147e-01 -1.72130733e-03 -3.10280847e+01] [-1.08174695e-02 -3.24502538e-05 9.99941489e-01 -8.58864756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.304203822 meters 0.015544037077962442 Centerline is valid? [True, True] Translation: X:298.75, Y:-31.03, Z:-8.59 [[ 9.86320170e-01 1.64531266e-01 1.00987343e-02 2.98747347e+02] [-1.64523226e-01 9.86371867e-01 -1.62746477e-03 -3.10319971e+01] [-1.02288763e-02 -5.62750239e-05 9.99947682e-01 -8.59227505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.364203822 meters 0.014837258739376667 Centerline is valid? [True, True] Translation: X:298.80, Y:-31.05, Z:-8.60 [[ 9.86805824e-01 1.61629329e-01 9.49871127e-03 2.98803057e+02] [-1.61622085e-01 9.86851539e-01 -1.53051337e-03 -3.10501643e+01] [-9.62119368e-03 -2.48820122e-05 9.99953715e-01 -8.59556405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.424203822 meters 0.014775710955260922 Centerline is valid? [True, True] Translation: X:298.86, Y:-31.07, Z:-8.60 [[ 9.87350456e-01 1.58242435e-01 9.92009213e-03 2.98858655e+02] [-1.58234373e-01 9.87400290e-01 -1.59730758e-03 -3.10684456e+01] [-1.00478637e-02 7.40280913e-06 9.99949519e-01 -8.59716954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.484203822 meters 0.013833052087432554 Centerline is valid? [True, True] Translation: X:298.92, Y:-31.08, Z:-8.59 [[ 9.87287641e-01 1.58554213e-01 1.11209275e-02 2.98916140e+02] [-1.58544114e-01 9.87350273e-01 -1.78954072e-03 -3.10806691e+01] [-1.12639900e-02 3.63383697e-06 9.99936559e-01 -8.59444929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.544203822 meters 0.014426595068348569 Centerline is valid? [True, True] Translation: X:298.98, Y:-31.08, Z:-8.59 [[ 9.86394785e-01 1.63881306e-01 1.29709615e-02 2.98975715e+02] [-1.63868041e-01 9.86480062e-01 -2.08615293e-03 -3.10839774e+01] [-1.31374763e-02 -6.77556760e-05 9.99913697e-01 -8.59325913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.604203822 meters 0.030355391955085985 Centerline is valid? [True, True] Translation: X:299.04, Y:-31.08, Z:-8.60 [[ 9.85071301e-01 1.71734787e-01 1.19035477e-02 2.99036060e+02] [-1.71724195e-01 9.85143207e-01 -1.91392042e-03 -3.10828845e+01] [-1.20553858e-02 -1.58779056e-04 9.99927319e-01 -8.59882324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.664203822 meters 0.030259313030990526 Centerline is valid? [True, True] Translation: X:299.10, Y:-31.08, Z:-8.60 [[ 9.84302539e-01 1.76136677e-01 1.11526704e-02 2.99095774e+02] [-1.76127662e-01 9.84365700e-01 -1.79317197e-03 -3.10834603e+01] [-1.12941496e-02 -1.99270044e-04 9.99936199e-01 -8.60226035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.724203822 meters 0.029969435073037388 Centerline is valid? [True, True] Translation: X:299.16, Y:-31.08, Z:-8.61 [[ 9.83585282e-01 1.80156724e-01 1.01758636e-02 2.99155012e+02] [-1.80149435e-01 9.83637893e-01 -1.63605114e-03 -3.10813744e+01] [-1.03041107e-02 -2.23980264e-04 9.99946886e-01 -8.60641556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.784203822 meters 0.028558601075275872 Centerline is valid? [True, True] Translation: X:299.21, Y:-31.09, Z:-8.61 [[ 9.83506912e-01 1.80618343e-01 9.54815482e-03 2.99213515e+02] [-1.80611927e-01 9.83553236e-01 -1.53717949e-03 -3.10877832e+01] [-9.66876139e-03 -2.12683990e-04 9.99953234e-01 -8.60657231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.844203822 meters 0.02798877452340388 Centerline is valid? [True, True] Translation: X:299.27, Y:-31.09, Z:-8.61 [[ 9.83806586e-01 1.79063163e-01 7.80926295e-03 2.99271418e+02] [-1.79058822e-01 9.83837567e-01 -1.25727823e-03 -3.10933307e+01] [-7.90817848e-03 -1.61398822e-04 9.99968717e-01 -8.61218221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.904203822 meters 0.02451899144525794 Centerline is valid? [True, True] Translation: X:299.33, Y:-31.10, Z:-8.62 [[ 9.84568400e-01 1.74847535e-01 7.30782603e-03 2.99329553e+02] [-1.74843632e-01 9.84595513e-01 -1.17460425e-03 -3.11049786e+01] [-7.40062938e-03 -1.21248615e-04 9.99972608e-01 -8.61604185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.964203822 meters 0.019906854804181164 Centerline is valid? [True, True] Translation: X:299.39, Y:-31.12, Z:-8.62 [[ 9.85644952e-01 1.68689174e-01 6.92753177e-03 2.99386827e+02] [-1.68685537e-01 9.85669294e-01 -1.11010571e-03 -3.11185490e+01] [-7.01551816e-03 -7.44043327e-05 9.99975388e-01 -8.61874932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.024203822 meters 0.02329474318506347 Centerline is valid? [True, True] Translation: X:299.44, Y:-31.13, Z:-8.62 [[ 9.86720527e-01 1.62256215e-01 7.45127454e-03 2.99443619e+02] [-1.62251828e-01 9.86748661e-01 -1.19356373e-03 -3.11336250e+01] [-7.54619830e-03 -3.12690857e-05 9.99971527e-01 -8.61986658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.08420382199995 meters 0.014846216803377207 Centerline is valid? [True, True] Translation: X:299.50, Y:-31.15, Z:-8.62 [[ 9.87795007e-01 1.55375900e-01 1.09249399e-02 2.99498860e+02] [-1.55366059e-01 9.87855419e-01 -1.74896551e-03 -3.11549335e+01] [-1.10640082e-02 3.02545350e-05 9.99938792e-01 -8.61728502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.14420382199995 meters 0.014958118422206698 Centerline is valid? [True, True] Translation: X:299.56, Y:-31.17, Z:-8.62 [[ 9.88242883e-01 1.52526528e-01 1.05670454e-02 2.99556387e+02] [-1.52517167e-01 9.88299375e-01 -1.69085209e-03 -3.11682462e+01] [-1.07013042e-02 5.93167229e-05 9.99942738e-01 -8.61600307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.20420382199995 meters 0.016226422407139358 Centerline is valid? [True, True] Translation: X:299.61, Y:-31.18, Z:-8.62 [[ 9.88554777e-01 1.50575676e-01 9.29614881e-03 2.99613696e+02] [-1.50568348e-01 9.88598483e-01 -1.48720263e-03 -3.11836094e+01] [-9.41409515e-03 7.04754968e-05 9.99955684e-01 -8.62012443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.26420382199996 meters 0.01644855072368633 Centerline is valid? [True, True] Translation: X:299.67, Y:-31.20, Z:-8.62 [[ 9.88668250e-01 1.49852815e-01 8.90081925e-03 2.99671028e+02] [-1.49846071e-01 9.88708313e-01 -1.42357941e-03 -3.11968339e+01] [-9.01364137e-03 7.36949718e-05 9.99959374e-01 -8.62199415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.32420382199996 meters 0.017267948962454358 Centerline is valid? [True, True] Translation: X:299.73, Y:-31.21, Z:-8.62 [[ 9.88722352e-01 1.49441316e-01 9.76743920e-03 2.99727875e+02] [-1.49433181e-01 9.88770593e-01 -1.56153319e-03 -3.12104183e+01] [-9.89111423e-03 8.43432572e-05 9.99951078e-01 -8.62396758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.38420382199996 meters 0.014771876867193985 Centerline is valid? [True, True] Translation: X:299.79, Y:-31.21, Z:-8.63 [[ 9.87872354e-01 1.55010421e-01 8.94326395e-03 2.99786632e+02] [-1.55003833e-01 9.87912835e-01 -1.42943393e-03 -3.12131748e+01] [-9.05674240e-03 2.58580754e-05 9.99958987e-01 -8.62568313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.44420382199996 meters 0.024195529611404483 Centerline is valid? [True, True] Translation: X:299.85, Y:-31.21, Z:-8.63 [[ 9.86187821e-01 1.65455949e-01 7.60988337e-03 2.99847414e+02] [-1.65451490e-01 9.86217180e-01 -1.21615700e-03 -3.12056742e+01] [-7.70621812e-03 -5.97073141e-05 9.99970305e-01 -8.63162649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.50420382199997 meters 0.02115008002575608 Centerline is valid? [True, True] Translation: X:299.91, Y:-31.20, Z:-8.63 [[ 9.85080475e-01 1.71837126e-01 9.40537159e-03 2.99907079e+02] [-1.71830612e-01 9.85125364e-01 -1.50231089e-03 -3.12041266e+01] [-9.52362290e-03 -1.36233633e-04 9.99954640e-01 -8.62833554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.56420382199997 meters 0.02847506295933882 Centerline is valid? [True, True] Translation: X:299.97, Y:-31.21, Z:-8.63 [[ 9.85030450e-01 1.72060805e-01 1.04925041e-02 2.99965261e+02] [-1.72052717e-01 9.85086319e-01 -1.67547108e-03 -3.12059215e+01] [-1.06243052e-02 -1.54873807e-04 9.99943548e-01 -8.63205797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.62420382199997 meters 0.017694100695817217 Centerline is valid? [True, True] Translation: X:300.02, Y:-31.22, Z:-8.63 [[ 9.85891628e-01 1.66997525e-01 1.13808796e-02 3.00021710e+02] [-1.66987685e-01 9.85957309e-01 -1.81620713e-03 -3.12247173e+01] [-1.15243635e-02 -1.09883335e-04 9.99933586e-01 -8.63089010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.684203822 meters 0.014811975040575059 Centerline is valid? [True, True] Translation: X:300.08, Y:-31.24, Z:-8.63 [[ 9.87007835e-01 1.60294343e-01 1.10116987e-02 3.00077338e+02] [-1.60284717e-01 9.87069259e-01 -1.75699896e-03 -3.12413552e+01] [-1.11509463e-02 -3.08352651e-05 9.99937826e-01 -8.63414749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.744203822 meters 0.018640206822257033 Centerline is valid? [True, True] Translation: X:300.13, Y:-31.26, Z:-8.64 [[ 9.87592878e-01 1.56677736e-01 1.06016359e-02 3.00134740e+02] [-1.56668613e-01 9.87649779e-01 -1.69076653e-03 -3.12555963e+01] [-1.07356088e-02 8.84538747e-06 9.99942372e-01 -8.63713040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.804203822 meters 0.015755258411565633 Centerline is valid? [True, True] Translation: X:300.19, Y:-31.27, Z:-8.64 [[ 9.87992031e-01 1.54329010e-01 7.36914820e-03 3.00192742e+02] [-1.54324540e-01 9.88019512e-01 -1.17478845e-03 -3.12686067e+01] [-7.46216615e-03 2.34412148e-05 9.99972157e-01 -8.64285080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.864203822 meters 0.02426771401840013 Centerline is valid? [True, True] Translation: X:300.25, Y:-31.28, Z:-8.65 [[ 9.88046362e-01 1.53979632e-01 7.39315448e-03 3.00249515e+02] [-1.53975117e-01 9.88074022e-01 -1.17949007e-03 -3.12793225e+01] [-7.48660133e-03 2.70290440e-05 9.99971975e-01 -8.64652196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.924203822 meters 0.015594263607979143 Centerline is valid? [True, True] Translation: X:300.31, Y:-31.29, Z:-8.64 [[ 9.88376021e-01 1.51684760e-01 1.02261535e-02 3.00307062e+02] [-1.51676020e-01 9.88428920e-01 -1.62940596e-03 -3.12937259e+01] [-1.03549819e-02 5.94035091e-05 9.99946384e-01 -8.64157364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.984203822 meters 0.02766672581918602 Centerline is valid? [True, True] Translation: X:300.36, Y:-31.31, Z:-8.64 [[ 9.88749938e-01 1.49083675e-01 1.21498285e-02 3.00364002e+02] [-1.49071151e-01 9.88824579e-01 -1.93505108e-03 -3.13109992e+01] [-1.23025336e-02 1.02092713e-04 9.99924316e-01 -8.64185941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.044203822 meters 0.016342772929063235 Centerline is valid? [True, True] Translation: X:300.42, Y:-31.32, Z:-8.64 [[ 9.88748545e-01 1.49150319e-01 1.14235014e-02 3.00421007e+02] [-1.49139255e-01 9.88814529e-01 -1.81911911e-03 -3.13241128e+01] [-1.15670464e-02 9.49588818e-05 9.99933095e-01 -8.64270725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.104203822 meters 0.014870895660025992 Centerline is valid? [True, True] Translation: X:300.48, Y:-31.33, Z:-8.65 [[ 9.87923334e-01 1.54635993e-01 9.75680693e-03 3.00477426e+02] [-1.54628188e-01 9.87971512e-01 -1.55380724e-03 -3.13293235e+01] [-9.87972183e-03 2.63650553e-05 9.99951194e-01 -8.64762251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.164203822 meters 0.017590833201186123 Centerline is valid? [True, True] Translation: X:300.54, Y:-31.32, Z:-8.65 [[ 9.86297655e-01 1.64707588e-01 9.39922648e-03 3.00536926e+02] [-1.64700807e-01 9.86342438e-01 -1.49621966e-03 -3.13229350e+01] [-9.51729470e-03 -7.23422513e-05 9.99954707e-01 -8.64949935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.224203822 meters 0.024364876454795775 Centerline is valid? [True, True] Translation: X:300.60, Y:-31.32, Z:-8.65 [[ 9.84896324e-01 1.72817490e-01 1.06464555e-02 3.00597131e+02] [-1.72809289e-01 9.84953849e-01 -1.69250510e-03 -3.13208869e+01] [-1.07787618e-02 -1.72864358e-04 9.99941893e-01 -8.64959877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.284203822 meters 0.02709168257053921 Centerline is valid? [True, True] Translation: X:300.66, Y:-31.33, Z:-8.65 [[ 9.84390425e-01 1.75701894e-01 1.02144750e-02 3.00656672e+02] [-1.75694505e-01 9.84443399e-01 -1.62328593e-03 -3.13250733e+01] [-1.03407869e-02 -1.96680008e-04 9.99946513e-01 -8.65208925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.344203822 meters 0.025721911173370575 Centerline is valid? [True, True] Translation: X:300.71, Y:-31.33, Z:-8.65 [[ 9.84416566e-01 1.75539739e-01 1.04797015e-02 3.00714871e+02] [-1.75531950e-01 9.84472326e-01 -1.66562739e-03 -3.13342743e+01] [-1.06093599e-02 -1.99851243e-04 9.99943699e-01 -8.65274800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.404203822 meters 0.020569666975515623 Centerline is valid? [True, True] Translation: X:300.77, Y:-31.35, Z:-8.66 [[ 9.85399139e-01 1.70012005e-01 9.18996134e-03 3.00771626e+02] [-1.70005778e-01 9.85441984e-01 -1.46037196e-03 -3.13524058e+01] [-9.30445450e-03 -1.23297252e-04 9.99956705e-01 -8.65592747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.464203822 meters 0.015827797898186686 Centerline is valid? [True, True] Translation: X:300.83, Y:-31.37, Z:-8.66 [[ 9.86567717e-01 1.63031254e-01 1.02445331e-02 3.00829169e+02] [-1.63023150e-01 9.86620903e-01 -1.62679459e-03 -3.13712948e+01] [-1.03726888e-02 -6.51530270e-05 9.99946200e-01 -8.65568467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.52420382199995 meters 0.01504904792539879 Centerline is valid? [True, True] Translation: X:300.89, Y:-31.38, Z:-8.66 [[ 9.86903295e-01 1.61029882e-01 9.55313697e-03 3.00887170e+02] [-1.61022739e-01 9.86949530e-01 -1.51729536e-03 -3.13829968e+01] [-9.67279394e-03 -4.08484860e-05 9.99953217e-01 -8.65833115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.58420382199995 meters 0.019856515808687875 Centerline is valid? [True, True] Translation: X:300.95, Y:-31.40, Z:-8.66 [[ 9.87394416e-01 1.58002912e-01 9.34599942e-03 3.00945059e+02] [-1.57995935e-01 9.87438646e-01 -1.48491187e-03 -3.13964296e+01] [-9.46322142e-03 -1.04362296e-05 9.99955223e-01 -8.66063253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.64420382199995 meters 0.014923469404612567 Centerline is valid? [True, True] Translation: X:301.00, Y:-31.40, Z:-8.66 [[ 9.87404443e-01 1.57948634e-01 9.20293979e-03 3.01001919e+02] [-1.57941881e-01 9.87447330e-01 -1.46059224e-03 -3.14049227e+01] [-9.31811687e-03 -1.13343574e-05 9.99956585e-01 -8.66392290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.70420382199995 meters 0.014170664579558564 Centerline is valid? [True, True] Translation: X:301.06, Y:-31.41, Z:-8.66 [[ 9.87423293e-01 1.57757209e-01 1.03876712e-02 3.01060050e+02] [-1.57748607e-01 9.87477930e-01 -1.64746656e-03 -3.14127319e+01] [-1.05174957e-02 -1.18937999e-05 9.99944690e-01 -8.66237751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.76420382199996 meters 0.014785531824411403 Centerline is valid? [True, True] Translation: X:301.12, Y:-31.42, Z:-8.67 [[ 9.87423585e-01 1.57850730e-01 8.82109189e-03 3.01118336e+02] [-1.57844533e-01 9.87462985e-01 -1.39879020e-03 -3.14192690e+01] [-8.93130178e-03 -1.11626965e-05 9.99960115e-01 -8.66602721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.82420382199996 meters 0.024833764889408208 Centerline is valid? [True, True] Translation: X:301.18, Y:-31.43, Z:-8.67 [[ 9.87325272e-01 1.58461699e-01 8.87117774e-03 3.01175905e+02] [-1.58455455e-01 9.87365125e-01 -1.40679267e-03 -3.14251179e+01] [-8.98201427e-03 -1.67245536e-05 9.99959661e-01 -8.66850709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.88420382199996 meters 0.01743272089677817 Centerline is valid? [True, True] Translation: X:301.23, Y:-31.43, Z:-8.67 [[ 9.87347633e-01 1.58291042e-01 9.41258837e-03 3.01233866e+02] [-1.58284015e-01 9.87392498e-01 -1.49154686e-03 -3.14267703e+01] [-9.53001765e-03 -1.71870146e-05 9.99954588e-01 -8.67130935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.94420382199996 meters 0.014360700811895824 Centerline is valid? [True, True] Translation: X:301.29, Y:-31.44, Z:-8.67 [[ 9.87870047e-01 1.54890677e-01 1.10294024e-02 3.01291538e+02] [-1.54880831e-01 9.87931616e-01 -1.74649375e-03 -3.14394408e+01] [-1.11668109e-02 1.70658627e-05 9.99937649e-01 -8.66990119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.00420382199997 meters 0.022587935508180463 Centerline is valid? [True, True] Translation: X:301.35, Y:-31.45, Z:-8.67 [[ 9.88379118e-01 1.51680382e-01 9.98900552e-03 3.01349191e+02] [-1.51672145e-01 9.88429593e-01 -1.58144063e-03 -3.14504661e+01] [-1.01133022e-02 4.80090053e-05 9.99948858e-01 -8.67225734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.06420382199997 meters 0.015931774196202866 Centerline is valid? [True, True] Translation: X:301.41, Y:-31.46, Z:-8.67 [[ 9.88593913e-01 1.50218184e-01 1.07968639e-02 3.01407021e+02] [-1.50208478e-01 9.88652868e-01 -1.70889318e-03 -3.14571167e+01] [-1.09310573e-02 6.76208943e-05 9.99940252e-01 -8.67338486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.12420382199997 meters 0.024892401116822897 Centerline is valid? [True, True] Translation: X:301.46, Y:-31.47, Z:-8.67 [[ 9.88759259e-01 1.49102108e-01 1.11215701e-02 3.01464731e+02] [-1.49091746e-01 9.88821801e-01 -1.75977215e-03 -3.14651030e+01] [-1.12596368e-02 8.18566993e-05 9.99936605e-01 -8.67386487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.184203822 meters 0.017584778966839333 Centerline is valid? [True, True] Translation: X:301.52, Y:-31.47, Z:-8.68 [[ 9.88834144e-01 1.48599689e-01 1.11878253e-02 3.01520732e+02] [-1.48589177e-01 9.88897429e-01 -1.76960179e-03 -3.14744555e+01] [-1.13265739e-02 8.74529143e-05 9.99935848e-01 -8.67813729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.244203822 meters 0.01815939748714675 Centerline is valid? [True, True] Translation: X:301.58, Y:-31.48, Z:-8.68 [[ 9.89238300e-01 1.45928453e-01 1.06053028e-02 3.01578861e+02] [-1.45918870e-01 9.89295140e-01 -1.67599156e-03 -3.14840451e+01] [-1.07363494e-02 1.10441242e-04 9.99942358e-01 -8.67729958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.304203822 meters 0.02321735474661187 Centerline is valid? [True, True] Translation: X:301.63, Y:-31.51, Z:-8.68 [[ 9.90119915e-01 1.39828613e-01 1.05124738e-02 3.01634993e+02] [-1.39818861e-01 9.90175706e-01 -1.66059989e-03 -3.15071335e+01] [-1.06413955e-02 1.74350913e-04 9.99943364e-01 -8.67957517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.364203822 meters 0.03271770462029377 Centerline is valid? [True, True] Translation: X:301.69, Y:-31.53, Z:-8.68 [[ 9.90862091e-01 1.34423358e-01 1.10759714e-02 3.01689776e+02] [-1.34412200e-01 9.90923963e-01 -1.74914533e-03 -3.15345395e+01] [-1.12105714e-02 2.44416116e-04 9.99937130e-01 -8.68382261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.424203822 meters 0.026471824471410152 Centerline is valid? [True, True] Translation: X:301.75, Y:-31.55, Z:-8.68 [[ 9.90906588e-01 1.34052945e-01 1.15733460e-02 3.01747177e+02] [-1.34040739e-01 9.90974137e-01 -1.82747834e-03 -3.15466663e+01] [-1.17138655e-02 2.59560472e-04 9.99931357e-01 -8.67776684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.484203822 meters 0.02813703778524018 Centerline is valid? [True, True] Translation: X:301.80, Y:-31.56, Z:-8.68 [[ 9.90056089e-01 1.40218841e-01 1.12968079e-02 3.01804709e+02] [-1.40207624e-01 9.90120520e-01 -1.78284410e-03 -3.15589037e+01] [-1.14351897e-02 1.81217064e-04 9.99934600e-01 -8.68245769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.544203822 meters 0.016594986415654166 Centerline is valid? [True, True] Translation: X:301.86, Y:-31.57, Z:-8.68 [[ 9.89114924e-01 1.46754192e-01 1.07179286e-02 3.01863449e+02] [-1.46744478e-01 9.89172986e-01 -1.69148698e-03 -3.15662368e+01] [-1.08501182e-02 1.00278187e-04 9.99941131e-01 -8.68224951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.604203822 meters 0.015140299561531576 Centerline is valid? [True, True] Translation: X:301.92, Y:-31.56, Z:-8.69 [[ 9.87054479e-01 1.60117445e-01 9.26600456e-03 3.01922163e+02] [-1.60110769e-01 9.87097970e-01 -1.46262385e-03 -3.15622151e+01] [-9.38064589e-03 -3.98976933e-05 9.99956000e-01 -8.68682088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.664203822 meters 0.0276733651776421 Centerline is valid? [True, True] Translation: X:301.98, Y:-31.55, Z:-8.69 [[ 9.84644435e-01 1.74391397e-01 7.93580928e-03 3.01983308e+02] [-1.74386973e-01 9.84676402e-01 -1.25140489e-03 -3.15546615e+01] [-8.03243838e-03 -1.51712905e-04 9.99967728e-01 -8.69354258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.724203822 meters 0.03838558919494705 Centerline is valid? [True, True] Translation: X:302.04, Y:-31.56, Z:-8.69 [[ 9.82801770e-01 1.84497670e-01 7.82880341e-03 3.02043679e+02] [-1.84493686e-01 9.82832924e-01 -1.23440035e-03 -3.15581352e+01] [-7.92214973e-03 -2.31193944e-04 9.99968593e-01 -8.69366805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.784203822 meters 0.0389306796792275 Centerline is valid? [True, True] Translation: X:302.10, Y:-31.56, Z:-8.69 [[ 9.82045855e-01 1.88389957e-01 9.75509758e-03 3.02101932e+02] [-1.88383957e-01 9.82094251e-01 -1.53863463e-03 -3.15629689e+01] [-9.87028856e-03 -3.26694128e-04 9.99951234e-01 -8.69102991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.844203822 meters 0.04282026490764033 Centerline is valid? [True, True] Translation: X:302.16, Y:-31.57, Z:-8.69 [[ 9.81740885e-01 1.89957308e-01 1.00526144e-02 3.02159494e+02] [-1.89951019e-01 9.81792288e-01 -1.58545940e-03 -3.15664224e+01] [-1.01707489e-02 -3.52994036e-04 9.99948214e-01 -8.69384238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.904203822 meters 0.040585285324870726 Centerline is valid? [True, True] Translation: X:302.22, Y:-31.58, Z:-8.69 [[ 9.81500621e-01 1.91200891e-01 9.93731949e-03 3.02217441e+02] [-1.91194797e-01 9.81550859e-01 -1.56850600e-03 -3.15767862e+01] [-1.00538842e-02 -3.60474168e-04 9.99949393e-01 -8.69270509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.964203822 meters 0.04910959867157325 Centerline is valid? [True, True] Translation: X:302.28, Y:-31.57, Z:-8.70 [[ 9.80948723e-01 1.94018235e-01 9.82487722e-03 3.02277119e+02] [-1.94012460e-01 9.80997846e-01 -1.54665089e-03 -3.15698810e+01] [-9.93826187e-03 -3.88963377e-04 9.99950539e-01 -8.69856412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.02420382199995 meters 0.04812040940022572 Centerline is valid? [True, True] Translation: X:302.34, Y:-31.57, Z:-8.70 [[ 9.80909935e-01 1.94225371e-01 9.60235264e-03 3.02336560e+02] [-1.94219847e-01 9.80956860e-01 -1.51344322e-03 -3.15696854e+01] [-9.71344276e-03 -3.80415973e-04 9.99952751e-01 -8.69879840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.08420382199995 meters 0.04334209119030885 Centerline is valid? [True, True] Translation: X:302.40, Y:-31.57, Z:-8.70 [[ 9.81863378e-01 1.89327236e-01 9.97519636e-03 3.02396753e+02] [-1.89321071e-01 9.81913986e-01 -1.56728343e-03 -3.15741015e+01] [-1.00915143e-02 -3.49656657e-04 9.99949018e-01 -8.70132343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.14420382199995 meters 0.03140718910112459 Centerline is valid? [True, True] Translation: X:302.46, Y:-31.59, Z:-8.70 [[ 9.83887066e-01 1.78520037e-01 9.84065473e-03 3.02455351e+02] [-1.78513496e-01 9.83936248e-01 -1.54624612e-03 -3.15921163e+01] [-9.95861281e-03 -2.35358115e-04 9.99950384e-01 -8.70267911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.20420382199995 meters 0.020659682560547992 Centerline is valid? [True, True] Translation: X:302.51, Y:-31.62, Z:-8.71 [[ 9.86735675e-01 1.62027021e-01 9.99764313e-03 3.02511429e+02] [-1.62019420e-01 9.86786319e-01 -1.57091745e-03 -3.16180038e+01] [-1.01200685e-02 -6.97320488e-05 9.99948788e-01 -8.70703930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.26420382199996 meters 0.02817861106686721 Centerline is valid? [True, True] Translation: X:302.57, Y:-31.65, Z:-8.71 [[ 9.89604177e-01 1.43462795e-01 1.00994672e-02 3.02565852e+02] [-1.43454066e-01 9.89655704e-01 -1.58729493e-03 -3.16490689e+01] [-1.02227131e-02 1.21984063e-04 9.99947739e-01 -8.70631779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.32420382199996 meters 0.0322549344210969 Centerline is valid? [True, True] Translation: X:302.62, Y:-31.68, Z:-8.70 [[ 9.91602689e-01 1.28799183e-01 1.16136746e-02 3.02621850e+02] [-1.28786651e-01 9.91670647e-01 -1.82369400e-03 -3.16777080e+01] [-1.17518305e-02 3.12693620e-04 9.99930896e-01 -8.70470875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.38420382199996 meters 0.042547493200150915 Centerline is valid? [True, True] Translation: X:302.68, Y:-31.70, Z:-8.71 [[ 9.92367476e-01 1.22749991e-01 1.17996618e-02 3.02679581e+02] [-1.22736628e-01 9.92437548e-01 -1.85279664e-03 -3.16975096e+01] [-1.19378582e-02 3.90404424e-04 9.99928665e-01 -8.70651857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.44420382199996 meters 0.03669937901391309 Centerline is valid? [True, True] Translation: X:302.74, Y:-31.71, Z:-8.71 [[ 9.92412682e-01 1.22390555e-01 1.17312011e-02 3.02738656e+02] [-1.22377318e-01 9.92481938e-01 -1.84236137e-03 -3.17074571e+01] [-1.18684928e-02 3.92749865e-04 9.99929490e-01 -8.70543745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.50420382199997 meters 0.03733455614579803 Centerline is valid? [True, True] Translation: X:302.80, Y:-31.72, Z:-8.71 [[ 9.92085309e-01 1.25027213e-01 1.16161587e-02 3.02795883e+02] [-1.25014416e-01 9.92153248e-01 -1.82421797e-03 -3.17198279e+01] [-1.17530865e-02 3.57592559e-04 9.99930866e-01 -8.70853403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.56420382199997 meters 0.031051153907965708 Centerline is valid? [True, True] Translation: X:302.86, Y:-31.73, Z:-8.71 [[ 9.91261067e-01 1.31456692e-01 1.09834431e-02 3.02855643e+02] [-1.31445653e-01 9.91321879e-01 -1.72411907e-03 -3.17252122e+01] [-1.11147744e-02 2.65326266e-04 9.99938194e-01 -8.71152786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.62420382199997 meters 0.0202980899204518 Centerline is valid? [True, True] Translation: X:302.92, Y:-31.72, Z:-8.71 [[ 9.89997514e-01 1.40591525e-01 1.17874955e-02 3.02917214e+02] [-1.40579461e-01 9.90067671e-01 -1.84992561e-03 -3.17226653e+01] [-1.19305021e-02 1.74341988e-04 9.99928814e-01 -8.70896701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.684203822 meters 0.014014504181532012 Centerline is valid? [True, True] Translation: X:302.98, Y:-31.72, Z:-8.71 [[ 9.88543202e-01 1.50451209e-01 1.21149099e-02 3.02978015e+02] [-1.50439204e-01 9.88617434e-01 -1.90144510e-03 -3.17237063e+01] [-1.22630858e-02 5.71032308e-05 9.99924804e-01 -8.71081339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.744203822 meters 0.014497023191089788 Centerline is valid? [True, True] Translation: X:303.04, Y:-31.72, Z:-8.71 [[ 9.87003808e-01 1.60318254e-01 1.10244973e-02 3.03037818e+02] [-1.60308921e-01 9.87065375e-01 -1.73087484e-03 -3.17208595e+01] [-1.11593904e-02 -5.89452216e-05 9.99937730e-01 -8.71430823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.804203822 meters 0.018920115045250978 Centerline is valid? [True, True] Translation: X:303.10, Y:-31.72, Z:-8.72 [[ 9.85973865e-01 1.66553309e-01 1.07485864e-02 3.03096784e+02] [-1.66544815e-01 9.86032443e-01 -1.68681605e-03 -3.17212346e+01] [-1.08793997e-02 -1.26964792e-04 9.99940810e-01 -8.71770713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.864203822 meters 0.02098833796327342 Centerline is valid? [True, True] Translation: X:303.15, Y:-31.73, Z:-8.72 [[ 9.85725472e-01 1.68015186e-01 1.07791534e-02 3.03153736e+02] [-1.68006729e-01 9.85784397e-01 -1.69186113e-03 -3.17276122e+01] [-1.09101796e-02 -1.43259704e-04 9.99940472e-01 -8.72130427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.924203822 meters 0.018095197896971213 Centerline is valid? [True, True] Translation: X:303.21, Y:-31.74, Z:-8.73 [[ 9.86518155e-01 1.63377284e-01 9.47588066e-03 3.03210034e+02] [-1.63370544e-01 9.86563661e-01 -1.48635351e-03 -3.17443001e+01] [-9.59139591e-03 -8.17650549e-05 9.99953998e-01 -8.72684087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.984203822 meters 0.014639005632241507 Centerline is valid? [True, True] Translation: X:303.27, Y:-31.77, Z:-8.73 [[ 9.87545927e-01 1.57015945e-01 9.95164820e-03 3.03266591e+02] [-1.57008192e-01 9.87596068e-01 -1.56043161e-03 -3.17655916e+01] [-1.00732213e-02 -2.14924095e-05 9.99949264e-01 -8.72762548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.044203822 meters 0.01797871052103077 Centerline is valid? [True, True] Translation: X:303.32, Y:-31.79, Z:-8.73 [[ 9.88892454e-01 1.48270745e-01 1.03682576e-02 3.03322487e+02] [-1.48261854e-01 9.88946804e-01 -1.62523542e-03 -3.17882255e+01] [-1.04946301e-02 6.99659612e-05 9.99944927e-01 -8.72591726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.104203822 meters 0.019595929041954552 Centerline is valid? [True, True] Translation: X:303.38, Y:-31.81, Z:-8.73 [[ 9.89618868e-01 1.43294920e-01 1.10027998e-02 3.03377446e+02] [-1.43284602e-01 9.89680024e-01 -1.72447805e-03 -3.18079783e+01] [-1.11363601e-02 1.30044230e-04 9.99937980e-01 -8.72912616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.164203822 meters 0.01803938721519068 Centerline is valid? [True, True] Translation: X:303.44, Y:-31.82, Z:-8.73 [[ 9.89489210e-01 1.44295394e-01 9.48379740e-03 3.03436026e+02] [-1.44287783e-01 9.89534653e-01 -1.48548429e-03 -3.18150160e+01] [-9.59889471e-03 1.01474574e-04 9.99953924e-01 -8.73178816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.224203822 meters 0.015386992188481309 Centerline is valid? [True, True] Translation: X:303.49, Y:-31.82, Z:-8.73 [[ 9.89046704e-01 1.47118379e-01 1.19498741e-02 3.03494346e+02] [-1.47106513e-01 9.89118888e-01 -1.87079789e-03 -3.18217298e+01] [-1.20950749e-02 9.24021823e-05 9.99926848e-01 -8.72861519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.284203822 meters 0.01593124853425225 Centerline is valid? [True, True] Translation: X:303.55, Y:-31.83, Z:-8.73 [[ 9.88935693e-01 1.47921302e-01 1.12019753e-02 3.03551099e+02] [-1.47910929e-01 9.88999132e-01 -1.75344981e-03 -3.18326713e+01] [-1.13381165e-02 7.71545216e-05 9.99935719e-01 -8.73348146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.344203822 meters 0.015431755552741164 Centerline is valid? [True, True] Translation: X:303.61, Y:-31.84, Z:-8.74 [[ 9.88754396e-01 1.49155415e-01 1.08354525e-02 3.03608909e+02] [-1.49145793e-01 9.88813763e-01 -1.69522113e-03 -3.18419708e+01] [-1.09670960e-02 6.00951940e-05 9.99939858e-01 -8.73690553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.404203822 meters 0.01484683914574563 Centerline is valid? [True, True] Translation: X:303.67, Y:-31.85, Z:-8.74 [[ 9.87929167e-01 1.54666964e-01 8.60759272e-03 3.03667991e+02] [-1.54661103e-01 9.87966664e-01 -1.34655020e-03 -3.18465249e+01] [-8.71228150e-03 -9.63559899e-07 9.99962047e-01 -8.74108681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.464203822 meters 0.01654774321026894 Centerline is valid? [True, True] Translation: X:303.73, Y:-31.85, Z:-8.74 [[ 9.87194928e-01 1.59333493e-01 7.68188841e-03 3.03726879e+02] [-1.59328967e-01 9.87224816e-01 -1.20151196e-03 -3.18507662e+01] [-7.77519197e-03 -3.78208355e-05 9.99969772e-01 -8.74482686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.52420382199995 meters 0.018345489275965264 Centerline is valid? [True, True] Translation: X:303.79, Y:-31.85, Z:-8.74 [[ 9.86429515e-01 1.63988103e-01 8.04445996e-03 3.03785488e+02] [-1.63983291e-01 9.86462314e-01 -1.25858621e-03 -3.18535880e+01] [-8.14194975e-03 -7.76504387e-05 9.99966851e-01 -8.74443581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.58420382199995 meters 0.01864384573827961 Centerline is valid? [True, True] Translation: X:303.84, Y:-31.86, Z:-8.74 [[ 9.86166770e-01 1.65417311e-01 1.05931822e-02 3.03844022e+02] [-1.65409077e-01 9.86223656e-01 -1.65490539e-03 -3.18609970e+01] [-1.07209969e-02 -1.20195789e-04 9.99942521e-01 -8.74278821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.64420382199995 meters 0.01876383974104393 Centerline is valid? [True, True] Translation: X:303.90, Y:-31.87, Z:-8.75 [[ 9.86287681e-01 1.64700849e-01 1.04995394e-02 3.03900584e+02] [-1.64692722e-01 9.86343560e-01 -1.63997666e-03 -3.18727562e+01] [-1.06262586e-02 -1.11708949e-04 9.99943533e-01 -8.74627343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.70420382199995 meters 0.019593870775434855 Centerline is valid? [True, True] Translation: X:303.96, Y:-31.88, Z:-8.75 [[ 9.86376710e-01 1.64188234e-01 1.01592662e-02 3.03957497e+02] [-1.64180595e-01 9.86429021e-01 -1.58711020e-03 -3.18788630e+01] [-1.02819798e-02 -1.02465822e-04 9.99947134e-01 -8.75126747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.76420382199996 meters 0.017643335400953104 Centerline is valid? [True, True] Translation: X:304.02, Y:-31.89, Z:-8.75 [[ 9.86448807e-01 1.63720835e-01 1.06883229e-02 3.04015047e+02] [-1.63712378e-01 9.86506704e-01 -1.66737882e-03 -3.18932953e+01] [-1.08170869e-02 -1.05026924e-04 9.99941488e-01 -8.74879929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.82420382199996 meters 0.017611386352895487 Centerline is valid? [True, True] Translation: X:304.07, Y:-31.90, Z:-8.75 [[ 9.86634657e-01 1.62595997e-01 1.07049394e-02 3.04071909e+02] [-1.62587451e-01 9.86692725e-01 -1.66964571e-03 -3.19006672e+01] [-1.08339635e-02 -9.31584949e-05 9.99941307e-01 -8.75112623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.88420382199996 meters 0.014998812337085454 Centerline is valid? [True, True] Translation: X:304.13, Y:-31.92, Z:-8.75 [[ 9.87192994e-01 1.59135949e-01 1.12135036e-02 3.04128981e+02] [-1.59126359e-01 9.87256677e-01 -1.74797499e-03 -3.19154436e+01] [-1.13487719e-02 -5.87753290e-05 9.99935599e-01 -8.75054975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.94420382199996 meters 0.013276242159751445 Centerline is valid? [True, True] Translation: X:304.18, Y:-31.93, Z:-8.75 [[ 9.87988914e-01 1.54025171e-01 1.24158050e-02 3.04184372e+02] [-1.54013019e-01 9.88066924e-01 -1.93481836e-03 -3.19333446e+01] [-1.25656570e-02 -6.16519529e-07 9.99921049e-01 -8.74985392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.00420382199997 meters 0.013362655573034312 Centerline is valid? [True, True] Translation: X:304.24, Y:-31.94, Z:-8.75 [[ 9.88233655e-01 1.52449823e-01 1.23812078e-02 3.04242888e+02] [-1.52437626e-01 9.88311212e-01 -1.92847073e-03 -3.19427127e+01] [-1.25304815e-02 1.84177484e-05 9.99921490e-01 -8.75138789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.06420382199997 meters 0.021519260518069253 Centerline is valid? [True, True] Translation: X:304.30, Y:-31.95, Z:-8.75 [[ 9.88318484e-01 1.51801245e-01 1.35260920e-02 3.04301070e+02] [-1.51786638e-01 9.88411039e-01 -2.10603767e-03 -3.19530314e+01] [-1.36890378e-02 2.83559353e-05 9.99906300e-01 -8.75074109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.12420382199997 meters 0.013498995019084036 Centerline is valid? [True, True] Translation: X:304.36, Y:-31.97, Z:-8.75 [[ 9.88584234e-01 1.50079072e-01 1.33223576e-02 3.04357079e+02] [-1.50064751e-01 9.88673996e-01 -2.07384692e-03 -3.19671473e+01] [-1.34827096e-02 5.09560872e-05 9.99909103e-01 -8.75263005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.184203822 meters 0.01617421216206988 Centerline is valid? [True, True] Translation: X:304.41, Y:-31.98, Z:-8.76 [[ 9.89112792e-01 1.46729199e-01 1.12439578e-02 3.04413438e+02] [-1.46718789e-01 9.89176696e-01 -1.74965532e-03 -3.19816382e+01] [-1.13789865e-02 8.09065921e-05 9.99935254e-01 -8.76053439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.244203822 meters 0.02021254552897628 Centerline is valid? [True, True] Translation: X:304.47, Y:-32.00, Z:-8.76 [[ 9.89976518e-01 1.40846798e-01 1.04246671e-02 3.04471204e+02] [-1.40837534e-01 9.90031394e-01 -1.62111016e-03 -3.20007872e+01] [-1.05490758e-02 1.36676589e-04 9.99944348e-01 -8.76022853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.304203822 meters 0.021504258972617988 Centerline is valid? [True, True] Translation: X:304.53, Y:-32.02, Z:-8.76 [[ 9.90417834e-01 1.37622389e-01 1.15148238e-02 3.04527897e+02] [-1.37610875e-01 9.90484751e-01 -1.79012341e-03 -3.20210046e+01] [-1.16516184e-02 1.88405169e-04 9.99932100e-01 -8.75990242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.364203822 meters 0.020355580218482026 Centerline is valid? [True, True] Translation: X:304.59, Y:-32.03, Z:-8.76 [[ 9.90252367e-01 1.38782283e-01 1.18206649e-02 3.04587630e+02] [-1.38770230e-01 9.90322900e-01 -1.83784502e-03 -3.20289899e+01] [-1.19613355e-02 1.79573993e-04 9.99928445e-01 -8.76014525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.424203822 meters 0.017190965531482492 Centerline is valid? [True, True] Translation: X:304.65, Y:-32.03, Z:-8.76 [[ 9.89683303e-01 1.42652540e-01 1.33121037e-02 3.04646959e+02] [-1.42637598e-01 9.89772817e-01 -2.07011551e-03 -3.20344620e+01] [-1.34712656e-02 1.49952266e-04 9.99909247e-01 -8.75950585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.484203822 meters 0.016386598461484693 Centerline is valid? [True, True] Translation: X:304.71, Y:-32.03, Z:-8.76 [[ 9.88196554e-01 1.52661927e-01 1.27242674e-02 3.04705781e+02] [-1.52649100e-01 9.88278471e-01 -1.97900754e-03 -3.20309518e+01] [-1.28772386e-02 1.33004703e-05 9.99917085e-01 -8.76292847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.544203822 meters 0.02096817600435021 Centerline is valid? [True, True] Translation: X:304.77, Y:-32.03, Z:-8.76 [[ 9.86824343e-01 1.61282719e-01 1.28685644e-02 3.04766281e+02] [-1.61270344e-01 9.86908240e-01 -2.00044144e-03 -3.20264769e+01] [-1.30227289e-02 -1.01233506e-04 9.99915196e-01 -8.76488977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.604203822 meters 0.01905675516311674 Centerline is valid? [True, True] Translation: X:304.82, Y:-32.02, Z:-8.77 [[ 9.86053038e-01 1.65895122e-01 1.33497025e-02 3.04824712e+02] [-1.65882232e-01 9.86143387e-01 -2.07486242e-03 -3.20239555e+01] [-1.35089304e-02 -1.68554048e-04 9.99908736e-01 -8.76555772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.664203822 meters 0.01879610005201075 Centerline is valid? [True, True] Translation: X:304.88, Y:-32.03, Z:-8.77 [[ 9.86291193e-01 1.64538691e-01 1.25180349e-02 3.04881543e+02] [-1.64527260e-01 9.86370620e-01 -1.94461159e-03 -3.20337518e+01] [-1.26673857e-02 -1.41604689e-04 9.99919755e-01 -8.77070105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.724203822 meters 0.014962671973129027 Centerline is valid? [True, True] Translation: X:304.94, Y:-32.05, Z:-8.77 [[ 9.87036848e-01 1.60074679e-01 1.15913230e-02 3.04938850e+02] [-1.60064579e-01 9.87104904e-01 -1.79989076e-03 -3.20467967e+01] [-1.17299687e-02 -7.88017315e-05 9.99931198e-01 -8.77140556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.784203822 meters 0.01321105124109636 Centerline is valid? [True, True] Translation: X:305.00, Y:-32.06, Z:-8.77 [[ 9.87742143e-01 1.55596080e-01 1.24627185e-02 3.04995323e+02] [-1.55584054e-01 9.87820763e-01 -1.93464844e-03 -3.20619174e+01] [-1.26119558e-02 -2.80664744e-05 9.99920466e-01 -8.77286501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.844203822 meters 0.012648175721624848 Centerline is valid? [True, True] Translation: X:305.05, Y:-32.08, Z:-8.77 [[ 9.88286356e-01 1.51994009e-01 1.37076745e-02 3.05051726e+02] [-1.51979129e-01 9.88381415e-01 -2.12684646e-03 -3.20754673e+01] [-1.38716787e-02 1.86528927e-05 9.99903783e-01 -8.77286074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.904203822 meters 0.014666180023334925 Centerline is valid? [True, True] Translation: X:305.11, Y:-32.09, Z:-8.77 [[ 9.89197347e-01 1.45946650e-01 1.37179876e-02 3.05109838e+02] [-1.45931185e-01 9.89292457e-01 -2.12706460e-03 -3.20923686e+01] [-1.38815396e-02 1.02204481e-04 9.99903642e-01 -8.77256793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.964203822 meters 0.024586797847922615 Centerline is valid? [True, True] Translation: X:305.17, Y:-32.11, Z:-8.78 [[ 9.89523942e-01 1.43752783e-01 1.33231503e-02 3.05166962e+02] [-1.43737998e-01 9.89613622e-01 -2.06571290e-03 -3.21068870e+01] [-1.34817230e-02 1.29029434e-04 9.99909109e-01 -8.77776038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.02420382199995 meters 0.015099333416395336 Centerline is valid? [True, True] Translation: X:305.23, Y:-32.11, Z:-8.78 [[ 9.89195438e-01 1.46166152e-01 1.13066744e-02 3.05226623e+02] [-1.46155667e-01 9.89260052e-01 -1.75259024e-03 -3.21139861e+01] [-1.14414107e-02 8.11197300e-05 9.99934542e-01 -8.77998498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.08420382199995 meters 0.014403050458701858 Centerline is valid? [True, True] Translation: X:305.28, Y:-32.12, Z:-8.79 [[ 9.88468729e-01 1.51089129e-01 1.00819785e-02 3.05284351e+02] [-1.51081043e-01 9.88520144e-01 -1.56327188e-03 -3.21163433e+01] [-1.02024322e-02 2.20495375e-05 9.99947954e-01 -8.78689998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.14420382199995 meters 0.01617182380202256 Centerline is valid? [True, True] Translation: X:305.34, Y:-32.12, Z:-8.79 [[ 9.87581317e-01 1.56897378e-01 8.14587793e-03 3.05342550e+02] [-1.56892299e-01 9.87614911e-01 -1.26285165e-03 -3.21161336e+01] [-8.24312861e-03 -3.08568190e-05 9.99966024e-01 -8.79297698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.20420382199995 meters 0.016478728996232386 Centerline is valid? [True, True] Translation: X:305.40, Y:-32.12, Z:-8.79 [[ 9.87371615e-01 1.58205667e-01 8.26207486e-03 3.05401167e+02] [-1.58200494e-01 9.87406180e-01 -1.28010696e-03 -3.21222292e+01] [-8.36054396e-03 -4.31230439e-05 9.99965049e-01 -8.79374955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.26420382199996 meters 0.014186179280423277 Centerline is valid? [True, True] Translation: X:305.46, Y:-32.14, Z:-8.79 [[ 9.87801246e-01 1.55435724e-01 9.40392455e-03 3.05458696e+02] [-1.55428902e-01 9.87846008e-01 -1.45641753e-03 -3.21363618e+01] [-9.51600864e-03 -2.29906232e-05 9.99954721e-01 -8.79098391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.32420382199996 meters 0.013766478625508265 Centerline is valid? [True, True] Translation: X:305.52, Y:-32.14, Z:-8.79 [[ 9.87783467e-01 1.55476557e-01 1.05291592e-02 3.05517398e+02] [-1.55468015e-01 9.87839582e-01 -1.62997295e-03 -3.21437027e+01] [-1.06545428e-02 -2.68871567e-05 9.99943238e-01 -8.79005595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.38420382199996 meters 0.016563369456370044 Centerline is valid? [True, True] Translation: X:305.58, Y:-32.14, Z:-8.79 [[ 9.86986091e-01 1.60544896e-01 9.15383120e-03 3.05577307e+02] [-1.60538660e-01 9.87028536e-01 -1.41679068e-03 -3.21417106e+01] [-9.26255112e-03 -7.11910981e-05 9.99957099e-01 -8.79461407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.44420382199996 meters 0.018943900538725623 Centerline is valid? [True, True] Translation: X:305.64, Y:-32.14, Z:-8.80 [[ 9.86410012e-01 1.64069110e-01 8.75301632e-03 3.05636488e+02] [-1.64063550e-01 9.86448842e-01 -1.35438072e-03 -3.21417110e+01] [-8.85661485e-03 -1.00076234e-04 9.99960774e-01 -8.79678538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.50420382199997 meters 0.01943869439124046 Centerline is valid? [True, True] Translation: X:305.69, Y:-32.14, Z:-8.80 [[ 9.86448876e-01 1.63783858e-01 9.66759443e-03 3.05694671e+02] [-1.63777066e-01 9.86496242e-01 -1.49548353e-03 -3.21446725e+01] [-9.78198164e-03 -1.08112203e-04 9.99952149e-01 -8.80022480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.56420382199997 meters 0.017627564416970422 Centerline is valid? [True, True] Translation: X:305.75, Y:-32.16, Z:-8.80 [[ 9.86868617e-01 1.61222123e-01 9.88731584e-03 3.05752113e+02] [-1.61214899e-01 9.86918142e-01 -1.52855241e-03 -3.21560931e+01] [-1.00044079e-02 -8.55022211e-05 9.99949951e-01 -8.80176427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.62420382199997 meters 0.014173667962735264 Centerline is valid? [True, True] Translation: X:305.81, Y:-32.17, Z:-8.80 [[ 9.88014991e-01 1.54096682e-01 8.97716777e-03 3.05808954e+02] [-1.54090435e-01 9.88055774e-01 -1.38757846e-03 -3.21726890e+01] [-9.08376369e-03 -1.23473690e-05 9.99958742e-01 -8.80252352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.684203822 meters 0.014659721658375736 Centerline is valid? [True, True] Translation: X:305.87, Y:-32.18, Z:-8.81 [[ 9.88538508e-01 1.50745674e-01 8.20735294e-03 3.05865444e+02] [-1.50740337e-01 9.88572578e-01 -1.26853956e-03 -3.21843426e+01] [-8.30479090e-03 1.68210550e-05 9.99965514e-01 -8.80611904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.744203822 meters 0.015088146836914026 Centerline is valid? [True, True] Translation: X:305.92, Y:-32.20, Z:-8.81 [[ 9.88912925e-01 1.48261392e-01 8.35382162e-03 3.05922588e+02] [-1.48255781e-01 9.88948208e-01 -1.29037456e-03 -3.21966936e+01] [-8.45280965e-03 3.75657289e-05 9.99964274e-01 -8.80654554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.804203822 meters 0.014886625521079616 Centerline is valid? [True, True] Translation: X:305.98, Y:-32.21, Z:-8.80 [[ 9.89240195e-01 1.45907444e-01 1.07170543e-02 3.05980129e+02] [-1.45898081e-01 9.89298242e-01 -1.65447880e-03 -3.22092476e+01] [-1.08437638e-02 7.30792620e-05 9.99941202e-01 -8.80468214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.864203822 meters 0.018623659773178636 Centerline is valid? [True, True] Translation: X:306.04, Y:-32.22, Z:-8.81 [[ 9.89693331e-01 1.42769117e-01 1.11396079e-02 3.06037491e+02] [-1.42758810e-01 9.89756014e-01 -1.71907469e-03 -3.22220345e+01] [-1.12709247e-02 1.11079581e-04 9.99936475e-01 -8.80682851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.924203822 meters 0.018815482323216486 Centerline is valid? [True, True] Translation: X:306.09, Y:-32.24, Z:-8.81 [[ 9.90035595e-01 1.40406376e-01 1.07504002e-02 3.06093627e+02] [-1.40396645e-01 9.90093951e-01 -1.65828291e-03 -3.22413611e+01] [-1.08767397e-02 1.32438978e-04 9.99940838e-01 -8.80936558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.984203822 meters 0.019751277978414635 Centerline is valid? [True, True] Translation: X:306.15, Y:-32.25, Z:-8.81 [[ 9.90023963e-01 1.40559602e-01 9.77499746e-03 3.06151250e+02] [-1.40551569e-01 9.90072212e-01 -1.50739278e-03 -3.22533993e+01] [-9.88983188e-03 1.18463742e-04 9.99951087e-01 -8.81338186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.044203822 meters 0.01674178676650294 Centerline is valid? [True, True] Translation: X:306.21, Y:-32.26, Z:-8.81 [[ 9.89619959e-01 1.43342837e-01 1.02551510e-02 3.06209643e+02] [-1.43334144e-01 9.89673089e-01 -1.58148977e-03 -3.22632730e+01] [-1.03759422e-02 9.51605510e-05 9.99946164e-01 -8.81289692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.104203822 meters 0.014337017721080007 Centerline is valid? [True, True] Translation: X:306.27, Y:-32.27, Z:-8.81 [[ 9.89002128e-01 1.47479335e-01 1.11641019e-02 3.06267187e+02] [-1.47469304e-01 9.89065136e-01 -1.72097581e-03 -3.22742822e+01] [-1.12958323e-02 5.56863981e-05 9.99936198e-01 -8.81268433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.164203822 meters 0.012979542851001157 Centerline is valid? [True, True] Translation: X:306.32, Y:-32.28, Z:-8.81 [[ 9.88318441e-01 1.51904569e-01 1.23150967e-02 3.06324443e+02] [-1.51892713e-01 9.88395165e-01 -1.89783629e-03 -3.22835002e+01] [-1.24604721e-02 5.09315209e-06 9.99922365e-01 -8.81271127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.224203822 meters 0.014779546652220145 Centerline is valid? [True, True] Translation: X:306.38, Y:-32.29, Z:-8.82 [[ 9.87802424e-01 1.55402429e-01 9.82125458e-03 3.06381804e+02] [-1.55395069e-01 9.87851246e-01 -1.51279370e-03 -3.22944956e+01] [-9.93703039e-03 -3.18332482e-05 9.99950626e-01 -8.82048542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.284203822 meters 0.015181261147090638 Centerline is valid? [True, True] Translation: X:306.44, Y:-32.31, Z:-8.82 [[ 9.87689602e-01 1.56102986e-01 1.00552766e-02 3.06438409e+02] [-1.56095306e-01 9.87740784e-01 -1.54888857e-03 -3.23063044e+01] [-1.01737930e-02 -3.97603499e-05 9.99948245e-01 -8.82286224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.344203822 meters 0.016277706706013834 Centerline is valid? [True, True] Translation: X:306.50, Y:-32.33, Z:-8.83 [[ 9.87424909e-01 1.57900567e-01 7.71108604e-03 3.06496124e+02] [-1.57896112e-01 9.87455016e-01 -1.18698710e-03 -3.23254231e+01] [-7.80177652e-03 -4.54898823e-05 9.99969565e-01 -8.82661544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.404203822 meters 0.019708241823313984 Centerline is valid? [True, True] Translation: X:306.55, Y:-32.33, Z:-8.83 [[ 9.86368019e-01 1.64347546e-01 8.24714382e-03 3.06553986e+02] [-1.64342673e-01 9.86402491e-01 -1.26977415e-03 -3.23346216e+01] [-8.34368747e-03 -1.02893048e-04 9.99965186e-01 -8.82556795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.464203822 meters 0.0274620803492278 Centerline is valid? [True, True] Translation: X:306.61, Y:-32.33, Z:-8.82 [[ 9.84675035e-01 1.73932327e-01 1.27522909e-02 3.06613328e+02] [-1.73921497e-01 9.84757566e-01 -1.96195953e-03 -3.23335973e+01] [-1.28991632e-02 -2.86004956e-04 9.99916761e-01 -8.81831849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.52420382199995 meters 0.032701323384601216 Centerline is valid? [True, True] Translation: X:306.67, Y:-32.34, Z:-8.82 [[ 9.83478865e-01 1.80481864e-01 1.39863804e-02 3.06673469e+02] [-1.80469516e-01 9.83578227e-01 -2.15043475e-03 -3.23381363e+01] [-1.41448137e-02 -4.09208173e-04 9.99899873e-01 -8.81669894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.58420382199995 meters 0.038899080079479356 Centerline is valid? [True, True] Translation: X:306.73, Y:-32.34, Z:-8.82 [[ 9.82016065e-01 1.88380355e-01 1.25415368e-02 3.06734507e+02] [-1.88371071e-01 9.82096035e-01 -1.92815285e-03 -3.23361384e+01] [-1.26802196e-02 -4.68985632e-04 9.99919493e-01 -8.82061757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.64420382199995 meters 0.04131768777120284 Centerline is valid? [True, True] Translation: X:306.79, Y:-32.34, Z:-8.82 [[ 9.81794326e-01 1.89565542e-01 1.20335388e-02 3.06791659e+02] [-1.89557075e-01 9.81867960e-01 -1.85077282e-03 -3.23427770e+01] [-1.21661889e-02 -4.63964157e-04 9.99925882e-01 -8.82457177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.70420382199995 meters 0.03721355322993393 Centerline is valid? [True, True] Translation: X:306.85, Y:-32.35, Z:-8.83 [[ 9.82740156e-01 1.84685151e-01 1.06386163e-02 3.06850234e+02] [-1.84678262e-01 9.82797673e-01 -1.63486029e-03 -3.23549955e+01] [-1.07575417e-02 -3.58078300e-04 9.99942072e-01 -8.82910024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.76420382199996 meters 0.030739168944133376 Centerline is valid? [True, True] Translation: X:306.91, Y:-32.37, Z:-8.83 [[ 9.84312939e-01 1.76105234e-01 1.07230696e-02 3.06907161e+02] [-1.76097724e-01 9.84371310e-01 -1.64805201e-03 -3.23722207e+01] [-1.08457126e-02 -2.66109227e-04 9.99941148e-01 -8.83247008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.82420382199996 meters 0.022524236153237176 Centerline is valid? [True, True] Translation: X:306.96, Y:-32.39, Z:-8.84 [[ 9.85692963e-01 1.68268279e-01 9.75541579e-03 3.06964660e+02] [-1.68261685e-01 9.85741223e-01 -1.49873951e-03 -3.23925559e+01] [-9.86850582e-03 -1.64165703e-04 9.99951292e-01 -8.83525130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.88420382199996 meters 0.01761683341028316 Centerline is valid? [True, True] Translation: X:307.02, Y:-32.41, Z:-8.84 [[ 9.86887384e-01 1.61138785e-01 9.35855282e-03 3.07021883e+02] [-1.61132393e-01 9.86931753e-01 -1.43790584e-03 -3.24100630e+01] [-9.46795534e-03 -8.89148831e-05 9.99955174e-01 -8.83837566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.94420382199996 meters 0.01622744571231559 Centerline is valid? [True, True] Translation: X:307.08, Y:-32.42, Z:-8.84 [[ 9.87358339e-01 1.58207699e-01 9.68680506e-03 3.07079002e+02] [-1.58200710e-01 9.87405854e-01 -1.48830338e-03 -3.24238542e+01] [-9.80026908e-03 -6.29706896e-05 9.99951974e-01 -8.83979207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.00420382199997 meters 0.017180694021273906 Centerline is valid? [True, True] Translation: X:307.14, Y:-32.42, Z:-8.84 [[ 9.86860804e-01 1.61095171e-01 1.24137077e-02 3.07138439e+02] [-1.61083930e-01 9.86938869e-01 -1.90670208e-03 -3.24237810e+01] [-1.25587312e-02 -1.17999275e-04 9.99921129e-01 -8.83555167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.06420382199997 meters 0.021774236461020537 Centerline is valid? [True, True] Translation: X:307.20, Y:-32.42, Z:-8.84 [[ 9.86074671e-01 1.65860273e-01 1.21289863e-02 3.07197570e+02] [-1.65849908e-01 9.86149248e-01 -1.86239797e-03 -3.24216194e+01] [-1.22698885e-02 -1.75127795e-04 9.99924707e-01 -8.83800456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.12420382199997 meters 0.0263557697168858 Centerline is valid? [True, True] Translation: X:307.26, Y:-32.42, Z:-8.84 [[ 9.85430610e-01 1.69699871e-01 1.13343565e-02 3.07257169e+02] [-1.69691082e-01 9.85495769e-01 -1.73970814e-03 -3.24189695e+01] [-1.14651886e-02 -2.08977570e-04 9.99934251e-01 -8.84323416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.184203822 meters 0.02742035515869591 Centerline is valid? [True, True] Translation: X:307.32, Y:-32.42, Z:-8.85 [[ 9.85390583e-01 1.70116473e-01 8.11072048e-03 3.07316194e+02] [-1.70111986e-01 9.85423951e-01 -1.24491427e-03 -3.24241224e+01] [-8.20427865e-03 -1.53003969e-04 9.99966333e-01 -8.85057607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.244203822 meters 0.02431350880435319 Centerline is valid? [True, True] Translation: X:307.37, Y:-32.43, Z:-8.85 [[ 9.85678630e-01 1.68422415e-01 8.45744555e-03 3.07374273e+02] [-1.68417475e-01 9.85714903e-01 -1.29806393e-03 -3.24337445e+01] [-8.55525318e-03 -1.44907743e-04 9.99963393e-01 -8.84913636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.304203822 meters 0.021544654888640886 Centerline is valid? [True, True] Translation: X:307.43, Y:-32.44, Z:-8.85 [[ 9.86034379e-01 1.66283057e-01 9.28161456e-03 3.07432076e+02] [-1.66277018e-01 9.86078053e-01 -1.42398559e-03 -3.24444872e+01] [-9.38918109e-03 -1.39220438e-04 9.99955911e-01 -8.84771621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.364203822 meters 0.0181399102013498 Centerline is valid? [True, True] Translation: X:307.49, Y:-32.46, Z:-8.85 [[ 9.86695365e-01 1.62249326e-01 1.03639898e-02 3.07490110e+02] [-1.62241578e-01 9.86749788e-01 -1.58967606e-03 -3.24562104e+01] [-1.04845886e-02 -1.12944067e-04 9.99945029e-01 -8.84788493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.424203822 meters 0.017364254247918546 Centerline is valid? [True, True] Translation: X:307.55, Y:-32.46, Z:-8.85 [[ 9.87117724e-01 1.59626301e-01 1.08647874e-02 3.07547197e+02] [-1.59617637e-01 9.87177510e-01 -1.66555661e-03 -3.24635600e+01] [-1.09913404e-02 -9.01112398e-05 9.99939589e-01 -8.85117348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.484203822 meters 0.01451824881263207 Centerline is valid? [True, True] Translation: X:307.60, Y:-32.48, Z:-8.85 [[ 9.87630530e-01 1.56424242e-01 1.08347552e-02 3.07604752e+02] [-1.56415443e-01 9.87689958e-01 -1.66007789e-03 -3.24777373e+01] [-1.09610553e-02 -5.51794255e-05 9.99939924e-01 -8.85028546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.544203822 meters 0.013912526711264098 Centerline is valid? [True, True] Translation: X:307.66, Y:-32.49, Z:-8.85 [[ 9.87794896e-01 1.55351661e-01 1.12740843e-02 3.07662381e+02] [-1.55342071e-01 9.87859230e-01 -1.72676046e-03 -3.24873465e+01] [-1.14054633e-02 -4.56544362e-05 9.99934955e-01 -8.85053990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.604203822 meters 0.01721943183872506 Centerline is valid? [True, True] Translation: X:307.72, Y:-32.48, Z:-8.85 [[ 9.86914257e-01 1.60709150e-01 1.31460237e-02 3.07721699e+02] [-1.60696595e-01 9.87001800e-01 -2.01274200e-03 -3.24804156e+01] [-1.32986151e-02 -1.26117468e-04 9.99911562e-01 -8.85036403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.664203822 meters 0.01966055597419655 Centerline is valid? [True, True] Translation: X:307.78, Y:-32.48, Z:-8.85 [[ 9.86263595e-01 1.64694400e-01 1.26442380e-02 3.07780898e+02] [-1.64683124e-01 9.86344628e-01 -1.93499706e-03 -3.24811754e+01] [-1.27902594e-02 -1.73875456e-04 9.99918186e-01 -8.85165106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.724203822 meters 0.023898030340549135 Centerline is valid? [True, True] Translation: X:307.84, Y:-32.48, Z:-8.86 [[ 9.85850811e-01 1.67203782e-01 1.18774261e-02 3.07838691e+02] [-1.67194016e-01 9.85922339e-01 -1.81757223e-03 -3.24815272e+01] [-1.20141246e-02 -1.93979501e-04 9.99927809e-01 -8.85726427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.784203822 meters 0.032702096913227015 Centerline is valid? [True, True] Translation: X:307.90, Y:-32.49, Z:-8.86 [[ 9.86393042e-01 1.64015033e-01 1.13064148e-02 3.07897058e+02] [-1.64005988e-01 9.86457828e-01 -1.72895737e-03 -3.24902552e+01] [-1.14368764e-02 -1.48888206e-04 9.99934586e-01 -8.86090402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.844203822 meters 0.017473264230323457 Centerline is valid? [True, True] Translation: X:307.95, Y:-32.50, Z:-8.86 [[ 9.87147529e-01 1.59441044e-01 1.08770118e-02 3.07953404e+02] [-1.59432397e-01 9.87207448e-01 -1.66302385e-03 -3.25035801e+01] [-1.10030213e-02 -9.24981880e-05 9.99939461e-01 -8.86274406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.904203822 meters 0.013976327148023063 Centerline is valid? [True, True] Translation: X:308.01, Y:-32.52, Z:-8.86 [[ 9.88576089e-01 1.50259750e-01 1.18035642e-02 3.08010168e+02] [-1.50248928e-01 9.88646553e-01 -1.80337871e-03 -3.25246316e+01] [-1.19405283e-02 9.30420959e-06 9.99928709e-01 -8.86309107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.964203822 meters 0.014842616853921268 Centerline is valid? [True, True] Translation: X:308.07, Y:-32.54, Z:-8.86 [[ 9.89305663e-01 1.45383222e-01 1.17483578e-02 3.08067973e+02] [-1.45372159e-01 9.89375416e-01 -1.79475451e-03 -3.25389788e+01] [-1.18844636e-02 6.76766577e-05 9.99929375e-01 -8.86286254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.02420382199995 meters 0.018565969464807264 Centerline is valid? [True, True] Translation: X:308.13, Y:-32.56, Z:-8.87 [[ 9.90159562e-01 1.39556701e-01 1.03908405e-02 3.08125886e+02] [-1.39547737e-01 9.90214074e-01 -1.58633882e-03 -3.25570177e+01] [-1.05105407e-02 1.20710287e-04 9.99944755e-01 -8.86669218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.08420382199995 meters 0.020670891823115538 Centerline is valid? [True, True] Translation: X:308.18, Y:-32.57, Z:-8.87 [[ 9.90289408e-01 1.38677785e-01 9.76520972e-03 3.08183365e+02] [-1.38669823e-01 9.90337547e-01 -1.49105856e-03 -3.25704700e+01] [-9.87763054e-03 1.22439594e-04 9.99951208e-01 -8.87216892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.14420382199995 meters 0.019718062140430676 Centerline is valid? [True, True] Translation: X:308.24, Y:-32.58, Z:-8.87 [[ 9.90123863e-01 1.39882537e-01 9.36011858e-03 3.08241679e+02] [-1.39875275e-01 9.90168099e-01 -1.42930090e-03 -3.25767865e+01] [-9.46802506e-03 1.05935771e-04 9.99955172e-01 -8.87439751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.20420382199995 meters 0.014498409190380632 Centerline is valid? [True, True] Translation: X:308.30, Y:-32.57, Z:-8.87 [[ 9.88935654e-01 1.48108510e-01 8.37507491e-03 3.08301517e+02] [-1.48102992e-01 9.88971116e-01 -1.27869865e-03 -3.25723321e+01] [-8.47209333e-03 2.41770254e-05 9.99964111e-01 -8.87313098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.26420382199996 meters 0.015061069492028423 Centerline is valid? [True, True] Translation: X:308.36, Y:-32.57, Z:-8.88 [[ 9.88148314e-01 1.53287511e-01 8.11472394e-03 3.08359950e+02] [-1.53282506e-01 9.88181632e-01 -1.23883152e-03 -3.25749082e+01] [-8.20871855e-03 -1.96959431e-05 9.99966308e-01 -8.87699969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.32420382199996 meters 0.01860495974511207 Centerline is valid? [True, True] Translation: X:308.42, Y:-32.57, Z:-8.88 [[ 9.87046605e-01 1.60259103e-01 7.48467544e-03 3.08419915e+02] [-1.60255050e-01 9.87074979e-01 -1.14201067e-03 -3.25724410e+01] [-7.57095346e-03 -7.22392881e-05 9.99971337e-01 -8.88091613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.38420382199996 meters 0.021325340441408224 Centerline is valid? [True, True] Translation: X:308.48, Y:-32.57, Z:-8.88 [[ 9.86388372e-01 1.64278265e-01 7.11561384e-03 3.08479498e+02] [-1.64274709e-01 9.86414032e-01 -1.08543272e-03 -3.25736550e+01] [-7.19725434e-03 -9.82571770e-05 9.99974095e-01 -8.88236958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.44420382199996 meters 0.022317192198991042 Centerline is valid? [True, True] Translation: X:308.54, Y:-32.58, Z:-8.89 [[ 9.86506524e-01 1.63498005e-01 8.56035333e-03 3.08537146e+02] [-1.63492832e-01 9.86543658e-01 -1.30532524e-03 -3.25774487e+01] [-8.65858037e-03 -1.11844543e-04 9.99962508e-01 -8.88528135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.50420382199997 meters 0.019149679888487252 Centerline is valid? [True, True] Translation: X:308.59, Y:-32.59, Z:-8.88 [[ 9.86817160e-01 1.61616288e-01 8.48928807e-03 3.08594943e+02] [-1.61611137e-01 9.86853670e-01 -1.29372827e-03 -3.25867871e+01] [-8.58677265e-03 -9.52902392e-05 9.99963128e-01 -8.88386435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.56420382199997 meters 0.01653336277792548 Centerline is valid? [True, True] Translation: X:308.65, Y:-32.60, Z:-8.88 [[ 9.87393496e-01 1.57967991e-01 1.00098781e-02 3.08651896e+02] [-1.57960649e-01 9.87444230e-01 -1.52491328e-03 -3.25965570e+01] [-1.01250839e-02 -7.54773864e-05 9.99948737e-01 -8.88448491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.62420382199997 meters 0.014267133333624154 Centerline is valid? [True, True] Translation: X:308.71, Y:-32.61, Z:-8.89 [[ 9.88343841e-01 1.51874587e-01 1.05148697e-02 3.08708550e+02] [-1.51866148e-01 9.88399772e-01 -1.60108439e-03 -3.26088633e+01] [-1.06360589e-02 -1.44308653e-05 9.99943435e-01 -8.88544534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.684203822 meters 0.014630008106524633 Centerline is valid? [True, True] Translation: X:308.76, Y:-32.62, Z:-8.88 [[ 9.89327249e-01 1.45146836e-01 1.28059023e-02 3.08764814e+02] [-1.45133770e-01 9.89410123e-01 -1.94870781e-03 -3.26222529e+01] [-1.29531382e-02 6.93408487e-05 9.99916102e-01 -8.88359954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.744203822 meters 0.019429054158872302 Centerline is valid? [True, True] Translation: X:308.82, Y:-32.64, Z:-8.89 [[ 9.90268987e-01 1.38649840e-01 1.19814250e-02 3.08822685e+02] [-1.38637942e-01 9.90341457e-01 -1.82201752e-03 -3.26400165e+01] [-1.21183243e-02 1.43207340e-04 9.99926560e-01 -8.88752192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.804203822 meters 0.024565480915379207 Centerline is valid? [True, True] Translation: X:308.88, Y:-32.65, Z:-8.89 [[ 9.90885050e-01 1.34222917e-01 1.14467068e-02 3.08881440e+02] [-1.34211764e-01 9.90951146e-01 -1.74048037e-03 -3.26526938e+01] [-1.15767396e-02 1.88333260e-04 9.99932970e-01 -8.88881485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.864203822 meters 0.022906388419777216 Centerline is valid? [True, True] Translation: X:308.94, Y:-32.66, Z:-8.89 [[ 9.91147962e-01 1.32218963e-01 1.19943314e-02 3.08940186e+02] [-1.32206575e-01 9.91220509e-01 -1.82341508e-03 -3.26625906e+01] [-1.21301173e-02 2.21544667e-04 9.99926403e-01 -8.88778165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.924203822 meters 0.03396932390690417 Centerline is valid? [True, True] Translation: X:309.00, Y:-32.68, Z:-8.89 [[ 9.91371793e-01 1.30495917e-01 1.23605616e-02 3.08998134e+02] [-1.30482634e-01 9.91448815e-01 -1.87854683e-03 -3.26783180e+01] [-1.25000069e-02 2.49499707e-04 9.99921841e-01 -8.89095724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.984203822 meters 0.026547453710534758 Centerline is valid? [True, True] Translation: X:309.06, Y:-32.70, Z:-8.89 [[ 9.91597687e-01 1.28750142e-01 1.25470083e-02 3.09056394e+02] [-1.28736319e-01 9.91677027e-01 -1.90651725e-03 -3.26957903e+01] [-1.26880443e-02 2.75242420e-04 9.99919466e-01 -8.89199986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.044203822 meters 0.028260112215799268 Centerline is valid? [True, True] Translation: X:309.11, Y:-32.71, Z:-8.89 [[ 9.91782682e-01 1.27193907e-01 1.37412419e-02 3.09114786e+02] [-1.27177178e-01 9.91877818e-01 -2.08798097e-03 -3.27120521e+01] [-1.38952115e-02 3.23250998e-04 9.99903405e-01 -8.89232307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.104203822 meters 0.03158000868824189 Centerline is valid? [True, True] Translation: X:309.17, Y:-32.73, Z:-8.90 [[ 9.92031347e-01 1.25268380e-01 1.34773428e-02 3.09173390e+02] [-1.25252144e-01 9.92122833e-01 -2.04547338e-03 -3.27344903e+01] [-1.36274126e-02 3.41107641e-04 9.99907084e-01 -8.89622704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.164203822 meters 0.03311454838502945 Centerline is valid? [True, True] Translation: X:309.23, Y:-32.75, Z:-8.90 [[ 9.92257788e-01 1.23648916e-01 1.16373781e-02 3.09232961e+02] [-1.23636685e-01 9.92325978e-01 -1.76745587e-03 -3.27540437e+01] [-1.17666166e-02 3.14965010e-04 9.99930721e-01 -8.90028949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.224203822 meters 0.03247677120865296 Centerline is valid? [True, True] Translation: X:309.29, Y:-32.77, Z:-8.90 [[ 9.92047779e-01 1.25393212e-01 1.08511137e-02 3.09293836e+02] [-1.25382648e-01 9.92107084e-01 -1.65118779e-03 -3.27701584e+01] [-1.09725145e-02 2.77515823e-04 9.99939762e-01 -8.90405096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.284203822 meters 0.03869975124574497 Centerline is valid? [True, True] Translation: X:309.35, Y:-32.78, Z:-8.91 [[ 9.91587567e-01 1.28980817e-01 1.08648643e-02 3.09353448e+02] [-1.28970424e-01 9.91647060e-01 -1.65479111e-03 -3.27790383e+01] [-1.09875470e-02 2.39624133e-04 9.99939606e-01 -8.90804239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.344203822 meters 0.035358523576455754 Centerline is valid? [True, True] Translation: X:309.41, Y:-32.79, Z:-8.91 [[ 9.90954886e-01 1.33760558e-01 1.07948101e-02 3.09413688e+02] [-1.33750580e-01 9.91013662e-01 -1.64425406e-03 -3.27876413e+01] [-1.09177406e-02 1.85569486e-04 9.99940382e-01 -8.91019306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.404203822 meters 0.020966030383331197 Centerline is valid? [True, True] Translation: X:309.47, Y:-32.80, Z:-8.91 [[ 9.90567338e-01 1.36680928e-01 9.72998568e-03 3.09474528e+02] [-1.36672964e-01 9.90615114e-01 -1.48189116e-03 -3.27971459e+01] [-9.84121714e-03 1.38087001e-04 9.99951565e-01 -8.90959804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.464203822 meters 0.022883105784101247 Centerline is valid? [True, True] Translation: X:309.53, Y:-32.82, Z:-8.92 [[ 9.90442879e-01 1.37560862e-01 9.99568001e-03 3.09532970e+02] [-1.37552525e-01 9.90493308e-01 -1.52007203e-03 -3.28170231e+01] [-1.01097566e-02 1.30613497e-04 9.99948887e-01 -8.91593412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.52420382199995 meters 0.022188772653523793 Centerline is valid? [True, True] Translation: X:309.59, Y:-32.84, Z:-8.91 [[ 9.90589045e-01 1.36550986e-01 9.33660399e-03 3.09592873e+02] [-1.36543658e-01 9.90633035e-01 -1.42084023e-03 -3.28354602e+01] [-9.44316548e-03 1.32614710e-04 9.99955404e-01 -8.91445350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.58420382199995 meters 0.02516988144236442 Centerline is valid? [True, True] Translation: X:309.65, Y:-32.85, Z:-8.91 [[ 9.90483792e-01 1.37248056e-01 1.02386194e-02 3.09653591e+02] [-1.37239258e-01 9.90536699e-01 -1.56026829e-03 -3.28479179e+01] [-1.03558721e-02 1.40279913e-04 9.99946367e-01 -8.91395022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.64420382199995 meters 0.017711916851801363 Centerline is valid? [True, True] Translation: X:309.71, Y:-32.86, Z:-8.91 [[ 9.90034425e-01 1.40166674e-01 1.36066210e-02 3.09714431e+02] [-1.40151327e-01 9.90127911e-01 -2.07970397e-03 -3.28612429e+01] [-1.37638004e-02 1.51992537e-04 9.99905263e-01 -8.90828407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.70420382199995 meters 0.014231381170790678 Centerline is valid? [True, True] Translation: X:309.77, Y:-32.87, Z:-8.91 [[ 9.89179337e-01 1.45752807e-01 1.67438998e-02 3.09774556e+02] [-1.45730348e-01 9.89321035e-01 -2.56027748e-03 -3.28712753e+01] [-1.69382599e-02 9.24792393e-05 9.99856533e-01 -8.90588643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.76420382199996 meters 0.012733423768628733 Centerline is valid? [True, True] Translation: X:309.84, Y:-32.88, Z:-8.91 [[ 9.88276675e-01 1.51794696e-01 1.63580165e-02 3.09836850e+02] [-1.51774111e-01 9.88412045e-01 -2.49981471e-03 -3.28762174e+01] [-1.65479191e-02 -1.22148313e-05 9.99863074e-01 -8.90766695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.82420382199996 meters 0.014726613887819083 Centerline is valid? [True, True] Translation: X:309.90, Y:-32.88, Z:-8.92 [[ 9.87556090e-01 1.56685016e-01 1.35194100e-02 3.09898753e+02] [-1.56671367e-01 9.87648622e-01 -2.06943292e-03 -3.28810021e+01] [-1.36766758e-02 -7.44233652e-05 9.99906467e-01 -8.91519702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.88420382199996 meters 0.01689638660966223 Centerline is valid? [True, True] Translation: X:309.96, Y:-32.89, Z:-8.92 [[ 9.87122735e-01 1.59530315e-01 1.17806961e-02 3.09958339e+02] [-1.59520141e-01 9.87193025e-01 -1.80434095e-03 -3.28885803e+01] [-1.19176681e-02 -9.81523278e-05 9.99928977e-01 -8.92031079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.94420382199996 meters 0.021155072123639585 Centerline is valid? [True, True] Translation: X:310.02, Y:-32.89, Z:-8.92 [[ 9.86099401e-01 1.65765486e-01 1.13918992e-02 3.10019120e+02] [-1.65756381e-01 9.86165187e-01 -1.74535498e-03 -3.28881042e+01] [-1.15236140e-02 -1.67186489e-04 9.99933587e-01 -8.92123389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.00420382199997 meters 0.02729791952616141 Centerline is valid? [True, True] Translation: X:310.08, Y:-32.89, Z:-8.92 [[ 9.85353459e-01 1.70043990e-01 1.27907348e-02 3.10078551e+02] [-1.70032870e-01 9.85436442e-01 -1.95985555e-03 -3.28868796e+01] [-1.29377179e-02 -2.43694906e-04 9.99916275e-01 -8.92387029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.06420382199997 meters 0.027172065476042017 Centerline is valid? [True, True] Translation: X:310.14, Y:-32.89, Z:-8.93 [[ 9.85271039e-01 1.70523032e-01 1.27622983e-02 3.10137695e+02] [-1.70512010e-01 9.85353659e-01 -1.95481551e-03 -3.28949643e+01] [-1.29087184e-02 -2.50102035e-04 9.99916648e-01 -8.92515522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.12420382199997 meters 0.024022612432922717 Centerline is valid? [True, True] Translation: X:310.20, Y:-32.91, Z:-8.93 [[ 9.85442912e-01 1.69555013e-01 1.23840333e-02 3.10196025e+02] [-1.69544562e-01 9.85520697e-01 -1.89662394e-03 -3.29079673e+01] [-1.25263032e-02 -2.30630874e-04 9.99921516e-01 -8.92589400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.184203822 meters 0.025618739061555547 Centerline is valid? [True, True] Translation: X:310.26, Y:-32.91, Z:-8.93 [[ 9.85566969e-01 1.68900068e-01 1.14243932e-02 3.10255177e+02] [-1.68891130e-01 9.85633159e-01 -1.74963068e-03 -3.29096115e+01] [-1.15557735e-02 -2.05100469e-04 9.99933209e-01 -8.93212700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.244203822 meters 0.028392939683443547 Centerline is valid? [True, True] Translation: X:310.31, Y:-32.91, Z:-8.93 [[ 9.85133993e-01 1.71330684e-01 1.25224997e-02 3.10313515e+02] [-1.71320144e-01 9.85213546e-01 -1.91759339e-03 -3.29092763e+01] [-1.26658789e-02 -2.56270013e-04 9.99919752e-01 -8.93209737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.304203822 meters 0.027075536393375836 Centerline is valid? [True, True] Translation: X:310.37, Y:-32.92, Z:-8.93 [[ 9.84950993e-01 1.72218033e-01 1.45770264e-02 3.10372249e+02] [-1.72203867e-01 9.85058806e-01 -2.23092789e-03 -3.29156031e+01] [-1.47434342e-02 -3.12865672e-04 9.99891261e-01 -8.92867835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.364203822 meters 0.02302446305031544 Centerline is valid? [True, True] Translation: X:310.43, Y:-32.93, Z:-8.93 [[ 9.85738573e-01 1.67685968e-01 1.41732671e-02 3.10431402e+02] [-1.67672125e-01 9.85840433e-01 -2.16793891e-03 -3.29265214e+01] [-1.43361127e-02 -2.39440789e-04 9.99897204e-01 -8.93190720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.424203822 meters 0.020872540462134763 Centerline is valid? [True, True] Translation: X:310.49, Y:-32.94, Z:-8.94 [[ 9.86419849e-01 1.63703689e-01 1.33035282e-02 3.10488411e+02] [-1.63691126e-01 9.86509540e-01 -2.03513933e-03 -3.29395081e+01] [-1.34572174e-02 -1.70167693e-04 9.99909433e-01 -8.93736450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.484203822 meters 0.02617494113687315 Centerline is valid? [True, True] Translation: X:310.54, Y:-32.96, Z:-8.94 [[ 9.86553443e-01 1.62359597e-01 1.87527521e-02 3.10542952e+02] [-1.62754371e-01 9.86423730e-01 2.18915267e-02 -3.29645142e+01] [-1.49438603e-02 -2.46492534e-02 9.99584461e-01 -8.94069866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.544203822 meters 0.027958176697070253 Centerline is valid? [True, True] Translation: X:310.61, Y:-32.94, Z:-8.94 [[ 9.85821004e-01 1.67496845e-01 1.00873639e-02 3.10609602e+02] [-1.67188930e-01 9.85579727e-01 -2.60856799e-02 -3.29350101e+01] [-1.43111705e-02 2.40293156e-02 9.99608815e-01 -8.94260138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.604203822 meters 0.03154942930175759 Centerline is valid? [True, True] Translation: X:310.67, Y:-32.95, Z:-8.94 [[ 9.85032184e-01 1.71759959e-01 1.44952941e-02 3.10667947e+02] [-1.71745901e-01 9.85138784e-01 -2.21846680e-03 -3.29485540e+01] [-1.46609202e-02 -3.04246151e-04 9.99892477e-01 -8.94186366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.664203822 meters 0.031202851474267622 Centerline is valid? [True, True] Translation: X:310.73, Y:-32.95, Z:-8.94 [[ 9.84243698e-01 1.76139917e-01 1.54619936e-02 3.10728227e+02] [-1.76124463e-01 9.84365061e-01 -2.36629549e-03 -3.29456106e+01] [-1.56370454e-02 -3.94223891e-04 9.99877656e-01 -8.94284294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.724203822 meters 0.03086281345091078 Centerline is valid? [True, True] Translation: X:310.78, Y:-32.98, Z:-8.95 [[ 9.84285238e-01 1.74062352e-01 2.97467415e-02 3.10776278e+02] [-1.75405322e-01 9.83179111e-01 5.09098146e-02 -3.29802567e+01] [-2.03848928e-02 -5.53275158e-02 9.98260148e-01 -8.94797622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.784203822 meters 0.026417049090032757 Centerline is valid? [True, True] Translation: X:310.84, Y:-32.95, Z:-8.95 [[ 9.84875728e-01 1.72408144e-01 1.71823398e-02 3.10843537e+02] [-1.72087209e-01 9.84904505e-01 -1.86844253e-02 -3.29519406e+01] [-2.01443109e-02 1.54449761e-02 9.99677778e-01 -8.94782215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.844203822 meters 0.0273794362015252 Centerline is valid? [True, True] Translation: X:310.91, Y:-32.96, Z:-8.95 [[ 9.86755883e-01 1.61674862e-01 1.31934499e-02 3.10906303e+02] [-1.61085940e-01 9.86225782e-01 -3.75503152e-02 -3.29607524e+01] [-1.90826625e-02 3.49277152e-02 9.99207639e-01 -8.94744840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.904203822 meters 0.015607667558480517 Centerline is valid? [True, True] Translation: X:310.96, Y:-33.01, Z:-8.94 [[ 9.88879643e-01 1.47083312e-01 2.19897790e-02 3.10960891e+02] [-1.47044812e-01 9.89124103e-01 -3.36647237e-03 -3.30106824e+01] [-2.22457723e-02 9.55530869e-05 9.99752528e-01 -8.94462329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.964203822 meters 0.021499881874578387 Centerline is valid? [True, True] Translation: X:311.02, Y:-33.04, Z:-8.95 [[ 9.90262467e-01 1.37272008e-01 2.31655324e-02 3.11018308e+02] [-1.37226599e-01 9.90533334e-01 -3.54620663e-03 -3.30387267e+01] [-2.34330270e-02 3.32748109e-04 9.99725354e-01 -8.94654584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.02420382199995 meters 0.024274376442892695 Centerline is valid? [True, True] Translation: X:311.08, Y:-33.06, Z:-8.95 [[ 9.90669617e-01 1.34114546e-01 2.42280717e-02 3.11078215e+02] [-1.34063829e-01 9.90965743e-01 -3.71297816e-03 -3.30589492e+01] [-2.45071534e-02 4.30226594e-04 9.99699562e-01 -8.94706977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.08420382199995 meters 0.034683463263967394 Centerline is valid? [True, True] Translation: X:311.14, Y:-33.07, Z:-8.95 [[ 9.90685108e-01 1.34444757e-01 2.16246356e-02 3.11137922e+02] [-1.34404362e-01 9.90921018e-01 -3.31730864e-03 -3.30740187e+01] [-2.18743007e-02 3.79962928e-04 9.99760657e-01 -8.95356836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.14420382199995 meters 0.024661220382721154 Centerline is valid? [True, True] Translation: X:311.20, Y:-33.09, Z:-8.95 [[ 9.90452787e-01 1.35811794e-01 2.36311816e-02 3.11198643e+02] [-1.35763842e-01 9.90734580e-01 -3.62934282e-03 -3.30853814e+01] [-2.39051363e-02 3.86432722e-04 9.99714157e-01 -8.95487779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.20420382199995 meters 0.028906052038474777 Centerline is valid? [True, True] Translation: X:311.26, Y:-33.09, Z:-8.96 [[ 9.89530196e-01 1.42760538e-01 2.11995099e-02 3.11259454e+02] [-1.42723451e-01 9.89757237e-01 -3.26001182e-03 -3.30911096e+01] [-2.14477693e-02 2.00212919e-04 9.99769950e-01 -8.95942571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.26420382199996 meters 0.021142437858201947 Centerline is valid? [True, True] Translation: X:311.32, Y:-33.09, Z:-8.96 [[ 9.87744893e-01 1.54247120e-01 2.38296591e-02 3.11321237e+02] [-1.54203585e-01 9.88032299e-01 -3.66486476e-03 -3.30872395e+01] [-2.41097677e-02 -5.46674255e-05 9.99709316e-01 -8.96159108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.32420382199996 meters 0.02951020970003649 Centerline is valid? [True, True] Translation: X:311.38, Y:-33.08, Z:-8.96 [[ 9.85964904e-01 1.64746930e-01 2.70491470e-02 3.11383598e+02] [-1.64694724e-01 9.86335808e-01 -4.16199620e-03 -3.30831288e+01] [-2.73652183e-02 -3.51269623e-04 9.99625441e-01 -8.96116051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.38420382199996 meters 0.034149716102987816 Centerline is valid? [True, True] Translation: X:311.45, Y:-33.09, Z:-8.96 [[ 9.85220392e-01 1.68466127e-01 3.09829605e-02 3.11445339e+02] [-1.68399296e-01 9.85707309e-01 -4.77268435e-03 -3.30880124e+01] [-3.13441663e-02 -5.15362812e-04 9.99508518e-01 -8.95966320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.44420382199996 meters 0.038612185529728525 Centerline is valid? [True, True] Translation: X:311.51, Y:-33.10, Z:-8.96 [[ 9.84875208e-01 1.69997673e-01 3.34905333e-02 3.11507270e+02] [-1.69920281e-01 9.85444278e-01 -5.16451589e-03 -3.30952384e+01] [-3.38810101e-02 -6.04317181e-04 9.99425691e-01 -8.96101232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.50420382199997 meters 0.042751734371709885 Centerline is valid? [True, True] Translation: X:311.57, Y:-33.11, Z:-8.97 [[ 9.85370746e-01 1.66858141e-01 3.46821952e-02 3.11568446e+02] [-1.66773007e-01 9.85980782e-01 -5.35369547e-03 -3.31089901e+01] [-3.50892856e-02 -5.08679072e-04 9.99384052e-01 -8.96689904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.56420382199997 meters 0.05177620832380101 Centerline is valid? [True, True] Translation: X:311.63, Y:-33.12, Z:-8.96 [[ 9.88158196e-01 1.53352083e-01 5.14959117e-03 3.11632176e+02] [-1.53180688e-01 9.87886786e-01 -2.48067472e-02 -3.31150446e+01] [-8.89137943e-03 2.37241726e-02 9.99679002e-01 -8.96236609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.62420382199997 meters 0.05740551223802219 Centerline is valid? [True, True] Translation: X:311.69, Y:-33.15, Z:-8.96 [[ 9.89736114e-01 1.42817564e-01 5.05654679e-03 3.11689633e+02] [-1.42799028e-01 9.89744192e-01 -3.85639439e-03 -3.31529996e+01] [-5.55544867e-03 3.09474283e-03 9.99979780e-01 -8.96247270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.684203822 meters 0.07028405423745199 Centerline is valid? [True, True] Translation: X:311.75, Y:-33.19, Z:-8.96 [[ 9.91614350e-01 1.29230595e-01 6.59328445e-04 3.11747069e+02] [-1.29227131e-01 9.91607489e-01 -3.86474670e-03 -3.31866505e+01] [-1.15323854e-03 3.74713516e-03 9.99992314e-01 -8.96491713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.744203822 meters 0.0762241628230052 Centerline is valid? [True, True] Translation: X:311.79, Y:-33.24, Z:-8.97 [[ 9.91639990e-01 1.26861882e-01 2.35837296e-02 3.11793233e+02] [-1.27740832e-01 9.90980014e-01 4.05079325e-02 -3.32436283e+01] [-1.82320922e-02 -4.31818910e-02 9.98900853e-01 -8.97079765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.804203822 meters 0.07907551155234804 Centerline is valid? [True, True] Translation: X:311.86, Y:-33.21, Z:-8.97 [[ 9.91149861e-01 1.27896526e-01 3.55588582e-02 3.11864548e+02] [-1.27108029e-01 9.91607506e-01 -2.36242046e-02 -3.32144183e+01] [-3.82818844e-02 1.88953108e-02 9.99088317e-01 -8.97444493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.864203822 meters 0.08842708971013677 Centerline is valid? [True, True] Translation: X:311.92, Y:-33.24, Z:-8.97 [[ 9.90817733e-01 1.29299182e-01 3.95214070e-02 3.11922239e+02] [-1.29159125e-01 9.91605195e-01 -6.08755842e-03 -3.32415128e+01] [-3.99767488e-02 9.27110463e-04 9.99200180e-01 -8.97306997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.924203822 meters 0.09197943796247494 Centerline is valid? [True, True] Translation: X:311.98, Y:-33.26, Z:-8.98 [[ 9.90565648e-01 1.31133001e-01 3.97974098e-02 3.11983149e+02] [-1.30992249e-01 9.91364408e-01 -6.13526918e-03 -3.32567782e+01] [-4.02582719e-02 8.64234655e-04 9.99188933e-01 -8.97562352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.984203822 meters 0.09741242565516278 Centerline is valid? [True, True] Translation: X:312.04, Y:-33.27, Z:-8.98 [[ 9.90216571e-01 1.33203949e-01 4.15674209e-02 3.12044064e+02] [-1.33052010e-01 9.91088309e-01 -6.41301120e-03 -3.32695009e+01] [-4.20512233e-02 8.19641080e-04 9.99115120e-01 -8.97714331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.044203822 meters 0.1063525372824458 Centerline is valid? [True, False] Translation: X:312.05, Y:-33.27, Z:-8.97 [[ 9.91128697e-01 1.30244345e-01 2.64635095e-02 3.12045203e+02] [-1.30064548e-01 9.91469837e-01 -8.41287612e-03 -3.32692332e+01] [-2.73335010e-02 4.89627855e-03 9.99614379e-01 -8.97498394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.104203822 meters 0.6237875994972986 Centerline is valid? [False, False] Translation: X:312.05, Y:-33.27, Z:-8.98 [[ 9.92179763e-01 1.21326692e-01 2.93112875e-02 3.12047066e+02] [-1.21409862e-01 9.92601886e-01 1.06799893e-03 -3.32737443e+01] [-2.89648625e-02 -4.61832630e-03 9.99569761e-01 -8.97735384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.164203822 meters 0.6230359616985522 Centerline is valid? [False, False] Translation: X:312.03, Y:-33.27, Z:-8.98 [[ 9.91964918e-01 1.24296251e-01 2.35805865e-02 3.12032138e+02] [-1.24171457e-01 9.92238222e-01 -6.69033884e-03 -3.32680251e+01] [-2.42291432e-02 3.70854564e-03 9.99699553e-01 -8.97799926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.224203822 meters 0.6423251780292358 Centerline is valid? [False, False] Translation: X:312.06, Y:-33.27, Z:-8.98 [[ 9.91094645e-01 1.31471754e-01 2.11325218e-02 3.12057490e+02] [-1.31254269e-01 9.91283479e-01 -1.13746176e-02 -3.32671430e+01] [-2.24437607e-02 8.49958889e-03 9.99711976e-01 -8.97851910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.284203822 meters 0.6403209489871717 Centerline is valid? [False, False] Translation: X:312.06, Y:-33.26, Z:-8.98 [[ 9.91099312e-01 1.31442501e-01 2.10955422e-02 3.12059100e+02] [-1.31191743e-01 9.91273515e-01 -1.28663937e-02 -3.32586994e+01] [-2.26026432e-02 9.98431304e-03 9.99694670e-01 -8.98038505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.344203822 meters 0.639166502683624 Centerline is valid? [False, False] Translation: X:312.06, Y:-33.26, Z:-8.98 [[ 9.92203220e-01 1.22614763e-01 2.23246647e-02 3.12063495e+02] [-1.22556044e-01 9.92453594e-01 -3.98488568e-03 -3.32563591e+01] [-2.26447995e-02 1.21779381e-03 9.99742832e-01 -8.98456863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.404203822 meters 0.634119759140686 Centerline is valid? [False, False] Translation: X:312.07, Y:-33.25, Z:-8.99 [[ 9.93815469e-01 1.08386660e-01 2.41484009e-02 3.12066299e+02] [-1.08400331e-01 9.94107042e-01 -7.46037578e-04 -3.32517272e+01] [-2.40869559e-02 -1.87627096e-03 9.99708106e-01 -8.98816500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.464203822 meters 0.6747616296321799 Centerline is valid? [False, False] Translation: X:312.07, Y:-33.24, Z:-8.99 [[ 9.95542404e-01 9.18858184e-02 2.12677715e-02 3.12073149e+02] [-9.18917400e-02 9.95768757e-01 -7.00751619e-04 -3.32399036e+01] [-2.12421715e-02 -1.25670457e-03 9.99773570e-01 -8.99397286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.52420382199995 meters 0.6552816328135891 Centerline is valid? [False, False] Translation: X:312.08, Y:-33.23, Z:-9.00 [[ 9.97004058e-01 7.55033222e-02 1.67975445e-02 3.12077685e+02] [-7.55071724e-02 9.97145176e-01 -4.05788944e-04 -3.32311996e+01] [-1.67802289e-02 -8.63761863e-04 9.99858829e-01 -8.99630860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.58420382199995 meters 0.6434522567723008 Centerline is valid? [False, False] Translation: X:312.08, Y:-33.22, Z:-9.00 [[ 9.97429020e-01 6.97221945e-02 1.65579221e-02 3.12080207e+02] [-6.96051232e-02 9.97546088e-01 -7.54517662e-03 -3.32186258e+01] [-1.70433566e-02 6.37326192e-03 9.99834439e-01 -8.99999306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.64420382199995 meters 0.6403893831959556 Centerline is valid? [False, False] Translation: X:312.08, Y:-33.21, Z:-9.01 [[ 9.97951965e-01 6.04609351e-02 2.08890053e-02 3.12084708e+02] [-6.04839668e-02 9.98169057e-01 4.71965485e-04 -3.32131832e+01] [-2.08222233e-02 -1.73444879e-03 9.99781690e-01 -9.00697835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.70420382199995 meters 0.5984024273336859 Centerline is valid? [False, False] Translation: X:312.09, Y:-33.20, Z:-9.01 [[ 9.98037288e-01 5.90753708e-02 2.07767412e-02 3.12087509e+02] [-5.90414197e-02 9.98253011e-01 -2.24425756e-03 -3.32006901e+01] [-2.08730249e-02 1.01316442e-03 9.99781621e-01 -9.01045580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.76420382199996 meters 0.6396613204724544 Centerline is valid? [False, False] Translation: X:312.09, Y:-33.19, Z:-9.02 [[ 9.98698557e-01 4.63882977e-02 2.11971328e-02 3.12093702e+02] [-4.64568231e-02 9.98916509e-01 2.75158685e-03 -3.31947338e+01] [-2.10465244e-02 -3.73275727e-03 9.99771529e-01 -9.01663192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.82420382199996 meters 0.6672929442821033 Centerline is valid? [False, False] Translation: X:312.10, Y:-33.19, Z:-9.02 [[ 9.99394004e-01 3.10451901e-02 1.57423281e-02 3.12099557e+02] [-3.11132673e-02 9.99507464e-01 4.09809681e-03 -3.31875157e+01] [-1.56073482e-02 -4.58540864e-03 9.99867684e-01 -9.01958027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.88420382199996 meters 0.7066210758654439 Centerline is valid? [False, False] Translation: X:312.10, Y:-33.19, Z:-9.02 [[ 9.99819629e-01 1.61261893e-02 1.00327185e-02 3.12104975e+02] [-1.61914766e-02 9.99848037e-01 6.46059990e-03 -3.31855359e+01] [-9.92700904e-03 -6.62187912e-03 9.99928800e-01 -9.02127304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.94420382199996 meters 0.7354332762454675 Centerline is valid? [False, False] Translation: X:312.11, Y:-33.18, Z:-9.02 [[ 9.99988885e-01 6.09739346e-04 4.67515886e-03 3.12111634e+02] [-6.45518548e-04 9.99970489e-01 7.65535931e-03 -3.31787648e+01] [-4.67035311e-03 -7.65829213e-03 9.99959768e-01 -9.02399315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.00420382199997 meters 0.7645320203028813 Centerline is valid? [False, False] Translation: X:312.12, Y:-33.18, Z:-9.03 [[ 9.99990382e-01 -1.91835500e-03 3.94400975e-03 3.12118956e+02] [ 1.90094192e-03 9.99988451e-01 4.41408948e-03 -3.31762125e+01] [-3.95243199e-03 -4.40654970e-03 9.99982480e-01 -9.03025519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.06420382199997 meters 0.7821138130443599 Centerline is valid? [False, False] Translation: X:312.12, Y:-33.17, Z:-9.03 [[ 9.99989987e-01 -2.30649705e-03 3.83486373e-03 3.12120212e+02] [ 2.29241720e-03 9.99990631e-01 3.67188896e-03 -3.31722822e+01] [-3.84329701e-03 -3.66306109e-03 9.99985905e-01 -9.03172535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.12420382199997 meters 0.8009830460117986 Centerline is valid? [False, False] Translation: X:312.13, Y:-33.17, Z:-9.04 [[ 9.99994468e-01 -1.38778291e-03 3.02303703e-03 3.12129084e+02] [ 1.37710499e-03 9.99992816e-01 3.53140510e-03 -3.31657135e+01] [-3.02791614e-03 -3.52722252e-03 9.99989195e-01 -9.03972020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.184203822 meters 0.8010980269305503 Centerline is valid? [False, False] Translation: X:312.13, Y:-33.16, Z:-9.04 [[ 9.99994247e-01 -1.69049794e-03 2.94066430e-03 3.12129859e+02] [ 1.68169175e-03 9.99994102e-01 2.99452368e-03 -3.31628464e+01] [-2.94570919e-03 -2.98956117e-03 9.99991193e-01 -9.04051656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.244203822 meters 0.843757687918323 Centerline is valid? [False, False] Translation: X:312.14, Y:-33.16, Z:-9.05 [[ 9.99997360e-01 -3.88212873e-04 2.26484099e-03 3.12136281e+02] [ 3.79337618e-04 9.99992253e-01 3.91782456e-03 -3.31638233e+01] [-2.26634440e-03 -3.91695507e-03 9.99989761e-01 -9.04560476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.304203822 meters 0.8693643736875244 Centerline is valid? [False, False] Translation: X:312.14, Y:-33.16, Z:-9.05 [[ 9.99997496e-01 -5.78741181e-04 2.16185216e-03 3.12137599e+02] [ 5.70936845e-04 9.99993325e-01 3.60889765e-03 -3.31621332e+01] [-2.16392634e-03 -3.60765433e-03 9.99991151e-01 -9.04699774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.364203822 meters 0.8671021303647032 Centerline is valid? [False, False] Translation: X:312.14, Y:-33.16, Z:-9.05 [[ 9.99997447e-01 -8.24086680e-04 2.10415180e-03 3.12138005e+02] [ 8.17327972e-04 9.99994511e-01 3.21092405e-03 -3.31598915e+01] [-2.10678633e-03 -3.20919607e-03 9.99992631e-01 -9.04726439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.424203822 meters 0.9577900605438066 Centerline is valid? [False, False] Translation: X:312.14, Y:-33.16, Z:-9.05 [[ 9.99997100e-01 -1.13079987e-03 2.12651126e-03 3.12137873e+02] [ 1.12507418e-03 9.99995744e-01 2.69180094e-03 -3.31568348e+01] [-2.12954610e-03 -2.68940065e-03 9.99994116e-01 -9.04719708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.484203822 meters 0.5195583306974126 Centerline is valid? [False, False] Translation: X:312.14, Y:-33.16, Z:-9.05 [[ 9.99996906e-01 -1.28779541e-03 2.12835459e-03 3.12137909e+02] [ 1.28260918e-03 9.99996210e-01 2.43630207e-03 -3.31553848e+01] [-2.13148398e-03 -2.43356468e-03 9.99994767e-01 -9.04726759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.544203822 meters 0.5145036407425072 Centerline is valid? [False, False] Translation: X:312.14, Y:-33.15, Z:-9.05 [[ 9.99996388e-01 -1.69626256e-03 2.08499584e-03 3.12138362e+02] [ 1.69260244e-03 9.99997026e-01 1.75597018e-03 -3.31514676e+01] [-2.08796823e-03 -1.75243477e-03 9.99996285e-01 -9.04769531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.604203822 meters 1.0582052664917045 Centerline is valid? [False, False] Translation: X:312.14, Y:-33.14, Z:-9.05 [[ 9.99995466e-01 -2.35759033e-03 1.87364428e-03 3.12140348e+02] [ 2.35634639e-03 9.99997002e-01 6.65846710e-04 -3.31449328e+01] [-1.87520846e-03 -6.61428736e-04 9.99998023e-01 -9.04936808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.664203822 meters 0.9593127460103358 Centerline is valid? [False, False] Translation: X:312.14, Y:-33.14, Z:-9.05 [[ 9.99994645e-01 -2.77231767e-03 1.73903163e-03 3.12141304e+02] [ 2.77236192e-03 9.99996157e-01 -2.30321070e-05 -3.31408899e+01] [-1.73896109e-03 2.78532088e-05 9.99998488e-01 -9.04995550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.724203822 meters 0.9918971855930553 Centerline is valid? [False, False] Translation: X:312.15, Y:-33.14, Z:-9.05 [[ 9.99991275e-01 -4.04158077e-03 1.05660471e-03 3.12147495e+02] [ 4.04269077e-03 9.99991276e-01 -1.05051794e-03 -3.31384134e+01] [-1.05234974e-03 1.05478030e-03 9.99998890e-01 -9.05476669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.784203822 meters 1.0256609810270916 Centerline is valid? [False, False] Translation: X:312.15, Y:-33.14, Z:-9.06 [[ 9.99990469e-01 -4.26514317e-03 9.32843106e-04 3.12148449e+02] [ 4.26647037e-03 9.99989883e-01 -1.42541009e-03 -3.31361652e+01] [-9.26754090e-04 1.42937645e-03 9.99998549e-01 -9.05543414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.844203822 meters 1.0307031880625375 Centerline is valid? [False, False] Translation: X:312.15, Y:-33.14, Z:-9.06 [[ 9.99989682e-01 -4.50999854e-03 5.43344328e-04 3.12150915e+02] [ 4.51083513e-03 9.99988627e-01 -1.54845078e-03 -3.31351935e+01] [-5.36354638e-04 1.55088574e-03 9.99998654e-01 -9.05694554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.904203822 meters 1.0385005693391802 Centerline is valid? [False, False] Translation: X:312.15, Y:-33.14, Z:-9.06 [[ 9.99990462e-01 -4.34337829e-03 4.58998112e-04 3.12151359e+02] [ 4.34395184e-03 9.99989776e-01 -1.25604115e-03 -3.31369119e+01] [-4.53537957e-04 1.25802303e-03 9.99999106e-01 -9.05705024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.964203822 meters 1.0756484801431576 Centerline is valid? [False, False] Translation: X:312.16, Y:-33.14, Z:-9.06 [[ 9.99983288e-01 -5.78039615e-03 -1.01361486e-04 3.12156385e+02] [ 5.78027426e-03 9.99982616e-01 -1.16416231e-03 -3.31436926e+01] [ 1.08089043e-04 1.16355695e-03 9.99999317e-01 -9.06088277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.02420382199995 meters 0.9456484848473018 Centerline is valid? [False, False] Translation: X:312.16, Y:-33.15, Z:-9.06 [[ 9.99983976e-01 -5.65846591e-03 -1.73814253e-04 3.12156664e+02] [ 5.65830641e-03 9.99983582e-01 -9.04858773e-04 -3.31450645e+01] [ 1.78931511e-04 9.03860779e-04 9.99999576e-01 -9.06081075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.08420382199995 meters 0.9340805174195373 Centerline is valid? [False, False] Translation: X:312.16, Y:-33.15, Z:-9.06 [[ 9.99985263e-01 -5.42447782e-03 -2.23186084e-04 3.12156851e+02] [ 5.42435938e-03 9.99985149e-01 -5.27899242e-04 -3.31473446e+01] [ 2.26046347e-04 5.26680821e-04 9.99999836e-01 -9.06070182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.14420382199995 meters 0.9227419901631455 Centerline is valid? [False, False] Translation: X:312.16, Y:-33.15, Z:-9.06 [[ 9.99988400e-01 -4.79978967e-03 -4.02295824e-04 3.12159014e+02] [ 4.79995462e-03 9.99988396e-01 4.10071129e-04 -3.31534873e+01] [ 4.00322901e-04 -4.11997374e-04 9.99999835e-01 -9.06245216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 2838.22 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! 0%| | 0/10636 [00:00